Merge branch 'main' into dthomas_meilisearch

# Conflicts:
#	.gitignore
#	read_datasheet.py

.gitignore

@@ -14,3 +14,5 @@ meili_data
 output.mp4
 # log files
 output.log
+# images
+*.png

config.yml

@@ -159,7 +159,7 @@ led:
       size: 24
       diameter: 63.5
       angle: 0
-      pos: [-65.936, 114.3]
+      pos: [-65.991, 114.3]
     - type: circle
       start: 336
       size: 24
@@ -420,6 +420,116 @@ led:
       size: 70
       length: 600
       angle: 270 # down
-      pos: [300, 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: 40
+position_map:
+  - index: 0
+    pos: [-152.4, 263.965]
+  - index: 1
+    pos: [-76.2, 263.965]
+  - index: 2
+    pos: [0, 263.965]
+  - index: 3
+    pos: [76.2, 263.965]
+  - index: 4
+    pos: [152.4, 263.965]
+  - index: 5
+    pos: [-190.5, 197.973]
+  - index: 6
+    pos: [-114.3, 197.973]
+  - index: 7
+    pos: [-38.1, 197.973]
+  - index: 8
+    pos: [38.1, 197.973]
+  - index: 9
+    pos: [114.3, 197.973]
+  - index: 10
+    pos: [190.5, 197.973]
+  - index: 11
+    pos: [-228.6, 131.982]
+  - index: 12
+    pos: [-152.4, 131.982]
+  - index: 13
+    pos: [-76.2, 131.982]
+  - index: 14
+    pos: [0, 131.982]
+  - index: 15
+    pos: [76.2, 131.982]
+  - index: 16
+    pos: [152.4, 131.982]
+  - index: 17
+    pos: [228.6, 131.982]
+  - index: 18
+    pos: [-266.7, 65.991]
+  - index: 19
+    pos: [-190.5, 65.991]
+  - index: 20
+    pos: [-114.3, 65.991]
+  - index: 21
+    pos: [114.3, 65.991]
+  - index: 22
+    pos: [190.5, 65.991]
+  - index: 23
+    pos: [266.7, 65.991]
+  - index: 24
+    pos: [-304.8, 0]
+  - index: 25
+    pos: [-228.6, 0]
+  - index: 26
+    pos: [-152.4, 0]
+  - index: 27
+    pos: [152.4, 0]
+  - index: 28
+    pos: [228.6, 0]
+  - index: 29
+    pos: [304.8, 0]
+  - index: 30
+    pos: [-266.7, -65.991]
+  - index: 31
+    pos: [-190.5, -65.991]
+  - index: 32
+    pos: [-114.3, -65.991]
+  - index: 33
+    pos: [114.3, -65.991]
+  - index: 34
+    pos: [190.5, -65.991]
+  - index: 35
+    pos: [266.7, -65.991]
+  - index: 36
+    pos: [-228.6, -131.982]
+  - index: 37
+    pos: [-152.4, -131.982]
+  - index: 38
+    pos: [-76.2, -131.982]
+  - index: 39
+    pos: [0, -131.982]
+  - index: 40
+    pos: [76.2, -131.982]
+  - index: 41
+    pos: [152.4, -131.982]
+  - index: 42
+    pos: [228.6, -131.982]
+  - index: 43
+    pos: [-190.5, -197.973]
+  - index: 44
+    pos: [-114.3, -197.973]
+  - index: 45
+    pos: [-38.1, -197.973]
+  - index: 46
+    pos: [38.1, -197.973]
+  - index: 47
+    pos: [114.3, -197.973]
+  - index: 48
+    pos: [190.5, -197.973]
+  - index: 49
+    pos: [-152.4, -263.965]
+  - index: 50
+    pos: [-76.2, -263.965]
+  - index: 51
+    pos: [0, -263.965]
+  - index: 52
+    pos: [76.2, -263.965]
+  - index: 53
+    pos: [152.4, -263.965]

get_specs.py

@@ -5,7 +5,7 @@ import sys
 import read_datasheet
 from alive_progress import alive_bar
 import requests
-#import time
+import time
 import json
 import subprocess
 from util import fprint
@@ -27,29 +27,78 @@ def check_internet(url='https://belden.com', timeout=5):
 
 
 def query_search(partnum, source):
-    """token_url = "https://www.belden.com/coveo/rest/token?t=" + str(int(time.time()))
+    if source == "Belden":
+        token_url = "https://www.belden.com/coveo/rest/token?t=" + str(int(time.time()))
         with requests.get(token_url) as r:
             out = json.loads(r.content)
         token = out["token"]
         search_url = "https://www.belden.com/coveo/rest/search"
-    search_data ='{ "q": "' + str(partnum) + '", "sortCriteria": "relevancy", "numberOfResults": "250", "sortCriteria": "@catalogitemwebdisplaypriority ascending", "searchHub": "products-only-search", "pipeline": "Site Search", "maximumAge": "900000", "tab": "products-search", "locale": "en" }'
+
+        # Ridiculous search parameters extracted from website. Do not touch
+        search_data = r"""{ "q": "{QUERY}", "sortCriteria": "relevancy", "numberOfResults": "250", "sortCriteria": "@catalogitemwebdisplaypriority ascending", "searchHub": "products-only-search", "pipeline": "Site Search", "maximumAge": "900000", "tab": "products-search", "locale": "en", "aq": "(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((@syssource==\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\" @catalogitemprimarycategorypublished==true)) ((@catalogitemregionavailable=Global) (@z95xlanguage==en))", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\"Coveo_web_index - rg-nc-prod-sitecore-prod\")) OR (@source==(\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\",\"website_001002_Category_index-rg-nc-prod-sitecore-prod\"))", "firstResult": "0" }, "categoryFacets": "[{\"field\":\"@catalogitemcategories\",\"path\":[],\"injectionDepth\":1000,\"maximumNumberOfValues\":6,\"delimitingCharacter\":\"|\"}]", "facetOptions": "{}", "groupBy": "    [{\"field\":\"@contenttype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[\"Products\"],\"queryOverride\":\"{QUERY}\",\"advancedQueryOverride\":\"(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((((((((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) ((@z95xpath=C292F3A37B3A4E6BAB345DF87ADDE516 @z95xid<>C292F3A37B3A4E6BAB345DF87ADDE516) @z95xtemplate==E4EFEB787BDC4B1A908EFC64D56CB2A4)) OR ((@z95xpath=723501A864754FEEB8AE377E4C710271 @z95xid<>723501A864754FEEB8AE377E4C710271) ((@z95xpath=600114EAB0E5407A84AAA9F0985B6575 @z95xid<>600114EAB0E5407A84AAA9F0985B6575) @z95xtemplate==2BE4FD6B3B2C49EBBD9E1F6C92238B05))) OR (@syssource==\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\" @catalogitemprimarycategorypublished==true)) OR ((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) @z95xpath<>C292F3A37B3A4E6BAB345DF87ADDE516)) OR @syssource==\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\") NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B))) ((@catalogitemregionavailable=Global) (@z95xlanguage==en) OR (@contenttype=(Blogs,Resources,Other)) (NOT @ez120xcludefromcoveo==1))\",\"constantQueryOverride\":\"((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))\"},{\"field\":\"@catalogitembrand\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemenvironment\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemregionalavailability\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@prez45xtez120xt\",\"maximumNumberOfValues\":5,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@tags\",\"maximumNumberOfValues\":4,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetassettype\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetbrand\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetmarket\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsolution\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsearchcontentpagetype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]}]" }"""
+        search_data = search_data.replace(r"{QUERY}", partnum)
         #"aq": "", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))", "firstResult": "0", "categoryFacets": "[{\\"field\\":\\"@catalogitemcategories\\",\\"path\\":[],\\"injectionDepth\\":1000,\\"maximumNumberOfValues\\":6,\\"delimitingCharacter\\":\\"|\\"}]", "facetOptions": "{}", "groupBy": "" }'
         #fprint(search_data)
-    fprint(json.loads(search_data))
+        #fprint(json.loads(search_data))
         #search_data = '{ "q": "' + str(partnum) + '" }'
-    fprint(search_data)
+        #fprint(search_data)
         headers = headers = {
             'Authorization': f'Bearer {token}',
             'Content-Type': 'application/json'
         }
+        try:
             with requests.post(search_url, headers=headers, data=search_data) as r:
-        fprint(r.text)"""
+                a = r.text
+                a = json.loads(a)
+                idx = -1
+                name = ""
+                for partid in range(len(a["results"])):
+                    name = a["results"][partid]["title"]
+                    if name != partnum:
+                        if name.find(partnum) >= 0:
+                            idx = partid
+                            break
+                        elif partnum.find(name) >= 0:
+                            idx = partid
+                            break
                         
