Add brand and images, fileserver for images, start to add arm queue

.gitignore

@@ -3,6 +3,7 @@ venv
 __pycache__
 # cable data folder(s)
 cables
+cables_old
 cables-sample.zip
 # meilisearch (mainly where I've put the data volume for the container)
 meili_data

config.yml

@@ -18,6 +18,9 @@ arm:
     limb3: 0.1
     limb_wrist: 0.0997
 
+cables:
+  port: 7900
+  directory: ./cables/ # must include trailing slash
 
 #cable_map:
 cameras:
@@ -30,7 +33,7 @@ led:
   timeout: 1
   controllers:
     - universe: 1
-      ip: 192.168.1.5
+      ip: 192.168.1.200
       ledstart: 0
       ledend: 143
       mode: rgb
@@ -74,11 +77,11 @@ led:
       ledstart: 1152
       ledend: 1295
       mode: rgb
-    - universe: 0
+    # - universe: 0
-      ip: 192.168.1.209
+    #   ip: 192.168.1.209
-      ledstart: 1296
+    #   ledstart: 1296
-      ledend: 1365
+    #   ledend: 1365
-      mode: rgbw
+    #   mode: rgbw
     
 
   map:
@@ -427,12 +430,12 @@ led:
       pos: [65.991, -190.5]
 
     # Strips
-    - type: strip
+    # - type: strip
-      start: 1296
+    #   start: 1296
-      size: 70
+    #   size: 70
-      length: 600
+    #   length: 600
-      angle: 270 # down
+    #   angle: 270 # down
-      pos: [375, 300]
+    #   pos: [375, 300]
 
 global_position_offset: [0,0] # default coordinate spce below as center of arm at 0,0 - adjust if necessary
 animation_time: 200

fileserver.py

@@ -0,0 +1,16 @@
+import http.server
+import socketserver
+import os
+
+def run_server(port, directory):
+    """
+    Run a simple HTTP server serving files from the specified directory.
+    """
+    # Change the working directory to the specified directory
+    os.chdir(directory)
+
+    # Create the HTTP server
+    handler = http.server.SimpleHTTPRequestHandler
+    with socketserver.TCPServer(("", port), handler) as httpd:
+        print(f"Serving at port {port}")
+        httpd.serve_forever()

get_specs.py

@@ -159,8 +159,9 @@ def touch(path):
 
 
 
-def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
+def get_multi(partnums, delay, dir, webport, cache=True, bar=None):
     #with alive_bar(len(partnums) * 2, dual_line=True, calibrate=30, bar="classic2", spinner="classic", disable=True, file=sys.stdout) as bar:
+        
         failed = list()
         actualpartnums = list()
         def _try_download_datasheet(partnum, output_dir, dstype): # Guess datasheet URL
@@ -253,7 +254,7 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
                 os.remove(partnum + "/datasheet.pdf")
                 sys.exit()
 
-        def __use_cached_datasheet(partnum, path, output_dir, dstype):
+        def __use_cached_datasheet(partnum, path, output_dir, dstype, weburl):
             fprint("Using cached datasheet for " + partnum)
             # bar.text = "Using cached datasheet for " + partnum
             # bar(skipped=True)
@@ -262,7 +263,7 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
                 fprint("Parsing Datasheet contents of " + partnum)
                 # bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
             
-                out = read_datasheet.parse(path, output_dir, partnum, dstype)
+                out = read_datasheet.parse(path, output_dir, partnum, dstype, weburl)
                 # bar(skipped=False) 
                 return out
             else:
@@ -270,13 +271,13 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
                 # bar.text = "Datasheet already parsed for " + partnum + ".pdf"
                 # bar(skipped=True)
 
-        def __downloaded_datasheet(partnum, path, output_dir, dstype):
+        def __downloaded_datasheet(partnum, path, output_dir, dstype, weburl):
             fprint("Downloaded " + path)
             # bar.text = "Downloaded " + path
             # bar(skipped=False)
             fprint("Parsing Datasheet contents of " + partnum)
             # bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
-            out = read_datasheet.parse(path, output_dir, partnum, dstype)
+            out = read_datasheet.parse(path, output_dir, partnum, dstype, weburl)
             # bar(skipped=False)
             return out
 
