Merge branch 'main' into dthomas_meilisearch

# Conflicts:
#	.gitignore
#	read_datasheet.py

.gitignore

@@ -1,3 +1,18 @@
+# python
 venv
 __pycache__
-cables
+# cable data folder(s)
+cables
+cables-sample.zip
+# meilisearch (mainly where I've put the data volume for the container)
+meili_data
+# IDE things
+.vscode
+.idea
+# videos
+*.webm
+output.mp4
+# log files
+output.log
+# images
+*.png

Dockerfile

@@ -0,0 +1,11 @@
+FROM python:latest
+
+RUN apt-get update && apt-get install -y libgl1-mesa-glx ghostscript && apt-get clean && rm -rf /var/lib/apt/lists
+COPY . .
+#COPY config-server.yml config.yml
+RUN pip3 install -r requirements.txt
+
+CMD ["python3", "run.py"]
+EXPOSE 5000
+EXPOSE 8000
+EXPOSE 9000

banner_ivu_export.py

@@ -0,0 +1,166 @@
+#!/usr/bin/env python3
+
+import socket
+from datetime import datetime
+from time import sleep
+from util import fprint
+
+"""
+
+from: https://github.com/MoisesBrito31/ve_data_log/blob/main/serverContagem/VE/drive.py
+(no license)
+
+(partially) adapted to English language & iVu camera instead of classic VE by Cole Deck
+
+"""
+
+def gravaLog(ip="1",tipo="Evento", msg="", file="log_imagem.txt"):
+    # removed full logging
+    fprint(msg)
+
+class DriveImg():
+    HEADERSIZE = 100
+    ip = "192.168.0.1"
+    port = 32200
+    onLine = False
+
+    def __init__(self, ip, port, pasta = "media/"):
+        self.pasta = pasta
+        self.ip=ip
+        self.port = port
+        self.trans = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
+        self.trans.settimeout(5)
+        fprint("Trying to connect...")
+        try:
+            self.trans.connect((self.ip,self.port))
+            self.onLine = True
+            fprint("Camera Online")
+            #self.trans.close()
+        except:
+            self.onLine = False 
+            fprint("Offline")
+
+    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)
+                try:
+                    self.trans = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
+                    self.trans.connect((self.ip,self.PORT))
+                    self.onLine = True
+                    gravaLog(ip=self.ip,msg=f'Connection established.')
+                except:
+                    self.onLine = False
+                    self.trans.close()
+                    return resposta
+            ret = self.trans.recv(64)
+            try:
+                valida = str(ret[0:15].decode('UTF-8'))
+                #print(valida)
+                if valida.find("TC IMAGE")<0:
+                    self.onLine = False
+                    self.trans.close()
+                    sleep(2)
+                    gravaLog(ip=self.ip,tipo="Falha",msg=f'Unable to find TC IMAGE bookmark')
+                    return "Error"
+            except Exception as ex:
+                self.onLine = False
+                self.trans.close()
+                sleep(2)
+                gravaLog(ip=self.ip,tipo="Falha",msg=f'Error - {str(ex)}')
+                return "Error"
+            if ret:
+                frame = int.from_bytes(ret[24:27],"little")
+                isJpeg = int.from_bytes(ret[32:33],"little")
+                img_size = int.from_bytes(ret[20:23],"little")
+                data = self.trans.recv(5000)
+                while img_size>len(data) and ret:
+                    ret = self.trans.recv(10000)
+                    if ret:
+                        data = data+ret
+                        #print(f'{len(ret)}b dados recebidos, total de: {len(data)+64}b')
+                    else:
+                        gravaLog(ip=self.ip,tipo="Falha",msg="Unable to recieve the image")
+                        self.onLine = False
+                        return "Unable to recieve the image"
+                hoje = datetime.now()
+                idcam = self.ip.split('.')
+                """try:
+                    nomeFile = f'{hoje.day}{hoje.month}{hoje.year}-{idcam[3]}-{frame}'
+                    if isJpeg==1:
+                        file = open(f'{self.pasta}{nomeFile}.jpg','wb')
+                        nomeFile = f'{nomeFile}.jpg'
+                    else:
+                        file = open(f'{self.pasta}{nomeFile}.bmp','wb')
+                        nomeFile = f'{nomeFile}.bmp'
+                    file.write(data)
+                    file.close()
+                except Exception as ex:
+                    sleep(2)
+                    gravaLog(ip=self.ip,tipo="Falha",msg=f'Error - {str(ex)}')
+                    return "Falha" 
+                    """
+                if isJpeg==1:
+                    return "jpeg",data
+                else:
+                    return "bmp",data
+                
+        except Exception as ex:
+            gravaLog(ip=self.ip,tipo="Falha Generica",msg=f'Error - {str(ex)}')
+            #print(f'erro {str(ex)}')
+            self.onLine = False
+            self.trans.close()
+            sleep(2)
+            return resposta
+
+class DriveData():
+    HEADERSIZE = 100
+    ip = "192.168.0.1"
+    port = 32100
+    onLine = False
+
+    def __init__(self, ip, port):
+        gravaLog(ip=self.ip,msg=f'iniciou drive',file="log_data.txt")
+        self.ip=ip
+        self.port = port
+        self.trans = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
+        try:
+            self.trans.connect((self.ip,self.port))
+            self.onLine = True
+        except:
+            self.onLine = False 
+
+    def read_data(self):
+        resposta = 'falha'
+        try:
+            if not self.onLine:
+                #print(f'tentando Conectar...\n')
+                gravaLog(ip=self.ip,msg=f'tentando Conectar...',file="log_data.txt")
+                sleep(2)
+                try:
+                    self.trans = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
+                    self.trans.connect((self.ip,self.PORT))
+                    self.onLine = True
+                    gravaLog(ip=self.ip,msg=f'Conexão restabelecida...',file="log_data.txt")
+                except:
+                    self.onLine = False
+                    return resposta
+            resposta = self.trans.recv(self.HEADERSIZE).decode("utf-8")
+            resposta = str(resposta).split(',')
+            return resposta
+        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)
+            return resposta
+
+
+if __name__ == "__main__":
+    test = DriveImg("192.168.1.125", 32200)
+    x = 0
+    while x < 100:
+        x=x+1
+        imgtype, img = test.read_img()

compose.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:

config.yml

@@ -0,0 +1,535 @@
+core:
+  mode: linuxserver
+  serverip: 172.26.178.114
+  clientip: 172.26.176.1
+  server: Hyper-Vd
+
+arm:
+  ip: 192.168.1.145
+
+#cable_map:
+cameras:
+  banner:
+    ip: 192.168.1.125
+    port: 32200
+
+led: 
+  fps: 90
+  timeout: 0
+  controllers:
+    - universe: 9
+      ip: 192.168.68.131
+      ledstart: 0
+      ledend: 143
+      mode: rgb
+    - universe: 3
+      ip: 192.168.68.131
+      ledstart: 144
+      ledend: 287
+      mode: rgb
+    - universe: 2
+      ip: 192.168.68.131
+      ledstart: 288
+      ledend: 431
+      mode: rgb
+    - universe: 4
+      ip: 192.168.5.40
+      ledstart: 432
+      ledend: 575
+      mode: rgb
+    - universe: 1
+      ip: 192.168.5.4
+      ledstart: 576
+      ledend: 719
+      mode: rgb
+    - universe: 5
+      ip: 192.168.68.131
+      ledstart: 720
+      ledend: 863
+      mode: rgb
+    - universe: 6
+      ip: 192.168.68.131
+      ledstart: 864
+      ledend: 1007
+      mode: rgb
+    - universe: 7
+      ip: 192.168.68.131
+      ledstart: 1008
+      ledend: 1151
+      mode: rgb
+    - universe: 8
+      ip: 192.168.68.131
+      ledstart: 1152
+      ledend: 1295
+      mode: rgb
+    - universe: 0
+      ip: 192.168.68.130
+      ledstart: 1296
+      ledend: 1365
+      mode: rgbw
+    
+
+  map:
+    # total for 54x rings: 1296 LEDs (0-1295), 24 ea
+    # controller 1
+    - type: circle
+      start: 0
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [0, 304.8]
+    - type: circle
+      start: 24
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-65.991, 266.7]
+    - type: circle
+      start: 48
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-131.982, 228.6]
+    - type: circle
+      start: 72
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-197.973, 190.5]
+    - type: circle
+      start: 96
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-263.965, 152.4]
+    - type: circle
+      start: 120
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-263.965, 76.2]
+
+    # controller 2
+    - type: circle
+      start: 144
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [0, 228.6]
+    - type: circle
+      start: 168
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-65.991, 190.5]
+    - type: circle
+      start: 192
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-131.982, 152.4]
+    - type: circle
+      start: 216
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-197.973, 114.3]
+    - type: circle
+      start: 240
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-197.973, 38.1]
+    - type: circle
+      start: 264
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-263.965, 0]
+
+    # controller 3
+    - type: circle
+      start: 288
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [0, 152.4]
+    - type: circle
+      start: 312
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-65.991, 114.3]
+    - type: circle
+      start: 336
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-131.982, 76.2]
+    - type: circle
+      start: 360
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-131.982, 0]
+    - type: circle
+      start: 384
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-197.973, -38.1]
+    - type: circle
+      start: 408
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-263.965, -76.2]
+
+    # controller 4
+    - type: circle
+      start: 432
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [131.982, 76.2]
+    - type: circle
+      start: 456
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [131.982, 152.4]
+    - type: circle
+      start: 480
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [131.982, 228.6]
+    - type: circle
+      start: 504
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [65.991, 266.7]
+    - type: circle
+      start: 528
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [65.991, 190.5]
+    - type: circle
+      start: 552
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [65.991, 114.3]
+    
+
+    # controller 5
+    - type: circle
+      start: 576
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [131.982, 0]
+    - type: circle
+      start: 600
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [197.973, 38.1]
+    - type: circle
+      start: 624
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [197.973, 114.3]
+    - type: circle
+      start: 648
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [197.973, 190.5]
+    - type: circle
+      start: 672
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [263.965, 152.4]
+    - type: circle
+      start: 696
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [263.965, 76.2]
+
+    # controller 6
+    - type: circle
+      start: 720
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [131.982, -76.2]
+    - type: circle
+      start: 744
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [197.973, -38.1]
+    - type: circle
+      start: 768
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [263.965, 0]
+    - type: circle
+      start: 792
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [263.965, -76.2]
+    - type: circle
+      start: 816
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [263.965, -152.4]
+    - type: circle
+      start: 840
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [197.973, -114.3]
+
+    # controller 7
+    - type: circle
+      start: 864
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [65.991, -114.3]
+    - type: circle
+      start: 888
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [0, -152.4]
+    - type: circle
+      start: 912
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-65.991, -114.3]
+    - type: circle
+      start: 936
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-131.982, -76.2]
+    - type: circle
+      start: 960
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-197.973, -114.3]
+    - type: circle
+      start: 984
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-131.982, -152.4]
+
+    # controller 8
+    - type: circle
+      start: 1008
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [0, -228.6]
+    - type: circle
+      start: 1032
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-65.991, -190.5]
+    - type: circle
+      start: 1056
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-65.991, -266.7]
+    - type: circle
+      start: 1080
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-131.982, -228.6]
+    - type: circle
+      start: 1104
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-197.973, -190.5]
+    - type: circle
+      start: 1128
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [-263.965, -152.4]
+
+    # controller 9
+    - type: circle
+      start: 1152
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [0, -304.8]
+    - type: circle
+      start: 1176
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [65.991, -266.7]
+    - type: circle
+      start: 1200
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [131.982, -228.6]
+    - type: circle
+      start: 1224
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [197.973, -190.5]
+    - type: circle
+      start: 1248
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [131.982, -152.4]
+    - type: circle
+      start: 1272
+      size: 24
+      diameter: 63.5
+      angle: 0
+      pos: [65.991, -190.5]
+
+    # Strips
+    - 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]
+  - index: 1
+    pos: [-76.2, 263.965]
+  - index: 2
+    pos: [0, 263.965]
+  - index: 3
+    pos: [76.2, 263.965]
+  - index: 4
+    pos: [152.4, 263.965]
+  - index: 5
+    pos: [-190.5, 197.973]
+  - index: 6
+    pos: [-114.3, 197.973]
+  - index: 7
+    pos: [-38.1, 197.973]
+  - index: 8
+    pos: [38.1, 197.973]
+  - index: 9
+    pos: [114.3, 197.973]
+  - index: 10
+    pos: [190.5, 197.973]
+  - index: 11
+    pos: [-228.6, 131.982]
+  - index: 12
+    pos: [-152.4, 131.982]
+  - index: 13
+    pos: [-76.2, 131.982]
+  - index: 14
+    pos: [0, 131.982]
+  - index: 15
+    pos: [76.2, 131.982]
+  - index: 16
+    pos: [152.4, 131.982]
+  - index: 17
+    pos: [228.6, 131.982]
+  - index: 18
+    pos: [-266.7, 65.991]
+  - index: 19
+    pos: [-190.5, 65.991]
+  - index: 20
+    pos: [-114.3, 65.991]
+  - index: 21
+    pos: [114.3, 65.991]
+  - index: 22
+    pos: [190.5, 65.991]
+  - index: 23
+    pos: [266.7, 65.991]
+  - index: 24
+    pos: [-304.8, 0]
+  - index: 25
+    pos: [-228.6, 0]
+  - index: 26
+    pos: [-152.4, 0]
+  - index: 27
+    pos: [152.4, 0]
+  - index: 28
+    pos: [228.6, 0]
+  - index: 29
+    pos: [304.8, 0]
+  - index: 30
+    pos: [-266.7, -65.991]
+  - index: 31
+    pos: [-190.5, -65.991]
+  - index: 32
+    pos: [-114.3, -65.991]
+  - index: 33
+    pos: [114.3, -65.991]
+  - index: 34
+    pos: [190.5, -65.991]
+  - index: 35
+    pos: [266.7, -65.991]
+  - index: 36
+    pos: [-228.6, -131.982]
+  - index: 37
+    pos: [-152.4, -131.982]
+  - index: 38
+    pos: [-76.2, -131.982]
+  - index: 39
+    pos: [0, -131.982]
+  - index: 40
+    pos: [76.2, -131.982]
+  - index: 41
+    pos: [152.4, -131.982]
+  - index: 42
+    pos: [228.6, -131.982]
+  - index: 43
+    pos: [-190.5, -197.973]
+  - index: 44
+    pos: [-114.3, -197.973]
+  - index: 45
+    pos: [-38.1, -197.973]
+  - index: 46
+    pos: [38.1, -197.973]
+  - index: 47
+    pos: [114.3, -197.973]
+  - index: 48
+    pos: [190.5, -197.973]
+  - index: 49
+    pos: [-152.4, -263.965]
+  - index: 50
+    pos: [-76.2, -263.965]
+  - index: 51
+    pos: [0, -263.965]
+  - index: 52
+    pos: [76.2, -263.965]
+  - index: 53
+    pos: [152.4, -263.965]

database.py

@@ -1,140 +0,0 @@
-"""This module contains functionality for interacting with a PostgreSQL database. It will automatically handle error
-conditions (i.e. missing columns) without terminating the entire program. Use the :py:class:`DBConnector` class to
-handle database interactions, either as a standalone object or in a context manager."""
-from __future__ import annotations
-
-import os
-import psycopg2
-from psycopg2 import DatabaseError, OperationalError
-from psycopg2.errors import UndefinedColumn
-
-DB_ADDRESS = os.getenv('DB_ADDRESS', 'localhost')
-DB_PORT = os.getenv('DB_PORT', 5432)
-DB_USER = os.getenv('DB_USER', 'postgres')
-DB_PASSWORD = os.getenv('DB_PASSWORD', '')
-DB_NAME = os.getenv('DB_NAME', 'postgres')
-DB_TABLE = os.getenv('DB_TABLE', 'cables')
-
-
-class DBConnector:
-    """Context managed database class. Use with statements to automatically open and close the database connection, like
-    so:
-
-    .. code-block:: python
-       with DBConnector() as db:
-           db.read()
-    """
-
-    def _db_start(self):
-        """Setup the database connection and cursor."""
-        try:
-            self.conn = psycopg2.connect(
-                f"host={DB_ADDRESS} port={DB_PORT} dbname={DB_NAME} user={DB_USER} password={DB_PASSWORD}")
-            self.cur = self.conn.cursor()
-        except OperationalError as e:
-            raise e
-
-    def _db_stop(self):
-        """Close the cursor and connection."""
-        self.cur.close()
-        self.conn.close()
-
-    def __init__(self):
-        self._db_start()
-
-    def __del__(self):
-        self._db_stop()
-
-    def __enter__(self):
-        self._db_start()
-
-    def __exit__(self):
-        self._db_stop()
-
-    def _get_cols(self) -> set[str]:
-        """Get the list of columns in the database.
-
-        :return: A list of column names."""
-        query = f"select COLUMN_NAME from information_schema.columns where table_name={DB_TABLE}"
-        rows = {x["COLUMN_NAME"] for x in self._query(query)}
-        return rows
-
-    def _column_parity(self, columns: list[str] | set[str]) -> set[str]:
-        """If the listed columns are not in the database, add them.
-
-        :param columns: The columns we expect are in the database.
-        :return: The list of columns in the database after querying."""
-        cols = set(columns)
-        existing = self._get_cols()
-        needs = cols.difference(existing.intersection(cols))
-        if len(needs) > 0:
-            query = f"ALTER TABLE {DB_TABLE} {', '.join([f'ADD COLUMN {c}' for c in needs])}"
-            self._query(query)
-            existing = self._get_cols()
-        return existing
-
-    def _query(self, sql) -> list[dict]:
-        """Basic function for running queries.
-
-        :param sql: SQL query as plaintext.
-        :return: Results of the query, or an empty list if none."""
-        result = []
-        try:
-            self.cur.execute(sql)
-            result = self._read_dict()
-        except DatabaseError as e:
-            print(f"ERROR {e.pgcode}: {e.pgerror}\n"
-                  f"Caused by query: {sql}")
-        finally:
-            return result
-
-    def _read_dict(self) -> list[dict]:
-        """Read the cursor as a list of dictionaries. psycopg2 defaults to using a list of tuples, so we want to convert
-        each row into a dictionary before we return it."""
-        cols = [i.name for i in self.cur.description]
-        results = []
-        for row in self.cur:
-            row_dict = {}
-            for i in range(0, len(row)):
-                if row[i]:
-                    row_dict = {**row_dict, cols[i]: row[i]}
-            results.append(row_dict)
-        return results
-
-    def read(self, **kwargs) -> list[dict]:
-        """Read rows from a database that match the specified filters.
-
-        :param kwargs: Column constraints; i.e. what value to filter by in what column.
-        :returns: A list of dictionaries of all matching rows, or an empty list if no match."""
-        args = []
-        for kw in kwargs.keys():
-            args.append(f"{kw} ILIKE {kwargs['kw']}")
-        query = f"SELECT * FROM {DB_TABLE}"
-        if len(args) > 0:
-            query += f" WHERE {' AND '.join(args)}"
-        return self._query(query)
-
-    def write(self, **kwargs) -> dict:
-        """Write a row to the database.
-
-        :param kwargs: Values to write for each database; specify each column separately!
-        :returns: The row you just added."""
-        self._column_parity(set(kwargs.keys()))
-        values = []
-        for val in kwargs.keys():
-            values.append(kwargs[val])
-        query = f"INSERT INTO {DB_TABLE} ({', '.join(kwargs.keys())}) VALUES ({', '.join(values)})"
-        self._query(query)
-        return kwargs
-
-    def write_all(self, items: list[dict]) -> list[dict]:
-        """Write multiple rows to the database.
-
-        :param items: Rows to write, as a list of dictionaries.
-        :returns: The rows that were added successfully."""
-        successes = []
-        for i in items:
-            res0 = self.write(**i)
-            if res0:
-                successes.append(res0)
-        return successes

download-vid.sh

@@ -0,0 +1,11 @@
+#!/bin/bash
+
+set -euxo pipefail 
+
+mkdir -p tmpdl
+cd tmpdl
+yt-dlp $1
+
+ffmpeg -i * -vf "scale=800x480" -r $2 ../output.mp4
+
+rm -rf tmpdl

get_specs.py

@@ -5,9 +5,10 @@ import sys
 import read_datasheet
 from alive_progress import alive_bar
 import requests
-#import time
+import time
 import json
 import subprocess
+from util import fprint
 
 bartext = ""
 failed = []
@@ -25,38 +26,123 @@ def check_internet(url='https://belden.com', timeout=5):
     
