Merge branch 'main' of https://git.myitr.org/Jukebox/jukebox-software

Dockerfile

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

config.yml

@@ -32,13 +32,13 @@ led:
       ledstart: 288
       ledend: 431
       mode: rgb
-    - universe: 1
-      ip: 192.168.68.130
+    - universe: 4
+      ip: 192.168.5.40
       ledstart: 432
       ledend: 575
       mode: rgb
-    - universe: 4
-      ip: 192.168.68.131
+    - universe: 1
+      ip: 192.168.5.4
       ledstart: 576
       ledend: 719
       mode: rgb

get_specs.py

@@ -26,7 +26,7 @@ def check_internet(url='https://belden.com', timeout=5):
     
 
 
-def query_search(partnum):
+def query_search(partnum, source):
     """token_url = "https://www.belden.com/coveo/rest/token?t=" + str(int(time.time()))
     with requests.get(token_url) as r:
         out = json.loads(r.content)
@@ -49,7 +49,7 @@ def query_search(partnum):
     # Bash script uses some crazy json formatting that I could not figure out
     # Despite the fact that I wrote it
     # So I'll just leave it, becuase it works.
-
+    if source == "Belden":
         command = ["./query-search.sh", partnum]
         result = subprocess.run(command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
         if result.returncode != 0: # error
@@ -58,6 +58,41 @@ def query_search(partnum):
         else:
             data_out = json.loads(result.stdout)
             return data_out
+    elif source == "Alphawire":
+        alphaurl = "https://www.alphawire.com//sxa/search/results/?l=en&s={4A774076-6068-460C-9CC6-A2D8E85E407F}&itemid={BF82F58C-EFD9-4D8B-AE3E-097DD12CF7DA}&sig=&autoFireSearch=true&productpartnumber=*" + partnum + "*&v={B22CD56D-AB95-4048-8AA1-5BBDF2F2D17F}&p=10&e=0&o=ProductPartNumber%2CAscending"
+        r = requests.get(url=alphaurl)
+        data = r.json()
+        output = dict()
+        #print(data)
+        try:
+            if data["Count"] > 0:
+                print(data["Results"][0]["Url"])
+                result = data["Results"][0]
+                if result["Url"].split("/")[-1] == partnum:
+                    #print(partnum)
+                    print(result["Html"])
+                    try:
+                        imgidx = result["Html"].index("<img src=") + 10
+                        imgidx2 = result["Html"].index("?", imgidx)
+                        output["image"] = result["Html"][imgidx:imgidx2]
+                        if output["image"].index("http") != 0:
+                            output["image"] = ""
+                            print("No cable image found.")
+                    except:
+                        print("No cable image found.")
+
+                    dsidx = result["Html"].index("<a href=\"/disteAPI/") + 9
+                    dsidx2 = result["Html"].index(partnum, dsidx) + len(partnum)
+                    output["datasheet"] = "https://www.alphawire.com" + result["Html"][dsidx:dsidx2]
+                    #"test".index()
+                    print(output)
+                    return output
+
+
+        except:
+            return False
+        return False
+
 
 def touch(path):
     with open(path, 'a'):
@@ -126,7 +161,7 @@ def get_multi(partnums):
                 sys.exit()
 
 
-        def _download_image(url, output_dir): # Download datasheet with known URL
+        def _download_image(url, output_dir): # Download image with known URL
             global bartext
 
             #fprint(url)
@@ -151,25 +186,31 @@ def get_multi(partnums):
                 os.remove(partnum + "/datasheet.pdf")
                 sys.exit()
 
-        def __use_cached_datasheet(partnum, path, output_dir):
+        def __use_cached_datasheet(partnum, path, output_dir, dstype):
             fprint("Using cached datasheet for " + partnum)
             bar.text = "Using cached datasheet for " + partnum
             bar(skipped=True)
             fprint("Parsing Datasheet contents of " + partnum)
             bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
-            read_datasheet.parse(path, output_dir)
+            read_datasheet.parse(path, output_dir, partnum, dstype)
             bar(skipped=False)
 
-        def __downloaded_datasheet(partnum, path, output_dir):
+        def __downloaded_datasheet(partnum, path, output_dir, dstype):
             fprint("Downloaded " + path)
             bar.text = "Downloaded " + path
             bar(skipped=False)
             fprint("Parsing Datasheet contents of " + partnum)
             bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
-            read_datasheet.parse(path, output_dir)
+            read_datasheet.parse(path, output_dir, partnum, dstype)
             bar(skipped=False)
 
