Add brand and images, fileserver for images, start to add arm queue
This commit is contained in:
parent
eca65dc0e0
commit
36249058ac
1
.gitignore
vendored
1
.gitignore
vendored
@ -3,6 +3,7 @@ venv
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__pycache__
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# cable data folder(s)
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cables
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cables_old
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cables-sample.zip
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# meilisearch (mainly where I've put the data volume for the container)
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meili_data
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BIN
cablesTF-1LF-006-RS5/part-hires.png
Normal file
BIN
cablesTF-1LF-006-RS5/part-hires.png
Normal file
Binary file not shown.
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After Width: | Height: | Size: 491 KiB |
27
config.yml
27
config.yml
@ -18,6 +18,9 @@ arm:
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limb3: 0.1
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limb_wrist: 0.0997
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cables:
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port: 7900
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directory: ./cables/ # must include trailing slash
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#cable_map:
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cameras:
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@ -30,7 +33,7 @@ led:
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timeout: 1
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controllers:
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- universe: 1
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ip: 192.168.1.5
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ip: 192.168.1.200
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ledstart: 0
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ledend: 143
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mode: rgb
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@ -74,11 +77,11 @@ led:
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ledstart: 1152
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ledend: 1295
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mode: rgb
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- universe: 0
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ip: 192.168.1.209
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ledstart: 1296
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ledend: 1365
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mode: rgbw
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# - universe: 0
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# ip: 192.168.1.209
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# ledstart: 1296
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# ledend: 1365
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# mode: rgbw
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map:
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@ -427,12 +430,12 @@ led:
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pos: [65.991, -190.5]
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# Strips
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- type: strip
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start: 1296
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size: 70
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length: 600
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angle: 270 # down
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pos: [375, 300]
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# - type: strip
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# start: 1296
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# size: 70
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# length: 600
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# angle: 270 # down
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# pos: [375, 300]
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global_position_offset: [0,0] # default coordinate spce below as center of arm at 0,0 - adjust if necessary
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animation_time: 200
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16
fileserver.py
Normal file
16
fileserver.py
Normal file
@ -0,0 +1,16 @@
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import http.server
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import socketserver
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import os
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def run_server(port, directory):
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"""
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Run a simple HTTP server serving files from the specified directory.
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"""
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# Change the working directory to the specified directory
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os.chdir(directory)
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# Create the HTTP server
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handler = http.server.SimpleHTTPRequestHandler
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with socketserver.TCPServer(("", port), handler) as httpd:
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print(f"Serving at port {port}")
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httpd.serve_forever()
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25
get_specs.py
25
get_specs.py
@ -159,8 +159,9 @@ def touch(path):
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def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
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def get_multi(partnums, delay, dir, webport, cache=True, bar=None):
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#with alive_bar(len(partnums) * 2, dual_line=True, calibrate=30, bar="classic2", spinner="classic", disable=True, file=sys.stdout) as bar:
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failed = list()
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actualpartnums = list()
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def _try_download_datasheet(partnum, output_dir, dstype): # Guess datasheet URL
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@ -253,7 +254,7 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
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os.remove(partnum + "/datasheet.pdf")
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sys.exit()
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def __use_cached_datasheet(partnum, path, output_dir, dstype):
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def __use_cached_datasheet(partnum, path, output_dir, dstype, weburl):
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fprint("Using cached datasheet for " + partnum)
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# bar.text = "Using cached datasheet for " + partnum
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# bar(skipped=True)
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@ -262,7 +263,7 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
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fprint("Parsing Datasheet contents of " + partnum)
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# bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
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out = read_datasheet.parse(path, output_dir, partnum, dstype)
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out = read_datasheet.parse(path, output_dir, partnum, dstype, weburl)
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# bar(skipped=False)
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return out
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else:
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@ -270,13 +271,13 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
