Add LED animations to runtime

# Conflicts:
#	.gitignore
#	read_datasheet.py

.gitignore

@@ -1,9 +1,22 @@
+# python
 venv
 __pycache__
+# cable data folder(s)
 cables
+cables-sample.zip
+# meilisearch (mainly where I've put the data volume for the container)
+meili_data
+# IDE things
 .vscode
-output.log
+.idea
+# videos
 *.webm
 output.mp4
+# log files
 output.log
-cables-sample.zip
+# images
+map*.png
+# Built app
+build
+# Generated label images
+labels

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "jukebox-web"]
+	path = jukebox-web
+	url = https://git.myitr.org/Jukebox/jukebox-web

Dockerfile

@@ -0,0 +1,13 @@
+FROM python:3.11-slim
+
+# Get runtime dependencies
+# glx for OpenCV, ghostscript for datasheet PDF rendering, zbar for barcode scanning, git for cloning repos
+RUN apt-get update && apt-get install -y libgl1-mesa-glx ghostscript libzbar0 git && apt-get clean && rm -rf /var/lib/apt/lists
+COPY requirements.txt ./
+#COPY config-server.yml config.yml
+RUN pip3 install -r requirements.txt
+COPY *.py *.yml *.sh *.txt *.html static templates ./
+CMD ["sh", "-c", "python3 run.py"]
+EXPOSE 5000
+EXPOSE 8000
+EXPOSE 9000

banner_ivu_export.py

@@ -40,13 +40,16 @@ class DriveImg():
             self.onLine = False 
             fprint("Offline")
 
+    def close(self):
+        self.trans.close()
+
     def read_img(self):
         resposta = 'Falha'
         try:
             if not self.onLine:
                 #print(f'tentando Conectar camera {self.ip}...')
                 gravaLog(ip=self.ip,msg=f'Trying to connect...')
-                sleep(2)
+                #sleep(2)
                 try:
                     self.trans = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
                     self.trans.connect((self.ip,self.PORT))
@@ -63,13 +66,13 @@ class DriveImg():
                 if valida.find("TC IMAGE")<0:
                     self.onLine = False
                     self.trans.close()
-                    sleep(2)
+                    #sleep(2)
                     gravaLog(ip=self.ip,tipo="Falha",msg=f'Unable to find TC IMAGE bookmark')
                     return "Error"
             except Exception as ex:
                 self.onLine = False
                 self.trans.close()
-                sleep(2)
+                #sleep(2)
                 gravaLog(ip=self.ip,tipo="Falha",msg=f'Error - {str(ex)}')
                 return "Error"
             if ret:
@@ -113,7 +116,7 @@ class DriveImg():
             #print(f'erro {str(ex)}')
             self.onLine = False
             self.trans.close()
-            sleep(2)
+            #sleep(2)
             return resposta
 
 class DriveData():
@@ -139,7 +142,7 @@ class DriveData():
             if not self.onLine:
                 #print(f'tentando Conectar...\n')
                 gravaLog(ip=self.ip,msg=f'tentando Conectar...',file="log_data.txt")
-                sleep(2)
+                #sleep(2)
                 try:
                     self.trans = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
                     self.trans.connect((self.ip,self.PORT))
@@ -154,7 +157,7 @@ class DriveData():
         except Exception as ex:
             self.onLine = False 
             gravaLog(ip=self.ip,tipo="Falha Generica",msg=f'erro {str(ex)}',file="log_data.txt")
-            sleep(2)
+            #sleep(2)
             return resposta
 
 

belden-logo.svg

@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 25.2.1, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+	 viewBox="0 0 446.6 151.4" style="enable-background:new 0 0 446.6 151.4;" xml:space="preserve">
+<style type="text/css">
+	.st0{fill:#004990;}
+</style>
+<g>
+	<g>
+		<path class="st0" d="M21.2,32.1h-1.4v87.2H55c20.3,0,32-9.1,32-24.9c0-12.3-5.6-19.7-15.8-22.1c5.1-3.6,7.8-9.1,7.8-16.9
+			c0-15.5-8.9-23.3-26.5-23.3H21.2z M44.7,51.6c7.4,0,11.4,1.1,11.4,6.8c0,4.8-3.1,6.8-10.5,6.8c0,0-0.6,0-1.1,0
+			c0-2.1,0-11.5,0-13.6C44.5,51.6,44.7,51.6,44.7,51.6z M45.4,84.4l1.8,0c4.6,0,10.3-0.1,13,2.6c1.2,1.2,1.8,2.9,1.8,5.2
+			c0,2-0.6,3.5-1.7,4.7c-3,3-9.2,2.9-13.8,2.9c0,0-1.4,0-2.1,0c0-2.1,0-13.3,0-15.4C44.9,84.4,45.4,84.4,45.4,84.4z"/>
+		<g>
+			<path class="st0" d="M139.8,32.1H90.4v87.2h50.8V98c0,0-23.7,0-26.1,0c0-2,0-9.8,0-11.8c2.4,0,24.8,0,24.8,0V64.8
+				c0,0-22.3,0-24.8,0c0-2,0-9.4,0-11.4c2.5,0,26.1,0,26.1,0V32.1H139.8z"/>
+		</g>
+		<g>
+			<path class="st0" d="M169.3,32.1H146v87.2h51V98c0,0-23.9,0-26.3,0c0-2.6,0-65.9,0-65.9H169.3z"/>
+		</g>
+		<g>
+			<path class="st0" d="M332.4,32.1H283v87.2h50.8V98c0,0-23.7,0-26.1,0c0-2,0-9.8,0-11.8c2.4,0,24.8,0,24.8,0V64.8
+				c0,0-22.3,0-24.8,0c0-2,0-9.4,0-11.4c2.5,0,26.1,0,26.1,0V32.1H332.4z"/>
+		</g>
+		<g>
+			<path class="st0" d="M424.6,32.1h-23.3c0,0,0,43,0,49.3c-4-5.1-38.4-49.3-38.4-49.3h-24v87.2h24.7c0,0,0-43.1,0-49.5
+				c4,5.1,38.4,49.5,38.4,49.5h24V32.1H424.6z"/>
+		</g>
+		<g>
+			<g>
+				<path class="st0" d="M233.8,32.1h-32.5v87.2h32.5c24.4,0,44.3-19.6,44.3-43.6C278.1,51.7,258.2,32.1,233.8,32.1z M226,53.5
+					c13.6,0.3,22,8.7,22,22.2c0,13.6-8.2,21.9-22,22.2V53.5z M231.5,101.3c12.5-3,20.7-10.7,20.8-25.7c-0.2-15-8.3-22.7-20.8-25.7
+					c14,2.1,25,9.5,25,25.6v0.1C256.5,91.8,245.5,99.2,231.5,101.3z M260.2,75.6c-0.2-18-10-29.8-24.9-33.3
+					c16.7,2.5,29.6,14,29.6,33.3c0,0,0,0,0,0.1h0c0,19.3-13,30.7-29.7,33.2C250.1,105.3,260,93.6,260.2,75.6z M240.3,115.7
+					c16.7-4.7,28.3-19.2,28.5-39.9v-0.3c-0.2-20.7-11.9-35.1-28.5-39.8c19,3.9,33.5,17.7,33.6,39.7v0.4
+					C273.9,97.9,259.4,111.8,240.3,115.7z"/>
+			</g>
+		</g>
+	</g>
+</g>
+</svg>

compose-search-only.yml

@@ -0,0 +1,13 @@
+services:
+  meilisearch:
+    image: "getmeili/meilisearch:v1.6.2"
+    ports:
+      - "7700:7700"
+    environment:
+      MEILI_MASTER_KEY: fluffybunnyrabbit
+      MEILI_NO_ANALYTICS: true
+    volumes:
+      - "meili_data:/meili_data"
+  
+volumes:
+  meili_data:

compose.yml

@@ -0,0 +1,30 @@
+services:
+  meilisearch:
+    image: "getmeili/meilisearch:v1.6.2"
+    ports:
+      - "7700:7700"
+    environment:
+      MEILI_MASTER_KEY: fluffybunnyrabbit
+      MEILI_NO_ANALYTICS: true
+    volumes:
+      - "meili_data:/meili_data"
+  
+  jukebox-software:
+    build: .
+    init: true
+    ports:
+      - "5000:5000"
+      - "8000:8000"
+      - "9000:9000"
+    environment:
+      - PYTHONUNBUFFERED=1
+    depends_on:
+      - meilisearch
+  
+  jukebox-web:
+    build: jukebox-web
+    ports:
+      - "3000:3000"
+
+volumes:
+  meili_data:

config.yml

@@ -3,9 +3,21 @@ core:
   serverip: 172.26.178.114
   clientip: 172.26.176.1
   server: Hyper-Vd
+  loopspeed: 60 # fps
 
 arm:
   ip: 192.168.1.145
+  tool:
+    offset_x: 0
+    offset_y: 0
+    offset_z: 0.14
+  limbs:
+    limb_base: 0.11
+    limb1: 0.425
+    limb2: 0.39225
+    limb3: 0.1
+    limb_wrist: 0.0997
+
 
 #cable_map:
 cameras:
@@ -15,55 +27,55 @@ cameras:
 
 led: 
   fps: 90
-  timeout: 0
+  timeout: 1
   controllers:
-    - universe: 9
+    - universe: 0
-      ip: 192.168.68.131
+      ip: 192.168.1.200
       ledstart: 0
       ledend: 143
       mode: rgb
-    - universe: 3
+    - universe: 1
-      ip: 192.168.68.131
+      ip: 192.168.1.201
       ledstart: 144
       ledend: 287
       mode: rgb
     - universe: 2
-      ip: 192.168.68.131
+      ip: 192.168.1.202
       ledstart: 288
       ledend: 431
       mode: rgb
-    - universe: 1
+    - universe: 3
-      ip: 192.168.68.130
+      ip: 192.168.1.203
       ledstart: 432
       ledend: 575
       mode: rgb
     - universe: 4
-      ip: 192.168.68.131
+      ip: 192.168.1.204
       ledstart: 576
       ledend: 719
       mode: rgb
     - universe: 5
-      ip: 192.168.68.131
+      ip: 192.168.1.205
       ledstart: 720
       ledend: 863
       mode: rgb
     - universe: 6
-      ip: 192.168.68.131
+      ip: 192.168.1.206
       ledstart: 864
       ledend: 1007
       mode: rgb
     - universe: 7
-      ip: 192.168.68.131
+      ip: 192.168.1.207
       ledstart: 1008
       ledend: 1151
       mode: rgb
     - universe: 8
-      ip: 192.168.68.131
+      ip: 192.168.1.208
       ledstart: 1152
       ledend: 1295
       mode: rgb
-    - universe: 0
+    - universe: 9
-      ip: 192.168.68.130
+      ip: 192.168.1.209
       ledstart: 1296
       ledend: 1365
       mode: rgbw
@@ -159,7 +171,7 @@ led:
       size: 24
       diameter: 63.5
       angle: 0
-      pos: [-65.936, 114.3]
+      pos: [-65.991, 114.3]
     - type: circle
       start: 336
       size: 24
@@ -420,6 +432,116 @@ led:
       size: 70
       length: 600
       angle: 270 # down
-      pos: [300, 300]
+      pos: [375, 300]
-
 
+global_position_offset: [0,0] # default coordinate spce below as center of arm at 0,0 - adjust if necessary
+animation_time: 40
+position_map:
+  - index: 0
+    pos: [-152.4, 263.965]
+  - index: 1
+    pos: [-76.2, 263.965]
+  - index: 2
+    pos: [0, 263.965]
+  - index: 3
+    pos: [76.2, 263.965]
+  - index: 4
+    pos: [152.4, 263.965]
+  - index: 5
+    pos: [-190.5, 197.973]
+  - index: 6
+    pos: [-114.3, 197.973]
+  - index: 7
+    pos: [-38.1, 197.973]
+  - index: 8
+    pos: [38.1, 197.973]
+  - index: 9
+    pos: [114.3, 197.973]
+  - index: 10
+    pos: [190.5, 197.973]
+  - index: 11
+    pos: [-228.6, 131.982]
+  - index: 12
+    pos: [-152.4, 131.982]
+  - index: 13
+    pos: [-76.2, 131.982]
+  - index: 14
+    pos: [0, 131.982]
+  - index: 15
+    pos: [76.2, 131.982]
+  - index: 16
+    pos: [152.4, 131.982]
+  - index: 17
+    pos: [228.6, 131.982]
+  - index: 18
+    pos: [-266.7, 65.991]
+  - index: 19
+    pos: [-190.5, 65.991]
+  - index: 20
+    pos: [-114.3, 65.991]
+  - index: 21
+    pos: [114.3, 65.991]
+  - index: 22
+    pos: [190.5, 65.991]
+  - index: 23
+    pos: [266.7, 65.991]
+  - index: 24
+    pos: [-304.8, 0]
+  - index: 25
+    pos: [-228.6, 0]
+  - index: 26
+    pos: [-152.4, 0]
+  - index: 27
+    pos: [152.4, 0]
+  - index: 28
+    pos: [228.6, 0]
+  - index: 29
+    pos: [304.8, 0]
+  - index: 30
+    pos: [-266.7, -65.991]
+  - index: 31
+    pos: [-190.5, -65.991]
+  - index: 32
+    pos: [-114.3, -65.991]
+  - index: 33
+    pos: [114.3, -65.991]
+  - index: 34
+    pos: [190.5, -65.991]
+  - index: 35
+    pos: [266.7, -65.991]
+  - index: 36
+    pos: [-228.6, -131.982]
+  - index: 37
+    pos: [-152.4, -131.982]
+  - index: 38
+    pos: [-76.2, -131.982]
+  - index: 39
+    pos: [0, -131.982]
+  - index: 40
+    pos: [76.2, -131.982]
+  - index: 41
+    pos: [152.4, -131.982]
+  - index: 42
+    pos: [228.6, -131.982]
+  - index: 43
+    pos: [-190.5, -197.973]
+  - index: 44
+    pos: [-114.3, -197.973]
+  - index: 45
+    pos: [-38.1, -197.973]
+  - index: 46
+    pos: [38.1, -197.973]
+  - index: 47
+    pos: [114.3, -197.973]
+  - index: 48
+    pos: [190.5, -197.973]
+  - index: 49
+    pos: [-152.4, -263.965]
+  - index: 50
+    pos: [-76.2, -263.965]
+  - index: 51
+    pos: [0, -263.965]
+  - index: 52
+    pos: [76.2, -263.965]
+  - index: 53
+    pos: [152.4, -263.965]

database.py

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

get_specs.py

@@ -5,7 +5,7 @@ import sys
 import read_datasheet
 from alive_progress import alive_bar
 import requests
-#import time
+import time
 import json
 import subprocess
 from util import fprint
@@ -26,30 +26,82 @@ 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()))
+    fprint("Searching for " + partnum)
+    if source == "Belden":
+        token_url = "https://www.belden.com/coveo/rest/token?t=" + str(int(time.time()))
         with requests.get(token_url) as r:
             out = json.loads(r.content)
         token = out["token"]
         search_url = "https://www.belden.com/coveo/rest/search"
-    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" }'
+
+        # Ridiculous search parameters extracted from website. Do not touch
+        search_data = r"""{ "q": "{QUERY}", "sortCriteria": "relevancy", "numberOfResults": "250", "sortCriteria": "@catalogitemwebdisplaypriority ascending", "searchHub": "products-only-search", "pipeline": "Site Search", "maximumAge": "900000", "tab": "products-search", "locale": "en", "aq": "(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((@syssource==\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\" @catalogitemprimarycategorypublished==true)) ((@catalogitemregionavailable=Global) (@z95xlanguage==en))", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\"Coveo_web_index - rg-nc-prod-sitecore-prod\")) OR (@source==(\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\",\"website_001002_Category_index-rg-nc-prod-sitecore-prod\"))", "firstResult": "0" }, "categoryFacets": "[{\"field\":\"@catalogitemcategories\",\"path\":[],\"injectionDepth\":1000,\"maximumNumberOfValues\":6,\"delimitingCharacter\":\"|\"}]", "facetOptions": "{}", "groupBy": "    [{\"field\":\"@contenttype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[\"Products\"],\"queryOverride\":\"{QUERY}\",\"advancedQueryOverride\":\"(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((((((((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) ((@z95xpath=C292F3A37B3A4E6BAB345DF87ADDE516 @z95xid<>C292F3A37B3A4E6BAB345DF87ADDE516) @z95xtemplate==E4EFEB787BDC4B1A908EFC64D56CB2A4)) OR ((@z95xpath=723501A864754FEEB8AE377E4C710271 @z95xid<>723501A864754FEEB8AE377E4C710271) ((@z95xpath=600114EAB0E5407A84AAA9F0985B6575 @z95xid<>600114EAB0E5407A84AAA9F0985B6575) @z95xtemplate==2BE4FD6B3B2C49EBBD9E1F6C92238B05))) OR (@syssource==\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\" @catalogitemprimarycategorypublished==true)) OR ((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) @z95xpath<>C292F3A37B3A4E6BAB345DF87ADDE516)) OR @syssource==\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\") NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B))) ((@catalogitemregionavailable=Global) (@z95xlanguage==en) OR (@contenttype=(Blogs,Resources,Other)) (NOT @ez120xcludefromcoveo==1))\",\"constantQueryOverride\":\"((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))\"},{\"field\":\"@catalogitembrand\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemenvironment\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemregionalavailability\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@prez45xtez120xt\",\"maximumNumberOfValues\":5,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@tags\",\"maximumNumberOfValues\":4,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetassettype\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetbrand\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetmarket\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsolution\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsearchcontentpagetype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]}]" }"""
+        search_data = search_data.replace(r"{QUERY}", partnum)
         #"aq": "", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))", "firstResult": "0", "categoryFacets": "[{\\"field\\":\\"@catalogitemcategories\\",\\"path\\":[],\\"injectionDepth\\":1000,\\"maximumNumberOfValues\\":6,\\"delimitingCharacter\\":\\"|\\"}]", "facetOptions": "{}", "groupBy": "" }'
         #fprint(search_data)
-    fprint(json.loads(search_data))
+        #fprint(json.loads(search_data))
         #search_data = '{ "q": "' + str(partnum) + '" }'
-    fprint(search_data)
+        #fprint(search_data)
         headers = headers = {
             'Authorization': f'Bearer {token}',
             'Content-Type': 'application/json'
         }
+        try:
             with requests.post(search_url, headers=headers, data=search_data) as r:
-        fprint(r.text)"""
+                a = r.text
+                a = json.loads(a)
+                idx = -1
+                name = ""
+                for partid in range(len(a["results"])-1, -1, -1):
+                    name = a["results"][partid]["title"]
+                    if name != partnum:
+                        if name.find(partnum) >= 0:
+                            idx = partid
+                            #break
+                        elif partnum.find(name) >= 0:
+                            idx = partid
+                            #break
                         
-    # TODO: Reimplement in python
+                    else:
-    # Bash script uses some crazy json formatting that I could not figure out
+                        idx = partid
-    # Despite the fact that I wrote it
+                        break
-    # So I'll just leave it, becuase it works.
                         
+                if idx < 0:
+                    fprint("Could not find part in API: " + partnum)
+                    return False
+                
+                name = a["results"][idx]["title"]
+                #fprint("Search result found: result " + str(idx) + ", for ID " + name)
+                #urlname = a["results"][0]["raw"]["catalogitemurlname"]
+                img = a["results"][idx]["raw"]["catalogitemimageurl"]
+                img = img[0:img.index("?")]
+                uri = a["results"][idx]["raw"]["clickableuri"]
+                dsid = a["results"][idx]["raw"]["catalogitemdatasheetid"]
+                brand = a["results"][idx]["raw"]["catalogitembrand"]
+                desc = a["results"][idx]["raw"]["catalogitemlongdesc"]
+                shortdesc = a["results"][idx]["raw"]["catalogitemshortdesc"]
+                a = json.dumps(a["results"][idx], indent=2)
+                #print(a, urlname, img, uri, dsurl)
+
+                out = dict()
+                out["url"] = "https://www.belden.com/products/" + uri
+                out["datasheet"] = "https://catalog.belden.com/techdata/EN/" + dsid + "_techdata.pdf"
+                out["brand"] = brand
+                out["name"] = shortdesc
+                out["description"] = desc
+                out["image"] = "https://www.belden.com" + img
+                out["partnum"] = name
+                #print(out)
+                return out
+        except:
+            print("Failed to search with API. Falling back to datasheet lookup.")
+            return False
+    
+
+    # Original bash script
+    # superceded by above
+    if source == "Belden_shell":
         command = ["./query-search.sh", partnum]
         result = subprocess.run(command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
         if result.returncode != 0: # error
@@ -58,6 +110,48 @@ 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["Results"])
+        
+        try:
+            if data["Count"] > 0:
+                #print(data["Results"][0]["Url"])
+                for result in data["Results"]:
+                    #print(result["Url"])
+                    if result["Url"].split("/")[-1] == partnum.replace("-", "").replace("/", "_"):
+                        #print(partnum)
+                        #print(result["Html"])
+                        try:
+                            imgidx = result["Html"].index("<img src=") + 10
+                            imgidx2 = result["Html"].index("?", imgidx)
+                            output["image"] = result["Html"][imgidx:imgidx2]
+                            if output["image"].index("http") != 0:
+                                output["image"] = ""
+                                print("No cable image found.")
+                        except:
+                            print("No cable image found.")
+
+                        dsidx = result["Html"].index("<a href=\"/disteAPI/") + 9
+                        dsidx2 = result["Html"].index(partnum, dsidx) + len(partnum)
+                        output["datasheet"] = "https://www.alphawire.com" + result["Html"][dsidx:dsidx2]
+                        output["partnum"] = partnum.replace("/", "_") #.replace("-", "").replace("/", "_")
+                        #
+                        # "test".index()
+                        #print(output)
+                        return output
+
+
+        except:
+            print("Failed to search with API. Falling back to datasheet lookup.")
+            return False
+        
+        print("Failed to search with API. Falling back to datasheet lookup.")
+        return False
+
 
 def touch(path):
     with open(path, 'a'):
@@ -65,14 +159,19 @@ def touch(path):
 
 
 
-def get_multi(partnums):
+def get_multi(partnums, delay=0.25, dir="cables/", cache=True, bar=None):
-    with alive_bar(len(partnums) * 2, dual_line=True, calibrate=30, bar="classic2", spinner="classic") as bar:
+    #with alive_bar(len(partnums) * 2, dual_line=True, calibrate=30, bar="classic2", spinner="classic", disable=True, file=sys.stdout) as bar:
-
+        failed = list()
-        def _try_download_datasheet(partnum, output_dir): # Guess datasheet URL
+        actualpartnums = list()
+        def _try_download_datasheet(partnum, output_dir, dstype): # Guess datasheet URL
             global bartext
 
+            if dstype == "Belden":
                 sanitized_name = partnum.replace(" ", "")
                 url = "https://catalog.belden.com/techdata/EN/" + sanitized_name + "_techdata.pdf"
+            elif dstype == "Alphawire":
+                # Alphawire Datasheet URLs do not use a sanitized part number (but product pages do)
+                url = "https://www.alphawire.com/disteAPI/SpecPDF/DownloadProductSpecPdf?productPartNumber=" + partnum
             #fprint(url)
             try:
                 with requests.get(url, stream=True) as r:
@@ -82,13 +181,14 @@ def get_multi(partnums):
                     if r.status_code == 404:
                         return False
                     os.makedirs(output_dir, exist_ok=True)
+                    bartext = ""
                     with open(output_dir + "/datasheet.pdf", 'wb') as f:
-                        for chunk in r.iter_content(chunk_size=131072): 
+                        for chunk in r.iter_content(chunk_size=65536): 
                             # If you have chunk encoded response uncomment if
                             # and set chunk_size parameter to None.
                             #if chunk: 
                             bartext = bartext + "."
-                            bar.text = bartext
+                            # bar.text = bartext
                             f.write(chunk)
                 #fprint("")
                 return output_dir + "/datasheet.pdf"
@@ -110,13 +210,14 @@ def get_multi(partnums):
                     if r.status_code == 404:
                         return False
                     os.makedirs(output_dir, exist_ok=True)
+                    bartext = ""
                     with open(output_dir + "/datasheet.pdf", 'wb') as f:
-                        for chunk in r.iter_content(chunk_size=131072): 
+                        for chunk in r.iter_content(chunk_size=65536): 
                             # If you have chunk encoded response uncomment if
                             # and set chunk_size parameter to None.
                             #if chunk: 
                             bartext = bartext + "."
-                            bar.text = bartext
+                            # bar.text = bartext
                             f.write(chunk)
                 #fprint("")
                 return output_dir + "/datasheet.pdf"
@@ -126,7 +227,7 @@ 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)
@@ -136,13 +237,14 @@ def get_multi(partnums):
                     if r.status_code == 404:
                         return False
                     os.makedirs(output_dir, exist_ok=True)
+                    bartext = ""
                     with open(output_dir + "/part-hires." + url.split(".")[-1], 'wb') as f:
-                        for chunk in r.iter_content(chunk_size=131072): 
+                        for chunk in r.iter_content(chunk_size=65536): 
                             # If you have chunk encoded response uncomment if
                             # and set chunk_size parameter to None.
                             #if chunk: 
                             bartext = bartext + "."
-                            bar.text = bartext
+                            # bar.text = bartext
                             f.write(chunk)
                 #fprint("")
                 return output_dir + "/part-hires." + url.split(".")[-1]
@@ -151,97 +253,222 @@ 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.text = "Using cached datasheet for " + partnum
-            bar(skipped=True)
+            # bar(skipped=True)
-            fprint("Parsing Datasheet contents of " + partnum)
+            if not os.path.exists(output_dir + "/parsed"):
-            bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
-            read_datasheet.parse(path, output_dir)
-            bar(skipped=False)
                 
-        def __downloaded_datasheet(partnum, path, output_dir):
+                fprint("Parsing Datasheet contents of " + partnum)
+                # bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
+            
+                out = read_datasheet.parse(path, output_dir, partnum, dstype)
+                # bar(skipped=False) 
+                return out
+            else:
+                fprint("Datasheet already parsed for " + partnum)
+                # bar.text = "Datasheet already parsed for " + partnum + ".pdf"
+                # bar(skipped=True)
+
+        def __downloaded_datasheet(partnum, path, output_dir, dstype):
             fprint("Downloaded " + path)
-            bar.text = "Downloaded " + path
+            # bar.text = "Downloaded " + path
-            bar(skipped=False)
+            # bar(skipped=False)
             fprint("Parsing Datasheet contents of " + partnum)
-            bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
+            # bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
-            read_datasheet.parse(path, output_dir)
+            out = read_datasheet.parse(path, output_dir, partnum, dstype)
-            bar(skipped=False)
+            # bar(skipped=False)
+            return out
 
-        for partnum in partnums:
+        def run_search(partnum):
-            output_dir = "cables/" + partnum
+            partnum = partnum.replace("%20", " ") # undo URL encoding
+            oldpartnum = partnum
+            if dstype == "Alphawire":
+                # For alphawire, sanitize the part number for only the final result check, because their API is very wierd
+                # For the actual search, it must be un-sanitized
+                partnum = partnum.replace("/","_")
+            output_dir = dir + partnum
             path = output_dir + "/datasheet.pdf"
             bartext = "Downloading files for part " + partnum
-            bar.text = bartext
+            # bar.text = bartext
-            #
+            partnum = oldpartnum.replace("_","/")
-            if (not os.path.exists(output_dir + "/found_part_hires")) or not (os.path.exists(path) and os.path.getsize(path) > 1):
+            returnval = [partnum, dstype, False, False]
+            if (not os.path.exists(output_dir + "/found_part_hires")) or not (os.path.exists(path) and os.path.getsize(path) > 1) or not cache:
                 # Use query
-                search_result = query_search(partnum.replace(" ", ""))
+                search_result = query_search(partnum, dstype)
                 # Try to use belden.com search
                 if search_result is not False:
                     # Download high resolution part image if available and needed
-                    if not os.path.exists(output_dir + "/found_part_hires"):
+                    #oldpartnum = partnum
+                    partnum = search_result["partnum"]
+                    returnval = [partnum, dstype, False, False]
+                    output_dir = dir + partnum
+                    path = output_dir + "/datasheet.pdf"
+                    bartext = "Downloading files for part " + partnum
+                    # bar.text = bartext
+
+                    if not os.path.exists(output_dir + "/found_part_hires") or not cache:
                         if _download_image(search_result["image"], output_dir):
                             fprint("Downloaded hi-res part image for " + partnum)
+                            returnval = [partnum, dstype, True, False]
                         touch(output_dir + "/found_part_hires")
                     else:
                         fprint("Using cached hi-res part image for " + partnum)
 
                     # Download datasheet from provided URL if needed
-                    if os.path.exists(path) and os.path.getsize(path) > 1:
+                    if os.path.exists(path) and os.path.getsize(path) > 1 and cache:
-                        __use_cached_datasheet(partnum, path, output_dir)
+                        out = __use_cached_datasheet(partnum, path, output_dir, dstype)
+                        returnval = [partnum, dstype, True, out]
 
                     elif _download_datasheet(search_result["datasheet"], output_dir) is not False:
-                        __downloaded_datasheet(partnum, path, output_dir)
+                        out = __downloaded_datasheet(partnum, path, output_dir, dstype)
+                        returnval = [partnum, dstype, True, out]
                 
-                elif os.path.exists(path) and os.path.getsize(path) > 1:
+                elif os.path.exists(path) and os.path.getsize(path) > 1 and cache:
-                    __use_cached_datasheet(partnum, path, output_dir)
+                    out = __use_cached_datasheet(partnum, path, output_dir, dstype)
+                    returnval = [partnum, dstype, True, out]
                 
                 # If search fails, and we don't already have the datasheet, guess datasheet URL and skip the hires image download
-                elif _try_download_datasheet(partnum, output_dir) is not False:
+                elif _try_download_datasheet(partnum, output_dir, dstype) is not False:
-                    __downloaded_datasheet(partnum, path, output_dir)
+                    out = __downloaded_datasheet(partnum, path, output_dir, dstype)
+                    returnval = [partnum, dstype, False, out]
 
                 # Failed to download with search or guess :(
                 else: 
-                    fprint("Failed to download datasheet for part " + partnum)
+                    return False
-                    bar.text = "Failed to download datasheet for part " + partnum
+                actualpartnums.append(returnval)
-                    failed.append(partnum)
+                return returnval
-                    bar(skipped=True)
-                    bar(skipped=True)
 
             # We already have a hi-res image and the datasheet - perfect!
             else:
                 fprint("Using cached hi-res part image for " + partnum)
-                __use_cached_datasheet(partnum, path, output_dir)
+                out = __use_cached_datasheet(partnum, path, output_dir, dstype)
+                returnval = [partnum, dstype, False, out]
+                actualpartnums.append(returnval)
+                return True
+    
+        for fullpartnum in partnums:
+            if fullpartnum is False:
+                actualpartnums.append(False)
+                continue
+            if fullpartnum[0:2] == "BL": # catalog.belden.com entry
+                partnum = fullpartnum[2:]
+                dstype = "Belden"
+            elif fullpartnum[0:2] == "AW":
+                partnum = fullpartnum[2:]
+                dstype = "Alphawire"
+            else:
+                dstype = "Belden" # guess
+                partnum = fullpartnum
+            if not run_search(partnum):
+                success = False
+                if len(partnum.split(" ")) > 1:
+                    for name in partnum.split(" "):
+                        fprint("Retrying with alternate name: " + name)
+                        if(run_search(name)):
+                            success = True
+                            break
+                        time.sleep(delay)
+                    if not success:
+                        namestripped = partnum.strip(" ")
+                        fprint("Retrying with alternate name: " + namestripped)
+                        if(run_search(namestripped)):
+                            success = True
+                            time.sleep(delay)
+                if not success:
+                    fprint("Failed to download datasheet for part " + partnum)
+                    # bar.text = "Failed to download datasheet for part " + partnum
+                    failed.append((partnum, dstype))
+                    # bar(skipped=True)
+                    # bar(skipped=True)
+            time.sleep(delay)
             
         if len(failed) > 0:
             fprint("Failed to download:")
             for partnum in failed:
-            fprint(partnum)
+                fprint(partnum[1] + " " + partnum[0])
-        return False # Go to manual review upload page
+            return False, actualpartnums # Go to manual review upload page
         else:
-        return True # All cables downloaded; we are good to go
+            return True, actualpartnums # All cables downloaded; we are good to go
 
 
 
 
 if __name__ == "__main__":
-    partnums = ["10GXS12", "RST 5L-RKT 5L-949", 
+    # partnums = ["BLFISX012W0", "BL7958A", "BL10GXS12", "BLRST 5L-RKT 5L-949", 
-"10GXS13",
+    # "BL10GXS13",
-"10GXW12",
+    # "BL10GXW12",
-"10GXW13",
+    # "BL10GXW13",
-"2412",
+    # "BL2412",
-"2413",
+    # "BL2413",
-"OSP6AU",
+    # "BLOSP6AU",
-"FI4D024P9",
+    # "BLFI4D024P9",
-"FISD012R9",
+    # "BLFISD012R9",
-"FDSD012A9",
+    # "BLFDSD012A9",
-"FSSL024NG",
+    # "BLFSSL024NG",
-"FISX006W0",
+    # "BLFISX006W0",
-"FISX00103",
+    # "BLFISX00103",
-"C6D1100007"
+    # "BLC6D1100007"
+    # ]
+    partnums = [
+    # Actual cables in Jukebox
+    "BL3092A",
+    "AW86104CY",
+    "AW3050",
+    "AW6714",
+    "AW1172C",
+    "AWFIT-221-1/4",
+
+    "BLTF-1LF-006-RS5N",
+    "BLTF-SD9-006-RI5N",
+    "BLTT-SLG-024-HTNN",
+    "BLFISX012W0",
+    "BLFI4X012W0",
+    "BLSPE101 006Q",
+    "BLSPE102 006Q",
+    "BL7922A 010Q",
+    "BL7958A 008Q",
+    "BLIOP6U 010Q",
+    "BL10GXW13 D15Q",
+    "BL10GXW53 D15Q",
+    "BL29501F 010Q",
+    "BL29512 010Q",
+    "BL3106A 010Q",
+    "BL9841 060Q",
+    "BL3105A 010Q",
+    "BL3092A 010Q",
+    "BL8760 060Q",
+    "BL6300UE 008Q",
+    "BL6300FE 009Q",
+    "BLRA500P 006Q",
+
     ]
-    get_multi(partnums)
+    # Some ones I picked, including some invalid ones
+    a = [
+    "BL10GXS12", 
+    "BLRST%205L-RKT%205L-949",
+    "BL10GXS13",
+    "BL10GXW12",
+    "BL10GXW13",
+    "BL2412",
+    "BL2413",
+    "BLOSP6AU",
+    "BLFI4D024P9",
+    "BLFISD012R9",
+    "BLFDSD012A9",
+    "BLFSSL024NG",
+    "BLFISX006W0", # datasheet only
+    "BLFISX00103", # invalid
+    "BLC6D1100007" # invalid
+    
+    ]
+    #print(query_search("TT-SLG-024-HTNN", "Belden"))
+    from label_generator import gen_label
+    gen_label("BLTF-SD9-006-RI5")
+    gen_label("BLRA500P")
+    gen_label("AWFIT-221-1_4")
+    gen_label("BLRST 5L-RKT 5L-949")
+    get_multi(partnums, 0.25)
+    #query_search("10GXS13", "Belden")
 
 

index.html

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

install-deps.sh

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

label_generator.py

@@ -0,0 +1,106 @@
+#!/usr/bin/env python3
+
+
+
+from get_specs import get_multi
+import sys
+import uuid
+import os
+import signal
+from PIL import Image
+from label_image import generate_code
+
+
+def input_cable():
+    print("")
+    print("Use the full part number. Spaces, special characters are allowed. Do not specify the brand.")
+    print("")
+    print("Please enter a part number and press enter:")
+    inputnum = input("").strip()
+    if len(inputnum) < 2:
+        killall_signal(0, 0)
+    print("Input part number:", inputnum)
+    print("Searching databases for cables...")
+    # Search both AW and BL sites
+    status, output = get_multi(["BL"+inputnum, "AW"+inputnum], delay=0.1, dir="temp/" + str(uuid.uuid4()) + "/", cache=False)
+    print("")
+    if len(output) > 1:
+        for i in output:
+            print(i[1], i[0])
+        print("Multiple brands with the same part number! Please type \"b\" for the Belden part number or \"a\" for the Alphawire cable")
+        inputbrand = input()
+        if inputbrand == "b":
+            output = [output[0]]
+        elif inputbrand == "a":
+            output = [output[1]]
+    elif len(output) == 0:
+        print("No results found for part number", inputnum + ". Please try again with a different part number.")
+        return
+    
+    output = output[0]
+    print("")
+    if output[2] and output[3]:
+        print("Cable result found -",output[1], output[0], "with high-quality image and full specs")
+    elif output[2]:
+        print("Cable result found -",output[1], output[0], "with high-quality image and no specs")
+    elif output[3]:
+        print("Cable result found -",output[1], output[0], "with no/low quality image and full specs")
+    else:
+        print("Cable result found -",output[1], output[0], "with no/low quality image and no specs")
+    print("")
+    if not output[3]:
+        print("Unable to decode cable specs. Please try again with a different part number.")
+        return False
+    else:
+        print("")
+        print("*** Cable details confirmed. Creating label...")
+        print("")
+        img = None
+        imgstr = ""
+        if output[1] == "Belden":
+            imgstr = "BL"
+        elif output[1] == "Alphawire":
+            imgstr = "AW"
+        gen_label(imgstr + output[0])
+        #img = generate_code(imgstr + output[0])
+        #os.makedirs("labels", exist_ok=True)
+        #img.save("labels/" + imgstr + output[0] + ".png")
+
+def gen_label(partnum, path="labels"):
+    img = generate_code(partnum)
+    os.makedirs(path, exist_ok=True)
+    img.save(path + "/" + partnum + ".png")
+
+def delete_folder(path):
+    # Check if the path is a directory
+    if not os.path.isdir(path):
+        return
+    
+    # List all files and directories in the path
+    for filename in os.listdir(path):
+        file_path = os.path.join(path, filename)
+        # If it's a directory, recursively call this function
+        if os.path.isdir(file_path):
+            delete_folder(file_path)
+        else:
+            # If it's a file, remove it
+            os.remove(file_path)
+    
+    # After removing all contents, remove the directory itself
+    os.rmdir(path)
+
+def killall_signal(a,b):
+    delete_folder("temp")
+    os.kill(os.getpid(), 9) # dirty kill of self
+
+if __name__ == "__main__":
+    
+    signal.signal(signal.SIGINT, killall_signal)
+    signal.signal(signal.SIGTERM, killall_signal)
+    print("Welcome to the Jukebox cable utility. This tool will allow you to verify Belden & Alphawire cable part numbers and create labels for samples in the Jukebox.")
+    print("This tool requires internet access to download cable specifications and verify part numbers.")
+    #print("Use Ctrl+C to exit.")
+    while True:
+        delete_folder("temp")
+        input_cable()
+    

label_image.py

@@ -0,0 +1,319 @@
+#!/usr/bin/env python3
+from util import fprint
+
+from PIL import Image
+from PIL import ImageDraw
+from PIL import ImageFont
+#import cv2
+import numpy as np
+from util import find_data_file
+import segno
+import io
+#import cairosvg
+#import math
+
+
+
+# Copied from http://en.wikipedia.org/wiki/Code_128
+# Value Weights 128A    128B    128C
+CODE128_CHART = """
+0       212222  space   space   00
+1       222122  !       !       01
+2       222221  "       "       02
+3       121223  #       #       03
+4       121322  $       $       04
+5       131222  %       %       05
+6       122213  &       &       06
+7       122312  '       '       07
+8       132212  (       (       08
+9       221213  )       )       09
+10      221312  *       *       10
+11      231212  +       +       11
+12      112232  ,       ,       12
+13      122132  -       -       13
+14      122231  .       .       14
+15      113222  /       /       15
+16      123122  0       0       16
+17      123221  1       1       17
+18      223211  2       2       18
+19      221132  3       3       19
+20      221231  4       4       20
+21      213212  5       5       21
+22      223112  6       6       22
+23      312131  7       7       23
+24      311222  8       8       24
+25      321122  9       9       25
+26      321221  :       :       26
+27      312212  ;       ;       27
+28      322112  <       <       28
+29      322211  =       =       29
+30      212123  >       >       30
+31      212321  ?       ?       31
+32      232121  @       @       32
+33      111323  A       A       33
+34      131123  B       B       34
+35      131321  C       C       35
+36      112313  D       D       36
+37      132113  E       E       37
+38      132311  F       F       38
+39      211313  G       G       39
+40      231113  H       H       40
+41      231311  I       I       41
+42      112133  J       J       42
+43      112331  K       K       43
+44      132131  L       L       44
+45      113123  M       M       45
+46      113321  N       N       46
+47      133121  O       O       47
+48      313121  P       P       48
+49      211331  Q       Q       49
+50      231131  R       R       50
+51      213113  S       S       51
+52      213311  T       T       52
+53      213131  U       U       53
+54      311123  V       V       54
+55      311321  W       W       55
+56      331121  X       X       56
+57      312113  Y       Y       57
+58      312311  Z       Z       58
+59      332111  [       [       59
+60      314111  \       \       60
+61      221411  ]       ]       61
+62      431111  ^       ^       62
+63      111224  _       _       63
+64      111422  NUL     `       64
+65      121124  SOH     a       65
+66      121421  STX     b       66
+67      141122  ETX     c       67
+68      141221  EOT     d       68
+69      112214  ENQ     e       69
+70      112412  ACK     f       70
+71      122114  BEL     g       71
+72      122411  BS      h       72
+73      142112  HT      i       73
+74      142211  LF      j       74
+75      241211  VT      k       75
+76      221114  FF      l       76
+77      413111  CR      m       77
+78      241112  SO      n       78
+79      134111  SI      o       79
+80      111242  DLE     p       80
+81      121142  DC1     q       81
+82      121241  DC2     r       82
+83      114212  DC3     s       83
+84      124112  DC4     t       84
+85      124211  NAK     u       85
+86      411212  SYN     v       86
+87      421112  ETB     w       87
+88      421211  CAN     x       88
+89      212141  EM      y       89
+90      214121  SUB     z       90
+91      412121  ESC     {       91
+92      111143  FS      |       92
+93      111341  GS      }       93
+94      131141  RS      ~       94
+95      114113  US      DEL     95
+96      114311  FNC3    FNC3    96
+97      411113  FNC2    FNC2    97
+98      411311  ShiftB  ShiftA  98
+99      113141  CodeC   CodeC   99
+100     114131  CodeB   FNC4    CodeB
+101     311141  FNC4    CodeA   CodeA
+102     411131  FNC1    FNC1    FNC1
+103     211412  StartA  StartA  StartA
+104     211214  StartB  StartB  StartB
+105     211232  StartC  StartC  StartC
+106     2331112 Stop    Stop    Stop
+""".split()
+
+VALUES   = [int(value) for value in CODE128_CHART[0::5]]
+WEIGHTS  = dict(zip(VALUES, CODE128_CHART[1::5]))
+CODE128A = dict(zip(CODE128_CHART[2::5], VALUES))
+CODE128B = dict(zip(CODE128_CHART[3::5], VALUES))
+CODE128C = dict(zip(CODE128_CHART[4::5], VALUES))
+
+for charset in (CODE128A, CODE128B):
+    charset[' '] = charset.pop('space')
+
+
+
+def generate_code(data, show=False, check=False):
+
+    #img = code128_image(data)
+    img = qr_image(data)
+    if show:
+        img.show()
+    #img.show()
+    #print(data)
+    
+    if(check):
+        from pyzbar.pyzbar import decode
+        from pyzbar.pyzbar import ZBarSymbol
+        print(decode(img, symbols=[ZBarSymbol.CODE128])[0].data.decode('ascii'))
+
+    #if(decode(img, symbols=[ZBarSymbol.CODE128])[0].data.decode('ascii') == data):
+    #    return True
+    #else:
+    #    return False
+    return img
+
+def code128_format(data):
+    """
+    Generate an optimal barcode from ASCII text
+    """
+    text     = str(data)
+    pos      = 0
+    length   = len(text)
+    
+    # Start Code
+    if text[:2].isdigit():
+        charset = CODE128C
+        codes   = [charset['StartC']]
+    else:
+        charset = CODE128B
+        codes   = [charset['StartB']]
+    
+    # Data
+    while pos < length:
+        if charset is CODE128C:
+            if text[pos:pos+2].isdigit() and length - pos > 1:
+                # Encode Code C two characters at a time
+                codes.append(int(text[pos:pos+2]))
+                pos += 2
+            else:
+                # Switch to Code B
+                codes.append(charset['CodeB'])
+                charset = CODE128B
+        elif text[pos:pos+4].isdigit() and length - pos >= 4:
+            # Switch to Code C
+            codes.append(charset['CodeC'])
+            charset = CODE128C
+        else:
+            # Encode Code B one character at a time
+            codes.append(charset[text[pos]])
+            pos += 1
+    
+    # Checksum
+    checksum = 0
+    for weight, code in enumerate(codes):
+        checksum += max(weight, 1) * code
+    codes.append(checksum % 103)
+    
+    # Stop Code
+    codes.append(charset['Stop'])
+    return codes
+
+def code128_image(data, height=100, thickness=3, quiet_zone=False):
+    partnum = data
+    if not data[-1] == CODE128B['Stop']:
+        data = code128_format(data)
+        
+    
+    barcode_widths = []
+    for code in data:
+        for weight in WEIGHTS[code]:
+            barcode_widths.append(int(weight) * thickness)
+    width = sum(barcode_widths)
+    x = 0
+    
+
+    if quiet_zone:
+        width += 20 * thickness
+        x = 10 * thickness
+
+    # Monochrome Image
+    img  = Image.new('RGB', (int(width * 10), int(width * 10)), 'white')
+    draw = ImageDraw.Draw(img)
+    draw_bar = True
+    for bwidth in barcode_widths:
+        bwidth *= 4
+        if draw_bar:
+            draw.rectangle(((x + int(width * 3), width*6.25), (x + int(width * 3) + bwidth - 1, width*7)), fill='black')
+        draw_bar = not draw_bar
+        x += bwidth
+
+    #draw.arc(((width - width/5, width - width/5), (width*9 + width/5, width*9 + width/5)),0,360,fill='blue', width = int(width/8))
+    draw.arc(((width+int(width / 1.4), width+int(width / 1.4)), (width*9-int(width / 1.4), width*9-int(width / 1.4))),0,360,fill='blue', width = int(width/8))
+    font_path = find_data_file("OCRAEXT.TTF") 
+    font_size = width/2
+    font = ImageFont.truetype(font_path, font_size)
+    text_width = font.getlength(partnum)
+    while text_width > width*4:
+        font_size -= 1
+        font = ImageFont.truetype(font_path, font_size)
+        text_width = font.getlength(partnum)
+
+    txtx = (int(width * 10) - text_width) / 2
+    txty = (int(width * 10)) / 2 + width / 2
+
+    draw.text((txtx,txty),partnum, "black", font)
+    return img
+
+def qr_image(data, width=600):
+    partnum = data
+    
+
+
+    # Monochrome Image
+    img  = Image.new('RGB', (int(width * 10), int(width * 10)), 'white')
+    draw = ImageDraw.Draw(img)
+    
+
+
+    #svg_path = find_data_file("belden-logo.svg")
+    #with open(svg_path, 'rb') as svg_file:
+    #    png_image = cairosvg.svg2png(file_obj=svg_file,dpi=width*30, scale=30, background_color="white")
+    #with open("output.png", 'wb') as file:
+    #    file.write(png_image)
+
+    png_image_io = "belden-logo-superhires.png"
+    png_image_pillow = Image.open(png_image_io)
+    png_width, png_height = png_image_pillow.size
+    png_image_pillow = png_image_pillow.resize((int(width*5.2), int(width*5.2/png_width*png_height)))
+    png_width, png_height = png_image_pillow.size
+    # paste belden logo first because it has a big border that would cover stuff up
+    img.paste(png_image_pillow, (int(width*5-png_width/2), int(width*4.25 - png_height/2)))
+
+    # draw circle border
+    #draw.arc(((width - width/5, width - width/5), (width*9 + width/5, width*9 + width/5)),0,360,fill='blue', width = int(width/8))
+    draw.arc(((width+int(width / 1.4), width+int(width / 1.4)), (width*9-int(width / 1.4), width*9-int(width / 1.4))),0,360,fill=(0, 73,144), width = int(width/8))
+    
+    font_path = find_data_file("GothamCond-Medium.otf") 
+    font_size = width/2
+    font = ImageFont.truetype(font_path, font_size)
+    text_width = font.getlength(partnum[2:])
+    # shrink font dynamically if it's too long of a name
+    while text_width > width*4:
+        font_size -= 1
+        font = ImageFont.truetype(font_path, font_size)
+        text_width = font.getlength(partnum[2:])
+
+    txtx = (int(width * 10) - text_width) / 2
+    txty = (int(width * 10)) / 2
+    # draw part number text
+    draw.text((txtx,txty),partnum[2:], "black", font)
+    
+    # Draw QR code
+    partnum = partnum.replace(" ", "%20")
+    qrcode = segno.make('HTTPS://BLDN.APP/' + partnum,micro=False,boost_error=False,error="L",mask=3)
+    out = io.BytesIO()
+    qrx, _ = qrcode.symbol_size(1,0)
+    qrcode.save(out, scale=width*2/qrx, kind="PNG", border=0)
+    qrimg = Image.open(out)
+    img.paste(qrimg, box=(int(width*4),int(width*5.75)))
+
+    
+    return img
+
+if __name__ == "__main__":
+    #print(generate_code("BL10GXS13"))
+    #print(generate_code("BL10GXgd35j35S13"))
+    #print(generate_code("BL10GX54hS13"))
+    #print(generate_code("BL10Gj34qXS13", False, False))
+    #print(generate_code("BL104w5545dp7bfwp43643534/4563G-XS13"))
+    #adjust_image(cv2.imread('test_skew.jpg'))
+    path = "labels"
+    img = generate_code("BL10GXS13")
+    import os
+    os.makedirs(path, exist_ok=True)
+    img.save(path + "/" + "BL10GXS13" + ".png")

led_control.py

@@ -14,6 +14,9 @@ import cv2
 import numpy as np
 from uptime import uptime
 
+
+
+class LEDSystem():
     sender = None
     debug = True
     config = None
@@ -22,9 +25,21 @@ leds_size = None
     leds_normalized = None
     controllers = None
     data = None
+    exactdata = None
+    rings = None
+    ringstatus = None
+    mode = "Startup"
+    firstrun = True
+    changecount = 0
+    animation_time = 0
     start = uptime()
     
-def ping(host):
+    def __init__(self):
+        self.start = uptime()
+        #self.init()
+        #return self
+
+    def ping(self, host):
         #Returns True if host (str) responds to a ping request.
 
         # Option for the number of packets as a function of
@@ -42,37 +57,49 @@ def ping(host):
 
         return subprocess.call(command, stdout=subprocess.DEVNULL, stderr=subprocess.STDOUT) == 0
 
-def map():
+    def map(self):
-    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)
+            self.config = yaml.safe_load(fileread)
 
-    leds = list()
+        self.animation_time = self.config["animation_time"]
-    leds_size = list()
+        self.leds = list()
-    controllers = list()
+        self.leds_size = list()
+        self.controllers = list()
+        self.rings = list(range(len(self.config["position_map"])))
+        print("Setting ring status")
+        self.ringstatus = list(range(len(self.config["position_map"])))
+        #print(rings)
         #fprint(config["led"]["map"])
-    for shape in config["led"]["map"]:
+        generate_map = False
+        map = list()
+        for shape in self.config["led"]["map"]:
             if shape["type"] == "circle":
+
+                if generate_map:
+                    map.append((shape["pos"][1],shape["pos"][0]))
                 #fprint(shape["pos"])
                 anglediv = 360.0 / shape["size"]
                 angle = 0
                 radius = shape["diameter"] / 2
                 lednum = shape["start"]
-            if len(leds) < lednum + shape["size"]:
+                for item in self.config['position_map']:
-                for x in range(lednum + shape["size"] - len(leds)):
+                # Check if the current item's position matches the target position
-                    leds.append(None)
+                    #print(item['pos'],(shape["pos"][1],shape["pos"][0]))
-                    leds_size.append(None)
+                    if tuple(item['pos']) == (shape["pos"][1],shape["pos"][0]):
+                        self.rings[item["index"]] = (shape["pos"][1],shape["pos"][0],lednum,lednum+shape["size"]) # rings[index] = x, y, startpos, endpos
+                        self.ringstatus[item["index"]] = [None, None]
+                        break
+                if len(self.leds) < lednum + shape["size"]:
+                    for x in range(lednum + shape["size"] - len(self.leds)):
+                        self.leds.append(None)
+                        self.leds_size.append(None)
                 while angle < 359.999:
                     tmpangle = angle + shape["angle"]
-                x = math.cos(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][0]
+                    x = math.cos(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][1] # flip by 90 degress when we changed layout
-                y = math.sin(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][1]
+                    y = math.sin(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][0]
-                leds[lednum] = (x,y)
+                    self.leds[lednum] = (x,y)
                     lednum = lednum + 1
                     angle = angle + anglediv
 
@@ -85,184 +112,395 @@ def map():
                 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"]:
+                if len(self.leds) < lednum + shape["size"]:
-                for x in range(lednum + shape["size"] - len(leds)):
+                    for x in range(lednum + shape["size"] - len(self.leds)):
-                    leds.append(None)
+                        self.leds.append(None)
-                    leds_size.append(None)
+                        self.leds_size.append(None)
 
                 while dist < length:
-                leds[lednum] = (pos[0], pos[1])
+                    self.leds[lednum] = (pos[0], pos[1])
                     pos[0] += xmov
                     pos[1] += ymov
                     dist += distdiv
                     lednum = lednum + 1
 
+        if generate_map:
+            map = sorted(map, key=lambda x: (-x[1], x[0]))
+            print(map)
+            import matplotlib.pyplot as plt
+            plt.axis('equal')
+            x, y = zip(*map)
+            plt.scatter(x, y, s=12)
+            #plt.plot(x, y, marker='o')
+            #plt.scatter(*zip(*leds), s=3)
+            for i, (x_pos, y_pos) in enumerate(map):
+                plt.text(x_pos, y_pos, str(i), color="red", fontsize=12)
+            plt.savefig("map2.png", dpi=600, bbox_inches="tight")
+            data = {"map": [{"index": i, "pos": str(list(pos))} for i, pos in enumerate(map)]}
+            yaml_str = yaml.dump(data, default_flow_style=False)
+            print(yaml_str)
 