 
 
-def query_search(partnum):
-    """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"
-    search_data ='{ "q": "' + str(partnum) + '", "sortCriteria": "relevancy", "numberOfResults": "250", "sortCriteria": "@catalogitemwebdisplaypriority ascending", "searchHub": "products-only-search", "pipeline": "Site Search", "maximumAge": "900000", "tab": "products-search", "locale": "en" }'
-    #"aq": "", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))", "firstResult": "0", "categoryFacets": "[{\\"field\\":\\"@catalogitemcategories\\",\\"path\\":[],\\"injectionDepth\\":1000,\\"maximumNumberOfValues\\":6,\\"delimitingCharacter\\":\\"|\\"}]", "facetOptions": "{}", "groupBy": "" }'
-    #print(search_data)
-    print(json.loads(search_data))
-    #search_data = '{ "q": "' + str(partnum) + '" }'
-    print(search_data)
-    headers = headers = {
-        'Authorization': f'Bearer {token}',
-        'Content-Type': 'application/json'
-    }
-    with requests.post(search_url, headers=headers, data=search_data) as r:
-        print(r.text)"""
-    
-    # TODO: Reimplement in python
-    # Bash script uses some crazy json formatting that I could not figure out
-    # Despite the fact that I wrote it
-    # So I'll just leave it, becuase it works.
+def query_search(partnum, source):
+    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"
 
-    command = ["./query-search.sh", partnum]
-    result = subprocess.run(command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
-    if result.returncode != 0: # error
-        print("No results found in search database for " + partnum + ". No hi-res part image available.", result.stderr)
+        # 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.post(search_url, headers=headers, data=search_data) as r:
+                a = r.text
+                a = json.loads(a)
+                idx = -1
+                name = ""
+                for partid in range(len(a["results"])):
+                    name = a["results"][partid]["title"]
+                    if name != partnum:
+                        if name.find(partnum) >= 0:
+                            idx = partid
+                            break
+                        elif partnum.find(name) >= 0:
+                            idx = partid
+                            break
+                        
+                    else:
+                        idx = partid
+                        break
+                        
+                if idx < 0:
+                    fprint("Could not find part in API: " + partnum)
+                    return False
+                fprint("Search result found: result " + str(idx) + ", for ID " + name)
+                #urlname = a["results"][0]["raw"]["catalogitemurlname"]
+                img = a["results"][idx]["raw"]["catalogitemimageurl"]
+                img = img[0:img.index("?")]
+                uri = a["results"][idx]["raw"]["clickableuri"]
+                dsid = a["results"][idx]["raw"]["catalogitemdatasheetid"]
+                brand = a["results"][idx]["raw"]["catalogitembrand"]
+                desc = a["results"][idx]["raw"]["catalogitemlongdesc"]
+                shortdesc = a["results"][idx]["raw"]["catalogitemshortdesc"]
+                a = json.dumps(a["results"][idx], indent=2)
+                #print(a, urlname, img, uri, dsurl)
+
+                out = dict()
+                out["url"] = "https://www.belden.com/products/" + uri
+                out["datasheet"] = "https://catalog.belden.com/techdata/EN/" + dsid + "_techdata.pdf"
+                out["brand"] = brand
+                out["name"] = shortdesc
+                out["description"] = desc
+                out["image"] = "https://www.belden.com" + img
+                out["partnum"] = name
+                #print(out)
+                return out
+        except:
+            print("falied to search with API. Falling back to datasheet lookup.")
+            return False
+    
+
+    # Original bash script
+    # superceded by above
+    if source == "Belden_shell":
+        command = ["./query-search.sh", partnum]
+        result = subprocess.run(command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
+        if result.returncode != 0: # error
+            fprint("No results found in search database for " + partnum + ". No hi-res part image available.", result.stderr)
+            return False
+        else:
+            data_out = json.loads(result.stdout)
+            return data_out
+    elif source == "Alphawire":
+        alphaurl = "https://www.alphawire.com//sxa/search/results/?l=en&s={4A774076-6068-460C-9CC6-A2D8E85E407F}&itemid={BF82F58C-EFD9-4D8B-AE3E-097DD12CF7DA}&sig=&autoFireSearch=true&productpartnumber=*" + partnum + "*&v={B22CD56D-AB95-4048-8AA1-5BBDF2F2D17F}&p=10&e=0&o=ProductPartNumber%2CAscending"
+        r = requests.get(url=alphaurl)
+        data = r.json()
+        output = dict()
+        #print(data)
+        try:
+            if data["Count"] > 0:
+                #print(data["Results"][0]["Url"])
+                for result in data["Results"]:
+                    if result["Url"].split("/")[-1] == partnum:
+                        #print(partnum)
+                        #print(result["Html"])
+                        try:
+                            imgidx = result["Html"].index("<img src=") + 10
+                            imgidx2 = result["Html"].index("?", imgidx)
+                            output["image"] = result["Html"][imgidx:imgidx2]
+                            if output["image"].index("http") != 0:
+                                output["image"] = ""
+                                print("No cable image found.")
+                        except:
+                            print("No cable image found.")
+
+                        dsidx = result["Html"].index("<a href=\"/disteAPI/") + 9
+                        dsidx2 = result["Html"].index(partnum, dsidx) + len(partnum)
+                        output["datasheet"] = "https://www.alphawire.com" + result["Html"][dsidx:dsidx2]
+                        output["partnum"] = partnum
+                        #"test".index()
+                        #print(output)
+                        return output
+
+
+        except:
+            return False
         return False
-    else:
-        data_out = json.loads(result.stdout)
-        return data_out
+
 
 def touch(path):
     with open(path, 'a'):
@@ -64,7 +150,7 @@ def touch(path):
 
 
 
-def get_multi(partnums):
+def get_multi(partnums, delay=0.25):
     with alive_bar(len(partnums) * 2, dual_line=True, calibrate=30, bar="classic2", spinner="classic") as bar:
 
         def _try_download_datasheet(partnum, output_dir): # Guess datasheet URL
@@ -72,7 +158,7 @@ def get_multi(partnums):
 
             sanitized_name = partnum.replace(" ", "")
             url = "https://catalog.belden.com/techdata/EN/" + sanitized_name + "_techdata.pdf"
-            #print(url)
+            #fprint(url)
             try:
                 with requests.get(url, stream=True) as r:
                     #r.raise_for_status()
@@ -89,10 +175,10 @@ def get_multi(partnums):
                             bartext = bartext + "."
                             bar.text = bartext
                             f.write(chunk)
-                #print("")
+                #fprint("")
                 return output_dir + "/datasheet.pdf"
             except KeyboardInterrupt:
-                print("Quitting!")
+                fprint("Quitting!")
                 os.remove(output_dir + "/datasheet.pdf")
                 sys.exit()
 
@@ -100,7 +186,7 @@ def get_multi(partnums):
         def _download_datasheet(url, output_dir): # Download datasheet with known URL
             global bartext
 
-            #print(url)
+            #fprint(url)
             try:
                 with requests.get(url, stream=True) as r:
                     #r.raise_for_status()
@@ -117,18 +203,18 @@ def get_multi(partnums):
                             bartext = bartext + "."
                             bar.text = bartext
                             f.write(chunk)
-                #print("")
+                #fprint("")
                 return output_dir + "/datasheet.pdf"
             except KeyboardInterrupt:
-                print("Quitting!")
+                fprint("Quitting!")
                 os.remove(output_dir + "/datasheet.pdf")
                 sys.exit()
 
 
-        def _download_image(url, output_dir): # Download datasheet with known URL
+        def _download_image(url, output_dir): # Download image with known URL
             global bartext
 
-            #print(url)
+            #fprint(url)
             try:
                 with requests.get(url, stream=True) as r:
                     #r.raise_for_status()
@@ -143,32 +229,39 @@ def get_multi(partnums):
                             bartext = bartext + "."
                             bar.text = bartext
                             f.write(chunk)
-                #print("")
+                #fprint("")
                 return output_dir + "/part-hires." + url.split(".")[-1]
             except KeyboardInterrupt:
-                print("Quitting!")
+                fprint("Quitting!")
                 os.remove(partnum + "/datasheet.pdf")
                 sys.exit()
 
-        def __use_cached_datasheet(partnum, path, output_dir):
-            print("Using cached datasheet for " + partnum, end='')
+        def __use_cached_datasheet(partnum, path, output_dir, dstype):
+            fprint("Using cached datasheet for " + partnum)
             bar.text = "Using cached datasheet for " + partnum
             bar(skipped=True)
-            print("Parsing Datasheet contents of " + partnum, end='')
-            bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
-            read_datasheet.parse(path, output_dir)
-            bar(skipped=False)
+            if not os.path.exists(output_dir + "/parsed"):
+                
+                fprint("Parsing Datasheet contents of " + partnum)
+                bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
+            
+                read_datasheet.parse(path, output_dir, partnum, dstype)
+                bar(skipped=False) 
+            else:
+                fprint("Datasheet already parsed for " + partnum)
+                bar.text = "Datasheet already parsed for " + partnum + ".pdf"
+                bar(skipped=True)
 
-        def __downloaded_datasheet(partnum, path, output_dir):
-            print("Downloaded " + path, end='')
+        def __downloaded_datasheet(partnum, path, output_dir, dstype):
+            fprint("Downloaded " + path)
             bar.text = "Downloaded " + path
             bar(skipped=False)
-            print("Parsing Datasheet contents of " + partnum, end='')
+            fprint("Parsing Datasheet contents of " + partnum)
             bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
-            read_datasheet.parse(path, output_dir)
+            read_datasheet.parse(path, output_dir, partnum, dstype)
             bar(skipped=False)
 
-        for partnum in partnums:
+        def run_search(partnum):
             output_dir = "cables/" + partnum
             path = output_dir + "/datasheet.pdf"
             bartext = "Downloading files for part " + partnum
@@ -176,48 +269,85 @@ def get_multi(partnums):
             #
             if (not os.path.exists(output_dir + "/found_part_hires")) or not (os.path.exists(path) and os.path.getsize(path) > 1):
                 # Use query
-                search_result = query_search(partnum.replace(" ", ""))
+                search_result = query_search(partnum, dstype)
                 # Try to use belden.com search
                 if search_result is not False:
                     # Download high resolution part image if available and needed
+                    partnum = search_result["partnum"]
+                    output_dir = "cables/" + partnum
+                    path = output_dir + "/datasheet.pdf"
+                    bartext = "Downloading files for part " + partnum
+                    bar.text = bartext
+
                     if not os.path.exists(output_dir + "/found_part_hires"):
                         if _download_image(search_result["image"], output_dir):
-                            print("Downloaded hi-res part image for " + partnum)
+                            fprint("Downloaded hi-res part image for " + partnum)
                         touch(output_dir + "/found_part_hires")
                     else:
-                        print("Using cached hi-res part image for " + partnum)
+                        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:
-                        __use_cached_datasheet(partnum, path, output_dir)
+                        __use_cached_datasheet(partnum, path, output_dir, dstype)
 
                     elif _download_datasheet(search_result["datasheet"], output_dir) is not False:
-                        __downloaded_datasheet(partnum, path, output_dir)
+                        __downloaded_datasheet(partnum, path, output_dir, dstype)
                 
                 elif os.path.exists(path) and os.path.getsize(path) > 1:
-                    __use_cached_datasheet(partnum, path, output_dir)
+                    __use_cached_datasheet(partnum, path, output_dir, dstype)
                 
                 # 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) is not False:
-                    __downloaded_datasheet(partnum, path, output_dir)
+                    __downloaded_datasheet(partnum, path, output_dir, dstype)
 
                 # Failed to download with search or guess :(
                 else: 
-                    print("Failed to download datasheet for part " + partnum, end='')
+                    return False
+                return True
+
+            # We already have a hi-res image and the datasheet - perfect!
+            else:
+                fprint("Using cached hi-res part image for " + partnum)
+                __use_cached_datasheet(partnum, path, output_dir, dstype)
+                return True
+    
+        for fullpartnum in partnums:
+            if fullpartnum[0:2] == "BL": # catalog.belden.com entry
+                partnum = fullpartnum[2:]
+                dstype = "Belden"
+            elif fullpartnum[0:2] == "AW":
+                partnum = fullpartnum[2:]
+                dstype = "Alphawire"
+            else:
+                dstype = "Belden" # guess
+                partnum = fullpartnum
+            if not run_search(partnum):
+                success = False
+                if len(partnum.split(" ")) > 1:
+                    for name in partnum.split(" "):
+                        fprint("Retrying with alternate name: " + name)
+                        if(run_search(name)):
+                            success = True
+                            break
+                        time.sleep(delay)
+                    if not success:
+                        namestripped = partnum.strip(" ")
+                        fprint("Retrying with alternate name: " + namestripped)
+                        if(run_search(namestripped)):
+                            success = True
+                            time.sleep(delay)
+                if not success:
+                    fprint("Failed to download datasheet for part " + partnum)
                     bar.text = "Failed to download datasheet for part " + partnum
                     failed.append(partnum)
                     bar(skipped=True)
                     bar(skipped=True)
-
-            # We already have a hi-res image and the datasheet - perfect!
-            else:
-                print("Using cached hi-res part image for " + partnum)
-                __use_cached_datasheet(partnum, path, output_dir)
-    
+            time.sleep(delay)
+            
     if len(failed) > 0:
-        print("Failed to download:")
+        fprint("Failed to download:")
         for partnum in failed:
-            print(partnum)
+            fprint(partnum)
         return False # Go to manual review upload page
     else:
         return True # All cables downloaded; we are good to go
@@ -226,20 +356,73 @@ def get_multi(partnums):
 
 
 if __name__ == "__main__":
-    partnums = ["10GXS12", "RST 5L-RKT 5L-949", 
-"10GXS13",
-"10GXW12",
-"10GXW13",
-"2412",
-"2413",
-"OSP6AU",
-"FI4D024P9",
-"FISD012R9",
-"FDSD012A9",
-"FSSL024NG",
-"FISX006W0",
-"FISX00103"
+    # partnums = ["BLFISX012W0", "BL7958A", "BL10GXS12", "BLRST 5L-RKT 5L-949", 
+    # "BL10GXS13",
+    # "BL10GXW12",
+    # "BL10GXW13",
+    # "BL2412",
+    # "BL2413",
+    # "BLOSP6AU",
+    # "BLFI4D024P9",
+    # "BLFISD012R9",
+    # "BLFDSD012A9",
+    # "BLFSSL024NG",
+    # "BLFISX006W0",
+    # "BLFISX00103",
+    # "BLC6D1100007"
+    # ]
+    partnums = [
+    # Actual cables in Jukebox
+    "AW86104CY",
+    "AW3050",
+    "AW6714",
+    "AW1172C",
+    "AW2211/4",
+
+    "BLTF-1LF-006-RS5N",
+    "BLTF-SD9-006-RI5N",
+    "BLTT-SLG-024-HTNN",
+    "BLFISX012W0",
+    "BLFI4X012W0",
+    "BLSPE101 006Q",
+    "BLSPE102 006Q",
+    "BL7922A 010Q",
+    "BL7958A 008Q",
+    "BLIOP6U 010Q",
+    "BL10GXW13 D15Q",
+    "BL10GXW53 D15Q",
+    "BL29501F 010Q",
+    "BL29512 010Q",
+    "BL3106A 010Q",
+    "BL9841 060Q",
+    "BL3105A 010Q",
+    "BL3092A 010Q",
+    "BL8760 060Q",
+    "BL6300UE 008Q",
+    "BL6300FE 009Q",
+    "BLRA500P 006Q",
+
+
+    # Some ones I picked, including some invalid ones
+    "BL10GXS12", 
+    "BLRST 5L-RKT 5L-949", 
+    "BL10GXS13",
+    "BL10GXW12",
+    "BL10GXW13",
+    "BL2412",
+    "BL2413",
+    "BLOSP6AU",
+    "BLFI4D024P9",
+    "BLFISD012R9",
+    "BLFDSD012A9",
+    "BLFSSL024NG",
+    "BLFISX006W0",
+    "BLFISX00103",
+    "BLC6D1100007"
+
     ]
-    get_multi(partnums)
+    #query_search("86104CY", "Alphawire")
+    get_multi(partnums, 0.25)
+    #query_search("10GXS13", "Belden")
 
 

index.html

@@ -0,0 +1 @@
+<html>  <head>    <title>RGB Controller Configuration</title>    <style>      body { background-color: #cccccc; font-family: Arial, Helvetica, Sans-Serif; Color: #000088; }    </style>  </head>  <body>    <h1>RGB Controller Configuration</h1><br>    <h2>Set IP address</h2>    Needs reboot to apply<br>    Set to 0.0.0.0 for DHCP    <form method="post" enctype="application/x-www-form-urlencoded" action="/postform/">      <input type="text" name="ipa" value="0" size="3">.      <input type="text" name="ipb" value="0" size="3">.      <input type="text" name="ipc" value="0" size="3">.      <input type="text" name="ipd" value="0" size="3">      <input type="submit" value="Set">    </form><br>    <h2>Set Hostname</h2>    Needs reboot to apply<br>    Max 64 characters    <form method="post" enctype="application/x-www-form-urlencoded" action="/postform/">      <input type="text" name="hostname" value="RGBController" size="20">      <input type="submit" value="Set">    </form><br>    <h2>DMX512 Start Universe</h2>    Applies immediately<br>    Between (inclusive) 1-65000    <form method="post" enctype="application/x-www-form-urlencoded" action="/postform/">      <input type="text" name="universe" value="1" size="5">      <input type="submit" value="Set">    </form><br>    <form method="post" enctype="application/x-www-form-urlencoded" action="/postform/">      <input type="submit" name="reboot" value="Reboot">    </form><br>  </body></html>

