Jukebox/jukebox-software
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Add more statistics, fix camera, windows client update

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This commit is contained in:
Cole Deck 2024-08-06 17:01:27 -05:00
parent 534cc23c8d
commit f8507a1bc9
8 changed files with 132 additions and 62 deletions
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12
config.yml
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@ -6,7 +6,7 @@ core:
loopspeed: 60 # fps
mqtt:
enabled: True
enabled: False
server: 172.31.108.4
arm:
@ -28,8 +28,8 @@ cables:
cameras:
banner:
ip: 192.168.1.125
port: 32200
ip: 192.168.1.199
port: 80
animation_time: 60
@ -268,7 +268,7 @@ led:
size: 24
diameter: 63.5
angle: 180
pos: [197.973, 38.1]
pos: [201.973, 34.1]
- type: circle
start: 624
size: 24
@ -474,7 +474,7 @@ position_map:
- index: 7
pos: [-38.1, 197.973]
- index: 8
pos: [38.1, 197.973]
pos: [34.1, 201.973]
- index: 9
pos: [114.3, 197.973]
- index: 10
@ -564,4 +564,4 @@ position_map:
- index: 52
pos: [76.2, -263.965]
- index: 53
pos: [152.4, -263.965]
pos: [152.4, -263.965]

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map.png
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2
pick_count.txt
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@ -1 +1 @@
55
56

4
process_video.py
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@ -43,7 +43,7 @@ class qr_reader():
response = requests.get(self.url, timeout=tries * 15)
response.raise_for_status() # Raise an error for bad status codes
print(response.text) # Or handle the response as needed
if len(response.text < 8):
if len(response.text) < 8:
return False
return response.text
except requests.Timeout:
@ -69,4 +69,4 @@ if __name__ == "__main__":
import time
while True:
fprint(test.read_qr(300))
time.sleep(1)
time.sleep(1)

2
requirements.txt
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@ -1,6 +1,6 @@
# Runtime
camelot-py[base]==0.9.0
opencv-python
#opencv-python
pypdf2==2.12.1
alive-progress
requests