-        for partnum in partnums:
+        for fullpartnum in partnums:
+            if fullpartnum[0:2] == "BL": # catalog.belden.com entry\
+                partnum = fullpartnum[2:]
+                dstype = "Belden"
+            elif fullpartnum[0:2] == "AW":
+                partnum = fullpartnum[2:]
+                dstype = "Alphawire"
             output_dir = "cables/" + partnum
             path = output_dir + "/datasheet.pdf"
             bartext = "Downloading files for part " + partnum
@@ -177,7 +218,7 @@ def get_multi(partnums):
             #
             if (not os.path.exists(output_dir + "/found_part_hires")) or not (os.path.exists(path) and os.path.getsize(path) > 1):
                 # Use query
-                search_result = query_search(partnum.replace(" ", ""))
+                search_result = query_search(partnum.replace(" ", ""), dstype)
                 # Try to use belden.com search
                 if search_result is not False:
                     # Download high resolution part image if available and needed
@@ -190,17 +231,17 @@ def get_multi(partnums):
 
                     # Download datasheet from provided URL if needed
                     if os.path.exists(path) and os.path.getsize(path) > 1:
-                        __use_cached_datasheet(partnum, path, output_dir)
+                        __use_cached_datasheet(partnum, path, output_dir, dstype)
 
                     elif _download_datasheet(search_result["datasheet"], output_dir) is not False:
-                        __downloaded_datasheet(partnum, path, output_dir)
+                        __downloaded_datasheet(partnum, path, output_dir, dstype)
                 
                 elif os.path.exists(path) and os.path.getsize(path) > 1:
-                    __use_cached_datasheet(partnum, path, output_dir)
+                    __use_cached_datasheet(partnum, path, output_dir, dstype)
                 
                 # If search fails, and we don't already have the datasheet, guess datasheet URL and skip the hires image download
                 elif _try_download_datasheet(partnum, output_dir) is not False:
-                    __downloaded_datasheet(partnum, path, output_dir)
+                    __downloaded_datasheet(partnum, path, output_dir, dstype)
 
                 # Failed to download with search or guess :(
                 else: 
@@ -213,7 +254,7 @@ def get_multi(partnums):
             # We already have a hi-res image and the datasheet - perfect!
             else:
                 fprint("Using cached hi-res part image for " + partnum)
-                __use_cached_datasheet(partnum, path, output_dir)
+                __use_cached_datasheet(partnum, path, output_dir, dstype)
     
     if len(failed) > 0:
         fprint("Failed to download:")
@@ -227,21 +268,22 @@ def get_multi(partnums):
 
 
 if __name__ == "__main__":
-    partnums = ["10GXS12", "RST 5L-RKT 5L-949", 
-"10GXS13",
-"10GXW12",
-"10GXW13",
-"2412",
-"2413",
-"OSP6AU",
-"FI4D024P9",
-"FISD012R9",
-"FDSD012A9",
-"FSSL024NG",
-"FISX006W0",
-"FISX00103",
-"C6D1100007"
+    partnums = ["BL7958A", "BL10GXS12", "BLRST 5L-RKT 5L-949", 
+"BL10GXS13",
+"BL10GXW12",
+"BL10GXW13",
+"BL2412",
+"BL2413",
+"BLOSP6AU",
+"BLFI4D024P9",
+"BLFISD012R9",
+"BLFDSD012A9",
+"BLFSSL024NG",
+"BLFISX006W0",
+"BLFISX00103",
+"BLC6D1100007"
     ]
     get_multi(partnums)
+    #query_search("3248", "Alphawire")
 
 

led_control.py

@@ -178,9 +178,9 @@ def init():
     sendall(data)
     #time.sleep(50000)    
     fprint("Running start-up test sequence...")
-    for y in range(1):
+    for y in range(100):
         for x in range(len(leds)):
-            setpixel(5,5,5,x)
+            setpixel(0,0,150,x)
         sendall(data)
         #time.sleep(2)
         #alloffsmooth()
@@ -290,7 +290,7 @@ def close():
     time.sleep(0.5)
     sender.stop()
 