@@ -289,6 +290,7 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
                 partnum = partnum.replace("/","_")
             output_dir = dir + partnum
             path = output_dir + "/datasheet.pdf"
+            weburl = ":" + str(webport) + "/" + partnum + "/"
             bartext = "Downloading files for part " + partnum
             # bar.text = bartext
             partnum = oldpartnum.replace("_","/")
@@ -311,26 +313,27 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
                         if _download_image(search_result["image"], output_dir):
                             fprint("Downloaded hi-res part image for " + partnum)
                             returnval = [partnum, dstype, True, False]
-                        touch(output_dir + "/found_part_hires")
+                            os.remove(output_dir + "/parsed")
+                            touch(output_dir + "/found_part_hires")
                     else:
                         fprint("Using cached hi-res part image for " + partnum)
 
                     # Download datasheet from provided URL if needed
                     if os.path.exists(path) and os.path.getsize(path) > 1 and cache:
-                        out = __use_cached_datasheet(partnum, path, output_dir, dstype)
+                        out = __use_cached_datasheet(partnum, path, output_dir, dstype, weburl)
                         returnval = [partnum, dstype, True, out]
 
                     elif _download_datasheet(search_result["datasheet"], output_dir) is not False:
-                        out = __downloaded_datasheet(partnum, path, output_dir, dstype)
+                        out = __downloaded_datasheet(partnum, path, output_dir, dstype, weburl)
                         returnval = [partnum, dstype, True, out]
                 
                 elif os.path.exists(path) and os.path.getsize(path) > 1 and cache:
-                    out = __use_cached_datasheet(partnum, path, output_dir, dstype)
+                    out = __use_cached_datasheet(partnum, path, output_dir, dstype, weburl)
                     returnval = [partnum, dstype, True, out]
                 
                 # If search fails, and we don't already have the datasheet, guess datasheet URL and skip the hires image download
                 elif _try_download_datasheet(partnum, output_dir, dstype) is not False:
-                    out = __downloaded_datasheet(partnum, path, output_dir, dstype)
+                    out = __downloaded_datasheet(partnum, path, output_dir, dstype, weburl)
                     returnval = [partnum, dstype, False, out]
 
                 # Failed to download with search or guess :(
@@ -342,7 +345,7 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
             # We already have a hi-res image and the datasheet - perfect!
             else:
                 fprint("Using cached hi-res part image for " + partnum)
-                out = __use_cached_datasheet(partnum, path, output_dir, dstype)
+                out = __use_cached_datasheet(partnum, path, output_dir, dstype, weburl)
                 returnval = [partnum, dstype, False, out]
                 actualpartnums.append(returnval)
                 return True

jukebox-web

@@ -1 +1 @@
-Subproject commit f3d8ec0cc421cb8f8b7bb4b30339f3663f70b297
+Subproject commit 4cea1b08329761fa5485686e0ff0871730f73820

led_control.py

@@ -157,11 +157,12 @@ class LEDSystem():
 
         # controller mapping
         for ctrl in self.config["led"]["controllers"]:
-            if len(self.controllers) < ctrl["universe"]+1:
+            if len(self.controllers) < ctrl["universe"]:
-                for x in range(ctrl["universe"]+1 - len(self.controllers)):
+                print(ctrl["universe"])
+                for x in range(ctrl["universe"] - len(self.controllers)):
                     self.controllers.append(None)
 
-            self.controllers[ctrl["universe"]] = (ctrl["ledstart"],ctrl["ledend"]+1,ctrl["ip"])
+            self.controllers[ctrl["universe"]-1] = (ctrl["ledstart"],ctrl["ledend"]+1,ctrl["ip"])
             for x in range(ctrl["ledstart"],ctrl["ledend"]+1):
                 self.leds_size[x] = len(ctrl["mode"])
         #fprint(controllers)
@@ -201,7 +202,7 @@ class LEDSystem():
                 
         time.sleep(1)
         for x in range(len(self.controllers)):
-            print("Activating controller", x, "at", self.controllers[x][2], "with", self.controllers[x][1]-self.controllers[x][0], "LEDs.")
+            print("Activating controller", x+1, "at", self.controllers[x][2], "with", self.controllers[x][1]-self.controllers[x][0], "LEDs.")
             self.sender.activate_output(x+1)  # start sending out data
             self.sender[x+1].destination = self.controllers[x][2]
         self.sender.manual_flush = True
@@ -246,7 +247,7 @@ class LEDSystem():
     def fastsendall(self, datain):
         # send all LED data to all controllers
         # data must have all LED data in it as [(R,G,B,)] tuples in an array, 1 tuple per pixel
-        self.sender.manual_flush = False
+        self.sender.manual_flush = True
         #print(datain[self.controllers[0][0]:self.controllers[0][1]])
         for x in range(len(self.controllers)):
             self.sender[x+1].dmx_data = list(sum(datain[self.controllers[x][0]:self.controllers[x][1]] , ())) # flatten the subsection of the data array
@@ -528,15 +529,21 @@ class LEDSystem():
         self.sender.stop()
         return self
 
-    def mapimage(self, image, fps=90):
+    def mapimage(self, image, fps=30):
-        while uptime() - self.start < 1/fps:
+        
-            time.sleep(0.00001)
         #fprint(1 / (uptime() - self.start))
         self.start = uptime()
         minsize = min(image.shape[0:2])
-        leds_normalized2 = [(x * minsize, 
+        if image.shape[1] > image.shape[0]:
-                            y * minsize)
+            offset = (image.shape[1] - image.shape[0])/2
-                            for x, y in self.leds_normalized]
+            leds_normalized2 = [(x * minsize + offset, 
+                                y * minsize)
+                                for x, y in self.leds_normalized]
+        else:
+            offset = (image.shape[0] - image.shape[1])/2
+            leds_normalized2 = [(x * minsize, 
+                                y * minsize + offset)
+                                for x, y in self.leds_normalized]
 
         cv2.imshow("video", image)
         cv2.waitKey(1)
@@ -563,6 +570,8 @@ class LEDSystem():
         #avgy /= len(leds)
         #print((avgx,avgy, max([led[0] for led in leds_adj]), max([led[1] for led in leds_adj]) , min(image.shape[0:2]) ))
         self.fastsendall(self.data)
+        while self.start + 1.0/fps > uptime():
+            time.sleep(0.00001)
         return self
 
     def mainloop(self, stmode, ring = -1, fps = 100, preview = False):
@@ -646,12 +655,12 @@ if __name__ == "__main__":
     import matplotlib.pyplot as plt
     ledsys = LEDSystem()
     ledsys.init()
-    cap = cv2.VideoCapture('output.mp4')
+    cap = cv2.VideoCapture('badapple.mp4')
     while cap.isOpened():
         ret, frame = cap.read()
         if not ret:
             break
-        ledsys.mapimage(frame, fps=90)
+        ledsys.mapimage(frame, fps=120)
 
     show = False
     ring = 1

read_datasheet.py

@@ -37,7 +37,7 @@ def extract_table_name(table_start, searchpage, reader, dstype, fallbackname):
         ymax = table_start + 10
     elif dstype == "Alphawire":
         ymin = table_start - 5
-        ymax = table_start + 10
+        ymax = table_start + 20
     page = reader.pages[searchpage - 1]
     parts = []
     def visitor_body(text, cm, tm, fontDict, fontSize):
@@ -52,14 +52,30 @@ def extract_table_name(table_start, searchpage, reader, dstype, fallbackname):
     return text_body
     #fprint(text_body)
 
