Restart VM to clear network leftovers

remove pick count file
Update web
2024-08-20 09:18:04 -05:00 · 2024-08-20 09:04:56 -05:00 · 2024-08-20 09:04:56 -05:00 · 2024-08-20 09:04:56 -05:00 · 2024-08-20 10:05:57 -05:00 · 2024-08-16 12:12:39 -05:00
36 changed files with 4525 additions and 556 deletions
--- a/.gitignore
+++ b/.gitignore
@ -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
--- a/.gitmodules
+++ b/.gitmodules
@ -0,0 +1,3 @@
+[submodule "jukebox-web"]
+	path = jukebox-web
+	url = https://git.myitr.org/Jukebox/jukebox-web
--- a/6
+++ b/6
@ -3,11 +3,11 @@ FROM python:3.11-slim
 # Get runtime dependencies
 # glx for OpenCV, ghostscript for datasheet PDF rendering, zbar for barcode scanning, git for cloning repos
 RUN apt-get update && apt-get install -y libgl1-mesa-glx ghostscript libzbar0 git && apt-get clean && rm -rf /var/lib/apt/lists
-COPY *.py *.yml *.sh *.txt *.html static templates ./
+COPY requirements.txt ./
 #COPY config-server.yml config.yml
 RUN pip3 install -r requirements.txt
-
-CMD ["python3", "run.py"]
+COPY *.py *.yml *.sh *.txt *.html static templates ./
+CMD ["sh", "-c", "python3 run.py"]
 EXPOSE 5000
 EXPOSE 8000
 EXPOSE 9000
--- a/banner_ivu_export.py
+++ b/banner_ivu_export.py
@ -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}...')
                gravaLog(ip=self.ip,msg=f'Trying to connect...')
-                sleep(2)
+                #sleep(2)
                try:
                    self.trans = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
                    self.trans.connect((self.ip,self.PORT))
@ -55,7 +58,7 @@ class DriveImg():
                except:
                    self.onLine = False
                    self.trans.close()
-                    return resposta
+                    return "Error", None
            ret = self.trans.recv(64)
            try:
                valida = str(ret[0:15].decode('UTF-8'))
@ -63,15 +66,15 @@ class DriveImg():
                if valida.find("TC IMAGE")<0:
                    self.onLine = False
                    self.trans.close()
-                    sleep(2)
+                    #sleep(2)
                    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)
                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)}')
            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


--- a/cables.txt
+++ b/cables.txt
@ -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
--- a/client.bat
+++ b/client.bat
@ -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
+:--------------------------------------
+
--- a/compose-search-only.yml
+++ b/compose-search-only.yml
@ -0,0 +1,13 @@
+services:
+  meilisearch:
+    image: "getmeili/meilisearch:v1.6.2"
+    ports:
+      - "7700:7700"
+    environment:
+      MEILI_MASTER_KEY: fluffybunnyrabbit
+      MEILI_NO_ANALYTICS: true
+    volumes:
+      - "meili_data:/meili_data"
+  
+volumes:
+  meili_data:
--- a/compose.yml
+++ b/compose.yml
@ -8,6 +8,23 @@ services:
      MEILI_NO_ANALYTICS: true
    volumes:
      - "meili_data:/meili_data"
+  
+  jukebox-software:
+    build: .
+    init: true
+    ports:
+      - "5000:5000"
+      - "8000:8000"
+      - "9000:9000"
+    environment:
+      - PYTHONUNBUFFERED=1
+    depends_on:
+      - meilisearch
+  
+  jukebox-web:
+    build: jukebox-web
+    ports:
+      - "3000:3000"

 volumes:
  meili_data:
--- a/config.yml
+++ b/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
@ -11,73 +16,89 @@ arm:
    offset_y: 0
    offset_z: 0.14
  limbs:
-    limb_base: 0.105
+    limb_base: 0.11
    limb1: 0.425
    limb2: 0.39225
    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
-  timeout: 0
+  fps: 100
+  timeout: 1
  controllers:
-    - universe: 9
-      ip: 192.168.68.131
+    - universe: 1
+      ip: 192.168.1.200
      ledstart: 0
      ledend: 143
      mode: rgb
-    - universe: 3
-      ip: 192.168.68.131
+    - universe: 2
+      ip: 192.168.1.201
      ledstart: 144
      ledend: 287
      mode: rgb
-    - universe: 2
-      ip: 192.168.68.131
+    - universe: 3
+      ip: 192.168.1.202
      ledstart: 288
      ledend: 431
      mode: rgb
    - universe: 4
-      ip: 192.168.5.40
+      ip: 192.168.1.203
      ledstart: 432
      ledend: 575
      mode: rgb
-    - universe: 1
-      ip: 192.168.5.4
+    - universe: 5
+      ip: 192.168.1.204
      ledstart: 576
      ledend: 719
      mode: rgb
-    - universe: 5
-      ip: 192.168.68.131
+    - universe: 6
+      ip: 192.168.1.205
      ledstart: 720
      ledend: 863
      mode: rgb
-    - universe: 6
-      ip: 192.168.68.131
+    - universe: 7
+      ip: 192.168.1.206
      ledstart: 864
      ledend: 1007
      mode: rgb
-    - universe: 7
-      ip: 192.168.68.131
+    - universe: 8
+      ip: 192.168.1.207
      ledstart: 1008
      ledend: 1151
      mode: rgb
-    - universe: 8
-      ip: 192.168.68.131
+    - universe: 9
+      ip: 192.168.1.208
      ledstart: 1152
      ledend: 1295
      mode: rgb
-    - universe: 0
-      ip: 192.168.68.130
-      ledstart: 1296
-      ledend: 1365
-      mode: rgbw
+    - universe: 10
+      ip: 192.168.1.209
+      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
@ -543,4 +564,4 @@ position_map:
  - index: 52
    pos: [76.2, -263.965]
  - index: 53
-    pos: [152.4, -263.965]
+    pos: [152.4, -263.965]
--- a/fileserver.py
+++ b/fileserver.py
@ -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()
--- a/get_specs.py
+++ b/get_specs.py
@ -30,24 +30,24 @@ 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()))
-        with requests.get(token_url) as r:
-            out = json.loads(r.content)
-        token = out["token"]
-        search_url = "https://www.belden.com/coveo/rest/search"
-
-        # Ridiculous search parameters extracted from website. Do not touch
-        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\":[]}]" }"""
-        search_data = search_data.replace(r"{QUERY}", 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(json.loads(search_data))
-        #search_data = '{ "q": "' + str(partnum) + '" }'
-        #fprint(search_data)
-        headers = headers = {
-            'Authorization': f'Bearer {token}',
-            'Content-Type': 'application/json'
-        }
        try:
+            with requests.get(token_url) as r:
+                out = json.loads(r.content)
+            token = out["token"]
+            search_url = "https://www.belden.com/coveo/rest/search"
+
+            # Ridiculous search parameters extracted from website. Do not touch
+            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\":[]}]" }"""
+            search_data = search_data.replace(r"{QUERY}", 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(json.loads(search_data))
+            #search_data = '{ "q": "' + str(partnum) + '" }'
+            #fprint(search_data)
+            headers = headers = {
+                'Authorization': f'Bearer {token}',
+                'Content-Type': 'application/json'
+            }
            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("_","/")
@ -300,53 +307,80 @@ 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]
-                        touch(output_dir + "/found_part_hires")
+                            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
    
        for fullpartnum in partnums:
+            if fullpartnum is False:
+                actualpartnums.append(False)
+                continue
            if fullpartnum[0:2] == "BL": # catalog.belden.com entry
                partnum = fullpartnum[2:]
                dstype = "Belden"
@ -377,7 +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:")
--- a/1
+++ b/1
--- a/label_document.py
+++ b/label_document.py
@ -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")
--- a/label_generator.py
+++ b/label_generator.py
@ -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
--- a/label_image.py
+++ b/label_image.py
@ -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

--- a/label_template.pdf
+++ b/label_template.pdf
--- a/led_control.py
+++ b/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()
@ -67,7 +72,9 @@ 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"])))
        #print(rings)
        #fprint(config["led"]["map"])
@ -94,13 +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"]
@ -156,13 +163,17 @@ 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)):
-                    self.controllers.append(None)
+            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"])
-            for x in range(ctrl["ledstart"],ctrl["ledend"]+1):
-                self.leds_size[x] = len(ctrl["mode"])
+                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)

        if(self.debug):
@ -186,20 +197,41 @@ class LEDSystem():
        self.map()
        self.sender = sacn.sACNsender(fps=self.config["led"]["fps"], universeDiscovery=False)
        self.sender.start()  # start the sending thread
-        """for x in range(len(self.controllers)):
-            print("Waiting for the controller at", self.controllers[x][2], "to be online...", end="")
+        for x in range(len(self.controllers)):
+            print("Waiting for the controller at", self.controllers[x][2], "to be online...", end="", flush=True)
            count = 0
-            while not ping(self.controllers[x][2]):
+            while not self.ping(self.controllers[x][2]):
                count = count + 1
                if count >= self.config["led"]["timeout"]:
-                    fprint(" ERROR: controller still offline after " + str(count) + " seconds, continuing...")
+                    print(" ERROR: controller still offline after " + str(count) + " seconds, continuing...")
                    break
-            if count < self.config["led"]["timeout"]:
-                fprint(" done")"""
+            else:
+                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
@ -208,7 +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))
@ -217,13 +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
@ -232,6 +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
@ -241,8 +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

@ -298,15 +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)
@ -314,18 +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
-                firstrun = False
+                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")
@ -340,7 +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:
@ -368,10 +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
@ -380,10 +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

@ -435,7 +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)
@ -517,21 +673,30 @@ class LEDSystem():
        else:
            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, 
-                            y * minsize)
-                            for x, y in self.leds_normalized]
+        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)
@ -543,11 +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:
@ -558,16 +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
@ -609,7 +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
@ -629,22 +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')
-    while cap.isOpened():
-        ret, frame = cap.read()
-        if not ret:
-        break
-    mapimage(frame, fps=30)"""
+    ledsys = LEDSystem()
+    ledsys.init()
+    while True:
+        cap = cv2.VideoCapture('output.mp4')
+        while cap.isOpened():
+            ret, frame = cap.read()
+            if not ret:
+                break
+            ledsys.mapimage(frame, fps=60)
+
    show = False
    ring = 1
-    ledsys = LEDSystem()
+    
    ledsys.startup_animation(show)
    for x in range(54):
        ledsys.ringstatus[x][0] = True
--- a/led_demo.bat
+++ b/led_demo.bat
@ -0,0 +1 @@
+python led_control.py
--- a/map.png
+++ b/map.png
--- a/process_video.py
+++ b/process_video.py
@ -4,30 +4,55 @@ 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
-        return False
+        try:
+            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
    def __init__(self, ip, port):
@ -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)
--- a/read_datasheet.py
+++ b/read_datasheet.py
@ -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)
@ -133,6 +188,27 @@ def parse(filename, output_dir, partnum, dstype):
                with open(output_dir + "/brand.png", "wb") as fp:
                    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()
@ -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"] = 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"))
--- a/requirements.txt
+++ b/requirements.txt
@ -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
@ -16,12 +17,14 @@ numpy
 scipy
 ipywidgets
 pandas
-pyarrow
+#pyarrow
 ghostscript
 pyzbar
 segno
+pyModbusTCP
+paho-mqtt

 # Development
 matplotlib
 #cx_Freeze # uncomment if building label generator app
-# requires windows 10 SDK, visual C++, etc
+# requires windows 10 SDK, visual C++, etc
--- a/run.py
+++ b/run.py
--- a/run.sh
+++ b/run.sh
@ -0,0 +1,5 @@
+#!/bin/sh
+
+pkill -9 python # kill any old processes
+cd /root/jukebox-software
+python run.py
--- a/search.py
+++ b/search.py
@ -6,7 +6,7 @@ from meilisearch.task import TaskInfo
 from meilisearch.errors import MeilisearchApiError
 import time

-DEFAULT_URL = "http://localhost:7700"
+DEFAULT_URL = "http://127.0.0.1:7700"
 DEFAULT_APIKEY = "fluffybunnyrabbit" # I WOULD RECOMMEND SOMETHING MORE SECURE
 DEFAULT_INDEX = "cables"
 DEFAULT_FILTERABLE_ATTRS = ["partnum", "uuid", "position"] # default filterable attributes
@ -70,11 +70,10 @@ class JukeboxSearch:
        
        :param filterables: List of all filterable attributes"""

-        existing_filterables = self.idxref.get_filterable_attributes()
-        if len(set(existing_filterables).difference(set(filterables))) > 0:
-            taskref = self.idxref.update_filterable_attributes(filterables)
-
-            self.client.wait_for_task(taskref.index_uid)
+        #existing_filterables = self.idxref.get_filterable_attributes()
+        #if len(set(existing_filterables).difference(set(filterables))) > 0:
+        taskref = self.idxref.update_filterable_attributes(filterables)
+        #self.client.wait_for_task(taskref.index_uid)

    def search(self, query: str, filters: str = None):
        """Execute a search query on the Meilisearch index.
@ -95,7 +94,7 @@ class JukeboxSearch:
        :returns: A dict containing the results; If no results found, an empty dict."""
        q = self.search("", filter)
        if q["estimatedTotalHits"] != 0:
-            return ["hits"][0]
+            return q["hits"][0]
        else:
            return dict()

--- a/server.py
+++ b/server.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))
--- a/setup-alpine-vm.sh
+++ b/setup-alpine-vm.sh
@ -0,0 +1,20 @@
+#!/bin/sh
+
+# This script must run as root!
+
+echo "https://dl-cdn.alpinelinux.org/alpine/latest-stable/main
+https://dl-cdn.alpinelinux.org/alpine/latest-stable/community" > /etc/apk/repositories
+
+apk upgrade
+apk add git docker docker-cli-compose
+
+rc-update add docker
+service docker start
+
+git clone https://git.myitr.org/Jukebox/jukebox-software
+cd jukebox-software
+git submodule init
+git submodule update
+
+docker compose build
+docker compose up -d
--- a/table0.html
+++ b/table0.html
@ -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>
--- a/table1.html
+++ b/table1.html
@ -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>
--- a/table2.html
+++ b/table2.html
@ -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>
--- a/table3.html
+++ b/table3.html
@ -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 &amp; 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>
--- a/table4.html
+++ b/table4.html
@ -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>
--- a/test.py
+++ b/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:
--- a/ur5_control.py
+++ b/ur5_control.py
@ -5,13 +5,14 @@ import math
 import numpy as np
 import time
 import os
-import logging
+#import logging
 import yaml
-from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper
 import sys
 from util import fprint
-
-
+from pyModbusTCP.client import ModbusClient
+from multiprocessing import Queue
+import subprocess
+from util import win32



@ -19,6 +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"]
@ -31,39 +33,86 @@ class Rob():
        self.limb2 = limbs["limb2"]
        self.limb3 = limbs["limb3"]
        self.limb_wrist = limbs["limb_wrist"]
+        
        #self.init_arm()

-    def init_arm(self):
-        #sys.stdout = Logger()
-        fprint("Starting UR5 power up...")
+def ping(host):
+        #Returns True if host (str) responds to a ping request.

-        # power up robot here
+        # Option for the number of packets as a function of
+        if win32:
+            param1 = '-n'
+            param2 = '-w'
+            param3 = '250'
+        else:
+            param1 = '-c'
+            param2 = '-W'
+            param3 = '0.25'

-        # wait for power up (this function runs async)
+        # Building the command. Ex: "ping -c 1 google.com"
+        command = ['ping', param1, '1', param2, param3, host]

+        return subprocess.call(command, stdout=subprocess.DEVNULL, stderr=subprocess.STDOUT) == 0

-        # trigger auto-initialize
+def powerup_arm(robot):
+    #sys.stdout = Logger()
+    fprint("Starting UR5 power up...")
+    # power up robot here via PCB

-        # wait for auto-initialize
-        ip = self.ip
-        # init urx
+    #
+    # wait for power up (this function runs async)
+    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
+def connect(robot):
+    if robot.robot is None:
+        newrobot = Rob(robot.config)
+        robot = newrobot
+        ip = robot.ip
        fprint("Connecting to arm at " + ip)
        trying = True
-        while trying:
+        count = 0
+        while trying and count < 10:
+            count += 1
            try:
-                self.robot = urx.Robot(ip)
+                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(1)
-
+                time.sleep(0.5)
        # Sets robot arm endpoint offset (x,y,z,rx,ry,rz)
-        self.robot.set_tcp((self.offset_x, self.offset_y, self.offset_z, 0, 0, 0))
+        
+    return robot

-        # Set weight
-        self.robot.set_payload(2, (0, 0, 0.1))
-        #rob.set_payload(2, (0, 0, 0.1))
-        time.sleep(0.2)
-        fprint("UR5 ready.")
+def init_arm(robot):
+    robot = connect(robot)
+    # init urx
+    
+    #rob.set_payload(2, (0, 0, 0.1))
+    time.sleep(0.2)
+    fprint("UR5 ready.")
+    #return robot.robot
+
+    # setup - in case of fail. open gripper, move up, then go home.
+    rob = robot.robot
+    open_gripper()
+    curr_pos = rob.getl()
+    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

 def set_pos_abs(robot, x, y, z, xb, yb, zb, threshold=None):
    rob = robot.robot
@ -146,7 +195,6 @@ def polar_to_cartesian(r, theta):
    y = r * np.sin(theta)
    return x, y

-
 def move_to_polar(robot, start_pos, end_pos):
    rob = robot.robot

@ -205,19 +253,35 @@ def move_to_polar(robot, start_pos, end_pos):

    return rx_intermediate

-def move_to_home(robot):
+
+def move_to_home(robot, keep_flip=False, speed=2):
    rob = robot.robot

-    # Home position in degrees
-    home_pos = [0.10421807948612624, 
-                -2.206111555015423, 
-                1.710679229503537, 
-                -1.075834511928354, 
-                -1.569301366430687, 
-                1.675098295930943]
+    if is_flipped(robot) and not keep_flip:
+        flip(robot)

+    # Move robot to home 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
+    goto_holder_index(robot, 12, 0.3, flip=False, use_closest_path=False)
+
+    # Home position in degrees
+    store_pos = [-1.5708, 
+                -1.3, 
+                2.362, 
+                0.7056, 
+                -1.425, 
+                1.5708]
    # Move robot
-    rob.movej(home_pos, acc=2, vel=2)
+    rob.movej(store_pos, acc=0.1, vel=speed)
+    return True

 def normalize_degree(theta):
    # Normalizes degree theta from -1.5pi to 1.5pi
@ -346,7 +410,7 @@ def move_arc(robot, x, y, z, rx=0, ry=-math.pi/2, rz=math.pi/2):

    rob.movejs(joints, acc=2, vel=2, radius=0.1)

-def offset_gripper_angle(robot, x, y, z, gripperangle=30, gripperlength=0.20+0.018, flip=False, use_closest_path=True):
+def offset_gripper_angle(robot, x, y, z, gripperangle=30, gripperlength=0.20+0.018, flip=False, use_closest_path=True, rzoffset=0):
    # gripper angle: from vertical
    # gripper length: from joint to start of grip
    # to flip, you can use flip=True or make gripper angle negative
@ -365,7 +429,7 @@ def offset_gripper_angle(robot, x, y, z, gripperangle=30, gripperlength=0.20+0.0
        gripperx -= (1-math.cos(gripperangle)) * limb3
        rz = math.pi / 2
        # flip the whole wrist
-        return get_joints_from_xyz_abs(robot, x, y, z-grippery, rx=gripperangle + math.radians(180), l3offset=-gripperx, ry=math.pi/2, rz=rz, use_closest_path=use_closest_path)
+        return get_joints_from_xyz_abs(robot, x, y, z-grippery, rx=gripperangle + math.radians(180), l3offset=-gripperx, ry=-3*math.pi/2, rz=rz + rzoffset, use_closest_path=use_closest_path)

    else:
        gripperangle = math.radians(gripperangle)
@ -376,23 +440,24 @@ def offset_gripper_angle(robot, x, y, z, gripperangle=30, gripperlength=0.20+0.0

        return get_joints_from_xyz_abs(robot, x, y, z-grippery, rx=gripperangle, l3offset=-gripperx, rz=rz, use_closest_path=use_closest_path)
    
-def goto_holder_index(robot, idx, z=0.05, gripperangle=30, flip=False, verbose=False):
+def goto_holder_index(robot, idx, z=0.05, gripperangle=30, flip=False, use_closest_path=True, verbose=False):
    joint = robot.config["position_map"][idx]
    
    if verbose:
        print("Going to cable holder index", joint["index"], "at position", joint["pos"])   
    
-    safe_move(robot, joint["pos"][1]/1000, joint["pos"][0]/1000, z)
+    safe_move(robot, joint["pos"][0]/1000, joint["pos"][1]/1000, z, use_closest_path=use_closest_path)
    #angles = offset_gripper_angle(joint["pos"][1]/1000, joint["pos"][0]/1000, z, gripperangle=gripperangle, flip=flip)
    #rob.movej(angles, acc=2, vel=2)
    #return angles
    #angles = get_joints_from_xyz_abs(joint["pos"][1]/1000, joint["pos"][0]/1000, 0.05, )
+    return True

 def is_flipped(robot):
    rob = robot.robot
-    wrist2 = rob.getj()[4]
-
-    if wrist2>0:
+    wrist1 = rob.getj()[3]
+    
+    if wrist1 > 0:
        return True
    else:
        return False
@ -403,6 +468,7 @@ def flip(robot):
    # A list of safe positions to flip
    safe_positions = [(-0.18, -0.108, 0.35),
                      (0.18, -0.108, 0.35)]
+    

    # Find the closest safe position
    curr_pos = rob.getl()[:3]
@ -417,8 +483,10 @@ def flip(robot):
    # Flip at safe position
    rob.movej(offset_gripper_angle(robot, *safe_pos, flip=is_flipped(robot)), vel=2, acc=2) # Move to safe position
    rob.movej(offset_gripper_angle(robot, *safe_pos, flip=(not is_flipped(robot))), vel=2, acc=2) # Flip gripper
+    # print('flip?: ', is_flipped(robot))
+    return True