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# bar.text = "Datasheet already parsed for " + partnum + ".pdf"
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# bar(skipped=True)
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def __downloaded_datasheet(partnum, path, output_dir, dstype):
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def __downloaded_datasheet(partnum, path, output_dir, dstype, weburl):
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fprint("Downloaded " + path)
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# bar.text = "Downloaded " + path
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# bar(skipped=False)
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fprint("Parsing Datasheet contents of " + partnum)
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# bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
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out = read_datasheet.parse(path, output_dir, partnum, dstype)
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out = read_datasheet.parse(path, output_dir, partnum, dstype, weburl)
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# bar(skipped=False)
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return out
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@ -289,6 +290,7 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
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partnum = partnum.replace("/","_")
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output_dir = dir + partnum
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path = output_dir + "/datasheet.pdf"
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weburl = ":" + str(webport) + "/" + partnum + "/"
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bartext = "Downloading files for part " + partnum
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# bar.text = bartext
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partnum = oldpartnum.replace("_","/")
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@ -311,26 +313,27 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
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if _download_image(search_result["image"], output_dir):
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fprint("Downloaded hi-res part image for " + partnum)
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returnval = [partnum, dstype, True, False]
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touch(output_dir + "/found_part_hires")
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os.remove(output_dir + "/parsed")
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touch(output_dir + "/found_part_hires")
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else:
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fprint("Using cached hi-res part image for " + partnum)
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# Download datasheet from provided URL if needed
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if os.path.exists(path) and os.path.getsize(path) > 1 and cache:
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out = __use_cached_datasheet(partnum, path, output_dir, dstype)
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out = __use_cached_datasheet(partnum, path, output_dir, dstype, weburl)
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returnval = [partnum, dstype, True, out]
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elif _download_datasheet(search_result["datasheet"], output_dir) is not False:
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out = __downloaded_datasheet(partnum, path, output_dir, dstype)
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out = __downloaded_datasheet(partnum, path, output_dir, dstype, weburl)
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returnval = [partnum, dstype, True, out]
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elif os.path.exists(path) and os.path.getsize(path) > 1 and cache:
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out = __use_cached_datasheet(partnum, path, output_dir, dstype)
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out = __use_cached_datasheet(partnum, path, output_dir, dstype, weburl)
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returnval = [partnum, dstype, True, out]
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# If search fails, and we don't already have the datasheet, guess datasheet URL and skip the hires image download
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elif _try_download_datasheet(partnum, output_dir, dstype) is not False:
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out = __downloaded_datasheet(partnum, path, output_dir, dstype)
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out = __downloaded_datasheet(partnum, path, output_dir, dstype, weburl)
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returnval = [partnum, dstype, False, out]
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# Failed to download with search or guess :(
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@ -342,7 +345,7 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
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# We already have a hi-res image and the datasheet - perfect!
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else:
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fprint("Using cached hi-res part image for " + partnum)
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out = __use_cached_datasheet(partnum, path, output_dir, dstype)
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out = __use_cached_datasheet(partnum, path, output_dir, dstype, weburl)
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returnval = [partnum, dstype, False, out]
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actualpartnums.append(returnval)
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return True
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@ -1 +1 @@
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Subproject commit f3d8ec0cc421cb8f8b7bb4b30339f3663f70b297
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Subproject commit 4cea1b08329761fa5485686e0ff0871730f73820
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@ -157,11 +157,12 @@ class LEDSystem():
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# controller mapping
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for ctrl in self.config["led"]["controllers"]:
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if len(self.controllers) < ctrl["universe"]+1:
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for x in range(ctrl["universe"]+1 - len(self.controllers)):
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if len(self.controllers) < ctrl["universe"]:
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print(ctrl["universe"])
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for x in range(ctrl["universe"] - len(self.controllers)):
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self.controllers.append(None)
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self.controllers[ctrl["universe"]] = (ctrl["ledstart"],ctrl["ledend"]+1,ctrl["ip"])
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self.controllers[ctrl["universe"]-1] = (ctrl["ledstart"],ctrl["ledend"]+1,ctrl["ip"])
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for x in range(ctrl["ledstart"],ctrl["ledend"]+1):
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self.leds_size[x] = len(ctrl["mode"])
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#fprint(controllers)
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@ -201,7 +202,7 @@ class LEDSystem():
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time.sleep(1)
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for x in range(len(self.controllers)):
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print("Activating controller", x, "at", self.controllers[x][2], "with", self.controllers[x][1]-self.controllers[x][0], "LEDs.")
