FarmBot / Farmbot-Web-App / 912f10c5-9ef3-466a-97da-3bc080087e89

import { lua, lauxlib, lualib, to_luastring } from "fengari-web";

import {

import {

import { store } from "../../redux/store";

import { sortGroupBy } from "../../point_groups/point_group_sort";

import { LUA_HELPERS } from "./lua";

import {

import {

import { error } from "../../toast/toast";

import { collectDemoSequenceActions } from "./index";

import { last } from "lodash";

import { XYZ } from "../../devices/constants";

export const runLua =

  (depth: number, luaCode: string, variables: ParameterApplication[]): Action[] => {

    const actions: Action[] = [];

    const L = lauxlib.luaL_newstate(); // stack: []

    lua.lua_newtable(L); // stack: [env]

    const envIndex = lua.lua_gettop(L);

    lauxlib.luaL_requiref(L, to_luastring("_G"), lualib.luaopen_base, 1);

    const gIndex = lua.lua_gettop(L);

    lua.lua_getfield(L, gIndex, to_luastring("type"));

    lua.lua_setfield(L, envIndex, to_luastring("type"));

    lua.lua_getfield(L, gIndex, to_luastring("tostring"));

    lua.lua_setfield(L, envIndex, to_luastring("tostring"));

    lua.lua_getfield(L, gIndex, to_luastring("tonumber"));

    lua.lua_setfield(L, envIndex, to_luastring("tonumber"));

    lua.lua_getfield(L, gIndex, to_luastring("pairs"));

    lua.lua_setfield(L, envIndex, to_luastring("pairs"));

    lua.lua_getfield(L, gIndex, to_luastring("ipairs"));

    lua.lua_setfield(L, envIndex, to_luastring("ipairs"));

    lua.lua_pop(L, 1); // stack: [env]

    lauxlib.luaL_requiref(L, to_luastring("math"), lualib.luaopen_math, 1);

    lua.lua_setfield(L, envIndex, to_luastring("math"));

    lauxlib.luaL_requiref(L, to_luastring("table"), lualib.luaopen_table, 1);

    lua.lua_setfield(L, envIndex, to_luastring("table"));

    lauxlib.luaL_requiref(L, to_luastring("string"), lualib.luaopen_string, 1);

    lua.lua_setfield(L, envIndex, to_luastring("string"));

    lua.lua_pushjsfunction(L, () => {

      let output = "";

      const n = lua.lua_gettop(L);

      for (let i = 1; i <= n; i++) {

        if (i > 1) { output += "\t"; }

        if (lua.lua_isstring(L, i)) {

          output += luaToJs(L, i);

        } else {

          output += JSON.stringify(luaToJs(L, i));

      }

      actions.push({ type: "print", args: [output] });

      return 0;

    });

    lua.lua_setfield(L, envIndex, to_luastring("print"));

    lua.lua_pushjsfunction(L, () => {

      const input = luaToJs(L, 1);

      const output = JSON.stringify(input);

      jsToLua(L, output);

      return 1;

    });

    lua.lua_pushjsfunction(L, () => {

      const input = luaToJs(L, 1) as string;

      try {

        const output = JSON.parse(input);

        jsToLua(L, output);

      } catch {

        jsToLua(L, undefined);

      return 1;

    });

    lua.lua_newtable(L);

    lua.lua_pushvalue(L, -3);

    lua.lua_setfield(L, -2, to_luastring("encode"));

    lua.lua_pushvalue(L, -2);

    lua.lua_setfield(L, -2, to_luastring("decode"));

    lua.lua_setfield(L, envIndex, to_luastring("json"));

    lua.lua_pop(L, 2);

    lua.lua_pushjsfunction(L, () => {

      const variableName = luaToJs(L, 1) as string;

      const n = variables

        .filter(variable => variable.args.label === variableName)

        .map(variable => variable.args.data_value)[0];

      switch (n?.kind) {

        case "numeric":

          jsToLua(L, n.args.number);

          break;

        case "text":

          jsToLua(L, n.args.string);

          break;

        case "coordinate":

          jsToLua(L, n.args);

          break;

        case "point":

          const point = selectAllPoints(store.getState().resources.index)

            .find(p => p.body.id === n.args.pointer_id)?.body;

          jsToLua(L, clean(point));

          break;

        case "tool":

          const slot = selectAllToolSlotPointers(store.getState().resources.index)