install-deps.sh

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

inv_kin_testing.ipynb

@@ -0,0 +1,359 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Inverse Kinematics Simulation"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from scipy.optimize import fsolve\n",
+    "import matplotlib.pyplot as plt\n",
+    "import math\n",
+    "import numpy as np"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Polar coordinate functions"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def cartesian_to_polar(x, y):\n",
+    "    r = np.sqrt(x**2 + y**2)\n",
+    "    theta = np.arctan2(y, x)\n",
+    "    return r, theta\n",
+    "\n",
+    "def polar_to_cartesian(r, theta):\n",
+    "    x = r * np.cos(theta)\n",
+    "    y = r * np.sin(theta)\n",
+    "    return x, y"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Calculate end-joint values from xyz position"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 157,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "[45.0, 90.70951422006029, 110.71500355039022, -20.005489330329944]\n",
+      "[45.0, -90.70951422006029, 110.71500355039022, -110.00548933032994]\n"
+     ]
+    }
+   ],
+   "source": [
+    "def normalize_degree(theta):\n",
+    "    # Normalizes degree theta from -1.5pi to 1.5pi\n",
+    "    multiplier = 1.5\n",
+    "    normalized_theta = theta % (math.pi * multiplier)\n",
+    "    \n",
+    "    # Maintain the negative sign if the original angle is negative\n",
+    "    if theta < 0:\n",
+    "        normalized_theta -= math.pi * multiplier\n",
+    "\n",
+    "    # Return angle\n",
+    "    return normalized_theta\n",
+    "\n",
+    "def get_joints_from_xyz_rel(x, y, z, initial_guess = (math.pi/2, math.pi/2, 0), limbs=(.422864, .359041, .092124)):\n",
+    "    # Get polar coordinates of x,y pair\n",
+    "    r, theta = cartesian_to_polar(x, y)\n",
+    "    \n",
+    "    # Get length of each limb\n",
+    "    l1, l2, l3 = limbs\n",
+    "    \n",
+    "    # Formulas to find out joint positions for (r, z)\n",
+    "    def inv_kin_r_z(p):\n",
+    "        a, b, c = p\n",
+    "\n",
+    "        return (l1*math.cos(a) + l2*math.cos(a-b) + l3*math.cos(a-b-c) - r, # r\n",
+    "                l1*math.sin(a) + l2*math.sin(a-b) - l3*math.sin(a-b-c) - z,  # z\n",
+    "                a-b-c) # wrist angle\n",
+    "\n",
+    "\n",
+    "    # Normalize angles\n",
+    "    base, shoulder, elbow, wrist = [normalize_degree(deg) for deg in [theta, *fsolve(inv_kin_r_z, initial_guess)]]\n",
+    "\n",
+    "    # Return result\n",
+    "    return base, shoulder, elbow, wrist\n",
+    "\n",
+    "def get_joints_from_xyz_abs(x, y, z):\n",
+    "    joints = get_joints_from_xyz_rel(x, y, z)\n",
+    "\n",
+    "    # Joint offsets\n",
+    "    # Base, Shoulder, Elbow, Wrist\n",
+    "    inverse = [1, -1, 1, 1]\n",
+    "    offsets = [0, 0, 0, -math.pi/2]\n",
+    "\n",
+    "    # Return adjusted joint positions\n",
+    "    return [o+j*i for j, o, i in zip(joints, offsets, inverse)]\n",
+    "\n",
+    "print([math.degrees(deg) for deg in get_joints_from_xyz_rel(0.3, 0.3, 0.3)])\n",
+    "print([math.degrees(deg) for deg in get_joints_from_xyz_abs(0.3, 0.3, 0.3)])"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Simulate arm and joint angles"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 164,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Target position (x,y,z): 0.3 0.3 0.3\n",
+      "Angles (base, shoulder, elbow, wrist): [45.0, 90.7095, 110.715, -20.0055]\n",
+      "Robot Angles: [45.0, -90.7095, 110.715, -110.0055]\n",
+      "elbow (x,y): -0.005 0.423\n",
+      "wrist (x,y): 0.332 0.3\n",
+      "tool  (x,y): 0.424 0.3\n"
+     ]
+    },
+    {
+     "data": {
+      "image/png": "iVBORw0KGgoAAAANSUhEUgAAAiMAAAGnCAYAAABl41fiAAAAOXRFWHRTb2Z0d2FyZQBNYXRwbG90bGliIHZlcnNpb24zLjUuMSwgaHR0cHM6Ly9tYXRwbG90bGliLm9yZy/YYfK9AAAACXBIWXMAAA9hAAAPYQGoP6dpAABD40lEQVR4nO3deVyVZf7/8dcBZFEBxQXSUEwd0UoxUMNvbhMu5aSWTmaOOmTWTNoy1G/MaiSrCcecssWynLTSTFvM1tGMtLQYNdTJfdIg3MAdFBMQ7t8fx06SIOcAZ7lv3s/H4zwew32uc1+fc0vO2+u+ruu2GYZhICIiIuIlft4uQEREROo2hRERERHxKoURERER8SqFEREREfEqhRERERHxKoURERER8SqFEREREfEqhRERERHxKoURERER8SqFEREREfEqhZE64KuvvuKGG26gRYsW2Gw2li1bVu79pUuXMmDAAJo0aYLNZmPz5s0XnOPMmTNMnDiRJk2a0LBhQ4YPH05eXt5F+7XZbBW+nnrqKQCys7MZP348bdq0ISQkhLZt25KamkpxcXG588ydO5fWrVvTtWtX1q1bV6NrISIivkdhpA4oLCykS5cuzJ49u9L3r7nmGv7xj39Ueo6//OUvfPTRR7zzzjt8+eWXHDhwgJtuuumi/R48eLDca968edhsNoYPHw7Azp07KSsr4+WXX2bbtm0888wzzJkzh4ceeshxjpycHGbMmMHixYt5+OGHSU5OrsYVEBERX2bTg/LqFpvNxvvvv8+wYcMueC87O5s2bdqwadMm4uLiHMfz8/Np1qwZixYtYsSIEYA9SHTs2JGMjAyuvvpqp/oeNmwYJ0+eJD09vdI2Tz31FC+99BI//PADAFu3biU5OZnVq1dz6NAhfvvb35KVleX8FxYREZ8X4O0CxPdlZmZSUlJCUlKS41hsbCytWrVyOozk5eXxySef8Prrr1+0XX5+PhEREY6fr7jiCjp37kx4eDiBgYHMnTu3+l9ERER8km7TSJVyc3MJDAykUaNG5Y5HRkaSm5vr1Dlef/11QkNDL3prZ/fu3Tz//PPceeed5Y6/+uqr5OXlcfToUUaPHu1y/SIi4ts0MiIeMW/ePEaPHk1wcHCF7+/fv59Bgwbx+9//ngkTJlzwfpMmTdxdooiIeIlGRqRKUVFRFBcXc+LEiXLH8/LyiIqKqvLza9asYdeuXdx+++0Vvn/gwAH69etHz549eeWVV2qjZBERMRGFEalSfHw89erVKzfxdNeuXeTk5JCYmFjl51999VXi4+Pp0qXLBe/t37+fvn37Eh8fz/z58/Hz06+kiEhdY4rbNIZhcPLkSUJDQ7HZbN4ux3ROnTrF7t27HT9nZWWxefNmIiIiaNWqFceOHSMnJ4cDBw4A9qAB9hGRqKgowsPDGT9+PCkpKURERBAWFsbdd99NYmJiucmrsbGxpKWlceONNzqOFRQU8M477/DPf/7zgrp+DiKtW7dm5syZHD582PGeMyMuIiJiEYYJ5OfnG4CRn5/v7VJMadWqVQZwwWvcuHGGYRjG/PnzK3w/NTXVcY6ffvrJuOuuu4zGjRsb9evXN2688Ubj4MGD5foBjPnz55c79vLLLxshISHGiRMnLqirsn5N8mspIiK1xBT7jBQUFBAeHk5+fj5hYWHeLkdERERqkW7Qi4iIiFcpjIiIiIhXKYyIiIiIVymMiIiIiFcpjIiIiIhXKYyIiIiIVymMiIiIiFcpjIiIiIhXKYxYSVkJrP8THPwMykq9XY2IiIhTTPFsGqnaciDk4Gf02f0y7H6ZwpAW7Im5lZ0xYzjcuDOlQANgvJfrFBER+TWNjFjEX4CDWQscPzf46QCdd8zk5n934ZpPu5CzYyYvnT7gvQJFREQqoWfTWMTVxfmsej+KkNIzlbYptfnhH5kEbcZA9I0Q0MCDFYqIiFRMt2ksYtDedy8aRAD8jTLI/cz+2tAAoofbg0nzfuDn76FKRUREytNtGov43Xm3aJxythCy3oAv+sMHrWDTX+HEFvcUJyIichG6TWMFhT/CBzG1c67GcRAzBmJuhZCo2jmniIjIRWhkxAqy36y9cx3fDJvuh2UtYdUgyHrTPooiIiLiJhoZMTvDgE86QsEu9/UR0PC8+SV9Nb9ERERqlUZGzK70NDRN5HRAQ/f1cfYUZL0OXyTBB61h02Q4sdV9/YmISJ2ikRGLuP5sIY32fcCYrAUMyP3MvnLG3Rp3tY+WtB6l+SUiIlJtCiMW0R/4/Nz/jvrpIKOy32JM9gK6Ht/s/s5t/hDVH9qMhUuHQkB99/cpIiKWoTBiEYOAFRUcv/zEVsZkLWB09ptc+tN+9xcSEAqthttX5ET2BZvuBIqIyMUpjFjE74BPLvK+X1kp/Q6tYkXWAvz3vueZFTL1oyFmtP1WTngn9/cnIiKmpDBiEUOBD51odxoIOVsIe5fZNz3L+xw8Mr/kqvPml0S6vz8RETENhRGLuAl434l2J4Fy625+OgjZiyBrAZz4r1tqK8fmD1EDzptfEuL+PkVExKcpjFjE74F3nWh3Agiv7M3j30H2Avsmaj8drK3SKhcQCq1GnNu/pI/ml4iI1FEKIxZxC7DEiXZHgYiqGpWVQt4X9tGSfUs9NL+k1XnzSzq6vz8REfEZCiMWMRpY5ES7PKC5KycuOQX7lp2bX5LumfklEfH22zitb4Fgl6oVERETUhixiHHAG060OwBcUt1OTh+AH3+eX/Jddc/iPJs/XDLIPlrScojml4iIWJTCiEXcBsx3ot1e4NLa6PD4f+2h5MdFnplfUi8MokfYR0ya99L8EhERC6nW3+izZ88mJiaG4OBgevTowfr165363OLFi7HZbAwbNqw63cpFOPvoutLa6rBxF7hqJgzdC/1WQMwfwN+NO6+WFMAP8yC9L3zQBv77MOTvdF9/IiLiMS6HkSVLlpCSkkJqaiobN26kS5cuDBw4kEOHDl30c9nZ2TzwwAP06tWr2sVK5TweRn7m5w+XDICeC+CmPLj6dYhKAmy13dMvTufAtiftTyte3g12PQ9nDruvPxERcSuXb9P06NGDbt268cILLwBQVlZGdHQ0d999Nw8++GCFnyktLaV3797cdtttrFmzhhMnTrBs2TKn+9RtmqpNBF50ot3/gPZurgWA0/vP7V/yBuR74Am/toBf5pdcOgT8g93fp4iI1AqXRkaKi4vJzMwkKSnplxP4+ZGUlERGRkaln3vsscdo3rw548ePd6qfoqIiCgoKyr3k4pwdGTnr1irOU78ldPp/cP13cN0miE2BYDc+2dc4Cwc+hq9HwtJIWDcBDn3lmdU/IiJSIy6FkSNHjlBaWkpkZPntvCMjI8nNza3wM2vXruXVV19l7ty5TveTlpZGeHi44xUdHe1KmXVSgJPtav02TVVsNmgcB1f9E4bthb7L7fuJ+LtxZUxJAez5F3zeBz68DP77CBTscl9/IiJSI25dknDy5EnGjBnD3Llzadq0qdOfmzJlCvn5+Y7X3r173VilNXhtzogr/AKgxUDoufDc/JLXIPJa3Dq/pPBH2PZ3+DgWVvSAXS/AmSPu609ERFzm7D+oAWjatCn+/v7k5eWVO56Xl0dU1IVD8Hv27CE7O5sbbrjBcayszD5sHhAQwK5du2jbtu0FnwsKCiIoKMiV0uo8U4SR89ULhcvG2V+n99m3oM9aAPnb3Nfn0fX218a/QIvrzu1fcoPml4iIeJlLIyOBgYHEx8eTnp7uOFZWVkZ6ejqJiYkXtI+NjWXLli1s3rzZ8RoyZAj9+vVj8+bNuv1Si0wXRs5X/1LoNBmu3wKDNkKHv0CwG5/sa5yF/R/B2pthaRSsuwMOrdH8EhERL3FpZAQgJSWFcePGkZCQQPfu3Zk1axaFhYUkJycDMHbsWFq2bElaWhrBwcFcccUV5T7fqFEjgAuOS82YOoz8zGaDiK72V9cZkLvy3PNxlkHpT+7psyQf9sy1vxrE2PdLaTMGwn7jnv5EROQCLoeRkSNHcvjwYaZOnUpubi5xcXEsX77cMak1JycHPz/tjulpPreapqb8Auy3UlpcZ5+QunepPZjkrQLctGlwYTZse8L+atLDHkpajYRg5+c7iYiI67QdvEX8HXjEiXargT7uLcW9Cvfa55dkL4D87e7vzxYALQdDzBho+Tvw11wmEZHapiEMi7DEbRpnNIiGyx+E67fCoEzocJ97n+xrnIV9H8DaEfb5JevvhENrwfczvIiIaSiMWESdCSM/s9kg4iqIfwaG7Yc+n0DrW9y7MqbkBOx+BT7vBR+1g+9S4eRu9/UnIlJHKIxYRJ0LI+fzC4CW18P/vWXfv6THPGje1719nvoBtj4GH7WHFYnwvxeh6Kh7+xQRsSiFEYuw3ATW6qoXBm2TIWkVDP0RujwJYR3d2+fR/8C3E+H9S+CrG+2TbUuL3NuniIiFKIxYRJ0eGalMg1Zw+RQYvA0GboDf3ANBzdzXX1mJfRnymuH2YLL+T3D4G80vERGpglbTWMQc4M9OtHsPuMnNtfi0shI4+Jl9mfD+D6D0jPv7bNj2l/1LQi/ccVhEpK7TyIhFaGTESX717Et1r1kMN+ZCj39Bczcvdj61B7ZOs096/awnfD8Hio65t08RERNRGLEIhZFqCAyHtuMhaTUMzYYuf4ewWPf2eSQDNvz53PySm2Dv+5pfIiJ1nsKIRSiM1FCD1nD5QzB4OwxcD7+5G4LcuPNqWTHsex/W3ATvt4ANd8HhDM0vEZE6SWHEIrSappbYbNCkGyQ8BzcegD4fQavfg58bd14tPgbfvwQre8JHv4Et0+DkHvf1JyLiYxRGLMLZhwxpZMQFfvXsW8Bf8zbclAvd50Lz3u7t89Ru2PKofX7Jymvg+5eh+Lh7+xQR8TKFEYvQbRo3C2wE7W6HpC9hSBZ0fhxC3fxk38Nfw4Y/2behXzMc9i6D0mL39iki4gUKIxahMOJBDWPgikfLine truncated
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "def draw_arm(x, y, z):\n",
+    "\n",
+    "    # Get joint angles\n",
+    "    l1, l2, l3 = (.422864, .359041, .092124)\n",
+    "    r, theta = cartesian_to_polar(x, y)\n",
+    "    base, shoulder, elbow, wrist = get_joints_from_xyz_rel(x, y, z)\n",
+    "\n",
+    "    # Print angles\n",
+    "    print('Target position (x,y,z):', x, y, z)\n",
+    "    print('Angles (base, shoulder, elbow, wrist):', [round(math.degrees(i), 4) for i in [base, shoulder, elbow, wrist]])\n",
+    "    print('Robot Angles:', [round(math.degrees(i), 4) for i in get_joints_from_xyz_abs(x, y, z)])\n",
+    "\n",
+    "    # Calculate each joint's endpoint position\n",
+    "    x1, y1 = polar_to_cartesian(l1, shoulder)\n",
+    "    x2, y2 = polar_to_cartesian(l2, shoulder-elbow)\n",
+    "    x2 += x1\n",
+    "    y2 += y1\n",
+    "    x3, y3 = polar_to_cartesian(l3, shoulder-elbow-wrist)\n",
+    "    x3 += x2\n",
+    "    y3 += y2\n",
+    "\n",
+    "    # Print each joint's endpoint position\n",
+    "    print('elbow (x,y):', round(x1,3), round(y1,3))\n",
+    "    print('wrist (x,y):', round(x2,3), round(y2,3))\n",
+    "    print('tool  (x,y):', round(x3,3), round(y3,3))\n",
+    "\n",
+    "    # Draw limbs\n",
+    "    plt.plot([0, x1], [0, y1], color='cyan', linewidth=7)\n",
+    "    plt.plot([x1, x2], [y1, y2], color='orange', linewidth=7)\n",
+    "    plt.plot([x2, x2+l3], [y2, y2], color='red', linewidth=7)\n",
+    "\n",
+    "    # Display angles\n",
+    "    plt.text(0, 0.02, f'{round(math.degrees(shoulder), 2)}°')\n",
+    "    plt.text(x1, y1+0.02, f'{round(math.degrees(elbow), 2)}°')\n",
+    "    plt.text(x2, y2+0.02, f'{round(math.degrees(wrist), 2)}°')\n",
+    "\n",
+    "    # Display r arrow\n",
+    "    plt.annotate(f'', xy=(0, 0), xycoords='data', xytext=(x3, 0), textcoords='data', arrowprops={'arrowstyle': '<->'})\n",
+    "    plt.annotate(f'r={round(r,4)}', xy=(x2/2, 0.01), xycoords='data', xytext=(x2/2, 0), textcoords='offset points')\n",
+    "\n",
+    "    # Display z arrow\n",
+    "    plt.annotate(f'', xy=(x3, 0), xycoords='data', xytext=(x3, y3), textcoords='data', arrowprops={'arrowstyle': '<->'})\n",
+    "    plt.annotate(f'z={round(y2,4)}', xy=(x3+0.01, y2/2), xycoords='data', xytext=(x3/2, 0), textcoords='offset points')\n",
+    "   \n",
+    "    # Display plot\n",
+    "    ax = plt.subplot(111)\n",
+    "    ax.spines[['right', 'top']].set_visible(False)\n",
+    "    plt.axis('equal')\n",
+    "    plt.show()\n",
+    "\n",
+    "draw_arm(0.3, 0.3, 0.3)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 165,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Target position (x,y,z): 0.3 0.3 0.3\n",
+      "Angles (base, shoulder, elbow, wrist): [45.0, 90.7095, 110.715, -20.0055]\n",
+      "Robot Angles: [45.0, -90.7095, 110.715, -110.0055]\n",
+      "elbow (x,y): -0.005 0.423\n",
+      "wrist (x,y): 0.332 0.3\n",
+      "tool  (x,y): 0.424 0.3\n"
+     ]
+    },
+    {
+     "data": {
+      "image/png": "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 truncated
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    },
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Target position (x,y,z): -0.3 -0.3 0.7\n",
+      "Angles (base, shoulder, elbow, wrist): [-135.0, 71.7346, 15.5104, 56.2242]\n",
+      "Robot Angles: [-135.0, -71.7346, 15.5104, -33.7758]\n",
+      "elbow (x,y): 0.133 0.402\n",
+      "wrist (x,y): 0.332 0.7\n",
+      "tool  (x,y): 0.424 0.7\n"
+     ]
+    },
+    {
+     "data": {
+      "image/png": "iVBORw0KGgoAAAANSUhEUgAAAiMAAAGhCAYAAACzurT/AAAAOXRFWHRTb2Z0d2FyZQBNYXRwbG90bGliIHZlcnNpb24zLjUuMSwgaHR0cHM6Ly9tYXRwbG90bGliLm9yZy/YYfK9AAAACXBIWXMAAA9hAAAPYQGoP6dpAABEuklEQVR4nO3deVxWZf7/8ReLgAugpGyGkhtqKRQKUblUuJRTWU2ZX0tFs8axpoaZqWxRKxOnHH9+Jy3LXJpp+mo2LU6pZeQyJi5hlJpJrmh5o2iAooHC+f1B3UaCnBs43Nv7+XicxwyHzzn3574HmLfXda5zfAzDMBARERFxEl9nNyAiIiLeTWFEREREnEphRERERJxKYUREREScSmFEREREnEphRERERJxKYUREREScSmFEREREnEphRERERJxKYUREREScSmFERKSRTJkyBR8fnypb165dq9RkZWVx3XXX0bx5c0JCQujbty+nT5+u8ZwZGRn07t2b4OBgwsPDGTp0KLt27bJ///jx4zz44IPExcXRtGlT2rVrxx/+8AeKioqqnGfZsmV06dKFuLg4Pvjgg4Z94yK18Hd2AyIi3uTSSy/lk08+sX/t73/uz3BWVhaDBw9m4sSJvPjii/j7+/Pll1/i61vzvxvXrl3LhAkT6N27N2fPnuXxxx9n4MCBfP311zRv3pzvv/+e77//nhkzZtC9e3cOHDjA7373O77//nvefvttAEpLS5kwYQILFy7EMAzGjBnDwIEDCQgIsO6DEPkFH3d4UJ5hGJw4cYLg4GB8fHyc3Y6ISJ1MmTKF9957j5ycnGq/f+WVVzJgwACeffbZOr/G0aNHCQ8PZ+3atfTt27famqVLl3L33XdTUlKCv78/xcXF9OzZk88//xyA3r1789VXXxEcHFznPkQc4RbTNCdOnCA0NJQTJ044uxURkXr59ttviY6OpkOHDowYMYK8vDwAjhw5wqZNmwgPD+eqq64iIiKCfv36sX79eofO//P0S1hY2AVrQkJC7KMyISEhpKWlERUVRXR0NOPHj1cQkUblFiMjxcXFhIaG2n+BRETc0YoVKzh58iRxcXEcPnyYp59+mu+++47t27ezY8cOUlJSCAsLY8aMGSQkJPCPf/yDl156ie3bt9O5c+daz19RUcHNN99MYWFhjSGmoKCAxMRE7r77bp577rkq3ysqKsLX11dBRBqdwoiIiJMUFhbSvn17Zs6cSbdu3bj66quZOHEi06ZNs9f07NmTIUOGkJGRUev5xo8fz4oVK1i/fj0XX3zxed8vLi5mwIABhIWFsWzZMpo0adKg70ekrtximkZExBO1bNmSLl26sHv3bqKiogDo3r17lZpu3brZp3Iu5IEHHuCDDz5g9erV1QaREydOMHjwYIKDg3n33XcVRMSlKIyIiDjJyZMn2bNnD1FRUcTGxhIdHV1lWS5Abm4u7du3r/EchmHwwAMP8O677/Lpp59yySWXnFdTXFxsXx2zbNkygoKCGvy9iNSHwoiISCP585//zNq1a9m/fz8bNmzg1ltvxc/Pj+HDh+Pj48Nf/vIX/v73v/P222+ze/dunnrqKb755hvGjh1rP8f111/P7Nmz7V9PmDCBN954gzfffJPg4GBsNhs2m81+b5Kfg0hJSQnz58+nuLjYXlNeXt7on4FIdXSfERGRRnLo0CGGDx/OsWPHaNOmDddccw0bN26kTZs2ADz88MP8+OOP/PGPf+T48ePEx8ezatUqOnbsaD/Hnj17KCgosH/98ssvA9C/f/8qr7Vw4UJGjx7N1q1b2bRpEwCdOnWqUrNv3z5iY2MteKcijtEFrCIiIuJUmqYRERERp1IYERGxUnkpnNENG0UuRGFERMRK26bA8h5gy3R2JyIuSxewiog0tOuug7y8ylGR04d+2pkKTUIg8CLc9t+B7drBp586uwvxQHUKI3PmzOGFF17AZrMRHx/Piy++SFJSUrW1/fv3Z+3ateftv/HGG/nwww/r8vIiIq4tLw/27KnmG8U/bSLySw7H8yVLlpCens7kyZPZunUr8fHxDBo0iCNHjlRb/84773D48GH7tn37dvz8/Ljjjjvq3byIiIi4P4fDyMyZMxk3bhxpaWl0796duXPn0qxZMxYsWFBtfVhYGJGRkfZt1apVNGvWTGFERDxX+Y/O7kDErTgURsrKysjOziY1NfXcCXx9SU1NJSsry9Q55s+fz1133UXz5s1rrCktLaW4uLjKJiLiFsp/hNLqR4pFpHoOhZGCggLKy8uJiIiosj8iIgKbzVbr8Zs3b2b79u3ce++9F6zLyMggNDTUvsXExDjSpoiI83w1CSrOOLsLEbfSqJd0z58/nx49etR4sevPJk6cSFFRkX07ePBgI3UoIlIPR7Ng5wxndyHidhxaTdO6dWv8/PzIz8+vsj8/P5/IyMgLHltSUsLixYt55plnan2dwMBAAgMDHWlNRMS5zp6GjaMBl3/ChojLcWhkJCAggMTERDIzz928p6KigszMTFJSUi547NKlSyktLeXuu++uW6ciIq7sq6fgRK6zuxBxSw7fZyQ9PZ1Ro0bRq1cvkpKSmDVrFiUlJaSlpQEwcuRI2rZtS0ZGRpXj5s+fz9ChQ7nooosapnMREVdxdAN8M/Pc17X9mQsIg4BWlrZUH7vKyrjyu+94PzKSvk2bnvtGu3bOa0o8msNhZNiwYRw9epRJkyZhs9lISEhg5cqV9ota8/Ly8PWtOuCya9cu1q9fz8cff9wwXYuIuIqzp86fnnniAvWtroBBG8G3icWN1d2zd99N4b/+xeQuXVi9erWz2xEv4GMYhstPcBYXFxMaGkpRUREhISHObkdE5JzsdNj1/8zV+jaBwdnQsoe1PdXDoUOH6NChA2fOVK4I+uqrr+jRw3X7Fc/gpg9IEBFxAUfWw65Z5usvm+zSQQRg+vTp9vtARUVFmVp0IFJfCiMiInVx9hRsTMP06pmwROj+qKUt1dehQ4eYN29elWsA3377bbZt2+bkzsTTKYyIiNTFl0/Ayd3man0D4MrXwde1H5Q+ffp0WrRoYV/1OGjQIC655BKNjojlFEZERBx15L+w63/N1/eYAi0vtaydhvLll18yZcoUWrRoAYC/vz/Tpk3TyIhYThewiog44mwJLI+Hk3vM1Yf1hoEbXH5UBCrvG+Xr60tubi5xcXGsW7eOPn362PeLWEU/XSIijsh53HwQ8Q2AlEVuEUSAGgOHgohYTT9hIiJmHVkHuX83X9/zGQjtbl0/Ih5CYURExIyzJT+tnjHpoiTo+ifr+hHxIAojIiJm5DwGJ/eaq/UNhCsXuc30jIizKYyIiNQmfw3kzjZf3/MZCO1mWTsinkZhRETkQs6chI1jzNdfdKWmZ0QcpDAiInIhOY9ByT5ztb6BcOVC8PWzticRD6MwIiJSk/zV8O0c8/XxUyG0q3X9iHgohRERkeo4Oj3TOgXi/mhdPyIeTGFERKQ6OY9AyX5ztX5Bmp4RqQeFERGRX7N9Ct++bL6+53MQEmddPyIeTmFEROSXzpyATQ5Mz7S5GuIesq4fES+gMCIi8ktf/AVKDpir9QuC5AWanhGpJ4UREZGf2T6B3a+Yr4/PgJAu1vUj4iUURkREAM4Uw8ax5uvbXANxf7CuHxEvojAiIgKV0zOn8szV+jWtXD3joz+hIg1Bv0kiIoc/ht2vmq+Pz4DgTtb1I+JlFEZExLuVFcGme83Xt+kDcQ9a14+IF1IYERHv9sWf4dRBc7V+zeDKBZqeEWlg+o0SEe/1/Uew5zXz9QnTNT0jYgGFERHxTmVFsNmB6ZnwftBlgnX9iHgxhRER8U5b0+HUIXO1mp4RsZR+s0TE+3y/AvYuMF9/+fPQooN1/Yh4OYUREfEuZYWwaZz5+vD+0Hm8Vd2ICAojIuJttqbD6e/M1fo31/SMSCPQb5iIeI/vlsPehebrE56HFpdY14+IAAojIuItyn6AzQ5Mz0RcC51/Z10/ImKnMCIi3iH7j3D6e3O1/i0gWdMzIo1Fv2ki4vm++xD2vW6+/vIXoEWsZe2ISFUKIyLi2RyenrkeOt1vXT8ich6FERHxbJ8/BKcPm6v1bwFXzgcfH2t7EpEqFEZExHMd+g/s/6f5+iv+Bs3bW9ePiFSrTmFkzpw5xMbGEhQURHJyMps3b75gfWFhIRMmTCAqKorAwEC6dOnC8uXL69SwiIgppcdh833m6yMHQEcHpnNEpMH4O3rAkiVLSE9PZ+7cuSQnJzNr1iwGDRrErl27CA8PP6++rKyMAQMGEB4ezttvv03btm05cOAALVu2bIj+RUSql/0Q/GgzV+sfDMmvaXpGxEkcDiMzZ85k3LhxpKWlATB37lw+/PBDFixYwGOPPXZe/YIFCzh+/DgbNmygSZMmAMTGxtavaxGRCzn0Pux/w3z9FX+D5u2s60dELsihaZqysjKys7NJTU09dwJfX1JTU8nKyqr2mGXLlpGSksKECROIiIjgsssuY9q0aZSXl9f4OqWlpRQXF1fZRERMKT0Gmx1YDRM5EDrea10/IlIrh8JIQUEB5eXlREREVNkfERGBzVb9cOjevXt5++23KS8vZ/ny5Tz11FP87W9/Y+rUqTW+TkZGBqGhofYtJibGkTZFxJt9/gf4Md9cbZMQTc+IuADLV9NUVFQQHh7Oq6++SmJiIsOGDeOJJ55g7ty5NR4zceJEioqK7NvBgwetblNEPMHB9+DAm+brr5gJzfWPHRFnc+iakdatW+Pn50d+ftV/deTn5xMZGVntMVFRUTRp0gQ/Pz/7vm7dumGz2SgrKyMgIOC8YwIDAwkMDHSkNRHxdqXHYIsDz5KJGgwdxljXj4iY5tDISEBAAImJiWRmZtr3VVRUkJmZSUpKSrXHXH311ezevZuKigr7vtzcXKKioqoNIiIidfL5gw5Oz8zT9IyIi3B4miY9PZ158+bx+uuvs3PnTsaPH09JSYl9dc3IkSOZOHGLine truncated
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    },
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Target position (x,y,z): -0.3 0.4 0.2\n",
+      "Angles (base, shoulder, elbow, wrist): [126.8699, 74.2826, 109.5002, -35.2176]\n",
+      "Robot Angles: [126.8699, -74.2826, 109.5002, -125.2176]\n",
+      "elbow (x,y): 0.115 0.407\n",
+      "wrist (x,y): 0.408 0.2\n",
+      "tool  (x,y): 0.5 0.2\n"
+     ]
+    },
+    {
+     "data": {
+      "image/png": "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 truncated
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "draw_arm(0.3, 0.3, 0.3)\n",
+    "draw_arm(-0.3, -0.3, 0.7)\n",
+    "draw_arm(-0.3, 0.4, 0.2)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Interactive Arm"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 160,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "application/vnd.jupyter.widget-view+json": {
+       "model_id": "5617bc9f737949c4bc84c787ff88ce16",
+       "version_major": 2,
+       "version_minor": 0
+      },
+      "text/plain": [
+       "interactive(children=(FloatSlider(value=0.3, description='x', max=1.0, step=0.01), FloatSlider(value=0.3, desc…"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    },
+    {
+     "data": {
+      "text/plain": [
+       "<function __main__.draw_arm(x, y, z)>"
+      ]
+     },
+     "execution_count": 160,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "from ipywidgets import interact, FloatSlider\n",
+    "\n",
+    "# Interactive slider for z coordinate\n",
+    "interact(draw_arm,  x=FloatSlider(min=0, max=1, step=0.01, value=0.3),\n",
+    "                    y=FloatSlider(min=0, max=1, step=0.01, value=0.3),\n",
+    "                    z=FloatSlider(min=0, max=1, step=0.01, value=0.3))\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.4"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}

