Merge branch 'main' into dthomas_meilisearch
# Conflicts: # .gitignore # read_datasheet.py
This commit is contained in:
commit
5ef8795eb4
GPG Key ID:
6D341D688163A176
2
.gitignore
vendored
2
.gitignore
vendored
@ -14,3 +14,5 @@ meili_data
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output.mp4
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# log files
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output.log
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# images
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*.png
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116
config.yml
116
config.yml
@ -159,7 +159,7 @@ led:
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||||
size: 24
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||||
diameter: 63.5
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||||
angle: 0
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||||
pos: [-65.936, 114.3]
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||||
pos: [-65.991, 114.3]
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- type: circle
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start: 336
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size: 24
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@ -420,6 +420,116 @@ led:
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size: 70
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length: 600
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angle: 270 # down
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pos: [300, 300]
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pos: [375, 300]
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global_position_offset: [0,0] # default coordinate spce below as center of arm at 0,0 - adjust if necessary
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animation_time: 40
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position_map:
|
||||
- index: 0
|
||||
pos: [-152.4, 263.965]
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||||
- index: 1
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||||
pos: [-76.2, 263.965]
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||||
- index: 2
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||||
pos: [0, 263.965]
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||||
- index: 3
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pos: [76.2, 263.965]
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||||
- index: 4
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||||
pos: [152.4, 263.965]
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||||
- index: 5
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pos: [-190.5, 197.973]
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- index: 6
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||||
pos: [-114.3, 197.973]
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- index: 7
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||||
pos: [-38.1, 197.973]
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||||
- index: 8
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||||
pos: [38.1, 197.973]
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||||
- index: 9
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||||
pos: [114.3, 197.973]
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||||
- index: 10
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||||
pos: [190.5, 197.973]
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||||
- index: 11
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||||
pos: [-228.6, 131.982]
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||||
- index: 12
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||||
pos: [-152.4, 131.982]
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||||
- index: 13
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||||
pos: [-76.2, 131.982]
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||||
- index: 14
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||||
pos: [0, 131.982]
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||||
- index: 15
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pos: [76.2, 131.982]
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||||
- index: 16
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pos: [152.4, 131.982]
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||||
- index: 17
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||||
pos: [228.6, 131.982]
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||||
- index: 18
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||||
pos: [-266.7, 65.991]
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||||
- index: 19
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||||
pos: [-190.5, 65.991]
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||||
- index: 20
|
||||
pos: [-114.3, 65.991]
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||||
- index: 21
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||||
pos: [114.3, 65.991]
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||||
- index: 22
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||||
pos: [190.5, 65.991]
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||||
- index: 23
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||||
pos: [266.7, 65.991]
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||||
- index: 24
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||||
pos: [-304.8, 0]
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||||
- index: 25
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||||
pos: [-228.6, 0]
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||||
- index: 26
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||||
pos: [-152.4, 0]
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||||
- index: 27
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||||
pos: [152.4, 0]
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||||
- index: 28
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||||
pos: [228.6, 0]
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||||
- index: 29
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||||
pos: [304.8, 0]
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||||
- index: 30
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||||
pos: [-266.7, -65.991]
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||||
- index: 31
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||||
pos: [-190.5, -65.991]
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||||
- index: 32
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pos: [-114.3, -65.991]
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- index: 33
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||||
pos: [114.3, -65.991]
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||||
- index: 34
|
||||
pos: [190.5, -65.991]
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||||
- index: 35
|
||||
pos: [266.7, -65.991]
|
||||
- index: 36
|
||||
pos: [-228.6, -131.982]
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||||
- index: 37
|
||||
pos: [-152.4, -131.982]
|
||||
- index: 38
|
||||
pos: [-76.2, -131.982]
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||||
- index: 39
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||||
pos: [0, -131.982]
|
||||
- index: 40
|
||||
pos: [76.2, -131.982]
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||||
- index: 41
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||||
pos: [152.4, -131.982]
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||||
- index: 42
|
||||
pos: [228.6, -131.982]
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||||
- index: 43
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||||
pos: [-190.5, -197.973]
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||||
- index: 44
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||||
pos: [-114.3, -197.973]
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||||
- index: 45
|
||||
pos: [-38.1, -197.973]
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||||
- index: 46
|
||||
pos: [38.1, -197.973]
|
||||
- index: 47
|
||||
pos: [114.3, -197.973]
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||||
- index: 48
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||||
pos: [190.5, -197.973]
|
||||
- index: 49
|
||||
pos: [-152.4, -263.965]
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||||
- index: 50
|
||||
pos: [-76.2, -263.965]
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||||
- index: 51
|
||||
pos: [0, -263.965]
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||||
- index: 52
|
||||
pos: [76.2, -263.965]
|
||||
- index: 53
|
||||
pos: [152.4, -263.965]
|
||||
203
get_specs.py
203
get_specs.py
@ -5,7 +5,7 @@ import sys
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import read_datasheet
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from alive_progress import alive_bar
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import requests
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#import time
|
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import time
|
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import json
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import subprocess
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from util import fprint
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@ -27,29 +27,78 @@ def check_internet(url='https://belden.com', timeout=5):
|
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|
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|
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def query_search(partnum, source):
|
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"""token_url = "https://www.belden.com/coveo/rest/token?t=" + str(int(time.time()))
|
||||
if source == "Belden":
|
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token_url = "https://www.belden.com/coveo/rest/token?t=" + str(int(time.time()))
|
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with requests.get(token_url) as r:
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out = json.loads(r.content)
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token = out["token"]
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search_url = "https://www.belden.com/coveo/rest/search"
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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": "" }'
|
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#fprint(search_data)
|
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fprint(json.loads(search_data))
|
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#fprint(json.loads(search_data))
|
||||
#search_data = '{ "q": "' + str(partnum) + '" }'
|
||||
fprint(search_data)
|
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#fprint(search_data)
|
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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