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print("Activating controller", x+1, "at", self.controllers[x][2], "with", self.controllers[x][1]-self.controllers[x][0], "LEDs.")
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self.sender.activate_output(x+1) # start sending out data
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self.sender[x+1].destination = self.controllers[x][2]
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self.sender.manual_flush = True
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@ -246,7 +247,7 @@ class LEDSystem():
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def fastsendall(self, datain):
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# send all LED data to all controllers
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# data must have all LED data in it as [(R,G,B,)] tuples in an array, 1 tuple per pixel
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self.sender.manual_flush = False
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self.sender.manual_flush = True
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#print(datain[self.controllers[0][0]:self.controllers[0][1]])
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for x in range(len(self.controllers)):
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self.sender[x+1].dmx_data = list(sum(datain[self.controllers[x][0]:self.controllers[x][1]] , ())) # flatten the subsection of the data array
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@ -528,15 +529,21 @@ class LEDSystem():
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self.sender.stop()
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return self
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def mapimage(self, image, fps=90):
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while uptime() - self.start < 1/fps:
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time.sleep(0.00001)
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def mapimage(self, image, fps=30):
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#fprint(1 / (uptime() - self.start))
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self.start = uptime()
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minsize = min(image.shape[0:2])
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leds_normalized2 = [(x * minsize,
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y * minsize)
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for x, y in self.leds_normalized]
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if image.shape[1] > image.shape[0]:
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offset = (image.shape[1] - image.shape[0])/2
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leds_normalized2 = [(x * minsize + offset,
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y * minsize)
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for x, y in self.leds_normalized]
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else:
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offset = (image.shape[0] - image.shape[1])/2
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leds_normalized2 = [(x * minsize,
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y * minsize + offset)
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for x, y in self.leds_normalized]
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cv2.imshow("video", image)
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cv2.waitKey(1)
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@ -563,6 +570,8 @@ class LEDSystem():
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#avgy /= len(leds)
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#print((avgx,avgy, max([led[0] for led in leds_adj]), max([led[1] for led in leds_adj]) , min(image.shape[0:2]) ))
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self.fastsendall(self.data)
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while self.start + 1.0/fps > uptime():
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time.sleep(0.00001)
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return self
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def mainloop(self, stmode, ring = -1, fps = 100, preview = False):
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@ -646,12 +655,12 @@ if __name__ == "__main__":
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import matplotlib.pyplot as plt
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ledsys = LEDSystem()
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ledsys.init()
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cap = cv2.VideoCapture('output.mp4')
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cap = cv2.VideoCapture('badapple.mp4')
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while cap.isOpened():
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ret, frame = cap.read()
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if not ret:
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break
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ledsys.mapimage(frame, fps=90)
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ledsys.mapimage(frame, fps=120)
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show = False
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ring = 1
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BIN
map.png
BIN
map.png
Binary file not shown.
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Before Width: | Height: | Size: 376 KiB After Width: | Height: | Size: 340 KiB |
@ -37,7 +37,7 @@ def extract_table_name(table_start, searchpage, reader, dstype, fallbackname):
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ymax = table_start + 10
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elif dstype == "Alphawire":
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ymin = table_start - 5
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ymax = table_start + 10
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ymax = table_start + 20
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page = reader.pages[searchpage - 1]
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parts = []
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def visitor_body(text, cm, tm, fontDict, fontSize):
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@ -52,14 +52,30 @@ def extract_table_name(table_start, searchpage, reader, dstype, fallbackname):
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return text_body
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#fprint(text_body)
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def parse(filename, output_dir, partnum, dstype):
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def find_file_noext(directory, prefix="part-hires"):
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"""
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Find files in the specified directory that start with the given prefix and have any extension.
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:param directory: The directory to search in.
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:param prefix: The prefix to search for.
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:return: A list of matching file names.