            .find(ts => ts.body.tool_id === n.args.tool_id)?.body;

          jsToLua(L, clean(slot));

          break;

          actions.push({

            type: "send_message",

            args: [

              "error",

              `Variable "${variableName}" of type ${n?.kind} not implemented.`,

            ],

          });

          lua.lua_pushnil(L);

          break;

      return 1;

    });

    lua.lua_setfield(L, envIndex, to_luastring("variable"));

    lauxlib.luaL_requiref(L, to_luastring("os"), lualib.luaopen_os, 1);

    const osIndex = lua.lua_gettop(L);

    lua.lua_newtable(L);

    const envOsIndex = lua.lua_gettop(L);

    lua.lua_getfield(L, osIndex, to_luastring("time"));

    const rawTime = lua.lua_toproxy(L, -1);

    lua.lua_pop(L, 1);

    lua.lua_pushjsfunction(L, () => {

      rawTime(L);

      lua.lua_call(L, 0, 1);

      const intTime = luaToJs(L, -1) as number;

      lua.lua_pop(L, 1);

      jsToLua(L, intTime + 0.0);

      return 1;

    });

    lua.lua_setfield(L, envOsIndex, to_luastring("time"));

    lua.lua_getfield(L, osIndex, to_luastring("date"));

    lua.lua_setfield(L, envOsIndex, to_luastring("date"));

    lua.lua_setfield(L, envIndex, to_luastring("os"));

    lua.lua_pop(L, 1); // stack: [env]

    lua.lua_pushjsfunction(L, () => {

      lua.lua_getfield(L, 1, to_luastring("method"));

      const rawMethod = lua.lua_isnil(L, -1)

        ? "GET"

        : luaToJs(L, -1) as string;

      const method = rawMethod.toUpperCase();

      lua.lua_pop(L, 1);

      lua.lua_getfield(L, 1, to_luastring("url"));

      const rawUrl = luaToJs(L, -1) as string;

      const url = rawUrl.replace(/\/$/, "");

      lua.lua_pop(L, 1);

      if (url == "/api/points") {

        const points = selectAllPoints(store.getState().resources.index);

        if (method == "GET") {

          const results = sortGroupBy("yx_alternating", points)

            .map(p => p.body).map(clean);

          jsToLua(L, results);

          return 1;

        }

        if (method == "POST") {

          lua.lua_getfield(L, 1, to_luastring("body"));

          const body = luaToJs(L, -1) as object;

          lua.lua_pop(L, 1);

          const point = JSON.stringify(body);

          actions.push({ type: "create_point", args: [point] });

          jsToLua(L, true);

          return 1;

      } else if (method == "GET" && url == "/api/tools") {

        const results = selectAllTools(store.getState().resources.index)

          .map(p => p.body).map(clean);

        jsToLua(L, results);

        return 1;

      } else if (method == "GET" && url.startsWith("/api/curves")) {

        const curveId = parseInt("" + last(url.split("/")));

        const curve = selectAllCurves(store.getState().resources.index)

          .map(curve => curve.body)

          .filter(curve => curve.id == curveId)[0];

        jsToLua(L, clean(curve));

        return 1;

      } else {

        actions.push({

          type: "send_message",

          args: [

            "error",

            `API call ${method} ${url} not implemented.`,

          ],

        });

        jsToLua(L, false);

        return 1;

    });

    lua.lua_setfield(L, envIndex, to_luastring("api"));

    lua.lua_pushjsfunction(L, () => {

      const params = luaToJs(L, 1) as Partial<Record<string, string | number>>;

      const plants = selectAllPlantPointers(store.getState().resources.index)

        .map(plant => plant.body)

        .filter(filterPoint(params, "planted"))

        .map(clean);

      jsToLua(L, plants);

      return 1;

    });

    lua.lua_setfield(L, envIndex, to_luastring("get_plants"));

    lua.lua_pushjsfunction(L, () => {

      const params = luaToJs(L, 1) as Partial<Record<string, string | number>>;

      const weeds = selectAllWeedPointers(store.getState().resources.index)

        .map(weed => weed.body)

        .filter(filterPoint(params, "active"))

        .map(clean);

      jsToLua(L, weeds);

      return 1;

    });

    lua.lua_setfield(L, envIndex, to_luastring("get_weeds"));

    lua.lua_pushjsfunction(L, () => {

      const params = luaToJs(L, 1) as Partial<Record<string, string | number>>;

      const points = selectAllGenericPointers(store.getState().resources.index)

