Persistence

apps/api_server/src/twfarmbot_api_server/handlers/pin.py

@@ -2,14 +2,29 @@
 
 from __future__ import annotations
 
+from twfarmbot_core.config import load_yaml_config
 from twfarmbot_core.domain import Action
 
 from watering_service.backends import farmbot
 
 
+def _pin_mode(pin: int, requested: str | None) -> str:
+    """Return the requested pin mode, falling back to the configured mode."""
+    if requested:
+        return str(requested)
+    try:
+        pins = load_yaml_config().get("pins", []) or []
+        for p in pins:
+            if int(p.get("pin", -1)) == pin:
+                return str(p.get("mode", "digital"))
+    except Exception:  # noqa: BLE001
+        pass
+    return "digital"
+
+
 def handle_read_pin(action: Action) -> Action:
     pin = int(action.params["pin"])
-    mode = str(action.params.get("mode", "digital"))
+    mode = _pin_mode(pin, action.params.get("mode"))
     value = farmbot.backend.read_pin(pin, mode)
     return Action(kind=action.kind, params={
         "pin": pin, "mode": mode, "value": value
@@ -19,7 +34,7 @@ def handle_read_pin(action: Action) -> Action:
 def handle_write_pin(action: Action) -> Action:
     pin = int(action.params["pin"])
     value = int(action.params["value"])
-    mode = str(action.params.get("mode", "digital"))
+    mode = _pin_mode(pin, action.params.get("mode"))
     seconds = action.params.get("seconds")
     duration = None
     if value == 1 and seconds is not None:

apps/ui/src/twfarmbot_ui/app.py

@@ -1121,7 +1121,7 @@ def _render_io() -> None:
         cols = st.columns(min(3, len(sensors)))
         for i, s in enumerate(sensors):
             with cols[i]:
-                with st.container(border=True, height=170):
+                with st.container(border=True):
                     mode = s.get("mode", "analog")
                     st.markdown(
                         f"**{s['label']}**  <span class='pill'>{mode}</span>",
@@ -1151,7 +1151,7 @@ def _render_io() -> None:
     st.markdown("### ⚡ Actuators")
     a, b = st.columns(2)
     with a:
-        with st.container(border=True, height=320):
+        with st.container(border=True):
             st.markdown("**💧 Irrigation**")
             secs = st.number_input("Seconds", 0.1, 300.0, 2.0, 0.5, key="water_secs")
             if st.button("Water", use_container_width=True, type="primary"):
@@ -1167,7 +1167,7 @@ def _render_io() -> None:
             st.caption("Runs the pump for the selected duration.")
 
     with b:
-        with st.container(border=True, height=320):
+        with st.container(border=True):
             st.markdown("**🔌 Peripheral control**")
             outputs = [p for p in named if p.get("kind") != "sensor"]
             if not outputs:
@@ -1187,6 +1187,18 @@ def _render_io() -> None:
                     )
 
                     if mode == "analog":
+                        presets = sel.get("presets") or {}
+                        if presets:
+                            st.caption("Presets")
+                            preset_cols = st.columns(len(presets))
+                            for idx, (pval, plabel) in enumerate(sorted(presets.items(), key=lambda x: int(x[0]))):
+                                if preset_cols[idx].button(
+                                    f"{plabel} ({pval})",
+                                    use_container_width=True,
+                                    key=f"preset_{sel['pin']}_{pval}",
+                                ):
+                                    _do_pin_write(client, sel["pin"], int(pval), mode)
+
                         val_col, btn_col = st.columns([4, 1])
                         with val_col:
                             analog_value = st.slider(

configs/dev.yaml

@@ -7,7 +7,7 @@ log_level: INFO
 # the environment, or reference a different env var via api_key_env.
 planning:
   base_url: https://openrouter.ai/api/v1   # OpenAI-compatible endpoint
-  model: openai/gpt-4o-mini             # tool-calling model
+  model: ibm-granite/granite-4.1-8b           # tool-calling model
   api_key_env: PLANNING_LLM_API_KEY  # name of the env var that holds the secret
   timeout_s: 120                       # raise this for slower models
   temperature: 0.0
@@ -38,15 +38,16 @@ safety:
 watering:
   pump_pin: 7
 