-def mapimage(image, fps=60):
+def mapimage(image, fps=90):
     global start
     while uptime() - start < 1/fps:
         time.sleep(0.00001)

read_datasheet.py

@@ -9,8 +9,10 @@ from PIL import Image
 import io
 import json
 from util import fprint
+import uuid
+from util import run_cmd
 
-def parse(filename, output_dir):
+def parse(filename, output_dir, partnum, dstype):
 
     # Extract table data
 
@@ -22,6 +24,7 @@ def parse(filename, output_dir):
     page = reader.pages[0]
     table_list = {}
     for table in tables:
+        table.df.infer_objects(copy=False)
         table.df.replace('', np.nan, inplace=True)
         table.df.dropna(inplace=True, how="all")
         table.df.dropna(inplace=True, axis="columns", how="all")
@@ -137,6 +140,7 @@ def parse(filename, output_dir):
 
 
         # multi-page table check
+        if dstype == "Belden":
             if table_name.isdigit() and len(tables) > 1:
                 fprint(table_name)
                 fprint(previous_table)
@@ -163,18 +167,77 @@ def parse(filename, output_dir):
 
         previous_table = table_name
     
+    # remove multi-line values that occasionally squeak through
+    def replace_newlines_in_dict(d):
+        for key, value in d.items():
+            if isinstance(value, str):
+                # Replace \n with " " if the value is a string
+                d[key] = value.replace('\n', ' ')
+            elif isinstance(value, dict):
+                # Recursively call the function if the value is another dictionary
+                replace_newlines_in_dict(value)
+        return d
     
-    fprint(tables)
-    with open(output_dir + "/tables.json", 'w') as json_file:
-        json.dump(tables, json_file)
+    tables = replace_newlines_in_dict(tables)
+
+    # summary
+
+    output_table = dict()
+    output_table["partnum"] = partnum
+    id = str(uuid.uuid4())
+    output_table["id"] = id
+    #output_table["position"] = id
+    #output_table["brand"] = brand
+    output_table["fullspecs"] = tables
+    output_table["searchspecs"] = {"partnum": partnum, **flatten(tables)}
+    
+    output_table["searchspecs"]["id"] = id
     
 
 
+    print(output_table)
+
+    run_cmd("rm " + output_dir + "/*.json") # not reliable!
+    with open(output_dir + "/" + output_table["searchspecs"]["id"] + ".json", 'w') as json_file:
+        json.dump(output_table["searchspecs"], json_file)
+
+    return output_table
 
 
-    return tables
+def flatten(tables):
+    def convert_to_number(s):
+        try:
+            # First, try converting to an integer.
+            return int(s)
+        except ValueError:
+            # If that fails, try converting to a float.
+            try:
+                return float(s)
+            except ValueError:
+                # If it fails again, return the original string.
+                return s
+    out = dict()
+    print("{")
+    for table in tables.keys():
+        for key in tables[table].keys():
+            if len(key) < 64:
+                keyname = key
+            else:
+                keyname = key[0:64]
+
+            fullkeyname = (table + ": " + keyname).replace(".","")
+            if type(tables[table][key]) is not tuple:
+                out[fullkeyname] = convert_to_number(tables[table][key])
+                print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
+            elif len(tables[table][key]) == 1:
+                out[fullkeyname] = convert_to_number(tables[table][key][0])
+                
+                print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
+
+    print("}")
+    return out
 
     
 
 if __name__ == "__main__":
-    parse("test2.pdf", "10GXS13")
+    parse("test2.pdf", "cables/10GXS13", "10GXS13")

requirements.txt

@@ -5,13 +5,15 @@ pypdf2==2.12.1
 alive-progress
 requests
 git+https://github.com/Byeongdulee/python-urx.git
-psycopg2
+psycopg2-binary
 pyyaml
 Flask
 selenium
 sacn
 uptime
 websockets
+numpy
+scipy
 
 # Development
 matplotlib

tempCodeRunnerFile.py

@@ -0,0 +1,5 @@
+)
+    # rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
+    
+    # angles = get_joints_from_xyz_abs(-0.3, -0.3, 0.5)
+    # rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)

ur5_control.py

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

util.py

@@ -123,7 +123,7 @@ class Logger(object):
         self.terminal = sys.stdout
 
     def write(self, message):
-        self.log.write(message)
+        #self.log.write(message)
         #close(filename)
         #self.log = open(filename, "a")
         try: