remove pick count file

.gitignore

@@ -22,3 +22,4 @@ build
 # Generated label images
 labels
 temp
+pick_count.txt

config.yml

@@ -6,7 +6,7 @@ core:
   loopspeed: 60 # fps
 
 mqtt:
-  enabled: False
+  enabled: True
   server: 172.31.108.4
 
 arm:

pick_count.txt

@@ -1 +0,0 @@
-56

run.py

@@ -661,6 +661,7 @@ def mainloop_server(pool, manager):
     global mainloop_get
     global cable_list_state
     global scan_value
+    global sensors
     global oldmode
     global arm_updates
     global animation_wait
@@ -675,6 +676,7 @@ def mainloop_server(pool, manager):
     global arm_distance_old
     global arm_distance_total
     global placed
+    global spot
 
     if mode != oldmode:
         print(" ***** Running mode:", mode, "***** ")
@@ -924,81 +926,7 @@ def mainloop_server(pool, manager):
                     pass
 
             
-    if mode == "Idle":
-        # do nothing
-        if arm_ready is False:
-            pass
     
-        else:
-            global mainloop_get
-            
-            
-            if not mainloop_get.empty():
-                global sensors
-                action, get_cable = mainloop_get.get()
-                if action == "show":
-                    animation_wait = False
-                    ring_animation = get_cable
-                    start_animation = True
-                    led_set_mode = "Show"
-                    fprint("Showing cable at position " + str(get_cable))
-                elif action == "shutdown":
-                    fprint("SHUTTING DOWN!!")
-                    pool.apply_async(ur5_control.move_to_packup, (arm,), callback=arm_start_callback, error_callback=handle_error)
-                    sleep(30)
-                    killme.set(1)
-                elif action == "returnCheck":
-                    print("Checking sensors..")
-                    if real:
-                        newtube = get_full_spot(sensors)
-                    else:
-                        newtube = -1
-                    if newtube >= 0:
-                        # need to return a cable
-                        mainloop_get.put(("return", newtube))
-                        mainloop_get.put(("returnCheck", 0))
-                else:
-                    fprint("Movement requested. Keep clear of the machine!")
-                    
-                    placed = 0
-                    arm_distance_total = 0
-                    #mqtt_send("{\"value\": " + str(time.time() * 1000) + " }", "cycle_start")
-                    cycle_start_time = int(time.time() * 1000)
-                    increment_counter()
-                    mqtt_send("{\"value\": " + str(1) + " }", "pick_count_total")
-                    if get_cable > -1:
-                        
-                        global spot
-                        if action == "pickup":
-                            spot = get_open_spot(sensors)
-                            
-                            if spot is not False:
-                                arm_ready = False
-                                if real:
-                                    animation_wait = False
-                                    ring_animation = get_cable
-                                    start_animation = True
-                                    led_set_mode = "GrabAA"
-                                    pool.apply_async(ur5_control.holder_to_tray, (arm, arm_updates, get_cable, spot), callback=arm_start_callback, error_callback=handle_error)
-                                else:
-                                    arm_ready = True
-                                fprint("Getting cable at position " + str(get_cable))
-                                mode = "Pickup"
-                                cable_list_state[get_cable] = False # mark as removed
-
-
-                        if action == "return":
-                            arm_ready = False
-                            fprint("Returning cable from tray position " + str(get_cable))
-                            if real:
-                                failcount = 0
-                                pool.apply_async(ur5_control.tray_to_camera, (arm, arm_updates, get_cable), callback=arm_start_callback, error_callback=handle_error)
-                            else:
-                                arm_ready = True
-                            mode = "ReturnC"
-            else:
-                # LED idle anim
-                pass
 
     if mode == "Pickup":
         # complete
@@ -1063,42 +991,52 @@ def mainloop_server(pool, manager):
                     pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error)
 
             elif scan_value.upper().find("BLDN.APP/") > -1:
-                scan_value = scan_value[scan_value.upper().find("BLDN.APP/")+9:]
+                scan_value = scan_value[scan_value.upper().find("BLDN.APP/")+9:].strip("\r\n\t ")
+            
                 