keyboard-down.ps1

@@ -0,0 +1,94 @@
+# A script to toggle the Touch Keyboard of Windows 11,
+# compatible with both Windows PowerShell and PowerShell 7.
+# Based on code by @torvin (https://stackoverflow.com/users/332528/torvin): https://stackoverflow.com/a/40921638
+# Based on code by @Andrea S. (https://stackoverflow.com/users/5887913/andrea-s): https://stackoverflow.com/a/55513524
+
+# Warning: Relies on undocumented behaviour of the Windows Shell
+# and may break with any update.
+# Last tested on Windows 11 Home 22000.978.
+
+Add-Type -ReferencedAssemblies $(if ($PSVersionTable.PSEdition -eq "Desktop") {"System.Drawing.dll"} else {$null}) -Language CSharp -TypeDefinition @'
+using System;
+using System.Diagnostics;
+using System.Drawing;
+using System.Runtime.InteropServices;
+
+public class TouchKeyboardController
+{
+    public static void ToggleTouchKeyboard()
+    {
+        try
+        {
+            UIHostNoLaunch uiHostNoLaunch = new UIHostNoLaunch();
+            ((ITipInvocation)uiHostNoLaunch).Toggle(GetDesktopWindow());
+            Marshal.ReleaseComObject(uiHostNoLaunch);
+        }
+        catch (COMException exc) 
+        {
+            if (exc.HResult == unchecked((int)0x80040154)) // REGDB_E_CLASSNOTREG
+            {
+                ProcessStartInfo processStartInfo = new ProcessStartInfo("TabTip.exe")
+                {
+                    UseShellExecute = true
+                };
+                using (Process process = Process.Start(processStartInfo))
+                {
+                }
+            }
+            else
+            {
+                throw;
+            }
+        }
+    }
+
+    [ComImport, Guid("4ce576fa-83dc-4F88-951c-9d0782b4e376")]
+    class UIHostNoLaunch
+    {
+    }
+
+    [ComImport, Guid("37c994e7-432b-4834-a2f7-dce1f13b834b")]
+    [InterfaceType(ComInterfaceType.InterfaceIsIUnknown)]
+    interface ITipInvocation
+    {
+        void Toggle(IntPtr hwnd);
+    }
+
+    [DllImport("user32.dll", SetLastError = false)]
+    static extern IntPtr GetDesktopWindow();
+
+
+    public static bool IsInputPaneOpen()
+    {
+        FrameworkInputPane frameworkInputPane = new FrameworkInputPane();
+        Rectangle rect;
+        ((IFrameworkInputPane)frameworkInputPane).Location(out rect);
+        Marshal.ReleaseComObject(frameworkInputPane);
+        return !rect.IsEmpty;
+    }
+
+    [ComImport, Guid("d5120aa3-46ba-44c5-822d-ca8092c1fc72")]
+    public class FrameworkInputPane
+    {
+    }
+
+    [ComImport, Guid("5752238b-24f0-495a-82f1-2fd593056796")]
+    [InterfaceType(ComInterfaceType.InterfaceIsIUnknown)]
+    public interface IFrameworkInputPane
+    {
+        int Advise([MarshalAs(UnmanagedType.IUnknown)] object pWindow, [MarshalAs(UnmanagedType.IUnknown)] object pHandler, out int pdwCookie);
+        int AdviseWithHWND(IntPtr hwnd, [MarshalAs(UnmanagedType.IUnknown)] object pHandler, out int pdwCookie);
+        int Unadvise(int pdwCookie);
+        int Location(out Rectangle prcInputPaneScreenLocation);
+    }
+}
+'@
+
+# Toggle the Touch Keyboard regardless of whether it is currently shown or not.
+#[TouchKeyboardController]::ToggleTouchKeyboard()
+
+# Alternatively, if you only want to show the Touch Keyboard
+# and not hide it if it is already active:
+if ([TouchKeyboardController]::IsInputPaneOpen()) {
+    [TouchKeyboardController]::ToggleTouchKeyboard()
+}

keyboard-up.ps1

@@ -0,0 +1,94 @@
+# A script to toggle the Touch Keyboard of Windows 11,
+# compatible with both Windows PowerShell and PowerShell 7.
+# Based on code by @torvin (https://stackoverflow.com/users/332528/torvin): https://stackoverflow.com/a/40921638
+# Based on code by @Andrea S. (https://stackoverflow.com/users/5887913/andrea-s): https://stackoverflow.com/a/55513524
+
+# Warning: Relies on undocumented behaviour of the Windows Shell
+# and may break with any update.
+# Last tested on Windows 11 Home 22000.978.
+
+Add-Type -ReferencedAssemblies $(if ($PSVersionTable.PSEdition -eq "Desktop") {"System.Drawing.dll"} else {$null}) -Language CSharp -TypeDefinition @'
+using System;
+using System.Diagnostics;
+using System.Drawing;
+using System.Runtime.InteropServices;
+
+public class TouchKeyboardController
+{
+    public static void ToggleTouchKeyboard()
+    {
+        try
+        {
+            UIHostNoLaunch uiHostNoLaunch = new UIHostNoLaunch();
+            ((ITipInvocation)uiHostNoLaunch).Toggle(GetDesktopWindow());
+            Marshal.ReleaseComObject(uiHostNoLaunch);
+        }
+        catch (COMException exc) 
+        {
+            if (exc.HResult == unchecked((int)0x80040154)) // REGDB_E_CLASSNOTREG
+            {
+                ProcessStartInfo processStartInfo = new ProcessStartInfo("TabTip.exe")
+                {
+                    UseShellExecute = true
+                };
+                using (Process process = Process.Start(processStartInfo))
+                {
+                }
+            }
+            else
+            {
+                throw;
+            }
+        }
+    }
+
+    [ComImport, Guid("4ce576fa-83dc-4F88-951c-9d0782b4e376")]
+    class UIHostNoLaunch
+    {
+    }
+
+    [ComImport, Guid("37c994e7-432b-4834-a2f7-dce1f13b834b")]
+    [InterfaceType(ComInterfaceType.InterfaceIsIUnknown)]
+    interface ITipInvocation
+    {
+        void Toggle(IntPtr hwnd);
+    }
+
+    [DllImport("user32.dll", SetLastError = false)]
+    static extern IntPtr GetDesktopWindow();
+
+
+    public static bool IsInputPaneOpen()
+    {
+        FrameworkInputPane frameworkInputPane = new FrameworkInputPane();
+        Rectangle rect;
+        ((IFrameworkInputPane)frameworkInputPane).Location(out rect);
+        Marshal.ReleaseComObject(frameworkInputPane);
+        return !rect.IsEmpty;
+    }
+
+    [ComImport, Guid("d5120aa3-46ba-44c5-822d-ca8092c1fc72")]
+    public class FrameworkInputPane
+    {
+    }
+
+    [ComImport, Guid("5752238b-24f0-495a-82f1-2fd593056796")]
+    [InterfaceType(ComInterfaceType.InterfaceIsIUnknown)]
+    public interface IFrameworkInputPane
+    {
+        int Advise([MarshalAs(UnmanagedType.IUnknown)] object pWindow, [MarshalAs(UnmanagedType.IUnknown)] object pHandler, out int pdwCookie);
+        int AdviseWithHWND(IntPtr hwnd, [MarshalAs(UnmanagedType.IUnknown)] object pHandler, out int pdwCookie);
+        int Unadvise(int pdwCookie);
+        int Location(out Rectangle prcInputPaneScreenLocation);
+    }
+}
+'@
+
+# Toggle the Touch Keyboard regardless of whether it is currently shown or not.
+#[TouchKeyboardController]::ToggleTouchKeyboard()
+
+# Alternatively, if you only want to show the Touch Keyboard
+# and not hide it if it is already active:
+if (-not [TouchKeyboardController]::IsInputPaneOpen()) {
+    [TouchKeyboardController]::ToggleTouchKeyboard()
+}