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"""
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# Get all files and directories in the specified directory
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entries = os.listdir(directory)
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# Filter files that match 'filename.EXTENSION'
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matching_files = [file for file in entries if os.path.isfile(os.path.join(directory, file)) and file.split('.')[0] == prefix and len(file.split('.')) == 2]
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print(directory, matching_files)
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return matching_files
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def parse(filename, output_dir, partnum, dstype, weburl):
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tables = []
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# Extract table data
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try:
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if dstype == "Belden":
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tables = camelot.read_pdf(filename, pages="1-end", flavor='lattice', backend="ghostscript", split_text=False, line_scale=100, process_background=True, resolution=600, interations=1, layout_kwargs={'detect_vertical': False, 'char_margin': 0.5}, shift_text=['r', 't'])
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elif dstype == "Alphawire":
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tables = camelot.read_pdf(filename, pages="1-end", flavor='lattice', backend="ghostscript", split_text=False, line_scale=50, process_background=True, resolution=600, interations=1, layout_kwargs={'detect_vertical': True, 'char_margin': 0.5}, shift_text=['l', 't'])
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tables = camelot.read_pdf(filename, pages="1-end", flavor='lattice', backend="ghostscript", split_text=False, line_scale=50, process_background=True, resolution=600, interations=1, layout_kwargs={'detect_vertical': True, 'char_margin': 0.5}, shift_text=['l', 'b'])
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except (OSError, RuntimeError) as e:
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print(e)
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if win32:
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@ -95,11 +111,26 @@ def parse(filename, output_dir, partnum, dstype):
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#fprint(table_start)
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text_body = extract_table_name(table_start, table.page, reader, dstype, n)
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#print(text_body)
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table_list[text_body] = table.df
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#print(table_list[text_body])
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if dstype == "Alphawire":
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table_list_raw[text_body] = table
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def reorder_row(row):
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# Filter out NaNs and compute the original non-NaN values
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non_nans = row[~row.isnull()]
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# Create a new row with NaNs filled at the end
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new_row = pd.Series(index=row.index)
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new_row[:len(non_nans)] = non_nans
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return new_row
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# Apply the function to each row and return a new DataFrame
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#table_list[text_body] = table.df.apply(reorder_row, axis=1)
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#print(table_list[text_body])
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table_list_raw[text_body] = table
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#print(tbl)
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#table.to_html("table" + str(n) + ".html")
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#fprint(table.df)
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@ -133,6 +164,13 @@ def parse(filename, output_dir, partnum, dstype):
