Add return from tray in web

.gitignore

@@ -3,6 +3,7 @@ venv
 __pycache__
 # cable data folder(s)
 cables
+cables_old
 cables-sample.zip
 # meilisearch (mainly where I've put the data volume for the container)
 meili_data
@@ -15,4 +16,9 @@ output.mp4
 # log files
 output.log
 # images
-*.png
+map*.png
+# Built app
+build
+# Generated label images
+labels
+temp

.gitmodules

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

Dockerfile

@@ -1,11 +1,13 @@
-FROM python:latest
+FROM python:3.11-slim
 
-RUN apt-get update && apt-get install -y libgl1-mesa-glx ghostscript && apt-get clean && rm -rf /var/lib/apt/lists
-COPY . .
+# 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
-
-CMD ["python3", "run.py"]
+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))
@@ -55,7 +58,7 @@ class DriveImg():
                 except:
                     self.onLine = False
                     self.trans.close()
-                    return resposta
+                    return "Error", None
             ret = self.trans.recv(64)
             try:
                 valida = str(ret[0:15].decode('UTF-8'))
@@ -63,15 +66,15 @@ 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"
+                    return "Error", None
             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"
+                return "Error", None
             if ret:
                 frame = int.from_bytes(ret[24:27],"little")
                 isJpeg = int.from_bytes(ret[32:33],"little")
@@ -113,8 +116,8 @@ class DriveImg():
             #print(f'erro {str(ex)}')
             self.onLine = False
             self.trans.close()
-            sleep(2)
-            return resposta
+            #sleep(2)
+            return "Error", None
 
 class DriveData():
     HEADERSIZE = 100
@@ -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>

cables.txt

@@ -0,0 +1,26 @@
+1172C
+86104CY
+FIT-221-1_4
+10GXW13
+10GXW53
+29501F
+29512
+3092A
+3105A
+3106A
+6300FE
+6300UE
+7922A
+7958A
+8760
+9841
+FI4X012W0
+FISX012W0
+IOP6U
+RA500P
+SPE101
+SPE102
+TF-1LF-006-RS5
+TF-SD9-006-RI5
+TT-SLG-024-HTN
+3050

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

@@ -9,5 +9,22 @@ services:
     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

@@ -3,70 +3,98 @@ core:
   serverip: 172.26.178.114
   clientip: 172.26.176.1
   server: Hyper-Vd
+  loopspeed: 100 # 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
+
+cables:
+  port: 7900
+  directory: ./cables/ # must include trailing slash
 
-#cable_map:
 cameras:
   banner:
     ip: 192.168.1.125
     port: 32200
 
+animation_time: 100
+
 led: 
-  fps: 90
-  timeout: 0
+  fps: 100
+  timeout: 1
   controllers:
-    - universe: 9
-      ip: 192.168.68.131
+    - universe: 1
+      ip: 192.168.1.200
       ledstart: 0
       ledend: 143
       mode: rgb
-    - universe: 3
-      ip: 192.168.68.131
+    - universe: 2
+      ip: 192.168.1.201
       ledstart: 144
       ledend: 287
       mode: rgb
-    - universe: 2
-      ip: 192.168.68.131
+    - universe: 3
+      ip: 192.168.1.202
       ledstart: 288
       ledend: 431
       mode: rgb
     - universe: 4
-      ip: 192.168.5.40
+      ip: 192.168.1.203
       ledstart: 432
       ledend: 575
       mode: rgb
-    - universe: 1
-      ip: 192.168.5.4
+    - universe: 5
+      ip: 192.168.1.204
       ledstart: 576
       ledend: 719
       mode: rgb
-    - universe: 5
-      ip: 192.168.68.131
+    - universe: 6
+      ip: 192.168.1.205
       ledstart: 720
       ledend: 863
       mode: rgb
-    - universe: 6
-      ip: 192.168.68.131
+    - universe: 7
+      ip: 192.168.1.206
       ledstart: 864
       ledend: 1007
       mode: rgb
-    - universe: 7
-      ip: 192.168.68.131
+    - universe: 8
+      ip: 192.168.1.207
       ledstart: 1008
       ledend: 1151
       mode: rgb
-    - universe: 8
-      ip: 192.168.68.131
+    - universe: 9
+      ip: 192.168.1.208
       ledstart: 1152
       ledend: 1295
       mode: rgb
-    - universe: 0
-      ip: 192.168.68.130
-      ledstart: 1296
-      ledend: 1365
-      mode: rgbw
+    - universe: 10
+      ip: 192.168.1.209
+      mode: solid
+      color: [0, 50, 150]
+    - universe: 11
+      ip: 192.168.1.210
+      mode: solid
+      color: [0, 50, 150]
+    - universe: 12
+      ip: 192.168.1.211
+      mode: solid
+      color: [0, 50, 150]
+    # - universe: 0
+    #   ip: 192.168.1.209
+    #   ledstart: 1296
+    #   ledend: 1365
+    #   mode: rgbw
     
 
   map:
@@ -76,37 +104,37 @@ led:
       start: 0
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [0, 304.8]
     - type: circle
       start: 24
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-65.991, 266.7]
     - type: circle
       start: 48
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-131.982, 228.6]
     - type: circle
       start: 72
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-197.973, 190.5]
     - type: circle
       start: 96
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-263.965, 152.4]
     - type: circle
       start: 120
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-263.965, 76.2]
 