        .map(point => point.body)

        .filter(filterPoint(params, undefined))

        .map(clean);

      jsToLua(L, points);

      return 1;

    });

    lua.lua_setfield(L, envIndex, to_luastring("get_generic_points"));

    lua.lua_pushjsfunction(L, () => {

      const groupId = luaToJs(L, 1) as number;

      const points = getGroupPoints(store.getState().resources.index, groupId)

        .map(point => point.body).map(clean);

      jsToLua(L, points);

      return 1;

    });

    lua.lua_setfield(L, envIndex, to_luastring("get_group"));

    lua.lua_pushjsfunction(L, () => {

      const groupId = luaToJs(L, 1) as number;

      const points = getGroupPoints(store.getState().resources.index, groupId)

        .map(point => point.body.id).map(clean);

      jsToLua(L, points);

      return 1;

    });

    lua.lua_setfield(L, envIndex, to_luastring("group"));

    lua.lua_pushjsfunction(L, () => {

      const points = luaToJs(L, 1) as Point[];

      const sortMethod = luaToJs(L, 2) as PointGroupSortType;

      const taggedPoints = points.map(point => ({

        body: point,

        uuid: uuid(),

      })) as TaggedPoint[];

      const results = sortGroupBy(sortMethod, taggedPoints)

        .map(p => p.body).map(clean);

      jsToLua(L, results);

      return 1;

    });

    lua.lua_setfield(L, envIndex, to_luastring("sort"));

    lua.lua_pushjsfunction(L, () => {

      const datetimeString = luaToJs(L, 1) as string;

      const unix = new Date(datetimeString).getTime() / 1000;

      jsToLua(L, unix);

      return 1;

    });

    lua.lua_setfield(L, envIndex, to_luastring("to_unix"));

    lua.lua_pushjsfunction(L, () => {

      const cmd = (luaToJs(L, 1) as RpcRequest).body?.[0];

      if (!cmd) { return 0; }

      if (cmd.kind == "execute") {

        const ri = store.getState().resources.index;

        const sequenceId = cmd.args.sequence_id;

        const seqVariables = cmd.body;

        const seqActions = collectDemoSequenceActions(

          depth + 1, ri, sequenceId, seqVariables);

        actions.push(...seqActions);

      } else {

        const luaActions = runLua(depth, csToLua(cmd), variables);

        actions.push(...luaActions);

      return 0;

    });

    lua.lua_setfield(L, envIndex, to_luastring("cs_eval"));

    lua.lua_pushjsfunction(L, () => {

      const n = lua.lua_gettop(L);

      const args: string[] = [];

      for (let i = 1; i <= n; i++) {

        args.push(luaToJs(L, i) as string);

      }

      if (Array.isArray(args[2])) {

        args[2] = args[2].join(",");

      }

      actions.push({ type: "send_message", args: args });

      return 0;

    });

    lua.lua_setfield(L, envIndex, to_luastring("send_message"));

    lua.lua_pushjsfunction(L, () => {

      const jobName = luaToJs(L, 1) as string;

      lua.lua_getfield(L, 2, to_luastring("percent"));

      const percent = luaToJs(L, -1) as number;

      lua.lua_pop(L, 1);

      lua.lua_getfield(L, 2, to_luastring("status"));

      const status = luaToJs(L, -1) as string;

      lua.lua_pop(L, 1);

      lua.lua_getfield(L, 2, to_luastring("time"));

      const time = luaToJs(L, -1) as number;

      lua.lua_pop(L, 1);

      actions.push({

        type: "set_job_progress",

        args: [jobName, percent, status, time],

      });

      return 0;

    });

    lua.lua_setfield(L, envIndex, to_luastring("set_job_progress"));

    lua.lua_pushjsfunction(L, () => {

      const jobName = luaToJs(L, 1) as string;

      const job = getJob(jobName);

      jsToLua(L, job);

      return 1;

    });

    lua.lua_setfield(L, envIndex, to_luastring("get_job"));

    lua.lua_pushjsfunction(L, () => {

      const jobName = luaToJs(L, 1) as string;

      const params = luaToJs(L, 2) as Partial<PercentageProgress>;

      const time = Date.now();

      const prev = getJob(jobName);

      const existing = prev?.status.toLowerCase() != "complete" ? prev : {};

      const job = { time, ...existing, ...params };

      actions.push({

        type: "set_job_progress",

        args: [jobName, job.percent, job.status, job.time],

      });

      return 0;

