Center images

fileserver.py

@@ -12,5 +12,5 @@ def run_server(port, directory):
     # Create the HTTP server
     handler = http.server.SimpleHTTPRequestHandler
     with socketserver.TCPServer(("", port), handler) as httpd:
-        print(f"Serving at port {port}")
+        print(f"Serving cable images & files at port {port}")
         httpd.serve_forever()

read_datasheet.py

@@ -68,20 +68,23 @@ def find_file_noext(directory, prefix="part-hires"):
     #print(directory, matching_files)
     return matching_files
 
-def rotate_and_crop_image(path, image_name):
+def rotate_and_crop_image(path, image_name, force_rotate=False):
     # Open the image file
     image_path = path + "/" + image_name
     with Image.open(image_path) as img:
         # Check if the image is wider than it is tall
-        if img.width > img.height * 1.2:
+        if force_rotate or img.width > img.height * 1.2:
             # Rotate the image by 90 degrees counter-clockwise
             img = img.rotate(90, expand=True)
         
         # Determine the size of the square (the length of the shorter side of the image)
         square_size = min(img.width, img.height)
-        
-        # Crop the image to a square from the top
-        img_cropped = img.crop((0, 0, square_size, square_size))
+        if img.height < img.width:
+            offset = (img.width - img.height)/2
+            img_cropped = img.crop((offset, 0, square_size+offset, square_size))
+        else:
+            # Crop the image to a square from the top
+            img_cropped = img.crop((0, 0, square_size, square_size))
         
         # Save or display the image
         img_cropped.save(path + "/" + "thumbnail-" + image_name)  # Save the cropped image
@@ -184,10 +187,10 @@ def parse(filename, output_dir, partnum, dstype, weburl):
                     count += 1
     
     if os.path.exists(output_dir + "/found_part_hires"):
-        rotate_and_crop_image(output_dir, find_file_noext(output_dir, prefix="part-hires")[0])
+        rotate_and_crop_image(output_dir, find_file_noext(output_dir, prefix="part-hires")[0], force_rotate=(dstype == "Alphawire"))
         img = weburl + find_file_noext(output_dir, prefix="thumbnail-part-hires")[0]
     elif len(find_file_noext(output_dir, prefix="part")) > 0:
-        rotate_and_crop_image(output_dir, find_file_noext(output_dir, prefix="part")[0])
+        rotate_and_crop_image(output_dir, find_file_noext(output_dir, prefix="part")[0], force_rotate=(dstype == "Alphawire"))
         img = weburl + find_file_noext(output_dir, prefix="thumbnail-part")[0]
     else:
         img = None

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

ur5_control.py

@@ -20,8 +20,8 @@ class Rob():
     robot = None
     #offset_x, offset_y, offset_z = (0, 0, 0.14)     # Tool offset
     #
-    pos_updates = Queue()
-    def __init__(self, config):
+    
+    def __init__(self, config, pos_queue=Queue()):
         self.config = config
         armc = config["arm"]
         self.ip = armc["ip"]
@@ -33,6 +33,7 @@ class Rob():
         self.limb2 = limbs["limb2"]
         self.limb3 = limbs["limb3"]
         self.limb_wrist = limbs["limb_wrist"]
+        self.pos_updates = pos_queue
         #self.init_arm()
 
 def ping(host):