     # controller 2
@@ -114,37 +142,37 @@ led:
       start: 144
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [0, 228.6]
     - type: circle
       start: 168
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-65.991, 190.5]
     - type: circle
       start: 192
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-131.982, 152.4]
     - type: circle
       start: 216
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-197.973, 114.3]
     - type: circle
       start: 240
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-197.973, 38.1]
     - type: circle
       start: 264
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-263.965, 0]
 
     # controller 3
@@ -152,37 +180,37 @@ led:
       start: 288
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [0, 152.4]
     - type: circle
       start: 312
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-65.991, 114.3]
     - type: circle
       start: 336
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-131.982, 76.2]
     - type: circle
       start: 360
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-131.982, 0]
     - type: circle
       start: 384
       size: 24
       diameter: 63.5
-      angle: 0
-      pos: [-197.973, -38.1]
+      angle: 180
+      pos: [-199.0, -35.0]
     - type: circle
       start: 408
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-263.965, -76.2]
 
     # controller 4
@@ -190,37 +218,37 @@ led:
       start: 432
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [131.982, 76.2]
     - type: circle
       start: 456
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [131.982, 152.4]
     - type: circle
       start: 480
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [131.982, 228.6]
     - type: circle
       start: 504
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [65.991, 266.7]
     - type: circle
       start: 528
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [65.991, 190.5]
     - type: circle
       start: 552
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [65.991, 114.3]
     
 
@@ -229,37 +257,37 @@ led:
       start: 576
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [131.982, 0]
     - type: circle
       start: 600
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [197.973, 38.1]
     - type: circle
       start: 624
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [197.973, 114.3]
     - type: circle
       start: 648
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [197.973, 190.5]
     - type: circle
       start: 672
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [263.965, 152.4]
     - type: circle
       start: 696
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [263.965, 76.2]
 
     # controller 6
@@ -267,37 +295,37 @@ led:
       start: 720
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [131.982, -76.2]
     - type: circle
       start: 744
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [197.973, -38.1]
     - type: circle
       start: 768
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [263.965, 0]
     - type: circle
       start: 792
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [263.965, -76.2]
     - type: circle
       start: 816
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [263.965, -152.4]
     - type: circle
       start: 840
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [197.973, -114.3]
 
     # controller 7
@@ -305,75 +333,75 @@ led:
       start: 864
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [65.991, -114.3]
     - type: circle
       start: 888
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [0, -152.4]
     - type: circle
       start: 912
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-65.991, -114.3]
     - type: circle
       start: 936
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-131.982, -76.2]
     - type: circle
       start: 960
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-197.973, -114.3]
     - type: circle
       start: 984
       size: 24
       diameter: 63.5
-      angle: 0
-      pos: [-131.982, -152.4]
+      angle: 180
+      pos: [-133.0, -151.0]
 
     # controller 8
     - type: circle
       start: 1008
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [0, -228.6]
     - type: circle
       start: 1032
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-65.991, -190.5]
     - type: circle
       start: 1056
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-65.991, -266.7]
     - type: circle
       start: 1080
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-131.982, -228.6]
     - type: circle
       start: 1104
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-197.973, -190.5]
     - type: circle
       start: 1128
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [-263.965, -152.4]
 
     # controller 9
@@ -381,49 +409,49 @@ led:
       start: 1152
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [0, -304.8]
     - type: circle
       start: 1176
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [65.991, -266.7]
     - type: circle
       start: 1200
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [131.982, -228.6]
     - type: circle
       start: 1224
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [197.973, -190.5]
     - type: circle
       start: 1248
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [131.982, -152.4]
     - type: circle
       start: 1272
       size: 24
       diameter: 63.5
-      angle: 0
+      angle: 180
       pos: [65.991, -190.5]
 
     # Strips
-    - type: strip
-      start: 1296
-      size: 70
-      length: 600
-      angle: 270 # down
-      pos: [375, 300]
+    # - type: strip
+    #   start: 1296
+    #   size: 70
+    #   length: 600
+    #   angle: 270 # down
+    #   pos: [375, 300]
 
 global_position_offset: [0,0] # default coordinate spce below as center of arm at 0,0 - adjust if necessary
-animation_time: 40
+
 position_map:
   - index: 0
     pos: [-152.4, 263.965]
@@ -500,7 +528,7 @@ position_map:
   - index: 36
     pos: [-228.6, -131.982]
   - index: 37
-    pos: [-152.4, -131.982]
+    pos: [-151.0, -133.0]
   - index: 38
     pos: [-76.2, -131.982]
   - index: 39
@@ -516,7 +544,7 @@ position_map:
   - index: 44
     pos: [-114.3, -197.973]
   - index: 45
-    pos: [-38.1, -197.973]
+    pos: [-35.0, -199.0]
   - index: 46
     pos: [38.1, -197.973]
   - index: 47

fileserver.py

@@ -0,0 +1,17 @@
+import http.server
+import socketserver
+import os
+
+def run_server(port, directory):
+    """
+    Run a simple HTTP server serving files from the specified directory.
+    """
+    # Change the working directory to the specified directory
+    os.makedirs(directory, exist_ok=True)
+    os.chdir(directory)
+
+    # Create the HTTP server
+    handler = http.server.SimpleHTTPRequestHandler
+    with socketserver.TCPServer(("", port), handler) as httpd:
+        print(f"Serving cable images & files at port {port}")
+        httpd.serve_forever()

get_specs.py

@@ -27,8 +27,10 @@ def check_internet(url='https://belden.com', timeout=5):
 
 
 def query_search(partnum, source):
+    fprint("Searching for " + partnum)
     if source == "Belden":
         token_url = "https://www.belden.com/coveo/rest/token?t=" + str(int(time.time()))
+        try:
             with requests.get(token_url) as r:
                 out = json.loads(r.content)
             token = out["token"]
@@ -46,21 +48,20 @@ def query_search(partnum, source):
                 'Authorization': f'Bearer {token}',
                 'Content-Type': 'application/json'
             }
-        try:
             with requests.post(search_url, headers=headers, data=search_data) as r:
                 a = r.text
                 a = json.loads(a)
                 idx = -1
                 name = ""
-                for partid in range(len(a["results"])):
+                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
+                            #break
                         elif partnum.find(name) >= 0:
                             idx = partid
-                            break
+                            #break
                         
                     else:
                         idx = partid
@@ -69,7 +70,9 @@ def query_search(partnum, source):
                 if idx < 0:
                     fprint("Could not find part in API: " + partnum)
                     return False
-                fprint("Search result found: result " + str(idx) + ", for ID " + name)
+                
+                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("?")]
@@ -78,21 +81,26 @@ def query_search(partnum, source):
                 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)
+                app = a["results"][idx]["raw"]["catalogitemapplication"]
+                category = a["results"][idx]["raw"]["catalogitemfilterproductcategory"]
+                
+                #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["short_description"] = shortdesc
                 out["description"] = desc
+                out["application"] = app
+                out["category"] = category
                 out["image"] = "https://www.belden.com" + img
                 out["partnum"] = name
                 #print(out)
                 return out
         except:
-            print("falied to search with API. Falling back to datasheet lookup.")
+            print("Failed to search with API. Falling back to datasheet lookup.")
             return False
     
 
@@ -112,12 +120,14 @@ def query_search(partnum, source):
         r = requests.get(url=alphaurl)
         data = r.json()
         output = dict()
-        #print(data)
+        #print(data["Results"])
+        
         try:
             if data["Count"] > 0:
                 #print(data["Results"][0]["Url"])
                 for result in data["Results"]:
-                    if result["Url"].split("/")[-1] == partnum:
+                    #print(result["Url"])
+                    if result["Url"].split("/")[-1] == partnum.replace("-", "").replace("/", "_"):
                         #print(partnum)
                         #print(result["Html"])
                         try:
@@ -133,14 +143,18 @@ def query_search(partnum, source):
                         dsidx = result["Html"].index("<a href=\"/disteAPI/") + 9
                         dsidx2 = result["Html"].index(partnum, dsidx) + len(partnum)
                         output["datasheet"] = "https://www.alphawire.com" + result["Html"][dsidx:dsidx2]
-                        output["partnum"] = partnum
-                        #"test".index()
+                        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
 
 
@@ -150,14 +164,20 @@ def touch(path):
 
 
 
-def get_multi(partnums, delay=0.25):
-    with alive_bar(len(partnums) * 2, dual_line=True, calibrate=30, bar="classic2", spinner="classic") as bar:
+def get_multi(partnums, delay, dir, webport, cache=True, bar=None):
+    #with alive_bar(len(partnums) * 2, dual_line=True, calibrate=30, bar="classic2", spinner="classic", disable=True, file=sys.stdout) as bar:
         
-        def _try_download_datasheet(partnum, output_dir): # Guess datasheet URL
+        failed = list()
+        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:
@@ -167,13 +187,14 @@ def get_multi(partnums, delay=0.25):
                     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"
@@ -195,13 +216,14 @@ def get_multi(partnums, delay=0.25):
                     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"
@@ -221,13 +243,14 @@ def get_multi(partnums, delay=0.25):
                     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]
@@ -236,82 +259,128 @@ def get_multi(partnums, delay=0.25):
                 os.remove(partnum + "/datasheet.pdf")
                 sys.exit()
 
-        def __use_cached_datasheet(partnum, path, output_dir, dstype):
+        def __use_cached_datasheet(partnum, path, output_dir, dstype, weburl, extra):
             fprint("Using cached datasheet for " + partnum)
-            bar.text = "Using cached datasheet for " + partnum
-            bar(skipped=True)
+            # bar.text = "Using cached datasheet for " + partnum
+            # bar(skipped=True)
             if not os.path.exists(output_dir + "/parsed"):
                 
                 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, partnum, dstype)
-                bar(skipped=False) 
+                out = read_datasheet.parse(path, output_dir, partnum, dstype, weburl, extra)
+                # bar(skipped=False) 
+                return out
             else:
                 fprint("Datasheet already parsed for " + partnum)
-                bar.text = "Datasheet already parsed for " + partnum + ".pdf"
-                bar(skipped=True)
+                # bar.text = "Datasheet already parsed for " + partnum + ".pdf"
+                # bar(skipped=True)
 
-        def __downloaded_datasheet(partnum, path, output_dir, dstype):
+        def __downloaded_datasheet(partnum, path, output_dir, dstype, weburl, extra):
             fprint("Downloaded " + path)
-            bar.text = "Downloaded " + path
-            bar(skipped=False)
+            # bar.text = "Downloaded " + path
+            # bar(skipped=False)
             fprint("Parsing Datasheet contents of " + partnum)
-            bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
-            read_datasheet.parse(path, output_dir, partnum, dstype)
-            bar(skipped=False)
+            # bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
+            out = read_datasheet.parse(path, output_dir, partnum, dstype, weburl, extra)
+            # bar(skipped=False)
+            return out
 
         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"
+            weburl = ":" + str(webport) + "/" + partnum + "/"
             bartext = "Downloading files for part " + partnum
-            bar.text = bartext
-            #
-            if (not os.path.exists(output_dir + "/found_part_hires")) or not (os.path.exists(path) and os.path.getsize(path) > 1):
+            # bar.text = bartext
+            partnum = oldpartnum.replace("_","/")
+            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, dstype)
                 # Try to use belden.com search
                 if search_result is not False:
                     # Download high resolution part image if available and needed
+                    #oldpartnum = partnum
+                    
                     partnum = search_result["partnum"]
-                    output_dir = "cables/" + partnum
+                    returnval = [partnum, dstype, False, False]
+                    output_dir = dir + partnum
                     path = output_dir + "/datasheet.pdf"
                     bartext = "Downloading files for part " + partnum
-                    bar.text = bartext
+                    os.makedirs(output_dir, exist_ok=True)
+                    with open(output_dir + "/search-result.json", 'w') as json_file:
+                        fprint("Saving search result of " + partnum)
+                        json.dump(search_result, json_file)
+                    # bar.text = bartext
 
-                    if not os.path.exists(output_dir + "/found_part_hires"):
+                    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]
+                            if os.path.exists(output_dir + "/parsed"):
+                                os.remove(output_dir + "/parsed")
                             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:
-                        __use_cached_datasheet(partnum, path, output_dir, dstype)
+                    if os.path.exists(path) and os.path.getsize(path) > 1 and cache:
+                        out = __use_cached_datasheet(partnum, path, output_dir, dstype, weburl, search_result)
+                        returnval = [partnum, dstype, True, out]
 
                     elif _download_datasheet(search_result["datasheet"], output_dir) is not False:
-                        __downloaded_datasheet(partnum, path, output_dir, dstype)
+                        out = __downloaded_datasheet(partnum, path, output_dir, dstype, weburl, search_result)
+                        returnval = [partnum, dstype, True, out]
                     
-                elif os.path.exists(path) and os.path.getsize(path) > 1:
-                    __use_cached_datasheet(partnum, path, output_dir, dstype)
+                
+                
+                elif os.path.exists(path) and os.path.getsize(path) > 1 and cache:
+                    search_result = {}
+                    if os.path.exists(output_dir + "/search-result.json"):
+                        with open(output_dir + "/search-result.json", 'r', encoding='utf-8') as file:
+                            search_result = json.load(file)
+                    out = __use_cached_datasheet(partnum, path, output_dir, dstype, weburl, search_result)
+                    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:
-                    __downloaded_datasheet(partnum, path, output_dir, dstype)
+                elif _try_download_datasheet(partnum, output_dir, dstype) is not False:
+                    search_result = {}
+                    if os.path.exists(output_dir + "/search-result.json"):
+                        with open(output_dir + "/search-result.json", 'r', encoding='utf-8') as file:
+                            search_result = json.load(file)
+                    out = __downloaded_datasheet(partnum, path, output_dir, dstype, weburl, search_result)
+                    returnval = [partnum, dstype, False, out]
 
                 # Failed to download with search or guess :(
                 else: 
                     return False
-                return True
+                
+                time.sleep(delay)
+                actualpartnums.append(returnval)
+                return returnval
 
             # We already have a hi-res image and the datasheet - perfect!
             else:
                 fprint("Using cached hi-res part image for " + partnum)
-                __use_cached_datasheet(partnum, path, output_dir, dstype)
+                search_result = {}
+                if os.path.exists(output_dir + "/search-result.json"):
+                    with open(output_dir + "/search-result.json", 'r', encoding='utf-8') as file:
+                        search_result = json.load(file)
+                out = __use_cached_datasheet(partnum, path, output_dir, dstype, weburl, search_result)
+                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"
@@ -338,19 +407,19 @@ def get_multi(partnums, delay=0.25):
                             time.sleep(delay)
                 if not success:
                     fprint("Failed to download datasheet for part " + partnum)
-                    bar.text = "Failed to download datasheet for part " + partnum
-                    failed.append(partnum)
-                    bar(skipped=True)
-                    bar(skipped=True)
-            time.sleep(delay)
+                    # bar.text = "Failed to download datasheet for part " + partnum
+                    failed.append((partnum, dstype))
+                    # bar(skipped=True)
+                    # bar(skipped=True)
+            
             
         if len(failed) > 0:
             fprint("Failed to download:")
             for partnum in failed:
-            fprint(partnum)
-        return False # Go to manual review upload page
+                fprint(partnum[1] + " " + partnum[0])
+            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
 
 
 
@@ -373,11 +442,12 @@ if __name__ == "__main__":
     # ]
     partnums = [
     # Actual cables in Jukebox
+    "BL3092A",
     "AW86104CY",
     "AW3050",
     "AW6714",
     "AW1172C",
-    "AW2211/4",
+    "AWFIT-221-1/4",
 
