Working network test

config.yml

@@ -1,8 +1,8 @@
 core:
   mode: winclient
-  serverip: 192.168.1.20
+  serverip: 172.26.178.114
-  clientip: 192.168.1.21
+  clientip: 172.26.176.1
-  server: Hyper-V
+  server: Hyper-Vd
 
 arm:
   ip: 192.168.1.145

output.log

@@ -263403,3 +263403,114 @@ Traceback (most recent call last):
   File "/usr/lib/python3.11/multiprocessing/pool.py", line 675, in _help_stuff_finish
     inqueue._rlock.acquire()
 TypeError: killall() takes 0 positional arguments but 2 were given
+Process SpawnPoolWorker-2:
+Traceback (most recent call last):
+  File "C:\Program Files\Python312\Lib\multiprocessing\process.py", line 314, in _bootstrap
+    self.run()
+  File "C:\Program Files\Python312\Lib\multiprocessing\process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "C:\Program Files\Python312\Lib\multiprocessing\pool.py", line 114, in worker
+    task = get()
+           ^^^^^
+  File "C:\Program Files\Python312\Lib\multiprocessing\queues.py", line 366, in get
+    with self._rlock:
+  File "C:\Program Files\Python312\Lib\multiprocessing\synchronize.py", line 95, in __enter__
+    return self._semlock.__enter__()
+           ^^^^^^^^^^^^^^^^^^^^^^^^^
+KeyboardInterrupt
+[__mp_main__:check_server_online]:Successfully connected to server.
+Process SpawnPoolWorker-2:
+Traceback (most recent call last):
+  File "C:\Program Files\Python312\Lib\multiprocessing\process.py", line 314, in _bootstrap
+    self.run()
+  File "C:\Program Files\Python312\Lib\multiprocessing\process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "C:\Program Files\Python312\Lib\multiprocessing\pool.py", line 114, in worker
+    task = get()
+           ^^^^^
+  File "C:\Program Files\Python312\Lib\multiprocessing\queues.py", line 366, in get
+    with self._rlock:
+  File "C:\Program Files\Python312\Lib\multiprocessing\synchronize.py", line 95, in __enter__
+    return self._semlock.__enter__()
+           ^^^^^^^^^^^^^^^^^^^^^^^^^
+KeyboardInterrupt
+[__mp_main__:send_ip_to_server]:Server response: IP Received
+[__mp_main__:check_server_online]:Successfully connected to server.
+Process SpawnPoolWorker-2:
+Traceback (most recent call last):
+  File "C:\Program Files\Python312\Lib\multiprocessing\process.py", line 314, in _bootstrap
+    self.run()
+  File "C:\Program Files\Python312\Lib\multiprocessing\process.py", line 108, in run
+    self._target(*self._args, **self._kwargs)
+  File "C:\Program Files\Python312\Lib\multiprocessing\pool.py", line 114, in worker
+    task = get()
+           ^^^^^
+  File "C:\Program Files\Python312\Lib\multiprocessing\queues.py", line 366, in get
+    with self._rlock:
+  File "C:\Program Files\Python312\Lib\multiprocessing\synchronize.py", line 95, in __enter__
+    return self._semlock.__enter__()
+           ^^^^^^^^^^^^^^^^^^^^^^^^^
+KeyboardInterrupt
+Traceback (most recent call last):
+  File "c:\Users\cad05221\jukebox-software\run.py", line 268, in <module>
+    if setup_client(pool):
+       ^^^^^^^^^^^^^^^^^^
+  File "c:\Users\cad05221\jukebox-software\run.py", line 184, in setup_client
+    firefox.get(config["core"]["serverip"])
+  File "C:\Users\cad05221\jukebox-software\venv\Lib\site-packages\selenium\webdriver\remote\webdriver.py", line 357, in get
+    self.execute(Command.GET, {"url": url})
+  File "C:\Users\cad05221\jukebox-software\venv\Lib\site-packages\selenium\webdriver\remote\webdriver.py", line 348, in execute
+    self.error_handler.check_response(response)
+  File "C:\Users\cad05221\jukebox-software\venv\Lib\site-packages\selenium\webdriver\remote\errorhandler.py", line 229, in check_response
+    raise exception_class(message, screen, stacktrace)
+selenium.common.exceptions.InvalidArgumentException: Message: Malformed URL: URL constructor: 172.26.178.114 is not a valid URL.
+Stacktrace:
+RemoteError@chrome://remote/content/shared/RemoteError.sys.mjs:8:8
+WebDriverError@chrome://remote/content/shared/webdriver/Errors.sys.mjs:189:5
+InvalidArgumentError@chrome://remote/content/shared/webdriver/Errors.sys.mjs:380:5
+GeckoDriver.prototype.navigateTo@chrome://remote/content/marionette/driver.sys.mjs:851:11
+
+Traceback (most recent call last):
+  File "c:\Users\cad05221\jukebox-software\run.py", line 268, in <module>
+    if setup_client(pool):
+       ^^^^^^^^^^^^^^^^^^
+  File "c:\Users\cad05221\jukebox-software\run.py", line 184, in setup_client
+    firefox.get("http://" + config["core"]["serverip"] + ":8000")
+  File "C:\Users\cad05221\jukebox-software\venv\Lib\site-packages\selenium\webdriver\remote\webdriver.py", line 357, in get
+    self.execute(Command.GET, {"url": url})
+  File "C:\Users\cad05221\jukebox-software\venv\Lib\site-packages\selenium\webdriver\remote\webdriver.py", line 348, in execute
+    self.error_handler.check_response(response)
+  File "C:\Users\cad05221\jukebox-software\venv\Lib\site-packages\selenium\webdriver\remote\errorhandler.py", line 229, in check_response
+    raise exception_class(message, screen, stacktrace)
+selenium.common.exceptions.WebDriverException: Message: Reached error page: about:neterror?e=connectionFailure&u=http%3A//172.26.178.114%3A8000/&c=UTF-8&d=Firefox%20can%E2%80%99t%20establish%20a%20connection%20to%20the%20server%20at%20172.26.178.114%3A8000.
+Stacktrace:
+RemoteError@chrome://remote/content/shared/RemoteError.sys.mjs:8:8
+WebDriverError@chrome://remote/content/shared/webdriver/Errors.sys.mjs:189:5
+UnknownError@chrome://remote/content/shared/webdriver/Errors.sys.mjs:768:5
+checkReadyState@chrome://remote/content/marionette/navigate.sys.mjs:58:24
+onNavigation@chrome://remote/content/marionette/navigate.sys.mjs:324:39
+emit@resource://gre/modules/EventEmitter.sys.mjs:154:20
+receiveMessage@chrome://remote/content/marionette/actors/MarionetteEventsParent.sys.mjs:33:25
+
+Traceback (most recent call last):
+  File "c:\Users\cad05221\jukebox-software\run.py", line 268, in <module>
+    if setup_client(pool):
+       ^^^^^^^^^^^^^^^^^^
+  File "c:\Users\cad05221\jukebox-software\run.py", line 184, in setup_client
+    firefox.get("http://" + config["core"]["serverip"] + ":8000")
+  File "C:\Users\cad05221\jukebox-software\venv\Lib\site-packages\selenium\webdriver\remote\webdriver.py", line 357, in get
+    self.execute(Command.GET, {"url": url})
+  File "C:\Users\cad05221\jukebox-software\venv\Lib\site-packages\selenium\webdriver\remote\webdriver.py", line 348, in execute
+    self.error_handler.check_response(response)
+  File "C:\Users\cad05221\jukebox-software\venv\Lib\site-packages\selenium\webdriver\remote\errorhandler.py", line 229, in check_response
+    raise exception_class(message, screen, stacktrace)
+selenium.common.exceptions.WebDriverException: Message: Reached error page: about:neterror?e=connectionFailure&u=http%3A//172.26.178.114%3A8000/&c=UTF-8&d=Firefox%20can%E2%80%99t%20establish%20a%20connection%20to%20the%20server%20at%20172.26.178.114%3A8000.
+Stacktrace:
+RemoteError@chrome://remote/content/shared/RemoteError.sys.mjs:8:8
+WebDriverError@chrome://remote/content/shared/webdriver/Errors.sys.mjs:189:5
+UnknownError@chrome://remote/content/shared/webdriver/Errors.sys.mjs:768:5
+checkReadyState@chrome://remote/content/marionette/navigate.sys.mjs:58:24
+onNavigation@chrome://remote/content/marionette/navigate.sys.mjs:324:39
+emit@resource://gre/modules/EventEmitter.sys.mjs:154:20
+receiveMessage@chrome://remote/content/marionette/actors/MarionetteEventsParent.sys.mjs:33:25
+

