The Assertion command allows FarmBot to test if a condition is true or false for automated testing purposes. For example, you could set up a FarmBot to move back and forth repeatedly along an axis, and check the position after each movement. This type of test is useful for high-cycle hardware testing, and for continuous integration testing of software changes.

f8f804e-Assertion.jpeg

Assertions must be written in Lua, and will be evaluated against a Lua 5.2 interpreter. In the event that a TEST FAILS, FarmBot can either Continue execution, Recover and continue, Abort and recover, or just Abort execution altogether. The RECOVERY SEQUENCE allows you to reset FarmBot to a known state after a failure, send a message, or perform any other desired operations.

Available functions

The following functions are available for usage along with Lua’s standard library. Note that comments are ignored by the interpreter, and there are also options to control FarmBot with Lua.

get_position()

-- Returns a table containing the current position data

position = get_position();
if position.x <= 20.55 then
  return true;
else
  print("current position: (", position.x, ",", position.y, "," position.z, ")");
  return false;
end

return get_position("y") <= 20;

get_pins()

-- Returns a table containing current pin data

pins = get_pins();
if pins[9] == 1.0 then
  return true;
end

return get_pin(10) == 0;

send_message()

-- send_message(type, message, channels)
-- Sends a message to farmbot's logger

send_message("info", "hello, world", ["toast"]);

calibrate(axis)

-- Calibrate an axis

calibrate("x");
calibrate("y");
calibrate("z");

Emergency lock and unlock

-- Lock and unlock farmbot's firmware

emergency_lock();
emergency_unlock();

find_home(axis)

-- Find home on an axis

find_home("x");
find_home("y");
find_home("z");

home(axis)

-- Go to home on an axis

home("x");
home("y");
home("z");

coordinate(x, y, z)

-- Create a vec3

move_to = coordinate(1.0, 0, 0);

move_absolute(x, y, z)

-- Move in a line to a position

move_absolute(1.0, 0, 0);
move_absolute(coordinate(1.0, 20, 30));

check_position(vec3, tolerance)

-- Check a position against Farmbot's current position within an error threshold

move_absolute(1.0, 0, 0);
return check_position({x = 1.0, y = 0; z = 0}, 0.50);

move_absolute(20, 100, 100);
return check_position(coordinate(20, 100, 100), 1);

read_status(arg0)

-- Get a field on farmbot's current state

status = read_status();
return status.informational_settings.wifi_level >= 5;

return read_status("location_data", "raw_encoders") >= 1900;

version()

-- Return Farmbot's current version

return version() == "8.1.2";

get_device(field)

-- Return the device settings

return get_device().timezone == "America/los_angeles";

return get_device("name") == "Test Farmbot";

update_device(table)

-- Update device settings

update_device({name = "Test Farmbot"});

get_fbos_config(field)

-- Return the current fbos_config

return get_fbos_config("auto_sync");
return get_fbos_config().os_auto_update;

update_fbos_config(table)

-- Update the current fbos_config

update_fbos_config({auto_sync = true, os_auto_update = false});

get_firmware_config(field)

-- Return current firmware_config data

return get_firmware_config().encoder_enabled_x == 1.0;

return get_firmware_config("encoder_enabled_z");

update_firmware_config(table)

-- Update current firmware_config data

update_firmware_config({encoder_enabled_z = 1.0});