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with open(output_dir + "/brand.png", "wb") as fp:
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fp.write(image_file_object.data)
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count += 1
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if os.path.exists(output_dir + "/found_part_hires"):
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img = weburl + find_file_noext(output_dir, prefix="part-hires")[0]
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elif len(find_file_noext(output_dir, prefix="part")) > 0:
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img = weburl + find_file_noext(output_dir, prefix="part")[0]
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else:
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img = None
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# Table parsing and reordring
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tables = dict()
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@ -141,6 +179,7 @@ def parse(filename, output_dir, partnum, dstype):
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#print(table_list.keys())
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for table_name in table_list.keys():
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# determine shape: horizontal or vertical
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#print(table_name)
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table = table_list[table_name]
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rows = table.shape[0]
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cols = table.shape[1]
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@ -177,11 +216,11 @@ def parse(filename, output_dir, partnum, dstype):
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if dstype == "Alphawire" and table_name_2.find("\n") >= 0:
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torename[table_name_2] = table_name_2[0:table_name_2.find("\n")]
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if dstype == "Alphawire" and table_name_2.find(table.iloc[-1, 0]) >= 0:
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# Name taken from table directly above - this table does not have a name
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torename[table_name_2] = "Specs " + str(len(tables))
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#table_list["Specs " + str(len(tables))] = table_list[table_name_2] # rename table to arbitrary altername name
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break
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# if dstype == "Alphawire" and table_name_2.find(table.iloc[-1, 0]) >= 0:
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# # Name taken from table directly above - this table does not have a name
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# torename[table_name_2] = "Specs " + str(len(tables))
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# #table_list["Specs " + str(len(tables))] = table_list[table_name_2] # rename table to arbitrary altername name
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# break
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if vertical:
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out = dict()
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@ -199,9 +238,9 @@ def parse(filename, output_dir, partnum, dstype):
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out[col_data[0].replace("\n", " ")] = col_data[1:]
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|
||||
tables[table_name] = out
|
||||
|
||||
#print(out)
|
||||
# multi-page table check, Alphawire
|
||||
if dstype == "Alphawire" and table_name.isdigit():
|
||||
if dstype == "Alphawire" and table_name.isdigit() and previous_table != "":
|
||||
# table continues from previous page or has name on previous page
|
||||
thistbl = table_list_raw[table_name]
|
||||
prevtbl = table_list_raw[previous_table]
|
||||
@ -294,15 +333,20 @@ def parse(filename, output_dir, partnum, dstype):
|
||||
tables = replace_newlines_in_dict(tables)
|
||||
|
||||
# summary
|
||||
|
||||
#print(tables)
|
||||
output_table = dict()
|
||||
output_table["partnum"] = partnum
|
||||
id = str(uuid.uuid4())
|
||||
output_table["id"] = id
|
||||
#output_table["position"] = id
|
||||
#output_table["brand"] = brand
|
||||
output_table["fullspecs"] = {"partnum": partnum, "id": id, **tables}
|
||||
output_table["searchspecs"] = {"partnum": partnum, **flatten(tables)}
|
||||
output_table["brand"] = dstype
|
||||
if img is not None:
|
||||
output_table["image"] = img
|
||||
output_table["fullspecs"] = {"partnum": partnum, "id": id, "brand": dstype, "image": img, **tables}
|
||||
output_table["searchspecs"] = {"partnum": partnum, "brand": dstype, "image": img, **flatten(tables)}
|
||||
else:
|
||||
output_table["fullspecs"] = {"partnum": partnum, "id": id, "brand": dstype, **tables}
|
||||
output_table["searchspecs"] = {"partnum": partnum, "brand": dstype, **flatten(tables)}
|
||||
|
||||
output_table["searchspecs"]["id"] = id
|
||||
|
||||
@ -380,4 +424,4 @@ def flatten(tables):
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
print(parse("cables/3050/datasheet.pdf", "cables/3050", "3050", "Alphawire"))
|
||||
print(parse("cables/3050/datasheet-new.pdf", "cables/3050", "3050", "Alphawire"))
|
||||
27
run.py
27
run.py
@ -29,6 +29,7 @@ from search import JukeboxSearch
|
||||
#multiprocessing.set_start_method('spawn', True)
|
||||
from pyModbusTCP.client import ModbusClient
|
||||
from uptime import uptime
|
||||
import fileserver
|
||||
|
||||
# set to false to run without real hardware for development
|
||||
real = False
|
||||
@ -161,7 +162,11 @@ def check_server():
|
||||
tmp = list()
|
||||
for idx in range(len(cable_list)):
|
||||
if cable_list[idx] is not False:
|
||||
tmp1 = {"part_number": cable_list[idx], "position": idx, "name": cable_list[idx], "brand": "Belden", "description": "Blah", "short_description": "Bla"}
|
||||
cabledata = jbs.get_position(str(idx))
|
||||
if "image" in cabledata:
|
||||
tmp1 = {"part_number": cable_list[idx], "position": idx, "name": cable_list[idx], "brand": cabledata["brand"], "image": cabledata["image"], "description": "Blah", "short_description": "Bla"}
|
||||
else:
|
||||
tmp1 = {"part_number": cable_list[idx], "position": idx, "name": cable_list[idx], "brand": cabledata["brand"], "description": "Blah", "short_description": "Bla"}
|
||||
tmp.append(tmp1)
|
||||
out = {"map": tmp}
|
||||
fprint(out)
|
||||
@ -354,6 +359,9 @@ def setup_server(pool):
|
||||
fprint("Starting websocket server...", sendqueue=to_server_queue)
|
||||
websocket_process = server.start_websocket_server(to_server_queue, from_server_queue)
|
||||
|
||||
fprint("Starting image file server...", sendqueue=to_server_queue)
|
||||
image_server_process = Process(target=fileserver.run_server, args=(config["cables"]["port"], config["cables"]["directory"]))
|
||||
image_server_process.start()
|
||||
return True
|
||||
|
||||
def handle_error(error):
|
||||
@ -379,13 +387,18 @@ def get_sensors():
|
||||
out = list()
|
||||
if real:
|
||||
for reg in [352, 288, 304, 368]:
|
||||
val = mbconn.read_holding_registers(reg)[0]
|
||||
if val == 1:
|
||||
out.append(1)
|
||||
else:
|
||||
out.append(0)
|
||||
val = mbconn.read_holding_registers(reg)
|
||||
if val is not None:
|
||||
val = val[0]
|
||||
if val == 1:
|
||||
out.append(1)
|
||||
else:
|
||||
out.append(0)
|
||||
else:
|
||||
out = [0, 0, 0, 0]
|
||||
|
||||
if len(out) != 4:
|
||||
return -1
|
||||
sensors = out
|
||||
#fprint("Values: " + str(sensors))
|
||||
#mbconn.close()
|
||||
@ -538,7 +551,7 @@ def mainloop_server(pool):
|
||||
for idx in range(len(cable_list)):
|
||||
cable_list_state.append(True)
|
||||
|
||||
pool.apply_async(get_specs.get_multi, (cable_list, 0.3), callback=cable_search_callback, error_callback=handle_error)
|
||||
pool.apply_async(get_specs.get_multi, (cable_list, 0.3, config["cables"]["directory"], config["cables"]["port"]), callback=cable_search_callback, error_callback=handle_error)
|
||||
mode = "Parsing"
|
||||
fprint("All cables scanned. Finding & parsing datasheets...")
|
||||
if mode == "Parsing":
|
||||
|
||||
76
table0.html
Normal file
76
table0.html
Normal file
@ -0,0 +1,76 @@
|
||||
<table border="1" class="dataframe">
|
||||
<thead>
|
||||
<tr style="text-align: right;">
|
||||
<th></th>
|
||||
<th>1</th>
|
||||
<th>2</th>
|
||||
<th>3</th>
|
||||
<th>4</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<th>2</th>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>Diameters\n(In)</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>4</th>
|
||||
<td>1) Component\n1\n1 X 1 HOOKUP</td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>6</th>
|
||||
<td>a) Conductor\n24\n(7/32) AWG Tinned Copper</td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>0.024</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>8</th>
|
||||