     "BLTF-1LF-006-RS5N",
     "BLTF-SD9-006-RI5N",
@@ -402,10 +472,11 @@ if __name__ == "__main__":
     "BL6300FE 009Q",
     "BLRA500P 006Q",
 
-
+    ]
     # Some ones I picked, including some invalid ones
+    a = [
     "BL10GXS12", 
-    "BLRST 5L-RKT 5L-949", 
+    "BLRST%205L-RKT%205L-949",
     "BL10GXS13",
     "BL10GXW12",
     "BL10GXW13",
@@ -416,12 +487,17 @@ if __name__ == "__main__":
     "BLFISD012R9",
     "BLFDSD012A9",
     "BLFSSL024NG",
-    "BLFISX006W0",
-    "BLFISX00103",
-    "BLC6D1100007"
+    "BLFISX006W0", # datasheet only
+    "BLFISX00103", # invalid
+    "BLC6D1100007" # invalid
     
     ]
-    #query_search("86104CY", "Alphawire")
+    #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>

label_document.py

@@ -0,0 +1,51 @@
+#!/usr/bin/env python3
+import fitz  # PyMuPDF
+from reportlab.pdfgen import canvas
+from reportlab.lib.pagesizes import letter
+import os
+
+
+def generate_pdf(path="labels"):
+    # Open the existing PDF
+    image_folder_path = path
+    doc = fitz.open('label_template.pdf')
+    page = doc[0]  # Assuming you want to read from the first page
+
+    placeholders = []
+    for shape in page.get_drawings():
+        if shape['type'] == 's':  # Checking for rectangle types
+            placeholders.append({
+                'x': shape['rect'].x0,
+                'y': shape['rect'].y0,
+                'width': shape['rect'].width,
+                'height': shape['rect'].height
+            })
+
+    # List all PNG images in the folder
+    image_files = [f for f in os.listdir(image_folder_path) if f.endswith('.png')]
+    image_paths = [os.path.join(image_folder_path, file) for file in image_files]
+
+    # Create a new PDF with ReportLab
+    c = canvas.Canvas(path + "/print.pdf", pagesize=letter)
+    current_placeholder = 0  # Track the current placeholder index
+
+    for image_path in image_paths:
+        if current_placeholder >= len(placeholders):  # Check if a new page is needed
+            c.showPage()
+            current_placeholder = 0  # Reset placeholder index for new page
+
+        # Get current placeholder
+        placeholder = placeholders[current_placeholder]
+
+        # Place image at the placeholder position
+        c.drawImage(image_path, placeholder['x'], page.rect.height - placeholder['y'] - placeholder['height'], width=placeholder['width'], height=placeholder['height'])
+        current_placeholder += 1
+
+    # Save the final PDF
+    c.save()
+
+    # Close the original PDF
+    doc.close()
+
+if __name__ == "__main__":
+    generate_pdf("labels")

label_generator.py

@@ -0,0 +1,109 @@
+#!/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
+from label_document import generate_pdf
+
+
+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()) + "/", webport=":9000", 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")
+    generate_pdf(path)
+
+
+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 +1,320 @@
+#!/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*4), int(width*4/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*3.25 - 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 * 7.5)) / 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*3/qrx, kind="PNG", border=0)
+    qrimg = Image.open(out)
+    img.paste(qrimg, box=(int(width*3.5),int(width*4.5)))
+    img = img.crop((width+int(width / 1.4)-int(width/8),width+int(width / 1.4)-int(width/8),img.size[0] - (width+int(width / 1.4)-int(width/8)), img.size[1] - (width+int(width / 1.4)-int(width/8))  ))
+    img = img.resize((1200, 1200), Image.LANCZOS) # 1200 dpi
+    
+    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

@@ -14,24 +14,33 @@ import cv2
 import numpy as np
 from uptime import uptime
 
-sender = None
-debug = True
-config = None
-leds = None
-leds_size = None
-leds_normalized = None
-controllers = None
-data = None
-exactdata = None
-rings = None
-ringstatus = None
-mode = "Startup"
-firstrun = True
-changecount = 0
-animation_time = 0
-start = uptime()
 
-def ping(host):
+
+class LEDSystem():
+    sender = None
+    debug = True
+    config = None
+    leds = None
+    leds_size = None
+    leds_normalized = None
+    controllers = None
+    data = None
+    exactdata = None
+    rings = None
+    ringstatus = None
+    mode = "Startup"
+    firstrun = True
+    changecount = 0
+    animation_time = 0
+    start = uptime()
+    solid_controllers = None
+    
+    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
@@ -49,32 +58,25 @@ def ping(host):
 
         return subprocess.call(command, stdout=subprocess.DEVNULL, stderr=subprocess.STDOUT) == 0
 
-def map():
-    global config
-    global leds
-    global leds_size
-    global leds_normalized
-    global controllers
-    global rings
-    global ringstatus
-    global animation_time
-    
+    def map(self):
 
         with open('config.yml', 'r') as fileread:
             #global config
-        config = yaml.safe_load(fileread)
+            self.config = yaml.safe_load(fileread)
 