-def safe_move(robot, x, y, z):
+def safe_move(robot, x, y, z, use_closest_path=True):
    rob = robot.robot
    flip_radius = 0.22 # Min radius on which to flip
    r = math.sqrt(x**2 + y**2) # Get position radius
@ -427,133 +495,337 @@ def safe_move(robot, x, y, z):
    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)), vel=2, acc=2)
+    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 pick_up_routine(robot, holder_index, verbose=False):
+def holder_routine(robot, pos_updates, holder_index, pick_up, verbose=False):
+    robot = connect(robot)
    rob = robot.robot
    
-    if verbose:
-        print('Pickup routine for index', holder_index)
+    # Don't attempt to place a tube in the camera slot
+    if holder_index == 49:
+        return

-    goto_holder_index(robot, holder_index, 0.2)
+    if verbose:
+        fprint('Pickup routine for index' + str(holder_index))
+
+    # Go to the correct holder
+    if pick_up:
+        goto_holder_index(robot, holder_index, 0.05, use_closest_path=False)
+    else:
+        goto_holder_index(robot, holder_index, 0.2, use_closest_path=False)
+    
+    if pick_up:
+        open_gripper()
+
+    # Move down
    curr_pos = rob.getl()
    new_pos = curr_pos
-    new_pos[2] = 0
-    rob.movel(new_pos, vel=0.3, acc=1)
-    # goto_holder_index(robot, holder_index, 0.0)
-
-    # Close Gripper code
-    time.sleep(0.5)
-
+    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()
+    else:
+        open_gripper()
+    
+    # Move up
    new_pos[2] = 0.2
-    rob.movel(new_pos, vel=0.3, acc=1)
+    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, 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)

-    # Tray position 1
-    rob.movej(offset_gripper_angle(robot, -0.15, -0.15, 0.3, flip=is_flipped(robot), use_closest_path=False), vel=2, acc=2)
-    rob.movej(get_joints_from_xyz_abs(robot, -0.35, -0.15, 0.0, math.pi/2, 0.1), vel=2, acc=2)
+def tray_routine(robot, slot=0, pick_up=True):
+    robot = connect(robot)
+    rob = robot.robot
+    
+    # Default to 0 if invalid value
+    if slot not in [0, 1, 2, 3]:
+        slot = 0
+
+    slot_prepositions =  [(-9.93, -112.67, 144.02, -116.69, -54.13, -10.29),
+                         (-12.35, -124.95, 148.61, -107.27, -54.36, -13.26),
+                         (-16.45, -96.97, 137.85, 58.39, -305.08, 161.75),
+                         (-16.66, -97.28, 138.16, 58.54, -305.05, 161.50)] 
+
+    # Initial position depending on slot and robot orientation
+    if slot in [0, 1]:
+        if is_flipped(robot):
+            flip(robot)
+        else:
+            move_to_home(robot, keep_flip=True)
+    else:
+        goto_holder_index(robot, 25, z=0.3)
+
+    # Align robot to the slot
+    if slot in [2,3]:
+        angles = [(-2.77, -99.64, 131.02, 67.67, 70.04-360, 153.03),
+                  slot_prepositions[slot]]
+    else:
+        angles = [(-58, -114.45, 100.52, -45.24, -96.95, 120),
+                  (-39.98, -124.92, 132.28, -61.56, -55.60, -50.77),
+                  slot_prepositions[slot]]
+        
+    angles = [[x*math.pi/180 for x in move] for move in angles]
+    rob.movejs(angles,vel=2,acc=1) 
+
+   # Positions for each slot
+    slot_distance = .052
+    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
+    if pick_up:
+        close_gripper()
+    else:
+        open_gripper()
+
+
+    # Move back
+    tilt = 0.3
+    curr_pos = rob.getl()
+    new_pos = curr_pos
+    if slot==3:
+        new_pos[0] -= 0.05  #x
+    new_pos[1] += 0.15      #y
+    new_pos[2] = 0.09       #z
+    new_pos[3] += tilt
+    new_pos[4] += tilt
+    new_pos[5] += tilt
+    rob.movel(new_pos, vel=0.2, acc=1)
+    
+
+    # Go home to safe position
+    move_to_home(robot, speed=1, keep_flip=True)  
+def pick_up_tray(robot, slot=0):
+    tray_routine(robot, slot, True)
+def drop_off_tray(robot, slot=0):
+    tray_routine(robot, slot, False)
+
+
+def return_routine(robot, slot, holder_index=None, verbose=False):
+    # OLD UNUSED
+    robot = connect(robot)
+    rob = robot.robot
+
+    
+    open_gripper()
+    was_flipped = is_flipped(robot)
+    if slot is None:
+        rob.movej(offset_gripper_angle(robot, -0.15, -0.15, 0.3, flip=was_flipped, use_closest_path=False), vel=4, acc=3)
+        rob.movej(get_joints_from_xyz_abs(robot, -0.35, -0.15, 0.0, math.pi/2, 0.1), vel=4, acc=3)
+        close_gripper()
+    else:
+        xoffset = 0.051 * slot
+        rob.movej(offset_gripper_angle(robot, -0.15, -0.15, 0.3, flip=was_flipped, use_closest_path=False), vel=4, acc=3)
+        rob.movej(get_joints_from_xyz_abs(robot, -0.35+xoffset, -0.15, 0.0, math.pi/2, 0.1), vel=4, acc=3)
+        close_gripper()
+
+
+    if holder_index is not None:
+        goto_holder_index(robot, holder_index, 0.2, use_closest_path=False)
+        curr_pos = rob.getl()
+        new_pos = curr_pos
+        new_pos[2] = 0.015
+        rob.movel(new_pos, vel=0.1, acc=1)
+        open_gripper()
+        new_pos[2] = 0.1
+        rob.movel(new_pos, vel=2, acc=1)
+        return True
+    else:
+        # go to camera
+        rob.movej(offset_gripper_angle(robot, 0.35, -0.35, 0.3, flip=was_flipped, use_closest_path=False), vel=2, acc=2)
+        return True
+    
+
+def goto_camera(robot, pos_updates):
+    robot = connect(robot)
+    goto_holder_index(robot, 49, 0.2)
+
+def tray_to_camera(robot, pos_updates, slot):
+    pick_up_tray(robot, slot)
+    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, 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, 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, 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():
+    fprint("Opening gripper")
+    c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False)
+    
+    c.write_single_register(112, 0b0)
+    c.write_single_register(435, 0b10000000)
+
+    c.write_single_register(112, 0b0)
+    c.write_single_register(435, 0b10000000)
    time.sleep(0.5)
+    c.close()
+    
+    #c.close()

-    # Back to safe position
-    rob.movej(offset_gripper_angle(robot, -0.205, -0.108, 0.3, flip=True), vel=2, acc=2)
+def close_gripper():
+    fprint("Closing gripper")
+    c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False)
+    c.write_single_register(435, 0b00000000)
+    c.write_single_register(112, 0b1)

+    c.write_single_register(435, 0b00000000)
+    c.write_single_register(112, 0b1)
+    time.sleep(0.5)
+    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__":
    
-    #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")
    with open('config.yml', 'r') as fileread:
        #global config
        config = yaml.safe_load(fileread)
+    
+
+
    robot = Rob(config) # robot of type Rob is the custom class above
-    robot.init_arm()
+    #powerup_arm(robot)
+    robot = connect(robot)
+    init_arm(robot)
+    
    rob = robot.robot # rob is robot.robot is the urx robot class, what we've been using previously
-    
-    print("Current tool pose is: ",  rob.getl())
+
+
+    #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)

-    home_pose = [-0.4999999077032916, 
-               -0.2000072960336574, 
-               0.40002172976662786, 
-               0, 
-               -3.14152741295329, 
-               math.radians(62)]
+    # pick_up_tray(robot, 1)
+    # drop_off_holder(robot, 5)

-    # time.sleep(.5)
+    # pick_up_holder(robot, 26)
+    # drop_off_tray(robot, 3)

-    p1 = [0,

-        0.6,
-        .4,
-        0.2226,
-        3.1126,
-        0.0510]
-    
-    p2 = [0.171,
-        -0.115,
-        0.2,
-        0.2226,
-        3.1126,
-        0.0510]
+    # for i in range(0,54):
+    #     pick_up_holder(robot, None, i)

+    #     #print('Drop off', i+1)
+    #     drop_off_tray(robot, 0)
+    #     #input()
+
+    # # holder_to_camera(robot, 0)
+    # # camera_to_holder(robot, 0)
+
+    print("Current tool pose is: ",  rob.getl())
    curr_pos = rob.getl()
-
-    
    config = None
-    joints = []
-    for i in np.linspace(-0.2, -0.7, 10):
-         joints.append(get_joints_from_xyz_abs(robot, i, 0, 0))
-    # rob.movejs(joints, acc=2, vel=2, radius=0.1)
-
-    # rob.movej(offset_gripper_angle(robot, -0.15, -0.15, 0.3, gripperangle=90, flip=is_flipped(robot)), vel=2, acc=2)
-
-    # move_arc(0, 0.3, 0.1)
-    # move_arc(0, -0.3, 0.3)
-
-    for i in range(20, 25):
-        pick_up_routine(robot, i, verbose=True)
-    
-    
-
-    # goto_holder_index(robot, 7, 0.0)
-
-    # pick_up_routine(robot, 8)
-         
-         
-    # rob.movej(get_joints_from_xyz_abs(robot, -0.35, -0.15, 0.0, math.pi/2, 0.1), vel=2, acc=2)
-
-
-    #rob.movej(goto_holder_index(24, 0.2, 0), acc=2, vel=2).
-    #joints = []
-    
-        
-    # angle = 30
-    # goto_holder_index(robot, 26, 0.1, angle)
-    # time.sleep(1)
-    # goto_holder_index(robot, 25, 0.1, angle)
-    # time.sleep(1)
-    # goto_holder_index(robot, 24, 0.1, angle)
-        
-
-
-
-    #rob.movej(angles, acc=2, vel=2)
-    #time.sleep(10)
-    #rob.movejs(joints, acc=2, vel=2)
-    # joints = []
-    # for i in np.linspace(-0.3, -0.7, 50):
-    #     joints.append(get_joints_from_xyz_abs(i, 0, 0))
-    # rob.movejs(joints, acc=2, vel=2)
-
-    # time.sleep(5)
-
-
-
-    # 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
--- a/util.py
+++ b/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())
--- a/websocket_test.html
+++ b/websocket_test.html
@ -81,7 +81,7 @@
                socket.send(message);
                console.log('Message sent', message);
            }
-            setInterval(ping, 1500);
+            //setInterval(ping, 1500);

            // setInterval(() => {
            //     updateServiceStatus('serviceA', 'down');
@ -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>
Author	SHA1	Message	Date
Cole Deck	86971e0db4	Restart VM to clear network leftovers	2024-08-20 09:18:04 -05:00
Cole Deck	f04a2a4bd4	remove pick count file	2024-08-20 09:04:56 -05:00
Cole Deck	5b7afac517	Update web	2024-08-20 09:04:56 -05:00
Cole Deck	ad5eb5bbb3	Update runtime	2024-08-20 09:04:56 -05:00
Cole Deck	a822ea5184	Add QR codes for Web UI	2024-08-20 10:05:57 -05:00
Cole Deck	5a5202e6f5	Add mode query	2024-08-16 12:12:39 -05:00
Cole Deck	3fb78f8b5a	Fix simulation mode	2024-08-16 12:09:32 -05:00
Cole Deck	48e7c7b85f	Update sensor code	2024-08-08 10:51:05 -05:00
Cole Deck	ea5daf8689	Switch to unicode encoding	2024-08-06 17:41:45 -05:00
Cole Deck	05baceb388	Fix logic	2024-08-06 17:36:31 -05:00
Cole Deck	43694ca97d	Use alternate method	2024-08-06 17:33:22 -05:00
Cole Deck	3f731a4bd3	Use alternate method	2024-08-06 17:30:41 -05:00
Cole Deck	419498cae6	Include stderr	2024-08-06 17:26:12 -05:00
Cole Deck	c89fc86812	Fix stdout flush	2024-08-06 17:16:20 -05:00
Cole Deck	f8507a1bc9	Add more statistics, fix camera, windows client update	2024-08-06 17:01:27 -05:00
Cole Deck	534cc23c8d	Update MQTT commands, arm height	2024-07-31 18:25:10 -05:00
Cole Deck	b677556ece	Add counter, MQTT	2024-07-30 12:54:13 -05:00
Cole Deck	621a530530	Update web with shutdown procedure	2024-07-29 14:01:20 -05:00
Cole Deck	0ad656728d	Add shutdown routine	2024-07-29 13:50:58 -05:00
Cole Deck	4591dc6900	Add show mode	2024-07-29 13:38:14 -05:00
Cole Deck	1ac8712e0f	Update web, disable sensors in testing mode	2024-07-29 12:06:16 -05:00
Cole Deck	af91817a98	Match LED strip color	2024-07-25 10:43:04 -05:00
Cole Deck	24e0094d2a	Add system controller camera mode	2024-07-25 10:35:16 -05:00
Cole Deck	faf4cc1ba8	Led loop	2024-05-14 21:52:14 -05:00
Cole Deck	0d0ec75783	update web	2024-05-14 21:50:46 -05:00
Cole Deck	5c4d92a84c	Remove temp file	2024-05-14 21:50:11 -05:00
Cole Deck	02ab16a566	Add windows client mode updates	2024-05-14 21:51:36 -05:00
Cole Deck	927f61e124	update loading app	2024-05-14 20:53:01 -05:00
Cole Deck	d69cce2e38	Add camera error message	2024-05-14 20:44:33 -05:00
Cole Deck	98fef5ad3d	increase camera timeout	2024-05-14 20:42:23 -05:00
Cole Deck	fa25b2c8b1	add CORS	2024-05-14 20:29:32 -05:00
Cole Deck	32260595a1	Open gripper before picking up	2024-05-14 20:21:09 -05:00
Cole Deck	aeeb4c232a	slow reset	2024-05-14 20:18:26 -05:00
Cole Deck	bbb2b3ff17	speed up	2024-05-14 20:10:47 -05:00
Cole Deck	b811351aba	remove old var	2024-05-14 20:08:45 -05:00
Cole Deck	38ee4f9b9a	update sensor system	2024-05-14 20:07:35 -05:00
Cole Deck	b56d176c82	test camera	2024-05-14 19:07:49 -05:00
Cole Deck	25085f542f	Try old method	2024-05-14 18:52:27 -05:00
Cole Deck	2562fea076	try this	2024-05-14 18:48:25 -05:00
Cole Deck	0ca9f01aa9	use boolean value	2024-05-14 18:44:54 -05:00
Cole Deck	8b37661a84	manual open in UR5 control	2024-05-14 18:43:43 -05:00
Cole Deck	6347cde9e2	Manually close modbus socket	2024-05-14 18:41:31 -05:00
Cole Deck	7885c0900d	add camera timeout	2024-05-14 18:32:09 -05:00
Cole Deck	c1f783bb2c	fix transition to idle after camera fail	2024-05-14 18:23:41 -05:00
Cole Deck	a2e7592ef7	adjust	2024-05-14 18:17:58 -05:00
Cole Deck	b0d61d7d00	Adjust slot position	2024-05-14 18:14:17 -05:00
Cole Deck	9687a6e492	Revert to base urx, reduce camera time	2024-05-14 17:52:53 -05:00
Cole Deck	0e6ca7490a	Lower frame count	2024-05-14 17:49:10 -05:00
Cole Deck	61954b23b9	Slow to 60hz	2024-05-14 17:44:52 -05:00
Cole Deck	3ede455d2c	Update web	2024-05-14 17:37:18 -05:00
Cole Deck	ba6c697f00	Add return from tray in web	2024-05-14 17:34:02 -05:00
Cole Deck	24d959da71	Update label generation, websocket listen mode	2024-05-14 17:33:47 -05:00
Cole Deck	33af359a86	Flip vertical move	2024-05-14 16:26:32 -05:00
Cole Deck	43f8c3b615	Other way	2024-05-14 16:24:01 -05:00
Cole Deck	a96f34baac	Readjust	2024-05-14 16:22:50 -05:00
Cole Deck	635c2708a0	Redo arm startup motion	2024-05-14 16:16:05 -05:00
Cole Deck	62ec1e7443	Add tray return API call	2024-05-14 16:01:10 -05:00
Cole Deck	951ae8cdda	Remove unnecessary deps that are pre-installed	2024-05-14 14:59:12 -05:00
Cole Deck	5e0f1e93d2	prerelease	2024-05-13 02:21:07 -05:00
Cole Deck	fab8324dea	Update web	2024-05-12 18:36:07 -05:00
Cole Deck	dbaf018c7b	Remove hover effects for touchscreens	2024-05-12 18:30:04 -05:00
Cole Deck	f47270a600	Update jukebox-web	2024-05-12 18:19:03 -05:00
Cole Deck	e4861e0590	Add datasheet URL to cable details	2024-05-12 18:14:39 -05:00
Cole Deck	c45c59aa62	Fix cable_search	2024-05-12 17:56:47 -05:00
Cole Deck	1e01141f41	Make cable_search match cable_map	2024-05-12 16:59:59 -05:00
Cole Deck	2296aea463	Add useful print statements	2024-05-10 12:58:17 -05:00
Cole Deck	341d2232d7	Don't delete old JSON files	2024-05-10 12:51:45 -05:00
Cole Deck	25dc18669b	Downgrade camelot for better parsing	2024-05-10 12:28:59 -05:00
Cole Deck	6c8d0bf666	Update web ui	2024-05-09 18:19:24 -05:00
Cole Deck	be51423c89	Add real-time UR5 position updates (hopefully)	2024-05-09 18:18:55 -05:00
Cole Deck	f416e25c1c	Update LED system	2024-05-08 20:28:48 -05:00
Cole Deck	dd7bc12fe5	Update jukebox-web	2024-05-08 16:52:28 -05:00
Cole Deck	f06540f568	Add category field, update datasheet extracted fields	2024-05-08 16:51:01 -05:00
Cole Deck	4a78586c34	Update jukebox-web	2024-05-08 16:44:46 -05:00
Cole Deck	21cb2beb67	Pull description from Belden API for more consistent values	2024-05-08 16:44:22 -05:00
Cole Deck	a905858e3b	Add more descriptions	2024-05-08 15:48:26 -05:00
Cole Deck	faf33aede7	add descriptions	2024-05-08 15:18:09 -05:00
Cole Deck	dc4cf5c222	Center images	2024-05-08 13:27:45 -05:00
Cole Deck	ee78037f17	Remove debug statement	2024-05-08 13:07:47 -05:00
Cole Deck	f1f2e3191b	Square up images	2024-05-08 13:04:43 -05:00
Cole Deck	1f69dbdb82	fix clean install bug	2024-05-08 12:34:07 -05:00
Cole Deck	36249058ac	Add brand and images, fileserver for images, start to add arm queue	2024-05-08 12:29:43 -05:00
Cole Deck	eca65dc0e0	fix typo	2024-04-29 17:49:56 -05:00
Cole Deck	fabd1fe10a	Simulation for sensors	2024-04-29 17:48:42 -05:00
Cole Deck	b4ad57d52d	Separate scanning bypass	2024-04-29 17:25:02 -05:00
Cole Deck	72ab357dbf	Improve simulation mode	2024-04-29 17:19:52 -05:00
Cole Deck	d0083ed33f	Simulation mode	2024-04-29 13:30:04 -05:00
Cole Deck	d92ceafa57	Fix non-matching positions	2024-04-29 12:42:11 -05:00
Cole Deck	62bcb07956	Update runtime LED modes	2024-04-29 12:33:55 -05:00
BlueOceanWave	c52fe167bf	Merge branch 'main' of https://git.myitr.org/Jukebox/jukebox-software	2024-04-26 17:49:14 -05:00
BlueOceanWave	f7b4f264c4	Fixed positions for holder 47 and 45 in config.yaml	2024-04-26 17:49:11 -05:00
Cole Deck	fb31ab0d73	Add LED animations to runtime	2024-04-24 14:42:47 -05:00
Cole Deck	302d275c64	Update config	2024-04-24 14:42:47 -05:00
Cole Deck	43392fa3ca	Freeze math3d version	2024-04-24 14:42:47 -05:00
Cole Deck	660fe29236	Update camera image parser	2024-04-24 14:42:47 -05:00
BlueOceanWave	275cbd027e	Added open gripper to init routine	2024-04-24 14:42:07 -05:00
BlueOceanWave	f4e43f33d2	Created functions for routines	2024-04-24 14:40:38 -05:00
BlueOceanWave	ae97ed1a14	Made pickup and dropoff routines for tray and holder. Adjusted home position	2024-04-23 18:56:11 -05:00
BlueOceanWave	237319db14	Fixed drop off routine to not hit walls	2024-04-22 21:56:07 -05:00
Cole Deck	a698c4a753	Add more routines	2024-04-18 20:33:55 -05:00
Cole Deck	939474378a	Add open and close gripper functions	2024-04-12 22:05:34 -05:00
Cole Deck	145f51d08c	Update IPs for LED system	2024-04-12 20:28:34 -05:00
BlueOceanWave	4973fc79be	Merge branch 'main' of https://git.myitr.org/Jukebox/jukebox-software	2024-04-12 20:28:33 -05:00
BlueOceanWave	ff2269193b	small dimensions fixes	2024-04-12 20:28:31 -05:00
Cole Deck	5edd7f4592	Remove extraneous `pass`	2024-03-27 20:41:07 -05:00
Cole Deck	4dd6f7649a	Implement cable_search	2024-03-27 20:40:20 -05:00
Cole Deck	dc1e568a96	Add basic cable_map implementation	2024-03-27 20:33:21 -05:00
Cole Deck	1ec6d92cfa	Deploy docker containers	2024-03-27 19:50:01 -05:00
Cole Deck	e21ded46f1	Update juekbox-web	2024-03-27 19:47:17 -05:00
Cole Deck	672507f498	Add jukebox web	2024-03-27 19:46:45 -05:00
Cole Deck	64bb50f055	Add setup-alpine-vm.sh	2024-03-28 00:44:57 +00:00
Cole Deck	5016b4e99f	Update compose.yml	2024-03-28 00:44:35 +00:00
Cole Deck	efbda23c38	Fix docker runtime support	2024-03-27 18:53:50 -05:00
Cole Deck	19ce328596	Correctly parse results from get_specs	2024-03-27 17:49:02 -05:00
Cole Deck	ad216f21fa	Implement cable_details call	2024-03-26 18:42:01 -05:00