123
run.py
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@ -11,6 +11,7 @@ import multiprocessing
from time import sleep
from util import fprint
from util import run_cmd
from util import win32
import sys
import ur5_control
from ur5_control import Rob
@ -33,9 +34,10 @@ import fileserver
import paho.mqtt.client as mqtt
import pickle
import time
import subprocess
# set to false to run without real hardware for development
real = False
real = True
skip_scanning = True
mbconn = None
@ -82,8 +84,10 @@ unacked_publish = set()
mqttc = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2)
counter_file = 'pick_count.txt'
cycle_start_time = time.time()
arm_distance = 0
arm_distance_old = 0
arm_distance_total = 0
kill_ssh = False
mqttc.user_data_set(unacked_publish)
def arm_start_callback(res):
@ -375,7 +379,8 @@ def check_server():
mainloop_get.put(("pickup", data["position"]))
elif "tray" in data:
fprint("Adding tray return to dispense queue")
mainloop_get.put(("return", data["tray"]))
mainloop_get.put(("returnCheck", 0))
#mainloop_get.put(("return", data["tray"]))
else:
fprint("Invalid data.")
elif call == 'request':
@ -549,7 +554,7 @@ def get_sensors():
"""
if real:
sens = [352, 288, 304, 368]
sens = [320, 336, 352, 368]
for idx in range(len(sens)):
reg = sens[idx]
val = mbconn.read_holding_registers(reg)
@ -636,10 +641,13 @@ def mainloop_server(pool, manager):
global timecount
global secondsclock
global cycle_start_time
global arm_distance
global arm_distance_old
global arm_distance_total
if mode != oldmode:
print(" ***** Running mode:", mode, "***** ")
send_data("mode", "send", "{\"mode\": \"" + mode + "\" }")
oldmode = mode
mqtt_send(mode, "mode")
if mode == "Startup": # very first loop
@ -661,6 +669,12 @@ def mainloop_server(pool, manager):
if isinstance(val, tuple):
arm_position = val
if arm_distance_old == 0:
arm_distance_old = val[0] + val[1] + val[2]
arm_distance = 0
else:
arm_distance += val[0] + val[1] + val[2] - arm_distance_old
arm_distance_old = val[0] + val[1] + val[2]
else:
print("Arm queue message " + str(val))
checkpoint = val
@ -706,7 +720,13 @@ def mainloop_server(pool, manager):
# every 1 second
if secondsclock >= config["core"]["loopspeed"]:
secondsclock = 1
arm_distance_total += arm_distance
if abs(arm_distance) < 0.001:
arm_distance = 0.0
mqtt_send("{\"value\": " + str(abs(arm_distance)) + " }", "arm_speed")
mqtt_send("{\"value\": " + str(abs(arm_distance_total)) + " }", "arm_distance")
arm_distance_old = 0 # reset counter
@ -767,7 +787,7 @@ def mainloop_server(pool, manager):
global scan_value
if scan_value is False:
cable_list.append(scan_value)
elif scan_value.upper.find("BLDN.APP/") > -1:
elif scan_value.upper().find("BLDN.APP/") > -1:
scan_value = scan_value[scan_value.find("bldn.app/")+9:]
else:
cable_list.append(scan_value)
@ -880,14 +900,7 @@ def mainloop_server(pool, manager):
else:
global mainloop_get
#print("Checking sensors..")
if real:
newtube = get_sensors()
else:
newtube = -1
if newtube >= 0:
# need to return a cable
mainloop_get.put(("return", newtube))
if not mainloop_get.empty():
action, get_cable = mainloop_get.get()
@ -902,8 +915,19 @@ def mainloop_server(pool, manager):
pool.apply_async(ur5_control.move_to_packup, (arm,), callback=arm_start_callback, error_callback=handle_error)
sleep(30)
killme.set(1)
elif action == "returnCheck":
print("Checking sensors..")
if real:
newtube = get_sensors()
else:
newtube = -1
if newtube >= 0:
# need to return a cable
mainloop_get.put(("return", newtube))
mainloop_get.put(("returnCheck", 0))
else:
fprint("Movement requested. Keep clear of the machine!")
arm_distance_total = 0
#mqtt_send("{\"value\": " + str(time.time() * 1000) + " }", "cycle_start")
cycle_start_time = int(time.time() * 1000)
increment_counter()
@ -995,8 +1019,8 @@ def mainloop_server(pool, manager):
timecount = 0
pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error)
elif scan_value.find("bldn.app/") > -1:
scan_value = scan_value[scan_value.find("bldn.app/")+9:]
elif scan_value.upper().find("BLDN.APP/") > -1:
scan_value = scan_value[scan_value.upper().find("BLDN.APP/")+9:]
fprint("Got cable: " + str(scan_value))
if scan_value[0:2] == "BL" or scan_value[0:2] == "AW":
@ -1054,7 +1078,23 @@ def mainloop_server(pool, manager):
def ping(host):
#Returns True if host (str) responds to a ping request.
# Option for the number of packets as a function of
if win32:
param1 = '-n'
param2 = '-w'
param3 = '250'
else:
param1 = '-c'
param2 = '-W'
param3 = '0.25'
# Building the command. Ex: "ping -c 1 google.com"
command = ['ping', param1, '1', param2, param3, host]
return subprocess.call(command, stdout=subprocess.DEVNULL, stderr=subprocess.STDOUT) == 0
def run_loading_app():
@ -1071,25 +1111,44 @@ def setup_client(pool):
global serverproc
if config["core"]["server"] == "Hyper-V":
run_cmd("Start-VM -Name Jukebox*") # any and all VMs starting with "Jukebox"
fprint("Waiting for VM to start...")
while not ping("192.168.1.25"):
sleep(0.25)
fprint("VM online.")
# Windows client setup
from subprocess import PIPE
fprint("Running full jukebox control system...")
jb = subprocess.Popen("ssh root@192.168.1.25 -- /root/jukebox-software/run.sh".split(' '), stdout=PIPE, stderr=PIPE)
for line in jb.stdout:
print(line, end='')
if line.find("Running mode: Idle") > 0:
# Jukebox started
break # continue with program
fprint("Opening browser...")
firefox = webdriver.Firefox()
firefox.fullscreen_window()
# Open loading wepage
p = Process(target=run_loading_app)
p.start()
firefox.get('http://localhost:7000')
# start Linux server VM
# firefox.get('http://localhost:7000')
sleep(35)
p.terminate()
firefox.get('http://192.168.1.25:3000')
global kill_ssh
while kill_ssh is False:
sleep(0.1)
firefox.close()
jb.terminate()
run_cmd("Stop-VM -Name Jukebox*")
killall()
#firefox.execute_script('document.body.style.MozTransform = "scale(0.80)";')
#firefox.execute_script('document.body.style.MozTransformOrigin = "0 0";')
#firefox.execute_script("document.body.style.zoom='80%'")
# import time
# while True:
# time.sleep(2) # Wait for a given interval
@ -1101,12 +1160,12 @@ def setup_client(pool):
# # else:
# # break # Exit the loop or continue depending on your logic
return True
#return True
def mainloop_client(pool):
sleep(0.1)
killall()
# listen for & act on commands from VM, if needed
# mainly just shut down, possibly connect to wifi or something
@ -1139,7 +1198,11 @@ def killall_signal(a, b):
global config
if config["core"]["server"] == "Hyper-V":
run_cmd("Stop-VM -Name Jukebox*") # any and all VMs starting with "Jukebox"
killall()
if config["core"]["mode"] == "winclient":
global kill_ssh
kill_ssh = True
else:
killall()
def error(msg, *args):
return multiprocessing.get_logger().error(msg, *args)