led_control.py

@@ -0,0 +1,683 @@
+#!/usr/bin/env python3
+
+import sacn
+import time
+import sys
+import yaml
+import math
+import random
+from util import fprint
+import platform    # For getting the operating system name
+import subprocess  # For executing a shell command
+from util import win32
+import cv2
+import numpy as np
+from uptime import uptime
+
+sender = None
+debug = True
+config = None
+leds = None
+leds_size = None
+leds_normalized = None
+controllers = None
+data = None
+exactdata = None
+rings = None
+ringstatus = None
+mode = "Startup"
+firstrun = True
+changecount = 0
+animation_time = 0
+start = uptime()
+
+def ping(host):
+    #Returns True if host (str) responds to a ping request.
+
+    # Option for the number of packets as a function of
+    if win32:
+        param1 = '-n'
+        param2 = '-w'
+        param3 = '250'
+    else:
+        param1 = '-c'
+        param2 = '-W'
+        param3 = '0.25'
+
+    # Building the command. Ex: "ping -c 1 google.com"
+    command = ['ping', param1, '1', param2, param3, host]
+
+    return subprocess.call(command, stdout=subprocess.DEVNULL, stderr=subprocess.STDOUT) == 0
+
+def map():
+    global config
+    global leds
+    global leds_size
+    global leds_normalized
+    global controllers
+    global rings
+    global ringstatus
+    global animation_time
+    
+
+    with open('config.yml', 'r') as fileread:
+        #global config
+        config = yaml.safe_load(fileread)
+
+    animation_time = config["animation_time"]
+    leds = list()
+    leds_size = list()
+    controllers = list()
+    rings = list(range(len(config["position_map"])))
+    ringstatus = list(range(len(config["position_map"])))
+    #print(rings)
+    #fprint(config["led"]["map"])
+    generate_map = False
+    map = list()
+    for shape in config["led"]["map"]:
+        if shape["type"] == "circle":
+            
+            if generate_map:
+                map.append((shape["pos"][1],shape["pos"][0]))
+            #fprint(shape["pos"])
+            anglediv = 360.0 / shape["size"]
+            angle = 0
+            radius = shape["diameter"] / 2
+            lednum = shape["start"]
+            for item in config['position_map']:
+            # Check if the current item's position matches the target position
+                #print(item['pos'],(shape["pos"][1],shape["pos"][0]))
+                if tuple(item['pos']) == (shape["pos"][1],shape["pos"][0]):
+                    rings[item["index"]] = (shape["pos"][1],shape["pos"][0],lednum,lednum+shape["size"]) # rings[index] = x, y, startpos, endpos
+                    ringstatus[item["index"]] = [None, None]
+                    break
+            if len(leds) < lednum + shape["size"]:
+                for x in range(lednum + shape["size"] - len(leds)):
+                    leds.append(None)
+                    leds_size.append(None)
+            while angle < 359.999:
+                tmpangle = angle + shape["angle"]
+                x = math.cos(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][1] # flip by 90 degress when we changed layout
+                y = math.sin(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][0]
+                leds[lednum] = (x,y)
+                lednum = lednum + 1
+                angle = angle + anglediv
+        
+        elif shape["type"] == "strip":
+            angle = shape["angle"]
+            lednum = shape["start"]
+            length = shape["length"]
+            distdiv = length / shape["size"]
+            dist = distdiv / 2
+            xmov = math.cos(angle * (math.pi / 180.0)) * distdiv
+            ymov = math.sin(angle * (math.pi / 180.0)) * distdiv
+            pos = shape["pos"]
+            if len(leds) < lednum + shape["size"]:
+                for x in range(lednum + shape["size"] - len(leds)):
+                    leds.append(None)
+                    leds_size.append(None)
+            
+            while dist < length:
+                leds[lednum] = (pos[0], pos[1])
+                pos[0] += xmov
+                pos[1] += ymov
+                dist += distdiv
+                lednum = lednum + 1
+
+    if generate_map:
+        map = sorted(map, key=lambda x: (-x[1], x[0]))
+        print(map)
+        import matplotlib.pyplot as plt
+        plt.axis('equal')
+        x, y = zip(*map)
+        plt.scatter(x, y, s=12)
+        #plt.plot(x, y, marker='o')
+        #plt.scatter(*zip(*leds), s=3)
+        for i, (x_pos, y_pos) in enumerate(map):
+            plt.text(x_pos, y_pos, str(i), color="red", fontsize=12)
+        plt.savefig("map2.png", dpi=600, bbox_inches="tight")
+        data = {"map": [{"index": i, "pos": str(list(pos))} for i, pos in enumerate(map)]}
+        yaml_str = yaml.dump(data, default_flow_style=False)
+        print(yaml_str)
+
+    print(rings)
+    flag = 0
+    for x in leds:
+        if x is None:
+            flag = flag + 1
+    if flag > 0:
+        fprint("Warning: Imperfect LED map ordering. Hiding undefined lights.")
+        for x in range(len(leds)):
+            if leds[x] is None:
+                leds[x] = (0, 0)
+
+
+    #leds = tmpleds.reverse()
+    #fprint(leds)
+
+    # controller mapping
+    for ctrl in config["led"]["controllers"]:
+        if len(controllers) < ctrl["universe"]+1:
+            for x in range(ctrl["universe"]+1 - len(controllers)):
+                controllers.append(None)
+
+        controllers[ctrl["universe"]] = (ctrl["ledstart"],ctrl["ledend"]+1,ctrl["ip"])
+        for x in range(ctrl["ledstart"],ctrl["ledend"]+1):
+            leds_size[x] = len(ctrl["mode"])
+    #fprint(controllers)
+    
+    if(debug):
+        import matplotlib.pyplot as plt
+        plt.axis('equal')
+        for ctrl in controllers:
+            plt.scatter(*zip(*leds[ctrl[0]:ctrl[1]]), s=2)
+        #plt.scatter(*zip(*leds), s=3)
+        plt.savefig("map.png", dpi=600, bbox_inches="tight")
+
+    leds_adj = [(x-min([led[0] for led in leds]), # push to zero start
+                    y-min([led[1] for led in leds]) )
+                   for x, y in leds]
+    
+    leds_normalized = [(x / max([led[0] for led in leds_adj]), 
+                    y / max([led[1] for led in leds_adj]))
+                   for x, y in leds_adj]
+    #return leds, controllers
+
+def init():
+    map()
+    global sender
+    global config
+    global leds
+    global leds_size
+    global controllers
+    global data
+    global exactdata
+    sender = sacn.sACNsender(fps=config["led"]["fps"], universeDiscovery=False)
+    sender.start()  # start the sending thread
+    """for x in range(len(controllers)):
+        print("Waiting for the controller at", controllers[x][2], "to be online...", end="")
+        count = 0
+        while not ping(controllers[x][2]):
+            count = count + 1
+            if count >= config["led"]["timeout"]:
+                fprint(" ERROR: controller still offline after " + str(count) + " seconds, continuing...")
+                break
+        if count < config["led"]["timeout"]:
+            fprint(" done")"""
+    for x in range(len(controllers)):
+        print("Activating controller", x, "at", controllers[x][2], "with", controllers[x][1]-controllers[x][0], "LEDs.")
+        sender.activate_output(x+1)  # start sending out data
+        sender[x+1].destination = controllers[x][2]
+    sender.manual_flush = True
+
+    # initialize global pixel data list
+    data = list()
+    exactdata = list()
+    for x in range(len(leds)):
+        if leds_size[x] == 3:
+            exactdata.append(None)
+            data.append((20,20,127))
+        elif leds_size[x] == 4:
+            exactdata.append(None)
+            data.append((50,50,255,0))
+        else:
+            exactdata.append(None)
+            data.append((0,0,0))
+    sendall(data)
+    #time.sleep(50000)    
+    fprint("Running start-up test sequence...")
+    for y in range(1):
+        for x in range(len(leds)):
+            setpixel(0,60,144,x)
+        sendall(data)
+        #time.sleep(2)
+    alloffsmooth()
+
+def sendall(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
+    global controllers
+    global sender
+    sender.manual_flush = True
+    for x in range(len(controllers)):
+        sender[x+1].dmx_data = list(sum(datain[controllers[x][0]:controllers[x][1]] , ())) # flatten the subsection of the data array
+    
+    sender.flush()
+    time.sleep(0.002)
+    #sender.flush() # 100% reliable with 2 flushes, often fails with 1
+    #time.sleep(0.002)
+    #sender.flush()
+
+def fastsendall(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
+    global controllers
+    global sender
+    sender.manual_flush = False
+    print(datain[controllers[0][0]:controllers[0][1]])
+    for x in range(len(controllers)):
+        sender[x+1].dmx_data = list(sum(datain[controllers[x][0]:controllers[x][1]] , ())) # flatten the subsection of the data array
+    
+    sender.flush()
+
+def senduniverse(datain, lednum):
+    # send all LED data for 1 controller/universe
+    # data must have all LED data in it as [(R,G,B,)] tuples in an array, 1 tuple per pixel
+    global controllers
+    global sender
+    for x in range(len(controllers)):
+        if lednum >= controllers[x][0] and lednum < controllers[x][1]:
+            sender[x+1].dmx_data = list(sum(datain[controllers[x][0]:controllers[x][1]] , ())) # flatten the subsection of the data array
+    
+    sender.flush()
+    time.sleep(0.004)
+    #sender.flush() # 100% reliable with 2 flushes, often fails with 1
+    #time.sleep(0.002)
+    #sender.flush()
+
+def alloff():
+    tmpdata = list()
+    for x in range(len(leds)):
+        if leds_size[x] == 3:
+            tmpdata.append((0,0,0))
+        elif leds_size[x] == 4:
+            tmpdata.append((0,0,0,0))
+        else:
+            tmpdata.append((0,0,0))
+    sendall(tmpdata)
+    #sendall(tmpdata)
+    #sendall(tmpdata) #definitely make sure it's off
+
+def allon():
+    global data
+    sendall(data)
+
+def alloffsmooth():
+    tmpdata = data
+    for x in range(256):
+        for x in range(len(data)):
+            setpixel(tmpdata[x][0]-1,tmpdata[x][1]-1,tmpdata[x][2]-1, x)
+        sendall(tmpdata)
+
+    alloff()
+
+def setpixelnow(r, g, b, num):
+    # slight optimization: send only changed universe
+    # unfortunately no way to manual flush data packets to only 1 controller with this sACN library
+    global data
+    setpixel(r,g,b,num)
+    senduniverse(data, num)
+
+def setmode(stmode, r=0,g=0,b=0):
+    global mode
+    global firstrun
+    if stmode is not None:
+        if mode != stmode:
+            firstrun = True
+    
+        mode = stmode
+    
+
+def setring(r,g,b,idx):
+    
+    ring = rings[idx]
+    for pixel in range(ring[2],ring[3]):
+        setpixel(r,g,b,pixel)
+    #global data
+    #senduniverse(data, ring[2])
+
+def runmodes(ring = -1, speed = 1):
+    global mode
+    global firstrun
+    global changecount
+    fprint("Mode: " + str(mode))
+    if mode == "Startup":
+        # loading animation. cable check
+        if firstrun:
+            changecount = animation_time * 3
+            firstrun = False
+            for x in range(len(ringstatus)):
+                ringstatus[x] = [True, animation_time]
+            
+        if changecount > 0:
+            fprint(changecount)
+            changecount = fadeorder(0,len(leds), changecount, 0,50,100)
+        else:
+            setmode("Startup2")
+            
+                
+    elif mode == "Startup2":
+        if firstrun:
+            firstrun = False
+            
+        else:
+            for x in range(len(ringstatus)):
+                if ringstatus[x][0]:
+                    setring(0, 50, 100, x)
+                else:
+                    ringstatus[x][1] = fadeall(rings[x][2],rings[x][3], ringstatus[x][1], 100,0,0) # not ready
+
+    elif mode == "StartupCheck":
+        if firstrun:
+            firstrun = False
+            for x in range(len(ringstatus)):
+                ringstatus[x] = [False, animation_time]
+        else:
+            for x in range(len(ringstatus)):
+                if ringstatus[x][0]:
+                    ringstatus[x][1] = fadeall(rings[x][2],rings[x][3], ringstatus[x][1], 0,50,100) # ready  
+                else:
+                    setring(100, 0, 0, x)
+
+    elif mode == "GrabA":
+        if firstrun:
+            firstrun = False
+            changecount = animation_time # 100hz
+        if changecount > 0:
+            changecount = fadeall(rings[ring][2],rings[ring][3], changecount, 100,0,0)
+        else:
+            setring(100,0,0,ring)
+            setmode("GrabB")
+    elif mode == "GrabB":
+        if firstrun:
+            firstrun = False
+            changecount = animation_time # 100hz
+        if changecount > 0:
+            changecount = fadeorder(rings[ring][2],rings[ring][3], changecount, 0,100,0)
+        else:
+            setring(0,100,0,ring)
+            setmode("idle")
+    elif mode == "GrabC":
+        if firstrun:
+            firstrun = False
+            changecount = animation_time # 100hz
+        if changecount > 0:
+            changecount = fadeall(rings[ring][2],rings[ring][3], changecount, 0,50,100)
+        else:
+            setring(0,50,100,ring)
+            setmode("idle")
+    elif mode == "idle":
+        time.sleep(0)
+
+    sendall(data)
+            
+def fadeall(idxa,idxb,sizerem,r,g,b):
+    if sizerem < 1:
+        return 0
+    global exactdata
+    sum = 0
+    for x in range(idxa,idxb):
+        if exactdata[x] is None:
+            exactdata[x] = data[x]
+        old = exactdata[x]
+        dr = (r - old[0])/sizerem
+        sum += abs(dr)
+        dr += old[0]
+        dg = (g - old[1])/sizerem
+        sum += abs(dg)
+        dg += old[1]
+        db = (b - old[2])/sizerem 
+        db += old[2]
+        sum += abs(db)
+        exactdata[x] = (dr, dg, db)
+        #print(new)
+        setpixel(dr, dg, db, x)
+        if sizerem == 1:
+            exactdata[x] = None
+    if sum == 0 and sizerem > 2:
+        sizerem = 2
+    return sizerem - 1
+        
+def fadeorder(idxa,idxb,sizerem,r,g,b):
+    if sizerem < 1:
+        return 0
+    global exactdata
+    drs = 0
+    dgs = 0
+    dbs = 0
+    sum = 0
+    for x in range(idxa,idxb):
+        if exactdata[x] is None:
+            exactdata[x] = data[x]
+        old = exactdata[x]
+        dr = (r - old[0])
+        dg = (g - old[1])
+        db = (b - old[2])
+        drs += dr
+        dgs += dg
+        dbs += db
+    
+    drs /= sizerem
+    dgs /= sizerem
+    dbs /= sizerem
+    sum += abs(drs) + abs(dgs) + abs(dbs)
+    print(drs,dgs,dbs)
+    for x in range(idxa,idxb):
+        old = exactdata[x]
+        new = list(old)
+        if drs > 0:
+            if old[0] + drs > r:
+                new[0] = r
+                drs -= r - old[0]
+            else:
+                new[0] = old[0] + drs
+                drs = 0
+        if dgs > 0:
+            if old[1] + dgs > g:
+                new[1] = g
+                dgs -= g - old[1]
+            else:
+                new[1] = old[1] + dgs
+                dgs = 0
+        if dbs > 0:
+            if old[2] + dbs > b:
+                new[2] = b
+                dbs -= b - old[2]
+            else:
+                new[2] = old[2] + dbs
+                dbs = 0
+
+        if drs < 0:
+            if old[0] + drs < r:
+                new[0] = r
+                drs -= r - old[0]
+            else:
+                new[0] = old[0] + drs
+                drs = 0
+        if dgs < 0:
+            if old[1] + dgs < g:
+                new[1] = g
+                dgs -= g - old[1]
+            else:
+                new[1] = old[1] + dgs
+                dgs = 0
+        if dbs < 0:
+            if old[2] + dbs < b:
+                new[2] = b
+                dbs -= b - old[2]
+            else:
+                new[2] = old[2] + dbs
+                dbs = 0
+
+        if drs != 0 or dgs != 0 or dbs != 0:
+            exactdata[x] = new
+            setpixel(new[0],new[1],new[2],x)
+        
+        if sizerem == 1:
+            exactdata[x] = None
+
+    if sum == 0 and sizerem > 2:
+        sizerem = 2
+    return sizerem - 1
+
+
+def setpixel(r, g, b, num):
+    global data
+    global leds_size
+    # constrain values
+    if r < 0:
+        r = 0
+    elif r > 255:
+        r = 255
+    if g < 0:
+        g = 0
+    elif g > 255:
+        g = 255
+    if b < 0:
+        b = 0
+    elif b > 255:
+        b = 255
+
+    if leds_size[num] == 3:
+        data[num] = (int(r), int(g), int(b))
+    elif leds_size[num] == 4: # cut out matching white and turn on white pixel instead
+        data[num] = (( int(r) - int(min(r,g,b)), int(g) - int(min(r,g,b)), int(b) - int(min(r,g,b)), int(min(r,g,b))) )
+    else:
+        data[num] = (int(r), int(g), int(b))
+    
+
+def close():
+    global sender
+    time.sleep(0.5)
+    sender.stop()
+
+def mapimage(image, fps=90):
+    global start
+    while uptime() - start < 1/fps:
+        time.sleep(0.00001)
+    fprint(1 / (uptime() - start))
+    start = uptime()
+    minsize = min(image.shape[0:2])
+    leds_normalized2 = [(x * minsize, 
+                        y * minsize)
+                        for x, y in leds_normalized]
+    
+    cv2.imshow("video", image)
+    cv2.waitKey(1)
+
+    
+    #im_rgb = image #cv2.cvtColor(image, cv2.COLOR_BGR2RGB) # OpenCV uses BGR format by default
+    avgx = 0
+    avgy = 0
+    for xx in range(len(leds_normalized2)):
+        led = leds_normalized2[xx]
+        x, y = int(round(led[0])), int(round(led[1]))
+        
+        if x < image.shape[1] and y < image.shape[0]:
+            #avgx += x
+            #avgy += y
+            color = tuple(image[y, x])
+            setpixel(color[2]/2,color[1]/2,color[0]/2,xx) # swap b & r
+            #print(color)
+        else:
+            #avgx += x
+            #avgy += y
+            setpixel(0,0,0,xx)
+    #avgx /= len(leds)
+    #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]) ))
+    global data
+    fastsendall(data)
+
+def mainloop(stmode, ring = -1, fps = 100, preview = False):
+    global start
+    while uptime() - start < 1/fps:
+        time.sleep(0.00001)
+    fprint(1 / (uptime() - start))
+    start = uptime()
+    if mode is not None:
+        setmode(stmode)
+    runmodes(ring)
+    if preview:
+        drawdata()
+
+def drawdata():
+    #tmp = list()
+    #for x in len(leds):
+    #    led = leds[x]
+    #    tmp.append((led[0], led[1], data[x]))
+
+    x = [led[0] for led in leds]
+    y = [led[1] for led in leds]
+    colors = data
+    colors_normalized = [(x[0]/255, x[1]/255, x[2]/255) for x in colors]
+    # Plot the points
+    plt.scatter(x, y, c=colors_normalized)
+
+    # Optional: add grid, title, and labels
+    plt.grid(True)
+    plt.title('Colored Points')
+    plt.xlabel('X')
+    plt.ylabel('Y')
+    plt.show()
+    plt.savefig("map3.png", dpi=50, bbox_inches="tight")
+    plt.clf()
+
+def startup_animation(show):
+
+    
+    stmode = "Startup"
+    mainloop(stmode, preview=show)
+    while mode == "Startup":
+        mainloop(None, preview=show)
+    for x in range(54):
+        ringstatus[x][0] = False
+        mainloop(None, preview=show)
+
+    for x in range(animation_time):
+        mainloop(None, preview=show)
+    clear_animations()
+    stmode = "StartupCheck"
+    mainloop(stmode, preview=show)
+    clear_animations()
+
+def clear_animations():
+    for x in range(len(leds)):
+        exactdata[x] = None
+
+def do_animation(stmode, ring=-1):
+    mainloop(stmode, ring, preview=show)
+    wait_for_animation(ring)
+
+def start_animation(stmode, ring=-1):
+    mainloop(stmode, ring, preview=show)
+
+def wait_for_animation(ring=-1):
+    while mode != "idle":
+        mainloop(None, ring, preview=show)
+
+if __name__ == "__main__":
+    init()
+    import matplotlib.pyplot as plt
+    """cap = cv2.VideoCapture('badapple.mp4')
+    while cap.isOpened():
+        ret, frame = cap.read()
+        if not ret:
+            break
+        mapimage(frame, fps=30)"""
+    show = True
+    ring = 1
+    startup_animation(show)
+    for x in range(54):
+        ringstatus[x][0] = True
+        mainloop(None, preview=show)
+    for x in range(animation_time):
+        mainloop(None, preview=show)
+    
+    do_animation("GrabA", 1)
+
+    do_animation("GrabA", 5)
+    start_animation("GrabC", 1)
+    
+    wait_for_animation(1)
+    do_animation("GrabC", 5)
+    
+    close()
+    #sys.exit(0)
+
+
+    # blue : default
+    # green : target
+    # yellow : crosshair
+    # red : missing 
+    # uninitialized : red/purple?

process_video.py

@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+
+import cv2
+import banner_ivu_export
+import numpy as np
+from util import fprint
+
+class qr_reader():
+    camera = None
+    def __init__(self, ip, port):
+        self.camera = banner_ivu_export.DriveImg(ip, port)
+
+    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
+        
+
+class video_streamer():
+    camera = None
+    def __init__(self, ip, port):
+        self.camera = banner_ivu_export.DriveImg(ip, port)
+
+    def get_frame(self):
+        try:
+            return self.camera.read_img()
+        except:
+            return False
+
+if __name__ == "__main__":
+    test = qr_reader("192.168.1.125", 32200)
+    while True:
+        fprint(test.read_qr(5))

read_datasheet.py

@@ -2,34 +2,47 @@
 
 # Parse Belden catalog techdata datasheets 
 
+import pandas as pd
+pd.set_option('future.no_silent_downcasting', True)
 from PyPDF2 import PdfReader
 import camelot
 import numpy as np
 from PIL import Image
 import io
+import json
+from util import fprint
+import uuid
+from util import run_cmd
+import os
 