run.py

@@ -30,7 +30,7 @@ sensor_ready = False
 vm_ready = False
 killme = None
 #pool = None
-
+serverproc = None
 
 def arm_start_callback(res):
     global arm_ready
@@ -53,6 +53,7 @@ def vm_start_callback(res):
     vm_ready = True
 
 def wait_for(val, name):
+    #global val
     if val is False:
         fprint("waiting for " + name + " to complete...")
         while val is False:
@@ -70,19 +71,8 @@ def start_server_socket():
     
     app.run(host='0.0.0.0', port=5000)
 
-def start_client_socket(server_ip):
+def start_client_socket():
     app = Flask(__name__)
-    server_url = 'http://' + server_ip + ':5000/report_ip'
-    
-
-    def send_ip_to_server(server_url, client_ip):
-        try:
-            response = requests.post(server_url, json={'ip': client_ip}, timeout=1)
-            fprint(f"Server response: {response.text}")
-            return True
-        except requests.exceptions.RequestException as e:
-            fprint(f"Error sending IP to server: {e}")
-            return False
 
     @app.route('/control_client', methods=['POST'])
     def message_from_server():
@@ -91,13 +81,27 @@ def start_client_socket(server_ip):
         fprint(f"Message from server: {data.get('message')}")
         return "Message received", 200
     
-    while not send_ip_to_server(server_url, config["core"]["clientip"]):
-        sleep(1)
-    global vm_ready
-    vm_ready = True
     app.run(host='0.0.0.0', port=6000)
 
 
+def check_server_online(serverip, clientip):
+    def send_ip_to_server(server_url, client_ip):
+        try:
+            response = requests.post(server_url, json={'ip': client_ip}, timeout=1)
+            fprint(f"Server response: {response.text}")
+            return True
+        except requests.exceptions.RequestException as e:
+            fprint(f"Error sending IP to server: {e}")
+            return False
+        
+    server_url = 'http://' + serverip + ':5000/report_ip'
+    while not send_ip_to_server(server_url, clientip):
+        sleep(1)
+
+    fprint("Successfully connected to server.")
+    return True
+    
+        
 def setup_server(pool):
     # linux server setup
     global config
@@ -106,21 +110,37 @@ def setup_server(pool):
     global camera_ready
     global led_ready
     global arm_ready
+    global serverproc
 
     fprint("Starting Jukebox control system...")
     pool.apply_async(ur5_control.init, (config["arm"]["ip"],), callback=arm_start_callback)
     #pool.apply_async(led_control.init, callback=led_start_callback)
     #pool.apply_async(camera_control.init, callback=camera_start_callback)
     #pool.apply_async(sensor_control.init, callback=sensor_start_callback)
-    p = Process(target=start_server_socket)
+    serverproc = Process(target=start_server_socket)
-    p.start()
+    serverproc.start()
 
     # wait for user to confirm init on webpage
 
-    wait_for(led_ready, "LED controller initialization")
+    if led_ready is False:
-    wait_for(sensor_ready, "Sensor Initialization")
+        fprint("waiting for " + "LED controller initialization" + " to complete...")
-    wait_for(camera_ready, "Camera initilization")
+        while led_ready is False:
-    wait_for(arm_ready, "UR5 initilization")
+            sleep(0.1)
+
+    if sensor_ready is False:
+        fprint("waiting for " + "Sensor Initialization" + " to complete...")
+        while sensor_ready is False:
+            sleep(0.1)
+
+    if camera_ready is False:
+        fprint("waiting for " + "Camera initilization" + " to complete...")
+        while camera_ready is False:
+            sleep(0.1)
+
+    if arm_ready is False:
+        fprint("waiting for " + "UR5 initilization" + " to complete...")
+        while arm_ready is False:
+            sleep(0.1)
     
     
     
@@ -150,7 +170,8 @@ def run_loading_app():
 def setup_client(pool):
     # Windows client setup
     global config
-
+    global vm_ready
+    global serverproc
     # Open loading wepage
     p = Process(target=run_loading_app)
     p.start()
@@ -164,11 +185,20 @@ def setup_client(pool):
         run_cmd("Start-VM -Name Jukebox*") # any and all VMs starting with "Jukebox"
 
     # Wait for VM to start and be reachable over the network
-    pool.apply_async(start_client_socket)
+    serverproc = Process(target=start_client_socket)
+    serverproc.start()
     
-    wait_for(vm_ready, "VM Startup")
+    pool.apply_async(check_server_online, (config["core"]["serverip"],config["core"]["clientip"]), callback=vm_start_callback)
+
+    #wait_for(vm_ready, "VM Startup")
+
+    #global vm_ready
+    if vm_ready is False:
+        fprint("waiting for " + "VM Startup" + " to complete...")
+        while vm_ready is False:
+            sleep(0.1)
     p.terminate()
-    firefox.get(config["core"]["serverip"])
+    firefox.get("http://" + config["core"]["serverip"] + ":5000")
     return True
     
 
@@ -253,11 +283,13 @@ if __name__ == "__main__":
         if config["core"]["mode"] == "winclient":
             from selenium import webdriver
             if setup_client(pool):
+                fprint("Entering main loop...")
                 while(keeprunning):
                     mainloop_client(pool)
 
         elif config["core"]["mode"] == "linuxserver":
             if setup_server(pool):
+                fprint("Entering main loop...")
                 while(keeprunning):
                     mainloop_server(pool)
 

ur5_control.py

@@ -28,7 +28,13 @@ def init(ip):
 
     # init urx
     fprint("Connecting to arm at " + ip)
-    rob = urx.Robot(ip)
+    trying = True
+    while trying:
+        try:
+            rob = urx.Robot(ip)
+            trying = False
+        except:
+            time.sleep(1)
     robotiqgrip = Robotiq_Two_Finger_Gripper(rob)
     rob.set_tcp((0, 0, 0.15, 0, 0, 0))
     rob.set_payload(2, (0, 0, 0.1))