-def parse(filename, output_dir, partnum, dstype):
+def find_file_noext(directory, prefix="part-hires"):
+    """
+    Find files in the specified directory that start with the given prefix and have any extension.
+
+    :param directory: The directory to search in.
+    :param prefix: The prefix to search for.
+    :return: A list of matching file names.
+    """
+    # Get all files and directories in the specified directory
+    entries = os.listdir(directory)
+    # Filter files that match 'filename.EXTENSION'
+    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]
+    print(directory, matching_files)
+    return matching_files
+
+
+def parse(filename, output_dir, partnum, dstype, weburl):
     tables = []
     # Extract table data
     try:
         if dstype == "Belden":
             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'])
         elif dstype == "Alphawire":
-            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'])
+            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'])
     except (OSError, RuntimeError) as e: 
         print(e)
         if win32:
@@ -95,11 +111,26 @@ def parse(filename, output_dir, partnum, dstype):
             #fprint(table_start)
             
             text_body = extract_table_name(table_start, table.page, reader, dstype, n)
-
+            #print(text_body)
             table_list[text_body] = table.df
+            #print(table_list[text_body])
             if dstype == "Alphawire":
-                table_list_raw[text_body] = table
+                
+                def reorder_row(row):
+                    # Filter out NaNs and compute the original non-NaN values
+                    non_nans = row[~row.isnull()]
+                    # Create a new row with NaNs filled at the end
+                    new_row = pd.Series(index=row.index)
+                    new_row[:len(non_nans)] = non_nans
+                    return new_row
+    
+                # Apply the function to each row and return a new DataFrame
 
+
+                #table_list[text_body] = table.df.apply(reorder_row, axis=1)
+                #print(table_list[text_body])
+                table_list_raw[text_body] = table
+                #print(tbl)
             #table.to_html("table" + str(n) + ".html")
             
             #fprint(table.df)
@@ -133,6 +164,13 @@ def parse(filename, output_dir, partnum, dstype):
                 with open(output_dir + "/brand.png", "wb") as fp:
                     fp.write(image_file_object.data)
                     count += 1
+    
+    if os.path.exists(output_dir + "/found_part_hires"):
+        img = weburl + find_file_noext(output_dir, prefix="part-hires")[0]
+    elif len(find_file_noext(output_dir, prefix="part")) > 0:
+        img = weburl + find_file_noext(output_dir, prefix="part")[0]
+    else:
+        img = None
 
     # Table parsing and reordring
     tables = dict()
@@ -141,6 +179,7 @@ def parse(filename, output_dir, partnum, dstype):
     #print(table_list.keys())
     for table_name in table_list.keys():
         # determine shape: horizontal or vertical
+        #print(table_name)
         table = table_list[table_name]
         rows = table.shape[0]
         cols = table.shape[1]
@@ -177,11 +216,11 @@ def parse(filename, output_dir, partnum, dstype):
             if dstype == "Alphawire" and table_name_2.find("\n") >= 0:
                 torename[table_name_2] = table_name_2[0:table_name_2.find("\n")]
 
-            if dstype == "Alphawire" and table_name_2.find(table.iloc[-1, 0]) >= 0:
+            # if dstype == "Alphawire" and table_name_2.find(table.iloc[-1, 0]) >= 0:
-                # Name taken from table directly above - this table does not have a name
+            #     # Name taken from table directly above - this table does not have a name
-                torename[table_name_2] = "Specs " + str(len(tables))
+            #     torename[table_name_2] = "Specs " + str(len(tables))
-                #table_list["Specs " + str(len(tables))] = table_list[table_name_2] # rename table to arbitrary altername name
+            #     #table_list["Specs " + str(len(tables))] = table_list[table_name_2] # rename table to arbitrary altername name
-                break
+            #     break
 
         if vertical:
             out = dict()
@@ -199,9 +238,9 @@ def parse(filename, output_dir, partnum, dstype):
                 out[col_data[0].replace("\n", " ")] = col_data[1:]
         
         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["brand"] = dstype
-    output_table["fullspecs"] = {"partnum": partnum, "id": id, **tables}
+    if img is not None:
-    output_table["searchspecs"] = {"partnum": partnum, **flatten(tables)}
+        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"))

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]
+            val = mbconn.read_holding_registers(reg)
-            if val == 1:
+            if val is not None:
-                out.append(1)
+                val = val[0]
-            else:
+                if val == 1:
-                out.append(0)
+                    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":

table0.html

@@ -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>

table1.html

@@ -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>

table2.html

@@ -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>

table3.html

@@ -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 &amp; 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>

table4.html

@@ -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>

ur5_control.py

@@ -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")

websocket_test.html

@@ -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>