Add video abstraction class

.gitignore

@@ -1,3 +1,9 @@
 venv
 __pycache__
 cables
+.vscode
+output.log
+*.webm
+output.mp4
+output.log
+cables-sample.zip

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()

config.yml

@@ -0,0 +1,425 @@
+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: 1
+      ip: 192.168.68.130
+      ledstart: 432
+      ledend: 575
+      mode: rgb
+    - universe: 4
+      ip: 192.168.68.131
+      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: [-65.936, 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: [300, 300]
+
+    

database.py

@@ -1,15 +1,19 @@
 """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:
@@ -20,12 +24,18 @@ class DBConnector:
        with DBConnector() as db:
            db.read()
     """
+
     def _db_start(self):
-        self.conn = psycopg2.connect(
+        """Setup the database connection and cursor."""
-            f"host={DB_ADDRESS} port={DB_PORT} dbname={DB_NAME} user={DB_USER} password={DB_PASSWORD}")
+        try:
-        self.cur = self.conn.cursor()
+            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()
 
@@ -41,23 +51,90 @@ class DBConnector:
     def __exit__(self):
         self._db_stop()
 
-    def _query(self, sql):
+    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.cur.fetchall()
+            result = self._read_dict()
-        except psycopg2.DatabaseError as e:
+        except DatabaseError as e:
-            result = []
+            print(f"ERROR {e.pgcode}: {e.pgerror}\n"
-        return result
+                  f"Caused by query: {sql}")
+        finally:
+            return result
 
-    def read(self, **kwargs):
+    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."""
-        pass
+        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):
+    def write(self, **kwargs) -> dict:
         """Write a row to the database.
 
-        :param kwargs: Values to write for each database; specify each column separately!"""
+        :param kwargs: Values to write for each database; specify each column separately!
-        pass
+        :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

@@ -8,6 +8,7 @@ import requests
 #import time
 import json
 import subprocess
+from util import fprint
 
 bartext = ""
 failed = []
@@ -33,16 +34,16 @@ def query_search(partnum):
     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)
+    #fprint(search_data)
-    print(json.loads(search_data))
+    fprint(json.loads(search_data))
     #search_data = '{ "q": "' + str(partnum) + '" }'
-    print(search_data)
+    fprint(search_data)
     headers = headers = {
         'Authorization': f'Bearer {token}',
         'Content-Type': 'application/json'
     }
     with requests.post(search_url, headers=headers, data=search_data) as r:
-        print(r.text)"""
+        fprint(r.text)"""
     
     # TODO: Reimplement in python
     # Bash script uses some crazy json formatting that I could not figure out
@@ -52,7 +53,7 @@ def query_search(partnum):
     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)
+        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)
@@ -72,7 +73,7 @@ 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 +90,10 @@ 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 +101,7 @@ 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()
@@ -117,10 +118,10 @@ 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()
 
@@ -128,7 +129,7 @@ def get_multi(partnums):
         def _download_image(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()
@@ -143,27 +144,27 @@ 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='')
+            fprint("Using cached datasheet for " + partnum)
             bar.text = "Using cached datasheet for " + partnum
             bar(skipped=True)
-            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)
             bar(skipped=False)
 
         def __downloaded_datasheet(partnum, path, output_dir):
-            print("Downloaded " + path, end='')
+            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)
             bar(skipped=False)
@@ -182,10 +183,10 @@ def get_multi(partnums):
                     # Download high resolution part image if available and needed
                     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:
@@ -203,7 +204,7 @@ def get_multi(partnums):
 
                 # Failed to download with search or guess :(
                 else: 
-                    print("Failed to download datasheet for part " + partnum, end='')
+                    fprint("Failed to download datasheet for part " + partnum)
                     bar.text = "Failed to download datasheet for part " + partnum
                     failed.append(partnum)
                     bar(skipped=True)
@@ -211,13 +212,13 @@ def get_multi(partnums):
 
             # We already have a hi-res image and the datasheet - perfect!
             else:
-                print("Using cached hi-res part image for " + partnum)
+                fprint("Using cached hi-res part image for " + partnum)
                 __use_cached_datasheet(partnum, path, output_dir)
     
     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
@@ -238,7 +239,8 @@ if __name__ == "__main__":
 "FDSD012A9",
 "FSSL024NG",
 "FISX006W0",
-"FISX00103"
+"FISX00103",
+"C6D1100007"
     ]
     get_multi(partnums)
 

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>

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 +1,343 @@
+#!/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
+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
+
+    with open('config.yml', 'r') as fileread:
+        #global config
+        config = yaml.safe_load(fileread)
+
+    leds = list()
+    leds_size = list()
+    controllers = list()
+    #fprint(config["led"]["map"])
+    for shape in config["led"]["map"]:
+        if shape["type"] == "circle":
+            #fprint(shape["pos"])
+            anglediv = 360.0 / shape["size"]
+            angle = 0
+            radius = shape["diameter"] / 2
+            lednum = shape["start"]
+            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"][0]
+                y = math.sin(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][1]
+                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
+
+
+    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
+    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()
+    for x in range(len(leds)):
+        if leds_size[x] == 3:
+            data.append((20,20,127))
+        elif leds_size[x] == 4:
+            data.append((50,50,255,0))
+        else:
+            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(5,5,5,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 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=60):
+    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)
+
+    
+if __name__ == "__main__":
+    init()
+    cap = cv2.VideoCapture('output.mp4')
+    while cap.isOpened():
+        ret, frame = cap.read()
+        if not ret:
+            break
+        mapimage(frame)
+
+    time.sleep(1)
+    close()
+    #sys.exit(0)

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

@@ -7,13 +7,15 @@ import camelot
 import numpy as np
 from PIL import Image
 import io
+import json
+from util import fprint
 
 def parse(filename, output_dir):
 
     # 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)
@@ -26,10 +28,10 @@ def parse(filename, output_dir):
         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 +45,22 @@ 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 +69,7 @@ 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
@@ -81,7 +84,95 @@ 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()
+    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
+                table_list["Specs " + str(len(tables))] = table_list.pop(table_name_2, None) # 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 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]] = (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
+    
+
+    fprint(tables)
+    with open(output_dir + "/tables.json", 'w') as json_file:
+        json.dump(tables, json_file)
+
+
+
+
+
+    return tables
 
     
 

requirements.txt

@@ -4,7 +4,14 @@ opencv-python
 pypdf2==2.12.1
 alive-progress
 requests
+git+https://github.com/Byeongdulee/python-urx.git
 psycopg2
+pyyaml
+Flask
+selenium
+sacn
+uptime
+websockets
 
 # Development
 matplotlib

run.py

@@ -0,0 +1,408 @@
+#!/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")
+        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: " + data)
+                        elif call == "request":
+                            fprint("")
+
+                    case "cable_map":
+                        fprint("cable_map message")
+                        if call == "send":
+                            fprint("")
+                        elif call == "request":
+                            fprint("")
+
+                    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)
+
+

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

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>

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 +1,101 @@
+import urx
+import math3d as m3d
+import math
+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):
+    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")  # 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
+
+
+
+
+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")
+    fprint("Current tool pose is: ",  rob.getl())
+    #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)
+    fprint("Current tool pose is: ",  rob.getl())
+    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
+            

websocket_test.html

@@ -0,0 +1,42 @@
+<!DOCTYPE html>
+<html>
+<head>
+    <title>WebSocket Test</title>
+    <script>
+        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");
+            });
+
+            // 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);
+            });
+
+            // Send a message to the server
+            function sendMessage() {
+                let message = document.getElementById('messageInput').value;
+                socket.send(message);
+                console.log('Message sent', message);
+            }
+
+            // Bind send message function to button click
+            document.getElementById('sendMessage').addEventListener('click', sendMessage);
+        });
+    </script>
+</head>
+<body>
+    <h2>WebSocket Test</h2>
+    <input type="text" id="messageInput" placeholder="Type a message...">
+    <button id="sendMessage">Send Message</button>
+    <ul id="messages"></ul>
+</body>
+</html>