-    animation_time = config["animation_time"]
-    leds = list()
-    leds_size = list()
-    controllers = list()
-    rings = list(range(len(config["position_map"])))
-    ringstatus = list(range(len(config["position_map"])))
+        self.animation_time = self.config["animation_time"]
+        self.leds = list()
+        self.leds_size = list()
+        self.controllers = list()
+        self.solid_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"])
         generate_map = False
         map = list()
-    for shape in config["led"]["map"]:
+        for shape in self.config["led"]["map"]:
             if shape["type"] == "circle":
 
                 if generate_map:
@@ -84,24 +86,24 @@ def map():
                 angle = 0
                 radius = shape["diameter"] / 2
                 lednum = shape["start"]
-            for item in config['position_map']:
+                for item in self.config['position_map']:
                 # Check if the current item's position matches the target position
                     #print(item['pos'],(shape["pos"][1],shape["pos"][0]))
                     if tuple(item['pos']) == (shape["pos"][1],shape["pos"][0]):
-                    rings[item["index"]] = (shape["pos"][1],shape["pos"][0],lednum,lednum+shape["size"]) # rings[index] = x, y, startpos, endpos
-                    ringstatus[item["index"]] = [None, None]
+                        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(leds) < lednum + shape["size"]:
-                for x in range(lednum + shape["size"] - len(leds)):
-                    leds.append(None)
-                    leds_size.append(None)
-            while angle < 359.999:
+                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"][1] # flip by 90 degress when we changed layout
                     y = math.sin(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][0]
-                leds[lednum] = (x,y)
+                    self.leds[lednum] = (x,y)
                     lednum = lednum + 1
-                angle = angle + anglediv
+                    angle = angle - anglediv
 
             elif shape["type"] == "strip":
                 angle = shape["angle"]
@@ -112,13 +114,13 @@ 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"]:
-                for x in range(lednum + shape["size"] - len(leds)):
-                    leds.append(None)
-                    leds_size.append(None)
+                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 dist < length:
-                leds[lednum] = (pos[0], pos[1])
+                    self.leds[lednum] = (pos[0], pos[1])
                     pos[0] += xmov
                     pos[1] += ymov
                     dist += distdiv
@@ -140,276 +142,356 @@ def map():
             yaml_str = yaml.dump(data, default_flow_style=False)
             print(yaml_str)
 
-    print(rings)
+        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)):
-            if leds[x] is None:
-                leds[x] = (0, 0)
+            for x in range(len(self.leds)):
+                if self.leds[x] is None:
+                    self.leds[x] = (0, 0)
 
 
         #leds = tmpleds.reverse()
         #fprint(leds)
 
         # controller mapping
-    for ctrl in config["led"]["controllers"]:
-        if len(controllers) < ctrl["universe"]+1:
-            for x in range(ctrl["universe"]+1 - len(controllers)):
-                controllers.append(None)
+        for ctrl in self.config["led"]["controllers"]:
+            if ctrl["mode"] == "solid":
+                self.solid_controllers.append((ctrl["universe"]-1, ctrl["color"], ctrl["ip"]))
+            else:
+                if len(self.controllers) < ctrl["universe"]:
+                    print(ctrl["universe"])
+                    for x in range(ctrl["universe"] - len(self.controllers)):
+                        self.controllers.append(None)
 
-        controllers[ctrl["universe"]] = (ctrl["ledstart"],ctrl["ledend"]+1,ctrl["ip"])
+                self.controllers[ctrl["universe"]-1] = (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:
-            plt.scatter(*zip(*leds[ctrl[0]:ctrl[1]]), s=2)
+            for ctrl in self.controllers:
+                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
-                    y-min([led[1] for led in leds]) )
-                   for x, y in leds]
+        leds_adj = [(x-min([led[0] for led in self.leds]), # push to zero start
+                        y-min([led[1] for led in self.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():
-    map()
-    global sender
-    global config
-    global leds
-    global leds_size
-    global controllers
-    global data
-    global exactdata
-    sender = sacn.sACNsender(fps=config["led"]["fps"], universeDiscovery=False)
-    sender.start()  # start the sending thread
-    """for x in range(len(controllers)):
-        print("Waiting for the controller at", controllers[x][2], "to be online...", end="")
+    def init(self):
+        self.map()
+        self.sender = sacn.sACNsender(fps=self.config["led"]["fps"], universeDiscovery=False)
+        self.sender.start()  # start the sending thread
+        for x in range(len(self.controllers)):
+            print("Waiting for the controller at", self.controllers[x][2], "to be online...", end="", flush=True)
             count = 0
-        while not ping(controllers[x][2]):
+            while not self.ping(self.controllers[x][2]):
                 count = count + 1
-            if count >= config["led"]["timeout"]:
-                fprint(" ERROR: controller still offline after " + str(count) + " seconds, continuing...")
+                if count >= self.config["led"]["timeout"]:
+                    print(" ERROR: controller still offline after " + str(count) + " seconds, continuing...")
                     break
-        if count < config["led"]["timeout"]:
-            fprint(" done")"""
-    for x in range(len(controllers)):
-        print("Activating controller", x, "at", controllers[x][2], "with", controllers[x][1]-controllers[x][0], "LEDs.")
-        sender.activate_output(x+1)  # start sending out data
-        sender[x+1].destination = controllers[x][2]
-    sender.manual_flush = True
+            else:
+                print(" done")
+            #if count < self.config["led"]["timeout"]:
+                
+        for x in range(len(self.solid_controllers)):
+            print("Waiting for the controller at", self.solid_controllers[x][2], "to be online...", end="", flush=True)
+            count = 0
+            while not self.ping(self.solid_controllers[x][2]):
+                count = count + 1
+                if count >= self.config["led"]["timeout"]:
+                    print(" ERROR: controller still offline after " + str(count) + " seconds, continuing...")
+                    break
+            else:
+                print(" done")
+                
+        time.sleep(1)
+        for x in range(len(self.controllers)):
+            print("Activating controller", x+1, "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]
+
+        for x in range(len(self.solid_controllers)):
+            ctrl = self.solid_controllers[x]
+            print("Activating controller", ctrl[0], "at", ctrl[2], "with solid color ", ctrl[1])
+            self.sender.activate_output(ctrl[0]+1)  # start sending out data
+            self.sender[ctrl[0]+1].destination = ctrl[2]
+
+        self.sender.manual_flush = True
 
