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Where Is the Latest Documentation?

If you are reading this document anywhere other than The official Github page, you may be reading old documentation. Please visit Github for the latest documentation.

Requirements

We tested this package with Python 3.8 and paho-mqtt 1.5.

It may work with earlier versions of Python, but Python 3.8 is the supported version. Please do not report bugs with earlier python versions.

Installation

FarmBot publishes the latest version of this package to PyPi. You can install the newest version with the following command:

pip install farmbot

Unit Testing

pip install -e .[dev]
pytest --cov=farmbot --cov-report html

Usage

from farmbot import Farmbot, FarmbotToken

# Before we begin, we must download an access token from the
# API. To avoid copy/pasting passwords, it is best to create
# an access token and then store that token securely:
raw_token = FarmbotToken.download_token("[email protected]",
                                        "password",
                                        "https://my.farm.bot")

# This token is then passed to the Farmbot constructor:
fb = Farmbot(raw_token)

# If you are just doing testing, such as local development,
# it is possible to skip token creation and login with email
# and password. This is not recommended for production devices:
# fb = Farmbot.login(email="[email protected]",
#                    password="pass",
#                    server="https://my.farm.bot")

# The next step is to call fb.connect(), but we are not ready
# to do that yet. Before we can call connect(), we must
# create a "handler" object. FarmBot control is event-based
# and the handler object is responsible for integrating all
# of those events into a custom application.
#
# At a minimum, the handler must respond to the following
# methods:
#     on_connect(self, bot: Farmbot, client: Mqtt) -> None
#     on_change(self, bot: Farmbot, state: Dict[Any, Any]) -> None
#     on_log(self, _bot: Farmbot, log: Dict[Any, Any]) -> None
#     on_error(self, _bot: Farmbot, _response: ErrorResponse) -> None
#     on_response(self, _bot: Farmbot, _response: OkResponse) -> None
#
# FarmBotPy will call the appropriate method whenever an event
# is triggered. For example, the method `on_log` will be
# called with the last log message every time a new log
# message is created.


class MyHandler:
    # The `on_connect` event is called whenever the device
    # connects to the MQTT server. You can place initialization
    # logic here.
    #
    # The callback is passed a FarmBot instance, plus an MQTT
    # client object (see Paho MQTT docs to learn more).
    def on_connect(self, bot, mqtt_client):
        # Once the bot is connected, we can send RPC commands.
        # Every RPC command returns a unique, random request
        # ID. Later on, we can use this ID to track our commands
        # as they succeed/fail (via `on_response` / `on_error`
        # callbacks):

        request_id1 = bot.move_absolute(x=10, y=20, z=30)
        # => "c580-6c-11-94-130002"
        print("MOVE_ABS REQUEST ID: " + request_id1)

        request_id2 = bot.send_message("Hello, world!")
        # => "2000-31-49-11-c6085c"
        print("SEND_MESSAGE REQUEST ID: " + request_id2)

    def on_change(self, bot, state):
        # The `on_change` event is most frequently triggered
        # event. It is called any time the device's internal
        # state changes. Example: Updating X/Y/Z position as
        # the device moves across the garden.
        # The bot maintains all this state in a single JSON
        # object that is broadcast over MQTT constantly.
        # It is a very large object, so we are printing it
        # only as an example.
        print("NEW BOT STATE TREE AVAILABLE:")
        print(state)
        # Since the state tree is very large, we offer
        # convenience helpers such as `bot.position()`,
        # which returns an (x, y, z) tuple of the device's
        # last known position:
        print("Current position: (%.2f, %.2f, %.2f)" % bot.position())
        # A less convenient method would be to access the state
        # tree directly:
        pos = state["location_data"]["position"]
        xyz = (pos["x"], pos["y"], pos["z"])
        print("Same information as before: " + str(xyz))

    # The `on_log` event fires every time a new log is created.
    # The callback receives a FarmBot instance, plus a JSON
    # log object. The most useful piece of information is the
    # `message` attribute, though other attributes do exist.
    def on_log(self, bot, log):
        print("New message from FarmBot: " + log['message'])

    # When a response succeeds, the `on_response` callback
    # fires. This callback is passed a FarmBot object, as well
    # as a `response` object. The most important part of the
    # `response` is `response.id`. This `id` will match the
    # original request ID, which is useful for cross-checking
    # pending operations.
    def on_response(self, bot, response):
        print("ID of successful request: " + response.id)

    # If an RPC request fails (example: stalled motors, firmware
    # timeout, etc..), the `on_error` callback is called.
    # The callback receives a FarmBot object, plus an
    # ErrorResponse object.
    def on_error(self, bot, response):
        # Remember the unique ID that was returned when we
        # called `move_absolute()` earlier? We can cross-check
        # the ID by calling `response.id`:
        print("ID of failed request: " + response.id)
        # We can also retrieve a list of error message(s) by
        # calling response.errors:
        print("Reason(s) for failure: " + str(response.errors))


# Now that we have a handler class to use, let's create an
# instance of that handler and `connect()` it to the FarmBot:
handler = MyHandler()

# Once `connect` is called, execution of all other code will
# be pause until an event occurs, such as logs, errors,
# status updates, etc..
# If you need to run other code while `connect()` is running,
# consider using tools like system threads or processes.
# See: `example_threads.py` for inspiration.
fb.connect(handler)
print("This line will not execute. `connect()` is a blocking call.")

Supported Remote Procedure Calls

The currently supported list of commands is below.

Please create an issue if you would to request a new command.

• bot.position() -> (x, y, z)
• bot.emergency_lock()
• bot.emergency_unlock()
• bot.factory_reset()
• bot.find_home()
• bot.find_length(axis="all")
• bot.flash_farmduino(package="farmduino") (or "arduino", "express_k10", "farmduino_k14")
• bot.go_to_home(axis="all", speed=100)
• bot.move_absolute(x, y, z, speed=100.0)
• bot.move_relative(x, y, z, speed=100)
• bot.power_off()
• bot.read_pin(pin_number, pin_mode="digital") (NOTE: Results appear in state tree)
• bot.read_status()
• bot.reboot()
• bot.reboot_farmduino()
• bot.send_message(msg, type="info")
• bot.set_servo_angle(pin_number, angle)
• bot.sync()
• bot.take_photo()
• bot.toggle_pin(pin_number)
• bot.update_farmbot_os()
• bot.write_pin(pin_number, pin_value, pin_mode="digital" )
• bot.lua(lua_string)

Not Yet Supported

• Ability to execute an existing sequence.
• REST resource management.

Building and Publishing the Package (For FarmBot Employees)

We follow a standard Pip / PyPI workflow. See this excelent tutorial for details.

python3 setup.py bdist_wheel sdist
twine upload dist/*