-def parse(filename, output_dir):
+def touch(path):
+    with open(path, 'a'):
+        os.utime(path, None)
+
+def parse(filename, output_dir, partnum, dstype):
 
     # Extract table data
 
     tables = camelot.read_pdf(filename, pages="1-end", flavor='lattice', backend="poppler", 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'])
-    #print("Total tables extracted:", tables.n)
+    #fprint("Total tables extracted:", tables.n)
     n = 0
     pagenum = 0
     reader = PdfReader(filename)
     page = reader.pages[0]
     table_list = {}
+
     for table in tables:
+        table.df.infer_objects(copy=False)
         table.df.replace('', np.nan, inplace=True)
         table.df.dropna(inplace=True, how="all")
         table.df.dropna(inplace=True, axis="columns", how="all")
         table.df.replace(np.nan, '', inplace=True)
         
         if not table.df.empty:
-            #print("\nTable " + str(n))
+            #fprint("\nTable " + str(n))
             # Extract table names
             table_start = table.cells[0][0].lt[1] # Read top-left cell's top-left coordinate
-            #print(table_start)
+            #fprint(table_start)
             ymin = table_start
             ymax = table_start + 10
             if pagenum != table.page - 1:
@@ -43,21 +56,22 @@ def parse(filename, output_dir):
 
             page.extract_text(visitor_text=visitor_body)
             text_body = "".join(parts).strip('\n')
-            #print(text_body)
-
-
+            if len(text_body) == 0:
+                text_body = str(n)
+            #fprint(text_body)
+            
 
             table_list[text_body] = table.df
             #table.to_html("table" + str(n) + ".html")
             
-            #print(table.df)
+            #fprint(table.df)
             #camelot.plot(table, kind='grid').savefig("test" + str(n) + ".png")
             n=n+1
     #camelot.plot(tables[0], kind='grid').savefig("test.png")
     
-    tables.export(output_dir + '/techdata.json', f='json')
+    #tables.export(output_dir + '/techdata.json', f='json')
 
-    # print(table_list)
+    # fprint(table_list)
     # Extract Basic details - part name & description, image, etc
 
     reader = PdfReader(filename)
@@ -66,7 +80,7 @@ def parse(filename, output_dir):
     skip = False
     for image_file_object in page.images:
         if image_file_object.name == "img0.png" and skip == False:
-            #print(Image.open(io.BytesIO(image_file_object.data)).mode)
+            #fprint(Image.open(io.BytesIO(image_file_object.data)).mode)
             if Image.open(io.BytesIO(image_file_object.data)).mode == "P":
                 skip = True
                 continue
@@ -81,9 +95,174 @@ def parse(filename, output_dir):
                 with open(output_dir + "/brand.png", "wb") as fp:
                     fp.write(image_file_object.data)
                     count += 1
-    return table_list
+
+    # Table parsing and reordring
+    tables = dict()
+    torename = dict()
+    previous_table = ""
+    for table_name in table_list.keys():
+        # determine shape: horizontal or vertical
+        table = table_list[table_name]
+        rows = table.shape[0]
+        cols = table.shape[1]
+        vertical = None
+        if rows > 2 and cols == 2:
+            vertical = True
+        elif cols == 1:
+            vertical = False
+        elif rows == 1:
+            vertical = True
+        elif cols == 2: # and rows <= 2
+            # inconsistent
+            if table.iloc[0, 0].find(":") == len(table.iloc[0, 0]) - 1: # check if last character is ":" indicating a vertical table
+                vertical = True
+            else:
+                vertical = False
+
+        elif cols > 2: # and rows <= 2
+            vertical = False
+        elif rows > 2 and cols > 2: # big table
+            vertical = False
+        else: # 1 column, <= 2 rows
+            vertical = False
+
+        # missing name check
+        for table_name_2 in table_list.keys(): 
+            if table_name_2.find(table.iloc[-1, 0]) >= 0:
+                # Name taken from table directly above - this table does not have a name
+                torename[table_name_2] = "Specs " + str(len(tables))
+                #table_list["Specs " + str(len(tables))] = table_list[table_name_2] # rename table to arbitrary altername name
+                break
+
+        if vertical:
+            out = dict()
+            for row in table.itertuples(index=False, name=None):
+                out[row[0].replace("\n", " ").replace(":", "")] = row[1]
+
+        else: # horizontal
+            out = dict()
+            for col in table.columns:
+                col_data = tuple(table[col])
+                out[col_data[0].replace("\n", " ")] = col_data[1:]
+        
+        tables[table_name] = out
+
+
+
+        # multi-page table check
+        if dstype == "Belden":
+            if table_name.isdigit() and len(tables) > 1:
+                #fprint(table_name)
+                #fprint(previous_table)
+                
+                
+                
+                
+                main_key = previous_table
+                cont_key = table_name
+                #fprint(tables)
+                if vertical == False:
+                    main_keys = list(tables[main_key].keys())
+                    for i, (cont_key, cont_values) in enumerate(tables[cont_key].items()):
+                        if i < len(main_keys):
+                            #fprint(tables[main_key][main_keys[i]])
+                            tables[main_key][main_keys[i]] = (tuple(tables[main_key][main_keys[i]]) + (cont_key,) + cont_values)
+    
+                    del tables[table_name]
+    
+                else:
+                    for key in tables[cont_key].keys():
+                        tables[main_key][key] = tables[cont_key][key]
+                    del tables[table_name]
+
+        previous_table = table_name
+    
+    # remove renamed tables
+    for table_name in torename.keys():
+        tables[torename[table_name]] = tables[table_name]
+        del tables[table_name]
+    # remove multi-line values that occasionally squeak through
+    def replace_newlines_in_dict(d):
+        for key, value in d.items():
+            if isinstance(value, str):
+                # Replace \n with " " if the value is a string
+                d[key] = value.replace('\n', ' ')
+            elif isinstance(value, dict):
+                # Recursively call the function if the value is another dictionary
+                replace_newlines_in_dict(value)
+        return d
+    
+    tables = replace_newlines_in_dict(tables)
+
+    # summary
+
+    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)}
+    
+    output_table["searchspecs"]["id"] = id
+    
+
+
+    #print(output_table)
+
+    run_cmd("rm \"" + output_dir + "\"/*.json") # not reliable!
+    with open(output_dir + "/" + output_table["searchspecs"]["id"] + ".json", 'w') as json_file:
+        json.dump(output_table["searchspecs"], json_file)
+    touch(output_dir + "/parsed")
+    return output_table
+
+
+def flatten(tables):
+    def convert_to_number(s):
+        try:
+            # First, try converting to an integer.
+            return int(s)
+        except ValueError:
+            # If that fails, try converting to a float.
+            try:
+                return float(s)
+            except ValueError:
+                # If it fails again, return the original string.
+                return s
+    out = dict()
+    #print("{")
+    for table in tables.keys():
+        for key in tables[table].keys():
+            if len(key) < 64:
+                keyname = key
+            else:
+                keyname = key[0:64]
+
+            fullkeyname = (table + ": " + keyname).replace(".","")
+            if type(tables[table][key]) is not tuple:
+                out[fullkeyname] = convert_to_number(tables[table][key])
+                #print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
+            elif len(tables[table][key]) == 1:
+                out[fullkeyname] = convert_to_number(tables[table][key][0])
+                
+                #print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
+
+            # if the item has at least two commas in it, split it
+            if tables[table][key].count(',') > 0:
+                out[fullkeyname] = list(map(lambda x: x.strip(), tables[table][key].split(",")))
+                #print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
+
+            # if the item has at least two commas in it, split it
+            if tables[table][key].count(',') > 0:
+                out[fullkeyname] = list(map(lambda x: x.strip(), tables[table][key].split(",")))
+                print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
+
+
+    #print("}")
+    return out
 
     
 
 if __name__ == "__main__":
-    parse("test2.pdf", "10GXS13")
+    parse("test2.pdf", "cables/10GXS13", "10GXS13")

requirements.txt

@@ -4,7 +4,17 @@ opencv-python
 pypdf2==2.12.1
 alive-progress
 requests
-psycopg2
+git+https://github.com/Byeongdulee/python-urx.git
+meilisearch
+pyyaml
+Flask
+selenium
+sacn
+uptime
+websockets
+numpy
+scipy
+ipywidgets
 
 # Development
-matplotlib
+matplotlib

run.py

@@ -0,0 +1,426 @@
+#!/usr/bin/env python3
+
+import get_specs
+import traceback
+#import logging
+import yaml
+from multiprocessing import Process, Manager, Pool, TimeoutError, active_children, log_to_stderr, Pipe, Queue
+from multiprocessing.pool import Pool
+import multiprocessing
+from time import sleep
+from util import fprint
+from util import run_cmd
+import sys
+import ur5_control
+import os
+import signal
+import socket
+from flask import Flask, render_template, request
+import requests
+import led_control
+import server
+import asyncio
+import json
+import process_video
+
+
+
+config = None
+keeprunning = True
+arm_ready = False
+led_ready = False
+camera_ready = False
+sensor_ready = False
+vm_ready = False
+killme = None
+#pool = None
+serverproc = None
+camera = None
+
+to_server_queue = Queue()
+from_server_queue = Queue()
+
+def arm_start_callback(res):
+    global arm_ready
+    arm_ready = True
+
+def led_start_callback(res):
+    global led_ready
+    led_ready = True
+
+def camera_start_callback(res):
+    global camera_ready
+    camera_ready = True
+    
+def sensor_start_callback(res):
+    global sensor_ready
+    sensor_ready = True
+
+def vm_start_callback(res):
+    global vm_ready
+    vm_ready = True
+
+def wait_for(val, name):
+    #global val
+    if val is False:
+        fprint("waiting for " + name + " to complete...")
+        while val is False:
+            sleep(0.1)
+
+def start_server_socket():
+    """app = Flask(__name__)
+
+    @app.route('/report_ip', methods=['POST'])
+    def report_ip():
+        client_ip = request.json.get('ip')
+        fprint(f"Received IP: {client_ip}")
+        # You can store or process the IP address as needed
+        return "IP Received", 200
+    
+    app.run(host='0.0.0.0', port=5000)"""
+    global to_server_queue
+    global from_server_queue
+    fprint("Starting WebSocket server...")
+    websocket_process = server.start_websocket_server(to_server_queue, from_server_queue)
+    
+    # Example
+    #to_server_queue.put("Hello, WebSocket clients!")
+    
+
+    while True:
+        #print("HI")
+
+        # Handeling Server Requests Loop, will run forever
+
+        if not from_server_queue.empty():
+            client_id, message = from_server_queue.get()
+            fprint(f"Message from client {client_id}: {message}")
+
+            # Message handler
+            try:
+                decoded = json.loads(message)
+                if "type" not in decoded:
+                    fprint("Missing \"type\" field.")
+                    continue
+                if "call" not in decoded:
+                    fprint("Missing \"call\" field.")
+                    continue
+                if "data" not in decoded:
+                    fprint("Missing \"data\" field.")
+                    continue
+
+                # if we get here, we have a "valid" data packet
+                data = decoded["data"]
+                call = decoded["call"]
+                match decoded["type"]:
+                    case "log":
+                        fprint("log message")
+                        if call == "send":
+                            fprint("webapp: " + str(data), sendqueue=to_server_queue)
+                        elif call == "request":
+                            fprint("")
+
+                    case "cable_map":
+                        fprint("cable_map message")
+                        if call == "send":
+                            fprint("")
+                        elif call == "request":
+                            fprint("")
+
+
+                    case "ping":
+                        fprint("Pong!!!")
+
+                    # Lucas' notes
+                    # Add a ping pong :) response/handler
+                    # Add a get cable response/handler
+                    #       this will tell the robot arm to move
+                    # Call for turning off everything
+
+                    # TODO Helper for converting Python Dictionaries to JSON
+                    # make function: pythonData --> { { "type": "...", "call": "...", "data": pythonData } }
+                            
+                    # to send: to_server_queue.put(("*", "JSON STRING HERE")) # replace * with UUID of client to send to one specific location
+                    
+                    case "cable_details":
+                        fprint("cable_details message")
+                        if call == "send":
+                            fprint("")
+                        elif call == "request":
+                            fprint("")
+
+                    case "cable_search":
+                        fprint("cable_search message")
+                        if call == "send":
+                            fprint("")
+                        elif call == "request":
+                            fprint("")
+
+                    case "keyboard":
+                        fprint("keyboard message")
+                        if call == "send":
+                            fprint("")
+                        elif call == "request":
+                            fprint("")
+                            if data["enabled"] == True:
+                                # todo : send this to client
+                                p = Process(target=run_cmd, args=("./keyboard-up.ps1",))
+                                p.start()
+                            elif data["enabled"] == False:
+                                p = Process(target=run_cmd, args=("./keyboard-down.ps1",))
+                                p.start()
+
+                    case "machine_settings":
+                        fprint("machine_settings message")
+                        if call == "send":
+                            fprint("")
+                        elif call == "request":
+                            fprint("")
+
+                    case _:
+                        fprint("Unknown/unimplemented data type: " + decoded["type"])
+
+
+            except:
+                fprint("Non-JSON message recieved")
+                continue
+
+
+        sleep(0.001)  # Sleep to prevent tight loop
+    
+
+
+def start_client_socket():
+    app = Flask(__name__)
+
+    @app.route('/control_client', methods=['POST'])
+    def message_from_server():
+        # Handle message from server
+        data = request.json
+        fprint(f"Message from server: {data.get('message')}")
+        return "Message received", 200
+    
+    app.run(host='0.0.0.0', port=6000)
+
+
+def check_server_online(serverip, clientip):
+    def send_ip_to_server(server_url, client_ip):
+        try:
+            response = requests.post(server_url, json={'ip': client_ip}, timeout=1)
+            fprint(f"Server response: {response.text}")
+            return True
+        except requests.exceptions.RequestException as e:
+            fprint(f"Error sending IP to server: {e}")
+            return False
+        
+    server_url = 'http://' + serverip + ':5000/report_ip'
+    while not send_ip_to_server(server_url, clientip):
+        sleep(1)
+
+    fprint("Successfully connected to server.")
+    return True
+    
+        
+def setup_server(pool):
+    # linux server setup
+    global config
+    global counter
+    global sensor_ready
+    global camera_ready
+    global led_ready
+    global arm_ready
+    global serverproc
+    global camera
+
+    pool.apply_async(ur5_control.init, (config["arm"]["ip"],), callback=arm_start_callback)
+    pool.apply_async(led_control.init, callback=led_start_callback)
+    #pool.apply_async(sensor_control.init, callback=sensor_start_callback)
+    serverproc = Process(target=start_server_socket)
+    serverproc.start()
+
+    if led_ready is False:
+        fprint("waiting for " + "LED controller initialization" + " to complete...", sendqueue=to_server_queue)
+        while led_ready is False:
+            sleep(0.1)
+    fprint("LED controllers initialized.", sendqueue=to_server_queue)
+    #to_server_queue.put("[log] LED controllers initialized.")
+    sensor_ready = True
+    if sensor_ready is False:
+        fprint("waiting for " + "Sensor Initialization" + " to complete...", sendqueue=to_server_queue)
+        while sensor_ready is False:
+            sleep(0.1)
+    fprint("Sensors initialized.", sendqueue=to_server_queue)
+
+    if camera_ready is False:
+        fprint("waiting for " + "Camera initilization" + " to complete...", sendqueue=to_server_queue)
+        # camera = process_video.qr_reader(config["cameras"]["banner"]["ip"], config["cameras"]["banner"]["port"])
+
+    fprint("Camera initialized.", sendqueue=to_server_queue)
+
+    arm_ready = True
+    if arm_ready is False:
+        fprint("waiting for " + "UR5 initilization" + " to complete...", sendqueue=to_server_queue)
+        while arm_ready is False:
+            sleep(0.1)
+    fprint("Arm initialized.", sendqueue=to_server_queue)
+    
+    
+    
+        
+    return True
+
+
+
+def mainloop_server(pool):
+    global config
+    global counter
+    global killme
+
+    if killme.value > 0:
+        killall()
+    counter = counter + 1
+
+    # fprint("Looking for QR code...")
+    # print(camera.read_qr(30))
+
+def run_loading_app():
+    
+    app = Flask(__name__)
+    @app.route('/')
+    def index():
+        return render_template('index.html')
+    
+    app.run(debug=True, use_reloader=False, port=7000)
+
+def setup_client(pool):
+    # Windows client setup
+    fprint("Opening browser...")
+    firefox = webdriver.Firefox()
+    firefox.fullscreen_window()
+    global config
+    global vm_ready
+    global serverproc
+    # Open loading wepage
+    p = Process(target=run_loading_app)
+    p.start()
+
+    
+    firefox.get('http://localhost:7000')
+    
+    # start Linux server VM
+    if config["core"]["server"] == "Hyper-V":
+        run_cmd("Start-VM -Name Jukebox*") # any and all VMs starting with "Jukebox"
+
+    # Wait for VM to start and be reachable over the network
+    serverproc = Process(target=start_client_socket)
+    serverproc.start()
+    
+    pool.apply_async(check_server_online, (config["core"]["serverip"],config["core"]["clientip"]), callback=vm_start_callback)
+
+    #wait_for(vm_ready, "VM Startup")
+
+    #global vm_ready
+    if vm_ready is False:
+        fprint("waiting for " + "VM Startup" + " to complete...")
+        while vm_ready is False:
+            sleep(0.1)
+    p.terminate()
+    firefox.get("http://" + config["core"]["serverip"] + ":8000")
+    return True
+    
+
+def mainloop_client(pool):
+    sleep(0.1)
+
+    # listen for & act on commands from VM, if needed
+    # mainly just shut down, possibly connect to wifi or something
+
+"""class Logger(object):
+    def __init__(self, filename="output.log"):
+        self.log = open(filename, "a")
+        self.terminal = sys.stdout
+
+    def write(self, message):
+        self.log.write(message)
+        #close(filename)
+        #self.log = open(filename, "a")
+        try:
+            self.terminal.write(message)
+        except:
+            sleep(0)
+        
+    def flush(self):
+        print("",end="")"""
+
+def killall():
+    procs = active_children()
+    for proc in procs:
+        proc.kill()
+    fprint("All child processes killed")
+    os.kill(os.getpid(), 9) # dirty kill of self
+
+    
+def killall_signal(a, b):
+    global config
+    if config["core"]["server"] == "Hyper-V":
+        run_cmd("Stop-VM -Name Jukebox*") # any and all VMs starting with "Jukebox"
+    killall()
+
+def error(msg, *args):
+    return multiprocessing.get_logger().error(msg, *args)
+
+class LogExceptions(object):
+    def __init__(self, callable):
+        self.__callable = callable
+
+    def __call__(self, *args, **kwargs):
+        try:
+            result = self.__callable(*args, **kwargs)
+
+        except Exception as e:
+            # Here we add some debugging help. If multiprocessing's
+            # debugging is on, it will arrange to log the traceback
+            error(traceback.format_exc())
+            # Re-raise the original exception so the Pool worker can
+            # clean up
+            raise
+
+        # It was fine, give a normal answer
+        return result
+
+class LoggingPool(Pool):
+    def apply_async(self, func, args=(), kwds={}, callback=None):
+        return Pool.apply_async(self, LogExceptions(func), args, kwds, callback)
+
+
+if __name__ == "__main__":
+    #sys.stdout = Logger(filename="output.log")
+    #sys.stderr = Logger(filename="output.log")
+    #log_to_stderr(logging.DEBUG)
+    fprint("Starting Jukebox control system...")
+    with open('config.yml', 'r') as fileread:
+        #global config
+        config = yaml.safe_load(fileread)
+
+    with Manager() as manager:
+        fprint("Spawning threads...")
+        pool = LoggingPool(processes=10)
+        counter = 0
+        killme = manager.Value('d', 0)
+        signal.signal(signal.SIGINT, killall_signal)
+        if config["core"]["mode"] == "winclient":
+            fprint("Starting in client mode.")
+            from selenium import webdriver
+            if setup_client(pool):
+                fprint("Entering main loop...")
+                while(keeprunning):
+                    mainloop_client(pool)
+
+        elif config["core"]["mode"] == "linuxserver":
+            fprint("Starting in server mode.")
+            if setup_server(pool):
+                fprint("Entering main loop...")
+                while(keeprunning):
+                    mainloop_server(pool)
+
+