|
||||
# Bash script uses some crazy json formatting that I could not figure out
|
||||
# Despite the fact that I wrote it
|
||||
# So I'll just leave it, becuase it works.
|
||||
if source == "Belden":
|
||||
else:
|
||||
idx = partid
|
||||
break
|
||||
|
||||
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"])
|
||||
result = data["Results"][0]
|
||||
#print(data["Results"][0]["Url"])
|
||||
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:
|
||||
if fullpartnum[0:2] == "BL": # catalog.belden.com entry\
|
||||
partnum = fullpartnum[2:]
|
||||
dstype = "Belden"
|
||||
elif fullpartnum[0:2] == "AW":
|
||||
partnum = fullpartnum[2:]
|
||||
dstype = "Alphawire"
|
||||
def run_search(partnum):
|
||||
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)
|
||||
bar.text = "Failed to download datasheet for part " + partnum
|
||||
failed.append(partnum)
|
||||
bar(skipped=True)
|
||||
bar(skipped=True)
|
||||
return False
|
||||
return 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:")
|
||||
@ -268,7 +356,56 @@ 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",
|
||||
# "BL10GXW12",
|
||||
# "BL10GXW13",
|
||||
# "BL2412",
|
||||
# "BL2413",
|
||||
# "BLOSP6AU",
|
||||
# "BLFI4D024P9",
|
||||
# "BLFISD012R9",
|
||||
# "BLFDSD012A9",
|
||||
# "BLFSSL024NG",
|
||||
# "BLFISX006W0",
|
||||
# "BLFISX00103",
|
||||
# "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",
|
||||
@ -282,8 +419,10 @@ if __name__ == "__main__":
|
||||
"BLFISX006W0",
|
||||
"BLFISX00103",
|
||||
"BLC6D1100007"
|
||||
|
||||
]
|
||||
get_multi(partnums)
|
||||
#query_search("3248", "Alphawire")
|
||||
#query_search("86104CY", "Alphawire")
|
||||
get_multi(partnums, 0.25)
|
||||
#query_search("10GXS13", "Belden")
|
||||
|
||||
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#!/bin/sh
|
||||
# change this to #!/bin/bash for windows
|
||||
|
||||
if ! [ -d "venv" ]; then
|
||||
./venv-setup.sh
|
||||
|
||||
359
inv_kin_testing.ipynb
Normal file
359
inv_kin_testing.ipynb
Normal file
File diff suppressed because one or more lines are too long
360
led_control.py
360
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]
|
||||
y = math.sin(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][1]
|
||||
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"][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?
|
||||
BIN
map.png
BIN
map.png
Binary file not shown.
|
Before Width: | Height: | Size: 381 KiB After Width: | Height: | Size: 372 KiB |
@ -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(previous_table)
|
||||
#fprint(table_name)
|
||||
#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]])
|
||||
tables[main_key][main_keys[i]] = (tables[main_key][main_keys[i]] + (cont_key,) + cont_values)
|
||||
#fprint(tables[main_key][main_keys[i]])
|
||||
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
|
||||
|
||||
|
||||
|
||||
@ -12,6 +12,9 @@ selenium
|
||||
sacn
|
||||
uptime
|
||||
websockets
|
||||
numpy
|
||||
scipy
|
||||
ipywidgets
|
||||
|
||||
# Development
|
||||
matplotlib
|
||||
|
||||
26
run.py
26
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...")
|
||||
print(camera.read_qr(30))
|
||||
# fprint("Looking for QR code...")
|
||||
# print(camera.read_qr(30))
|
||||
|
||||
def run_loading_app():
|
||||
|
||||
|
||||
1
source.fish
Normal file
1
source.fish
Normal file
@ -0,0 +1 @@
|
||||
source venv/bin/activate.fish
|
||||
106
test.py
Normal file
106
test.py
Normal file
@ -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
|
||||
243
ur5_control.py
243
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())
|
||||
#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)
|
||||
fprint("Current tool pose is: ", rob.getl())
|
||||
print("Current tool pose is: ", rob.getl())
|
||||
move_to_home()
|
||||
|
||||
home_pose = [-0.4999999077032916,
|
||||
-0.2000072960336574,
|
||||
0.40002172976662786,
|
||||
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)
|
||||
|
||||
@ -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
|
||||
@ -1,8 +1,53 @@
|
||||
<!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>
|
||||
|
||||
// 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');
|
||||
@ -10,6 +55,7 @@
|
||||
// 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>
|
||||
Loading…
x
Reference in New Issue
Block a user