<td>b)\nInsulation\n0.016" Wall, Nom. PVC</td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>0.056+/-\n0.002</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>10</th>
|
||||
<td></td>
|
||||
<td>(1) Print</td>
|
||||
<td>ALPHA WIRE\nE163869-* RU AWM STYLES\n1569\n105C\nOR 1007\n80C 300V VW-1\nIEC 60332-2\n24 AWG\nOR CRU TR-64\n90C FT1 CE ROHS\n{0}\n* = Factory Code</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>12</th>
|
||||
<td></td>
|
||||
<td>(2) Color(s)</td>
|
||||
<td>WHITE, BLACK, GREEN,\nYELLOW, BLUE, BROWN, ORANGE\nSLATE, VIOLET, WHITE/BLACK, WHITE/RED</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>13</th>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>WHITE/GREEN, WHITE/YELLOW, WHITE/BLUE\nWHITE/BROWN, WHITE/ORANGE, WHITE/SLATE\nWHITE/VIOLET, GREEN/YELLOW,\nPINK, DK. BLUE</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>14</th>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>BROWN/BLACK, WHITE/PINK, BROWN/GREEN, BROWN/BLUE</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>15</th>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>RED</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
46
table1.html
Normal file
46
table1.html
Normal file
@ -0,0 +1,46 @@
|
||||
<table border="1" class="dataframe">
|
||||
<thead>
|
||||
<tr style="text-align: right;">
|
||||
<th></th>
|
||||
<th>1</th>
|
||||
<th>2</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<th>2</th>
|
||||
<td>1) UL</td>
|
||||
<td>AWM/STYLE\n1007\n80°C /\n300 VRMS</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>4</th>
|
||||
<td></td>
|
||||
<td>AWM/STYLE\n1569\n105°C /\n300 VRMS</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>6</th>
|
||||
<td></td>
|
||||
<td>VW-1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>8</th>
|
||||
<td>2) CSA International</td>
|
||||
<td>TR-64\n90°C</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>10</th>
|
||||
<td></td>
|
||||
<td>FT1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>12</th>
|
||||
<td>3)\nIEC</td>
|
||||
<td>EN 60332-2\nFlame Behavior</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>14</th>
|
||||
<td>4) CE:</td>
|
||||
<td>EU Low Voltage Directive\n2014/35/EU</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
60
table2.html
Normal file
60
table2.html
Normal file
@ -0,0 +1,60 @@
|
||||
<table border="1" class="dataframe">
|
||||
<thead>
|
||||
<tr style="text-align: right;">
|
||||
<th></th>
|
||||
<th>1</th>
|
||||
<th>2</th>
|
||||
<th>4</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<th>2</th>
|
||||
<td>1)\nEU Directive\n2011/65/EU(RoHS2),\nEU Directive\n2015/863/EU (RoHS3):</td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>4</th>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>All materials used in the manufacture of\nthis part\nare\nin compliance with European Directive\n2011/65/EU</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>5</th>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>and the\namending Directive\n2015/863/EU of\n4\nJune\n2015\nregarding the\nrestriction of use of\ncertain</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>6</th>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>hazardous\nsubstances\nin electrical\nand electronic\nequipment.</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>7</th>
|
||||
<td>2) REACH Regulation (EC 1907/2006):</td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>8</th>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>This product does not\ncontain Substances of Very High Concern (SVHC)\nlisted on the\nEuropean Union's</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>9</th>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>REACH candidate\nlist\nin excess of\n0.1% mass of\nthe\nitem.</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>11</th>
|
||||
<td></td>
|
||||
<td>3) California Proposition 65:</td>
|
||||
<td>This product may\ncontain substances\nknown to the\nState of California\nto cause Cancer or Reproductive\nHarm, but\nis\nexempt\nfrom labeling based on the Consent\nJudgement.\nSee\nthe Alpha Wire website\nfor more\ninformation.</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
60
table3.html
Normal file
60
table3.html
Normal file
@ -0,0 +1,60 @@
|
||||
<table border="1" class="dataframe">
|
||||
<thead>
|
||||
<tr style="text-align: right;">
|
||||
<th></th>
|
||||
<th>1</th>
|
||||
<th>2</th>
|
||||
<th>3</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<th>2</th>
|
||||
<td></td>
|
||||
