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3
.gitignore
vendored
3
.gitignore
vendored
@ -3,6 +3,7 @@ venv
|
||||
__pycache__
|
||||
# cable data folder(s)
|
||||
cables
|
||||
cables_old
|
||||
cables-sample.zip
|
||||
# meilisearch (mainly where I've put the data volume for the container)
|
||||
meili_data
|
||||
@ -20,3 +21,5 @@ map*.png
|
||||
build
|
||||
# Generated label images
|
||||
labels
|
||||
temp
|
||||
pick_count.txt
|
||||
@ -40,13 +40,16 @@ class DriveImg():
|
||||
self.onLine = False
|
||||
fprint("Offline")
|
||||
|
||||
def close(self):
|
||||
self.trans.close()
|
||||
|
||||
def read_img(self):
|
||||
resposta = 'Falha'
|
||||
try:
|
||||
if not self.onLine:
|
||||
#print(f'tentando Conectar camera {self.ip}...')
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||||
gravaLog(ip=self.ip,msg=f'Trying to connect...')
|
||||
sleep(2)
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||||
#sleep(2)
|
||||
try:
|
||||
self.trans = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
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||||
self.trans.connect((self.ip,self.PORT))
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||||
@ -55,7 +58,7 @@ class DriveImg():
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||||
except:
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||||
self.onLine = False
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||||
self.trans.close()
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||||
return resposta
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||||
return "Error", None
|
||||
ret = self.trans.recv(64)
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||||
try:
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||||
valida = str(ret[0:15].decode('UTF-8'))
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||||
@ -63,15 +66,15 @@ class DriveImg():
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||||
if valida.find("TC IMAGE")<0:
|
||||
self.onLine = False
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||||
self.trans.close()
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||||
sleep(2)
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||||
#sleep(2)
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||||
gravaLog(ip=self.ip,tipo="Falha",msg=f'Unable to find TC IMAGE bookmark')
|
||||
return "Error"
|
||||
return "Error", None
|
||||
except Exception as ex:
|
||||
self.onLine = False
|
||||
self.trans.close()
|
||||
sleep(2)
|
||||
#sleep(2)
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||||
gravaLog(ip=self.ip,tipo="Falha",msg=f'Error - {str(ex)}')
|
||||
return "Error"
|
||||
return "Error", None
|
||||
if ret:
|
||||
frame = int.from_bytes(ret[24:27],"little")
|
||||
isJpeg = int.from_bytes(ret[32:33],"little")
|
||||
@ -113,8 +116,8 @@ class DriveImg():
|
||||
#print(f'erro {str(ex)}')
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||||
self.onLine = False
|
||||
self.trans.close()
|
||||
sleep(2)
|
||||
return resposta
|
||||
#sleep(2)
|
||||
return "Error", None
|
||||
|
||||
class DriveData():
|
||||
HEADERSIZE = 100
|
||||
@ -139,7 +142,7 @@ class DriveData():
|
||||
if not self.onLine:
|
||||
#print(f'tentando Conectar...\n')
|
||||
gravaLog(ip=self.ip,msg=f'tentando Conectar...',file="log_data.txt")
|
||||
sleep(2)
|
||||
#sleep(2)
|
||||
try:
|
||||
self.trans = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
|
||||
self.trans.connect((self.ip,self.PORT))
|
||||
@ -154,7 +157,7 @@ class DriveData():
|
||||
except Exception as ex:
|
||||
self.onLine = False
|
||||
gravaLog(ip=self.ip,tipo="Falha Generica",msg=f'erro {str(ex)}',file="log_data.txt")
|
||||
sleep(2)
|
||||
#sleep(2)
|
||||
return resposta
|
||||
|
||||
|
||||
|
||||
26
cables.txt
Normal file
26
cables.txt
Normal file
@ -0,0 +1,26 @@
|
||||
1172C
|
||||
86104CY
|
||||
FIT-221-1_4
|
||||
10GXW13
|
||||
10GXW53
|
||||
29501F
|
||||
29512
|
||||
3092A
|
||||
3105A
|
||||
3106A
|
||||
6300FE
|
||||
6300UE
|
||||
7922A
|
||||
7958A
|
||||
8760
|
||||
9841
|
||||
FI4X012W0
|
||||
FISX012W0
|
||||
IOP6U
|
||||
RA500P
|
||||
SPE101
|
||||
SPE102
|
||||
TF-1LF-006-RS5
|
||||
TF-SD9-006-RI5
|
||||
TT-SLG-024-HTN
|
||||
3050
|
||||
29
client.bat
Normal file
29
client.bat
Normal file
@ -0,0 +1,29 @@
|
||||
|
||||
@echo off
|
||||
|
||||
:: BatchGotAdmin
|
||||
:-------------------------------------
|
||||
REM --> Check for permissions
|
||||
>nul 2>&1 "%SYSTEMROOT%\system32\cacls.exe" "%SYSTEMROOT%\system32\config\system"
|
||||
|
||||
REM --> If error flag set, we do not have admin.
|
||||
if '%errorlevel%' NEQ '0' (
|
||||
echo Requesting administrative privileges...
|
||||
goto UACPrompt
|
||||
) else ( goto gotAdmin )
|
||||
|
||||
:UACPrompt
|
||||
echo Set UAC = CreateObject^("Shell.Application"^) > "%temp%\getadmin.vbs"
|
||||
set params = %*:"=""
|
||||
echo UAC.ShellExecute "cmd.exe", "/c %~s0 %params%", "", "runas", 1 >> "%temp%\getadmin.vbs"
|
||||
|
||||
"%temp%\getadmin.vbs"
|
||||
del "%temp%\getadmin.vbs"
|
||||
exit /B
|
||||
|
||||
:gotAdmin
|
||||
pushd "%CD%"
|
||||
CD /D "%~dp0"
|
||||
python run.py
|
||||
:--------------------------------------
|
||||
|
||||
189
config.yml
189
config.yml
@ -3,6 +3,11 @@ core:
|
||||
serverip: 172.26.178.114
|
||||
clientip: 172.26.176.1
|
||||
server: Hyper-Vd
|
||||
loopspeed: 60 # fps
|
||||
|
||||
mqtt:
|
||||
enabled: True
|
||||
server: 172.31.108.4
|
||||
|
||||
arm:
|
||||
ip: 192.168.1.145
|
||||
@ -17,67 +22,83 @@ arm:
|
||||
limb3: 0.1
|
||||
limb_wrist: 0.0997
|
||||
|
||||
cables:
|
||||
port: 7900
|
||||
directory: ./cables/ # must include trailing slash
|
||||
|
||||
#cable_map:
|
||||
cameras:
|
||||
banner:
|
||||
ip: 192.168.1.125
|
||||
port: 32200
|
||||
ip: 192.168.1.199
|
||||
port: 80
|
||||
|
||||
animation_time: 60
|
||||
|
||||
led:
|
||||
fps: 90
|
||||
fps: 100
|
||||
timeout: 1
|
||||
controllers:
|
||||
- universe: 0
|
||||
- universe: 1
|
||||
ip: 192.168.1.200
|
||||
ledstart: 0
|
||||
ledend: 143
|
||||
mode: rgb
|
||||
- universe: 1
|
||||
- universe: 2
|
||||
ip: 192.168.1.201
|
||||
ledstart: 144
|
||||
ledend: 287
|
||||
mode: rgb
|
||||
- universe: 2
|
||||
- universe: 3
|
||||
ip: 192.168.1.202
|
||||
ledstart: 288
|
||||
ledend: 431
|
||||
mode: rgb
|
||||
- universe: 3
|
||||
- universe: 4
|
||||
ip: 192.168.1.203
|
||||
ledstart: 432
|
||||
ledend: 575
|
||||
mode: rgb
|
||||
- universe: 4
|
||||
- universe: 5
|
||||
ip: 192.168.1.204
|
||||
ledstart: 576
|
||||
ledend: 719
|
||||
mode: rgb
|
||||
- universe: 5
|
||||
- universe: 6
|
||||
ip: 192.168.1.205
|
||||
ledstart: 720
|
||||
ledend: 863
|
||||
mode: rgb
|
||||
- universe: 6
|
||||
- universe: 7
|
||||
ip: 192.168.1.206
|
||||
ledstart: 864
|
||||
ledend: 1007
|
||||
mode: rgb
|
||||
- universe: 7
|
||||
- universe: 8
|
||||
ip: 192.168.1.207
|
||||
ledstart: 1008
|
||||
ledend: 1151
|
||||
mode: rgb
|
||||
- universe: 8
|
||||
- universe: 9
|
||||
ip: 192.168.1.208
|
||||
ledstart: 1152
|
||||
ledend: 1295
|
||||
mode: rgb
|
||||
- universe: 9
|
||||
- universe: 10
|
||||
ip: 192.168.1.209
|
||||
ledstart: 1296
|
||||
ledend: 1365
|
||||
mode: rgbw
|
||||
mode: solid
|
||||
color: [0, 50, 100]
|
||||
- universe: 11
|
||||
ip: 192.168.1.210
|
||||
mode: solid
|
||||
color: [0, 50, 100]
|
||||
- universe: 12
|
||||
ip: 192.168.1.211
|
||||
mode: solid
|
||||
color: [0, 50, 100]
|
||||
# - universe: 0
|
||||
# ip: 192.168.1.209
|
||||
# ledstart: 1296
|
||||
# ledend: 1365
|
||||
# mode: rgbw
|
||||
|
||||
|
||||
map:
|
||||
@ -87,37 +108,37 @@ led:
|
||||
start: 0
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [0, 304.8]
|
||||
- type: circle
|
||||
start: 24
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-65.991, 266.7]
|
||||
- type: circle
|
||||
start: 48
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-131.982, 228.6]
|
||||
- type: circle
|
||||
start: 72
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-197.973, 190.5]
|
||||
- type: circle
|
||||
start: 96
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-263.965, 152.4]
|
||||
- type: circle
|
||||
start: 120
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-263.965, 76.2]
|
||||
|
||||
# controller 2
|
||||
@ -125,37 +146,37 @@ led:
|
||||
start: 144
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [0, 228.6]
|
||||
- type: circle
|
||||
start: 168
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-65.991, 190.5]
|
||||
- type: circle
|
||||
start: 192
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-131.982, 152.4]
|
||||
- type: circle
|
||||
start: 216
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-197.973, 114.3]
|
||||
- type: circle
|
||||
start: 240
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-197.973, 38.1]
|
||||
- type: circle
|
||||
start: 264
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-263.965, 0]
|
||||
|
||||
# controller 3
|
||||
@ -163,37 +184,37 @@ led:
|
||||
start: 288
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [0, 152.4]
|
||||
- type: circle
|
||||
start: 312
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-65.991, 114.3]
|
||||
- type: circle
|
||||
start: 336
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-131.982, 76.2]
|
||||
- type: circle
|
||||
start: 360
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-131.982, 0]
|
||||
- type: circle
|
||||
start: 384
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
pos: [-197.973, -38.1]
|
||||
angle: 180
|
||||
pos: [-199.0, -35.0]
|
||||
- type: circle
|
||||
start: 408
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-263.965, -76.2]
|
||||
|
||||
# controller 4
|
||||
@ -201,37 +222,37 @@ led:
|
||||
start: 432
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [131.982, 76.2]
|
||||
- type: circle
|
||||
start: 456
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [131.982, 152.4]
|
||||
- type: circle
|
||||
start: 480
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [131.982, 228.6]
|
||||
- type: circle
|
||||
start: 504
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [65.991, 266.7]
|
||||
- type: circle
|
||||
start: 528
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [65.991, 190.5]
|
||||
- type: circle
|
||||
start: 552
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [65.991, 114.3]
|
||||
|
||||
|
||||
@ -240,37 +261,37 @@ led:
|
||||
start: 576
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [131.982, 0]
|
||||
- type: circle
|
||||
start: 600
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
pos: [197.973, 38.1]
|
||||
angle: 180
|
||||
pos: [201.973, 34.1]
|
||||
- type: circle
|
||||
start: 624
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [197.973, 114.3]
|
||||
- type: circle
|
||||
start: 648
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [197.973, 190.5]
|
||||
- type: circle
|
||||
start: 672
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [263.965, 152.4]
|
||||
- type: circle
|
||||
start: 696
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [263.965, 76.2]
|
||||
|
||||
# controller 6
|
||||
@ -278,37 +299,37 @@ led:
|
||||
start: 720
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [131.982, -76.2]
|
||||
- type: circle
|
||||
start: 744
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [197.973, -38.1]
|
||||
- type: circle
|
||||
start: 768
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [263.965, 0]
|
||||
- type: circle
|
||||
start: 792
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [263.965, -76.2]
|
||||
- type: circle
|
||||
start: 816
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [263.965, -152.4]
|
||||
- type: circle
|
||||
start: 840
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [197.973, -114.3]
|
||||
|
||||
# controller 7
|
||||
@ -316,75 +337,75 @@ led:
|
||||
start: 864
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [65.991, -114.3]
|
||||
- type: circle
|
||||
start: 888
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [0, -152.4]
|
||||
- type: circle
|
||||
start: 912
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-65.991, -114.3]
|
||||
- type: circle
|
||||
start: 936
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-131.982, -76.2]
|
||||
- type: circle
|
||||
start: 960
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-197.973, -114.3]
|
||||
- type: circle
|
||||
start: 984
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
pos: [-131.982, -152.4]
|
||||
angle: 180
|
||||
pos: [-133.0, -151.0]
|
||||
|
||||
# controller 8
|
||||
- type: circle
|
||||
start: 1008
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [0, -228.6]
|
||||
- type: circle
|
||||
start: 1032
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-65.991, -190.5]
|
||||
- type: circle
|
||||
start: 1056
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-65.991, -266.7]
|
||||
- type: circle
|
||||
start: 1080
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-131.982, -228.6]
|
||||
- type: circle
|
||||
start: 1104
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-197.973, -190.5]
|
||||
- type: circle
|
||||
start: 1128
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [-263.965, -152.4]
|
||||
|
||||
# controller 9
|
||||
@ -392,49 +413,49 @@ led:
|
||||
start: 1152
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [0, -304.8]
|
||||
- type: circle
|
||||
start: 1176
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [65.991, -266.7]
|
||||
- type: circle
|
||||
start: 1200
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [131.982, -228.6]
|
||||
- type: circle
|
||||
start: 1224
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [197.973, -190.5]
|
||||
- type: circle
|
||||
start: 1248
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [131.982, -152.4]
|
||||
- type: circle
|
||||
start: 1272
|
||||
size: 24
|
||||
diameter: 63.5
|
||||
angle: 0
|
||||
angle: 180
|
||||
pos: [65.991, -190.5]
|
||||
|
||||
# Strips
|
||||
- type: strip
|
||||
start: 1296
|
||||
size: 70
|
||||
length: 600
|
||||
angle: 270 # down
|
||||
pos: [375, 300]
|
||||
# - type: strip
|
||||
# start: 1296
|
||||
# size: 70
|
||||
# length: 600
|
||||
# angle: 270 # down
|
||||
# pos: [375, 300]
|
||||
|
||||
global_position_offset: [0,0] # default coordinate spce below as center of arm at 0,0 - adjust if necessary
|
||||
animation_time: 40
|
||||
|
||||
position_map:
|
||||
- index: 0
|
||||
pos: [-152.4, 263.965]
|
||||
@ -453,7 +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
|
||||
@ -511,7 +532,7 @@ position_map:
|
||||
- index: 36
|
||||
pos: [-228.6, -131.982]
|
||||
- index: 37
|
||||
pos: [-152.4, -131.982]
|
||||
pos: [-151.0, -133.0]
|
||||
- index: 38
|
||||
pos: [-76.2, -131.982]
|
||||
- index: 39
|
||||
@ -527,7 +548,7 @@ position_map:
|
||||
- index: 44
|
||||
pos: [-114.3, -197.973]
|
||||
- index: 45
|
||||
pos: [-38.1, -197.973]
|
||||
pos: [-35.0, -199.0]
|
||||
- index: 46
|
||||
pos: [38.1, -197.973]
|
||||
- index: 47
|
||||
|
||||
23
fileserver.py
Normal file
23
fileserver.py
Normal file
@ -0,0 +1,23 @@
|
||||
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 with CORS enabled.
|
||||
"""
|
||||
# Change the working directory to the specified directory
|
||||
os.makedirs(directory, exist_ok=True)
|
||||
os.chdir(directory)
|
||||
|
||||
# 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()
|
||||
58
get_specs.py
58
get_specs.py
@ -30,6 +30,7 @@ def query_search(partnum, source):
|
||||
fprint("Searching for " + partnum)
|
||||
if source == "Belden":
|
||||
token_url = "https://www.belden.com/coveo/rest/token?t=" + str(int(time.time()))
|
||||
try:
|
||||
with requests.get(token_url) as r:
|
||||
out = json.loads(r.content)
|
||||
token = out["token"]
|
||||
@ -47,7 +48,6 @@ def query_search(partnum, source):
|
||||
'Authorization': f'Bearer {token}',
|
||||
'Content-Type': 'application/json'
|
||||
}
|
||||
try:
|
||||
with requests.post(search_url, headers=headers, data=search_data) as r:
|
||||
a = r.text
|
||||
a = json.loads(a)
|
||||
@ -81,15 +81,20 @@ def query_search(partnum, source):
|
||||
brand = a["results"][idx]["raw"]["catalogitembrand"]
|
||||
desc = a["results"][idx]["raw"]["catalogitemlongdesc"]
|
||||
shortdesc = a["results"][idx]["raw"]["catalogitemshortdesc"]
|
||||
a = json.dumps(a["results"][idx], indent=2)
|
||||
app = a["results"][idx]["raw"]["catalogitemapplication"]
|
||||
category = a["results"][idx]["raw"]["catalogitemfilterproductcategory"]
|
||||
|
||||
#a = json.dumps(a["results"][idx], indent=2)
|
||||
#print(a, urlname, img, uri, dsurl)
|
||||
|
||||
out = dict()
|
||||
out["url"] = "https://www.belden.com/products/" + uri
|
||||
out["datasheet"] = "https://catalog.belden.com/techdata/EN/" + dsid + "_techdata.pdf"
|
||||
out["brand"] = brand
|
||||
out["name"] = shortdesc
|
||||
out["short_description"] = shortdesc
|
||||
out["description"] = desc
|
||||
out["application"] = app
|
||||
out["category"] = category
|
||||
out["image"] = "https://www.belden.com" + img
|
||||
out["partnum"] = name
|
||||
#print(out)
|
||||
@ -159,8 +164,9 @@ def touch(path):
|
||||
|
||||
|
||||
|
||||
def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
|
||||
def get_multi(partnums, delay, dir, webport, cache=True, bar=None):
|
||||
#with alive_bar(len(partnums) * 2, dual_line=True, calibrate=30, bar="classic2", spinner="classic", disable=True, file=sys.stdout) as bar:
|
||||
|
||||
failed = list()
|
||||
actualpartnums = list()
|
||||
def _try_download_datasheet(partnum, output_dir, dstype): # Guess datasheet URL
|
||||
@ -253,7 +259,7 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
|
||||
os.remove(partnum + "/datasheet.pdf")
|
||||
sys.exit()
|
||||
|
||||
def __use_cached_datasheet(partnum, path, output_dir, dstype):
|
||||
def __use_cached_datasheet(partnum, path, output_dir, dstype, weburl, extra):
|
||||
fprint("Using cached datasheet for " + partnum)
|
||||
# bar.text = "Using cached datasheet for " + partnum
|
||||
# bar(skipped=True)
|
||||
@ -262,7 +268,7 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
|
||||
fprint("Parsing Datasheet contents of " + partnum)
|
||||
# bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
|
||||
|
||||
out = read_datasheet.parse(path, output_dir, partnum, dstype)
|
||||
out = read_datasheet.parse(path, output_dir, partnum, dstype, weburl, extra)
|
||||
# bar(skipped=False)
|
||||
return out
|
||||
else:
|
||||
@ -270,13 +276,13 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
|
||||
# bar.text = "Datasheet already parsed for " + partnum + ".pdf"
|
||||
# bar(skipped=True)
|
||||
|
||||
def __downloaded_datasheet(partnum, path, output_dir, dstype):
|
||||
def __downloaded_datasheet(partnum, path, output_dir, dstype, weburl, extra):
|
||||
fprint("Downloaded " + path)
|
||||
# bar.text = "Downloaded " + path
|
||||
# bar(skipped=False)
|
||||
fprint("Parsing Datasheet contents of " + partnum)
|
||||
# bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
|
||||
out = read_datasheet.parse(path, output_dir, partnum, dstype)
|
||||
out = read_datasheet.parse(path, output_dir, partnum, dstype, weburl, extra)
|
||||
# bar(skipped=False)
|
||||
return out
|
||||
|
||||
@ -289,6 +295,7 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
|
||||
partnum = partnum.replace("/","_")
|
||||
output_dir = dir + partnum
|
||||
path = output_dir + "/datasheet.pdf"
|
||||
weburl = ":" + str(webport) + "/" + partnum + "/"
|
||||
bartext = "Downloading files for part " + partnum
|
||||
# bar.text = bartext
|
||||
partnum = oldpartnum.replace("_","/")
|
||||
@ -300,49 +307,72 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
|
||||
if search_result is not False:
|
||||
# Download high resolution part image if available and needed
|
||||
#oldpartnum = partnum
|
||||
|
||||
partnum = search_result["partnum"]
|
||||
returnval = [partnum, dstype, False, False]
|
||||
output_dir = dir + partnum
|
||||
path = output_dir + "/datasheet.pdf"
|
||||
bartext = "Downloading files for part " + partnum
|
||||
os.makedirs(output_dir, exist_ok=True)
|
||||
with open(output_dir + "/search-result.json", 'w') as json_file:
|
||||
fprint("Saving search result of " + partnum)
|
||||
json.dump(search_result, json_file)
|
||||
# bar.text = bartext
|
||||
|
||||
if not os.path.exists(output_dir + "/found_part_hires") or not cache:
|
||||
if _download_image(search_result["image"], output_dir):
|
||||
fprint("Downloaded hi-res part image for " + partnum)
|
||||
returnval = [partnum, dstype, True, False]
|
||||
if os.path.exists(output_dir + "/parsed"):
|
||||
os.remove(output_dir + "/parsed")
|
||||
touch(output_dir + "/found_part_hires")
|
||||
else:
|
||||
fprint("Using cached hi-res part image for " + partnum)
|
||||
|
||||
# Download datasheet from provided URL if needed
|
||||
if os.path.exists(path) and os.path.getsize(path) > 1 and cache:
|
||||
out = __use_cached_datasheet(partnum, path, output_dir, dstype)
|
||||
out = __use_cached_datasheet(partnum, path, output_dir, dstype, weburl, search_result)
|
||||
returnval = [partnum, dstype, True, out]
|
||||
|
||||
elif _download_datasheet(search_result["datasheet"], output_dir) is not False:
|
||||
out = __downloaded_datasheet(partnum, path, output_dir, dstype)
|
||||
out = __downloaded_datasheet(partnum, path, output_dir, dstype, weburl, search_result)
|
||||
returnval = [partnum, dstype, True, out]
|
||||
|
||||
|
||||
|
||||
elif os.path.exists(path) and os.path.getsize(path) > 1 and cache:
|
||||
out = __use_cached_datasheet(partnum, path, output_dir, dstype)
|
||||
search_result = {}
|
||||
if os.path.exists(output_dir + "/search-result.json"):
|
||||
with open(output_dir + "/search-result.json", 'r', encoding='utf-8') as file:
|
||||
search_result = json.load(file)
|
||||
out = __use_cached_datasheet(partnum, path, output_dir, dstype, weburl, search_result)
|
||||
returnval = [partnum, dstype, True, out]
|
||||
|
||||
# If search fails, and we don't already have the datasheet, guess datasheet URL and skip the hires image download
|
||||
elif _try_download_datasheet(partnum, output_dir, dstype) is not False:
|
||||
out = __downloaded_datasheet(partnum, path, output_dir, dstype)
|
||||
search_result = {}
|
||||
if os.path.exists(output_dir + "/search-result.json"):
|
||||
with open(output_dir + "/search-result.json", 'r', encoding='utf-8') as file:
|
||||
search_result = json.load(file)
|
||||
out = __downloaded_datasheet(partnum, path, output_dir, dstype, weburl, search_result)
|
||||
returnval = [partnum, dstype, False, out]
|
||||
|
||||
# Failed to download with search or guess :(
|
||||
else:
|
||||
return False
|
||||
|
||||
time.sleep(delay)
|
||||
actualpartnums.append(returnval)
|
||||
return returnval
|
||||
|
||||
# We already have a hi-res image and the datasheet - perfect!
|
||||
else:
|
||||
fprint("Using cached hi-res part image for " + partnum)
|
||||
out = __use_cached_datasheet(partnum, path, output_dir, dstype)
|
||||
search_result = {}
|
||||
if os.path.exists(output_dir + "/search-result.json"):
|
||||
with open(output_dir + "/search-result.json", 'r', encoding='utf-8') as file:
|
||||
search_result = json.load(file)
|
||||
out = __use_cached_datasheet(partnum, path, output_dir, dstype, weburl, search_result)
|
||||
returnval = [partnum, dstype, False, out]
|
||||
actualpartnums.append(returnval)
|
||||
return True
|
||||
@ -381,7 +411,7 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
|
||||
failed.append((partnum, dstype))
|
||||
# bar(skipped=True)
|
||||
# bar(skipped=True)
|
||||
time.sleep(delay)
|
||||
|
||||
|
||||
if len(failed) > 0:
|
||||
fprint("Failed to download:")
|
||||
|
||||
Submodule jukebox-web updated: f3d8ec0cc4...03ed1f22e8
51
label_document.py
Executable file
51
label_document.py
Executable file
@ -0,0 +1,51 @@
|
||||
#!/usr/bin/env python3
|
||||
import fitz # PyMuPDF
|
||||
from reportlab.pdfgen import canvas
|
||||
from reportlab.lib.pagesizes import letter
|
||||
import os
|
||||
|
||||
|
||||
def generate_pdf(path="labels"):
|
||||
# Open the existing PDF
|
||||
image_folder_path = path
|
||||
doc = fitz.open('label_template.pdf')
|
||||
page = doc[0] # Assuming you want to read from the first page
|
||||
|
||||
placeholders = []
|
||||
for shape in page.get_drawings():
|
||||
if shape['type'] == 's': # Checking for rectangle types
|
||||
placeholders.append({
|
||||
'x': shape['rect'].x0,
|
||||
'y': shape['rect'].y0,
|
||||
'width': shape['rect'].width,
|
||||
'height': shape['rect'].height
|
||||
})
|
||||
|
||||
# List all PNG images in the folder
|
||||
image_files = [f for f in os.listdir(image_folder_path) if f.endswith('.png')]
|
||||
image_paths = [os.path.join(image_folder_path, file) for file in image_files]
|
||||
|
||||
# Create a new PDF with ReportLab
|
||||
c = canvas.Canvas(path + "/print.pdf", pagesize=letter)
|
||||
current_placeholder = 0 # Track the current placeholder index
|
||||
|
||||
for image_path in image_paths:
|
||||
if current_placeholder >= len(placeholders): # Check if a new page is needed
|
||||
c.showPage()
|
||||
current_placeholder = 0 # Reset placeholder index for new page
|
||||
|
||||
# Get current placeholder
|
||||
placeholder = placeholders[current_placeholder]
|
||||
|
||||
# Place image at the placeholder position
|
||||
c.drawImage(image_path, placeholder['x'], page.rect.height - placeholder['y'] - placeholder['height'], width=placeholder['width'], height=placeholder['height'])
|
||||
current_placeholder += 1
|
||||
|
||||
# Save the final PDF
|
||||
c.save()
|
||||
|
||||
# Close the original PDF
|
||||
doc.close()
|
||||
|
||||
if __name__ == "__main__":
|
||||
generate_pdf("labels")
|
||||
@ -9,6 +9,7 @@ import os
|
||||
import signal
|
||||
from PIL import Image
|
||||
from label_image import generate_code
|
||||
from label_document import generate_pdf
|
||||
|
||||
|
||||
def input_cable():
|
||||
@ -22,7 +23,7 @@ def input_cable():
|
||||
print("Input part number:", inputnum)
|
||||
print("Searching databases for cables...")
|
||||
# Search both AW and BL sites
|
||||
status, output = get_multi(["BL"+inputnum, "AW"+inputnum], delay=0.1, dir="temp/" + str(uuid.uuid4()) + "/", cache=False)
|
||||
status, output = get_multi(["BL"+inputnum, "AW"+inputnum], delay=0.1, dir="temp/" + str(uuid.uuid4()) + "/", webport=":9000", cache=False)
|
||||
print("")
|
||||
if len(output) > 1:
|
||||
for i in output:
|
||||
@ -70,6 +71,8 @@ def gen_label(partnum, path="labels"):
|
||||
img = generate_code(partnum)
|
||||
os.makedirs(path, exist_ok=True)
|
||||
img.save(path + "/" + partnum + ".png")
|
||||
generate_pdf(path)
|
||||
|
||||
|
||||
def delete_folder(path):
|
||||
# Check if the path is a directory
|
||||
|
||||
@ -269,10 +269,10 @@ def qr_image(data, width=600):
|
||||
png_image_io = "belden-logo-superhires.png"
|
||||
png_image_pillow = Image.open(png_image_io)
|
||||
png_width, png_height = png_image_pillow.size
|
||||
png_image_pillow = png_image_pillow.resize((int(width*5.2), int(width*5.2/png_width*png_height)))
|
||||
png_image_pillow = png_image_pillow.resize((int(width*4), int(width*4/png_width*png_height)))
|
||||
png_width, png_height = png_image_pillow.size
|
||||
# paste belden logo first because it has a big border that would cover stuff up
|
||||
img.paste(png_image_pillow, (int(width*5-png_width/2), int(width*4.25 - png_height/2)))
|
||||
img.paste(png_image_pillow, (int(width*5-png_width/2), int(width*3.25 - png_height/2)))
|
||||
|
||||
# draw circle border
|
||||
#draw.arc(((width - width/5, width - width/5), (width*9 + width/5, width*9 + width/5)),0,360,fill='blue', width = int(width/8))
|
||||
@ -289,7 +289,7 @@ def qr_image(data, width=600):
|
||||
text_width = font.getlength(partnum[2:])
|
||||
|
||||
txtx = (int(width * 10) - text_width) / 2
|
||||
txty = (int(width * 10)) / 2
|
||||
txty = (int(width * 7.5)) / 2
|
||||
# draw part number text
|
||||
draw.text((txtx,txty),partnum[2:], "black", font)
|
||||
|
||||
@ -298,10 +298,11 @@ def qr_image(data, width=600):
|
||||
qrcode = segno.make('HTTPS://BLDN.APP/' + partnum,micro=False,boost_error=False,error="L",mask=3)
|
||||
out = io.BytesIO()
|
||||
qrx, _ = qrcode.symbol_size(1,0)
|
||||
qrcode.save(out, scale=width*2/qrx, kind="PNG", border=0)
|
||||
qrcode.save(out, scale=width*3/qrx, kind="PNG", border=0)
|
||||
qrimg = Image.open(out)
|
||||
img.paste(qrimg, box=(int(width*4),int(width*5.75)))
|
||||
|
||||
img.paste(qrimg, box=(int(width*3.5),int(width*4.5)))
|
||||
img = img.crop((width+int(width / 1.4)-int(width/8),width+int(width / 1.4)-int(width/8),img.size[0] - (width+int(width / 1.4)-int(width/8)), img.size[1] - (width+int(width / 1.4)-int(width/8)) ))
|
||||
img = img.resize((1200, 1200), Image.LANCZOS) # 1200 dpi
|
||||
|
||||
return img
|
||||
|
||||
|
||||
2064
label_template.pdf
Normal file
2064
label_template.pdf
Normal file
File diff suppressed because one or more lines are too long
257
led_control.py
257
led_control.py
@ -33,6 +33,11 @@ class LEDSystem():
|
||||
changecount = 0
|
||||
animation_time = 0
|
||||
start = uptime()
|
||||
solid_controllers = None
|
||||
showtoggle = False
|
||||
clearshow = -1
|
||||
showring = -1
|
||||
solidanimcount = 0
|
||||
|
||||
def __init__(self):
|
||||
self.start = uptime()
|
||||
@ -67,6 +72,7 @@ class LEDSystem():
|
||||
self.leds = list()
|
||||
self.leds_size = list()
|
||||
self.controllers = list()
|
||||
self.solid_controllers = list()
|
||||
self.rings = list(range(len(self.config["position_map"])))
|
||||
print("Setting ring status")
|
||||
self.ringstatus = list(range(len(self.config["position_map"])))
|
||||
@ -95,13 +101,13 @@ class LEDSystem():
|
||||
for x in range(lednum + shape["size"] - len(self.leds)):
|
||||
self.leds.append(None)
|
||||
self.leds_size.append(None)
|
||||
while angle < 359.999:
|
||||
while angle > -359.999:
|
||||
tmpangle = angle + shape["angle"]
|
||||
x = math.cos(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][1] # flip by 90 degress when we changed layout
|
||||
y = math.sin(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][0]
|
||||
self.leds[lednum] = (x,y)
|
||||
lednum = lednum + 1
|
||||
angle = angle + anglediv
|
||||
angle = angle - anglediv
|
||||
|
||||
elif shape["type"] == "strip":
|
||||
angle = shape["angle"]
|
||||
@ -157,11 +163,15 @@ class LEDSystem():
|
||||
|
||||
# controller mapping
|
||||
for ctrl in self.config["led"]["controllers"]:
|
||||
if len(self.controllers) < ctrl["universe"]+1:
|
||||
for x in range(ctrl["universe"]+1 - len(self.controllers)):
|
||||
if ctrl["mode"] == "solid":
|
||||
self.solid_controllers.append((ctrl["universe"]-1, ctrl["color"], ctrl["ip"]))
|
||||
else:
|
||||
if len(self.controllers) < ctrl["universe"]:
|
||||
print(ctrl["universe"])
|
||||
for x in range(ctrl["universe"] - len(self.controllers)):
|
||||
self.controllers.append(None)
|
||||
|
||||
self.controllers[ctrl["universe"]] = (ctrl["ledstart"],ctrl["ledend"]+1,ctrl["ip"])
|
||||
self.controllers[ctrl["universe"]-1] = (ctrl["ledstart"],ctrl["ledend"]+1,ctrl["ip"])
|
||||
for x in range(ctrl["ledstart"],ctrl["ledend"]+1):
|
||||
self.leds_size[x] = len(ctrl["mode"])
|
||||
#fprint(controllers)
|
||||
@ -199,11 +209,29 @@ class LEDSystem():
|
||||
print(" done")
|
||||
#if count < self.config["led"]["timeout"]:
|
||||
|
||||
for x in range(len(self.solid_controllers)):
|
||||
print("Waiting for the controller at", self.solid_controllers[x][2], "to be online...", end="", flush=True)
|
||||
count = 0
|
||||
while not self.ping(self.solid_controllers[x][2]):
|
||||
count = count + 1
|
||||
if count >= self.config["led"]["timeout"]:
|
||||
print(" ERROR: controller still offline after " + str(count) + " seconds, continuing...")
|
||||
break
|
||||
else:
|
||||
print(" done")
|
||||
|
||||
time.sleep(1)
|
||||
for x in range(len(self.controllers)):
|
||||
print("Activating controller", x, "at", self.controllers[x][2], "with", self.controllers[x][1]-self.controllers[x][0], "LEDs.")
|
||||
print("Activating controller", x+1, "at", self.controllers[x][2], "with", self.controllers[x][1]-self.controllers[x][0], "LEDs.")
|
||||
self.sender.activate_output(x+1) # start sending out data
|
||||
self.sender[x+1].destination = self.controllers[x][2]
|
||||
|
||||
for x in range(len(self.solid_controllers)):
|
||||
ctrl = self.solid_controllers[x]
|
||||
print("Activating controller", ctrl[0], "at", ctrl[2], "with solid color ", ctrl[1])
|
||||
self.sender.activate_output(ctrl[0]+1) # start sending out data
|
||||
self.sender[ctrl[0]+1].destination = ctrl[2]
|
||||
|
||||
self.sender.manual_flush = True
|
||||
|
||||
# initialize global pixel data list
|
||||
@ -212,7 +240,7 @@ class LEDSystem():
|
||||
for x in range(len(self.leds)):
|
||||
if self.leds_size[x] == 3:
|
||||
self.exactdata.append(None)
|
||||
self.data.append((20,20,127))
|
||||
self.data.append((0,0,127))
|
||||
elif self.leds_size[x] == 4:
|
||||
self.exactdata.append(None)
|
||||
self.data.append((50,50,255,0))
|
||||
@ -221,13 +249,14 @@ class LEDSystem():
|
||||
self.data.append((0,0,0))
|
||||
self.sendall(self.data)
|
||||
#time.sleep(50000)
|
||||
fprint("Running start-up test sequence...")
|
||||
for y in range(1):
|
||||
for x in range(len(self.leds)):
|
||||
self.setpixel(0,60,144,x)
|
||||
self.sendall(self.data)
|
||||
#time.sleep(2)
|
||||
self.alloffsmooth()
|
||||
# fprint("Running start-up test sequence...")
|
||||
# for y in range(1):
|
||||
# for x in range(len(self.leds)):
|
||||
# self.setpixel(0,60,144,x)
|
||||
# self.sendall(self.data)
|
||||
# #time.sleep(2)
|
||||
# self.alloffsmooth()
|
||||
self.startup_animation(show=False)
|
||||
|
||||
def sendall(self, datain):
|
||||
# send all LED data to all controllers
|
||||
@ -236,6 +265,46 @@ class LEDSystem():
|
||||
for x in range(len(self.controllers)):
|
||||
self.sender[x+1].dmx_data = list(sum(datain[self.controllers[x][0]:self.controllers[x][1]] , ())) # flatten the subsection of the data array
|
||||
|
||||
offset = len(self.controllers)
|
||||
for x in range(len(self.solid_controllers)):
|
||||
ctrl = self.solid_controllers[x]
|
||||
data = list((0, 0, 0)) * 170
|
||||
#print(len(data))
|
||||
#print(len(list(ctrl[1]) * 170))
|
||||
offset = 1 - (self.solidanimcount - int(self.solidanimcount))
|
||||
#print("a", offset)
|
||||
data[int(self.solidanimcount) * 3] = int(ctrl[1][0]*offset)
|
||||
data[int(self.solidanimcount) * 3 + 1] = int(ctrl[1][1]*offset)
|
||||
data[int(self.solidanimcount) * 3 + 2] = int(ctrl[1][2]*offset)
|
||||
offset = 1 - offset
|
||||
#print("b", offset)
|
||||
if int(self.solidanimcount) <= 168:
|
||||
data[int(self.solidanimcount+1) * 3] = int(ctrl[1][0]*offset)
|
||||
data[int(self.solidanimcount+1) * 3 + 1] = int(ctrl[1][1]*offset)
|
||||
data[int(self.solidanimcount+1) * 3 + 2] = int(ctrl[1][2]*offset)
|
||||
|
||||
# if offset > 0.5: # onto next light more
|
||||
# # center +1
|
||||
# num = int(self.solidanimcount+1)
|
||||
# else:
|
||||
# num = int(self.solidanimcount)
|
||||
# offset = 1 - offset
|
||||
# if int(num) <= 168:
|
||||
# data[int(num+1) * 3] = int(ctrl[1][0]*offset/2)
|
||||
# data[int(num+1) * 3 + 1] = int(ctrl[1][1]*offset/2)
|
||||
# data[int(num+1) * 3 + 2] = int(ctrl[1][2]*offset/2)
|
||||
|
||||
# if int(num) >= 1:
|
||||
# data[int(num-1) * 3] = int(ctrl[1][0]*offset/2)
|
||||
# data[int(num-1) * 3 + 1] = int(ctrl[1][1]*offset/2)
|
||||
# data[int(num-1) * 3 + 2] = int(ctrl[1][2]*offset/2)
|
||||
|
||||
self.sender[ctrl[0]+1].dmx_data = data #list(ctrl[1]) * 170
|
||||
self.solidanimcount += 0.15
|
||||
if int(self.solidanimcount) >= 170:
|
||||
self.solidanimcount = 0
|
||||
|
||||
|
||||
self.sender.flush()
|
||||
time.sleep(0.002)
|
||||
#sender.flush() # 100% reliable with 2 flushes, often fails with 1
|
||||
@ -245,8 +314,8 @@ class LEDSystem():
|
||||
def fastsendall(self, datain):
|
||||
# send all LED data to all controllers
|
||||
# data must have all LED data in it as [(R,G,B,)] tuples in an array, 1 tuple per pixel
|
||||
self.sender.manual_flush = False
|
||||
print(datain[self.controllers[0][0]:self.controllers[0][1]])
|
||||
self.sender.manual_flush = True
|
||||
#print(datain[self.controllers[0][0]:self.controllers[0][1]])
|
||||
for x in range(len(self.controllers)):
|
||||
self.sender[x+1].dmx_data = list(sum(datain[self.controllers[x][0]:self.controllers[x][1]] , ())) # flatten the subsection of the data array
|
||||
|
||||
@ -302,15 +371,29 @@ class LEDSystem():
|
||||
|
||||
def setmode(self, stmode, r=0,g=0,b=0):
|
||||
if stmode is not None:
|
||||
if self.mode == "Show":
|
||||
self.clearshow = self.showring
|
||||
if self.mode != stmode:
|
||||
self.firstrun = True
|
||||
|
||||
self.mode = stmode
|
||||
return self
|
||||
|
||||
def setrange(self, start, end, r,g,b):
|
||||
val = (r,g,b)
|
||||
for x in range(start,end):
|
||||
self.data[x] = val
|
||||
|
||||
def setallringsexcept(self, r,g,b, exclude):
|
||||
startidx1 = 0
|
||||
endidx2 = len(self.leds)
|
||||
endidx1 = self.rings[exclude][2]
|
||||
startidx2 = self.rings[exclude][3]+1
|
||||
self.setrange(startidx1, endidx1, r,g,b)
|
||||
self.setrange(startidx2, endidx2, r,g,b)
|
||||
|
||||
|
||||
def setring(self, r,g,b,idx):
|
||||
|
||||
ring = self.rings[idx]
|
||||
for pixel in range(ring[2],ring[3]):
|
||||
self.setpixel(r,g,b,pixel)
|
||||
@ -318,18 +401,21 @@ class LEDSystem():
|
||||
#senduniverse(data, ring[2])
|
||||
return self
|
||||
|
||||
def runmodes(self, ring = -1, speed = 1):
|
||||
fprint("Mode: " + str(self.mode))
|
||||
def runmodes(self, ring = -1, arm_position = None):
|
||||
#fprint("Mode: " + str(self.mode))
|
||||
if self.clearshow > -1:
|
||||
self.setring(0,50,100,self.clearshow)
|
||||
self.clearshow = -1
|
||||
if self.mode == "Startup":
|
||||
# loading animation. cable check
|
||||
if self.firstrun:
|
||||
self.changecount = self.animation_time * 3
|
||||
self.changecount = self.animation_time * 2
|
||||
self.firstrun = False
|
||||
for x in range(len(self.ringstatus)):
|
||||
self.ringstatus[x] = [True, self.animation_time]
|
||||
|
||||
if self.changecount > 0:
|
||||
fprint(self.changecount)
|
||||
#fprint(self.changecount)
|
||||
self.changecount = self.fadeorder(0,len(self.leds), self.changecount, 0,50,100)
|
||||
else:
|
||||
self.setmode("Startup2")
|
||||
@ -344,7 +430,8 @@ class LEDSystem():
|
||||
if self.ringstatus[x][0]:
|
||||
self.setring(0, 50, 100, x)
|
||||
else:
|
||||
self.ringstatus[x][1] = self.fadeall(self.rings[x][2],self.rings[x][3], self.ringstatus[x][1], 100,0,0) # not ready
|
||||
#self.ringstatus[x][1] = self.fadeall(self.rings[x][2],self.rings[x][3], self.ringstatus[x][1], 100,0,0) # not ready
|
||||
self.ringstatus[x][1] = self.fadeall(self.rings[x][2],self.rings[x][3], self.ringstatus[x][1], 0,50,100)
|
||||
|
||||
elif self.mode == "StartupCheck":
|
||||
if self.firstrun:
|
||||
@ -372,10 +459,11 @@ class LEDSystem():
|
||||
self.firstrun = False
|
||||
self.changecount = self.animation_time # 100hz
|
||||
if self.changecount > 0:
|
||||
self.changecount = self.fadeorder(self.rings[ring][2],self.rings[ring][3], self.changecount, 0,100,0)
|
||||
#self.changecount = self.fadeorder(self.rings[ring][2],self.rings[ring][3], self.changecount, 0,100,0)
|
||||
self.changecount = self.fadeorder(self.rings[ring][2],self.rings[ring][2]+24, self.changecount, 0,100,0)
|
||||
else:
|
||||
self.setring(0,100,0,ring)
|
||||
self.setmode("idle")
|
||||
self.setmode("Idle")
|
||||
elif self.mode == "GrabC":
|
||||
if self.firstrun:
|
||||
self.firstrun = False
|
||||
@ -384,10 +472,74 @@ class LEDSystem():
|
||||
self.changecount = self.fadeall(self.rings[ring][2],self.rings[ring][3], self.changecount, 0,50,100)
|
||||
else:
|
||||
self.setring(0,50,100,ring)
|
||||
self.setmode("idle")
|
||||
elif self.mode == "idle":
|
||||
time.sleep(0)
|
||||
self.setmode("Idle")
|
||||
|
||||
elif self.mode == "GrabAA":
|
||||
print("GrabAA")
|
||||
if self.firstrun:
|
||||
self.firstrun = False
|
||||
self.changecount = self.animation_time # 100hz
|
||||
if self.changecount > 0:
|
||||
self.changecount = self.fadeall(self.rings[ring][2],self.rings[ring][3], self.changecount, 100,0,0)
|
||||
else:
|
||||
self.setring(100,0,0,ring)
|
||||
self.setmode("Idle")
|
||||
elif self.mode == "GrabAB":
|
||||
if self.firstrun:
|
||||
self.firstrun = False
|
||||
self.changecount = self.animation_time # 100hz
|
||||
if self.changecount > 0:
|
||||
#self.changecount = self.fadeorder(self.rings[ring][2],self.rings[ring][3], self.changecount, 0,100,0)
|
||||
self.changecount = self.fadeorder(self.rings[ring][2],self.rings[ring][2]+24, self.changecount, 0,100,0)
|
||||
else:
|
||||
self.setring(0,100,0,ring)
|
||||
self.setmode("Idle")
|
||||
|
||||
elif self.mode == "Show":
|
||||
if self.firstrun:
|
||||
self.showring = ring
|
||||
self.firstrun = False
|
||||
self.showtoggle = False
|
||||
self.changecount = self.animation_time / 2 # 100hz
|
||||
if self.changecount > 0:
|
||||
#self.changecount = self.fadeorder(self.rings[ring][2],self.rings[ring][3], self.changecount, 0,100,0)
|
||||
if not self.showtoggle:
|
||||
self.changecount = self.fadeorder(self.rings[ring][2],self.rings[ring][2]+24, self.changecount, 0,100,0)
|
||||
else:
|
||||
self.changecount = self.fadeorder(self.rings[ring][2],self.rings[ring][2]+24, self.changecount, 100,20,100)
|
||||
else:
|
||||
self.changecount = self.animation_time / 2 # 100hz
|
||||
self.showtoggle = not self.showtoggle
|
||||
|
||||
elif self.mode == "Idle":
|
||||
if self.firstrun:
|
||||
self.firstrun = False
|
||||
if arm_position is not None:
|
||||
posxy = list()
|
||||
posxy.append(int(arm_position[0] * 1000)) # x convert m to mm
|
||||
posxy.append(int(arm_position[1] * 1000)) # y
|
||||
radius = int(arm_position[2] * 1000) / 3
|
||||
base = (0,50,100)
|
||||
target = (100,100,100)
|
||||
deltar = target[0] - base[0]
|
||||
deltag = target[0] - base[0]
|
||||
#deltab = target[0] - base[0]
|
||||
# reset!
|
||||
self.setallringsexcept(0,50,100, ring)
|
||||
exclude = self.rings[ring][2],self.rings[ring][3]
|
||||
# fade outwards
|
||||
for idx,led in enumerate(self.leds):
|
||||
if posxy[0] - led[0] < radius and posxy[1] - led[1] < radius and idx < exclude[0] or idx > exclude[1]:
|
||||
dist = math.isqrt(int(math.pow(int(posxy[0] - led[0]), 2) + math.pow(int(posxy[1] - led[1]), 2)))
|
||||
#dist = max(posxy[0] - led[0], posxy[1] - led[1])
|
||||
if dist < radius:
|
||||
ratio = 1 - dist/radius
|
||||
#if ratio < 0:
|
||||
# ratio = 0
|
||||
self.data[idx] = (int(base[0] + ratio * deltar), int(base[1] + ratio * deltag), 100) #base[2] + ratio * deltab)
|
||||
else:
|
||||
#print("No arm position!")
|
||||
pass
|
||||
self.sendall(self.data)
|
||||
return self
|
||||
|
||||
@ -439,7 +591,7 @@ class LEDSystem():
|
||||
dgs /= sizerem
|
||||
dbs /= sizerem
|
||||
sum += abs(drs) + abs(dgs) + abs(dbs)
|
||||
print(drs,dgs,dbs)
|
||||
#print(drs,dgs,dbs)
|
||||
for x in range(idxa,idxb):
|
||||
old = self.exactdata[x]
|
||||
new = list(old)
|
||||
@ -522,20 +674,29 @@ class LEDSystem():
|
||||
self.data[num] = (int(r), int(g), int(b))
|
||||
return self
|
||||
|
||||
def setpixelfast3(self, rgb, num):
|
||||
self.data[num] = rgb
|
||||
|
||||
def close(self):
|
||||
time.sleep(0.5)
|
||||
self.sender.stop()
|
||||
return self
|
||||
|
||||
def mapimage(self, image, fps=90):
|
||||
while uptime() - self.start < 1/fps:
|
||||
time.sleep(0.00001)
|
||||
fprint(1 / (uptime() - self.start))
|
||||
def mapimage(self, image, fps=30):
|
||||
|
||||
#fprint(1 / (uptime() - self.start))
|
||||
self.start = uptime()
|
||||
minsize = min(image.shape[0:2])
|
||||
leds_normalized2 = [(x * minsize,
|
||||
if image.shape[1] > image.shape[0]:
|
||||
offset = (image.shape[1] - image.shape[0])/2
|
||||
leds_normalized2 = [(x * minsize + offset,
|
||||
y * minsize)
|
||||
for x, y in self.leds_normalized]
|
||||
else:
|
||||
offset = (image.shape[0] - image.shape[1])/2
|
||||
leds_normalized2 = [(x * minsize,
|
||||
y * minsize + offset)
|
||||
for x, y in self.leds_normalized]
|
||||
|
||||
cv2.imshow("video", image)
|
||||
cv2.waitKey(1)
|
||||
@ -547,11 +708,11 @@ class LEDSystem():
|
||||
for xx in range(len(leds_normalized2)):
|
||||
led = leds_normalized2[xx]
|
||||
x, y = int(round(led[0])), int(round(led[1]))
|
||||
|
||||
yinv = image.shape[0]-1
|
||||
if x < image.shape[1] and y < image.shape[0]:
|
||||
#avgx += x
|
||||
#avgy += y
|
||||
color = tuple(image[y, x])
|
||||
color = tuple(image[yinv-y, x])
|
||||
self.setpixel(color[2]/2,color[1]/2,color[0]/2,xx) # swap b & r
|
||||
#print(color)
|
||||
else:
|
||||
@ -562,16 +723,21 @@ class LEDSystem():
|
||||
#avgy /= len(leds)
|
||||
#print((avgx,avgy, max([led[0] for led in leds_adj]), max([led[1] for led in leds_adj]) , min(image.shape[0:2]) ))
|
||||
self.fastsendall(self.data)
|
||||
while self.start + 1.0/fps > uptime():
|
||||
time.sleep(0.00001)
|
||||
return self
|
||||
|
||||
def mainloop(self, stmode, ring = -1, fps = 100, preview = False):
|
||||
def mainloop(self, stmode, ring = -1, fps = 100, preview = False, arm_position = None):
|
||||
while uptime() - self.start < 1/fps:
|
||||
time.sleep(0.00001)
|
||||
fprint(1 / (uptime() - self.start))
|
||||
#fprint("Running LED loop with ring " + str(ring) + " and set mode " + str(stmode))
|
||||
#fprint(1 / (uptime() - self.start))
|
||||
self.start = uptime()
|
||||
if self.mode is not None:
|
||||
self.setmode(stmode)
|
||||
self.runmodes(ring)
|
||||
|
||||
#if self.
|
||||
self.runmodes(ring, arm_position)
|
||||
if preview:
|
||||
self.drawdata()
|
||||
return self
|
||||
@ -613,7 +779,7 @@ class LEDSystem():
|
||||
for x in range(self.animation_time):
|
||||
self.mainloop(None, preview=show)
|
||||
self.clear_animations()
|
||||
stmode = "StartupCheck"
|
||||
stmode = "Idle"
|
||||
self.mainloop(stmode, preview=show)
|
||||
self.clear_animations()
|
||||
return self
|
||||
@ -633,23 +799,26 @@ class LEDSystem():
|
||||
return self
|
||||
|
||||
def wait_for_animation(self, ring=-1):
|
||||
while self.mode != "idle":
|
||||
while self.mode != "Idle":
|
||||
self.mainloop(None, ring, preview=show)
|
||||
return self
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
import matplotlib.pyplot as plt
|
||||
"""cap = cv2.VideoCapture('badapple.mp4')
|
||||
ledsys = LEDSystem()
|
||||
ledsys.init()
|
||||
while True:
|
||||
cap = cv2.VideoCapture('output.mp4')
|
||||
while cap.isOpened():
|
||||
ret, frame = cap.read()
|
||||
if not ret:
|
||||
break
|
||||
mapimage(frame, fps=30)"""
|
||||
ledsys.mapimage(frame, fps=60)
|
||||
|
||||
show = False
|
||||
ring = 1
|
||||
ledsys = LEDSystem()
|
||||
ledsys.init()
|
||||
|
||||
ledsys.startup_animation(show)
|
||||
for x in range(54):
|
||||
ledsys.ringstatus[x][0] = True
|
||||
|
||||
1
led_demo.bat
Normal file
1
led_demo.bat
Normal file
@ -0,0 +1 @@
|
||||
python led_control.py
|
||||
BIN
map.png
BIN
map.png
Binary file not shown.
|
Before Width: | Height: | Size: 370 KiB After Width: | Height: | Size: 344 KiB |
@ -4,29 +4,54 @@ import cv2
|
||||
import banner_ivu_export
|
||||
import numpy as np
|
||||
from util import fprint
|
||||
import requests
|
||||
|
||||
class qr_reader():
|
||||
camera = None
|
||||
def __init__(self, ip, port):
|
||||
self.camera = banner_ivu_export.DriveImg(ip, port)
|
||||
self.ip = ip
|
||||
self.port = port
|
||||
self.url = "http://" + ip + ":" + str(port) + "/barcode"
|
||||
#self.camera = banner_ivu_export.DriveImg(ip, port)
|
||||
|
||||
# def read_qr(self, tries=1):
|
||||
# print("Trying " + str(tries) + " frames.")
|
||||
# self.camera = banner_ivu_export.DriveImg(self.ip, self.port)
|
||||
# for x in range(tries):
|
||||
# print(str(x) + " ", end="", flush=True)
|
||||
# imgtype, img = self.camera.read_img()
|
||||
|
||||
# if img is not None:
|
||||
# #fprint(imgtype)
|
||||
# image_array = np.frombuffer(img, np.uint8)
|
||||
# img = cv2.imdecode(image_array, cv2.IMREAD_COLOR)
|
||||
# #cv2.imshow('Image', img)
|
||||
# #cv2.waitKey(1)
|
||||
# detect = cv2.QRCodeDetector()
|
||||
# value, points, straight_qrcode = detect.detectAndDecode(img)
|
||||
|
||||
# if value != "":
|
||||
# self.camera.close()
|
||||
# return value
|
||||
# else:
|
||||
# print("\nGot no image for " + str(x))
|
||||
|
||||
# self.camera.close()
|
||||
# return False
|
||||
def read_qr(self, tries=1):
|
||||
print("Trying " + str(tries) + " frames.")
|
||||
for x in range(tries):
|
||||
try:
|
||||
imgtype, img = self.camera.read_img()
|
||||
#fprint(imgtype)
|
||||
image_array = np.frombuffer(img, np.uint8)
|
||||
img = cv2.imdecode(image_array, cv2.IMREAD_COLOR)
|
||||
#cv2.imshow('Image', img)
|
||||
#cv2.waitKey(1)
|
||||
detect = cv2.QRCodeDetector()
|
||||
value, points, straight_qrcode = detect.detectAndDecode(img)
|
||||
return value
|
||||
except:
|
||||
continue
|
||||
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:
|
||||
return False
|
||||
return response.text
|
||||
except requests.Timeout:
|
||||
print(f'The request timed out after {tries * 15} seconds')
|
||||
except requests.RequestException as e:
|
||||
print(f'An error occurred: {e}')
|
||||
|
||||
return False
|
||||
|
||||
class video_streamer():
|
||||
camera = None
|
||||
@ -41,5 +66,7 @@ class video_streamer():
|
||||
|
||||
if __name__ == "__main__":
|
||||
test = qr_reader("192.168.1.125", 32200)
|
||||
import time
|
||||
while True:
|
||||
fprint(test.read_qr(5))
|
||||
fprint(test.read_qr(300))
|
||||
time.sleep(1)
|
||||
|
||||
@ -16,6 +16,8 @@ from util import win32
|
||||
import os
|
||||
import glob
|
||||
import sys
|
||||
from PIL import Image
|
||||
import segno
|
||||
|
||||
def touch(path):
|
||||
with open(path, 'a'):
|
||||
@ -37,7 +39,7 @@ def extract_table_name(table_start, searchpage, reader, dstype, fallbackname):
|
||||
ymax = table_start + 10
|
||||
elif dstype == "Alphawire":
|
||||
ymin = table_start - 5
|
||||
ymax = table_start + 10
|
||||
ymax = table_start + 20
|
||||
page = reader.pages[searchpage - 1]
|
||||
parts = []
|
||||
def visitor_body(text, cm, tm, fontDict, fontSize):
|
||||
@ -52,14 +54,52 @@ def extract_table_name(table_start, searchpage, reader, dstype, fallbackname):
|
||||
return text_body
|
||||
#fprint(text_body)
|
||||
|
||||
def parse(filename, output_dir, partnum, dstype):
|
||||
def find_file_noext(directory, prefix="part-hires"):
|
||||
"""
|
||||
Find files in the specified directory that start with the given prefix and have any extension.
|
||||
|
||||
:param directory: The directory to search in.
|
||||
:param prefix: The prefix to search for.
|
||||
:return: A list of matching file names.
|
||||
"""
|
||||
# Get all files and directories in the specified directory
|
||||
entries = os.listdir(directory)
|
||||
# Filter files that match 'filename.EXTENSION'
|
||||
matching_files = [file for file in entries if os.path.isfile(os.path.join(directory, file)) and file.split('.')[0] == prefix and len(file.split('.')) == 2]
|
||||
#print(directory, matching_files)
|
||||
return matching_files
|
||||
|
||||
def rotate_and_crop_image(path, image_name, force_rotate=False, partnum=""):
|
||||
# Open the image file
|
||||
fprint("Generating thumbnail image for part " + partnum)
|
||||
image_path = path + "/" + image_name
|
||||
with Image.open(image_path) as img:
|
||||
# Check if the image is wider than it is tall
|
||||
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)
|
||||
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
|
||||
|
||||
|
||||
def parse(filename, output_dir, partnum, dstype, weburl, extra):
|
||||
tables = []
|
||||
# Extract table data
|
||||
try:
|
||||
if dstype == "Belden":
|
||||
tables = camelot.read_pdf(filename, pages="1-end", flavor='lattice', backend="ghostscript", split_text=False, line_scale=100, process_background=True, resolution=600, interations=1, layout_kwargs={'detect_vertical': False, 'char_margin': 0.5}, shift_text=['r', 't'])
|
||||
elif dstype == "Alphawire":
|
||||
tables = camelot.read_pdf(filename, pages="1-end", flavor='lattice', backend="ghostscript", split_text=False, line_scale=50, process_background=True, resolution=600, interations=1, layout_kwargs={'detect_vertical': True, 'char_margin': 0.5}, shift_text=['l', 't'])
|
||||
tables = camelot.read_pdf(filename, pages="1-end", flavor='lattice', backend="ghostscript", split_text=False, line_scale=50, process_background=True, resolution=600, interations=1, layout_kwargs={'detect_vertical': True, 'char_margin': 0.5}, shift_text=['l', 'b'])
|
||||
except (OSError, RuntimeError) as e:
|
||||
print(e)
|
||||
if win32:
|
||||
@ -95,11 +135,26 @@ def parse(filename, output_dir, partnum, dstype):
|
||||
#fprint(table_start)
|
||||
|
||||
text_body = extract_table_name(table_start, table.page, reader, dstype, n)
|
||||
|
||||
#print(text_body)
|
||||
table_list[text_body] = table.df
|
||||
#print(table_list[text_body])
|
||||
if dstype == "Alphawire":
|
||||
table_list_raw[text_body] = table
|
||||
|
||||
def reorder_row(row):
|
||||
# Filter out NaNs and compute the original non-NaN values
|
||||
non_nans = row[~row.isnull()]
|
||||
# Create a new row with NaNs filled at the end
|
||||
new_row = pd.Series(index=row.index)
|
||||
new_row[:len(non_nans)] = non_nans
|
||||
return new_row
|
||||
|
||||
# Apply the function to each row and return a new DataFrame
|
||||
|
||||
|
||||
#table_list[text_body] = table.df.apply(reorder_row, axis=1)
|
||||
#print(table_list[text_body])
|
||||
table_list_raw[text_body] = table
|
||||
#print(tbl)
|
||||
#table.to_html("table" + str(n) + ".html")
|
||||
|
||||
#fprint(table.df)
|
||||
@ -134,6 +189,27 @@ def parse(filename, output_dir, partnum, dstype):
|
||||
fp.write(image_file_object.data)
|
||||
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], force_rotate=(dstype == "Alphawire"), partnum=partnum)
|
||||
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], force_rotate=(dstype == "Alphawire"), partnum=partnum)
|
||||
img = weburl + find_file_noext(output_dir, prefix="thumbnail-part")[0]
|
||||
else:
|
||||
img = None
|
||||
|
||||
fprint("Making QR code for part " + partnum)
|
||||
partnumqr = partnum.replace(" ", "%20")
|
||||
if dstype == "Alphawire":
|
||||
partnumqr = "AW" + partnumqr
|
||||
if dstype == "Belden":
|
||||
partnumqr = "BL" + partnumqr
|
||||
qrcode = segno.make('HTTPS://BLDN.APP/' + partnumqr,micro=False,boost_error=False,error="L",mask=3)
|
||||
#out = io.BytesIO()
|
||||
qrx, _ = qrcode.symbol_size(1,0)
|
||||
qrcode.save(output_dir + "/qrcode.png", scale=500.0/qrx, kind="PNG", border=0, light="#00000000")
|
||||
qrpath = weburl + find_file_noext(output_dir, prefix="qrcode")[0]
|
||||
|
||||
# Table parsing and reordring
|
||||
tables = dict()
|
||||
torename = dict()
|
||||
@ -141,6 +217,7 @@ def parse(filename, output_dir, partnum, dstype):
|
||||
#print(table_list.keys())
|
||||
for table_name in table_list.keys():
|
||||
# determine shape: horizontal or vertical
|
||||
#print(table_name)
|
||||
table = table_list[table_name]
|
||||
rows = table.shape[0]
|
||||
cols = table.shape[1]
|
||||
@ -177,11 +254,11 @@ def parse(filename, output_dir, partnum, dstype):
|
||||
if dstype == "Alphawire" and table_name_2.find("\n") >= 0:
|
||||
torename[table_name_2] = table_name_2[0:table_name_2.find("\n")]
|
||||
|
||||
if dstype == "Alphawire" and table_name_2.find(table.iloc[-1, 0]) >= 0:
|
||||
# Name taken from table directly above - this table does not have a name
|
||||
torename[table_name_2] = "Specs " + str(len(tables))
|
||||
#table_list["Specs " + str(len(tables))] = table_list[table_name_2] # rename table to arbitrary altername name
|
||||
break
|
||||
# if dstype == "Alphawire" and table_name_2.find(table.iloc[-1, 0]) >= 0:
|
||||
# # Name taken from table directly above - this table does not have a name
|
||||
# torename[table_name_2] = "Specs " + str(len(tables))
|
||||
# #table_list["Specs " + str(len(tables))] = table_list[table_name_2] # rename table to arbitrary altername name
|
||||
# break
|
||||
|
||||
if vertical:
|
||||
out = dict()
|
||||
@ -199,9 +276,9 @@ def parse(filename, output_dir, partnum, dstype):
|
||||
out[col_data[0].replace("\n", " ")] = col_data[1:]
|
||||
|
||||
tables[table_name] = out
|
||||
|
||||
#print(out)
|
||||
# multi-page table check, Alphawire
|
||||
if dstype == "Alphawire" and table_name.isdigit():
|
||||
if dstype == "Alphawire" and table_name.isdigit() and previous_table != "":
|
||||
# table continues from previous page or has name on previous page
|
||||
thistbl = table_list_raw[table_name]
|
||||
prevtbl = table_list_raw[previous_table]
|
||||
@ -294,15 +371,42 @@ def parse(filename, output_dir, partnum, dstype):
|
||||
tables = replace_newlines_in_dict(tables)
|
||||
|
||||
# summary
|
||||
|
||||
#print(tables)
|
||||
output_table = dict()
|
||||
output_table["partnum"] = partnum
|
||||
id = str(uuid.uuid4())
|
||||
output_table["id"] = id
|
||||
#output_table["position"] = id
|
||||
#output_table["brand"] = brand
|
||||
output_table["fullspecs"] = {"partnum": partnum, "id": id, **tables}
|
||||
output_table["searchspecs"] = {"partnum": partnum, **flatten(tables)}
|
||||
if "brand" in extra:
|
||||
output_table["brand"] = extra["brand"]
|
||||
else:
|
||||
output_table["brand"] = dstype
|
||||
output_table["datasheet"] = weburl + "datasheet.pdf"
|
||||
output_table["qrcode"] = qrpath
|
||||
if img is not None:
|
||||
output_table["image"] = img
|
||||
output_table["fullspecs"] = {"partnum": partnum, "id": id, "brand": output_table["brand"], "image": img, "datasheet": weburl + "datasheet.pdf", "qrcode": qrpath, **tables}
|
||||
output_table["searchspecs"] = {"partnum": partnum, "brand": output_table["brand"], "image": img, "datasheet": weburl + "datasheet.pdf", "qrcode": qrpath, **flatten(tables)}
|
||||
else:
|
||||
output_table["fullspecs"] = {"partnum": partnum, "id": id, "brand": output_table["brand"], "datasheet": weburl + "datasheet.pdf", "qrcode": qrpath, **tables}
|
||||
output_table["searchspecs"] = {"partnum": partnum, "brand": output_table["brand"], "datasheet": weburl + "datasheet.pdf", "qrcode": qrpath, **flatten(tables)}
|
||||
|
||||
if "short_description" in extra:
|
||||
output_table["short_description"] = extra["short_description"]
|
||||
output_table["fullspecs"]["short_description"] = extra["short_description"]
|
||||
output_table["searchspecs"]["short_description"] = extra["short_description"]
|
||||
if "description" in extra:
|
||||
output_table["description"] = extra["description"]
|
||||
output_table["fullspecs"]["description"] = extra["description"]
|
||||
output_table["searchspecs"]["description"] = extra["description"]
|
||||
if "application" in extra:
|
||||
output_table["application"] = extra["application"]
|
||||
output_table["fullspecs"]["application"] = extra["application"]
|
||||
output_table["searchspecs"]["application"] = extra["application"]
|
||||
if "category" in extra:
|
||||
output_table["category"] = extra["category"]
|
||||
output_table["fullspecs"]["category"] = extra["category"]
|
||||
output_table["searchspecs"]["category"] = extra["category"]
|
||||
|
||||
output_table["searchspecs"]["id"] = id
|
||||
|
||||
@ -311,16 +415,17 @@ def parse(filename, output_dir, partnum, dstype):
|
||||
#print(output_table)
|
||||
|
||||
#run_cmd("rm \"" + output_dir + "\"/*.json") # not reliable!
|
||||
pattern = os.path.join(output_dir, '*.json')
|
||||
json_files = glob.glob(pattern)
|
||||
for file_path in json_files:
|
||||
os.remove(file_path)
|
||||
# pattern = os.path.join(output_dir, '*.json')
|
||||
# json_files = glob.glob(pattern)
|
||||
# for file_path in json_files:
|
||||
# os.remove(file_path)
|
||||
#print(f"Deleted {file_path}")
|
||||
with open(output_dir + "/search.json", 'w') as json_file:
|
||||
json.dump(output_table["searchspecs"], json_file)
|
||||
with open(output_dir + "/specs.json", 'w') as json_file:
|
||||
json.dump(output_table["fullspecs"], json_file)
|
||||
|
||||
fprint("Datasheet values parsed and saved for " + partnum)
|
||||
#print(json.dumps(output_table, indent=2))
|
||||
touch(output_dir + "/parsed") # mark as parsed
|
||||
return True
|
||||
@ -380,4 +485,4 @@ def flatten(tables):
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
print(parse("cables/3050/datasheet.pdf", "cables/3050", "3050", "Alphawire"))
|
||||
print(parse("cables/3050/datasheet-new.pdf", "cables/3050", "3050", "Alphawire"))
|
||||
@ -1,9 +1,10 @@
|
||||
# Runtime
|
||||
camelot-py
|
||||
opencv-python
|
||||
camelot-py[base]==0.9.0
|
||||
#opencv-python
|
||||
pypdf2==2.12.1
|
||||
alive-progress
|
||||
requests
|
||||
math3d==4.0.0
|
||||
git+https://github.com/Byeongdulee/python-urx.git
|
||||
meilisearch
|
||||
pyyaml
|
||||
@ -16,11 +17,12 @@ numpy
|
||||
scipy
|
||||
ipywidgets
|
||||
pandas
|
||||
pyarrow
|
||||
#pyarrow
|
||||
ghostscript
|
||||
pyzbar
|
||||
segno
|
||||
pyModbusTCP
|
||||
paho-mqtt
|
||||
|
||||
# Development
|
||||
matplotlib
|
||||
|
||||
5
run.sh
Executable file
5
run.sh
Executable file
@ -0,0 +1,5 @@
|
||||
#!/bin/sh
|
||||
|
||||
pkill -9 python # kill any old processes
|
||||
cd /root/jukebox-software
|
||||
python run.py
|
||||
@ -83,7 +83,7 @@ async def send_messages(to_server_queue):
|
||||
await asyncio.sleep(0.001)
|
||||
|
||||
def websocket_server(to_server_queue, from_server_queue):
|
||||
start_server = websockets.serve(lambda ws, path: handler(ws, path, to_server_queue, from_server_queue), "localhost", 9000)
|
||||
start_server = websockets.serve(lambda ws, path: handler(ws, path, to_server_queue, from_server_queue), "0.0.0.0", 9000)
|
||||
|
||||
asyncio.get_event_loop().run_until_complete(start_server)
|
||||
asyncio.get_event_loop().create_task(send_messages(to_server_queue))
|
||||
|
||||
76
table0.html
Normal file
76
table0.html
Normal file
@ -0,0 +1,76 @@
|
||||
<table border="1" class="dataframe">
|
||||
<thead>
|
||||
<tr style="text-align: right;">
|
||||
<th></th>
|
||||
<th>1</th>
|
||||
<th>2</th>
|
||||
<th>3</th>
|
||||
<th>4</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<th>2</th>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>Diameters\n(In)</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>4</th>
|
||||
<td>1) Component\n1\n1 X 1 HOOKUP</td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>6</th>
|
||||
<td>a) Conductor\n24\n(7/32) AWG Tinned Copper</td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>0.024</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>8</th>
|
||||
<td>b)\nInsulation\n0.016" Wall, Nom. PVC</td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>0.056+/-\n0.002</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>10</th>
|
||||
<td></td>
|
||||
<td>(1) Print</td>
|
||||
<td>ALPHA WIRE\nE163869-* RU AWM STYLES\n1569\n105C\nOR 1007\n80C 300V VW-1\nIEC 60332-2\n24 AWG\nOR CRU TR-64\n90C FT1 CE ROHS\n{0}\n* = Factory Code</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>12</th>
|
||||
<td></td>
|
||||
<td>(2) Color(s)</td>
|
||||
<td>WHITE, BLACK, GREEN,\nYELLOW, BLUE, BROWN, ORANGE\nSLATE, VIOLET, WHITE/BLACK, WHITE/RED</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>13</th>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>WHITE/GREEN, WHITE/YELLOW, WHITE/BLUE\nWHITE/BROWN, WHITE/ORANGE, WHITE/SLATE\nWHITE/VIOLET, GREEN/YELLOW,\nPINK, DK. BLUE</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>14</th>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>BROWN/BLACK, WHITE/PINK, BROWN/GREEN, BROWN/BLUE</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>15</th>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>RED</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
46
table1.html
Normal file
46
table1.html
Normal file
@ -0,0 +1,46 @@
|
||||
<table border="1" class="dataframe">
|
||||
<thead>
|
||||
<tr style="text-align: right;">
|
||||
<th></th>
|
||||
<th>1</th>
|
||||
<th>2</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<th>2</th>
|
||||
<td>1) UL</td>
|
||||
<td>AWM/STYLE\n1007\n80°C /\n300 VRMS</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>4</th>
|
||||
<td></td>
|
||||
<td>AWM/STYLE\n1569\n105°C /\n300 VRMS</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>6</th>
|
||||
<td></td>
|
||||
<td>VW-1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>8</th>
|
||||
<td>2) CSA International</td>
|
||||
<td>TR-64\n90°C</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>10</th>
|
||||
<td></td>
|
||||
<td>FT1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>12</th>
|
||||
<td>3)\nIEC</td>
|
||||
<td>EN 60332-2\nFlame Behavior</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>14</th>
|
||||
<td>4) CE:</td>
|
||||
<td>EU Low Voltage Directive\n2014/35/EU</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
60
table2.html
Normal file
60
table2.html
Normal file
@ -0,0 +1,60 @@
|
||||
<table border="1" class="dataframe">
|
||||
<thead>
|
||||
<tr style="text-align: right;">
|
||||
<th></th>
|
||||
<th>1</th>
|
||||
<th>2</th>
|
||||
<th>4</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<th>2</th>
|
||||
<td>1)\nEU Directive\n2011/65/EU(RoHS2),\nEU Directive\n2015/863/EU (RoHS3):</td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>4</th>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>All materials used in the manufacture of\nthis part\nare\nin compliance with European Directive\n2011/65/EU</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>5</th>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>and the\namending Directive\n2015/863/EU of\n4\nJune\n2015\nregarding the\nrestriction of use of\ncertain</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>6</th>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>hazardous\nsubstances\nin electrical\nand electronic\nequipment.</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>7</th>
|
||||
<td>2) REACH Regulation (EC 1907/2006):</td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>8</th>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>This product does not\ncontain Substances of Very High Concern (SVHC)\nlisted on the\nEuropean Union's</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>9</th>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>REACH candidate\nlist\nin excess of\n0.1% mass of\nthe\nitem.</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>11</th>
|
||||
<td></td>
|
||||
<td>3) California Proposition 65:</td>
|
||||
<td>This product may\ncontain substances\nknown to the\nState of California\nto cause Cancer or Reproductive\nHarm, but\nis\nexempt\nfrom labeling based on the Consent\nJudgement.\nSee\nthe Alpha Wire website\nfor more\ninformation.</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
60
table3.html
Normal file
60
table3.html
Normal file
@ -0,0 +1,60 @@
|
||||
<table border="1" class="dataframe">
|
||||
<thead>
|
||||
<tr style="text-align: right;">
|
||||
<th></th>
|
||||
<th>1</th>
|
||||
<th>2</th>
|
||||
<th>3</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<th>2</th>
|
||||
<td></td>
|
||||
<td>Physical & Mechanical Properties</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>4</th>
|
||||
<td>1)\nTemperature Range</td>
|
||||
<td></td>
|
||||
<td>-40\nto 105°C</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>6</th>
|
||||
<td>2) Bend Radius</td>
|
||||
<td></td>
|
||||
<td>10X Cable Diameter</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>8</th>
|
||||
<td>3) Pull\nTension</td>
|
||||
<td></td>
|
||||
<td>3.5\nLbs, Maximum</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>9</th>
|
||||
<td></td>
|
||||
<td>Electrical Properties\n(For\nEngineering purposes only)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>11</th>
|
||||
<td>1) Voltage Rating</td>
|
||||
<td></td>
|
||||
<td>300 VRMS</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>13</th>
|
||||
<td>2)\nInductance</td>
|
||||
<td></td>
|
||||
<td>0.07 μH/ft, Nominal</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>15</th>
|
||||
<td>3) Conductor DCR</td>
|
||||
<td></td>
|
||||
<td>25 Ω/1000ft @20°C, Nominal</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
18
table4.html
Normal file
18
table4.html
Normal file
@ -0,0 +1,18 @@
|
||||
<table border="1" class="dataframe">
|
||||
<thead>
|
||||
<tr style="text-align: right;">
|
||||
<th></th>
|
||||
<th>1</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<th>2</th>
|
||||
<td>Packaging\nFlange\nx\nTraverse\nx Barrel\n(inches)</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th>3</th>
|
||||
<td>a)\n32800\nFT\n23\nx\n15\nx\n0 Max.\n4\nseparate pieces; Min length/piece\n10000\nFT.\nb)\n10000\nFT\n12\nx\n5.94\nx\n5 Max.\n3\nseparate pieces; Min length/piece\n1000\nFT.\nc)\n5000\nFT\n10.5\nx\n5\nx\n3.5 Continuous\nlength\nd)\n1000\nFT\n6.5\nx\n2\nx\n1.9 Continuous\nlength\ne)\n100\nFT\n2.75\nx\n2\nx\n1.125 Continuous\nlength\n \n[Spool\ndimensions may\nvary\nslightly]\nNotes:\na) Certain color\nand put-up combinations may only be\navailable by\nspecial order. Minimums may\napply.\nb)\nTolerance on 32800\nft. Put-Up is +/-\n10%</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
@ -1,2 +0,0 @@
|
||||
|
||||
drop_off_tray(robot, 0)
|
||||
44
test.py
44
test.py
@ -1,4 +1,46 @@
|
||||
print("\u001b[37m")
|
||||
from pyModbusTCP.client import ModbusClient
|
||||
|
||||
|
||||
|
||||
def get_sensors():
|
||||
mbconn = ModbusClient(host="192.168.1.20", port=502, auto_open=True, auto_close=True)
|
||||
"""
|
||||
port 1: 256
|
||||
port 2: 272
|
||||
port 3: 288
|
||||
port 4: 304
|
||||
port 5: 320
|
||||
port 6: 336
|
||||
port 7: 352
|
||||
port 8: 368
|
||||
"""
|
||||
out = list()
|
||||
for reg in [352, 288, 304, 368]:
|
||||
val = mbconn.read_holding_registers(reg)[0] # read only one register
|
||||
print(val)
|
||||
if val == 1:
|
||||
out.append(True)
|
||||
else:
|
||||
out.append(False)
|
||||
|
||||
return out
|
||||
|
||||
def get_open_spot(sensordata):
|
||||
for x in range(len(sensordata)):
|
||||
sens = sensordata[x]
|
||||
if not sens:
|
||||
return x
|
||||
|
||||
# if we get here, every spot is full
|
||||
|
||||
return False
|
||||
|
||||
|
||||
testmb = get_sensors()
|
||||
print(testmb)
|
||||
print("Spot open", get_open_spot(testmb))
|
||||
|
||||
exit()
|
||||
|
||||
class Ring:
|
||||
def __init__(self) -> None:
|
||||
|
||||
179
ur5_control.py
179
ur5_control.py
@ -10,7 +10,7 @@ import yaml
|
||||
import sys
|
||||
from util import fprint
|
||||
from pyModbusTCP.client import ModbusClient
|
||||
|
||||
from multiprocessing import Queue
|
||||
import subprocess
|
||||
from util import win32
|
||||
|
||||
@ -20,6 +20,7 @@ class Rob():
|
||||
robot = None
|
||||
#offset_x, offset_y, offset_z = (0, 0, 0.14) # Tool offset
|
||||
#
|
||||
|
||||
def __init__(self, config):
|
||||
self.config = config
|
||||
armc = config["arm"]
|
||||
@ -32,6 +33,7 @@ class Rob():
|
||||
self.limb2 = limbs["limb2"]
|
||||
self.limb3 = limbs["limb3"]
|
||||
self.limb_wrist = limbs["limb_wrist"]
|
||||
|
||||
#self.init_arm()
|
||||
|
||||
def ping(host):
|
||||
@ -59,9 +61,11 @@ def powerup_arm(robot):
|
||||
|
||||
#
|
||||
# wait for power up (this function runs async)
|
||||
|
||||
while not ping(robot.ip):
|
||||
count = 0
|
||||
while not ping(robot.ip) and count == 10:
|
||||
time.sleep(0.5)
|
||||
count += 1
|
||||
|
||||
# trigger auto-initialize
|
||||
fprint("Arm online. Waiting for calibration.")
|
||||
# wait for auto-initialize
|
||||
@ -72,21 +76,23 @@ def connect(robot):
|
||||
ip = robot.ip
|
||||
fprint("Connecting to arm at " + ip)
|
||||
trying = True
|
||||
while trying:
|
||||
count = 0
|
||||
while trying and count < 10:
|
||||
count += 1
|
||||
try:
|
||||
robot.robot = urx.Robot(ip)
|
||||
trying = False
|
||||
except:
|
||||
time.sleep(1)
|
||||
# Sets robot arm endpoint offset (x,y,z,rx,ry,rz)
|
||||
robot.robot = urx.Robot(ip, use_rt=False)
|
||||
robot.robot.set_tcp((robot.offset_x, robot.offset_y, robot.offset_z, 0, 0, 0))
|
||||
# Set weight
|
||||
robot.robot.set_payload(2, (0, 0, 0.1))
|
||||
trying = False
|
||||
except:
|
||||
time.sleep(0.5)
|
||||
# Sets robot arm endpoint offset (x,y,z,rx,ry,rz)
|
||||
|
||||
return robot
|
||||
|
||||
def init_arm(robot):
|
||||
robot = connect(robot)
|
||||
|
||||
# init urx
|
||||
|
||||
#rob.set_payload(2, (0, 0, 0.1))
|
||||
@ -101,7 +107,9 @@ def init_arm(robot):
|
||||
new_pos = curr_pos
|
||||
new_pos[2] += 0.025
|
||||
rob.movel(new_pos, vel=0.05, acc=1)
|
||||
|
||||
curr_j = rob.getj()
|
||||
curr_j[3] -= 0.2 # radians
|
||||
rob.movej(curr_j, vel=0.2, acc=1)
|
||||
move_to_home(robot, speed=0.5)
|
||||
|
||||
return True
|
||||
@ -253,11 +261,12 @@ def move_to_home(robot, keep_flip=False, speed=2):
|
||||
flip(robot)
|
||||
|
||||
# Move robot to home position
|
||||
rob.movej(offset_gripper_angle(robot, *(-0.18, -0.108, 0.35), flip=is_flipped(robot)), vel=2, acc=2) # Move to safe position
|
||||
rob.movej(offset_gripper_angle(robot, *(-0.18, -0.108, 0.25), flip=is_flipped(robot)), vel=2, acc=2) # Move to safe position
|
||||
|
||||
return True
|
||||
|
||||
def move_to_packup(robot, speed=0.25):
|
||||
robot = connect(robot)
|
||||
rob = robot.robot
|
||||
|
||||
# known good starting point to reach store position
|
||||
@ -486,10 +495,10 @@ def safe_move(robot, x, y, z, use_closest_path=True):
|
||||
if (r <= flip_radius and is_flipped(robot)) or (r > flip_radius and not is_flipped(robot)):
|
||||
flip(robot)
|
||||
|
||||
rob.movej(offset_gripper_angle(robot, x, y, z, flip=is_flipped(robot), use_closest_path=use_closest_path), vel=4, acc=3)
|
||||
rob.movej(offset_gripper_angle(robot, x, y, z, flip=is_flipped(robot), use_closest_path=use_closest_path), vel=2, acc=2)
|
||||
return True
|
||||
|
||||
def holder_routine(robot, holder_index, pick_up, verbose=False):
|
||||
def holder_routine(robot, pos_updates, holder_index, pick_up, verbose=False):
|
||||
robot = connect(robot)
|
||||
rob = robot.robot
|
||||
|
||||
@ -514,7 +523,9 @@ def holder_routine(robot, holder_index, pick_up, verbose=False):
|
||||
new_pos = curr_pos
|
||||
new_pos[2] = 0.005
|
||||
rob.movel(new_pos, vel=0.1, acc=1)
|
||||
|
||||
if pos_updates is not None:
|
||||
pos_updates.put(1)
|
||||
fprint("Triggering LED interface")
|
||||
# Pick up or drop off
|
||||
if pick_up:
|
||||
close_gripper()
|
||||
@ -525,12 +536,14 @@ def holder_routine(robot, holder_index, pick_up, verbose=False):
|
||||
new_pos[2] = 0.2
|
||||
rob.movel(new_pos, vel=2, acc=1)
|
||||
was_flipped = is_flipped(robot)
|
||||
|
||||
if pos_updates is not None:
|
||||
pos_updates.put(2)
|
||||
fprint("Triggering LED interface")
|
||||
# goto_holder_index(robot, 25, z=0.2)
|
||||
def pick_up_holder(robot, holder_index, verbose=False):
|
||||
holder_routine(robot, holder_index, True, verbose=verbose)
|
||||
def drop_off_holder(robot, holder_index, verbose=False):
|
||||
holder_routine(robot, holder_index, False, verbose=verbose)
|
||||
def pick_up_holder(robot, pos_updates, holder_index, verbose=False):
|
||||
holder_routine(robot, pos_updates, holder_index, True, verbose=verbose)
|
||||
def drop_off_holder(robot, pos_updates, holder_index, verbose=False):
|
||||
holder_routine(robot, pos_updates, holder_index, False, verbose=verbose)
|
||||
|
||||
def tray_routine(robot, slot=0, pick_up=True):
|
||||
robot = connect(robot)
|
||||
@ -568,14 +581,16 @@ def tray_routine(robot, slot=0, pick_up=True):
|
||||
|
||||
# Positions for each slot
|
||||
slot_distance = .052
|
||||
slot_height = -.015-.0095
|
||||
first_slot = -0.3084+0.02
|
||||
slot_height = -.015-.0095+0.007 # add 7mm for shim
|
||||
first_slot = -0.3084+0.01+0.003 # add 3mm for tray adjust
|
||||
slot_position = [
|
||||
[first_slot, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
|
||||
[first_slot+slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
|
||||
[first_slot+2*slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
|
||||
[first_slot+3*slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
|
||||
]
|
||||
if pick_up:
|
||||
open_gripper()
|
||||
rob.movel(slot_position[slot], vel=0.2, acc=1)
|
||||
|
||||
# Place/Grab the tube
|
||||
@ -608,6 +623,7 @@ def drop_off_tray(robot, slot=0):
|
||||
|
||||
|
||||
def return_routine(robot, slot, holder_index=None, verbose=False):
|
||||
# OLD UNUSED
|
||||
robot = connect(robot)
|
||||
rob = robot.robot
|
||||
|
||||
@ -641,29 +657,64 @@ def return_routine(robot, slot, holder_index=None, verbose=False):
|
||||
return True
|
||||
|
||||
|
||||
def goto_camera(robot):
|
||||
def goto_camera(robot, pos_updates):
|
||||
robot = connect(robot)
|
||||
goto_holder_index(robot, 49, 0.2)
|
||||
|
||||
def tray_to_camera(robot, slot):
|
||||
def tray_to_camera(robot, pos_updates, slot):
|
||||
pick_up_tray(robot, slot)
|
||||
goto_camera(robot)
|
||||
def holder_to_tray(robot, holder_index, slot):
|
||||
pick_up_holder(robot, holder_index)
|
||||
goto_camera(robot, pos_updates)
|
||||
def holder_to_tray(robot, pos_updates, holder_index, slot):
|
||||
pick_up_holder(robot, pos_updates, holder_index)
|
||||
drop_off_tray(robot, slot)
|
||||
|
||||
def holder_to_camera(robot, holder_index, verbose=False):
|
||||
def holder_to_camera(robot, pos_updates, holder_index, verbose=False):
|
||||
robot = connect(robot)
|
||||
fprint("Bringing tube at " + str(holder_index) + " to camera")
|
||||
rob = robot.robot
|
||||
|
||||
pick_up_holder(robot, holder_index)
|
||||
goto_camera(robot)
|
||||
def camera_to_holder(robot, holder_index, verbose=False):
|
||||
pick_up_holder(robot, pos_updates, holder_index)
|
||||
goto_camera(robot, pos_updates)
|
||||
def camera_to_holder(robot, pos_updates, holder_index, verbose=False):
|
||||
robot = connect(robot)
|
||||
rob = robot.robot
|
||||
|
||||
drop_off_holder(robot, holder_index)
|
||||
drop_off_holder(robot, pos_updates, holder_index)
|
||||
|
||||
|
||||
# def open_gripper():
|
||||
# fprint("Opening gripper")
|
||||
# c = ModbusClient(host="192.168.1.21", port=502, auto_open=False, auto_close=False)
|
||||
# c.open()
|
||||
# while not c.is_open:
|
||||
# time.sleep(0.01)
|
||||
|
||||
# c.write_single_register(112, 0b0)
|
||||
# # c.write_single_register(435, 0b10000000)
|
||||
# time.sleep(0.5)
|
||||
# # c.write_single_register(112, 0b0)
|
||||
# c.write_single_register(435, 0b10000000)
|
||||
# time.sleep(0.5)
|
||||
# c.close()
|
||||
|
||||
# #c.close()
|
||||
|
||||
# def close_gripper():
|
||||
# fprint("Closing gripper")
|
||||
# c = ModbusClient(host="192.168.1.21", port=502, auto_open=False, auto_close=False)
|
||||
# c.open()
|
||||
# while not c.is_open:
|
||||
# time.sleep(0.01)
|
||||
|
||||
# c.write_single_register(435, 0b00000000)
|
||||
# # c.write_single_register(112, 0b1)
|
||||
# time.sleep(0.5)
|
||||
# # c.write_single_register(435, 0b00000000)
|
||||
# c.write_single_register(112, 0b1)
|
||||
# time.sleep(0.5)
|
||||
# c.close()
|
||||
# time.sleep(0.2)
|
||||
# #
|
||||
|
||||
|
||||
def open_gripper():
|
||||
@ -692,9 +743,46 @@ def close_gripper():
|
||||
c.close()
|
||||
#
|
||||
|
||||
|
||||
def get_position_thread(robot, pos_updates):
|
||||
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
|
||||
|
||||
# else:
|
||||
# count += 0.2
|
||||
# if count < 1:
|
||||
# tmpvals = vals
|
||||
# tmpvals[0] = oldvals[0] + deltavals[0]*count
|
||||
# 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)
|
||||
except:
|
||||
pass
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
#init("192.168.1.145")
|
||||
with open('config.yml', 'r') as fileread:
|
||||
#global config
|
||||
config = yaml.safe_load(fileread)
|
||||
@ -710,16 +798,29 @@ if __name__ == "__main__":
|
||||
|
||||
|
||||
#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)
|
||||
# drop_off_tray(robot, 3)
|
||||
|
||||
# pick_up_tray(robot, 1)
|
||||
# drop_off_holder(robot, 5)
|
||||
|
||||
# pick_up_holder(robot, 26)
|
||||
# drop_off_tray(robot, 3)
|
||||
|
||||
|
||||
# for i in range(3):
|
||||
# pick_up_holder(robot, i)
|
||||
# for i in range(0,54):
|
||||
# pick_up_holder(robot, None, i)
|
||||
|
||||
# print('Drop off', i+1)
|
||||
# drop_off_holder(robot, i+1)
|
||||
# #print('Drop off', i+1)
|
||||
# drop_off_tray(robot, 0)
|
||||
# #input()
|
||||
|
||||
holder_to_camera(robot, 0)
|
||||
camera_to_holder(robot, 0)
|
||||
# # holder_to_camera(robot, 0)
|
||||
# # camera_to_holder(robot, 0)
|
||||
|
||||
print("Current tool pose is: ", rob.getl())
|
||||
curr_pos = rob.getl()
|
||||
|
||||
4
util.py
4
util.py
@ -26,8 +26,8 @@ if win32:
|
||||
#if not getattr(sys, "frozen", False):
|
||||
startupinfo.dwFlags |= subprocess.STARTF_USESHOWWINDOW # hide powershell window
|
||||
res = subprocess.check_output(["WMIC", "ComputerSystem", "GET", "UserName"], universal_newlines=True, startupinfo=startupinfo)
|
||||
_, username = res.strip().rsplit("\n", 1)
|
||||
userid, sysdom = username.rsplit("\\", 1)
|
||||
# _, username = res.strip().rsplit("\n", 1)
|
||||
# userid, sysdom = username.rsplit("\\", 1)
|
||||
|
||||
if linux or macos:
|
||||
sysid = hex(uuid.getnode())
|
||||
|
||||
@ -150,7 +150,7 @@
|
||||
setInterval(updateClock, 100);
|
||||
|
||||
</script>
|
||||
|
||||
<iframe src="http://192.168.1.12:3000/d-solo/cdiqwmlr8c9ogf/sensors?orgId=1&refresh=5s&from=1714431825720&to=1714433625721&theme=light&panelId=7" width="450" height="200" frameborder="0"></iframe>
|
||||
</body>
|
||||
|
||||
</html>
|
||||
Reference in New Issue
Block a user