search.py

@@ -0,0 +1,117 @@
+"""Interactions with the Meilisearch API for adding and searching cables."""
+from meilisearch import Client
+from meilisearch.task import TaskInfo
+from meilisearch.errors import MeilisearchApiError
+import json
+
+DEFAULT_URL = "http://localhost:7700"
+DEFAULT_APIKEY = "fluffybunnyrabbit" # I WOULD RECOMMEND SOMETHING MORE SECURE
+DEFAULT_INDEX = "cables"
+DEFAULT_FILTERABLE_ATTRS = ["partnum", "uuid", "position"] # default filterable attributes
+
+
+class JukeboxSearch:
+    """Class for interacting with the Meilisearch API."""
+    def __init__(self,
+                 url: str = None,
+                 api_key: str = None,
+                 index: str = None,
+                 filterable_attrs: list = None):
+        """Connect to Meilisearch and perform first-run tasks as necessary.
+
+        :param url: Address of the Meilisearch server. Defaults to ``http://localhost:7700`` if unspecified.
+        :param api_key: API key used to authenticate with Meilisearch. It is highly recommended to set this as something
+        secure if you can access this endpoint publicly, but you can ignore this and set Meilisearch's default API key
+        to ``fluffybunnyrabbit``.
+        :param index: The name of the index to configure. Defaults to ``cables`` if unspecified.
+        :param filterable_attrs: List of all the attributes we want to filter by."""
+        # connect to Meilisearch
+        url = url or DEFAULT_URL
+        api_key = api_key or DEFAULT_APIKEY
+        filterable_attrs = filterable_attrs or DEFAULT_FILTERABLE_ATTRS
+        self.index = index or DEFAULT_INDEX
+        self.client = Client(url, api_key)
+        # create the index if it does not exist already
+        try:
+            self.client.get_index(self.index)
+        except MeilisearchApiError as _:
+            self.client.create_index(self.index)
+        # make a variable to easily reference the index
+        self.idxref = self.client.index(self.index)
+
+        # update filterable attributes if needed
+        self.update_filterables(filterable_attrs)
+
+    def add_document(self, document: dict) -> TaskInfo:
+        """Add a cable to the Meilisearch index.
+
+        :param document: Dictionary containing all the cable data.
+        :returns: A TaskInfo object for the addition of the new document."""
+        return self.idxref.add_documents(document)
+
+    def add_documents(self, documents: list):
+        """Add a list of cables to the Meilisearch index.
+
+        :param documents: List of dictionaries containing all the cable data.
+        :returns: A TaskInfo object for the last new document."""
+        taskinfo = None
+        for i in documents:
+            taskinfo = self.add_document(i)
+        return taskinfo
+    
+    def update_filterables(self, filterables: list):
+        """Update filterable attributes and wait for database to fully index. If the filterable attributes matches the
+        current attributes in the database, don't update (saves reindexing).
+        
+        :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)
+
+    def search(self, query: str, filters: str = None):
+        """Execute a search query on the Meilisearch index.
+        
+        :param query: Seach query
+        :param filters: A meilisearch compatible filter statement.
+        :returns: The search results dict. Actual results are in a list under "hits", but there are other nice values that are useful in the root element."""
+        if filters:
+            q = self.idxref.search(query, {"filter": filters})
+        else:
+            q = self.idxref.search(query)
+        return q
+    
+    def _filter_one(self, filter: str):
+        """Get the first item to match a filter.
+        
+        :param filter: A meilisearch compatible filter statement.
+        :returns: A dict containing the results; If no results found, an empty dict."""
+        q = self.search("", filter)
+        if q["estimatedTotalHits"] != 0:
+            return ["hits"][0]
+        else:
+            return dict()
+
+    def get_position(self, position: str):
+        """Get a part by position.
+        
+        :param partnum: The position to search for."""
+        return self._filter_one(f"position = {position}")
+    
+    def get_uuid(self, uuid: str):
+        """Get a specific UUID.
+        
+        :param uuid: The UUID to search for."""
+        return self._filter_one(f"uuid = {uuid}")
+
+    def get_partnum(self, partnum: str):
+        """Get a specific part number.
+        
+        :param partnum: The part number to search for."""
+        return self._filter_one(f"partnum = {partnum}")
+
+# entrypoint
+if __name__ == "__main__":
+    jbs = JukeboxSearch()

server.py

@@ -0,0 +1,95 @@
+#!/usr/bin/env python3
+
+# WebSocket server for communicating with all other nodes
+
+"""import websockets
+import asyncio
+from util import fprint
+
+class WebSocketServer:
+    def __init__(self):
+        self.start_server = websockets.serve(self.handler, "0.0.0.0", 9000)
+        self.received_messages = asyncio.Queue()
+        self.connected_clients = set()
+
+    async def handler(self, websocket, path):
+        self.connected_clients.add(websocket)
+        fprint(self.connected_clients)
+        try:
+            async for message in websocket:
+                fprint(message)
+                await self.received_messages.put(message)
+        finally:
+            self.connected_clients.remove(websocket)
+
+    async def send_message(self, message):
+        disconnected_clients = set()
+        for websocket in self.connected_clients:
+            try:
+                await websocket.send(message)
+            except websockets.exceptions.ConnectionClosed:
+                disconnected_clients.add(websocket)
+        self.connected_clients.difference_update(disconnected_clients)
+
+    def run(self):
+        fprint("Starting WebSocket server...")
+        asyncio.get_event_loop().run_until_complete(self.start_server)
+        #asyncio.run(self.start_server)
+        asyncio.get_event_loop().run_forever()
+
+    async def get_received_message(self):
+        if not self.received_messages.empty():
+            return await self.received_messages.get()
+        return None
+
+# Function to be used by multiprocessing to run the server
+def run_server():
+    server = WebSocketServer()
+    asyncio.run(server.run())"""
+
+import asyncio
+import websockets
+from multiprocessing import Process, Queue
+from util import fprint
+import uuid
+
+connected_clients = {}
+
+async def handler(websocket, path, to_server_queue, from_server_queue):
+    # Register websocket connection
+    client_id = str(uuid.uuid4())
+    connected_clients[client_id] = websocket
+    try:
+        # Handle incoming messages
+        async for message in websocket:
+            #print(f"Received message: {message}")
+            print(client_id)
+            from_server_queue.put((client_id, message))
+    finally:
+        # Unregister websocket connection
+        if client_id in connected_clients:
+            del connected_clients[client_id]
+            print(f"Client {client_id} connection closed")
+
+async def send_messages(to_server_queue):
+    while True:
+        if not to_server_queue.empty():
+            client_id, message = to_server_queue.get()
+            if client_id in connected_clients:  # Send message to specific client
+                await connected_clients[client_id].send(message)
+            elif len(connected_clients) > 0:  # Broadcast message to all clients
+                for client in connected_clients.values():
+                    await client.send(message)
+        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)
+
+    asyncio.get_event_loop().run_until_complete(start_server)
+    asyncio.get_event_loop().create_task(send_messages(to_server_queue))
+    asyncio.get_event_loop().run_forever()
+
+def start_websocket_server(to_server_queue, from_server_queue):
+    p = Process(target=websocket_server, args=(to_server_queue, from_server_queue))
+    p.start()
+    return p

source.fish

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

source.sh

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

static/style.css

@@ -0,0 +1,24 @@
+body {
+    text-align: center;
+    padding-top: 100px;
+}
+
+.spinner {
+    border: 16px solid #f3f3f3;
+    border-top: 16px solid #002554;
+    border-radius: 50%;
+    width: 120px;
+    height: 120px;
+    animation: spin 2s linear infinite;
+    margin: auto;
+}
+
+@keyframes spin {
+    0% { transform: rotate(0deg); }
+    100% { transform: rotate(360deg); }
+}
+
+p {
+    margin-top: 20px;
+    font-size: 20px;
+}

templates/index.html

@@ -0,0 +1,13 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>Loading</title>
+    <link rel="stylesheet" href="{{ url_for('static', filename='style.css') }}">
+</head>
+<body>
+    <div class="spinner"></div>
+    <p>Waiting for backend server to start...</p>
+</body>
+</html>

test.html

@@ -0,0 +1,98 @@
+<!DOCTYPE html>
+<html>
+<head>
+    <title>JSON to HTML Tables</title>
+    <style>
+        .table-container {
+            margin-bottom: 20px; /* Extra space after each table */
+        }
+        .table-caption {
+            font-weight: bold; /* Bold caption */
+            margin-left: 0;
+            margin-bottom: 5px;
+        }
+        table {
+            width: 100%;
+            border-collapse: collapse;
+        }
+        table, th, td {
+            border: 1px solid black;
+        }
+        th, td {
+            padding: 8px;
+            text-align: left;
+        }
+        th {
+            background-color: #f2f2f2;
+        }
+    </style>
+</head>
+<body>
+
+<script>
+    // Your JSON data
+    var jsonData = {"Face View Side 1": {"Pin 1": ["brown"], "Pin 2": ["white"], "Pin 3": ["blue"], "Pin 4": ["black"], "FE": ["pink"]}, "Face View Side 2": {"Pin 1": ["brown"], "Pin 2": ["white"], "Pin 3": ["blue"], "Pin 4": ["black"], "FE": ["pink"]}, "Product Description": {"Product Family": "Power Connector", "Brand": "Lumberg Automation", "Connector Type": "Cordset, double ended", "Shielding": "Unshielded", "Rated Voltage": "63 V", "Rated Voltage (UL)": "63 V", "Rated Impulse Voltage": "1.5 kV", "Operating Voltage": "50 V AC / 60 V DC", "Rated Current*": "16 A", "Rated Current (UL)*": "16 A"}, "Technical Data Side 1": {"Product Sub Family": "M12 Power", "Type of Contact / Gender": "male", "Connector Design": "straight", "Attachment Type": "Coupling Screw", "Number of Pins": "5(4+FE)", "Coding": "L", "Contact Resistance": "\u2264 10 mOhm", "Insulation Resistance": "\u02c3 10^9 Ohm", "Mating Cycles": "\u2264 100", "Ambient Temperature (Operation)*": "-40 \u00b0C to +125 \u00b0C, notice derating", "Protection Degree / IP Rating**": "IP65, IP67, IP69K", "Design Standard": "IEC 61076-2-111", "Pollution Degree": "3 acc. to DIN EN 60664-1 (VDE 0110-1)", "Clearance / Creepage Distance": "DIN EN 60664-1 (2008/01); VDE 0110-1", "Overvoltage Category": "III acc. to DIN EN 60664-1 (VDE 0110-1)", "Contact Base Material": "CuNi", "Contact Plating": "Cu/Au", "Contact Bearer Material": "PBT GF", "Contact Bearer Color": "grey", "Flammability Class (Contact Bearer)": "UL 94 V-2", "Molded Body Material": "TPE", "Molded Body Color": "blue", "Flammability Class (Molded Body)": "UL 94 HB", "Attachment Material": "CuZn", "Attachment Plating": "Cu/Ni", "O-Ring Material": "FKM", "Fastening Torque (Contact Screw)": "M 12x1: (50-60) Ncm, hand-tight"}, "Cable Data": {"Cable Number": "949", "Conductor Size": "1.50 mm\u00b2", "Number of Wires": "5", "Minimal Bending Radius (Fixed Inst)": "\u02c3 4 x D", "Minimal Bending Radius (Flexible Inst)": "\u02c3 7.5 x D", "Cycles (Bending)": "\u02c3 10 M", "Conductor material": "Cu", "Cable Jacket Material": "PUR", "Cable Jacket Color": "grey (RAL 7032)", "Cable Diameter D": "\u00f8 8.0 \u00b10.20 mm", "Wire Insulation Material": "PP", "Insulated Wire Diameter": "\u00f8 2.35 mm", "Ambient Temperature (Fixed Installation)": "-40 \u00b0C to +90 \u00b0C (UL AWM 80\u00b0C)", "Ambient Temperature (Flex Installation)": "-30 \u00b0C to +90 \u00b0C (UL AWM 80\u00b0C)", "Ambient Temperature (Fixed Installation short-term 100h)": "-40 \u00b0C to +125 \u00b0C", "Ambient Temperature (Drag Chain Inst)": "-20 \u00b0C to +60 \u00b0C", "UL Cable Type": "AWM: 20939", "Flammability Class (Cable Jacket)": "VDE 0482-332-1-2, DIN EN 60332-1-2 / IEC 60332-1 / UL VW-1, CSA FT1"}, "Technical Data Side 2": {"Product Sub Family, Side 2": "M12 Power", "Type of Contact / Gender, Side 2": "female", "Connector Design, Side 2": "straight", "Attachment Type, Side 2": "Coupling Nut", "Number of Pins, Side 2": "5(4+FE)", "Coding, Side 2": "L", "Contact Resistance, Side 2": "\u2264 10 mOhm", "Insulation Resistance, Side 2": "\u02c3 10^9 Ohm", "Mating Cycles, Side 2": "\u2264 100", "Ambient Temperature (Operation), Side 2*": "-40 \u00b0C to +125 \u00b0C, notice derating", "Protection Degree / IP Rating, Side 2**": "IP65, IP67, IP69K", "Design Standard, Side 2": "IEC 61076-2-111", "Pollution Degree, Side 2": "3 acc. to DIN EN 60664-1 (VDE 0110-1)", "Clearance / Creepage Distance, Side 2": "DIN EN 60664-1 (2008/01); VDE 0110-1", "Overvoltage Category, Side 2": "III acc. to DIN EN 60664-1 (VDE 0110-1)", "Contact Base Material, Side 2": "CuNi", "Contact Plating, Side 2": "Cu/Au", "Contact Bearer Material, Side 2": "PBT GF", "Contact Bearer Color, Side 2": "grey", "Flammability Class (Contact Bearer), Side 2": "UL 94 V-2", "Molded Body Material, Side 2": "TPE", "Molded Body Color, Side 2": "blue", "Flammability Class (Molded Body), Side 2": "UL 94 HB", "Attachment Material, Side 2": "CuZn", "Attachment Plating, Side 2": "Cu/Ni", "O-Ring Material, Side 2": "FKM", "Fastening Torque (Contact Screw), Side 2": "M 12x1: (50-60) Ncm, hand-tight"}, "Approvals": {"UL-File": "E497237", "UL": "UL 2237; cULus", "VDE": "VDE 61984"}, "Safety & Environmental Compliance": {"RoHS Compliant": "yes"}, "Resistances": {"Halogenfree": "DIN VDE 0472 T.815", "Oil Resistance": "HD 22.10 Appendix A, DIN EN 60811-404"}, "Notes": {"Protection Degree / IP Rating Note": "** only if mounted and locked in combination with Hirschmann / Lumberg Automation connector.", "Note Derating": "* Notice derating", "Product Characteristics": "To ensure ingress protection, please check the O-ring\u2019s position before connecting. Improperly positioned O-ring leads to ingress protection potential\nfailure."}, "Variants": {"Item #": ["934853163", "934853164", "934853165", "934853166", "934853167", "934853168"], "Item Description": ["RST 5L-RKT 5L-949/0,3 M", "RST 5L-RKT 5L-949/0,6 M", "RST 5L-RKT 5L-949/1 M", "RST 5L-RKT 5L-949/2 M", "RST 5L-RKT 5L-949/5 M", "RST 5L-RKT 5L-94Line truncated
+
+    // Function to create a table from an object
+    function createTableFromObject(obj, tableName) {
+        var html = '<div class="table-container">';
+        html += '<div class="table-caption">' + tableName + '</div>';
+        html += '<table>';
+
+        // Determine if the object values are arrays (for columns)
+        var areValuesArrays = Object.values(obj).every(value => Array.isArray(value));
+
+        if (areValuesArrays) {
+            // Handle as columns
+            var keys = Object.keys(obj);
+            var maxLength = Math.max(...Object.values(obj).map(arr => arr.length));
+
+            // Headers
+            html += '<tr>';
+            keys.forEach(key => {
+                html += '<th>' + key + '</th>';
+            });
+            html += '</tr>';
+
+            // Rows
+            for (var i = 0; i < maxLength; i++) {
+                html += '<tr>';
+                keys.forEach(key => {
+                    var value = obj[key][i] || '';
+                    html += '<td>' + value + '</td>';
+                });
+                html += '</tr>';
+            }
+        } else {
+            // Handle as rows
+            html += '<tr><th>Property</th><th>Value</th></tr>';
+            for (var key in obj) {
+                html += '<tr>';
+                html += '<td>' + key + '</td>';
+                html += '<td>' + obj[key] + '</td>';
+                html += '</tr>';
+            }
+        }
+
+        html += '</table>';
+        html += '</div>'; // Close table-container
+        return html;
+    }
+
+    // Function to append the tables to the body
+    function appendTables(jsonData) {
+        var container = document.createElement('div');
+        for (var key in jsonData) {
+            var table = createTableFromObject(jsonData[key], key);
+            container.innerHTML += table;
+        }
+        document.body.appendChild(container);
+    }
+
+
+    // Call the function with your JSON data
+    appendTables(jsonData);
+
+</script>
+</body>
+</html>

test.py

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

udp_send_test.py

@@ -0,0 +1,58 @@
+#!/usr/bin/env python3
+
+import sacn
+import time
+
+ipaddr = "192.168.68.130"
+
+
+sender = None
+data = None
+
+start = time.time()
+
+def init():
+    global sender
+    global data
+    sender = sacn.sACNsender(universeDiscovery=False)
+    sender.start()  # start the sending thread
+    sender.activate_output(2)  # start sending out data
+    sender[2].destination = ipaddr
+    sender.manual_flush = True
+
+    # initialize global pixel data list
+    data = list()
+    for x in range(170):
+        data.append((1,2,3)) # some random data
+
+def fastsendall(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
+    global sender
+    sender[2].dmx_data = list(sum(datain[0:170] , ())) # flatten the subsection of the data array
+    
+    sender.flush()
+
+def close():
+    global sender
+    time.sleep(0.5)
+    sender.stop()
+
+def send_fps(fps=140):
+    global start
+    while time.time() - start < 1/fps:
+        time.sleep(0.00001)
+    print("FPS:", 1 / (time.time() - start))
+    start = time.time()
+    global data
+    fastsendall(data)
+
+    
+if __name__ == "__main__":
+    init()
+    while True:
+        send_fps()
+
+    time.sleep(1)
+    close()
+    #sys.exit(0)