-    # TODO: Reimplement in python
+                    else:
-    # Bash script uses some crazy json formatting that I could not figure out
+                        idx = partid
-    # Despite the fact that I wrote it
+                        break
-    # So I'll just leave it, becuase it works.
+                        
-    if source == "Belden":
+                if idx < 0:
+                    fprint("Could not find part in API: " + partnum)
+                    return False
+                fprint("Search result found: result " + str(idx) + ", for ID " + name)
+                #urlname = a["results"][0]["raw"]["catalogitemurlname"]
+                img = a["results"][idx]["raw"]["catalogitemimageurl"]
+                img = img[0:img.index("?")]
+                uri = a["results"][idx]["raw"]["clickableuri"]
+                dsid = a["results"][idx]["raw"]["catalogitemdatasheetid"]
+                brand = a["results"][idx]["raw"]["catalogitembrand"]
+                desc = a["results"][idx]["raw"]["catalogitemlongdesc"]
+                shortdesc = a["results"][idx]["raw"]["catalogitemshortdesc"]
+                a = json.dumps(a["results"][idx], indent=2)
+                #print(a, urlname, img, uri, dsurl)
+
+                out = dict()
+                out["url"] = "https://www.belden.com/products/" + uri
+                out["datasheet"] = "https://catalog.belden.com/techdata/EN/" + dsid + "_techdata.pdf"
+                out["brand"] = brand
+                out["name"] = shortdesc
+                out["description"] = desc
+                out["image"] = "https://www.belden.com" + img
+                out["partnum"] = name
+                #print(out)
+                return out
+        except:
+            print("falied to search with API. Falling back to datasheet lookup.")
+            return False
+    
+
+    # Original bash script
+    # superceded by above
+    if source == "Belden_shell":
         command = ["./query-search.sh", partnum]
         result = subprocess.run(command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
         if result.returncode != 0: # error
@@ -66,11 +115,11 @@ def query_search(partnum, source):
         #print(data)
         try:
             if data["Count"] > 0:
-                print(data["Results"][0]["Url"])
+                #print(data["Results"][0]["Url"])
-                result = data["Results"][0]
+                for result in data["Results"]:
                     if result["Url"].split("/")[-1] == partnum:
                         #print(partnum)
-                    print(result["Html"])
+                        #print(result["Html"])
                         try:
                             imgidx = result["Html"].index("<img src=") + 10
                             imgidx2 = result["Html"].index("?", imgidx)
@@ -84,8 +133,9 @@ def query_search(partnum, source):
                         dsidx = result["Html"].index("<a href=\"/disteAPI/") + 9
                         dsidx2 = result["Html"].index(partnum, dsidx) + len(partnum)
                         output["datasheet"] = "https://www.alphawire.com" + result["Html"][dsidx:dsidx2]
+                        output["partnum"] = partnum
                         #"test".index()
-                    print(output)
+                        #print(output)
                         return output
 
 
@@ -100,7 +150,7 @@ def touch(path):
 
 
 
-def get_multi(partnums):
+def get_multi(partnums, delay=0.25):
     with alive_bar(len(partnums) * 2, dual_line=True, calibrate=30, bar="classic2", spinner="classic") as bar:
 
         def _try_download_datasheet(partnum, output_dir): # Guess datasheet URL
@@ -190,10 +240,17 @@ def get_multi(partnums):
             fprint("Using cached datasheet for " + partnum)
             bar.text = "Using cached datasheet for " + partnum
             bar(skipped=True)
+            if not os.path.exists(output_dir + "/parsed"):
+                
                 fprint("Parsing Datasheet contents of " + partnum)
                 bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
+            
                 read_datasheet.parse(path, output_dir, partnum, dstype)
                 bar(skipped=False) 
+            else:
+                fprint("Datasheet already parsed for " + partnum)
+                bar.text = "Datasheet already parsed for " + partnum + ".pdf"
+                bar(skipped=True)
 
         def __downloaded_datasheet(partnum, path, output_dir, dstype):
             fprint("Downloaded " + path)
@@ -204,13 +261,7 @@ def get_multi(partnums):
             read_datasheet.parse(path, output_dir, partnum, dstype)
             bar(skipped=False)
 
-        for fullpartnum in partnums:
+        def run_search(partnum):
-            if fullpartnum[0:2] == "BL": # catalog.belden.com entry\
-                partnum = fullpartnum[2:]
-                dstype = "Belden"
-            elif fullpartnum[0:2] == "AW":
-                partnum = fullpartnum[2:]
-                dstype = "Alphawire"
             output_dir = "cables/" + partnum
             path = output_dir + "/datasheet.pdf"
             bartext = "Downloading files for part " + partnum
@@ -218,10 +269,16 @@ def get_multi(partnums):
             #
             if (not os.path.exists(output_dir + "/found_part_hires")) or not (os.path.exists(path) and os.path.getsize(path) > 1):
                 # Use query
-                search_result = query_search(partnum.replace(" ", ""), dstype)
+                search_result = query_search(partnum, dstype)
                 # Try to use belden.com search
                 if search_result is not False:
                     # Download high resolution part image if available and needed
+                    partnum = search_result["partnum"]
+                    output_dir = "cables/" + partnum
+                    path = output_dir + "/datasheet.pdf"
+                    bartext = "Downloading files for part " + partnum
+                    bar.text = bartext
+
                     if not os.path.exists(output_dir + "/found_part_hires"):
                         if _download_image(search_result["image"], output_dir):
                             fprint("Downloaded hi-res part image for " + partnum)
@@ -245,16 +302,47 @@ def get_multi(partnums):
 
                 # Failed to download with search or guess :(
                 else: 
-                    fprint("Failed to download datasheet for part " + partnum)
+                    return False
-                    bar.text = "Failed to download datasheet for part " + partnum
+                return True
-                    failed.append(partnum)
-                    bar(skipped=True)
-                    bar(skipped=True)
 
             # We already have a hi-res image and the datasheet - perfect!
             else:
                 fprint("Using cached hi-res part image for " + partnum)
                 __use_cached_datasheet(partnum, path, output_dir, dstype)
+                return True
+    
+        for fullpartnum in partnums:
+            if fullpartnum[0:2] == "BL": # catalog.belden.com entry
+                partnum = fullpartnum[2:]
+                dstype = "Belden"
+            elif fullpartnum[0:2] == "AW":
+                partnum = fullpartnum[2:]
+                dstype = "Alphawire"
+            else:
+                dstype = "Belden" # guess
+                partnum = fullpartnum
+            if not run_search(partnum):
+                success = False
+                if len(partnum.split(" ")) > 1:
+                    for name in partnum.split(" "):
+                        fprint("Retrying with alternate name: " + name)
+                        if(run_search(name)):
+                            success = True
+                            break
+                        time.sleep(delay)
+                    if not success:
+                        namestripped = partnum.strip(" ")
+                        fprint("Retrying with alternate name: " + namestripped)
+                        if(run_search(namestripped)):
+                            success = True
+                            time.sleep(delay)
+                if not success:
+                    fprint("Failed to download datasheet for part " + partnum)
+                    bar.text = "Failed to download datasheet for part " + partnum
+                    failed.append(partnum)
+                    bar(skipped=True)
+                    bar(skipped=True)
+            time.sleep(delay)
             
     if len(failed) > 0:
         fprint("Failed to download:")
@@ -268,22 +356,73 @@ def get_multi(partnums):
 
 
 if __name__ == "__main__":
-    partnums = ["BL7958A", "BL10GXS12", "BLRST 5L-RKT 5L-949", 
+    # partnums = ["BLFISX012W0", "BL7958A", "BL10GXS12", "BLRST 5L-RKT 5L-949", 
-"BL10GXS13",
+    # "BL10GXS13",
-"BL10GXW12",
+    # "BL10GXW12",
-"BL10GXW13",
+    # "BL10GXW13",
-"BL2412",
+    # "BL2412",
-"BL2413",
+    # "BL2413",
-"BLOSP6AU",
+    # "BLOSP6AU",
-"BLFI4D024P9",
+    # "BLFI4D024P9",
-"BLFISD012R9",
+    # "BLFISD012R9",
-"BLFDSD012A9",
+    # "BLFDSD012A9",
-"BLFSSL024NG",
+    # "BLFSSL024NG",
-"BLFISX006W0",
+    # "BLFISX006W0",
-"BLFISX00103",
+    # "BLFISX00103",
-"BLC6D1100007"
+    # "BLC6D1100007"
+    # ]
+    partnums = [
+    # Actual cables in Jukebox
+    "AW86104CY",
+    "AW3050",
+    "AW6714",
+    "AW1172C",
+    "AW2211/4",
+
+    "BLTF-1LF-006-RS5N",
+    "BLTF-SD9-006-RI5N",
+    "BLTT-SLG-024-HTNN",
+    "BLFISX012W0",
+    "BLFI4X012W0",
+    "BLSPE101 006Q",
+    "BLSPE102 006Q",
+    "BL7922A 010Q",
+    "BL7958A 008Q",
+    "BLIOP6U 010Q",
+    "BL10GXW13 D15Q",
+    "BL10GXW53 D15Q",
+    "BL29501F 010Q",
+    "BL29512 010Q",
+    "BL3106A 010Q",
+    "BL9841 060Q",
+    "BL3105A 010Q",
+    "BL3092A 010Q",
+    "BL8760 060Q",
+    "BL6300UE 008Q",
+    "BL6300FE 009Q",
+    "BLRA500P 006Q",
+
+
+    # Some ones I picked, including some invalid ones
+    "BL10GXS12", 
+    "BLRST 5L-RKT 5L-949", 
+    "BL10GXS13",
+    "BL10GXW12",
+    "BL10GXW13",
+    "BL2412",
+    "BL2413",
+    "BLOSP6AU",
+    "BLFI4D024P9",
+    "BLFISD012R9",
+    "BLFDSD012A9",
+    "BLFSSL024NG",
+    "BLFISX006W0",
+    "BLFISX00103",
+    "BLC6D1100007"
+
     ]
-    get_multi(partnums)
+    #query_search("86104CY", "Alphawire")
-    #query_search("3248", "Alphawire")
+    get_multi(partnums, 0.25)
+    #query_search("10GXS13", "Belden")
 
 

install-deps.sh

@@ -1,4 +1,5 @@
 #!/bin/sh
+# change this to #!/bin/bash for windows
 
 if ! [ -d "venv" ]; then
     ./venv-setup.sh

led_control.py

@@ -22,6 +22,13 @@ leds_size = None
 leds_normalized = None
 controllers = None
 data = None
+exactdata = None
+rings = None
+ringstatus = None
+mode = "Startup"
+firstrun = True
+changecount = 0
+animation_time = 0
 start = uptime()
 
 def ping(host):
@@ -48,30 +55,50 @@ def map():
     global leds_size
     global leds_normalized
     global controllers
+    global rings
+    global ringstatus
+    global animation_time
+    
 
     with open('config.yml', 'r') as fileread:
         #global config
         config = yaml.safe_load(fileread)
 
+    animation_time = config["animation_time"]
     leds = list()
     leds_size = list()
     controllers = list()
+    rings = list(range(len(config["position_map"])))
+    ringstatus = list(range(len(config["position_map"])))
+    #print(rings)
     #fprint(config["led"]["map"])
+    generate_map = False
+    map = list()
     for shape in config["led"]["map"]:
         if shape["type"] == "circle":
+            
+            if generate_map:
+                map.append((shape["pos"][1],shape["pos"][0]))
             #fprint(shape["pos"])
             anglediv = 360.0 / shape["size"]
             angle = 0
             radius = shape["diameter"] / 2
             lednum = shape["start"]
+            for item in config['position_map']:
+            # Check if the current item's position matches the target position
+                #print(item['pos'],(shape["pos"][1],shape["pos"][0]))
+                if tuple(item['pos']) == (shape["pos"][1],shape["pos"][0]):
+                    rings[item["index"]] = (shape["pos"][1],shape["pos"][0],lednum,lednum+shape["size"]) # rings[index] = x, y, startpos, endpos
+                    ringstatus[item["index"]] = [None, None]
+                    break
             if len(leds) < lednum + shape["size"]:
                 for x in range(lednum + shape["size"] - len(leds)):
                     leds.append(None)
                     leds_size.append(None)
             while angle < 359.999:
                 tmpangle = angle + shape["angle"]
-                x = math.cos(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][0]
+                x = math.cos(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][1] # flip by 90 degress when we changed layout
-                y = math.sin(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][1]
+                y = math.sin(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][0]
                 leds[lednum] = (x,y)
                 lednum = lednum + 1
                 angle = angle + anglediv
@@ -97,7 +124,23 @@ def map():
                 dist += distdiv
                 lednum = lednum + 1
 
+    if generate_map:
+        map = sorted(map, key=lambda x: (-x[1], x[0]))
+        print(map)
+        import matplotlib.pyplot as plt
+        plt.axis('equal')
+        x, y = zip(*map)
+        plt.scatter(x, y, s=12)
+        #plt.plot(x, y, marker='o')
+        #plt.scatter(*zip(*leds), s=3)
+        for i, (x_pos, y_pos) in enumerate(map):
+            plt.text(x_pos, y_pos, str(i), color="red", fontsize=12)
+        plt.savefig("map2.png", dpi=600, bbox_inches="tight")
+        data = {"map": [{"index": i, "pos": str(list(pos))} for i, pos in enumerate(map)]}
+        yaml_str = yaml.dump(data, default_flow_style=False)
+        print(yaml_str)
 
+    print(rings)
     flag = 0
     for x in leds:
         if x is None:
@@ -148,9 +191,10 @@ def init():
     global leds_size
     global controllers
     global data
+    global exactdata
     sender = sacn.sACNsender(fps=config["led"]["fps"], universeDiscovery=False)
     sender.start()  # start the sending thread
-    for x in range(len(controllers)):
+    """for x in range(len(controllers)):
         print("Waiting for the controller at", controllers[x][2], "to be online...", end="")
         count = 0
         while not ping(controllers[x][2]):
@@ -159,7 +203,7 @@ def init():
                 fprint(" ERROR: controller still offline after " + str(count) + " seconds, continuing...")
                 break
         if count < config["led"]["timeout"]:
-            fprint(" done")
+            fprint(" done")"""
     for x in range(len(controllers)):
         print("Activating controller", x, "at", controllers[x][2], "with", controllers[x][1]-controllers[x][0], "LEDs.")
         sender.activate_output(x+1)  # start sending out data
@@ -168,22 +212,26 @@ def init():
 