-# Named pins for the UI: label → {pin, mode, kind, group}.
+# Named pins for the UI: label → {pin, mode, kind, group, presets}.
 #   kind: "valve" | "servo" | "sensor" | "io"
 #   group: shown as a column header in the pin grid
+#   presets (optional): value → label map for analog pins, e.g. {0: "Off", 120: "Cut"}
 # Every pin number must be unique; a single GPIO can't drive a valve and
 # read a sensor at the same time.
 pins:
 - {label: "Pump", pin: 7, mode: digital, kind: valve, group: "Water"}
 - {label: "Water solenoid", pin: 8, mode: digital, kind: valve, group: "Water"}
-- {label: "Cutting end effector", pin: 4, mode: analog, kind: io, group: "Tools"}
+- {label: "Cutting end effector", pin: 4, mode: analog, kind: io, group: "Tools", presets: {0: "Off", 120: "Cut", 255: "Max"}}
 - {label: "Tool servo", pin: 10, mode: digital, kind: servo, group: "Tools"}
 - {label: "Soil sensor", pin: 14, mode: analog, kind: sensor, group: "Sensors"}
 - {label: "Light sensor", pin: 15, mode: analog, kind: sensor, group: "Sensors"}

services/planning_service/planning_service/harness/context_builder.py

@@ -11,6 +11,7 @@
 from langchain_core.messages import AIMessage, HumanMessage, SystemMessage, ToolMessage
 
 from spatial_service import format_world_context
+from twfarmbot_core.config import load_yaml_config
 
 from .tool_policy import ToolCategory
 from .tool_registry import ToolRegistry
@@ -112,6 +113,7 @@ def __init__(
     def chat_system_prompt(self) -> str:
         parts = [_CHAT_HEADER]
         parts.append(self._render_tool_section())
+        parts.append(_format_pin_context())
         parts.append(_CHAT_FOOTER)
         if self._propose_only:
             parts.append(_PROPOSE_ONLY_APPENDIX)
@@ -125,6 +127,7 @@ def chat_system_prompt(self) -> str:
     def planner_system_prompt(self) -> str:
         parts = [_PLANNER_HEADER]
         parts.append(self._render_tool_section(for_planner=True))
+        parts.append(_format_pin_context())
         parts.append(_PLANNER_FOOTER)
         return "\n".join(parts)
 
@@ -225,3 +228,37 @@ def _render_tool_section(self, for_planner: bool = False) -> str:
                 lines.append(f"- `{d.name}` — {d.policy.description}{approval}")
 
         return "\n".join(lines)
+
+
+def _format_pin_context() -> str:
+    """Load named pins from config and format them for the system prompt."""
+    try:
+        pins = load_yaml_config().get("pins", []) or []
+    except Exception:  # noqa: BLE001
+        pins = []
+    if not pins:
+        return ""
+    lines = ["\nConfigured GPIO pins (single source of truth):"]
+    for p in pins:
+        label = p.get("label", "unknown")
+        pin = p.get("pin", "?")
+        mode = p.get("mode", "digital")
+        kind = p.get("kind", "io")
+        group = p.get("group", "")
+        group_text = f" · {group}" if group else ""
+        presets = p.get("presets") or {}
+        preset_text = ""
+        if presets:
+            preset_items = ", ".join(
+                f"{v}={lbl}" for v, lbl in sorted(presets.items(), key=lambda x: int(x[0]))
+            )
+            preset_text = f" · presets: {preset_items}"
+        lines.append(
+            f"- pin {pin} · {label} · mode={mode} · kind={kind}{group_text}{preset_text}"
+        )
+    lines.append(
+        "When calling read_pin or write_pin, use the configured mode for the pin "
+        "unless the user explicitly asks for a different mode. For analog pins, "
+        "use the named preset values when the user refers to them."
+    )
+    return "\n".join(lines)

services/planning_service/planning_service/tools.py

@@ -39,13 +39,31 @@ class FindHomeArgs(BaseModel):
 
 class ReadPinArgs(BaseModel):
     pin: int = Field(..., description="GPIO pin number to read.")
-    mode: str = Field(default="digital", description="'digital' or 'analog'.")
+    mode: str = Field(
+        default="digital",
+        description=(
+            "'digital' or 'analog'. If omitted, default to the mode configured "
+            "for this pin in the system config."
+        ),
+    )
 
 
 class WritePinArgs(BaseModel):
     pin: int = Field(..., description="GPIO pin number to write.")
-    value: int = Field(..., description="0 or 1.")
-    mode: str = Field(default="digital", description="'digital' or 'analog'.")
+    value: int = Field(
+        ...,
+        description=(
+            "Value to write. For digital pins use 0 or 1. For analog pins use "
+            "0..255 (PWM)."
+        ),
+    )
+    mode: str = Field(
+        default="digital",
+        description=(
+            "'digital' or 'analog'. If omitted, default to the mode configured "
+            "for this pin in the system config."
+        ),
+    )
 
 
 class MountToolArgs(BaseModel):