ur5_control.py

@@ -0,0 +1,326 @@
+import urx
+import math3d as m3d
+from scipy.optimize import fsolve
+import math
+import numpy as np
+import time
+import os
+import logging
+from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper
+import sys
+from util import fprint
+
+
+
+
+rob = None
+
+
+def init(ip):
+    global rob
+    #sys.stdout = Logger()
+    fprint("Starting UR5 power up...")
+    
+    # power up robot here
+
+    # wait for power up (this function runs async)
+
+
+    # trigger auto-initialize
+
+    # wait for auto-initialize
+
+    # init urx
+    fprint("Connecting to arm at " + ip)
+    trying = True
+    while trying:
+        try:
+            rob = urx.Robot(ip)
+            trying = False
+        except:
+            time.sleep(1)
+    robotiqgrip = Robotiq_Two_Finger_Gripper(rob)
+
+    # Sets robot arm endpoint offset (x,y,z,rx,ry,rz)
+    rob.set_tcp((0, 0, 0.15, 0, 0, 0))
+
+    # Set weight
+    rob.set_payload(2, (0, 0, 0.1))
+    #rob.set_payload(2, (0, 0, 0.1))
+    time.sleep(0.2)
+    fprint("UR5 ready.")
+
+def set_pos_abs(x, y, z, xb, yb, zb, threshold=None):
+    global rob
+    new_orientation = m3d.Transform()
+    new_orientation.orient.rotate_xb(xb)  # Replace rx with the desired rotation around X-axis
+    new_orientation.orient.rotate_yb(yb)  # Replace ry with the desired rotation around Y-axis
+    new_orientation.orient.rotate_zb(zb)  # Replace rz with the desired rotation around Z-axis
+
+    # Get the current pose
+    trans = rob.getl()
+    # Apply the new orientation while keeping the current position
+    new_trans = m3d.Transform(new_orientation.orient, m3d.Vector(trans[0:3]))
+    new_trans.pos.x = x
+    new_trans.pos.y = y
+    new_trans.pos.z = z
+    #rob.speedj(0.2, 0.5, 99999)
+    rob.set_pose(new_trans, acc=2, vel=2, command="movej", threshold=threshold)  # apply the new pose
+
+def set_pos_rel_rot_abs(x, y, z, xb, yb, zb):
+    global rob
+    new_orientation = m3d.Transform()
+    new_orientation.orient.rotate_xb(xb)  # Replace rx with the desired rotation around X-axis
+    new_orientation.orient.rotate_yb(yb)  # Replace ry with the desired rotation around Y-axis
+    new_orientation.orient.rotate_zb(zb)  # Replace rz with the desired rotation around Z-axis
+
+    # Get the current pose
+    trans = rob.getl()
+    
+    # Apply the new orientation while keeping the current position
+    new_trans = m3d.Transform(new_orientation.orient, m3d.Vector(trans[0:3]))
+    new_trans.pos.x += x
+    new_trans.pos.y += y
+    new_trans.pos.z += z
+    #rob.speedj(0.2, 0.5, 99999)
+    rob.set_pose(new_trans, acc=0.1, vel=0.4, command="movej")  # apply the new pose
+
+def set_pos_abs_rot_rel(x, y, z, xb, yb, zb):
+    global rob
+    new_orientation = m3d.Transform()
+    new_orientation.orient.rotate_xb(xb)  # Replace rx with the desired rotation around X-axis
+    new_orientation.orient.rotate_yb(yb)  # Replace ry with the desired rotation around Y-axis
+    new_orientation.orient.rotate_zb(zb)  # Replace rz with the desired rotation around Z-axis
+
+    # Get the current pose
+    trans = rob.getl()
+    
+    # Apply the new orientation while keeping the current position
+    new_trans = m3d.Transform(new_orientation.orient, m3d.Vector(trans[0:3]))
+    new_trans.pos.x = x
+    new_trans.pos.y = y
+    new_trans.pos.z = z
+    #rob.speedj(0.2, 0.5, 99999)
+    rob.set_pose(new_trans, acc=0.1, vel=0.4, command="movej")  # apply the new pose
+
+
+def is_safe_move(start_pose, end_pose, r=0.25):
+    start_x, start_y = (start_pose[0], start_pose[1])
+    end_x, end_y = (end_pose[0], end_pose[1])
+
+    try:
+        m = (end_y-start_y)/(end_x-start_x)
+        b = start_y - m*start_x
+        # print('m = y/x =', m)
+        # print('b =', b)
+    except:
+        m = (end_x-start_x)/(end_y-start_y)
+        b = start_x - m*start_y
+        # print('m = x/y =', m)
+        # print('b =', b)
+    
+    return r**2 - b**2 + m**2 * r**2 < 0
+
+def cartesian_to_polar(x, y):
+    r = np.sqrt(x**2 + y**2)
+    theta = np.arctan2(y, x)
+    return r, theta
+
+def polar_to_cartesian(r, theta):
+    x = r * np.cos(theta)
+    y = r * np.sin(theta)
+    return x, y
+
+
+def move_to_polar(start_pos, end_pos):
+    global rob
+
+    # Convert to polar coordinates
+    start_r, start_theta = cartesian_to_polar(start_pos[0], start_pos[1])
+    end_r, end_theta = cartesian_to_polar(end_pos[0], end_pos[1])
+
+    # Interpolate for xy (spiral arc)
+    n_points = 30
+    r_intermediate = np.linspace(start_r, end_r, n_points)
+    theta_intermediate = np.linspace(start_theta, end_theta, n_points)
+
+    # Interpolate for z (height)
+    start_z = start_pos[2]
+    end_z = end_pos[2]
+
+    z_intermediate = np.linspace(start_z, end_z, n_points)
+
+    # Interpolate for rz (keep tool rotation fixed relative to robot)
+
+
+    curr_rot = rob.getl()
+
+    theta_delta = theta_intermediate[1]-theta_intermediate[0]
+    
+    rx_intermediate = [curr_rot[5] + theta_delta*i for i in range(n_points)]
+
+    # curr_rot = rob.getj()
+    # start_rz = curr_rot[5]
+    # rot = end_theta - start_theta
+    # end_base_joint = curr_rot[0]-start_theta + rot
+
+    # end_rz = curr_rot[0] + rot
+    # # rob.movel([*polar_to_cartesian(end_r, end_theta), *rob.getl()[2:]], acc=2, vel=2)
+
+    # print('start_theta = ', math.degrees(start_theta))
+    # print('end_theta = ', math.degrees(curr_rot[0]-start_theta+rot))
+    # print('start_rz =', math.degrees(start_rz))
+    # print('rot =', math.degrees(rot))
+    # print('end_rz =', math.degrees(end_rz))
+
+    # rz_intermediate = np.linspace(start_rz, end_rz, n_points)
+
+    # Convert back to cartesian coordinates
+    curr_pos = rob.getl()
+
+    intermediate_points = [[*polar_to_cartesian(r, theta), z, *curr_pos[3:]]
+                            for r, theta, z, rx in zip(r_intermediate, 
+                                                       theta_intermediate, 
+                                                       z_intermediate, 
+                                                       rx_intermediate)]
+
+    # Move robot
+    rob.movels(intermediate_points, acc=2, vel=2, radius=0.1)
+    
+
+    return rx_intermediate
+
+def move_to_home():
+    global rob
+
+    # Home position in degrees
+    home_pos = [0.10421807948612624, 
+                -2.206111555015423, 
+                1.710679229503537, 
+                -1.075834511928354, 
+                -1.569301366430687, 
+                1.675098295930943]
+
+    # Move robot
+    rob.movej(home_pos, acc=2, vel=2)
+
+def normalize_degree(theta):
+    # Normalizes degree theta from -1.5pi to 1.5pi
+    multiplier = 1
+    normalized_theta = theta % (math.pi * multiplier)
+    
+    # Maintain the negative sign if the original angle is negative
+    if theta < 0:
+        normalized_theta -= math.pi * multiplier
+
+    # Return angle
+    return normalized_theta
+
+def get_joints_from_xyz_rel(x, y, z, initial_guess = (math.pi/2, math.pi/2, 0), limbs=(.422864, .359041, .092124)):
+    # Get polar coordinates of x,y pair
+    r, theta = cartesian_to_polar(x, y)
+    
+    # Get length of each limb
+    l1, l2, l3 = limbs
+    
+    # Formulas to find out joint positions for (r, z)
+    def inv_kin_r_z(p):
+        a, b, c = p
+
+        return (l1*math.cos(a) + l2*math.cos(a-b) + l3*math.cos(a-b-c) - r, # r
+                l1*math.sin(a) + l2*math.sin(a-b) - l3*math.sin(a-b-c) - z,  # z
+                a-b-c) # wrist angle
+
+
+    # Normalize angles
+    base, shoulder, elbow, wrist = [normalize_degree(deg) for deg in [theta, *fsolve(inv_kin_r_z, initial_guess)]]
+
+    # Return result
+    return base, shoulder, elbow, wrist
+
+def get_joints_from_xyz_abs(x, y, z):
+    joints = get_joints_from_xyz_rel(x, y, z)
+
+    # Joint offsets
+    # Base, Shoulder, Elbow, Wrist
+    inverse = [1, -1, 1, 1]
+    offsets = [0, 0, 0, -math.pi/2]
+
+    # Return adjusted joint positions
+    return [o+j*i for j, o, i in zip(joints, offsets, inverse)]
+
+if __name__ == "__main__":
+    
+    #rob.movej((0, 0, 0, 0, 0, 0), 0.1, 0.2)
+    #rob.movel((x, y, z, rx, ry, rz), a, v)
+    init("192.168.1.145")
+    print("Current tool pose is: ",  rob.getl())
+    move_to_home()
+
+    home_pose = [-0.4999999077032916, 
+               -0.2000072960336574, 
+               0.40002172976662786, 
+               0, 
+               -3.14152741295329, 
+               0]
+
+    # time.sleep(.5)
+
+    p1 = [0,
+
+        0.6,
+        .4,
+        0.2226,
+        3.1126,
+        0.0510]
+    
+    p2 = [0.171,
+        -0.115,
+        0.2,
+        0.2226,
+        3.1126,
+        0.0510]
+
+    curr_pos = rob.getl()
+    # up/down, 
+    # tool rotation
+    # tool angle (shouldn't need)
+    # rob.set_pos(p1[0:3], acc=0.5, vel=0.5)
+
+    # set_pos_abs(*home_pose)
+
+
+    angles = get_joints_from_xyz_abs(0.3, 0.3, 0.3)
+    rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
+    
+    angles = get_joints_from_xyz_abs(-0.3, -0.3, 0.7)
+    rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
+    
+    angles = get_joints_from_xyz_abs(-0.3, 0.4, 0.2)
+    rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
+
+
+    # set_pos_abs(*p1)
+    # move = move_to_polar(p1, p2)
+
+
+    # for p in move:
+    #     print(math.degrees(p))
+    # print("Safe? :", is_safe_move(p1, p2))
+
+
+    # #set_pos_rel_rot_abs(0, 0, -0.2, math.pi, 0, -math.pi)
+    # set_pos_abs(0.3, -0.2, 0.5, math.pi, 0, -math.pi)
+    # set_pos_abs(0, 0.2, 0.6, math.pi, 0, -math.pi)
+    # set_pos_abs(-0.5, -0.2, 0.4, math.pi, 0, -math.pi)
+    # #set_pos_rel_rot_abs(0, 0, 0, math.pi, 0, -math.pi)
+
+    # print("Current tool pose is: ",  rob.getl())
+    # print("getj(): ",  rob.getj())
+
+    # move_to_home()
+
+    rob.stop()
+    os.kill(os.getpid(), 9) # dirty kill of self
+    sys.exit(0)
+

util.py

@@ -0,0 +1,165 @@
+import inspect
+import sys
+import subprocess
+import os
+from sys import platform
+import time as t
+from time import sleep
+import uuid
+import csv
+
+win32 = platform == "win32"
+linux = platform == "linux" or platform == "linux2"
+macos = platform == "darwin"
+datafile = ""
+logMsg = ""
+logCont = ""
+
+settings = None
+
+if win32:
+    sysid = hex(uuid.getnode())
+    # Python is running as Administrator (so netstat can get filename, to block, etc), 
+    # so we use this to see who is actually logged in
+    # it's very hacky
+    startupinfo = subprocess.STARTUPINFO()
+    #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)
+
+if linux or macos:
+    sysid = hex(uuid.getnode())
+    #fprint(sysid)
+    res = subprocess.check_output(["who",], universal_newlines=True)
+    userid = res.strip().split(" ")[0]
+    #sysdom = subprocess.check_output(["hostname",], universal_newlines=True).strip()
+    #fprint(sysdom)
+    #fprint("d")
+
+def time():
+    return int(t.time())
+
+def kill(pid):
+    setup_child()
+    try:
+        if pid > 4:
+            fprint("Killing PID " + str(pid), settings)
+            os.kill(int(pid), 9)
+            fprint("Signal 9 sent to PID " + str(pid), settings)
+    except:
+        fprint("Unable to kill " + str(pid), settings)
+
+def fprint(msg, settings = None, sendqueue = None):
+    #if not getattr(sys, "frozen", False):
+    setup_child()
+    try:
+        frm = inspect.stack()[1]
+        
+        mod = inspect.getmodule(frm[0])
+        logMsg = '[' + mod.__name__ + ":" + frm.function + ']:' + str(msg)
+        
+        print(logMsg)
+        if (sendqueue is not None):
+            sendqueue.put(("*", "{ \"type\": \"log\", \"call\":\"send\", \"data\": \"" + logMsg + "\" }"))
+        if (settings is not None):
+            tmpList = settings["logMsg"]
+            tmpList.append(logMsg)
+            settings["logMsg"] = tmpList
+    except Exception as e:
+        try:
+            print('[????:' + frm.function + ']:', str(msg))
+            print('[util:fprint]: ' + str(e))
+        except:
+            print('[????]:', str(msg))
+        
+        
+   # else:
+        #print(msg)
+
+def find_data_file(filename):
+    if getattr(sys, "frozen", False):
+        # The application is frozen
+        datadir = os.path.dirname(sys.executable)
+    else:
+        # The application is not frozen
+        # Change this bit to match where you store your data files:
+        datadir = os.path.dirname(__file__)
+    return os.path.join(datadir, filename)
+
+def run_cmd(cmd):
+    if win32:
+        startupinfo = subprocess.STARTUPINFO()
+        #print("DICKS")
+        #if not getattr(sys, "frozen", False):
+        #    print("test")
+        #    
+        #completed = subprocess.run(["powershell", "-Command", cmd], capture_output=True, startupinfo=startupinfo)
+        #else:
+        #    print("alt")
+        startupinfo.dwFlags |= subprocess.STARTF_USESHOWWINDOW    # , "-WindowStyle", "hidden"
+        fprint("running PS command: " + cmd, settings)
+        completed = subprocess.run(["powershell", "-Command", cmd], capture_output=True, startupinfo=startupinfo)
+        fprint("ran PS command successfully", settings)
+        #completed = subprocess.run(["powershell", "-WindowStyle", "hidden", "-Command", cmd], capture_output=True, startupinfo=startupinfo)
+        return completed
+    if linux or macos:
+        fprint("running sh command: " + cmd, settings)
+        completed = subprocess.run(["sh", "-c", cmd], capture_output=True)
+        fprint("ran sh command successfully", settings)
+        return completed
+
+def setup_child(sets=None):
+    if not getattr(sys, "frozen", False):
+        sys.stdout = Logger(filename=find_data_file("output.log"))
+        sys.stderr = Logger(filename=find_data_file("output.log"))
+    if sets is not None:
+        settings = sets
+
+class Logger(object):
+    def __init__(self, filename="output.log"):
+        self.log = open(filename, "a")
+        self.terminal = sys.stdout
+
+    def write(self, message):
+        #self.log.write(message)
+        #close(filename)
+        #self.log = open(filename, "a")
+        try:
+            self.terminal.write(message)
+        except:
+            sleep(0)
+        
+    def flush(self):
+        print("", end="")
+
+
+def write_stats(stats):
+    fprint("Writing stats", settings)
+    tmp = list()
+    tmp.append(["connections blocked", "connections allowed", "data uploaded", "data recieved", "block ratio"])
+    tmp.append(stats)
+    
+    with open(find_data_file("stats.csv"), "w", newline="") as f:
+        writer = csv.writer(f)
+        writer.writerows(tmp)
+    fprint("Done writing stats", settings)
+
+def read_stats():
+    with open(find_data_file("stats.csv"), newline='') as csvfile:
+        csvreader = csv.reader(csvfile, delimiter=',', quotechar='|')
+        header = True
+        fprint(csvreader, settings)
+        data = list()
+        for line in csvreader:
+            fprint(line, settings)
+            if header:
+                header = False
+                continue
+            data = line
+        for idx in range(len(data) - 1):
+            data[idx] = int(data[idx])
+        data[len(data) - 1] = float(data[len(data) - 1])
+        return data
+            

venv-setup.sh

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

websocket_test.html

@@ -0,0 +1,156 @@
+<!DOCTYPE html>
+<html>
+
+<head>
+    <title>WebSocket Test</title>
+
+    <style>
+        footer {
+            background-color: #333;
+            color: #fff;
+            text-align: center;
+            padding: 10px 0;
+            position: fixed;
+            bottom: 0;
+            width: 100%;
+            display: flex;
+            justify-content: space-around;
+        }
+
+        .service-box {
+            width: 150px;
+            padding: 10px;
+            border-radius: 5px;
+        }
+
+        .service-up {
+            background-color: green;
+        }
+
+        .service-down {
+            background-color: red;
+        }
+    </style>
+
+
+    <script>
+
+        // class Service {
+        //     constructor(name, status) {
+        //         this.name = name
+        //         this.status = status
+        //     }
+        // }
+
+        var updatedTime = new Date();
+        // Initial status of services
+        // var serviceA = new Service("234234", 'down');
+        // var serviceBStatus = 'down';
+        // var serviceCStatus = 'down';
+
+        document.addEventListener("DOMContentLoaded", function () {
+            // Create WebSocket connection.
+            const socket = new WebSocket('ws://localhost:9000');
+
+            // Connection opened
+            socket.addEventListener('open', function (event) {
+                console.log("Connected to WebSocket server");
+                updatedTime = new Date();
+            });
+
+            // Listen for messages
+            socket.addEventListener('message', function (event) {
+                console.log('Message from server', event.data);
+                let messages = document.getElementById('messages');
+                let message = document.createElement('li');
+                message.textContent = "Received: " + event.data;
+                messages.appendChild(message);
+                updatedTime = new Date();
+            });
+
+            // Send a message to the server
+            function sendMessage() {
+                let message = document.getElementById('messageInput').value;
+                socket.send(message);
+                console.log('Message sent', message);
+            }
+
+            // This function just sends a ping to make sure the server is there and it is able to responds
+            function ping() {
+                let message = `{ "call": "send", "type": "log", "data": "This is a ping!!" }`;
+                socket.send(message);
+                console.log('Message sent', message);
+            }
+            setInterval(ping, 1500);
+
+            // setInterval(() => {
+            //     updateServiceStatus('serviceA', 'down');
+            // }, 2000);
+
+
+            // Bind send message function to button click
+            document.getElementById('sendMessage').addEventListener('click', sendMessage);
+        });
+    </script>
+</head>
+
+<body>
+    <h2>WebSocket Test</h2>
+    <textarea rows="4" cols="50" id="messageInput" placeholder="Type a message..."> </textarea>
+    <button id="sendMessage">Send Message</button>
+    <p>Example JSON</p>
+    <p>{ "type": "cable_map", "call": "request", "data": { } }</p>
+    <p>{ "type": "log", "call": "send", "data": "123123" }</p>
+
+    <p>Messages/Logs</p>
+    <ul id="messages"></ul>
+
+    <footer>
+        <!-- <div id="serviceA" class="service-box"></div>
+        <div id="serviceB" class="service-box"></div>
+        <div id="serviceC" class="service-box"></div> -->
+        <div id="clock"></div>
+
+    </footer>
+
+    <script>
+        // // Function to update service status
+        // function updateServiceStatus(service) {
+        //     // serviceId, status
+        //     var serviceElement = document.getElementById(service.serviceId);
+        //     // updateClock();
+
+        //     if (service.status === 'up') {
+        //         serviceElement.innerHTML = '<h3>' + service.serviceId + '</h3><p>Running</p>';
+        //         serviceElement.classList.remove('service-down');
+        //         serviceElement.classList.add('service-up');
+        //     } else {
+        //         serviceElement.innerHTML = '<h3>' + service.serviceId + '</h3><p>Down</p>';
+        //         serviceElement.classList.remove('service-up');
+        //         serviceElement.classList.add('service-down');
+        //     }
+        // }
+
+
+
+        // // Update service statuses
+        // updateServiceStatus('node.js (for this page)', serviceAStatus);
+        // updateServiceStatus('Python WebSocket', serviceBStatus);
+        // updateServiceStatus('serviceC', serviceCStatus);
+
+        // Function to update clock
+        function updateClock() {
+            var now = new Date();
+            now = now.getTime() - updatedTime.getTime();
+            // console.log(now)
+            document.getElementById('clock').textContent = 'Milliseconds Since Update: ' + now.toString().padStart(6, '0');
+        }
+
+        // Update clock every second
+        setInterval(updateClock, 100);
+
+    </script>
+
+</body>
+
+</html>