<td>Physical & Mechanical Properties</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>4</th>
|
||||
<td>1)\nTemperature Range</td>
|
||||
<td></td>
|
||||
<td>-40\nto 105°C</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>6</th>
|
||||
<td>2) Bend Radius</td>
|
||||
<td></td>
|
||||
<td>10X Cable Diameter</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>8</th>
|
||||
<td>3) Pull\nTension</td>
|
||||
<td></td>
|
||||
<td>3.5\nLbs, Maximum</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>9</th>
|
||||
<td></td>
|
||||
<td>Electrical Properties\n(For\nEngineering purposes only)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>11</th>
|
||||
<td>1) Voltage Rating</td>
|
||||
<td></td>
|
||||
<td>300 VRMS</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>13</th>
|
||||
<td>2)\nInductance</td>
|
||||
<td></td>
|
||||
<td>0.07 μH/ft, Nominal</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>15</th>
|
||||
<td>3) Conductor DCR</td>
|
||||
<td></td>
|
||||
<td>25 Ω/1000ft @20°C, Nominal</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
18
table4.html
Normal file
18
table4.html
Normal file
@ -0,0 +1,18 @@
|
||||
<table border="1" class="dataframe">
|
||||
<thead>
|
||||
<tr style="text-align: right;">
|
||||
<th></th>
|
||||
<th>1</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<th>2</th>
|
||||
<td>Packaging\nFlange\nx\nTraverse\nx Barrel\n(inches)</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>3</th>
|
||||
<td>a)\n32800\nFT\n23\nx\n15\nx\n0 Max.\n4\nseparate pieces; Min length/piece\n10000\nFT.\nb)\n10000\nFT\n12\nx\n5.94\nx\n5 Max.\n3\nseparate pieces; Min length/piece\n1000\nFT.\nc)\n5000\nFT\n10.5\nx\n5\nx\n3.5 Continuous\nlength\nd)\n1000\nFT\n6.5\nx\n2\nx\n1.9 Continuous\nlength\ne)\n100\nFT\n2.75\nx\n2\nx\n1.125 Continuous\nlength\n \n[Spool\ndimensions may\nvary\nslightly]\nNotes:\na) Certain color\nand put-up combinations may only be\navailable by\nspecial order. Minimums may\napply.\nb)\nTolerance on 32800\nft. Put-Up is +/-\n10%</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
@ -10,7 +10,7 @@ import yaml
|
||||
import sys
|
||||
from util import fprint
|
||||
from pyModbusTCP.client import ModbusClient
|
||||
|
||||
from multiprocessing import Queue
|
||||
import subprocess
|
||||
from util import win32
|
||||
|
||||
@ -20,6 +20,7 @@ class Rob():
|
||||
robot = None
|
||||
#offset_x, offset_y, offset_z = (0, 0, 0.14) # Tool offset
|
||||
#
|
||||
pos_updates = Queue()
|
||||
def __init__(self, config):
|
||||
self.config = config
|
||||
armc = config["arm"]
|
||||
@ -91,7 +92,6 @@ def connect(robot):
|
||||
|
||||
def init_arm(robot):
|
||||
robot = connect(robot)
|
||||
|
||||
# init urx
|
||||
|
||||
#rob.set_payload(2, (0, 0, 0.1))
|
||||
@ -510,7 +510,7 @@ def holder_routine(robot, holder_index, pick_up, verbose=False):
|
||||
goto_holder_index(robot, holder_index, 0.05, use_closest_path=False)
|
||||
else:
|
||||
goto_holder_index(robot, holder_index, 0.2, use_closest_path=False)
|
||||
|
||||
robot.pos_updates.put(1)
|
||||
if pick_up:
|
||||
open_gripper()
|
||||
|
||||
@ -530,7 +530,7 @@ def holder_routine(robot, holder_index, pick_up, verbose=False):
|
||||
new_pos[2] = 0.2
|
||||
rob.movel(new_pos, vel=2, acc=1)
|
||||
was_flipped = is_flipped(robot)
|
||||
|
||||
robot.pos_updates.put(2)
|
||||
# goto_holder_index(robot, 25, z=0.2)
|
||||
def pick_up_holder(robot, holder_index, verbose=False):
|
||||
holder_routine(robot, holder_index, True, verbose=verbose)
|
||||
@ -613,6 +613,7 @@ def drop_off_tray(robot, slot=0):
|
||||
|
||||
|
||||
def return_routine(robot, slot, holder_index=None, verbose=False):
|
||||
# OLD UNUSED
|
||||
robot = connect(robot)
|
||||
rob = robot.robot
|
||||
|
||||
@ -697,6 +698,12 @@ def close_gripper():
|
||||
c.close()
|
||||
#
|
||||
|
||||
def get_position_thread(robot):
|
||||
robot = connect(robot)
|
||||
rob = robot.robot
|
||||
vals = rob.getl()
|
||||
robot.pos_updates.put(tuple(vals))
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
#init("192.168.1.145")
|
||||
|
||||
@ -150,7 +150,7 @@
|
||||
setInterval(updateClock, 100);
|
||||
|
||||
</script>
|
||||
|
||||
<iframe src="http://192.168.1.12:3000/d-solo/cdiqwmlr8c9ogf/sensors?orgId=1&refresh=5s&from=1714431825720&to=1714433625721&theme=light&panelId=7" width="450" height="200" frameborder="0"></iframe>
|
||||
</body>
|
||||
|
||||
</html>
|
||||
Loading…
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Reference in New Issue
Block a user