     # initialize global pixel data list
     data = list()
+    exactdata = list()
     for x in range(len(leds)):
         if leds_size[x] == 3:
+            exactdata.append(None)
             data.append((20,20,127))
         elif leds_size[x] == 4:
+            exactdata.append(None)
             data.append((50,50,255,0))
         else:
+            exactdata.append(None)
             data.append((0,0,0))
     sendall(data)
     #time.sleep(50000)    
     fprint("Running start-up test sequence...")
-    for y in range(100):
+    for y in range(1):
         for x in range(len(leds)):
-            setpixel(0,0,150,x)
+            setpixel(0,60,144,x)
         sendall(data)
         #time.sleep(2)
-        #alloffsmooth()
+    alloffsmooth()
 
 def sendall(datain):
     # send all LED data to all controllers
@@ -260,6 +308,209 @@ def setpixelnow(r, g, b, num):
     setpixel(r,g,b,num)
     senduniverse(data, num)
 
+def setmode(stmode, r=0,g=0,b=0):
+    global mode
+    global firstrun
+    if stmode is not None:
+        if mode != stmode:
+            firstrun = True
+    
+        mode = stmode
+    
+
+def setring(r,g,b,idx):
+    
+    ring = rings[idx]
+    for pixel in range(ring[2],ring[3]):
+        setpixel(r,g,b,pixel)
+    #global data
+    #senduniverse(data, ring[2])
+
+def runmodes(ring = -1, speed = 1):
+    global mode
+    global firstrun
+    global changecount
+    fprint("Mode: " + str(mode))
+    if mode == "Startup":
+        # loading animation. cable check
+        if firstrun:
+            changecount = animation_time * 3
+            firstrun = False
+            for x in range(len(ringstatus)):
+                ringstatus[x] = [True, animation_time]
+            
+        if changecount > 0:
+            fprint(changecount)
+            changecount = fadeorder(0,len(leds), changecount, 0,50,100)
+        else:
+            setmode("Startup2")
+            
+                
+    elif mode == "Startup2":
+        if firstrun:
+            firstrun = False
+            
+        else:
+            for x in range(len(ringstatus)):
+                if ringstatus[x][0]:
+                    setring(0, 50, 100, x)
+                else:
+                    ringstatus[x][1] = fadeall(rings[x][2],rings[x][3], ringstatus[x][1], 100,0,0) # not ready
+
+    elif mode == "StartupCheck":
+        if firstrun:
+            firstrun = False
+            for x in range(len(ringstatus)):
+                ringstatus[x] = [False, animation_time]
+        else:
+            for x in range(len(ringstatus)):
+                if ringstatus[x][0]:
+                    ringstatus[x][1] = fadeall(rings[x][2],rings[x][3], ringstatus[x][1], 0,50,100) # ready  
+                else:
+                    setring(100, 0, 0, x)
+
+    elif mode == "GrabA":
+        if firstrun:
+            firstrun = False
+            changecount = animation_time # 100hz
+        if changecount > 0:
+            changecount = fadeall(rings[ring][2],rings[ring][3], changecount, 100,0,0)
+        else:
+            setring(100,0,0,ring)
+            setmode("GrabB")
+    elif mode == "GrabB":
+        if firstrun:
+            firstrun = False
+            changecount = animation_time # 100hz
+        if changecount > 0:
+            changecount = fadeorder(rings[ring][2],rings[ring][3], changecount, 0,100,0)
+        else:
+            setring(0,100,0,ring)
+            setmode("idle")
+    elif mode == "GrabC":
+        if firstrun:
+            firstrun = False
+            changecount = animation_time # 100hz
+        if changecount > 0:
+            changecount = fadeall(rings[ring][2],rings[ring][3], changecount, 0,50,100)
+        else:
+            setring(0,50,100,ring)
+            setmode("idle")
+    elif mode == "idle":
+        time.sleep(0)
+
+    sendall(data)
+            
+def fadeall(idxa,idxb,sizerem,r,g,b):
+    if sizerem < 1:
+        return 0
+    global exactdata
+    sum = 0
+    for x in range(idxa,idxb):
+        if exactdata[x] is None:
+            exactdata[x] = data[x]
+        old = exactdata[x]
+        dr = (r - old[0])/sizerem
+        sum += abs(dr)
+        dr += old[0]
+        dg = (g - old[1])/sizerem
+        sum += abs(dg)
+        dg += old[1]
+        db = (b - old[2])/sizerem 
+        db += old[2]
+        sum += abs(db)
+        exactdata[x] = (dr, dg, db)
+        #print(new)
+        setpixel(dr, dg, db, x)
+        if sizerem == 1:
+            exactdata[x] = None
+    if sum == 0 and sizerem > 2:
+        sizerem = 2
+    return sizerem - 1
+        
+def fadeorder(idxa,idxb,sizerem,r,g,b):
+    if sizerem < 1:
+        return 0
+    global exactdata
+    drs = 0
+    dgs = 0
+    dbs = 0
+    sum = 0
+    for x in range(idxa,idxb):
+        if exactdata[x] is None:
+            exactdata[x] = data[x]
+        old = exactdata[x]
+        dr = (r - old[0])
+        dg = (g - old[1])
+        db = (b - old[2])
+        drs += dr
+        dgs += dg
+        dbs += db
+    
+    drs /= sizerem
+    dgs /= sizerem
+    dbs /= sizerem
+    sum += abs(drs) + abs(dgs) + abs(dbs)
+    print(drs,dgs,dbs)
+    for x in range(idxa,idxb):
+        old = exactdata[x]
+        new = list(old)
+        if drs > 0:
+            if old[0] + drs > r:
+                new[0] = r
+                drs -= r - old[0]
+            else:
+                new[0] = old[0] + drs
+                drs = 0
+        if dgs > 0:
+            if old[1] + dgs > g:
+                new[1] = g
+                dgs -= g - old[1]
+            else:
+                new[1] = old[1] + dgs
+                dgs = 0
+        if dbs > 0:
+            if old[2] + dbs > b:
+                new[2] = b
+                dbs -= b - old[2]
+            else:
+                new[2] = old[2] + dbs
+                dbs = 0
+
+        if drs < 0:
+            if old[0] + drs < r:
+                new[0] = r
+                drs -= r - old[0]
+            else:
+                new[0] = old[0] + drs
+                drs = 0
+        if dgs < 0:
+            if old[1] + dgs < g:
+                new[1] = g
+                dgs -= g - old[1]
+            else:
+                new[1] = old[1] + dgs
+                dgs = 0
+        if dbs < 0:
+            if old[2] + dbs < b:
+                new[2] = b
+                dbs -= b - old[2]
+            else:
+                new[2] = old[2] + dbs
+                dbs = 0
+
+        if drs != 0 or dgs != 0 or dbs != 0:
+            exactdata[x] = new
+            setpixel(new[0],new[1],new[2],x)
+        
+        if sizerem == 1:
+            exactdata[x] = None
+
+    if sum == 0 and sizerem > 2:
+        sizerem = 2
+    return sizerem - 1
+
+
 def setpixel(r, g, b, num):
     global data
     global leds_size
@@ -328,16 +579,105 @@ def mapimage(image, fps=90):
     global data
     fastsendall(data)
 