         # initialize global pixel data list
-    data = list()
-    exactdata = list()
-    for x in range(len(leds)):
-        if leds_size[x] == 3:
-            exactdata.append(None)
-            data.append((20,20,127))
-        elif leds_size[x] == 4:
-            exactdata.append(None)
-            data.append((50,50,255,0))
+        self.data = list()
+        self.exactdata = list()
+        for x in range(len(self.leds)):
+            if self.leds_size[x] == 3:
+                self.exactdata.append(None)
+                self.data.append((0,0,127))
+            elif self.leds_size[x] == 4:
+                self.exactdata.append(None)
+                self.data.append((50,50,255,0))
             else:
-            exactdata.append(None)
-            data.append((0,0,0))
-    sendall(data)
+                self.exactdata.append(None)
+                self.data.append((0,0,0))
+        self.sendall(self.data)
         #time.sleep(50000)    
-    fprint("Running start-up test sequence...")
-    for y in range(1):
-        for x in range(len(leds)):
-            setpixel(0,60,144,x)
-        sendall(data)
-        #time.sleep(2)
-    alloffsmooth()
+        # fprint("Running start-up test sequence...")
+        # for y in range(1):
+        #     for x in range(len(self.leds)):
+        #         self.setpixel(0,60,144,x)
+        #     self.sendall(self.data)
+        #     #time.sleep(2)
+        # 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
-    global sender
-    sender.manual_flush = True
-    for x in range(len(controllers)):
-        sender[x+1].dmx_data = list(sum(datain[controllers[x][0]:controllers[x][1]] , ())) # flatten the subsection of the data array
+        self.sender.manual_flush = True
+        for x in range(len(self.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
 
-    sender.flush()
+        offset = len(self.controllers)
+        for x in range(len(self.solid_controllers)):
+            ctrl = self.solid_controllers[x]
+            self.sender[ctrl[0]+1].dmx_data = list(ctrl[1]) * 170
+
+
+        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
-    global sender
-    sender.manual_flush = False
-    print(datain[controllers[0][0]:controllers[0][1]])
-    for x in range(len(controllers)):
-        sender[x+1].dmx_data = list(sum(datain[controllers[x][0]:controllers[x][1]] , ())) # flatten the subsection of the data array
+        self.sender.manual_flush = True
+        #print(datain[self.controllers[0][0]:self.controllers[0][1]])
+        for x in range(len(self.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
 
-    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
-    global sender
-    for x in range(len(controllers)):
-        if lednum >= controllers[x][0] and lednum < controllers[x][1]:
-            sender[x+1].dmx_data = list(sum(datain[controllers[x][0]:controllers[x][1]] , ())) # flatten the subsection of the data array
+        for x in range(len(self.controllers)):
+            if lednum >= self.controllers[x][0] and lednum < self.controllers[x][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
 
-    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)):
-        if leds_size[x] == 3:
+        for x in range(len(self.leds)):
+            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():
-    global data
-    sendall(data)
+    def allon(self):
+        self.sendall(self.data)
+        return self
 
-def alloffsmooth():
-    tmpdata = data
+    def alloffsmooth(self):
+        tmpdata = self.data
         for x in range(256):
-        for x in range(len(data)):
-            setpixel(tmpdata[x][0]-1,tmpdata[x][1]-1,tmpdata[x][2]-1, x)
-        sendall(tmpdata)
+            for x in range(len(self.data)):
+                self.setpixel(tmpdata[x][0]-1,tmpdata[x][1]-1,tmpdata[x][2]-1, x)
+            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
-    setpixel(r,g,b,num)
-    senduniverse(data, num)
+        self.setpixel(r,g,b,num)
+        self.senduniverse(self.data, num)
+        return self
 
-def setmode(stmode, r=0,g=0,b=0):
-    global mode
-    global firstrun
+    def setmode(self, stmode, r=0,g=0,b=0):
         if stmode is not None:
-        if mode != stmode:
-            firstrun = True
+            if self.mode != stmode:
+                self.firstrun = True
 
-        mode = stmode
+            self.mode = stmode
+        return self
+    
+    def setrange(self, start, end, r,g,b):
+        val = (r,g,b)
+        for x in range(start,end):
+            self.data[x] = val
+
+    def setallringsexcept(self, r,g,b, exclude):
+        startidx1 = 0
+        endidx2 = len(self.leds)
+        endidx1 = self.rings[exclude][2]
+        startidx2 = self.rings[exclude][3]+1
+        self.setrange(startidx1, endidx1, r,g,b)
+        self.setrange(startidx2, endidx2, r,g,b)
         
