From fa25b2c8b1621db08b1b117054efba5268947a21 Mon Sep 17 00:00:00 2001
From: Cole Deck <cdeck@hawk.iit.edu>
Date: Tue, 14 May 2024 20:29:32 -0500
Subject: [PATCH] add CORS

---
 fileserver.py  | 16 +++++++++++-----
 run.py         |  8 +++++---
 ur5_control.py |  2 +-
 3 files changed, 17 insertions(+), 9 deletions(-)

diff --git a/fileserver.py b/fileserver.py
index 9a29944..1d3e1cd 100644
--- a/fileserver.py
+++ b/fileserver.py
@@ -2,16 +2,22 @@ import http.server
 import socketserver
 import os
 
+class CORSHTTPRequestHandler(http.server.SimpleHTTPRequestHandler):
+    def end_headers(self):
+        self.send_header('Access-Control-Allow-Origin', '*')
+        self.send_header('Access-Control-Allow-Methods', 'GET, POST, OPTIONS')
+        self.send_header('Access-Control-Allow-Headers', 'X-Requested-With, Content-Type')
+        http.server.SimpleHTTPRequestHandler.end_headers(self)
+
 def run_server(port, directory):
     """
-    Run a simple HTTP server serving files from the specified directory.
+    Run a simple HTTP server serving files from the specified directory with CORS enabled.
     """
     # Change the working directory to the specified directory
     os.makedirs(directory, exist_ok=True)
     os.chdir(directory)
 
-    # Create the HTTP server
-    handler = http.server.SimpleHTTPRequestHandler
-    with socketserver.TCPServer(("", port), handler) as httpd:
-        print(f"Serving cable images & files at port {port}")
+    # Create the HTTP server using the CORS-enabled handler
+    with socketserver.TCPServer(("", port), CORSHTTPRequestHandler) as httpd:
+        print(f"Serving files at port {port} with CORS enabled")
         httpd.serve_forever()
diff --git a/run.py b/run.py
index 4b1de6d..827852d 100755
--- a/run.py
+++ b/run.py
@@ -483,18 +483,20 @@ def get_sensors():
                 val = val[0]
                 if val == 1 and sensors[idx] >= 0: # skip negative values
                     sensors[idx] += 1
-                else:
+                elif val == 0:
                     if sensors[idx] >= 4:
                         sensors[idx] -= 4
+                    else:
+                        sensors[idx] += 4
     else:
-        out = [0, 0, 0, 0]
+        sensors = [0, 0, 0, 0]
 
     #fprint("Values: " + str(sensors))
     #mbconn.close()
     for x in range(len(sensors)):
         if sensors[x] >= 180: # 3 sec
             # cable newly detected on tray
-            sensors[x] = -10000
+            sensors[x] = -180
             fprint("Precense detected: slot " + str(x))
             return x
         
diff --git a/ur5_control.py b/ur5_control.py
index 31f686d..fb32a1d 100755
--- a/ur5_control.py
+++ b/ur5_control.py
@@ -590,7 +590,7 @@ def tray_routine(robot, slot=0, pick_up=True):
     ]
     if pick_up:
         open_gripper()
-    rob.movel(slot_position[slot],vel=0.2, acc=1)
+    rob.movel(slot_position[slot], vel=0.2, acc=1)
 
     # Place/Grab the tube
     if pick_up: