.gitignore

@@ -14,5 +14,3 @@ meili_data
 output.mp4
 # log files
 output.log
-# images
-*.png

config.yml

@@ -159,7 +159,7 @@ led:
       size: 24
       diameter: 63.5
       angle: 0
-      pos: [-65.991, 114.3]
+      pos: [-65.936, 114.3]
     - type: circle
       start: 336
       size: 24
@@ -420,116 +420,6 @@ led:
       size: 70
       length: 600
       angle: 270 # down
-      pos: [375, 300]
+      pos: [300, 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]
-  - index: 1
-    pos: [-76.2, 263.965]
-  - index: 2
-    pos: [0, 263.965]
-  - index: 3
-    pos: [76.2, 263.965]
-  - index: 4
-    pos: [152.4, 263.965]
-  - index: 5
-    pos: [-190.5, 197.973]
-  - index: 6
-    pos: [-114.3, 197.973]
-  - index: 7
-    pos: [-38.1, 197.973]
-  - index: 8
-    pos: [38.1, 197.973]
-  - index: 9
-    pos: [114.3, 197.973]
-  - index: 10
-    pos: [190.5, 197.973]
-  - index: 11
-    pos: [-228.6, 131.982]
-  - index: 12
-    pos: [-152.4, 131.982]
-  - index: 13
-    pos: [-76.2, 131.982]
-  - index: 14
-    pos: [0, 131.982]
-  - index: 15
-    pos: [76.2, 131.982]
-  - index: 16
-    pos: [152.4, 131.982]
-  - index: 17
-    pos: [228.6, 131.982]
-  - index: 18
-    pos: [-266.7, 65.991]
-  - index: 19
-    pos: [-190.5, 65.991]
-  - index: 20
-    pos: [-114.3, 65.991]
-  - index: 21
-    pos: [114.3, 65.991]
-  - index: 22
-    pos: [190.5, 65.991]
-  - index: 23
-    pos: [266.7, 65.991]
-  - index: 24
-    pos: [-304.8, 0]
-  - index: 25
-    pos: [-228.6, 0]
-  - index: 26
-    pos: [-152.4, 0]
-  - index: 27
-    pos: [152.4, 0]
-  - index: 28
-    pos: [228.6, 0]
-  - index: 29
-    pos: [304.8, 0]
-  - index: 30
-    pos: [-266.7, -65.991]
-  - index: 31
-    pos: [-190.5, -65.991]
-  - index: 32
-    pos: [-114.3, -65.991]
-  - index: 33
-    pos: [114.3, -65.991]
-  - index: 34
-    pos: [190.5, -65.991]
-  - index: 35
-    pos: [266.7, -65.991]
-  - index: 36
-    pos: [-228.6, -131.982]
-  - index: 37
-    pos: [-152.4, -131.982]
-  - index: 38
-    pos: [-76.2, -131.982]
-  - index: 39
-    pos: [0, -131.982]
-  - index: 40
-    pos: [76.2, -131.982]
-  - index: 41
-    pos: [152.4, -131.982]
-  - index: 42
-    pos: [228.6, -131.982]
-  - index: 43
-    pos: [-190.5, -197.973]
-  - index: 44
-    pos: [-114.3, -197.973]
-  - index: 45
-    pos: [-38.1, -197.973]
-  - index: 46
-    pos: [38.1, -197.973]
-  - index: 47
-    pos: [114.3, -197.973]
-  - index: 48
-    pos: [190.5, -197.973]
-  - index: 49
-    pos: [-152.4, -263.965]
-  - index: 50
-    pos: [-76.2, -263.965]
-  - index: 51
-    pos: [0, -263.965]
-  - index: 52
-    pos: [76.2, -263.965]
-  - index: 53
-    pos: [152.4, -263.965]

get_specs.py

@@ -5,7 +5,7 @@ import sys
 import read_datasheet
 from alive_progress import alive_bar
 import requests
-import time
+#import time
 import json
 import subprocess
 from util import fprint
@@ -27,78 +27,29 @@ def check_internet(url='https://belden.com', timeout=5):
 
 
 def query_search(partnum, source):
-    if source == "Belden":
+    """token_url = "https://www.belden.com/coveo/rest/token?t=" + str(int(time.time()))
-        token_url = "https://www.belden.com/coveo/rest/token?t=" + str(int(time.time()))
+    with requests.get(token_url) as r:
-        with requests.get(token_url) as r:
+        out = json.loads(r.content)
-            out = json.loads(r.content)
+    token = out["token"]
-        token = out["token"]
+    search_url = "https://www.belden.com/coveo/rest/search"
-        search_url = "https://www.belden.com/coveo/rest/search"
+    search_data ='{ "q": "' + str(partnum) + '", "sortCriteria": "relevancy", "numberOfResults": "250", "sortCriteria": "@catalogitemwebdisplaypriority ascending", "searchHub": "products-only-search", "pipeline": "Site Search", "maximumAge": "900000", "tab": "products-search", "locale": "en" }'
-
+    #"aq": "", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))", "firstResult": "0", "categoryFacets": "[{\\"field\\":\\"@catalogitemcategories\\",\\"path\\":[],\\"injectionDepth\\":1000,\\"maximumNumberOfValues\\":6,\\"delimitingCharacter\\":\\"|\\"}]", "facetOptions": "{}", "groupBy": "" }'
-        # Ridiculous search parameters extracted from website. Do not touch
+    #fprint(search_data)
-        search_data = r"""{ "q": "{QUERY}", "sortCriteria": "relevancy", "numberOfResults": "250", "sortCriteria": "@catalogitemwebdisplaypriority ascending", "searchHub": "products-only-search", "pipeline": "Site Search", "maximumAge": "900000", "tab": "products-search", "locale": "en", "aq": "(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((@syssource==\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\" @catalogitemprimarycategorypublished==true)) ((@catalogitemregionavailable=Global) (@z95xlanguage==en))", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\"Coveo_web_index - rg-nc-prod-sitecore-prod\")) OR (@source==(\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\",\"website_001002_Category_index-rg-nc-prod-sitecore-prod\"))", "firstResult": "0" }, "categoryFacets": "[{\"field\":\"@catalogitemcategories\",\"path\":[],\"injectionDepth\":1000,\"maximumNumberOfValues\":6,\"delimitingCharacter\":\"|\"}]", "facetOptions": "{}", "groupBy": "    [{\"field\":\"@contenttype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[\"Products\"],\"queryOverride\":\"{QUERY}\",\"advancedQueryOverride\":\"(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((((((((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) ((@z95xpath=C292F3A37B3A4E6BAB345DF87ADDE516 @z95xid<>C292F3A37B3A4E6BAB345DF87ADDE516) @z95xtemplate==E4EFEB787BDC4B1A908EFC64D56CB2A4)) OR ((@z95xpath=723501A864754FEEB8AE377E4C710271 @z95xid<>723501A864754FEEB8AE377E4C710271) ((@z95xpath=600114EAB0E5407A84AAA9F0985B6575 @z95xid<>600114EAB0E5407A84AAA9F0985B6575) @z95xtemplate==2BE4FD6B3B2C49EBBD9E1F6C92238B05))) OR (@syssource==\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\" @catalogitemprimarycategorypublished==true)) OR ((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) @z95xpath<>C292F3A37B3A4E6BAB345DF87ADDE516)) OR @syssource==\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\") NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B))) ((@catalogitemregionavailable=Global) (@z95xlanguage==en) OR (@contenttype=(Blogs,Resources,Other)) (NOT @ez120xcludefromcoveo==1))\",\"constantQueryOverride\":\"((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))\"},{\"field\":\"@catalogitembrand\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemenvironment\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemregionalavailability\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@prez45xtez120xt\",\"maximumNumberOfValues\":5,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@tags\",\"maximumNumberOfValues\":4,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetassettype\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetbrand\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetmarket\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsolution\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsearchcontentpagetype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]}]" }"""
+    fprint(json.loads(search_data))
-        search_data = search_data.replace(r"{QUERY}", partnum)
+    #search_data = '{ "q": "' + str(partnum) + '" }'
-        #"aq": "", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))", "firstResult": "0", "categoryFacets": "[{\\"field\\":\\"@catalogitemcategories\\",\\"path\\":[],\\"injectionDepth\\":1000,\\"maximumNumberOfValues\\":6,\\"delimitingCharacter\\":\\"|\\"}]", "facetOptions": "{}", "groupBy": "" }'
+    fprint(search_data)
-        #fprint(search_data)
+    headers = headers = {
-        #fprint(json.loads(search_data))
+        'Authorization': f'Bearer {token}',
-        #search_data = '{ "q": "' + str(partnum) + '" }'
+        'Content-Type': 'application/json'
-        #fprint(search_data)
+    }
-        headers = headers = {
+    with requests.post(search_url, headers=headers, data=search_data) as r:
-            'Authorization': f'Bearer {token}',
+        fprint(r.text)"""
-            'Content-Type': 'application/json'
-        }
-        try:
-            with requests.post(search_url, headers=headers, data=search_data) as r:
-                a = r.text
-                a = json.loads(a)
-                idx = -1
-                name = ""
-                for partid in range(len(a["results"])):
-                    name = a["results"][partid]["title"]
-                    if name != partnum:
-                        if name.find(partnum) >= 0:
-                            idx = partid
-                            break
-                        elif partnum.find(name) >= 0:
-                            idx = partid
-                            break
-                        
-                    else:
-                        idx = partid
-                        break
-                        
-                if idx < 0:
-                    fprint("Could not find part in API: " + partnum)
-                    return False
-                fprint("Search result found: result " + str(idx) + ", for ID " + name)
-                #urlname = a["results"][0]["raw"]["catalogitemurlname"]
-                img = a["results"][idx]["raw"]["catalogitemimageurl"]
-                img = img[0:img.index("?")]
-                uri = a["results"][idx]["raw"]["clickableuri"]
-                dsid = a["results"][idx]["raw"]["catalogitemdatasheetid"]
-                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)
-                #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["description"] = desc
-                out["image"] = "https://www.belden.com" + img
-                out["partnum"] = name
-                #print(out)
-                return out
-        except:
-            print("falied to search with API. Falling back to datasheet lookup.")
-            return False
     
-
+    # TODO: Reimplement in python
-    # Original bash script
+    # Bash script uses some crazy json formatting that I could not figure out
-    # superceded by above
+    # Despite the fact that I wrote it
-    if source == "Belden_shell":
+    # So I'll just leave it, becuase it works.
+    if source == "Belden":
         command = ["./query-search.sh", partnum]
         result = subprocess.run(command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
         if result.returncode != 0: # error
@@ -115,28 +66,27 @@ def query_search(partnum, source):
         #print(data)
         try:
             if data["Count"] > 0:
-                #print(data["Results"][0]["Url"])
+                print(data["Results"][0]["Url"])
-                for result in data["Results"]:
+                result = data["Results"][0]
-                    if result["Url"].split("/")[-1] == partnum:
+                if result["Url"].split("/")[-1] == partnum:
-                        #print(partnum)
+                    #print(partnum)
-                        #print(result["Html"])
+                    print(result["Html"])
-                        try:
+                    try:
-                            imgidx = result["Html"].index("<img src=") + 10
+                        imgidx = result["Html"].index("<img src=") + 10
-                            imgidx2 = result["Html"].index("?", imgidx)
+                        imgidx2 = result["Html"].index("?", imgidx)
-                            output["image"] = result["Html"][imgidx:imgidx2]
+                        output["image"] = result["Html"][imgidx:imgidx2]
-                            if output["image"].index("http") != 0:
+                        if output["image"].index("http") != 0:
-                                output["image"] = ""
+                            output["image"] = ""
-                                print("No cable image found.")
-                        except:
                             print("No cable image found.")
+                    except:
+                        print("No cable image found.")
 
-                        dsidx = result["Html"].index("<a href=\"/disteAPI/") + 9
+                    dsidx = result["Html"].index("<a href=\"/disteAPI/") + 9
-                        dsidx2 = result["Html"].index(partnum, dsidx) + len(partnum)
+                    dsidx2 = result["Html"].index(partnum, dsidx) + len(partnum)
-                        output["datasheet"] = "https://www.alphawire.com" + result["Html"][dsidx:dsidx2]
+                    output["datasheet"] = "https://www.alphawire.com" + result["Html"][dsidx:dsidx2]
-                        output["partnum"] = partnum
+                    #"test".index()
-                        #"test".index()
+                    print(output)
-                        #print(output)
+                    return output
-                        return output
 
 
         except:
@@ -150,7 +100,7 @@ def touch(path):
 
 
 
-def get_multi(partnums, delay=0.25):
+def get_multi(partnums):
     with alive_bar(len(partnums) * 2, dual_line=True, calibrate=30, bar="classic2", spinner="classic") as bar:
 
         def _try_download_datasheet(partnum, output_dir): # Guess datasheet URL
@@ -240,17 +190,10 @@ def get_multi(partnums, delay=0.25):
             fprint("Using cached datasheet for " + partnum)
             bar.text = "Using cached datasheet for " + partnum
             bar(skipped=True)
-            if not os.path.exists(output_dir + "/parsed"):
+            fprint("Parsing Datasheet contents of " + partnum)
-                
+            bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
-                fprint("Parsing Datasheet contents of " + partnum)
+            read_datasheet.parse(path, output_dir, partnum, dstype)
-                bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
+            bar(skipped=False)
-            
-                read_datasheet.parse(path, output_dir, partnum, dstype)
-                bar(skipped=False) 
-            else:
-                fprint("Datasheet already parsed for " + partnum)
-                bar.text = "Datasheet already parsed for " + partnum + ".pdf"
-                bar(skipped=True)
 
         def __downloaded_datasheet(partnum, path, output_dir, dstype):
             fprint("Downloaded " + path)
@@ -261,7 +204,13 @@ def get_multi(partnums, delay=0.25):
             read_datasheet.parse(path, output_dir, partnum, dstype)
             bar(skipped=False)
 
-        def run_search(partnum):
+        for fullpartnum in partnums:
+            if fullpartnum[0:2] == "BL": # catalog.belden.com entry\
+                partnum = fullpartnum[2:]
+                dstype = "Belden"
+            elif fullpartnum[0:2] == "AW":
+                partnum = fullpartnum[2:]
+                dstype = "Alphawire"
             output_dir = "cables/" + partnum
             path = output_dir + "/datasheet.pdf"
             bartext = "Downloading files for part " + partnum
@@ -269,16 +218,10 @@ def get_multi(partnums, delay=0.25):
             #
             if (not os.path.exists(output_dir + "/found_part_hires")) or not (os.path.exists(path) and os.path.getsize(path) > 1):
                 # Use query
-                search_result = query_search(partnum, dstype)
+                search_result = query_search(partnum.replace(" ", ""), dstype)
                 # Try to use belden.com search
                 if search_result is not False:
                     # Download high resolution part image if available and needed
-                    partnum = search_result["partnum"]
-                    output_dir = "cables/" + partnum
-                    path = output_dir + "/datasheet.pdf"
-                    bartext = "Downloading files for part " + partnum
-                    bar.text = bartext
-
                     if not os.path.exists(output_dir + "/found_part_hires"):
                         if _download_image(search_result["image"], output_dir):
                             fprint("Downloaded hi-res part image for " + partnum)
@@ -302,48 +245,17 @@ def get_multi(partnums, delay=0.25):
 
                 # Failed to download with search or guess :(
                 else: 
-                    return False
-                return True
-
-            # We already have a hi-res image and the datasheet - perfect!
-            else:
-                fprint("Using cached hi-res part image for " + partnum)
-                __use_cached_datasheet(partnum, path, output_dir, dstype)
-                return True
-    
-        for fullpartnum in partnums:
-            if fullpartnum[0:2] == "BL": # catalog.belden.com entry
-                partnum = fullpartnum[2:]
-                dstype = "Belden"
-            elif fullpartnum[0:2] == "AW":
-                partnum = fullpartnum[2:]
-                dstype = "Alphawire"
-            else:
-                dstype = "Belden" # guess
-                partnum = fullpartnum
-            if not run_search(partnum):
-                success = False
-                if len(partnum.split(" ")) > 1:
-                    for name in partnum.split(" "):
-                        fprint("Retrying with alternate name: " + name)
-                        if(run_search(name)):
-                            success = True
-                            break
-                        time.sleep(delay)
-                    if not success:
-                        namestripped = partnum.strip(" ")
-                        fprint("Retrying with alternate name: " + namestripped)
-                        if(run_search(namestripped)):
-                            success = True
-                            time.sleep(delay)
-                if not success:
                     fprint("Failed to download datasheet for part " + partnum)
                     bar.text = "Failed to download datasheet for part " + partnum
                     failed.append(partnum)
                     bar(skipped=True)
                     bar(skipped=True)
-            time.sleep(delay)
+
-            
+            # We already have a hi-res image and the datasheet - perfect!
+            else:
+                fprint("Using cached hi-res part image for " + partnum)
+                __use_cached_datasheet(partnum, path, output_dir, dstype)
+    
     if len(failed) > 0:
         fprint("Failed to download:")
         for partnum in failed:
@@ -356,73 +268,22 @@ def get_multi(partnums, delay=0.25):
 
 
 if __name__ == "__main__":
-    # partnums = ["BLFISX012W0", "BL7958A", "BL10GXS12", "BLRST 5L-RKT 5L-949", 
+    partnums = ["BL7958A", "BL10GXS12", "BLRST 5L-RKT 5L-949", 
-    # "BL10GXS13",
+"BL10GXS13",
-    # "BL10GXW12",
+"BL10GXW12",
-    # "BL10GXW13",
+"BL10GXW13",
-    # "BL2412",
+"BL2412",
-    # "BL2413",
+"BL2413",
-    # "BLOSP6AU",
+"BLOSP6AU",
-    # "BLFI4D024P9",
+"BLFI4D024P9",
-    # "BLFISD012R9",
+"BLFISD012R9",
-    # "BLFDSD012A9",
+"BLFDSD012A9",
-    # "BLFSSL024NG",
+"BLFSSL024NG",
-    # "BLFISX006W0",
+"BLFISX006W0",
-    # "BLFISX00103",
+"BLFISX00103",
-    # "BLC6D1100007"
+"BLC6D1100007"
-    # ]
-    partnums = [
-    # Actual cables in Jukebox
-    "AW86104CY",
-    "AW3050",
-    "AW6714",
-    "AW1172C",
-    "AW2211/4",
-
-    "BLTF-1LF-006-RS5N",
-    "BLTF-SD9-006-RI5N",
-    "BLTT-SLG-024-HTNN",
-    "BLFISX012W0",
-    "BLFI4X012W0",
-    "BLSPE101 006Q",
-    "BLSPE102 006Q",
-    "BL7922A 010Q",
-    "BL7958A 008Q",
-    "BLIOP6U 010Q",
-    "BL10GXW13 D15Q",
-    "BL10GXW53 D15Q",
-    "BL29501F 010Q",
-    "BL29512 010Q",
-    "BL3106A 010Q",
-    "BL9841 060Q",
-    "BL3105A 010Q",
-    "BL3092A 010Q",
-    "BL8760 060Q",
-    "BL6300UE 008Q",
-    "BL6300FE 009Q",
-    "BLRA500P 006Q",
-
-
-    # Some ones I picked, including some invalid ones
-    "BL10GXS12", 
-    "BLRST 5L-RKT 5L-949", 
-    "BL10GXS13",
-    "BL10GXW12",
-    "BL10GXW13",
-    "BL2412",
-    "BL2413",
-    "BLOSP6AU",
-    "BLFI4D024P9",
-    "BLFISD012R9",
-    "BLFDSD012A9",
-    "BLFSSL024NG",
-    "BLFISX006W0",
-    "BLFISX00103",
-    "BLC6D1100007"
-
     ]
-    #query_search("86104CY", "Alphawire")
+    get_multi(partnums)
-    get_multi(partnums, 0.25)
+    #query_search("3248", "Alphawire")
-    #query_search("10GXS13", "Belden")
 
 

install-deps.sh

@@ -1,5 +1,4 @@
 #!/bin/sh
-# change this to #!/bin/bash for windows
 
 if ! [ -d "venv" ]; then
     ./venv-setup.sh

led_control.py

@@ -22,13 +22,6 @@ leds_size = None
 leds_normalized = None
 controllers = None
 data = None
-exactdata = None
-rings = None
-ringstatus = None
-mode = "Startup"
-firstrun = True
-changecount = 0
-animation_time = 0
 start = uptime()
 
 def ping(host):
@@ -55,50 +48,30 @@ def map():
     global leds_size
     global leds_normalized
     global controllers
-    global rings
-    global ringstatus
-    global animation_time
-    
 
     with open('config.yml', 'r') as fileread:
         #global config
         config = yaml.safe_load(fileread)
 
-    animation_time = config["animation_time"]
     leds = list()
     leds_size = list()
     controllers = list()
-    rings = list(range(len(config["position_map"])))
-    ringstatus = list(range(len(config["position_map"])))
-    #print(rings)
     #fprint(config["led"]["map"])
-    generate_map = False
-    map = list()
     for shape in config["led"]["map"]:
         if shape["type"] == "circle":
-            
-            if generate_map:
-                map.append((shape["pos"][1],shape["pos"][0]))
             #fprint(shape["pos"])
             anglediv = 360.0 / shape["size"]
             angle = 0
             radius = shape["diameter"] / 2
             lednum = shape["start"]
-            for item in config['position_map']:
-            # Check if the current item's position matches the target position
-                #print(item['pos'],(shape["pos"][1],shape["pos"][0]))
-                if tuple(item['pos']) == (shape["pos"][1],shape["pos"][0]):
-                    rings[item["index"]] = (shape["pos"][1],shape["pos"][0],lednum,lednum+shape["size"]) # rings[index] = x, y, startpos, endpos
-                    ringstatus[item["index"]] = [None, None]
-                    break
             if len(leds) < lednum + shape["size"]:
                 for x in range(lednum + shape["size"] - len(leds)):
                     leds.append(None)
                     leds_size.append(None)
             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
+                x = math.cos(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][0]
-                y = math.sin(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][0]
+                y = math.sin(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][1]
                 leds[lednum] = (x,y)
                 lednum = lednum + 1
                 angle = angle + anglediv
@@ -124,23 +97,7 @@ def map():
                 dist += distdiv
                 lednum = lednum + 1
 
-    if generate_map:
-        map = sorted(map, key=lambda x: (-x[1], x[0]))
-        print(map)
-        import matplotlib.pyplot as plt
-        plt.axis('equal')
-        x, y = zip(*map)
-        plt.scatter(x, y, s=12)
-        #plt.plot(x, y, marker='o')
-        #plt.scatter(*zip(*leds), s=3)
-        for i, (x_pos, y_pos) in enumerate(map):
-            plt.text(x_pos, y_pos, str(i), color="red", fontsize=12)
-        plt.savefig("map2.png", dpi=600, bbox_inches="tight")
-        data = {"map": [{"index": i, "pos": str(list(pos))} for i, pos in enumerate(map)]}
-        yaml_str = yaml.dump(data, default_flow_style=False)
-        print(yaml_str)
 
-    print(rings)
     flag = 0
     for x in leds:
         if x is None:
@@ -191,10 +148,9 @@ def init():
     global leds_size
     global controllers
     global data
-    global exactdata
     sender = sacn.sACNsender(fps=config["led"]["fps"], universeDiscovery=False)
     sender.start()  # start the sending thread
-    """for x in range(len(controllers)):
+    for x in range(len(controllers)):
         print("Waiting for the controller at", controllers[x][2], "to be online...", end="")
         count = 0
         while not ping(controllers[x][2]):
@@ -203,7 +159,7 @@ def init():
                 fprint(" ERROR: controller still offline after " + str(count) + " seconds, continuing...")
                 break
         if count < config["led"]["timeout"]:
-            fprint(" done")"""
+            fprint(" done")
     for x in range(len(controllers)):
         print("Activating controller", x, "at", controllers[x][2], "with", controllers[x][1]-controllers[x][0], "LEDs.")
         sender.activate_output(x+1)  # start sending out data
@@ -212,26 +168,22 @@ def init():
 
     # initialize global pixel data list
     data = list()
-    exactdata = list()
     for x in range(len(leds)):
         if leds_size[x] == 3:
-            exactdata.append(None)
             data.append((20,20,127))
         elif leds_size[x] == 4:
-            exactdata.append(None)
             data.append((50,50,255,0))
         else:
-            exactdata.append(None)
             data.append((0,0,0))
     sendall(data)
     #time.sleep(50000)    
     fprint("Running start-up test sequence...")
-    for y in range(1):
+    for y in range(100):
         for x in range(len(leds)):
-            setpixel(0,60,144,x)
+            setpixel(0,0,150,x)
         sendall(data)
         #time.sleep(2)
-    alloffsmooth()
+        #alloffsmooth()
 
 def sendall(datain):
     # send all LED data to all controllers
@@ -308,209 +260,6 @@ def setpixelnow(r, g, b, num):
     setpixel(r,g,b,num)
     senduniverse(data, num)
 
-def setmode(stmode, r=0,g=0,b=0):
-    global mode
-    global firstrun
-    if stmode is not None:
-        if mode != stmode:
-            firstrun = True
-    
-        mode = stmode
-    
-
-def setring(r,g,b,idx):
-    
-    ring = rings[idx]
-    for pixel in range(ring[2],ring[3]):
-        setpixel(r,g,b,pixel)
-    #global data
-    #senduniverse(data, ring[2])
-
-def runmodes(ring = -1, speed = 1):
-    global mode
-    global firstrun
-    global changecount
-    fprint("Mode: " + str(mode))
-    if mode == "Startup":
-        # loading animation. cable check
-        if firstrun:
-            changecount = animation_time * 3
-            firstrun = False
-            for x in range(len(ringstatus)):
-                ringstatus[x] = [True, animation_time]
-            
-        if changecount > 0:
-            fprint(changecount)
-            changecount = fadeorder(0,len(leds), changecount, 0,50,100)
-        else:
-            setmode("Startup2")
-            
-                
-    elif mode == "Startup2":
-        if firstrun:
-            firstrun = False
-            
-        else:
-            for x in range(len(ringstatus)):
-                if ringstatus[x][0]:
-                    setring(0, 50, 100, x)
-                else:
-                    ringstatus[x][1] = fadeall(rings[x][2],rings[x][3], ringstatus[x][1], 100,0,0) # not ready
-
-    elif mode == "StartupCheck":
-        if firstrun:
-            firstrun = False
-            for x in range(len(ringstatus)):
-                ringstatus[x] = [False, animation_time]
-        else:
-            for x in range(len(ringstatus)):
-                if ringstatus[x][0]:
-                    ringstatus[x][1] = fadeall(rings[x][2],rings[x][3], ringstatus[x][1], 0,50,100) # ready  
-                else:
-                    setring(100, 0, 0, x)
-
-    elif mode == "GrabA":
-        if firstrun:
-            firstrun = False
-            changecount = animation_time # 100hz
-        if changecount > 0:
-            changecount = fadeall(rings[ring][2],rings[ring][3], changecount, 100,0,0)
-        else:
-            setring(100,0,0,ring)
-            setmode("GrabB")
-    elif mode == "GrabB":
-        if firstrun:
-            firstrun = False
-            changecount = animation_time # 100hz
-        if changecount > 0:
-            changecount = fadeorder(rings[ring][2],rings[ring][3], changecount, 0,100,0)
-        else:
-            setring(0,100,0,ring)
-            setmode("idle")
-    elif mode == "GrabC":
-        if firstrun:
-            firstrun = False
-            changecount = animation_time # 100hz
-        if changecount > 0:
-            changecount = fadeall(rings[ring][2],rings[ring][3], changecount, 0,50,100)
-        else:
-            setring(0,50,100,ring)
-            setmode("idle")
-    elif mode == "idle":
-        time.sleep(0)
-
-    sendall(data)
-            
-def fadeall(idxa,idxb,sizerem,r,g,b):
-    if sizerem < 1:
-        return 0
-    global exactdata
-    sum = 0
-    for x in range(idxa,idxb):
-        if exactdata[x] is None:
-            exactdata[x] = data[x]
-        old = exactdata[x]
-        dr = (r - old[0])/sizerem
-        sum += abs(dr)
-        dr += old[0]
-        dg = (g - old[1])/sizerem
-        sum += abs(dg)
-        dg += old[1]
-        db = (b - old[2])/sizerem 
-        db += old[2]
-        sum += abs(db)
-        exactdata[x] = (dr, dg, db)
-        #print(new)
-        setpixel(dr, dg, db, x)
-        if sizerem == 1:
-            exactdata[x] = None
-    if sum == 0 and sizerem > 2:
-        sizerem = 2
-    return sizerem - 1
-        
-def fadeorder(idxa,idxb,sizerem,r,g,b):
-    if sizerem < 1:
-        return 0
-    global exactdata
-    drs = 0
-    dgs = 0
-    dbs = 0
-    sum = 0
-    for x in range(idxa,idxb):
-        if exactdata[x] is None:
-            exactdata[x] = data[x]
-        old = exactdata[x]
-        dr = (r - old[0])
-        dg = (g - old[1])
-        db = (b - old[2])
-        drs += dr
-        dgs += dg
-        dbs += db
-    
-    drs /= sizerem
-    dgs /= sizerem
-    dbs /= sizerem
-    sum += abs(drs) + abs(dgs) + abs(dbs)
-    print(drs,dgs,dbs)
-    for x in range(idxa,idxb):
-        old = exactdata[x]
-        new = list(old)
-        if drs > 0:
-            if old[0] + drs > r:
-                new[0] = r
-                drs -= r - old[0]
-            else:
-                new[0] = old[0] + drs
-                drs = 0
-        if dgs > 0:
-            if old[1] + dgs > g:
-                new[1] = g
-                dgs -= g - old[1]
-            else:
-                new[1] = old[1] + dgs
-                dgs = 0
-        if dbs > 0:
-            if old[2] + dbs > b:
-                new[2] = b
-                dbs -= b - old[2]
-            else:
-                new[2] = old[2] + dbs
-                dbs = 0
-
-        if drs < 0:
-            if old[0] + drs < r:
-                new[0] = r
-                drs -= r - old[0]
-            else:
-                new[0] = old[0] + drs
-                drs = 0
-        if dgs < 0:
-            if old[1] + dgs < g:
-                new[1] = g
-                dgs -= g - old[1]
-            else:
-                new[1] = old[1] + dgs
-                dgs = 0
-        if dbs < 0:
-            if old[2] + dbs < b:
-                new[2] = b
-                dbs -= b - old[2]
-            else:
-                new[2] = old[2] + dbs
-                dbs = 0
-
-        if drs != 0 or dgs != 0 or dbs != 0:
-            exactdata[x] = new
-            setpixel(new[0],new[1],new[2],x)
-        
-        if sizerem == 1:
-            exactdata[x] = None
-
-    if sum == 0 and sizerem > 2:
-        sizerem = 2
-    return sizerem - 1
-
-
 def setpixel(r, g, b, num):
     global data
     global leds_size
@@ -579,105 +328,16 @@ def mapimage(image, fps=90):
     global data
     fastsendall(data)
 
-def mainloop(stmode, ring = -1, fps = 100, preview = False):
-    global start
-    while uptime() - start < 1/fps:
-        time.sleep(0.00001)
-    fprint(1 / (uptime() - start))
-    start = uptime()
-    if mode is not None:
-        setmode(stmode)
-    runmodes(ring)
-    if preview:
-        drawdata()
-
-def drawdata():
-    #tmp = list()
-    #for x in len(leds):
-    #    led = leds[x]
-    #    tmp.append((led[0], led[1], data[x]))
-
-    x = [led[0] for led in leds]
-    y = [led[1] for led in leds]
-    colors = data
-    colors_normalized = [(x[0]/255, x[1]/255, x[2]/255) for x in colors]
-    # Plot the points
-    plt.scatter(x, y, c=colors_normalized)
-
-    # Optional: add grid, title, and labels
-    plt.grid(True)
-    plt.title('Colored Points')
-    plt.xlabel('X')
-    plt.ylabel('Y')
-    plt.show()
-    plt.savefig("map3.png", dpi=50, bbox_inches="tight")
-    plt.clf()
-
-def startup_animation(show):
-
     
-    stmode = "Startup"
-    mainloop(stmode, preview=show)
-    while mode == "Startup":
-        mainloop(None, preview=show)
-    for x in range(54):
-        ringstatus[x][0] = False
-        mainloop(None, preview=show)
-
-    for x in range(animation_time):
-        mainloop(None, preview=show)
-    clear_animations()
-    stmode = "StartupCheck"
-    mainloop(stmode, preview=show)
-    clear_animations()
-
-def clear_animations():
-    for x in range(len(leds)):
-        exactdata[x] = None
-
-def do_animation(stmode, ring=-1):
-    mainloop(stmode, ring, preview=show)
-    wait_for_animation(ring)
-
-def start_animation(stmode, ring=-1):
-    mainloop(stmode, ring, preview=show)
-
-def wait_for_animation(ring=-1):
-    while mode != "idle":
-        mainloop(None, ring, preview=show)
-
 if __name__ == "__main__":
     init()
-    import matplotlib.pyplot as plt
+    cap = cv2.VideoCapture('output.mp4')
-    """cap = cv2.VideoCapture('badapple.mp4')
     while cap.isOpened():
         ret, frame = cap.read()
         if not ret:
             break
-        mapimage(frame, fps=30)"""
+        mapimage(frame)
-    show = True
-    ring = 1
-    startup_animation(show)
-    for x in range(54):
-        ringstatus[x][0] = True
-        mainloop(None, preview=show)
-    for x in range(animation_time):
-        mainloop(None, preview=show)
-    
-    do_animation("GrabA", 1)
 
-    do_animation("GrabA", 5)
+    time.sleep(1)
-    start_animation("GrabC", 1)
-    
-    wait_for_animation(1)
-    do_animation("GrabC", 5)
-    
     close()
-    #sys.exit(0)
+    #sys.exit(0)
-
-
-    # blue : default
-    # green : target
-    # yellow : crosshair
-    # red : missing 
-    # uninitialized : red/purple?

read_datasheet.py

@@ -2,8 +2,6 @@
 
 # Parse Belden catalog techdata datasheets 
 
-import pandas as pd
-pd.set_option('future.no_silent_downcasting', True)
 from PyPDF2 import PdfReader
 import camelot
 import numpy as np
@@ -13,11 +11,6 @@ import json
 from util import fprint
 import uuid
 from util import run_cmd
-import os
-
-def touch(path):
-    with open(path, 'a'):
-        os.utime(path, None)
 
 def parse(filename, output_dir, partnum, dstype):
 
@@ -30,7 +23,6 @@ def parse(filename, output_dir, partnum, dstype):
     reader = PdfReader(filename)
     page = reader.pages[0]
     table_list = {}
-
     for table in tables:
         table.df.infer_objects(copy=False)
         table.df.replace('', np.nan, inplace=True)
@@ -98,7 +90,6 @@ def parse(filename, output_dir, partnum, dstype):
 
     # Table parsing and reordring
     tables = dict()
-    torename = dict()
     previous_table = ""
     for table_name in table_list.keys():
         # determine shape: horizontal or vertical
@@ -130,8 +121,7 @@ def parse(filename, output_dir, partnum, dstype):
         for table_name_2 in table_list.keys(): 
             if 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.pop(table_name_2, None) # rename table to arbitrary altername name
-                #table_list["Specs " + str(len(tables))] = table_list[table_name_2] # rename table to arbitrary altername name
                 break
 
         if vertical:
@@ -152,21 +142,21 @@ def parse(filename, output_dir, partnum, dstype):
         # multi-page table check
         if dstype == "Belden":
             if table_name.isdigit() and len(tables) > 1:
-                #fprint(table_name)
+                fprint(table_name)
-                #fprint(previous_table)
+                fprint(previous_table)
                 
                 
                 
                 
                 main_key = previous_table
                 cont_key = table_name
-                #fprint(tables)
+                fprint(tables)
                 if vertical == False:
                     main_keys = list(tables[main_key].keys())
                     for i, (cont_key, cont_values) in enumerate(tables[cont_key].items()):
                         if i < len(main_keys):
-                            #fprint(tables[main_key][main_keys[i]])
+                            fprint(tables[main_key][main_keys[i]])
-                            tables[main_key][main_keys[i]] = (tuple(tables[main_key][main_keys[i]]) + (cont_key,) + cont_values)
+                            tables[main_key][main_keys[i]] = (tables[main_key][main_keys[i]] + (cont_key,) + cont_values)
     
                     del tables[table_name]
     
@@ -177,10 +167,6 @@ def parse(filename, output_dir, partnum, dstype):
 
         previous_table = table_name
     
-    # remove renamed tables
-    for table_name in torename.keys():
-        tables[torename[table_name]] = tables[table_name]
-        del tables[table_name]
     # remove multi-line values that occasionally squeak through
     def replace_newlines_in_dict(d):
         for key, value in d.items():
@@ -209,12 +195,12 @@ def parse(filename, output_dir, partnum, dstype):
     
 
 
-    #print(output_table)
+    print(output_table)
 
-    run_cmd("rm \"" + output_dir + "\"/*.json") # not reliable!
+    run_cmd("rm " + output_dir + "/*.json") # not reliable!
     with open(output_dir + "/" + output_table["searchspecs"]["id"] + ".json", 'w') as json_file:
         json.dump(output_table["searchspecs"], json_file)
-    touch(output_dir + "/parsed")
+
     return output_table
 
 
@@ -231,7 +217,7 @@ def flatten(tables):
                 # If it fails again, return the original string.
                 return s
     out = dict()
-    #print("{")
+    print("{")
     for table in tables.keys():
         for key in tables[table].keys():
             if len(key) < 64:
@@ -242,16 +228,11 @@ def flatten(tables):
             fullkeyname = (table + ": " + keyname).replace(".","")
             if type(tables[table][key]) is not tuple:
                 out[fullkeyname] = convert_to_number(tables[table][key])
-                #print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
+                print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
             elif len(tables[table][key]) == 1:
                 out[fullkeyname] = convert_to_number(tables[table][key][0])
                 
-                #print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
+                print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
-
-            # if the item has at least two commas in it, split it
-            if tables[table][key].count(',') > 0:
-                out[fullkeyname] = list(map(lambda x: x.strip(), tables[table][key].split(",")))
-                #print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
 
             # if the item has at least two commas in it, split it
             if tables[table][key].count(',') > 0:
@@ -259,7 +240,7 @@ def flatten(tables):
                 print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
 
 
-    #print("}")
+    print("}")
     return out
 
     

requirements.txt

@@ -12,9 +12,6 @@ selenium
 sacn
 uptime
 websockets
-numpy
-scipy
-ipywidgets
 
 # Development
 matplotlib

run.py

@@ -89,9 +89,6 @@ def start_server_socket():
 
     while True:
         #print("HI")
-
-        # Handeling Server Requests Loop, will run forever
-
         if not from_server_queue.empty():
             client_id, message = from_server_queue.get()
             fprint(f"Message from client {client_id}: {message}")
@@ -116,7 +113,7 @@ def start_server_socket():
                     case "log":
                         fprint("log message")
                         if call == "send":
-                            fprint("webapp: " + str(data), sendqueue=to_server_queue)
+                            fprint("webapp: " + data)
                         elif call == "request":
                             fprint("")
 
@@ -127,21 +124,6 @@ def start_server_socket():
                         elif call == "request":
                             fprint("")
 
-
-                    case "ping":
-                        fprint("Pong!!!")
-
-                    # Lucas' notes
-                    # Add a ping pong :) response/handler
-                    # Add a get cable response/handler
-                    #       this will tell the robot arm to move
-                    # Call for turning off everything
-
-                    # TODO Helper for converting Python Dictionaries to JSON
-                    # make function: pythonData --> { { "type": "...", "call": "...", "data": pythonData } }
-                            
-                    # to send: to_server_queue.put(("*", "JSON STRING HERE")) # replace * with UUID of client to send to one specific location
-                    
                     case "cable_details":
                         fprint("cable_details message")
                         if call == "send":
@@ -253,7 +235,7 @@ def setup_server(pool):
 
     if camera_ready is False:
         fprint("waiting for " + "Camera initilization" + " to complete...", sendqueue=to_server_queue)
-        # camera = process_video.qr_reader(config["cameras"]["banner"]["ip"], config["cameras"]["banner"]["port"])
+        camera = process_video.qr_reader(config["cameras"]["banner"]["ip"], config["cameras"]["banner"]["port"])
 
     fprint("Camera initialized.", sendqueue=to_server_queue)
 
@@ -280,8 +262,8 @@ def mainloop_server(pool):
         killall()
     counter = counter + 1
 
-    # fprint("Looking for QR code...")
+    fprint("Looking for QR code...")
-    # print(camera.read_qr(30))
+    print(camera.read_qr(30))
 
 def run_loading_app():
     

source.fish

@@ -1 +0,0 @@
-source venv/bin/activate.fish

source.sh

@@ -1 +0,0 @@
-source venv/bin/activate

test.py

@@ -1,106 +0,0 @@
-print("\u001b[37m")
-
-class Ring:
-    def __init__(self) -> None:
-        self.leds = [0] * 24
-        self.id = 0
-        self.dirty = False
-
-    def __iter__(self) -> iter:
-        yield from self.leds
-
-    def __repr__(self) -> str:
-        return f"Ring<id={self.id}, led_state={' '.join(list(map(lambda x: str(x+1), self.leds)))}, dirty={self.dirty}>"
-
-    def __add__(self, other):
-        self.leds.extend(other)
-        return self
-
-    def __bool__(self):
-        return self.dirty
-
-    def __getitem__(self, index):
-        return self.leds[index]
-    
-    def __setitem__(self, index, value):
-        ivalue = self.leds[index]
-        if ivalue != value:
-            self.dirty = True
-            self.leds[index] = value
-    
-    def __getattr__(self, name):
-        import word2num
-        name = int(word2num.word2num(name))
-        print(name)
-        if 0 <= name < len(self.leds):
-            return self.leds[name]
-        
-
-
-a = Ring()
-print(a)
-b = Ring()
-b.leds[2] = 3
-
-print(a + b)
-
-b.active = True
-
-if b:
-    print("Bexist")
-
-c = [a, b, b, a, a]
-
-d = list(filter(lambda x: bool(x), c))
-
-print(d)
-
-for i, ring in enumerate(c):
-    ring[0] = i
-    print(ring)
-
-print(a, b)
-
-print(f"\u001b[32m{a}")
-print(f"\u001b[37ma")
-
-print(getattr(a, "twenty two"))
-
-# eval(f"getattr(a,\"{input()}\")")
-
-
-# a = r"wow this string is cursed; for example \n"
-
-
-# SEARCHDATA=r"""{ "q": "{QUERY}", "sortCriteria": "relevancy", "numberOfResults": "250", "sortCriteria": "@catalogitemwebdisplaypriority ascending", "searchHub": "products-only-search", "pipeline": "Site Search", "maximumAge": "900000", "tab": "products-search", "locale": "en", "aq": "(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((@syssource==\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\" @catalogitemprimarycategorypublished==true)) ((@catalogitemregionavailable=Global) (@z95xlanguage==en))", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\"Coveo_web_index - rg-nc-prod-sitecore-prod\")) OR (@source==(\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\",\"website_001002_Category_index-rg-nc-prod-sitecore-prod\"))", "firstResult": "0" }, "categoryFacets": "[{\"field\":\"@catalogitemcategories\",\"path\":[],\"injectionDepth\":1000,\"maximumNumberOfValues\":6,\"delimitingCharacter\":\"|\"}]", "facetOptions": "{}", "groupBy": "    [{\"field\":\"@contenttype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[\"Products\"],\"queryOverride\":\"{QUERY}\",\"advancedQueryOverride\":\"(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((((((((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) ((@z95xpath=C292F3A37B3A4E6BAB345DF87ADDE516 @z95xid<>C292F3A37B3A4E6BAB345DF87ADDE516) @z95xtemplate==E4EFEB787BDC4B1A908EFC64D56CB2A4)) OR ((@z95xpath=723501A864754FEEB8AE377E4C710271 @z95xid<>723501A864754FEEB8AE377E4C710271) ((@z95xpath=600114EAB0E5407A84AAA9F0985B6575 @z95xid<>600114EAB0E5407A84AAA9F0985B6575) @z95xtemplate==2BE4FD6B3B2C49EBBD9E1F6C92238B05))) OR (@syssource==\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\" @catalogitemprimarycategorypublished==true)) OR ((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) @z95xpath<>C292F3A37B3A4E6BAB345DF87ADDE516)) OR @syssource==\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\") NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B))) ((@catalogitemregionavailable=Global) (@z95xlanguage==en) OR (@contenttype=(Blogs,Resources,Other)) (NOT @ez120xcludefromcoveo==1))\",\"constantQueryOverride\":\"((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))\"},{\"field\":\"@catalogitembrand\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemenvironment\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemregionalavailability\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@prez45xtez120xt\",\"maximumNumberOfValues\":5,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@tags\",\"maximumNumberOfValues\":4,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetassettype\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetbrand\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetmarket\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsolution\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsearchcontentpagetype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]}]" }"""
-
-# QUERY = "AAAAAAAAAAAA"
-
-# b = SEARCHDATA.replace(r"{QUERY}", QUERY)
-
-q = [i * 2 for i in range(10)]
-
-d = {a : b for a,b in enumerate(q)}
-
-print(q)
-
-print(d)
-
-def stalin_sort(a):
-    b = sum(a)
-    b /= len(a)
-    return [b for _ in range(len(a))]
-
-def mao_sort(a):
-    i = 0
-    while i < len(a) - 1:
-        if a[i+1] < a[i]:
-            del a[i]
-        else:
-            i += 1
-    return a
-
-print(stalin_sort(list(range(10))))
-print(mao_sort([1, 3, 2, 4, 5, 8, 7, 6, 9]))
-
-# i l

ur5_control.py

@@ -1,8 +1,6 @@
 import urx
 import math3d as m3d
-from scipy.optimize import fsolve
 import math
-import numpy as np
 import time
 import os
 import logging
@@ -10,9 +8,6 @@ from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper
 import sys
 from util import fprint
 
-
-
-
 rob = None
 
 
@@ -50,7 +45,7 @@ def init(ip):
     time.sleep(0.2)
     fprint("UR5 ready.")
 
-def set_pos_abs(x, y, z, xb, yb, zb, threshold=None):
+def set_pos_abs(x, y, z, xb, yb, zb):
     global rob
     new_orientation = m3d.Transform()
     new_orientation.orient.rotate_xb(xb)  # Replace rx with the desired rotation around X-axis
@@ -65,7 +60,7 @@ def set_pos_abs(x, y, z, xb, yb, zb, threshold=None):
     new_trans.pos.y = y
     new_trans.pos.z = z
     #rob.speedj(0.2, 0.5, 99999)
-    rob.set_pose(new_trans, acc=2, vel=2, command="movej", threshold=threshold)  # apply the new pose
+    rob.set_pose(new_trans, acc=2, vel=2, command="movej")  # apply the new pose
 
 def set_pos_rel_rot_abs(x, y, z, xb, yb, zb):
     global rob
@@ -85,241 +80,21 @@ def set_pos_rel_rot_abs(x, y, z, xb, yb, zb):
     #rob.speedj(0.2, 0.5, 99999)
     rob.set_pose(new_trans, acc=0.1, vel=0.4, command="movej")  # apply the new pose
 
-def set_pos_abs_rot_rel(x, y, z, xb, yb, zb):
-    global rob
-    new_orientation = m3d.Transform()
-    new_orientation.orient.rotate_xb(xb)  # Replace rx with the desired rotation around X-axis
-    new_orientation.orient.rotate_yb(yb)  # Replace ry with the desired rotation around Y-axis
-    new_orientation.orient.rotate_zb(zb)  # Replace rz with the desired rotation around Z-axis
-
-    # Get the current pose
-    trans = rob.getl()
-    
-    # Apply the new orientation while keeping the current position
-    new_trans = m3d.Transform(new_orientation.orient, m3d.Vector(trans[0:3]))
-    new_trans.pos.x = x
-    new_trans.pos.y = y
-    new_trans.pos.z = z
-    #rob.speedj(0.2, 0.5, 99999)
-    rob.set_pose(new_trans, acc=0.1, vel=0.4, command="movej")  # apply the new pose
 
 
-def is_safe_move(start_pose, end_pose, r=0.25):
-    start_x, start_y = (start_pose[0], start_pose[1])
-    end_x, end_y = (end_pose[0], end_pose[1])
-
-    try:
-        m = (end_y-start_y)/(end_x-start_x)
-        b = start_y - m*start_x
-        # print('m = y/x =', m)
-        # print('b =', b)
-    except:
-        m = (end_x-start_x)/(end_y-start_y)
-        b = start_x - m*start_y
-        # print('m = x/y =', m)
-        # print('b =', b)
-    
-    return r**2 - b**2 + m**2 * r**2 < 0
-
-def cartesian_to_polar(x, y):
-    r = np.sqrt(x**2 + y**2)
-    theta = np.arctan2(y, x)
-    return r, theta
-
-def polar_to_cartesian(r, theta):
-    x = r * np.cos(theta)
-    y = r * np.sin(theta)
-    return x, y
-
-
-def move_to_polar(start_pos, end_pos):
-    global rob
-
-    # Convert to polar coordinates
-    start_r, start_theta = cartesian_to_polar(start_pos[0], start_pos[1])
-    end_r, end_theta = cartesian_to_polar(end_pos[0], end_pos[1])
-
-    # Interpolate for xy (spiral arc)
-    n_points = 30
-    r_intermediate = np.linspace(start_r, end_r, n_points)
-    theta_intermediate = np.linspace(start_theta, end_theta, n_points)
-
-    # Interpolate for z (height)
-    start_z = start_pos[2]
-    end_z = end_pos[2]
-
-    z_intermediate = np.linspace(start_z, end_z, n_points)
-
-    # Interpolate for rz (keep tool rotation fixed relative to robot)
-
-
-    curr_rot = rob.getl()
-
-    theta_delta = theta_intermediate[1]-theta_intermediate[0]
-    
-    rx_intermediate = [curr_rot[5] + theta_delta*i for i in range(n_points)]
-
-    # curr_rot = rob.getj()
-    # start_rz = curr_rot[5]
-    # rot = end_theta - start_theta
-    # end_base_joint = curr_rot[0]-start_theta + rot
-
-    # end_rz = curr_rot[0] + rot
-    # # rob.movel([*polar_to_cartesian(end_r, end_theta), *rob.getl()[2:]], acc=2, vel=2)
-
-    # print('start_theta = ', math.degrees(start_theta))
-    # print('end_theta = ', math.degrees(curr_rot[0]-start_theta+rot))
-    # print('start_rz =', math.degrees(start_rz))
-    # print('rot =', math.degrees(rot))
-    # print('end_rz =', math.degrees(end_rz))
-
-    # rz_intermediate = np.linspace(start_rz, end_rz, n_points)
-
-    # Convert back to cartesian coordinates
-    curr_pos = rob.getl()
-
-    intermediate_points = [[*polar_to_cartesian(r, theta), z, *curr_pos[3:]]
-                            for r, theta, z, rx in zip(r_intermediate, 
-                                                       theta_intermediate, 
-                                                       z_intermediate, 
-                                                       rx_intermediate)]
-
-    # Move robot
-    rob.movels(intermediate_points, acc=2, vel=2, radius=0.1)
-    
-
-    return rx_intermediate
-
-def move_to_home():
-    global rob
-
-    # Home position in degrees
-    home_pos = [0.10421807948612624, 
-                -2.206111555015423, 
-                1.710679229503537, 
-                -1.075834511928354, 
-                -1.569301366430687, 
-                1.675098295930943]
-
-    # Move robot
-    rob.movej(home_pos, acc=2, vel=2)
-
-def normalize_degree(theta):
-    # Normalizes degree theta from -1.5pi to 1.5pi
-    multiplier = 1
-    normalized_theta = theta % (math.pi * multiplier)
-    
-    # Maintain the negative sign if the original angle is negative
-    if theta < 0:
-        normalized_theta -= math.pi * multiplier
-
-    # Return angle
-    return normalized_theta
-
-def get_joints_from_xyz_rel(x, y, z, initial_guess = (math.pi/2, math.pi/2, 0), limbs=(.422864, .359041, .092124)):
-    # Get polar coordinates of x,y pair
-    r, theta = cartesian_to_polar(x, y)
-    
-    # Get length of each limb
-    l1, l2, l3 = limbs
-    
-    # Formulas to find out joint positions for (r, z)
-    def inv_kin_r_z(p):
-        a, b, c = p
-
-        return (l1*math.cos(a) + l2*math.cos(a-b) + l3*math.cos(a-b-c) - r, # r
-                l1*math.sin(a) + l2*math.sin(a-b) - l3*math.sin(a-b-c) - z,  # z
-                a-b-c) # wrist angle
-
-
-    # Normalize angles
-    base, shoulder, elbow, wrist = [normalize_degree(deg) for deg in [theta, *fsolve(inv_kin_r_z, initial_guess)]]
-
-    # Return result
-    return base, shoulder, elbow, wrist
-
-def get_joints_from_xyz_abs(x, y, z):
-    joints = get_joints_from_xyz_rel(x, y, z)
-
-    # Joint offsets
-    # Base, Shoulder, Elbow, Wrist
-    inverse = [1, -1, 1, 1]
-    offsets = [0, 0, 0, -math.pi/2]
-
-    # Return adjusted joint positions
-    return [o+j*i for j, o, i in zip(joints, offsets, inverse)]
 
 if __name__ == "__main__":
     
     #rob.movej((0, 0, 0, 0, 0, 0), 0.1, 0.2)
     #rob.movel((x, y, z, rx, ry, rz), a, v)
     init("192.168.1.145")
-    print("Current tool pose is: ",  rob.getl())
+    fprint("Current tool pose is: ",  rob.getl())
-    move_to_home()
+    #set_pos_rel_rot_abs(0, 0, -0.2, math.pi, 0, -math.pi)
-
+    set_pos_abs(0.3, -0.2, 0.5, math.pi, 0, -math.pi)
-    home_pose = [-0.4999999077032916, 
+    set_pos_abs(0, 0.2, 0.6, math.pi, 0, -math.pi)
-               -0.2000072960336574, 
+    set_pos_abs(-0.5, -0.2, 0.4, math.pi, 0, -math.pi)
-               0.40002172976662786, 
+    #set_pos_rel_rot_abs(0, 0, 0, math.pi, 0, -math.pi)
-               0, 
+    fprint("Current tool pose is: ",  rob.getl())
-               -3.14152741295329, 
-               0]
-
-    # time.sleep(.5)
-
-    p1 = [0,
-
-        0.6,
-        .4,
-        0.2226,
-        3.1126,
-        0.0510]
-    
-    p2 = [0.171,
-        -0.115,
-        0.2,
-        0.2226,
-        3.1126,
-        0.0510]
-
-    curr_pos = rob.getl()
-    # up/down, 
-    # tool rotation
-    # tool angle (shouldn't need)
-    # rob.set_pos(p1[0:3], acc=0.5, vel=0.5)
-
-    # set_pos_abs(*home_pose)
-
-
-    angles = get_joints_from_xyz_abs(0.3, 0.3, 0.3)
-    rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
-    
-    angles = get_joints_from_xyz_abs(-0.3, -0.3, 0.7)
-    rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
-    
-    angles = get_joints_from_xyz_abs(-0.3, 0.4, 0.2)
-    rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
-
-
-    # set_pos_abs(*p1)
-    # move = move_to_polar(p1, p2)
-
-
-    # for p in move:
-    #     print(math.degrees(p))
-    # print("Safe? :", is_safe_move(p1, p2))
-
-
-    # #set_pos_rel_rot_abs(0, 0, -0.2, math.pi, 0, -math.pi)
-    # set_pos_abs(0.3, -0.2, 0.5, math.pi, 0, -math.pi)
-    # set_pos_abs(0, 0.2, 0.6, math.pi, 0, -math.pi)
-    # set_pos_abs(-0.5, -0.2, 0.4, math.pi, 0, -math.pi)
-    # #set_pos_rel_rot_abs(0, 0, 0, math.pi, 0, -math.pi)
-
-    # print("Current tool pose is: ",  rob.getl())
-    # print("getj(): ",  rob.getj())
-
-    # move_to_home()
-
     rob.stop()
     os.kill(os.getpid(), 9) # dirty kill of self
     sys.exit(0)

venv-setup.sh

@@ -1,7 +1,6 @@
 #!/bin/sh
-# change this to #!/bin/bash for windows
 
-python3 -m venv ./venv
+python -m venv ./venv
 source ./venv/bin/activate
 
 pip install --upgrade pip

websocket_test.html

@@ -1,61 +1,15 @@
 <!DOCTYPE html>
 <html>
-
 <head>
     <title>WebSocket Test</title>
-
-    <style>
-        footer {
-            background-color: #333;
-            color: #fff;
-            text-align: center;
-            padding: 10px 0;
-            position: fixed;
-            bottom: 0;
-            width: 100%;
-            display: flex;
-            justify-content: space-around;
-        }
-
-        .service-box {
-            width: 150px;
-            padding: 10px;
-            border-radius: 5px;
-        }
-
-        .service-up {
-            background-color: green;
-        }
-
-        .service-down {
-            background-color: red;
-        }
-    </style>
-
-
     <script>
-
+        document.addEventListener("DOMContentLoaded", function() {
-        // class Service {
-        //     constructor(name, status) {
-        //         this.name = name
-        //         this.status = status
-        //     }
-        // }
-
-        var updatedTime = new Date();
-        // Initial status of services
-        // var serviceA = new Service("234234", 'down');
-        // var serviceBStatus = 'down';
-        // var serviceCStatus = 'down';
-
-        document.addEventListener("DOMContentLoaded", function () {
             // Create WebSocket connection.
             const socket = new WebSocket('ws://localhost:9000');
 
             // Connection opened
             socket.addEventListener('open', function (event) {
                 console.log("Connected to WebSocket server");
-                updatedTime = new Date();
             });
 
             // Listen for messages
@@ -65,7 +19,6 @@
                 let message = document.createElement('li');
                 message.textContent = "Received: " + event.data;
                 messages.appendChild(message);
-                updatedTime = new Date();
             });
 
             // Send a message to the server
@@ -75,82 +28,15 @@
                 console.log('Message sent', message);
             }
 
-            // This function just sends a ping to make sure the server is there and it is able to responds
-            function ping() {
-                let message = `{ "call": "send", "type": "log", "data": "This is a ping!!" }`;
-                socket.send(message);
-                console.log('Message sent', message);
-            }
-            setInterval(ping, 1500);
-
-            // setInterval(() => {
-            //     updateServiceStatus('serviceA', 'down');
-            // }, 2000);
-
-
             // Bind send message function to button click
             document.getElementById('sendMessage').addEventListener('click', sendMessage);
         });
     </script>
 </head>
-
 <body>
     <h2>WebSocket Test</h2>
-    <textarea rows="4" cols="50" id="messageInput" placeholder="Type a message..."> </textarea>
+    <input type="text" id="messageInput" placeholder="Type a message...">
     <button id="sendMessage">Send Message</button>
-    <p>Example JSON</p>
-    <p>{ "type": "cable_map", "call": "request", "data": { } }</p>
-    <p>{ "type": "log", "call": "send", "data": "123123" }</p>
-
-    <p>Messages/Logs</p>
     <ul id="messages"></ul>
-
-    <footer>
-        <!-- <div id="serviceA" class="service-box"></div>
-        <div id="serviceB" class="service-box"></div>
-        <div id="serviceC" class="service-box"></div> -->
-        <div id="clock"></div>
-
-    </footer>
-
-    <script>
-        // // Function to update service status
-        // function updateServiceStatus(service) {
-        //     // serviceId, status
-        //     var serviceElement = document.getElementById(service.serviceId);
-        //     // updateClock();
-
-        //     if (service.status === 'up') {
-        //         serviceElement.innerHTML = '<h3>' + service.serviceId + '</h3><p>Running</p>';
-        //         serviceElement.classList.remove('service-down');
-        //         serviceElement.classList.add('service-up');
-        //     } else {
-        //         serviceElement.innerHTML = '<h3>' + service.serviceId + '</h3><p>Down</p>';
-        //         serviceElement.classList.remove('service-up');
-        //         serviceElement.classList.add('service-down');
-        //     }
-        // }
-
-
-
-        // // Update service statuses
-        // updateServiceStatus('node.js (for this page)', serviceAStatus);
-        // updateServiceStatus('Python WebSocket', serviceBStatus);
-        // updateServiceStatus('serviceC', serviceCStatus);
-
-        // Function to update clock
-        function updateClock() {
-            var now = new Date();
-            now = now.getTime() - updatedTime.getTime();
-            // console.log(now)
-            document.getElementById('clock').textContent = 'Milliseconds Since Update: ' + now.toString().padStart(6, '0');
-        }
-
-        // Update clock every second
-        setInterval(updateClock, 100);
-
-    </script>
-
 </body>
-
+</html>
-</html>