+def mainloop(stmode, ring = -1, fps = 100, preview = False):
+    global start
+    while uptime() - start < 1/fps:
+        time.sleep(0.00001)
+    fprint(1 / (uptime() - start))
+    start = uptime()
+    if mode is not None:
+        setmode(stmode)
+    runmodes(ring)
+    if preview:
+        drawdata()
+
+def drawdata():
+    #tmp = list()
+    #for x in len(leds):
+    #    led = leds[x]
+    #    tmp.append((led[0], led[1], data[x]))
+
+    x = [led[0] for led in leds]
+    y = [led[1] for led in leds]
+    colors = data
+    colors_normalized = [(x[0]/255, x[1]/255, x[2]/255) for x in colors]
+    # Plot the points
+    plt.scatter(x, y, c=colors_normalized)
+
+    # Optional: add grid, title, and labels
+    plt.grid(True)
+    plt.title('Colored Points')
+    plt.xlabel('X')
+    plt.ylabel('Y')
+    plt.show()
+    plt.savefig("map3.png", dpi=50, bbox_inches="tight")
+    plt.clf()
+
+def startup_animation(show):
+
+    
+    stmode = "Startup"
+    mainloop(stmode, preview=show)
+    while mode == "Startup":
+        mainloop(None, preview=show)
+    for x in range(54):
+        ringstatus[x][0] = False
+        mainloop(None, preview=show)
+
+    for x in range(animation_time):
+        mainloop(None, preview=show)
+    clear_animations()
+    stmode = "StartupCheck"
+    mainloop(stmode, preview=show)
+    clear_animations()
+
+def clear_animations():
+    for x in range(len(leds)):
+        exactdata[x] = None
+
+def do_animation(stmode, ring=-1):
+    mainloop(stmode, ring, preview=show)
+    wait_for_animation(ring)
+
+def start_animation(stmode, ring=-1):
+    mainloop(stmode, ring, preview=show)
+
+def wait_for_animation(ring=-1):
+    while mode != "idle":
+        mainloop(None, ring, preview=show)
 
 if __name__ == "__main__":
     init()
-    cap = cv2.VideoCapture('output.mp4')
+    import matplotlib.pyplot as plt
+    """cap = cv2.VideoCapture('badapple.mp4')
     while cap.isOpened():
         ret, frame = cap.read()
         if not ret:
             break
-        mapimage(frame)
+        mapimage(frame, fps=30)"""
+    show = True
+    ring = 1
+    startup_animation(show)
+    for x in range(54):
+        ringstatus[x][0] = True
+        mainloop(None, preview=show)
+    for x in range(animation_time):
+        mainloop(None, preview=show)
+    
+    do_animation("GrabA", 1)
+
+    do_animation("GrabA", 5)
+    start_animation("GrabC", 1)
+    
+    wait_for_animation(1)
+    do_animation("GrabC", 5)
     
-    time.sleep(1)
     close()
     #sys.exit(0)
+
+
+    # blue : default
+    # green : target
+    # yellow : crosshair
+    # red : missing 
+    # uninitialized : red/purple?

read_datasheet.py

@@ -2,6 +2,8 @@
 
 # Parse Belden catalog techdata datasheets 
 
+import pandas as pd
+pd.set_option('future.no_silent_downcasting', True)
 from PyPDF2 import PdfReader
 import camelot
 import numpy as np
@@ -11,6 +13,11 @@ import json
 from util import fprint
 import uuid
 from util import run_cmd
+import os
+
+def touch(path):
+    with open(path, 'a'):
+        os.utime(path, None)
 
 def parse(filename, output_dir, partnum, dstype):
 
@@ -23,6 +30,7 @@ def parse(filename, output_dir, partnum, dstype):
     reader = PdfReader(filename)
     page = reader.pages[0]
     table_list = {}
+
     for table in tables:
         table.df.infer_objects(copy=False)
         table.df.replace('', np.nan, inplace=True)
@@ -90,6 +98,7 @@ def parse(filename, output_dir, partnum, dstype):
 
     # Table parsing and reordring
     tables = dict()
+    torename = dict()
     previous_table = ""
     for table_name in table_list.keys():
         # determine shape: horizontal or vertical
@@ -121,7 +130,8 @@ def parse(filename, output_dir, partnum, dstype):
         for table_name_2 in table_list.keys(): 
             if table_name_2.find(table.iloc[-1, 0]) >= 0:
                 # Name taken from table directly above - this table does not have a name
-                table_list["Specs " + str(len(tables))] = table_list.pop(table_name_2, None) # rename table to arbitrary altername name
+                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
                 break
 
         if vertical:
@@ -142,21 +152,21 @@ def parse(filename, output_dir, partnum, dstype):
         # multi-page table check
         if dstype == "Belden":
             if table_name.isdigit() and len(tables) > 1:
-                fprint(table_name)
+                #fprint(table_name)
-                fprint(previous_table)
+                #fprint(previous_table)
                 
                 
                 
                 
                 main_key = previous_table
                 cont_key = table_name
-                fprint(tables)
+                #fprint(tables)
                 if vertical == False:
                     main_keys = list(tables[main_key].keys())
                     for i, (cont_key, cont_values) in enumerate(tables[cont_key].items()):
                         if i < len(main_keys):
-                            fprint(tables[main_key][main_keys[i]])
+                            #fprint(tables[main_key][main_keys[i]])
-                            tables[main_key][main_keys[i]] = (tables[main_key][main_keys[i]] + (cont_key,) + cont_values)
+                            tables[main_key][main_keys[i]] = (tuple(tables[main_key][main_keys[i]]) + (cont_key,) + cont_values)
     
                     del tables[table_name]
     
@@ -167,6 +177,10 @@ def parse(filename, output_dir, partnum, dstype):
 
         previous_table = table_name
     
+    # remove renamed tables
+    for table_name in torename.keys():
+        tables[torename[table_name]] = tables[table_name]
+        del tables[table_name]
     # remove multi-line values that occasionally squeak through
     def replace_newlines_in_dict(d):
         for key, value in d.items():
@@ -195,12 +209,12 @@ def parse(filename, output_dir, partnum, dstype):
     
 
 
-    print(output_table)
+    #print(output_table)
 
-    run_cmd("rm " + output_dir + "/*.json") # not reliable!
+    run_cmd("rm \"" + output_dir + "\"/*.json") # not reliable!
     with open(output_dir + "/" + output_table["searchspecs"]["id"] + ".json", 'w') as json_file:
         json.dump(output_table["searchspecs"], json_file)
-
+    touch(output_dir + "/parsed")
     return output_table
 
 
@@ -217,7 +231,7 @@ def flatten(tables):
                 # If it fails again, return the original string.
                 return s
     out = dict()
-    print("{")
+    #print("{")
     for table in tables.keys():
         for key in tables[table].keys():
             if len(key) < 64:
@@ -228,11 +242,16 @@ def flatten(tables):
             fullkeyname = (table + ": " + keyname).replace(".","")
             if type(tables[table][key]) is not tuple:
                 out[fullkeyname] = convert_to_number(tables[table][key])
-                print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
+                #print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
             elif len(tables[table][key]) == 1:
                 out[fullkeyname] = convert_to_number(tables[table][key][0])
                 
-                print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
+                #print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
+
+            # if the item has at least two commas in it, split it
+            if tables[table][key].count(',') > 0:
+                out[fullkeyname] = list(map(lambda x: x.strip(), tables[table][key].split(",")))
+                #print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
 
             # if the item has at least two commas in it, split it
             if tables[table][key].count(',') > 0:
@@ -240,7 +259,7 @@ def flatten(tables):
                 print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
 