+        print(self.rings)
         flag = 0
-    for x in leds:
+        for x in self.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)):
+            for x in range(len(self.leds)):
-            if leds[x] is None:
+                if self.leds[x] is None:
-                leds[x] = (0, 0)
+                    self.leds[x] = (0, 0)
 
 
         #leds = tmpleds.reverse()
         #fprint(leds)
 
         # controller mapping
-    for ctrl in config["led"]["controllers"]:
+        for ctrl in self.config["led"]["controllers"]:
-        if len(controllers) < ctrl["universe"]+1:
+            if len(self.controllers) < ctrl["universe"]+1:
-            for x in range(ctrl["universe"]+1 - len(controllers)):
+                for x in range(ctrl["universe"]+1 - len(self.controllers)):
-                controllers.append(None)
+                    self.controllers.append(None)
 
-        controllers[ctrl["universe"]] = (ctrl["ledstart"],ctrl["ledend"]+1,ctrl["ip"])
+            self.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"])
+                self.leds_size[x] = len(ctrl["mode"])
         #fprint(controllers)
 
-    if(debug):
+        if(self.debug):
             import matplotlib.pyplot as plt
             plt.axis('equal')
-        for ctrl in controllers:
+            for ctrl in self.controllers:
-            plt.scatter(*zip(*leds[ctrl[0]:ctrl[1]]), s=2)
+                plt.scatter(*zip(*self.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
+        leds_adj = [(x-min([led[0] for led in self.leds]), # push to zero start
-                    y-min([led[1] for led in leds]) )
+                        y-min([led[1] for led in self.leds]) )
-                   for x, y in leds]
+                       for x, y in self.leds]
 
-    leds_normalized = [(x / max([led[0] for led in leds_adj]), 
+        self.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():
+    def init(self):
-    map()
+        self.map()
-    global sender
+        self.sender = sacn.sACNsender(fps=self.config["led"]["fps"], universeDiscovery=False)
-    global config
+        self.sender.start()  # start the sending thread
-    global leds
+        for x in range(len(self.controllers)):
-    global leds_size
+            print("Waiting for the controller at", self.controllers[x][2], "to be online...", end="", flush=True)
-    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]):
+            while not self.ping(self.controllers[x][2]):
                 count = count + 1
-            if count >= config["led"]["timeout"]:
+                if count >= self.config["led"]["timeout"]:
-                fprint(" ERROR: controller still offline after " + str(count) + " seconds, continuing...")
+                    print(" ERROR: controller still offline after " + str(count) + " seconds, continuing...")
                     break
-        if count < config["led"]["timeout"]:
+            else:
-            fprint(" done")
+                print(" done")
-    for x in range(len(controllers)):
+            #if count < self.config["led"]["timeout"]:
-        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
+        time.sleep(1)
-        sender[x+1].destination = controllers[x][2]
+        for x in range(len(self.controllers)):
-    sender.manual_flush = True
+            print("Activating controller", x, "at", self.controllers[x][2], "with", self.controllers[x][1]-self.controllers[x][0], "LEDs.")
+            self.sender.activate_output(x+1)  # start sending out data
+            self.sender[x+1].destination = self.controllers[x][2]
+        self.sender.manual_flush = True
 
         # initialize global pixel data list
-    data = list()
+        self.data = list()
-    for x in range(len(leds)):
+        self.exactdata = list()
-        if leds_size[x] == 3:
+        for x in range(len(self.leds)):
-            data.append((20,20,127))
+            if self.leds_size[x] == 3:
-        elif leds_size[x] == 4:
+                self.exactdata.append(None)
-            data.append((50,50,255,0))
+                self.data.append((20,20,127))
+            elif self.leds_size[x] == 4:
+                self.exactdata.append(None)
+                self.data.append((50,50,255,0))
             else:
-            data.append((0,0,0))
+                self.exactdata.append(None)
-    sendall(data)
+                self.data.append((0,0,0))
+        self.sendall(self.data)
         #time.sleep(50000)    
-    fprint("Running start-up test sequence...")
+        # fprint("Running start-up test sequence...")
-    for y in range(1):
+        # for y in range(1):
-        for x in range(len(leds)):
+        #     for x in range(len(self.leds)):
-            setpixel(5,5,5,x)
+        #         self.setpixel(0,60,144,x)
-        sendall(data)
+        #     self.sendall(self.data)
-        #time.sleep(2)
+        #     #time.sleep(2)
-        #alloffsmooth()
+        # self.alloffsmooth()
+        self.startup_animation(show=False)
 
-def sendall(datain):
+    def sendall(self, datain):
         # send all LED data to all controllers
         # data must have all LED data in it as [(R,G,B,)] tuples in an array, 1 tuple per pixel
-    global controllers
+        self.sender.manual_flush = True
-    global sender
+        for x in range(len(self.controllers)):
-    sender.manual_flush = True
+            self.sender[x+1].dmx_data = list(sum(datain[self.controllers[x][0]:self.controllers[x][1]] , ())) # flatten the subsection of the data array
-    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()
+        self.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):
+    def fastsendall(self, datain):
         # send all LED data to all controllers
         # data must have all LED data in it as [(R,G,B,)] tuples in an array, 1 tuple per pixel
-    global controllers
+        self.sender.manual_flush = False
-    global sender
+        print(datain[self.controllers[0][0]:self.controllers[0][1]])
-    sender.manual_flush = False
+        for x in range(len(self.controllers)):
-    print(datain[controllers[0][0]:controllers[0][1]])
+            self.sender[x+1].dmx_data = list(sum(datain[self.controllers[x][0]:self.controllers[x][1]] , ())) # flatten the subsection of the data array
-    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()
+        self.sender.flush()
 
-def senduniverse(datain, lednum):
+    def senduniverse(self, 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
+        for x in range(len(self.controllers)):
-    global sender
+            if lednum >= self.controllers[x][0] and lednum < self.controllers[x][1]:
-    for x in range(len(controllers)):
+                self.sender[x+1].dmx_data = list(sum(datain[self.controllers[x][0]:self.controllers[x][1]] , ())) # flatten the subsection of the data array
-        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()
+        self.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():
+    def alloff(self):
         tmpdata = list()
-    for x in range(len(leds)):
+        for x in range(len(self.leds)):
-        if leds_size[x] == 3:
+            if self.leds_size[x] == 3:
                 tmpdata.append((0,0,0))
-        elif leds_size[x] == 4:
+            elif self.leds_size[x] == 4:
                 tmpdata.append((0,0,0,0))
             else:
                 tmpdata.append((0,0,0))
-    sendall(tmpdata)
+        self.sendall(tmpdata)
         #sendall(tmpdata)
         #sendall(tmpdata) #definitely make sure it's off
+        return self
 
-def allon():
+    def allon(self):
-    global data
+        self.sendall(self.data)
-    sendall(data)
+        return self
 
-def alloffsmooth():
+    def alloffsmooth(self):
-    tmpdata = data
+        tmpdata = self.data
         for x in range(256):
-        for x in range(len(data)):
+            for x in range(len(self.data)):
-            setpixel(tmpdata[x][0]-1,tmpdata[x][1]-1,tmpdata[x][2]-1, x)
+                self.setpixel(tmpdata[x][0]-1,tmpdata[x][1]-1,tmpdata[x][2]-1, x)
-        sendall(tmpdata)
+            self.sendall(tmpdata)
 
-    alloff()
+        self.alloff()
+        return self
 
-def setpixelnow(r, g, b, num):
+    def setpixelnow(self, 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
+        self.setpixel(r,g,b,num)
-    setpixel(r,g,b,num)
+        self.senduniverse(self.data, num)
-    senduniverse(data, num)
+        return self
 
-def setpixel(r, g, b, num):
+    def setmode(self, stmode, r=0,g=0,b=0):
-    global data
+        if stmode is not None:
-    global leds_size
+            if self.mode != stmode:
+                self.firstrun = True
+
+            self.mode = stmode
+        return self
+
+
+    def setring(self, r,g,b,idx):
+
+        ring = self.rings[idx]
+        for pixel in range(ring[2],ring[3]):
+            self.setpixel(r,g,b,pixel)
+        #global data
+        #senduniverse(data, ring[2])
+        return self
+
+    def runmodes(self, ring = -1, speed = 1):
+        fprint("Mode: " + str(self.mode))
+        if self.mode == "Startup":
+            # loading animation. cable check
+            if self.firstrun:
+                self.changecount = self.animation_time * 3
+                self.firstrun = False
+                for x in range(len(self.ringstatus)):
+                    self.ringstatus[x] = [True, self.animation_time]
+
+            if self.changecount > 0:
+                fprint(self.changecount)
+                self.changecount = self.fadeorder(0,len(self.leds), self.changecount, 0,50,100)
+            else:
+                self.setmode("Startup2")
+
+
+        elif self.mode == "Startup2":
+            if self.firstrun:
+                self.firstrun = False
+
+            else:
+                for x in range(len(self.ringstatus)):
+                    if self.ringstatus[x][0]:
+                        self.setring(0, 50, 100, x)
+                    else:
+                        self.ringstatus[x][1] = self.fadeall(self.rings[x][2],self.rings[x][3], self.ringstatus[x][1], 100,0,0) # not ready
+
+        elif self.mode == "StartupCheck":
+            if self.firstrun:
+                self.firstrun = False
+                for x in range(len(self.ringstatus)):
+                    self.ringstatus[x] = [False, self.animation_time]
+            else:
+                for x in range(len(self.ringstatus)):
+                    if self.ringstatus[x][0]:
+                        self.ringstatus[x][1] = self.fadeall(self.rings[x][2],self.rings[x][3], self.ringstatus[x][1], 0,50,100) # ready  
+                    else:
+                        self.setring(100, 0, 0, x)
+
+        elif self.mode == "GrabA":
+            if self.firstrun:
+                self.firstrun = False
+                self.changecount = self.animation_time # 100hz
+            if self.changecount > 0:
+                self.changecount = self.fadeall(self.rings[ring][2],self.rings[ring][3], self.changecount, 100,0,0)
+            else:
+                self.setring(100,0,0,ring)
+                self.setmode("GrabB")
+        elif self.mode == "GrabB":
+            if self.firstrun:
+                self.firstrun = False
+                self.changecount = self.animation_time # 100hz
+            if self.changecount > 0:
+                self.changecount = self.fadeorder(self.rings[ring][2],self.rings[ring][3], self.changecount, 0,100,0)
+            else:
+                self.setring(0,100,0,ring)
+                self.setmode("idle")
+        elif self.mode == "GrabC":
+            if self.firstrun:
+                self.firstrun = False
+                self.changecount = self.animation_time # 100hz
+            if self.changecount > 0:
+                self.changecount = self.fadeall(self.rings[ring][2],self.rings[ring][3], self.changecount, 0,50,100)
+            else:
+                self.setring(0,50,100,ring)
+                self.setmode("idle")
+        elif self.mode == "idle":
+            time.sleep(0)
+
+        self.sendall(self.data)
+        return self
+
+    def fadeall(self, idxa,idxb,sizerem,r,g,b):
+        if sizerem < 1:
+            return 0
+        sum = 0
+        for x in range(idxa,idxb):
+            if self.exactdata[x] is None:
+                self.exactdata[x] = self.data[x]
+            old = self.exactdata[x]
+            dr = (r - old[0])/sizerem
+            sum += abs(dr)
+            dr += old[0]
+            dg = (g - old[1])/sizerem
+            sum += abs(dg)
+            dg += old[1]
+            db = (b - old[2])/sizerem 
+            db += old[2]
+            sum += abs(db)
+            self.exactdata[x] = (dr, dg, db)
+            #print(new)
+            self.setpixel(dr, dg, db, x)
+            if sizerem == 1:
+                self.exactdata[x] = None
+        if sum == 0 and sizerem > 2:
+            sizerem = 2
+        return sizerem - 1
+
+    def fadeorder(self, idxa,idxb,sizerem,r,g,b):
+        if sizerem < 1:
+            return 0
+        drs = 0
+        dgs = 0
+        dbs = 0
+        sum = 0
+        for x in range(idxa,idxb):
+            if self.exactdata[x] is None:
+                self.exactdata[x] = self.data[x]
+            old = self.exactdata[x]
+            dr = (r - old[0])
+            dg = (g - old[1])
+            db = (b - old[2])
+            drs += dr
+            dgs += dg
+            dbs += db
+
+        drs /= sizerem
+        dgs /= sizerem
+        dbs /= sizerem
+        sum += abs(drs) + abs(dgs) + abs(dbs)
+        print(drs,dgs,dbs)
+        for x in range(idxa,idxb):
+            old = self.exactdata[x]
+            new = list(old)
+            if drs > 0:
+                if old[0] + drs > r:
+                    new[0] = r
+                    drs -= r - old[0]
+                else:
+                    new[0] = old[0] + drs
+                    drs = 0
+            if dgs > 0:
+                if old[1] + dgs > g:
+                    new[1] = g
+                    dgs -= g - old[1]
+                else:
+                    new[1] = old[1] + dgs
+                    dgs = 0
+            if dbs > 0:
+                if old[2] + dbs > b:
+                    new[2] = b
+                    dbs -= b - old[2]
+                else:
+                    new[2] = old[2] + dbs
+                    dbs = 0
+
+            if drs < 0:
+                if old[0] + drs < r:
+                    new[0] = r
+                    drs -= r - old[0]
+                else:
+                    new[0] = old[0] + drs
+                    drs = 0
+            if dgs < 0:
+                if old[1] + dgs < g:
+                    new[1] = g
+                    dgs -= g - old[1]
+                else:
+                    new[1] = old[1] + dgs
+                    dgs = 0
+            if dbs < 0:
+                if old[2] + dbs < b:
+                    new[2] = b
+                    dbs -= b - old[2]
+                else:
+                    new[2] = old[2] + dbs
+                    dbs = 0
+
+            if drs != 0 or dgs != 0 or dbs != 0:
+                self.exactdata[x] = new
+                self.setpixel(new[0],new[1],new[2],x)
+
+            if sizerem == 1:
+                self.exactdata[x] = None
+
+        if sum == 0 and sizerem > 2:
+            sizerem = 2
+        return sizerem - 1
+
+
+    def setpixel(self, r, g, b, num):
         # constrain values
         if r < 0:
             r = 0
@@ -277,29 +515,28 @@ def setpixel(r, g, b, num):
         elif b > 255:
             b = 255
 
-    if leds_size[num] == 3:
+        if self.leds_size[num] == 3:
-        data[num] = (int(r), int(g), int(b))
+            self.data[num] = (int(r), int(g), int(b))
-    elif leds_size[num] == 4: # cut out matching white and turn on white pixel instead
+        elif self.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))) )
+            self.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))
+            self.data[num] = (int(r), int(g), int(b))
+        return self
 
-
+    def close(self):
-def close():
-    global sender
         time.sleep(0.5)
-    sender.stop()
+        self.sender.stop()
+        return self
 
-def mapimage(image, fps=60):
+    def mapimage(self, image, fps=90):
-    global start
+        while uptime() - self.start < 1/fps:
-    while uptime() - start < 1/fps:
             time.sleep(0.00001)
-    fprint(1 / (uptime() - start))
+        fprint(1 / (uptime() - self.start))
-    start = uptime()
+        self.start = uptime()
         minsize = min(image.shape[0:2])
         leds_normalized2 = [(x * minsize, 
                             y * minsize)
-                        for x, y in leds_normalized]
+                            for x, y in self.leds_normalized]
 
         cv2.imshow("video", image)
         cv2.waitKey(1)
@@ -316,28 +553,125 @@ def mapimage(image, fps=60):
                 #avgx += x
                 #avgy += y
                 color = tuple(image[y, x])
-            setpixel(color[2]/2,color[1]/2,color[0]/2,xx) # swap b & r
+                self.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)
+                self.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
+        self.fastsendall(self.data)
-    fastsendall(data)
+        return self
 
+    def mainloop(self, stmode, ring = -1, fps = 100, preview = False):
+        while uptime() - self.start < 1/fps:
+            time.sleep(0.00001)
+        fprint(1 / (uptime() - self.start))
+        self.start = uptime()
+        if self.mode is not None:
+            self.setmode(stmode)
+        self.runmodes(ring)
+        if preview:
+            self.drawdata()
+        return self
+
+    def drawdata(self):
+        #tmp = list()
+        #for x in len(leds):
+        #    led = leds[x]
+        #    tmp.append((led[0], led[1], data[x]))
+
+        x = [led[0] for led in self.leds]
+        y = [led[1] for led in self.leds]
+        colors = self.data
+        colors_normalized = [(x[0]/255, x[1]/255, x[2]/255) for x in colors]
+        # Plot the points
+        plt.scatter(x, y, c=colors_normalized)
+
+        # Optional: add grid, title, and labels
+        plt.grid(True)
+        plt.title('Colored Points')
+        plt.xlabel('X')
+        plt.ylabel('Y')
+        plt.show()
+        plt.savefig("map3.png", dpi=50, bbox_inches="tight")
+        plt.clf()
+        return self
+
+    def startup_animation(self, show):
+
+
+        stmode = "Startup"
+        self.mainloop(stmode, preview=show)
+        while self.mode == "Startup":
+            self.mainloop(None, preview=show)
+        for x in range(54):
+            self.ringstatus[x][0] = False
+            self.mainloop(None, preview=show)
+
+        for x in range(self.animation_time):
+            self.mainloop(None, preview=show)
+        self.clear_animations()
+        stmode = "StartupCheck"
+        self.mainloop(stmode, preview=show)
+        self.clear_animations()
+        return self
+
+    def clear_animations(self):
+        for x in range(len(self.leds)):
+            self.exactdata[x] = None
+        return self
+
+    def do_animation(self, stmode, ring=-1):
+        self.mainloop(stmode, ring, preview=show)
+        self.wait_for_animation(ring)
+        return self
+
+    def start_animation(self, stmode, ring=-1):
+        self.mainloop(stmode, ring, preview=show)
+        return self
+
+    def wait_for_animation(self, ring=-1):
+        while self.mode != "idle":
+            self.mainloop(None, ring, preview=show)
+        return self
 
 if __name__ == "__main__":
-    init()
+    
-    cap = cv2.VideoCapture('output.mp4')
+    import matplotlib.pyplot as plt
+    """cap = cv2.VideoCapture('badapple.mp4')
     while cap.isOpened():
         ret, frame = cap.read()
         if not ret:
         break
-        mapimage(frame)
+    mapimage(frame, fps=30)"""
+    show = False
+    ring = 1
+    ledsys = LEDSystem()
+    ledsys.init()
+    ledsys.startup_animation(show)
+    for x in range(54):
+        ledsys.ringstatus[x][0] = True
+        ledsys.mainloop(None, preview=show)
+    for x in range(ledsys.animation_time):
+        ledsys.mainloop(None, preview=show)
     
-    time.sleep(1)
+    ledsys.do_animation("GrabA", 1)
-    close()
+
+    ledsys.do_animation("GrabA", 5)
+    ledsys.start_animation("GrabC", 1)
+    
+    ledsys.wait_for_animation(1)
+    ledsys.do_animation("GrabC", 5)
+    
+    ledsys.close()
     #sys.exit(0)
+
+
+    # blue : default
+    # green : target
+    # yellow : crosshair
+    # red : missing 
+    # uninitialized : red/purple?

process_video.py

@@ -8,13 +8,18 @@ from util import fprint
 class qr_reader():
     camera = None
     def __init__(self, ip, port):
-        self.camera = banner_ivu_export.DriveImg(ip, port)
+        self.ip = ip
+        self.port = port
+        #self.camera = banner_ivu_export.DriveImg(ip, port)
 
     def read_qr(self, tries=1):
         print("Trying " + str(tries) + " frames.")
+        self.camera = banner_ivu_export.DriveImg(self.ip, self.port)
         for x in range(tries):
-            try:
+            print(str(x) + " ", end="", flush=True)
             imgtype, img = self.camera.read_img()
+                
+            if True:    
                 #fprint(imgtype)
                 image_array = np.frombuffer(img, np.uint8)
                 img = cv2.imdecode(image_array, cv2.IMREAD_COLOR)
@@ -22,9 +27,13 @@ class qr_reader():
                 #cv2.waitKey(1)
                 detect = cv2.QRCodeDetector()
                 value, points, straight_qrcode = detect.detectAndDecode(img)
+                
+                if value != "":
+                    self.camera.close()
                     return value
-            except:
+                    
-                continue
+
+        self.camera.close()
         return False
         
 
@@ -41,5 +50,7 @@ class video_streamer():
 
 if __name__ == "__main__":
     test = qr_reader("192.168.1.125", 32200)
+    import time
     while True:
-        fprint(test.read_qr(5))
+        fprint(test.read_qr(300))
+        time.sleep(1)

read_datasheet.py

@@ -1,7 +1,8 @@
 #!/usr/bin/env python3
 
-# Parse Belden catalog techdata datasheets 
+# Parse Belden (100%) & Alphawire (75%) catalog techdata datasheets 
 
+import pandas as pd
 from PyPDF2 import PdfReader
 import camelot
 import numpy as np
@@ -9,48 +10,96 @@ from PIL import Image
 import io
 import json
 from util import fprint
+import uuid
+from util import run_cmd
+from util import win32
+import os
+import glob
+import sys
 
-def parse(filename, output_dir):
+def touch(path):
+    with open(path, 'a'):
+        os.utime(path, None)
 
+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 extract_table_name(table_start, searchpage, reader, dstype, fallbackname):
+    if dstype == "Belden":
+        ymin = table_start
+        ymax = table_start + 10
+    elif dstype == "Alphawire":
+        ymin = table_start - 5
+        ymax = table_start + 10
+    page = reader.pages[searchpage - 1]
+    parts = []
+    def visitor_body(text, cm, tm, fontDict, fontSize):
+        y = tm[5]
+        if y > ymin and y < ymax:
+            parts.append(text)
+    page.extract_text(visitor_text=visitor_body)
+    text_body = "".join(parts).strip('\n')
+    if len(text_body) == 0:
+        text_body = str(fallbackname)
+
+    return text_body
+    #fprint(text_body)
+
+def parse(filename, output_dir, partnum, dstype):
+    tables = []
     # Extract table data
-
+    try:
-    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'])
+        if dstype == "Belden":
+            tables = camelot.read_pdf(filename, pages="1-end", flavor='lattice', backend="ghostscript", split_text=False, line_scale=100, process_background=True, resolution=600, interations=1, layout_kwargs={'detect_vertical': False, 'char_margin': 0.5}, shift_text=['r', 't'])
+        elif dstype == "Alphawire":
+            tables = camelot.read_pdf(filename, pages="1-end", flavor='lattice', backend="ghostscript", split_text=False, line_scale=50, process_background=True, resolution=600, interations=1, layout_kwargs={'detect_vertical': True, 'char_margin': 0.5}, shift_text=['l', 't'])
+    except (OSError, RuntimeError) as e: 
+        print(e)
+        if win32:
+            print("Ghostscript is not installed! Launching installer...")
+            #subprocess.run([r".\\gs10030w64.exe"])
+            os.system(r'''Powershell -Command "& { Start-Process \"''' + find_data_file("gs10030w64.exe") + r'''\" -Verb RunAs } " ''')
+            # Will return once file launched...
+            print("Once the install is completed, try again.")
+            return False
+        else:
+            print("Ghostscript is not installed. You can install it with e.g. apt install ghostscript for Debian-based systems.")
+            return False
     #fprint("Total tables extracted:", tables.n)
     n = 0
-    pagenum = 0
+    #pagenum = 0
     reader = PdfReader(filename)
     page = reader.pages[0]
     table_list = {}
+    table_list_raw = {}
+    pd.set_option('future.no_silent_downcasting', True)
     for table in tables:
-        table.df.replace('', np.nan, inplace=True)
+        #with pd.options.context("future.no_silent_downcasting", True):
+        table.df.infer_objects(copy=False)
+        table.df = table.df.replace('', np.nan).infer_objects(copy=False)
         table.df.dropna(inplace=True, how="all")
         table.df.dropna(inplace=True, axis="columns", how="all")
-        table.df.replace(np.nan, '', inplace=True)
+        table.df = table.df.replace(np.nan, '').infer_objects(copy=False)
         
         if not table.df.empty:
             #fprint("\nTable " + str(n))
             # Extract table names
             table_start = table.cells[0][0].lt[1] # Read top-left cell's top-left coordinate
             #fprint(table_start)
-            ymin = table_start
-            ymax = table_start + 10
-            if pagenum != table.page - 1:
-                pagenum = table.page - 1
-                page = reader.pages[table.page - 1]
-            parts = []
-            def visitor_body(text, cm, tm, fontDict, fontSize):
-                y = tm[5]
-                if y > ymin and y < ymax:
-                    parts.append(text)
-
-            page.extract_text(visitor_text=visitor_body)
-            text_body = "".join(parts).strip('\n')
-            if len(text_body) == 0:
-                text_body = str(n)
-            #fprint(text_body)
             
+            text_body = extract_table_name(table_start, table.page, reader, dstype, n)
 
             table_list[text_body] = table.df
+            if dstype == "Alphawire":
+                table_list_raw[text_body] = table
+
             #table.to_html("table" + str(n) + ".html")
             
             #fprint(table.df)
@@ -87,25 +136,34 @@ def parse(filename, output_dir):
 
     # Table parsing and reordring
     tables = dict()
+    torename = dict()
     previous_table = ""
+    #print(table_list.keys())
     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
+        #print(rows, cols, table_name)
         if rows > 2 and cols == 2:
             vertical = True
-        elif cols == 1:
+        elif cols == 1 and rows > 1:
             vertical = False
         elif rows == 1:
             vertical = True
         elif cols == 2: # and rows <= 2
             # inconsistent
+            if dstype == "Belden":
                 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 dstype == "Alphawire":
+                if table.iloc[0, 0].find(")") == 1 or table.iloc[0, 0].find(")") == 2 or 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
@@ -113,18 +171,26 @@ def parse(filename, output_dir):
             vertical = False
         else: # 1 column, <= 2 rows
             vertical = False
-
+        #print(vertical)
         # missing name check
         for table_name_2 in table_list.keys(): 
-            if table_name_2.find(table.iloc[-1, 0]) >= 0:
+            if dstype == "Alphawire" and table_name_2.find("\n") >= 0:
+                torename[table_name_2] = table_name_2[0:table_name_2.find("\n")]
+
+            if dstype == "Alphawire" and table_name_2.find(table.iloc[-1, 0]) >= 0:
                 # Name taken from table directly above - this table does not have a name
-                table_list["Specs " + str(len(tables))] = table_list.pop(table_name_2, None) # rename table to arbitrary altername name
+                torename[table_name_2] = "Specs " + str(len(tables))
+                #table_list["Specs " + str(len(tables))] = table_list[table_name_2] # rename table to arbitrary altername name
                 break
 
         if vertical:
             out = dict()
+            if rows > 1:
                 for row in table.itertuples(index=False, name=None):
                     out[row[0].replace("\n", " ").replace(":", "")] = row[1]
+            else:
+                for row in table.itertuples(index=False, name=None):
+                    out[row[0].replace("\n", " ").replace(":", "")] = ""
 
         else: # horizontal
             out = dict()
@@ -134,47 +200,184 @@ def parse(filename, output_dir):
         
         tables[table_name] = out
 
+        # multi-page table check, Alphawire
+        if dstype == "Alphawire" and table_name.isdigit():
+            # table continues from previous page or has name on previous page
+            thistbl = table_list_raw[table_name]
+            prevtbl = table_list_raw[previous_table]
             
-
+            if prevtbl.cells[-1][0].lb[1] < 50 and thistbl.cells[0][0].lt[1] > 600:
-        # multi-page table check
+                # wraparound
-        if table_name.isdigit() and len(tables) > 1:
+                #print("WRAP")
-            fprint(table_name)
+                #print("PREV TABLE", prevtbl.df)
-            fprint(previous_table)
+                #print("THIS TABLE", thistbl.df)
-            
+                #print("PREV TABLE CORNER", prevtbl.cells[-1][0].lb[1])
-            
+                #print("THIS TABLE CORNER", thistbl.cells[0][0].lt[1])
-            
-            
                 main_key = previous_table
                 cont_key = table_name
-            fprint(tables)
+                #print(vertical)
                 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]])
+                            #print(tables[main_key][main_keys[i]])
-                        tables[main_key][main_keys[i]] = (tables[main_key][main_keys[i]] + (cont_key,) + cont_values)
+                            tables[main_key][main_keys[i]] = (tuple(tables[main_key][main_keys[i]]) + (cont_key,) + cont_values)
     
                     del tables[table_name]
     
                 else:
+                    #print(tables[cont_key].keys())
                     for key in tables[cont_key].keys():
+                        #print(main_key, key, cont_key, key)
                         tables[main_key][key] = tables[cont_key][key]
                     del tables[table_name]
 
+            elif thistbl.cells[0][0].lt[1] > 600:
+                # name on previous page (grrrr)
+                #print("NAMEABOVE")
+                #print("PREV TABLE", prevtbl.df)
+                #print("THIS TABLE", thistbl.df)
+                #print("PREV TABLE CORNER", prevtbl.cells[-1][0].lb[1])
+                #print("THIS TABLE CORNER", thistbl.cells[0][0].lt[1])
+                name = extract_table_name(50, prevtbl.page,reader,dstype,table_name).strip("\n").strip()
+                #print("FOUND NAME:", name)
+                torename[table_name] = name
+
+
+
+        # multi-page table check, Belden
+        if dstype == "Belden":
+            if table_name.isdigit() and len(tables) > 1:
+                #fprint(table_name)
+                #fprint(previous_table)
+                
+                main_key = previous_table
+                cont_key = table_name
+                #fprint(tables)
+                if vertical == False:
+                    main_keys = list(tables[main_key].keys())
+                    for i, (cont_key, cont_values) in enumerate(tables[cont_key].items()):
+                        if i < len(main_keys):
+                            #fprint(tables[main_key][main_keys[i]])
+                            tables[main_key][main_keys[i]] = (tuple(tables[main_key][main_keys[i]]) + (cont_key,) + cont_values)
+    
+                    del tables[table_name]
+    
+                else:
+                    #print(tables)
+                    #print(main_key)
+                    #print(cont_key)
+                    for key in tables[cont_key].keys():
+                        tables[main_key][key] = tables[cont_key][key]
+                    del tables[table_name]
+            else:
+                previous_table = table_name
+        else:
             previous_table = table_name
     
+    # remove & rename tables
+    #print(torename)
+    for table_name in torename.keys():
+        tables[torename[str(table_name)]] = tables[str(table_name)]
+        del tables[table_name]
+    # remove multi-line values that occasionally squeak through
+    def replace_newlines_in_dict(d):
+        for key, value in d.items():
+            if isinstance(value, str):
+                # Replace \n with " " if the value is a string
+                d[key] = value.replace('\n', ' ')
+            elif isinstance(value, dict):
+                # Recursively call the function if the value is another dictionary
+                replace_newlines_in_dict(value)
+        return d
     
-    fprint(tables)
+    tables = replace_newlines_in_dict(tables)
-    with open(output_dir + "/tables.json", 'w') as json_file:
+
-        json.dump(tables, json_file)
+    # 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"] = {"partnum": partnum, "id": id, **tables}
+    output_table["searchspecs"] = {"partnum": partnum, **flatten(tables)}
+    
+    output_table["searchspecs"]["id"] = id
     
 
 
+    #print(output_table)
+
+    #run_cmd("rm \"" + output_dir + "\"/*.json") # not reliable!
+    pattern = os.path.join(output_dir, '*.json')
+    json_files = glob.glob(pattern)
+    for file_path in json_files:
+        os.remove(file_path)
+        #print(f"Deleted {file_path}")
+    with open(output_dir + "/search.json", 'w') as json_file:
+        json.dump(output_table["searchspecs"], json_file)
+    with open(output_dir + "/specs.json", 'w') as json_file:
+        json.dump(output_table["fullspecs"], json_file)
+
+    #print(json.dumps(output_table, indent=2))
+    touch(output_dir + "/parsed") # mark as parsed
+    return True
 
 
-    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:
+                if len(tables[table][key]) > 0:
+                    out[fullkeyname] = convert_to_number(tables[table][key])
+                #print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
+            elif len(tables[table][key]) == 1:
+                if len(tables[table][key][0]) > 0:
+                    out[fullkeyname] = convert_to_number(tables[table][key][0])
+                #print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
+            else:
+                tmp = []
+                for x in range(len(tables[table][key])):
+                    if len(tables[table][key][x]) > 0:
+                        tmp.append(tables[table][key][x].strip())
+                        #out[fullkeyname + " " + str(x+1)] = convert_to_number(tables[table][key][x])
+                out[fullkeyname] = tmp
+            # if the item has at least two commas in it, split it
+            if tables[table][key].count(',') > 0:
+                out[fullkeyname] = list(map(lambda x: x.strip(), tables[table][key].split(",")))
+                #print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
+
+            # if the item has at least two commas in it, split it
+            if tables[table][key].count(',') > 0:
+                out[fullkeyname] = list(map(lambda x: x.strip(), tables[table][key].split(",")))
+                #print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
+
+
+    #print("}")
+    return out
 
     
 
 if __name__ == "__main__":
-    parse("test2.pdf", "10GXS13")
+    print(parse("cables/3050/datasheet.pdf", "cables/3050", "3050", "Alphawire"))

requirements.txt

@@ -1,17 +1,29 @@
 # Runtime
-camelot-py[base]
+camelot-py
 opencv-python
 pypdf2==2.12.1
 alive-progress
 requests
+math3d==4.0.0
 git+https://github.com/Byeongdulee/python-urx.git
-psycopg2
+meilisearch
 pyyaml
 Flask
 selenium
 sacn
 uptime
 websockets
+numpy
+scipy
+ipywidgets
+pandas
+pyarrow
+ghostscript
+pyzbar
+segno
+pyModbusTCP
 
 # Development
 matplotlib
+#cx_Freeze # uncomment if building label generator app
+# requires windows 10 SDK, visual C++, etc

run.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 
+from alive_progress import alive_bar
 import get_specs
 import traceback
 #import logging
@@ -12,19 +13,25 @@ from util import fprint
 from util import run_cmd
 import sys
 import ur5_control
+from ur5_control import Rob
 import os
 import signal
 import socket
 from flask import Flask, render_template, request
 import requests
-import led_control
+from led_control import LEDSystem
 import server
 import asyncio
 import json
 import process_video
+import search
+from search import JukeboxSearch
+#multiprocessing.set_start_method('spawn', True)
+from pyModbusTCP.client import ModbusClient
+from uptime import uptime
 
 
-
+mbconn = None
 config = None
 keeprunning = True
 arm_ready = False
@@ -32,25 +39,45 @@ led_ready = False
 camera_ready = False
 sensor_ready = False
 vm_ready = False
+cable_search_ready = False
 killme = None
 #pool = None
 serverproc = None
 camera = None
-
+ledsys = None
+arm = None
 to_server_queue = Queue()
 from_server_queue = Queue()
+mainloop_get = Queue()
+mode = "Startup"
+counter = 0
+jbs = None
+scan_value = None
+arm_state = None
+cable_list = list()
+parse_res = None
+cable_list_state = list()
+just_placed = -1
+ring_animation = None
+led_set_mode = None
 
 def arm_start_callback(res):
+    fprint("Arm action complete.")
     global arm_ready
     arm_ready = True
     
+
 def led_start_callback(res):
     global led_ready
     led_ready = True
+    global ledsys
+    ledsys = res
 
 def camera_start_callback(res):
     global camera_ready
     camera_ready = True
+    global scan_value
+    scan_value = res
     
 def sensor_start_callback(res):
     global sensor_ready
@@ -60,6 +87,12 @@ def vm_start_callback(res):
     global vm_ready
     vm_ready = True
 
+def cable_search_callback(res):
+    global cable_search_ready
+    cable_search_ready = True
+    global parse_res 
+    parse_res = res
+
 def wait_for(val, name):
     #global val
     if val is False:
@@ -67,7 +100,15 @@ def wait_for(val, name):
         while val is False:
             sleep(0.1)
 
-def start_server_socket():
+def send_data(type, call, data, client_id="*"):
+    out = dict()
+    out["type"] = type
+    out["call"] = call
+    out["data"] = data
+    to_server_queue.put((client_id, json.dumps(out)))
+
+def start_server_socket(cable_list):
+    global jbs
     """app = Flask(__name__)
 
     @app.route('/report_ip', methods=['POST'])
@@ -89,6 +130,9 @@ def start_server_socket():
 
     while True:
         #print("HI")
+
+        # Handeling Server Requests Loop, will run forever
+
         if not from_server_queue.empty():
             client_id, message = from_server_queue.get()
             fprint(f"Message from client {client_id}: {message}")
@@ -96,6 +140,10 @@ def start_server_socket():
             # Message handler
             try:
                 decoded = json.loads(message)
+            except:
+                fprint("Non-JSON message recieved")
+                continue
+
             if "type" not in decoded:
                 fprint("Missing \"type\" field.")
                 continue
@@ -105,45 +153,79 @@ def start_server_socket():
             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"]
+            try:
                 match decoded["type"]:
                     case "log":
                         fprint("log message")
                         if call == "send":
-                            fprint("webapp: " + data)
+                            fprint("webapp: " + str(data), sendqueue=to_server_queue)
                         elif call == "request":
-                            fprint("")
+                            pass
-
                     case "cable_map":
                         fprint("cable_map message")
                         if call == "send":
-                            fprint("")
+                            pass
                         elif call == "request":
-                            fprint("")
+                            tmp = list()
+                            for idx in range(len(cable_list)):
+                                if cable_list[idx] is not False:
+                                    tmp1 = {"part_number": cable_list[idx], "position": idx, "name": cable_list[idx], "brand": "Belden", "description": "Blah", "short_description": "Bla"}
+                                    tmp.append(tmp1)
+                            out = {"map": tmp}
+                            fprint(out)
+                            send_data(decoded["type"], "send", out, client_id)
+
+                    case "ping":
+                        fprint("Pong!!!")
+                    # Lucas' notes
+                    # Add a ping pong :) response/handler
+                    # Add a get cable response/handler
+                    #       this will tell the robot arm to move
+                    # Call for turning off everything
+                    # TODO Helper for converting Python Dictionaries to JSON
+                    # make function: pythonData --> { { "type": "...", "call": "...", "data": pythonData } }
+
+                    # to send: to_server_queue.put(("*", "JSON STRING HERE")) # replace * with UUID of client to send to one specific location
 
                     case "cable_details":
                         fprint("cable_details message")
                         if call == "send":
-                            fprint("")
+                            pass
                         elif call == "request":
-                            fprint("")
+                            dataout = dict()
+                            dataout["cables"] = list()
+                            print(data)
+                            if "part_number" in data:
+                                for part in data["part_number"]:
+                                    #print(part)
+                                    #print(jbs.get_partnum(part))
+                                    dataout["cables"].append(jbs.get_partnum(part)["fullspecs"])
+                            if "position" in data:
+                                for pos in data["position"]:
+                                    #print(pos)
+                                    #print(jbs.get_position(str(pos)))
+                                    dataout["cables"].append(jbs.get_position(str(pos))["fullspecs"])
+                            send_data(decoded["type"], "send", dataout, client_id)
 
                     case "cable_search":
                         fprint("cable_search message")
                         if call == "send":
-                            fprint("")
+                            pass
                         elif call == "request":
-                            fprint("")
+                            results = jbs.search(data["string"])["hits"]
-
+                            dataout = dict()
+                            dataout["cables"] = list()
+                            for result in results:
+                                dataout["cables"].append(result["fullspecs"])
+                            send_data(decoded["type"], "send", dataout, client_id)
                     case "keyboard":
                         fprint("keyboard message")
                         if call == "send":
-                            fprint("")
+                            pass
                         elif call == "request":
-                            fprint("")
                             if data["enabled"] == True:
                                 # todo : send this to client
                                 p = Process(target=run_cmd, args=("./keyboard-up.ps1",))
@@ -151,21 +233,32 @@ def start_server_socket():
                             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("")
+                            pass
                         elif call == "request":
-                            fprint("")
+                            pass
+
+                    case "cable_get":
+                        fprint("cable_get message")
+                        if call == "send":
+                            global mainloop_get
+                            if "part_number" in data:
+                                for cableidx in range(len(cable_list)):
+                                    cable = cable_list[cableidx]
+                                    if cable == data["part_number"]:
+                                        mainloop_get.put(("pickup", cableidx))
+                            elif "position" in data:
+                                mainloop_get.put(("pickup", data["position"]))
                     
                     case _:
                         fprint("Unknown/unimplemented data type: " + decoded["type"])
+            except Exception as e:
+                fprint(traceback.format_exc())
+                fprint(e)
 
             
-            except:
-                fprint("Non-JSON message recieved")
-                continue
 
 
         sleep(0.001)  # Sleep to prevent tight loop
@@ -213,57 +306,352 @@ def setup_server(pool):
     global arm_ready
     global serverproc
     global camera
+    global arm
+    global jbs
 
-    pool.apply_async(ur5_control.init, (config["arm"]["ip"],), callback=arm_start_callback)
+    arm = Rob(config)
-    pool.apply_async(led_control.init, callback=led_start_callback)
+    pool.apply_async(ur5_control.powerup_arm, (arm,), callback=arm_start_callback, error_callback=handle_error)
+    global ledsys
+    ledsys = LEDSystem()
+    #pool.apply_async(ledsys.init, callback=led_start_callback)
     #pool.apply_async(sensor_control.init, callback=sensor_start_callback)
-    serverproc = Process(target=start_server_socket)
+    jbs = JukeboxSearch()
-    serverproc.start()
+    
+    
     
     if led_ready is False:
         fprint("waiting for " + "LED controller initialization" + " to complete...", sendqueue=to_server_queue)
-        while led_ready is False:
+        ledsys.init()
-            sleep(0.1)
+        led_ready = True
     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:
+        global mbconn
-            sleep(0.1)
+        mbconn = ModbusClient(host="localhost", port=502, unit_id=1, auto_open=True, auto_close=True)
     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"])
+        camera = process_video.qr_reader(config["cameras"]["banner"]["ip"], int(config["cameras"]["banner"]["port"]))
 
     fprint("Camera initialized.", sendqueue=to_server_queue)
 
-    arm_ready = True
+    #arm_ready = True
     if arm_ready is False:
-        fprint("waiting for " + "UR5 initilization" + " to complete...", sendqueue=to_server_queue)
+        fprint("waiting for " + "UR5 powerup" + " to complete...", sendqueue=to_server_queue)
         while arm_ready is False:
             sleep(0.1)
-    fprint("Arm initialized.", sendqueue=to_server_queue)
 
+    ur5_control.init_arm(arm)
+    fprint("Arm initialized.", sendqueue=to_server_queue)
 
 
     
     return True
 
+def handle_error(error):
+	print(error, flush=True)
+
+def get_sensors():
+    global mbconn
+    global sensors
+    oldsens = sensors
+    """
+    port 1: 256
+    port 2: 272
+    port 3: 288
+    port 4: 304
+    port 5: 320
+    port 6: 336
+    port 7: 352
+    port 8: 368
+    
+    """
+    out = list()
+    for reg in [352, 288, 304, 368]:
+        val = mbconn.read_holding_registers(reg)
+        if val == 1:
+            out.append(1)
+        else:
+            out.append(0)
+
+    sensors = out
+
+    for x in range(len(oldsens)):
+        if oldsens[x] == 0 and out[x] == 1:
+            # cable newly detected on tray
+            return x
+        
+    return -1
+def get_open_spot(sensordata):
+    for x in range(len(sensordata)):
+        sens = sensordata[x]
+        if not sens:
+            return x
+        
+    # if we get here, every spot is full
+        
+    return False
     
 
 def mainloop_server(pool):
+    # NON-blocking loop
+    global ring_animation
+    global led_set_mode
+    global just_placed
     global config
     global counter
     global killme
+    global mode
+    global jbs
+    global arm
+    global ledsys
+    global camera
+    global arm_ready
+    global arm_state
+    global camera_ready
+    global cable_search_ready
+    global cable_list
+    global mainloop_get
+    global cable_list_state
 
     if killme.value > 0:
         killall()
-    counter = counter + 1
 
+    if mode == "Startup":
+        #counter = 54 # remove for demo
+        if counter < 54:
+            # scanning cables
+            ring_animation = counter
+            led_set_mode = "GrabA"
+            if arm_state is None:
+                #pool.apply_async(arm_start_callback, ("",))
+                arm_ready = False
+                pool.apply_async(ur5_control.to_camera, (arm,counter), callback=arm_start_callback, error_callback=handle_error)
+                fprint("Getting cable index " + str(counter) + " and scanning...")
+                arm_state = "GET"
+                #ur5_control.to_camera(arm, counter)
+                #arm_ready = True
+
+            elif arm_ready and arm_state == "GET":
                 fprint("Looking for QR code...")
-    print(camera.read_qr(30))
+                pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error)
+                arm_ready = False
+
+            elif camera_ready:
+                fprint("Adding cable to list...")
+                global scan_value
+                if scan_value is False:
+                    cable_list.append(scan_value)
+                elif scan_value.find("bldn.app/") > -1:
+                    scan_value = scan_value[scan_value.find("bldn.app/")+9:]
+                else:
+                    cable_list.append(scan_value)
+                fprint(scan_value)
+                pool.apply_async(ur5_control.return_camera, (arm,counter), callback=arm_start_callback, error_callback=handle_error)
+                #ur5_control.return_camera(arm, counter)
+                #arm_ready = True
+                arm_state = "RETURN"
+                camera_ready = False
+
+            elif arm_ready and arm_state == "RETURN":
+                counter += 1
+                arm_state = None
+            else:
+                # just wait til arm/camera is ready
+                pass
+        else:
+            # scanned everything
+            ring_animation = None
+            led_set_mode == "idle"
+            tmp = [
+                    # Actual cables in Jukebox
+                    "BLTF-1LF-006-RS5",
+                    "BLTF-SD9-006-RI5",
+                    "BLTT-SLG-024-HTN",
+                    "BLFISX012W0",
+                    "BLFI4X012W0",
+                    "BLSPE101",
+                    "BLSPE102",
+                    "BL7922A",
+                    "BL7958A",
+                    "BLIOP6U",
+                    "BL10GXW13",
+                    "BL10GXW53",
+                    "BL29501F",
+                    "BL29512",
+                    "BL3106A",
+                    "BL9841",
+                    "BL3105A",
+                    "BL3092A",
+                    "BL8760",
+                    "BL6300UE",
+                    "BL6300FE",
+                    "BLRA500P",
+                    "AW86104CY",
+                    "AW3050",
+                    "AW6714",
+                    "AW1172C",
+                    "AWFIT-221-1_4"
+                ]
+            while len(tmp) < 54:
+                tmp.append(False) # must have 54 entries
+
+            #cable_list = tmp # comment out for real demo
+                
+            for idx in range(len(cable_list)):
+                cable_list_state.append(True)
+
+            pool.apply_async(get_specs.get_multi, (cable_list, 0.3), callback=cable_search_callback, error_callback=handle_error)
+            mode = "Parsing"
+            fprint("All cables scanned. Finding & parsing datasheets...")
+    if mode == "Parsing":
+            # waiting for search & parse to complete
+            #cable_search_ready = True
+            if cable_search_ready is False:
+                pass
+            else:
+                # done
+                global parse_res
+                success, partnums = parse_res
+                for idx in range(len(partnums)):
+                    if partnums[idx] is not False:
+                        cable_list[idx] = partnums[idx][0].replace("/", "_")
+                    else:
+                        cable_list[idx] = False
+                
+                print(partnums)
+                if success:
+                    # easy mode
+                    fprint("All cables inventoried and parsed.")
+                    fprint("Adding to database...")
+                    for idx in range(len(cable_list)):
+                        partnum = cable_list[idx]
+                        if partnum is not False:
+                            with open("cables/" + partnum + "/search.json", "rb") as f:
+                                searchdata = json.load(f)
+                                searchdata["position"] = idx
+                            with open("cables/" + partnum + "/specs.json", "rb") as f:
+                                specs = json.load(f)
+                            searchdata["fullspecs"] = specs
+                            searchdata["fullspecs"]["position"] = idx
+                            jbs.add_document(searchdata)
+                    #sleep(0.5)
+                    #print(jbs.get_position("1"))
+                    
+                    fprint("All cables added to database.")
+                    mode = "Idle"
+                    serverproc = Process(target=start_server_socket, args=(cable_list,), error_callback=handle_error)
+                    serverproc.start()
+                else:
+                    # TODO: manual input
+                    pass
+
+            
+    if mode == "Idle":
+        # do nothing
+        if arm_ready is False:
+            pool.apply_async(ur5_control.move_to_home, (arm,), callback=arm_start_callback, error_callback=handle_error)
+            #arm_ready = True
+
+        else:
+            global mainloop_get
+            newtube = get_sensors()
+            if newtube >= 0 and newtube != just_placed:
+                # need to return a cable
+                mainloop_get.put(("return", newtube))
+                just_placed = -1
+            
+            if not mainloop_get.empty():
+                action, get_cable = mainloop_get.get()
+                if get_cable > -1:
+                    global sensors
+                    if action == "pickup":
+                        spot = get_open_spot(sensors)
+                        if spot is not False:
+                            arm_ready = False
+                            pool.apply_async(ur5_control.pick_up_routine, (arm, get_cable, True, spot), callback=arm_start_callback, error_callback=handle_error)
+                            mode = "Pickup"
+                            cable_list_state[get_cable] = False # mark as removed
+                            get_sensors(sensors,flag=get_open_spot(sensors))
+
+                    if action == "return":
+                        arm_ready = False
+                        pool.apply_async(ur5_control.return_routine, (arm, get_cable), callback=arm_start_callback, error_callback=handle_error)
+                        mode = "ReturnC"
+            else:
+                # LED idle anim
+                pass
+
+    if mode == "Pickup":
+        # complete
+        if arm_ready == True:
+            mode = "Idle"
+            arm_ready = False
+            
+        else:
+            # getting cable and bringing to tray
+            # led animation
+            pass
+    
+    if mode == "ReturnC":
+        # complete
+        if arm_ready == True:
+            mode = "Scan"
+            arm_ready = False
+            camera_ready = False
+            pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error)
+            
+        else:
+            # getting cable from and bringing to camera
+            # led animation
+            pass
+
+    if mode == "Scan":
+        if camera_ready == True:
+            global scan_value
+            if scan_value is False:
+                # unable to scan ???? not good
+                fprint("Unable to scan cable. Gonna retry.")
+                camera_ready = False
+                pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error)
+                pass
+            elif scan_value.find("bldn.app/") > -1:
+                scan_value = scan_value[scan_value.find("bldn.app/")+9:]
+            
+            fprint("Got cable: " + 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
+                    arm_ready = False
+                    pool.apply_async(ur5_control.return_camera, (arm, idx), callback=arm_start_callback, error_callback=handle_error)
+                    mode = "Return"
+                    break
+
+            
+
+    if mode == "Return":
+        if arm_ready == True:
+            mode = "Idle"
+            arm_ready = False
+            # movement finished
+
+        else: 
+            # cable going from camera to holder
+            # led animation
+            pass
+            
+    if True:
+        # do every loop!
+        if ring_animation is not None and ledsys.mode != "idle":
+            ledsys.mainloop(None, ring_animation)
+        elif ring_animation is not None:
+            ledsys.mainloop(led_set_mode, ring_animation)
+        
+
 
 def run_loading_app():
     
@@ -371,19 +759,20 @@ class LogExceptions(object):
         return result
 
 class LoggingPool(Pool):
-    def apply_async(self, func, args=(), kwds={}, callback=None):
+    def apply_async(self, func, args=(), kwds={}, callback=None, error_callback=None):
-        return Pool.apply_async(self, LogExceptions(func), args, kwds, callback)
+        return Pool.apply_async(self, LogExceptions(func), args, kwds, callback, error_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)
-
+    fprint("Config loaded.")
     with Manager() as manager:
         fprint("Spawning threads...")
         pool = LoggingPool(processes=10)
@@ -404,5 +793,18 @@ if __name__ == "__main__":
                 fprint("Entering main loop...")
                 while(keeprunning):
                     mainloop_server(pool)
+        else:
+            fprint("Mode unspecified - assuming server")
+            fprint("Starting in server mode.")
+            if setup_server(pool):
+                fprint("Entering main loop...")
+                start = 0
+                speed = config["loopspeed"]
+                while(keeprunning):
+                    start = uptime()
+                    mainloop_server(pool)
+                    # limit to certain "framerate"
+                    while start + 1.0/speed < uptime():
+                        pass
 
 

search.py

@@ -0,0 +1,121 @@
+#!/usr/bin/env python3
+
+"""Interactions with the Meilisearch API for adding and searching cables."""
+from meilisearch import Client
+from meilisearch.task import TaskInfo
+from meilisearch.errors import MeilisearchApiError
+import time
+
+DEFAULT_URL = "http://127.0.0.1:7700"
+DEFAULT_APIKEY = "fluffybunnyrabbit" # I WOULD RECOMMEND SOMETHING MORE SECURE
+DEFAULT_INDEX = "cables"
+DEFAULT_FILTERABLE_ATTRS = ["partnum", "uuid", "position"] # default filterable attributes
+
+
+class JukeboxSearch:
+    """Class for interacting with the Meilisearch API."""
+    def __init__(self,
+                 url: str = None,
+                 api_key: str = None,
+                 index: str = None,
+                 filterable_attrs: list = None):
+        """Connect to Meilisearch and perform first-run tasks as necessary.
+
+        :param url: Address of the Meilisearch server. Defaults to ``http://localhost:7700`` if unspecified.
+        :param api_key: API key used to authenticate with Meilisearch. It is highly recommended to set this as something
+        secure if you can access this endpoint publicly, but you can ignore this and set Meilisearch's default API key
+        to ``fluffybunnyrabbit``.
+        :param index: The name of the index to configure. Defaults to ``cables`` if unspecified.
+        :param filterable_attrs: List of all the attributes we want to filter by."""
+        # connect to Meilisearch
+        url = url or DEFAULT_URL
+        api_key = api_key or DEFAULT_APIKEY
+        filterable_attrs = filterable_attrs or DEFAULT_FILTERABLE_ATTRS
+        self.index = index or DEFAULT_INDEX
+        self.client = Client(url, api_key)
+        # create the index if it does not exist already
+        try:
+            self.client.get_index(self.index)
+            self.client.delete_index(self.index)
+            self.client.create_index(self.index)
+        except MeilisearchApiError as _:
+            self.client.create_index(self.index)
+        # make a variable to easily reference the index
+        self.idxref = self.client.index(self.index)
+        time.sleep(0.05)
+        # update filterable attributes if needed
+        self.idxref.update_distinct_attribute('partnum')
+        self.update_filterables(filterable_attrs)
+
+    def add_document(self, document: dict) -> TaskInfo:
+        """Add a cable to the Meilisearch index.
+
+        :param document: Dictionary containing all the cable data.
+        :returns: A TaskInfo object for the addition of the new document."""
+        return self.idxref.add_documents(document)
+
+    def add_documents(self, documents: list):
+        """Add a list of cables to the Meilisearch index.
+
+        :param documents: List of dictionaries containing all the cable data.
+        :returns: A TaskInfo object for the last new document."""
+        taskinfo = None
+        for i in documents:
+            taskinfo = self.add_document(i)
+        return taskinfo
+    
+    def update_filterables(self, filterables: list):
+        """Update filterable attributes and wait for database to fully index. If the filterable attributes matches the
+        current attributes in the database, don't update (saves reindexing).
+        
+        :param filterables: List of all filterable attributes"""
+
+        #existing_filterables = self.idxref.get_filterable_attributes()
+        #if len(set(existing_filterables).difference(set(filterables))) > 0:
+        taskref = self.idxref.update_filterable_attributes(filterables)
+        #self.client.wait_for_task(taskref.index_uid)
+
+    def search(self, query: str, filters: str = None):
+        """Execute a search query on the Meilisearch index.
+        
+        :param query: Seach query
+        :param filters: A meilisearch compatible filter statement.
+        :returns: The search results dict. Actual results are in a list under "hits", but there are other nice values that are useful in the root element."""
+        if filters:
+            q = self.idxref.search(query, {"filter": filters})
+        else:
+            q = self.idxref.search(query)
+        return q
+    
+    def _filter_one(self, filter: str):
+        """Get the first item to match a filter.
+        
+        :param filter: A meilisearch compatible filter statement.
+        :returns: A dict containing the results; If no results found, an empty dict."""
+        q = self.search("", filter)
+        if q["estimatedTotalHits"] != 0:
+            return q["hits"][0]
+        else:
+            return dict()
+
+    def get_position(self, position: str):
+        """Get a part by position.
+        
+        :param partnum: The position to search for."""
+        return self._filter_one(f"position = {position}")
+    
+    def get_uuid(self, uuid: str):
+        """Get a specific UUID.
+        
+        :param uuid: The UUID to search for."""
+        return self._filter_one(f"uuid = {uuid}")
+
+    def get_partnum(self, partnum: str):
+        """Get a specific part number.
+        
+        :param partnum: The part number to search for."""
+        return self._filter_one(f"partnum = {partnum}")
+
+# entrypoint
+if __name__ == "__main__":
+    jbs = JukeboxSearch()

setup-alpine-vm.sh

@@ -0,0 +1,20 @@
+#!/bin/sh
+
+# This script must run as root!
+
+echo "https://dl-cdn.alpinelinux.org/alpine/latest-stable/main
+https://dl-cdn.alpinelinux.org/alpine/latest-stable/community" > /etc/apk/repositories
+
+apk upgrade
+apk add git docker docker-cli-compose
+
+rc-update add docker
+service docker start
+
+git clone https://git.myitr.org/Jukebox/jukebox-software
+cd jukebox-software
+git submodule init
+git submodule update
+
+docker compose build
+docker compose up -d

setup-label-generator.py

@@ -0,0 +1,31 @@
+import sys
+from cx_Freeze import setup, Executable
+
+debug = True
+debug = not debug
+# Dependencies are automatically detected, but it might need fine tuning.
+# "packages": ["os"] is used as example only
+
+import opcode
+import os
+import distutils
+#distutils_path = os.path.join(os.path.dirname(opcode.__file__), 'distutils')
+build_exe_options = {"include_msvcr": True, "packages": ["camelot", "setuptools", "segno"], "optimize": 0, "silent": True, "include_files": ["gs10030w64.exe", "GothamCond-Medium.otf", "belden-logo-superhires.png"], "excludes": ["scipy", "torch"]}
+
+# base="Win32GUI" should be used only for Windows GUI app
+base = "console"
+#if sys.platform == "win32" and not debug:
+#    base = "Win32GUI"
+
+if sys.platform == "linux" or sys.platform == "linux2" or sys.platform == "darwin":
+    name = "jukebox-labelgen"
+else:   
+    name = "jukebox-labelgen.exe"
+
+setup(
+    name="IP Pigeon",
+    version="0.2.4",
+    description="IP Pigeon client application",
+    options={"build_exe": build_exe_options},
+    executables=[Executable("label_generator.py", base=base, uac_admin=False, target_name=name)],
+)

source.fish

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

source.sh

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

tempCodeRunnerFile.py

@@ -0,0 +1,2 @@
+
+    drop_off_tray(robot, 0)

test.py

@@ -0,0 +1,148 @@
+from pyModbusTCP.client import ModbusClient
+
+
+
+def get_sensors():
+    mbconn = ModbusClient(host="192.168.1.20", port=502, auto_open=True, auto_close=True)
+    """
+    port 1: 256
+    port 2: 272
+    port 3: 288
+    port 4: 304
+    port 5: 320
+    port 6: 336
+    port 7: 352
+    port 8: 368
+    """
+    out = list()
+    for reg in [352, 288, 304, 368]:
+        val = mbconn.read_holding_registers(reg)[0] # read only one register
+        print(val)
+        if val == 1:
+            out.append(True)
+        else:
+            out.append(False)
+
+    return out
+
+def get_open_spot(sensordata):
+    for x in range(len(sensordata)):
+        sens = sensordata[x]
+        if not sens:
+            return x
+        
+    # if we get here, every spot is full
+        
+    return False
+
+
+testmb = get_sensors()
+print(testmb)
+print("Spot open", get_open_spot(testmb))
+
+exit()
+
+class Ring:
+    def __init__(self) -> None:
+        self.leds = [0] * 24
+        self.id = 0
+        self.dirty = False
+
+    def __iter__(self) -> iter:
+        yield from self.leds
+
+    def __repr__(self) -> str:
+        return f"Ring<id={self.id}, led_state={' '.join(list(map(lambda x: str(x+1), self.leds)))}, dirty={self.dirty}>"
+
+    def __add__(self, other):
+        self.leds.extend(other)
+        return self
+
+    def __bool__(self):
+        return self.dirty
+
+    def __getitem__(self, index):
+        return self.leds[index]
+    
+    def __setitem__(self, index, value):
+        ivalue = self.leds[index]
+        if ivalue != value:
+            self.dirty = True
+            self.leds[index] = value
+    
+    def __getattr__(self, name):
+        import word2num
+        name = int(word2num.word2num(name))
+        print(name)
+        if 0 <= name < len(self.leds):
+            return self.leds[name]
+        
+
+
+a = Ring()
+print(a)
+b = Ring()
+b.leds[2] = 3
+
+print(a + b)
+
+b.active = True
+
+if b:
+    print("Bexist")
+
+c = [a, b, b, a, a]
+
+d = list(filter(lambda x: bool(x), c))
+
+print(d)
+
+for i, ring in enumerate(c):
+    ring[0] = i
+    print(ring)
+
+print(a, b)
+
+print(f"\u001b[32m{a}")
+print(f"\u001b[37ma")
+
+print(getattr(a, "twenty two"))
+
+# eval(f"getattr(a,\"{input()}\")")
+
+
+# a = r"wow this string is cursed; for example \n"
+
+
+# SEARCHDATA=r"""{ "q": "{QUERY}", "sortCriteria": "relevancy", "numberOfResults": "250", "sortCriteria": "@catalogitemwebdisplaypriority ascending", "searchHub": "products-only-search", "pipeline": "Site Search", "maximumAge": "900000", "tab": "products-search", "locale": "en", "aq": "(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((@syssource==\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\" @catalogitemprimarycategorypublished==true)) ((@catalogitemregionavailable=Global) (@z95xlanguage==en))", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\"Coveo_web_index - rg-nc-prod-sitecore-prod\")) OR (@source==(\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\",\"website_001002_Category_index-rg-nc-prod-sitecore-prod\"))", "firstResult": "0" }, "categoryFacets": "[{\"field\":\"@catalogitemcategories\",\"path\":[],\"injectionDepth\":1000,\"maximumNumberOfValues\":6,\"delimitingCharacter\":\"|\"}]", "facetOptions": "{}", "groupBy": "    [{\"field\":\"@contenttype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[\"Products\"],\"queryOverride\":\"{QUERY}\",\"advancedQueryOverride\":\"(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((((((((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) ((@z95xpath=C292F3A37B3A4E6BAB345DF87ADDE516 @z95xid<>C292F3A37B3A4E6BAB345DF87ADDE516) @z95xtemplate==E4EFEB787BDC4B1A908EFC64D56CB2A4)) OR ((@z95xpath=723501A864754FEEB8AE377E4C710271 @z95xid<>723501A864754FEEB8AE377E4C710271) ((@z95xpath=600114EAB0E5407A84AAA9F0985B6575 @z95xid<>600114EAB0E5407A84AAA9F0985B6575) @z95xtemplate==2BE4FD6B3B2C49EBBD9E1F6C92238B05))) OR (@syssource==\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\" @catalogitemprimarycategorypublished==true)) OR ((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) @z95xpath<>C292F3A37B3A4E6BAB345DF87ADDE516)) OR @syssource==\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\") NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B))) ((@catalogitemregionavailable=Global) (@z95xlanguage==en) OR (@contenttype=(Blogs,Resources,Other)) (NOT @ez120xcludefromcoveo==1))\",\"constantQueryOverride\":\"((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))\"},{\"field\":\"@catalogitembrand\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemenvironment\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemregionalavailability\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@prez45xtez120xt\",\"maximumNumberOfValues\":5,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@tags\",\"maximumNumberOfValues\":4,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetassettype\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetbrand\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetmarket\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsolution\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsearchcontentpagetype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]}]" }"""
+
+# QUERY = "AAAAAAAAAAAA"
+
+# b = SEARCHDATA.replace(r"{QUERY}", QUERY)
+
+q = [i * 2 for i in range(10)]
+
+d = {a : b for a,b in enumerate(q)}
+
+print(q)
+
+print(d)
+
+def stalin_sort(a):
+    b = sum(a)
+    b /= len(a)
+    return [b for _ in range(len(a))]
+
+def mao_sort(a):
+    i = 0
+    while i < len(a) - 1:
+        if a[i+1] < a[i]:
+            del a[i]
+        else:
+            i += 1
+    return a
+
+print(stalin_sort(list(range(10))))
+print(mao_sort([1, 3, 2, 4, 5, 8, 7, 6, 9]))
+
+# i l

ur5_control.py

@@ -1,52 +1,113 @@
 import urx
 import math3d as m3d
+from scipy.optimize import fsolve
 import math
+import numpy as np
 import time
 import os
-import logging
+#import logging
-from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper
+import yaml
 import sys
 from util import fprint
+from pyModbusTCP.client import ModbusClient
 
-rob = None
+import subprocess
+from util import win32
 
 
-def init(ip):
+
-    global rob
+class Rob():
+    robot = None
+    #offset_x, offset_y, offset_z = (0, 0, 0.14)     # Tool offset
+    #
+    def __init__(self, config):
+        self.config = config
+        armc = config["arm"]
+        self.ip = armc["ip"]
+        tool = armc["tool"]
+        limbs = armc["limbs"]
+        self.offset_x, self.offset_y, self.offset_z = (tool["offset_x"], tool["offset_y"], tool["offset_z"])
+        self.limb_base = limbs["limb_base"]
+        self.limb1 = limbs["limb1"]
+        self.limb2 = limbs["limb2"]
+        self.limb3 = limbs["limb3"]
+        self.limb_wrist = limbs["limb_wrist"]
+        #self.init_arm()
+
+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 powerup_arm(robot):
     #sys.stdout = Logger()
     fprint("Starting UR5 power up...")
+    # power up robot here via PCB
 
-    # power up robot here
+    #
-
     # wait for power up (this function runs async)
 
-
+    while not ping(robot.ip):
+        time.sleep(0.5)
     # trigger auto-initialize
-
+    fprint("Arm online. Waiting for calibration.")
     # wait for auto-initialize
-
+def connect(robot):
-    # init urx
+    if robot.robot is None:
+        newrobot = Rob(robot.config)
+        robot = newrobot
+        ip = robot.ip
         fprint("Connecting to arm at " + ip)
         trying = True
         while trying:
             try:
-            rob = urx.Robot(ip)
+                robot.robot = 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))
+        robot.robot.set_tcp((robot.offset_x, robot.offset_y, robot.offset_z, 0, 0, 0))
-
         # Set weight
-    rob.set_payload(2, (0, 0, 0.1))
+        robot.robot.set_payload(2, (0, 0, 0.1))
+    return robot
+
+def init_arm(robot):
+    robot = connect(robot)
+    
+    # init urx
+    
     #rob.set_payload(2, (0, 0, 0.1))
     time.sleep(0.2)
     fprint("UR5 ready.")
+    #return robot.robot
 
-def set_pos_abs(x, y, z, xb, yb, zb):
+    # setup - in case of fail. open gripper, move up, then go home.
-    global rob
+    rob = robot.robot
+    open_gripper()
+    curr_pos = rob.getl()
+    new_pos = curr_pos
+    new_pos[2] += 0.025
+    rob.movel(new_pos, vel=0.05, acc=1)
+
+    move_to_home(robot, speed=0.5)
+
+    return True
+
+def set_pos_abs(robot, x, y, z, xb, yb, zb, threshold=None):
+    rob = robot.robot
     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
@@ -60,10 +121,10 @@ 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):
+def set_pos_rel_rot_abs(robot, x, y, z, xb, yb, zb):
-    global rob
+    rob = robot.robot
     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
@@ -80,21 +141,591 @@ 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(robot, x, y, z, xb, yb, zb):
+    rob = robot.robot
+    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(robot, start_pos, end_pos):
+    rob = robot.robot
+
+    # 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(robot, keep_flip=False, speed=2):
+    rob = robot.robot
+
+    if is_flipped(robot) and not keep_flip:
+        flip(robot)
+
+    # Move robot to home position
+    rob.movej(offset_gripper_angle(robot, *(-0.18, -0.108, 0.35), flip=is_flipped(robot)), vel=2, acc=2) # Move to safe position
+
+    return True
+
+def move_to_packup(robot, speed=0.25):
+    rob = robot.robot
+    
+    # known good starting point to reach store position
+    goto_holder_index(robot, 12, 0.3, flip=False, use_closest_path=False)
+
+    # Home position in degrees
+    store_pos = [-1.5708, 
+                -1.3, 
+                2.362, 
+                0.7056, 
+                -1.425, 
+                1.5708]
+    # Move robot
+    rob.movej(store_pos, acc=0.1, vel=speed)
+    return True
+
+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(robot, x, y, z, rx=0, ry=-math.pi/2, rz=0, initial_guess = (math.pi/2, math.pi/2, 0), l3offset=0):
+    # Get limbs and offsets
+    #l3=0.15
+    l_bs, l1, l2, l3, l_wt = (robot.limb_base, robot.limb1, robot.limb2, robot.limb3, robot.limb_wrist)    # Limb lengths
+    l3 += l3offset # add wrist offset, used for gripper angle calculations
+    offset_x = robot.offset_x
+    offset_y = robot.offset_y
+    offset_z = robot.offset_z
+    # Calculate base angle and r relative to shoulder joint
+    def calculate_theta(x, y, a):
+        # Calculate if we need the + or - in our equations
+        if (x>-a and y>=0) or (x>a and y<0):
+            flip = 1
+        elif (x<-a and y>=0) or (x<a and y<0):
+            flip = -1
+        else: 
+            # Critical section (x=a, or x=-a). Infinite slope
+            # Return 0 or 180 depending on sign
+            return math.atan2(y, 0)
+
+        # Calculate tangent line y = mx + b
+        m = (x*y - math.sqrt(x*x*y*y-(x*x-a*a)*(y*y-a*a)))/(x*x-a*a)
+        b = flip * a * math.sqrt(1+m*m)
+        # Calculate equivalent tangent point on circle
+        cx = (-flip*m*b)/(1+m*m)
+        cy = m*cx + flip*b
+        # Calculate base angle, make angle negative if flip=1
+        theta = math.atan2(cy, cx) + (-math.pi if flip==1 else 0)
+        return theta 
+
+    base_theta = calculate_theta(x, y, l_bs)
+    cx, cy = l_bs*math.cos(base_theta), l_bs*math.sin(base_theta)
+    r = math.sqrt((x+offset_x+cx)**2 + (y+offset_y+cy)**2) 
+
+
+    # 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) - (l3*math.sin(a-b-c)) - (z + offset_z),  # z
+                a-b-c) # wrist angle
+
+
+    # Normalize angles
+    base, shoulder, elbow, wrist1 = [normalize_degree(deg) for deg in [base_theta, *fsolve(inv_kin_r_z, initial_guess)]]
+    wrist1 += rx
+    # Return result
+    return base, shoulder, elbow, wrist1, ry, rz
+
+def get_joints_from_xyz_abs(robot, x, y, z, rx=0, ry=-math.pi/2, rz=math.pi/2, l3offset=0, use_closest_path=True):
+    rob = robot.robot
+    joints = get_joints_from_xyz_rel(robot, x, y, z, rx, ry, rz, l3offset=l3offset)
+
+    # Return current positions if coordinates don't make sense
+    if z<0:
+        return rob.getj()
+
+    # Joint offsets
+    # Base, Shoulder, Elbow, Wrist
+    inverse = [1, -1, 1, 1, 1, 1]
+    offsets = [-math.pi/2, 0, 0, -math.pi/2, 0, 0]
+
+    if math.degrees(joints[1]) > 137:
+        print("CRASH! Shoulder at", joints[1] * 180/math.pi)
+    #else:
+        #print("Shoulder at", joints[1] * 180/math.pi)
+
+    # Get adjusted joint positions
+    adjusted_joints =  [o+j*i for j, o, i in zip(joints, offsets, inverse)]
+
+    curr_joints = rob.getj()
+    def get_complimentary_angle(joint_angle):
+        if joint_angle<0:
+            new_angle = joint_angle + 2*math.pi
+        else:
+            new_angle = joint_angle - 2*math.pi
+        
+        if abs(new_angle) > math.radians(350):
+            return joint_angle
+        else:
+            return new_angle
+        
+    # Use closest path (potentially going beyond 180 degrees)
+    if use_closest_path:
+        if abs(get_complimentary_angle(adjusted_joints[0])-curr_joints[0]) < abs(adjusted_joints[0]-curr_joints[0]):
+            adjusted_joints[0] = get_complimentary_angle(adjusted_joints[0])
+
+    # final_joint_positions = []
+    # for curr_joint, adjusted_joint in zip(curr_joints, adjusted_joints):
+    #     if abs(curr_joint - adjusted_joint) < abs(curr_joint - get_complimentary_angle(adjusted_joint)):
+    #         final_joint_positions.append(adjusted_joint)
+    #     else:
+    #         final_joint_positions.append(get_complimentary_angle(adjusted_joint))
+
+    # return final_joint_positions
+        
+    return adjusted_joints
+
+
+def move_arc(robot, x, y, z, rx=0, ry=-math.pi/2, rz=math.pi/2):
+    rob = robot.robot
+    
+    start_joints = rob.getj()
+    end_joint = get_joints_from_xyz_abs(robot, x, y, z, rx, ry, rz)
+
+    n_points = 50
+    intermediate_joints = []   
+    for i in range(0, 6):
+        intermediate_joints.append(np.linspace(start_joints[i], end_joint[i], n_points))
+
+    joints = [joint_position for joint_position in zip(*intermediate_joints)]
+
+    rob.movejs(joints, acc=2, vel=2, radius=0.1)
+
+def offset_gripper_angle(robot, x, y, z, gripperangle=30, gripperlength=0.20+0.018, flip=False, use_closest_path=True, rzoffset=0):
+    # gripper angle: from vertical
+    # gripper length: from joint to start of grip
+    # to flip, you can use flip=True or make gripper angle negative
+    limb3 = robot.limb3
+    # Determine tool rotation depending on gripper angle
+    if gripperangle < 0:
+        rz = - math.pi / 2
+    else:
+        rz = math.pi / 2
+
+    if flip:
+        gripperangle = -math.radians(gripperangle)
+        grippery = gripperlength - math.cos(gripperangle) * gripperlength
+        grippery += math.sin(gripperangle) * limb3
+        gripperx = math.sin(gripperangle) * gripperlength + limb3 * 2
+        gripperx -= (1-math.cos(gripperangle)) * limb3
+        rz = math.pi / 2
+        # flip the whole wrist
+        return get_joints_from_xyz_abs(robot, x, y, z-grippery, rx=gripperangle + math.radians(180), l3offset=-gripperx, ry=-3*math.pi/2, rz=rz + rzoffset, use_closest_path=use_closest_path)
+
+    else:
+        gripperangle = math.radians(gripperangle)
+        grippery = gripperlength - math.cos(gripperangle) * gripperlength
+        grippery -= math.sin(gripperangle) * limb3
+        gripperx = math.sin(gripperangle) * gripperlength
+        gripperx += (1-math.cos(gripperangle)) * limb3
+
+        return get_joints_from_xyz_abs(robot, x, y, z-grippery, rx=gripperangle, l3offset=-gripperx, rz=rz, use_closest_path=use_closest_path)
+    
+def goto_holder_index(robot, idx, z=0.05, gripperangle=30, flip=False, use_closest_path=True, verbose=False):
+    joint = robot.config["position_map"][idx]
+    
+    if verbose:
+        print("Going to cable holder index", joint["index"], "at position", joint["pos"])   
+    
+    safe_move(robot, joint["pos"][0]/1000, joint["pos"][1]/1000, z, use_closest_path=use_closest_path)
+    #angles = offset_gripper_angle(joint["pos"][1]/1000, joint["pos"][0]/1000, z, gripperangle=gripperangle, flip=flip)
+    #rob.movej(angles, acc=2, vel=2)
+    #return angles
+    #angles = get_joints_from_xyz_abs(joint["pos"][1]/1000, joint["pos"][0]/1000, 0.05, )
+    return True
+
+def is_flipped(robot):
+    rob = robot.robot
+    wrist1 = rob.getj()[3]
+    
+    if wrist1 > 0:
+        return True
+    else:
+        return False
+
+def flip(robot):
+    rob = robot.robot
+
+    # A list of safe positions to flip
+    safe_positions = [(-0.18, -0.108, 0.35),
+                      (0.18, -0.108, 0.35)]
+    
+
+    # Find the closest safe position
+    curr_pos = rob.getl()[:3]
+    def dist_from_robot(pos):
+        x, y, z = pos
+        rx, ry, rz = curr_pos
+        return math.sqrt((rx-x)**2+(ry-y)**2+(rz-z)**2)
+
+    pos_dist_pairs = zip(safe_positions, [dist_from_robot(pos) for pos in safe_positions])
+    safe_pos = min(pos_dist_pairs, key=lambda x:x[1])[0]
+
+    # Flip at safe position
+    rob.movej(offset_gripper_angle(robot, *safe_pos, flip=is_flipped(robot)), vel=2, acc=2) # Move to safe position
+    rob.movej(offset_gripper_angle(robot, *safe_pos, flip=(not is_flipped(robot))), vel=2, acc=2) # Flip gripper
+    # print('flip?: ', is_flipped(robot))
+    return True
+
+def safe_move(robot, x, y, z, use_closest_path=True):
+    rob = robot.robot
+    flip_radius = 0.22 # Min radius on which to flip
+    r = math.sqrt(x**2 + y**2) # Get position radius
+
+    # Flip gripper if needed
+    if (r <= flip_radius and is_flipped(robot)) or (r > flip_radius and not is_flipped(robot)):
+        flip(robot)
+
+    rob.movej(offset_gripper_angle(robot, x, y, z, flip=is_flipped(robot), use_closest_path=use_closest_path), vel=4, acc=3)
+    return True
+
+def holder_routine(robot, holder_index, pick_up, verbose=False):
+    robot = connect(robot)
+    rob = robot.robot
+    
+    # Don't attempt to place a tube in the camera slot
+    if holder_index == 49:
+        return
+
+    if verbose:
+        fprint('Pickup routine for index' + str(holder_index))
+
+    # Go to the correct holder
+    if pick_up:
+        goto_holder_index(robot, holder_index, 0.05, use_closest_path=False)
+    else:
+        goto_holder_index(robot, holder_index, 0.2, use_closest_path=False)
+    
+    if pick_up:
+        open_gripper()
+
+    # Move down
+    curr_pos = rob.getl()
+    new_pos = curr_pos
+    new_pos[2] = 0.005
+    rob.movel(new_pos, vel=0.1, acc=1)
+    
+    # Pick up or drop off
+    if pick_up:
+        close_gripper()
+    else:
+        open_gripper()
+
+    # Move up
+    new_pos[2] = 0.2
+    rob.movel(new_pos, vel=2, acc=1)
+    was_flipped = is_flipped(robot)
+
+    # goto_holder_index(robot, 25, z=0.2)
+def pick_up_holder(robot, holder_index, verbose=False):
+    holder_routine(robot, holder_index, True, verbose=verbose)
+def drop_off_holder(robot, holder_index, verbose=False):
+    holder_routine(robot, holder_index, False, verbose=verbose)
+
+def tray_routine(robot, slot=0, pick_up=True):
+    robot = connect(robot)
+    rob = robot.robot
+
+    # Default to 0 if invalid value
+    if slot not in [0, 1, 2, 3]:
+        slot = 0
+
+    slot_prepositions =  [(-9.93, -112.67, 144.02, -116.69, -54.13, -10.29),
+                         (-12.35, -124.95, 148.61, -107.27, -54.36, -13.26),
+                         (-16.45, -96.97, 137.85, 58.39, -305.08, 161.75),
+                         (-16.66, -97.28, 138.16, 58.54, -305.05, 161.50)] 
+
+    # Initial position depending on slot and robot orientation
+    if slot in [0, 1]:
+        if is_flipped(robot):
+            flip(robot)
+        else:
+            move_to_home(robot, keep_flip=True)
+    else:
+        goto_holder_index(robot, 25, z=0.3)
+
+    # Align robot to the slot
+    if slot in [2,3]:
+        angles = [(-2.77, -99.64, 131.02, 67.67, 70.04-360, 153.03),
+                  slot_prepositions[slot]]
+    else:
+        angles = [(-58, -114.45, 100.52, -45.24, -96.95, 120),
+                  (-39.98, -124.92, 132.28, -61.56, -55.60, -50.77),
+                  slot_prepositions[slot]]
+        
+    angles = [[x*math.pi/180 for x in move] for move in angles]
+    rob.movejs(angles,vel=2,acc=1) 
+
+   # Positions for each slot
+    slot_distance = .052
+    slot_height = -.015-.0095
+    first_slot = -0.3084+0.02
+    slot_position = [
+        [first_slot, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
+        [first_slot+slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
+        [first_slot+2*slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
+        [first_slot+3*slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
+    ]
+    rob.movel(slot_position[slot],vel=0.2, acc=1)
+
+    # Place/Grab the tube
+    if pick_up:
+        close_gripper()
+    else:
+        open_gripper()
+
+
+    # Move back
+    tilt = 0.3
+    curr_pos = rob.getl()
+    new_pos = curr_pos
+    if slot==3:
+        new_pos[0] -= 0.05  #x
+    new_pos[1] += 0.15      #y
+    new_pos[2] = 0.09       #z
+    new_pos[3] += tilt
+    new_pos[4] += tilt
+    new_pos[5] += tilt
+    rob.movel(new_pos, vel=0.2, acc=1)
+    
+
+    # Go home to safe position
+    move_to_home(robot, speed=1, keep_flip=True)  
+def pick_up_tray(robot, slot=0):
+    tray_routine(robot, slot, True)
+def drop_off_tray(robot, slot=0):
+    tray_routine(robot, slot, False)
+
+
+def return_routine(robot, slot, holder_index=None, verbose=False):
+    robot = connect(robot)
+    rob = robot.robot
+
+    
+    open_gripper()
+    was_flipped = is_flipped(robot)
+    if slot is None:
+        rob.movej(offset_gripper_angle(robot, -0.15, -0.15, 0.3, flip=was_flipped, use_closest_path=False), vel=4, acc=3)
+        rob.movej(get_joints_from_xyz_abs(robot, -0.35, -0.15, 0.0, math.pi/2, 0.1), vel=4, acc=3)
+        close_gripper()
+    else:
+        xoffset = 0.051 * slot
+        rob.movej(offset_gripper_angle(robot, -0.15, -0.15, 0.3, flip=was_flipped, use_closest_path=False), vel=4, acc=3)
+        rob.movej(get_joints_from_xyz_abs(robot, -0.35+xoffset, -0.15, 0.0, math.pi/2, 0.1), vel=4, acc=3)
+        close_gripper()
+
+
+    if holder_index is not None:
+        goto_holder_index(robot, holder_index, 0.2, use_closest_path=False)
+        curr_pos = rob.getl()
+        new_pos = curr_pos
+        new_pos[2] = 0.015
+        rob.movel(new_pos, vel=0.1, acc=1)
+        open_gripper()
+        new_pos[2] = 0.1
+        rob.movel(new_pos, vel=2, acc=1)
+        return True
+    else:
+        # go to camera
+        rob.movej(offset_gripper_angle(robot, 0.35, -0.35, 0.3, flip=was_flipped, use_closest_path=False), vel=2, acc=2)
+        return True
+    
+
+def goto_camera(robot):
+    robot = connect(robot)
+    goto_holder_index(robot, 49, 0.2)
+
+def tray_to_camera(robot, slot):
+    pick_up_tray(robot, slot)
+    goto_camera(robot)
+def holder_to_tray(robot, holder_index, slot):
+    pick_up_holder(robot, holder_index)
+    drop_off_tray(robot, slot)
+
+def holder_to_camera(robot, holder_index, verbose=False):
+    robot = connect(robot)
+    fprint("Bringing tube at " + str(holder_index) + " to camera")
+    rob = robot.robot
+
+    pick_up_holder(robot, holder_index)
+    goto_camera(robot)
+def camera_to_holder(robot, holder_index, verbose=False):
+    robot = connect(robot)
+    rob = robot.robot
+
+    drop_off_holder(robot, holder_index)
+    
+
+def open_gripper():
+    fprint("Opening gripper")
+    c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False)
+    
+    c.write_single_register(112, 0b0)
+    c.write_single_register(435, 0b10000000)
+
+    c.write_single_register(112, 0b0)
+    c.write_single_register(435, 0b10000000)
+    time.sleep(0.5)
+    c.close()
+    
+    #c.close()
+
+def close_gripper():
+    fprint("Closing gripper")
+    c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False)
+    c.write_single_register(435, 0b00000000)
+    c.write_single_register(112, 0b1)
+
+    c.write_single_register(435, 0b00000000)
+    c.write_single_register(112, 0b1)
+    time.sleep(0.5)
+    c.close()
+    #
 
 if __name__ == "__main__":
     
-    #rob.movej((0, 0, 0, 0, 0, 0), 0.1, 0.2)
+    #init("192.168.1.145")
-    #rob.movel((x, y, z, rx, ry, rz), a, v)
+    with open('config.yml', 'r') as fileread:
-    init("192.168.1.145")
+        #global config
-    fprint("Current tool pose is: ",  rob.getl())
+        config = yaml.safe_load(fileread)
-    #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)
+    robot = Rob(config) # robot of type Rob is the custom class above
-    #set_pos_rel_rot_abs(0, 0, 0, math.pi, 0, -math.pi)
+    #powerup_arm(robot)
-    fprint("Current tool pose is: ",  rob.getl())
+    robot = connect(robot)
+    init_arm(robot)
+    
+    rob = robot.robot # rob is robot.robot is the urx robot class, what we've been using previously
+
+
+    #move_to_packup(robot)
+    
+
+    # for i in range(3):
+    #     pick_up_holder(robot, i)
+
+    #     print('Drop off', i+1)
+    #     drop_off_holder(robot, i+1)
+
+    holder_to_camera(robot, 0)
+    camera_to_holder(robot, 0)
+
+    print("Current tool pose is: ",  rob.getl())
+    curr_pos = rob.getl()
+    config = None
+  
+
     rob.stop()
     os.kill(os.getpid(), 9) # dirty kill of self
     sys.exit(0)

util.py

@@ -70,7 +70,7 @@ def fprint(msg, settings = None, sendqueue = None):
     except Exception as e:
         try:
             print('[????:' + frm.function + ']:', str(msg))
-            print('[util:fprint]: ' + str(e))
+            #print('[util:fprint]: ' + str(e))
         except:
             print('[????]:', str(msg))
         
@@ -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:

venv-setup.sh

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

websocket_test.html

@@ -1,8 +1,53 @@
 <!DOCTYPE html>
 <html>
+
 <head>
     <title>WebSocket Test</title>
+
+    <style>
+        footer {
+            background-color: #333;
+            color: #fff;
+            text-align: center;
+            padding: 10px 0;
+            position: fixed;
+            bottom: 0;
+            width: 100%;
+            display: flex;
+            justify-content: space-around;
+        }
+
+        .service-box {
+            width: 150px;
+            padding: 10px;
+            border-radius: 5px;
+        }
+
+        .service-up {
+            background-color: green;
+        }
+
+        .service-down {
+            background-color: red;
+        }
+    </style>
+
+
     <script>
+
+        // class Service {
+        //     constructor(name, status) {
+        //         this.name = name
+        //         this.status = status
+        //     }
+        // }
+
+        var updatedTime = new Date();
+        // Initial status of services
+        // var serviceA = new Service("234234", 'down');
+        // var serviceBStatus = 'down';
+        // var serviceCStatus = 'down';
+
         document.addEventListener("DOMContentLoaded", function () {
             // Create WebSocket connection.
             const socket = new WebSocket('ws://localhost:9000');
@@ -10,6 +55,7 @@
             // Connection opened
             socket.addEventListener('open', function (event) {
                 console.log("Connected to WebSocket server");
+                updatedTime = new Date();
             });
 
             // Listen for messages
@@ -19,6 +65,7 @@
                 let message = document.createElement('li');
                 message.textContent = "Received: " + event.data;
                 messages.appendChild(message);
+                updatedTime = new Date();
             });
 
             // Send a message to the server
@@ -28,15 +75,82 @@
                 console.log('Message sent', message);
             }
 
+            // This function just sends a ping to make sure the server is there and it is able to responds
+            function ping() {
+                let message = `{ "call": "send", "type": "log", "data": "This is a ping!!" }`;
+                socket.send(message);
+                console.log('Message sent', message);
+            }
+            //setInterval(ping, 1500);
+
+            // setInterval(() => {
+            //     updateServiceStatus('serviceA', 'down');
+            // }, 2000);
+
+
             // Bind send message function to button click
             document.getElementById('sendMessage').addEventListener('click', sendMessage);
         });
     </script>
 </head>
+
 <body>
     <h2>WebSocket Test</h2>
-    <input type="text" id="messageInput" placeholder="Type a message...">
+    <textarea rows="4" cols="50" id="messageInput" placeholder="Type a message..."> </textarea>
     <button id="sendMessage">Send Message</button>
+    <p>Example JSON</p>
+    <p>{ "type": "cable_map", "call": "request", "data": { } }</p>
+    <p>{ "type": "log", "call": "send", "data": "123123" }</p>
+
+    <p>Messages/Logs</p>
     <ul id="messages"></ul>
+
+    <footer>
+        <!-- <div id="serviceA" class="service-box"></div>
+        <div id="serviceB" class="service-box"></div>
+        <div id="serviceC" class="service-box"></div> -->
+        <div id="clock"></div>
+
+    </footer>
+
+    <script>
+        // // Function to update service status
+        // function updateServiceStatus(service) {
+        //     // serviceId, status
+        //     var serviceElement = document.getElementById(service.serviceId);
+        //     // updateClock();
+
+        //     if (service.status === 'up') {
+        //         serviceElement.innerHTML = '<h3>' + service.serviceId + '</h3><p>Running</p>';
+        //         serviceElement.classList.remove('service-down');
+        //         serviceElement.classList.add('service-up');
+        //     } else {
+        //         serviceElement.innerHTML = '<h3>' + service.serviceId + '</h3><p>Down</p>';
+        //         serviceElement.classList.remove('service-up');
+        //         serviceElement.classList.add('service-down');
+        //     }
+        // }
+
+
+
+        // // Update service statuses
+        // updateServiceStatus('node.js (for this page)', serviceAStatus);
+        // updateServiceStatus('Python WebSocket', serviceBStatus);
+        // updateServiceStatus('serviceC', serviceCStatus);
+
+        // Function to update clock
+        function updateClock() {
+            var now = new Date();
+            now = now.getTime() - updatedTime.getTime();
+            // console.log(now)
+            document.getElementById('clock').textContent = 'Milliseconds Since Update: ' + now.toString().padStart(6, '0');
+        }
+
+        // Update clock every second
+        setInterval(updateClock, 100);
+
+    </script>
+
 </body>
+
 </html>