Center images

run.py

@@ -67,6 +67,8 @@ ring_animation = None
 led_set_mode = None
 sensors = [0,0,0,0]
 websocket_process = None
+arm_updates = Queue()
+animation_wait = False
 
 def arm_start_callback(res):
     fprint("Arm action complete.")
@@ -310,9 +312,10 @@ def setup_server(pool):
     global to_server_queue
     global from_server_queue
     global websocket_process
+    global arm_updates
 
 
-    arm = Rob(config)
+    arm = Rob(config, arm_updates)
     if real:
         pool.apply_async(ur5_control.powerup_arm, (arm,), callback=arm_start_callback, error_callback=handle_error)
     else:
@@ -443,6 +446,9 @@ def mainloop_server(pool):
     global cable_list_state
     global scan_value
     global oldmode
+    global arm_updates
+    global animation_wait
+
     if mode != oldmode:
         print(" ***** Running mode:", mode, "***** ")
         oldmode = mode
@@ -454,10 +460,16 @@ def mainloop_server(pool):
 
     # do every loop!
     if ring_animation is not None and ledsys.mode != "idle" and real:
+        if not animation_wait and not arm_updates.empty():
+            arm_updates.get()
         ledsys.mainloop(None, ring_animation)
     elif ring_animation is not None and real:
-        ledsys.mainloop(led_set_mode, ring_animation)
-        led_set_mode = None
+        if animation_wait:
+            if not arm_updates.empty():
+                animation_wait = False
+                val = arm_updates.get()
+                ledsys.mainloop(led_set_mode, ring_animation)
+                led_set_mode = None
     else:
         pass
         #fprint("Not triggering LED loop: no ring animation")
@@ -475,6 +487,7 @@ def mainloop_server(pool):
                 fprint("Getting cable index " + str(counter) + " and scanning...")
                 arm_state = "GET"
                 ring_animation = counter
+                animation_wait=True
                 led_set_mode = "GrabA"
                 #ur5_control.to_camera(arm, counter)
                 #arm_ready = True