-                fprint("Got cable: " + str(scan_value))
                 if scan_value[0:2] == "BL" or scan_value[0:2] == "AW":
                     scan_value = scan_value[2:]
-                print(cable_list)
+                #print(cable_list)
-                print(scan_value)
+                fprint("Got cable: " + repr(scan_value))
+                
                 for idx in range(len(cable_list)):
                     cable = cable_list[idx]
-                    if cable == scan_value and cable_list_state[idx] == False:
+                    
-                        cable_list_state[idx] = True # mark cable as returned
+                    if cable is not False and cable.find(scan_value) == 0 and len(scan_value) == len(cable):
-                        arm_ready = False
+                        if cable_list_state[idx] == False:
-                        if real:
+                            cable_list_state[idx] = True # mark cable as returned
-                            animation_wait = True
+                            arm_ready = False
-                            ring_animation = idx
+                            if real:
-                            led_set_mode = "GrabC"
+                                animation_wait = True
-                            start_animation = True
+                                ring_animation = idx
-                            pool.apply_async(ur5_control.camera_to_holder, (arm, arm_updates, idx), callback=arm_start_callback, error_callback=handle_error)
+                                led_set_mode = "GrabC"
+                                start_animation = True
+                                fprint("Returning to spot " + str(idx))
+                                pool.apply_async(ur5_control.camera_to_holder, (arm, arm_updates, idx), callback=arm_start_callback, error_callback=handle_error)
+                            else:
+                                arm_ready = True
+                            mode = "Return"
+                            break
                         else:
-                            arm_ready = True
+                            print(cable_list)
-                        mode = "Return"
+                            print("Length:", len(cable_list))
-                        break
+                            for idx in range(len(cable_list)-1,-1,-1):
-                    elif cable == scan_value and cable_list_state[idx] == True:
+                                cable = cable_list[idx]
-                        fprint("WARNING: Holder still marked as occupied!")
+                                if cable is False:
-                        arm_ready = False
+                                    if real:
-                        if real:
+                                        animation_wait = True
-                            animation_wait = True
+                                        ring_animation = idx
-                            ring_animation = idx
+                                        led_set_mode = "GrabC"
-                            led_set_mode = "GrabC"
+                                        start_animation = True
-                            start_animation = True
+                                        cable_list_state[idx] = True
-                            pool.apply_async(ur5_control.camera_to_holder, (arm, arm_updates, idx), callback=arm_start_callback, error_callback=handle_error)
+                                        fprint("Returning to unused spot " + str(idx))
-                        else:
+                                        pool.apply_async(ur5_control.camera_to_holder, (arm, arm_updates, idx), callback=arm_start_callback, error_callback=handle_error)
-                            arm_ready = True
+                                    else:
-                        mode = "Return"
+                                        arm_ready = True
-                        break
+                        
+                            
                 if mode == "Scan":
+                    fprint("Unable to match cable.")
                     mode = "Idle"
         else: # camera not ready
             timecount += 1
@@ -1121,6 +1059,85 @@ def mainloop_server(pool, manager):
             # led animation
             pass
             
+    if mode == "IdleWait":
+        if arm_ready is True:
+            mode = "Idle"
+            
+    if mode == "Idle":
+        # do nothing
+        if arm_ready is False:
+            mode = "IdleWait"
+
+        else:
+            global mainloop_get
+            
+            
+            if not mainloop_get.empty():
+                
+                action, get_cable = mainloop_get.get()
+                if action == "show":
+                    animation_wait = False
+                    ring_animation = get_cable
+                    start_animation = True
+                    led_set_mode = "Show"
+                    fprint("Showing cable at position " + str(get_cable))
+                elif action == "shutdown":
+                    fprint("SHUTTING DOWN!!")
+                    pool.apply_async(ur5_control.move_to_packup, (arm,), callback=arm_start_callback, error_callback=handle_error)
+                    sleep(30)
+                    killme.set(1)
+                elif action == "returnCheck":
+                    print("Checking sensors..")
+                    if real:
+                        newtube = get_full_spot(sensors)
+                    else:
+                        newtube = -1
+                    if newtube is not False and newtube >= 0:
+                        # need to return a cable
+                        mainloop_get.put(("return", newtube))
+                        mainloop_get.put(("returnCheck", 0))
+                else:
+                    fprint("Movement requested. Keep clear of the machine!")
+                    
+                    placed = 0
+                    arm_distance_total = 0
+                    #mqtt_send("{\"value\": " + str(time.time() * 1000) + " }", "cycle_start")
+                    cycle_start_time = int(time.time() * 1000)
+                    increment_counter()
+                    mqtt_send("{\"value\": " + str(1) + " }", "pick_count_total")
+                    if get_cable > -1:
+                        
+                        
+                        if action == "pickup":
+                            spot = get_open_spot(sensors)
+                            
+                            if spot is not False:
+                                arm_ready = False
+                                if real:
+                                    animation_wait = False
+                                    ring_animation = get_cable
+                                    start_animation = True
+                                    led_set_mode = "GrabAA"
+                                    pool.apply_async(ur5_control.holder_to_tray, (arm, arm_updates, get_cable, spot), callback=arm_start_callback, error_callback=handle_error)
+                                else:
+                                    arm_ready = True
+                                fprint("Getting cable at position " + str(get_cable))
+                                mode = "Pickup"
+                                cable_list_state[get_cable] = False # mark as removed
+
+
+                        if action == "return":
+                            arm_ready = False
+                            fprint("Returning cable from tray position " + str(get_cable))
+                            if real:
+                                failcount = 0
+                                pool.apply_async(ur5_control.tray_to_camera, (arm, arm_updates, get_cable), callback=arm_start_callback, error_callback=handle_error)
+                            else:
+                                arm_ready = True
+                            mode = "ReturnC"
+            else:
+                # LED idle anim
+                pass
     
         
 def ping(host):
@@ -1162,6 +1179,7 @@ def setup_client(pool):
         sleep(0.25)
 
     fprint("VM online.")
+    sleep(2)
     # Windows client setup
     fprint("Running full jukebox control system...")
     jb = subprocess.Popen("ssh root@192.168.1.25 -t -- /root/jukebox-software/run.sh".split(' '), stdout=subprocess.PIPE, stderr=subprocess.STDOUT, bufsize=1, universal_newlines=True, encoding='utf-8')