Merge pull request #1471 from FarmBot/tuesday

Add `safe_z` option to Lua move_abs

Author: RickCarlino

lib/os/lua/data_manipulation.ex

@@ -219,7 +219,7 @@ defmodule FarmbotOS.Lua.DataManipulation do
   def photo_grid(args, lua), do: lua_extension(args, lua, "photo_grid")
   def api(args, lua), do: lua_extension(args, lua, "api")
 
-  defp lua_extension(args, lua, filename) do
+  def lua_extension(args, lua, filename) do
     lua_code = File.read!("#{:code.priv_dir(:farmbot)}/lua/#{filename}.lua")
 
     with {:ok, [result]} <- Lua.raw_eval(lua, lua_code) do

lib/os/lua/firmware.ex

@@ -99,8 +99,8 @@ defmodule FarmbotOS.Lua.Firmware do
     end
   end
 
-  def move_absolute([table], lua) when is_list(table) do
-    move_absolute([table, 100], lua)
+  def move_absolute([table] = args, lua) when is_list(table) do
+    FarmbotOS.Lua.DataManipulation.lua_extension(args, lua, "safe_z")
   end
 
   def move_absolute([table, speed], lua)

priv/lua/safe_z.lua

@@ -0,0 +1,36 @@
+local safe_z = get_fbos_config("safe_z")
+
+function overwrite(axis, num)
+    return {
+        kind = "axis_overwrite",
+        args = {
+            axis = axis,
+            axis_operand = {kind = "numeric", args = {number = num}}
+        }
+    }
+end
+
+return function(input)
+    local speed = input.speed or 100
+    local pos = get_position()
+    if input.safe_z then
+        cs_eval({
+            kind = "rpc_request",
+            args = {label = "safe_z_lua", priority = 500},
+            body = {
+                {
+                    kind = "move",
+                    args = {},
+                    body = {
+                        overwrite("x", input.x or pos.x),
+                        overwrite("y", input.y or pos.y),
+                        overwrite("z", input.z or pos.z),
+                        {kind = "safe_z", args = {}}
+                    }
+                }
+            }
+        })
+    else
+        return move_absolute(input, speed)
+    end
+end