    });

    lua.lua_setfield(L, envIndex, to_luastring("set_job"));

    lua.lua_pushjsfunction(L, () => {

      const args: number[] = [];

      const n = lua.lua_gettop(L);

      if (n == 1) {

        const params = luaToJs(L, 1) as XyzNumber;

        XYZ.map((axis: Xyz) => args.push(params[axis]));

      } else {

        for (let i = 1; i <= n; i++) {

          args.push(luaToJs(L, i) as number);

        }

      actions.push({ type: "move_absolute", args: args });

      return 0;

    });

    lua.lua_setfield(L, envIndex, to_luastring("move_absolute"));

    lua.lua_pushjsfunction(L, () => {

      const n = lua.lua_gettop(L);

      const args: number[] = [];

      for (let i = 1; i <= n; i++) {

        args.push(luaToJs(L, i) as number);

      }

      actions.push({ type: "move_relative", args: args });

      return 0;

    });

    lua.lua_setfield(L, envIndex, to_luastring("move_relative"));

    lua.lua_pushjsfunction(L, () => {

      const axis = luaToJs(L, -1) as string;

      actions.push({ type: "find_home", args: [axis] });

      return 0;

    });

    lua.lua_setfield(L, envIndex, to_luastring("find_home"));

    lua.lua_pushjsfunction(L, () => {

      const axis = luaToJs(L, -1) as string;

      actions.push({ type: "go_to_home", args: [axis] });

      return 0;

    });

    lua.lua_setfield(L, envIndex, to_luastring("go_to_home"));

    lua.lua_pushjsfunction(L, () => {

      const axis = luaToJs(L, -1) as string;

      const firmwareSettings = getFirmwareSettings();

      const sign = {

        x: 1,

        y: 1,

        z: firmwareSettings.movement_home_up_z ? -1 : 1,

      };

      actions.push({

        type: "move_relative",

        args: [

          axis == "x" ? sign.x * -9999 : 0,

          axis == "y" ? sign.y * -9999 : 0,

          axis == "z" ? sign.z * -9999 : 0,

        ],

      });

      actions.push({

        type: "move_relative",

        args: [

          axis == "x" ? sign.x * 9999 : 0,

          axis == "y" ? sign.y * 9999 : 0,

          axis == "z" ? sign.z * 9999 : 0,

        ],

      });

      actions.push({

        type: "move_relative",

        args: [

          axis == "x" ? sign.x * -9999 : 0,

          axis == "y" ? sign.y * -9999 : 0,

          axis == "z" ? sign.z * -9999 : 0,

        ],

      });

      return 0;

    });

    lua.lua_setfield(L, envIndex, to_luastring("find_axis_length"));

    lua.lua_pushjsfunction(L, () => {

      const ms = luaToJs(L, 1) as number;

      actions.push({ type: "wait_ms", args: [ms] });

      return 0;

    });

    lua.lua_setfield(L, envIndex, to_luastring("wait_ms"));

    lua.lua_pushjsfunction(L, () => {

      const key = luaToJs(L, 1) as keyof DeviceAccountSettings;

      const device = getDeviceAccountSettings(store.getState().resources.index);

      const value = device.body[key];

      jsToLua(L, value || false);

      return 1;

    });

    lua.lua_setfield(L, envIndex, to_luastring("get_device"));

    lua.lua_pushjsfunction(L, () => {

      const params = luaToJs(L, 1) as object;

      const [key, value] = Object.entries(params)[0];

      actions.push({ type: "update_device", args: [key, value] });

      return 0;

    });

    lua.lua_setfield(L, envIndex, to_luastring("update_device"));

    lua.lua_pushjsfunction(L, () => {

      jsToLua(L, getSafeZ());

      return 1;

    });

    lua.lua_setfield(L, envIndex, to_luastring("safe_z"));

    lua.lua_pushjsfunction(L, () => {

      jsToLua(L, "");

      return 1;

    });

    lua.lua_setfield(L, envIndex, to_luastring("env"));

    lua.lua_pushjsfunction(L, () => {

      const x = luaToJs(L, 1) as number;

      const y = luaToJs(L, 2) as number;

      jsToLua(L, getSoilHeight(x, y));

      return 1;