 
-    print("}")
+    #print("}")
     return out
 
     

requirements.txt

@@ -12,6 +12,9 @@ selenium
 sacn
 uptime
 websockets
+numpy
+scipy
+ipywidgets
 
 # Development
 matplotlib

run.py

@@ -89,6 +89,9 @@ def start_server_socket():
 
     while True:
         #print("HI")
+
+        # Handeling Server Requests Loop, will run forever
+
         if not from_server_queue.empty():
             client_id, message = from_server_queue.get()
             fprint(f"Message from client {client_id}: {message}")
@@ -113,7 +116,7 @@ def start_server_socket():
                     case "log":
                         fprint("log message")
                         if call == "send":
-                            fprint("webapp: " + data)
+                            fprint("webapp: " + str(data), sendqueue=to_server_queue)
                         elif call == "request":
                             fprint("")
 
@@ -124,6 +127,21 @@ def start_server_socket():
                         elif call == "request":
                             fprint("")
 
+
+                    case "ping":
+                        fprint("Pong!!!")
+
+                    # Lucas' notes
+                    # Add a ping pong :) response/handler
+                    # Add a get cable response/handler
+                    #       this will tell the robot arm to move
+                    # Call for turning off everything
+
+                    # TODO Helper for converting Python Dictionaries to JSON
+                    # make function: pythonData --> { { "type": "...", "call": "...", "data": pythonData } }
+                            
+                    # to send: to_server_queue.put(("*", "JSON STRING HERE")) # replace * with UUID of client to send to one specific location
+                    
                     case "cable_details":
                         fprint("cable_details message")
                         if call == "send":
@@ -235,7 +253,7 @@ def setup_server(pool):
 
     if camera_ready is False:
         fprint("waiting for " + "Camera initilization" + " to complete...", sendqueue=to_server_queue)
-        camera = process_video.qr_reader(config["cameras"]["banner"]["ip"], config["cameras"]["banner"]["port"])
+        # camera = process_video.qr_reader(config["cameras"]["banner"]["ip"], config["cameras"]["banner"]["port"])
 
     fprint("Camera initialized.", sendqueue=to_server_queue)
 
@@ -262,8 +280,8 @@ def mainloop_server(pool):
         killall()
     counter = counter + 1
 
-    fprint("Looking for QR code...")
+    # fprint("Looking for QR code...")
-    print(camera.read_qr(30))
+    # print(camera.read_qr(30))
 
 def run_loading_app():
     

source.fish

@@ -0,0 +1 @@
+source venv/bin/activate.fish

source.sh

@@ -0,0 +1 @@
+source venv/bin/activate

test.py

@@ -0,0 +1,106 @@
+print("\u001b[37m")
+
+class Ring:
+    def __init__(self) -> None:
+        self.leds = [0] * 24
+        self.id = 0
+        self.dirty = False
+
+    def __iter__(self) -> iter:
+        yield from self.leds
+
+    def __repr__(self) -> str:
+        return f"Ring<id={self.id}, led_state={' '.join(list(map(lambda x: str(x+1), self.leds)))}, dirty={self.dirty}>"
+
+    def __add__(self, other):
+        self.leds.extend(other)
+        return self
+
+    def __bool__(self):
+        return self.dirty
+
+    def __getitem__(self, index):
+        return self.leds[index]
+    
+    def __setitem__(self, index, value):
+        ivalue = self.leds[index]
+        if ivalue != value:
+            self.dirty = True
+            self.leds[index] = value
+    
+    def __getattr__(self, name):
+        import word2num
+        name = int(word2num.word2num(name))
+        print(name)
+        if 0 <= name < len(self.leds):
+            return self.leds[name]
+        
+
+
+a = Ring()
+print(a)
+b = Ring()
+b.leds[2] = 3
+
+print(a + b)
+
+b.active = True
+
+if b:
+    print("Bexist")
+
+c = [a, b, b, a, a]
+
+d = list(filter(lambda x: bool(x), c))
+
+print(d)
+
+for i, ring in enumerate(c):
+    ring[0] = i
+    print(ring)
+
+print(a, b)
+
+print(f"\u001b[32m{a}")
+print(f"\u001b[37ma")
+
+print(getattr(a, "twenty two"))
+
+# eval(f"getattr(a,\"{input()}\")")
+
+
+# a = r"wow this string is cursed; for example \n"
+
+
+# SEARCHDATA=r"""{ "q": "{QUERY}", "sortCriteria": "relevancy", "numberOfResults": "250", "sortCriteria": "@catalogitemwebdisplaypriority ascending", "searchHub": "products-only-search", "pipeline": "Site Search", "maximumAge": "900000", "tab": "products-search", "locale": "en", "aq": "(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((@syssource==\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\" @catalogitemprimarycategorypublished==true)) ((@catalogitemregionavailable=Global) (@z95xlanguage==en))", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\"Coveo_web_index - rg-nc-prod-sitecore-prod\")) OR (@source==(\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\",\"website_001002_Category_index-rg-nc-prod-sitecore-prod\"))", "firstResult": "0" }, "categoryFacets": "[{\"field\":\"@catalogitemcategories\",\"path\":[],\"injectionDepth\":1000,\"maximumNumberOfValues\":6,\"delimitingCharacter\":\"|\"}]", "facetOptions": "{}", "groupBy": "    [{\"field\":\"@contenttype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[\"Products\"],\"queryOverride\":\"{QUERY}\",\"advancedQueryOverride\":\"(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((((((((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) ((@z95xpath=C292F3A37B3A4E6BAB345DF87ADDE516 @z95xid<>C292F3A37B3A4E6BAB345DF87ADDE516) @z95xtemplate==E4EFEB787BDC4B1A908EFC64D56CB2A4)) OR ((@z95xpath=723501A864754FEEB8AE377E4C710271 @z95xid<>723501A864754FEEB8AE377E4C710271) ((@z95xpath=600114EAB0E5407A84AAA9F0985B6575 @z95xid<>600114EAB0E5407A84AAA9F0985B6575) @z95xtemplate==2BE4FD6B3B2C49EBBD9E1F6C92238B05))) OR (@syssource==\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\" @catalogitemprimarycategorypublished==true)) OR ((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) @z95xpath<>C292F3A37B3A4E6BAB345DF87ADDE516)) OR @syssource==\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\") NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B))) ((@catalogitemregionavailable=Global) (@z95xlanguage==en) OR (@contenttype=(Blogs,Resources,Other)) (NOT @ez120xcludefromcoveo==1))\",\"constantQueryOverride\":\"((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))\"},{\"field\":\"@catalogitembrand\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemenvironment\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemregionalavailability\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@prez45xtez120xt\",\"maximumNumberOfValues\":5,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@tags\",\"maximumNumberOfValues\":4,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetassettype\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetbrand\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetmarket\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsolution\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsearchcontentpagetype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]}]" }"""
+
+# QUERY = "AAAAAAAAAAAA"
+
+# b = SEARCHDATA.replace(r"{QUERY}", QUERY)
+
+q = [i * 2 for i in range(10)]
+
+d = {a : b for a,b in enumerate(q)}
+
+print(q)
+
+print(d)
+
+def stalin_sort(a):
+    b = sum(a)
+    b /= len(a)
+    return [b for _ in range(len(a))]
+
+def mao_sort(a):
+    i = 0
+    while i < len(a) - 1:
+        if a[i+1] < a[i]:
+            del a[i]
+        else:
+            i += 1
+    return a
+
+print(stalin_sort(list(range(10))))
+print(mao_sort([1, 3, 2, 4, 5, 8, 7, 6, 9]))
+
+# i l

ur5_control.py

@@ -1,6 +1,8 @@
 import urx
 import math3d as m3d
+from scipy.optimize import fsolve
 import math
+import numpy as np
 import time
 import os
 import logging
@@ -8,6 +10,9 @@ from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper
 import sys
 from util import fprint
 
+
+
+
 rob = None
 
 
@@ -45,7 +50,7 @@ def init(ip):
     time.sleep(0.2)
     fprint("UR5 ready.")
 
-def set_pos_abs(x, y, z, xb, yb, zb):
+def set_pos_abs(x, y, z, xb, yb, zb, threshold=None):
     global rob
     new_orientation = m3d.Transform()
     new_orientation.orient.rotate_xb(xb)  # Replace rx with the desired rotation around X-axis
@@ -60,7 +65,7 @@ def set_pos_abs(x, y, z, xb, yb, zb):
     new_trans.pos.y = y
     new_trans.pos.z = z
     #rob.speedj(0.2, 0.5, 99999)
-    rob.set_pose(new_trans, acc=2, vel=2, command="movej")  # apply the new pose
+    rob.set_pose(new_trans, acc=2, vel=2, command="movej", threshold=threshold)  # apply the new pose
 
 def set_pos_rel_rot_abs(x, y, z, xb, yb, zb):
     global rob
@@ -80,21 +85,241 @@ def set_pos_rel_rot_abs(x, y, z, xb, yb, zb):
     #rob.speedj(0.2, 0.5, 99999)
     rob.set_pose(new_trans, acc=0.1, vel=0.4, command="movej")  # apply the new pose
 
+def set_pos_abs_rot_rel(x, y, z, xb, yb, zb):
+    global rob
+    new_orientation = m3d.Transform()
+    new_orientation.orient.rotate_xb(xb)  # Replace rx with the desired rotation around X-axis
+    new_orientation.orient.rotate_yb(yb)  # Replace ry with the desired rotation around Y-axis
+    new_orientation.orient.rotate_zb(zb)  # Replace rz with the desired rotation around Z-axis
+
+    # Get the current pose
+    trans = rob.getl()
+    
+    # Apply the new orientation while keeping the current position
+    new_trans = m3d.Transform(new_orientation.orient, m3d.Vector(trans[0:3]))
+    new_trans.pos.x = x
+    new_trans.pos.y = y
+    new_trans.pos.z = z
+    #rob.speedj(0.2, 0.5, 99999)
+    rob.set_pose(new_trans, acc=0.1, vel=0.4, command="movej")  # apply the new pose
 
 
+def is_safe_move(start_pose, end_pose, r=0.25):
+    start_x, start_y = (start_pose[0], start_pose[1])
+    end_x, end_y = (end_pose[0], end_pose[1])
+
+    try:
+        m = (end_y-start_y)/(end_x-start_x)
+        b = start_y - m*start_x
+        # print('m = y/x =', m)
+        # print('b =', b)
+    except:
+        m = (end_x-start_x)/(end_y-start_y)
+        b = start_x - m*start_y
+        # print('m = x/y =', m)
+        # print('b =', b)
+    
+    return r**2 - b**2 + m**2 * r**2 < 0
+
+def cartesian_to_polar(x, y):
+    r = np.sqrt(x**2 + y**2)
+    theta = np.arctan2(y, x)
+    return r, theta
+
+def polar_to_cartesian(r, theta):
+    x = r * np.cos(theta)
+    y = r * np.sin(theta)
+    return x, y
+
+
+def move_to_polar(start_pos, end_pos):
+    global rob
+
+    # Convert to polar coordinates
+    start_r, start_theta = cartesian_to_polar(start_pos[0], start_pos[1])
+    end_r, end_theta = cartesian_to_polar(end_pos[0], end_pos[1])
+
+    # Interpolate for xy (spiral arc)
+    n_points = 30
+    r_intermediate = np.linspace(start_r, end_r, n_points)
+    theta_intermediate = np.linspace(start_theta, end_theta, n_points)
+
+    # Interpolate for z (height)
+    start_z = start_pos[2]
+    end_z = end_pos[2]
+
+    z_intermediate = np.linspace(start_z, end_z, n_points)
+
+    # Interpolate for rz (keep tool rotation fixed relative to robot)
+
+
+    curr_rot = rob.getl()
+
+    theta_delta = theta_intermediate[1]-theta_intermediate[0]
+    
+    rx_intermediate = [curr_rot[5] + theta_delta*i for i in range(n_points)]
+
+    # curr_rot = rob.getj()
+    # start_rz = curr_rot[5]
+    # rot = end_theta - start_theta
+    # end_base_joint = curr_rot[0]-start_theta + rot
+
+    # end_rz = curr_rot[0] + rot
+    # # rob.movel([*polar_to_cartesian(end_r, end_theta), *rob.getl()[2:]], acc=2, vel=2)
+
+    # print('start_theta = ', math.degrees(start_theta))
+    # print('end_theta = ', math.degrees(curr_rot[0]-start_theta+rot))
+    # print('start_rz =', math.degrees(start_rz))
+    # print('rot =', math.degrees(rot))
+    # print('end_rz =', math.degrees(end_rz))
+
+    # rz_intermediate = np.linspace(start_rz, end_rz, n_points)
+
+    # Convert back to cartesian coordinates
+    curr_pos = rob.getl()
+
+    intermediate_points = [[*polar_to_cartesian(r, theta), z, *curr_pos[3:]]
+                            for r, theta, z, rx in zip(r_intermediate, 
+                                                       theta_intermediate, 
+                                                       z_intermediate, 
+                                                       rx_intermediate)]
+
+    # Move robot
+    rob.movels(intermediate_points, acc=2, vel=2, radius=0.1)
+    
+
+    return rx_intermediate
+
+def move_to_home():
+    global rob
+
+    # Home position in degrees
+    home_pos = [0.10421807948612624, 
+                -2.206111555015423, 
+                1.710679229503537, 
+                -1.075834511928354, 
+                -1.569301366430687, 
+                1.675098295930943]
+
+    # Move robot
+    rob.movej(home_pos, acc=2, vel=2)
+
+def normalize_degree(theta):
+    # Normalizes degree theta from -1.5pi to 1.5pi
+    multiplier = 1
+    normalized_theta = theta % (math.pi * multiplier)
+    
+    # Maintain the negative sign if the original angle is negative
+    if theta < 0:
+        normalized_theta -= math.pi * multiplier
+
+    # Return angle
+    return normalized_theta
+
+def get_joints_from_xyz_rel(x, y, z, initial_guess = (math.pi/2, math.pi/2, 0), limbs=(.422864, .359041, .092124)):
+    # Get polar coordinates of x,y pair
+    r, theta = cartesian_to_polar(x, y)
+    
+    # Get length of each limb
+    l1, l2, l3 = limbs
+    
+    # Formulas to find out joint positions for (r, z)
+    def inv_kin_r_z(p):
+        a, b, c = p
+
+        return (l1*math.cos(a) + l2*math.cos(a-b) + l3*math.cos(a-b-c) - r, # r
+                l1*math.sin(a) + l2*math.sin(a-b) - l3*math.sin(a-b-c) - z,  # z
+                a-b-c) # wrist angle
+
+
+    # Normalize angles
+    base, shoulder, elbow, wrist = [normalize_degree(deg) for deg in [theta, *fsolve(inv_kin_r_z, initial_guess)]]
+
+    # Return result
+    return base, shoulder, elbow, wrist
+
+def get_joints_from_xyz_abs(x, y, z):
+    joints = get_joints_from_xyz_rel(x, y, z)
+
+    # Joint offsets
+    # Base, Shoulder, Elbow, Wrist
+    inverse = [1, -1, 1, 1]
+    offsets = [0, 0, 0, -math.pi/2]
+
+    # Return adjusted joint positions
+    return [o+j*i for j, o, i in zip(joints, offsets, inverse)]
 
 if __name__ == "__main__":
     