5
run.sh Executable file
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@ -0,0 +1,5 @@
#!/bin/sh
pkill -9 python # kill any old processes
cd /root/jukebox-software
python run.py

46
ur5_control.py
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@ -581,7 +581,7 @@ def tray_routine(robot, slot=0, pick_up=True):
# Positions for each slot
slot_distance = .052
slot_height = -.015-.0095
slot_height = -.015-.0095+0.007 # add 7mm for shim
first_slot = -0.3084+0.01
slot_position = [
[first_slot, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
@ -745,27 +745,28 @@ def close_gripper():
def get_position_thread(robot, pos_updates):
robot = connect(robot)
rob = robot.robot
oldvals = rob.getl()
deltavals = [0,0,0]
import uptime
t = 0.01
count = 0
while True:
start = uptime.uptime()
if pos_updates.qsize() < 2:
vals = rob.getl()
if vals != oldvals:
if pos_updates is not None:
pos_updates.put(tuple(oldvals))
try:
robot = connect(robot)
rob = robot.robot
oldvals = rob.getl()
deltavals = [0,0,0]
import uptime
t = 0.01
count = 0
while True:
start = uptime.uptime()
if pos_updates.qsize() < 2:
vals = rob.getl()
if vals != oldvals:
if pos_updates is not None:
pos_updates.put(tuple(oldvals))
#time.sleep(0.01)
# deltavals = list()
# deltavals.append(vals[0]-oldvals[0])
# deltavals.append(vals[1]-oldvals[1])
# deltavals.append(vals[2]-oldvals[2])
# count = 0
oldvals = vals
oldvals = vals
# else:
# count += 0.2
@ -775,9 +776,10 @@ def get_position_thread(robot, pos_updates):
# tmpvals[1] = oldvals[1] + deltavals[1]*count
# tmpvals[2] = oldvals[2] + deltavals[2]*count
# pos_updates.put(tuple(tmpvals))
while start + t > uptime.uptime():
time.sleep(0.0001)
while start + t > uptime.uptime():
time.sleep(0.0001)
except:
pass
if __name__ == "__main__":
@ -795,9 +797,9 @@ if __name__ == "__main__":
rob = robot.robot # rob is robot.robot is the urx robot class, what we've been using previously
move_to_packup(robot)
# pick_up_holder(robot, 2)
#move_to_packup(robot)
move_to_home(robot)
pick_up_holder(robot, None, 8)
#drop_off_tray(robot, 0)
# drop_off_tray(robot, 1)
# drop_off_tray(robot, 2)