    });

    lua.lua_setfield(L, envIndex, to_luastring("soil_height"));

    lua.lua_pushjsfunction(L, () => {

      const arg = luaToJs(L, 1) as string;

      actions.push({ type: "_move", args: [arg] });

      return 0;

    });

    lua.lua_setfield(L, envIndex, to_luastring("_move"));

    lua.lua_pushjsfunction(L, () => {

      actions.push({ type: "take_photo", args: [] });

      return 0;

    });

    lua.lua_setfield(L, envIndex, to_luastring("take_photo"));

    lua.lua_pushjsfunction(L, () => {

      actions.push({ type: "calibrate_camera", args: [] });

      return 0;

    });

    lua.lua_setfield(L, envIndex, to_luastring("calibrate_camera"));

    lua.lua_pushjsfunction(L, () => {

      actions.push({ type: "detect_weeds", args: [] });

      return 0;

    });

    lua.lua_setfield(L, envIndex, to_luastring("detect_weeds"));

    lua.lua_pushjsfunction(L, () => {

      actions.push({ type: "measure_soil_height", args: [] });

      return 0;

    });

    lua.lua_setfield(L, envIndex, to_luastring("measure_soil_height"));

    lua.lua_pushjsfunction(L, () => {

      const pin = luaToJs(L, 1) as number;

      if (pin == 63) {

        const toolMounted =

          !!getDeviceAccountSettings(store.getState().resources.index)

            .body.mounted_tool_id;

        jsToLua(L, toolMounted ? 0 : 1);

        return 1;

      }

      actions.push({ type: "read_pin", args: [pin] });

      jsToLua(L, 0);

      return 1;

    });

    lua.lua_setfield(L, envIndex, to_luastring("read_pin"));

    lua.lua_pushjsfunction(L, () => {

      const pin = luaToJs(L, 1) as number;

      const mode = luaToJs(L, 2) as number;

      const value = luaToJs(L, 3) as number;

      actions.push({ type: "write_pin", args: [pin, mode, value] });

      return 0;

    });

    lua.lua_setfield(L, envIndex, to_luastring("write_pin"));

    lua.lua_pushjsfunction(L, () => {

      const pin = luaToJs(L, 1) as number;

      actions.push({ type: "toggle_pin", args: [pin] });

      return 0;

    });

    lua.lua_setfield(L, envIndex, to_luastring("toggle_pin"));

    lua.lua_pushjsfunction(L, () => {

      const lengths = getGardenSize();

      jsToLua(L, lengths);

      return 1;

    });

    lua.lua_setfield(L, envIndex, to_luastring("garden_size"));

    lua.lua_pushjsfunction(L, () => {

      const status = getDeviceStatus();

      jsToLua(L, status);

      return 1;

    });

    lua.lua_setfield(L, envIndex, to_luastring("read_status"));

    lauxlib.luaL_loadstring(L, to_luastring(LUA_HELPERS));

    lua.lua_pushvalue(L, -2);

    lua.lua_setupvalue(L, -2, 1);

    lua.lua_pcall(L, 0, 0, 0);

    lua.lua_pushjsfunction(L, () => {

      actions.push({ type: "emergency_lock", args: [] });

      return 0;

    });

    lua.lua_setfield(L, envIndex, to_luastring("emergency_lock"));

    lua.lua_pushjsfunction(L, () => {

      actions.push({ type: "emergency_unlock", args: [] });

      return 0;

    });

    lua.lua_setfield(L, envIndex, to_luastring("emergency_unlock"));

    lua.lua_newtable(L);

    lua.lua_pushjsfunction(L, () => {

      const key = luaToJs(L, 2) as string;

      return createRecursiveNotImplemented(L, actions, [key]);

    });

    lua.lua_setfield(L, -2, to_luastring("__index"));

    lua.lua_setmetatable(L, -2);

    const statusLoad = lauxlib.luaL_loadstring(L, to_luastring(luaCode));

    if (statusLoad !== lua.LUA_OK) {

      const errorMsg = `Lua load error: ${luaToJs(L, -1)}`;

      error(errorMsg);

      return [];

    }

    lua.lua_pushvalue(L, -2);

    lua.lua_setupvalue(L, -2, 1);

    const statusCall = lua.lua_pcall(L, 0, lua.LUA_MULTRET, 0);

    if (statusCall !== lua.LUA_OK) {

      const errorMsg = `Lua call error: ${luaToJs(L, -1)}`;

      error(errorMsg);

      return [];

    }

    return actions;