     #rob.movej((0, 0, 0, 0, 0, 0), 0.1, 0.2)
     #rob.movel((x, y, z, rx, ry, rz), a, v)
     init("192.168.1.145")
-    fprint("Current tool pose is: ",  rob.getl())
+    print("Current tool pose is: ",  rob.getl())
-    #set_pos_rel_rot_abs(0, 0, -0.2, math.pi, 0, -math.pi)
+    move_to_home()
-    set_pos_abs(0.3, -0.2, 0.5, math.pi, 0, -math.pi)
+
-    set_pos_abs(0, 0.2, 0.6, math.pi, 0, -math.pi)
+    home_pose = [-0.4999999077032916, 
-    set_pos_abs(-0.5, -0.2, 0.4, math.pi, 0, -math.pi)
+               -0.2000072960336574, 
-    #set_pos_rel_rot_abs(0, 0, 0, math.pi, 0, -math.pi)
+               0.40002172976662786, 
-    fprint("Current tool pose is: ",  rob.getl())
+               0, 
+               -3.14152741295329, 
+               0]
+
+    # time.sleep(.5)
+
+    p1 = [0,
+
+        0.6,
+        .4,
+        0.2226,
+        3.1126,
+        0.0510]
+    
+    p2 = [0.171,
+        -0.115,
+        0.2,
+        0.2226,
+        3.1126,
+        0.0510]
+
+    curr_pos = rob.getl()
+    # up/down, 
+    # tool rotation
+    # tool angle (shouldn't need)
+    # rob.set_pos(p1[0:3], acc=0.5, vel=0.5)
+
+    # set_pos_abs(*home_pose)
+
+
+    angles = get_joints_from_xyz_abs(0.3, 0.3, 0.3)
+    rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
+    
+    angles = get_joints_from_xyz_abs(-0.3, -0.3, 0.7)
+    rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
+    
+    angles = get_joints_from_xyz_abs(-0.3, 0.4, 0.2)
+    rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
+
+
+    # set_pos_abs(*p1)
+    # move = move_to_polar(p1, p2)
+
+
+    # for p in move:
+    #     print(math.degrees(p))
+    # print("Safe? :", is_safe_move(p1, p2))
+
+
+    # #set_pos_rel_rot_abs(0, 0, -0.2, math.pi, 0, -math.pi)
+    # set_pos_abs(0.3, -0.2, 0.5, math.pi, 0, -math.pi)
+    # set_pos_abs(0, 0.2, 0.6, math.pi, 0, -math.pi)
+    # set_pos_abs(-0.5, -0.2, 0.4, math.pi, 0, -math.pi)
+    # #set_pos_rel_rot_abs(0, 0, 0, math.pi, 0, -math.pi)
+
+    # print("Current tool pose is: ",  rob.getl())
+    # print("getj(): ",  rob.getj())
+
+    # move_to_home()
+
     rob.stop()
     os.kill(os.getpid(), 9) # dirty kill of self
     sys.exit(0)

venv-setup.sh

@@ -1,6 +1,7 @@
 #!/bin/sh
+# change this to #!/bin/bash for windows
 
-python -m venv ./venv
+python3 -m venv ./venv
 source ./venv/bin/activate
 
 pip install --upgrade pip

websocket_test.html

@@ -1,15 +1,61 @@
 <!DOCTYPE html>
 <html>
+
 <head>
     <title>WebSocket Test</title>
+
+    <style>
+        footer {
+            background-color: #333;
+            color: #fff;
+            text-align: center;
+            padding: 10px 0;
+            position: fixed;
+            bottom: 0;
+            width: 100%;
+            display: flex;
+            justify-content: space-around;
+        }
+
+        .service-box {
+            width: 150px;
+            padding: 10px;
+            border-radius: 5px;
+        }
+
+        .service-up {
+            background-color: green;
+        }
+
+        .service-down {
+            background-color: red;
+        }
+    </style>
+
+
     <script>
-        document.addEventListener("DOMContentLoaded", function() {
+
+        // class Service {
+        //     constructor(name, status) {
+        //         this.name = name
+        //         this.status = status
+        //     }
+        // }
+
+        var updatedTime = new Date();
+        // Initial status of services
+        // var serviceA = new Service("234234", 'down');
+        // var serviceBStatus = 'down';
+        // var serviceCStatus = 'down';
+
+        document.addEventListener("DOMContentLoaded", function () {
             // Create WebSocket connection.
             const socket = new WebSocket('ws://localhost:9000');
 
             // Connection opened
             socket.addEventListener('open', function (event) {
                 console.log("Connected to WebSocket server");
+                updatedTime = new Date();
             });
 
             // Listen for messages
@@ -19,6 +65,7 @@
                 let message = document.createElement('li');
                 message.textContent = "Received: " + event.data;
                 messages.appendChild(message);
+                updatedTime = new Date();
             });
 
             // Send a message to the server
@@ -28,15 +75,82 @@
                 console.log('Message sent', message);
             }
 
+            // This function just sends a ping to make sure the server is there and it is able to responds
+            function ping() {
+                let message = `{ "call": "send", "type": "log", "data": "This is a ping!!" }`;
+                socket.send(message);
+                console.log('Message sent', message);
+            }
+            setInterval(ping, 1500);
+
+            // setInterval(() => {
+            //     updateServiceStatus('serviceA', 'down');
+            // }, 2000);
+
+
             // Bind send message function to button click
             document.getElementById('sendMessage').addEventListener('click', sendMessage);
         });
     </script>
 </head>
+
 <body>
     <h2>WebSocket Test</h2>
-    <input type="text" id="messageInput" placeholder="Type a message...">
+    <textarea rows="4" cols="50" id="messageInput" placeholder="Type a message..."> </textarea>
     <button id="sendMessage">Send Message</button>
+    <p>Example JSON</p>
+    <p>{ "type": "cable_map", "call": "request", "data": { } }</p>
+    <p>{ "type": "log", "call": "send", "data": "123123" }</p>
+
+    <p>Messages/Logs</p>
     <ul id="messages"></ul>
+
+    <footer>
+        <!-- <div id="serviceA" class="service-box"></div>
+        <div id="serviceB" class="service-box"></div>
+        <div id="serviceC" class="service-box"></div> -->
+        <div id="clock"></div>
+
+    </footer>
+
+    <script>
+        // // Function to update service status
+        // function updateServiceStatus(service) {
+        //     // serviceId, status
+        //     var serviceElement = document.getElementById(service.serviceId);
+        //     // updateClock();
+
+        //     if (service.status === 'up') {
+        //         serviceElement.innerHTML = '<h3>' + service.serviceId + '</h3><p>Running</p>';
+        //         serviceElement.classList.remove('service-down');
+        //         serviceElement.classList.add('service-up');
+        //     } else {
+        //         serviceElement.innerHTML = '<h3>' + service.serviceId + '</h3><p>Down</p>';
+        //         serviceElement.classList.remove('service-up');
+        //         serviceElement.classList.add('service-down');
+        //     }
+        // }
+
+
+
+        // // Update service statuses
+        // updateServiceStatus('node.js (for this page)', serviceAStatus);
+        // updateServiceStatus('Python WebSocket', serviceBStatus);
+        // updateServiceStatus('serviceC', serviceCStatus);
+
+        // Function to update clock
+        function updateClock() {
+            var now = new Date();
+            now = now.getTime() - updatedTime.getTime();
+            // console.log(now)
+            document.getElementById('clock').textContent = 'Milliseconds Since Update: ' + now.toString().padStart(6, '0');
+        }
+
+        // Update clock every second
+        setInterval(updateClock, 100);
+
+    </script>
+
 </body>
+
 </html>