 
-def setring(r,g,b,idx):
-    
-    ring = rings[idx]
+    def setring(self, r,g,b,idx):
+        ring = self.rings[idx]
         for pixel in range(ring[2],ring[3]):
-        setpixel(r,g,b,pixel)
+            self.setpixel(r,g,b,pixel)
         #global data
         #senduniverse(data, ring[2])
+        return self
 
-def runmodes(ring = -1, speed = 1):
-    global mode
-    global firstrun
-    global changecount
-    fprint("Mode: " + str(mode))
-    if mode == "Startup":
+    def runmodes(self, ring = -1, arm_position = None):
+        #fprint("Mode: " + str(self.mode))
+        if self.mode == "Startup":
             # loading animation. cable check
-        if firstrun:
-            changecount = animation_time * 3
-            firstrun = False
-            for x in range(len(ringstatus)):
-                ringstatus[x] = [True, animation_time]
+            if self.firstrun:
+                self.changecount = self.animation_time * 2
+                self.firstrun = False
+                for x in range(len(self.ringstatus)):
+                    self.ringstatus[x] = [True, self.animation_time]
 
-        if changecount > 0:
-            fprint(changecount)
-            changecount = fadeorder(0,len(leds), changecount, 0,50,100)
+            if self.changecount > 0:
+                #fprint(self.changecount)
+                self.changecount = self.fadeorder(0,len(self.leds), self.changecount, 0,50,100)
             else:
-            setmode("Startup2")
+                self.setmode("Startup2")
 
 
-    elif mode == "Startup2":
-        if firstrun:
-            firstrun = False
+        elif self.mode == "Startup2":
+            if self.firstrun:
+                self.firstrun = False
 
             else:
-            for x in range(len(ringstatus)):
-                if ringstatus[x][0]:
-                    setring(0, 50, 100, x)
+                for x in range(len(self.ringstatus)):
+                    if self.ringstatus[x][0]:
+                        self.setring(0, 50, 100, x)
                     else:
-                    ringstatus[x][1] = fadeall(rings[x][2],rings[x][3], ringstatus[x][1], 100,0,0) # not ready
+                        #self.ringstatus[x][1] = self.fadeall(self.rings[x][2],self.rings[x][3], self.ringstatus[x][1], 100,0,0) # not ready
+                        self.ringstatus[x][1] = self.fadeall(self.rings[x][2],self.rings[x][3], self.ringstatus[x][1], 0,50,100)
 
-    elif mode == "StartupCheck":
-        if firstrun:
-            firstrun = False
-            for x in range(len(ringstatus)):
-                ringstatus[x] = [False, animation_time]
+        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(ringstatus)):
-                if ringstatus[x][0]:
-                    ringstatus[x][1] = fadeall(rings[x][2],rings[x][3], ringstatus[x][1], 0,50,100) # ready  
+                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:
-                    setring(100, 0, 0, x)
+                        self.setring(100, 0, 0, x)
 
-    elif mode == "GrabA":
-        if firstrun:
-            firstrun = False
-            changecount = animation_time # 100hz
-        if changecount > 0:
-            changecount = fadeall(rings[ring][2],rings[ring][3], changecount, 100,0,0)
+        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:
-            setring(100,0,0,ring)
-            setmode("GrabB")
-    elif mode == "GrabB":
-        if firstrun:
-            firstrun = False
-            changecount = animation_time # 100hz
-        if changecount > 0:
-            changecount = fadeorder(rings[ring][2],rings[ring][3], changecount, 0,100,0)
+                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)
+                self.changecount = self.fadeorder(self.rings[ring][2],self.rings[ring][2]+24, self.changecount, 0,100,0)
             else:
-            setring(0,100,0,ring)
-            setmode("idle")
-    elif mode == "GrabC":
-        if firstrun:
-            firstrun = False
-            changecount = animation_time # 100hz
-        if changecount > 0:
-            changecount = fadeall(rings[ring][2],rings[ring][3], changecount, 0,50,100)
+                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:
-            setring(0,50,100,ring)
-            setmode("idle")
-    elif mode == "idle":
-        time.sleep(0)
+                self.setring(0,50,100,ring)
+                self.setmode("Idle")
 
-    sendall(data)
+        elif self.mode == "GrabAA":
+            print("GrabAA")
+            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("Idle")
+        elif self.mode == "GrabAB":
+            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)
+                self.changecount = self.fadeorder(self.rings[ring][2],self.rings[ring][2]+24, self.changecount, 0,100,0)
+            else:
+                self.setring(0,100,0,ring)
+                self.setmode("Idle")
 
-def fadeall(idxa,idxb,sizerem,r,g,b):
+        elif self.mode == "Idle":
+            if self.firstrun:
+                self.firstrun = False
+            if arm_position is not None:
+                posxy = list()
+                posxy.append(int(arm_position[0] * 1000)) # x   convert m to mm
+                posxy.append(int(arm_position[1] * 1000)) # y
+                radius = int(arm_position[2] * 1000) / 3
+                base = (0,50,100)
+                target = (100,100,100)
+                deltar = target[0] - base[0]
+                deltag = target[0] - base[0]
+                #deltab = target[0] - base[0]
+                # reset!
+                self.setallringsexcept(0,50,100, ring)
+                exclude = self.rings[ring][2],self.rings[ring][3]
+                # fade outwards
+                for idx,led in enumerate(self.leds):
+                    if posxy[0] - led[0] < radius and posxy[1] - led[1] < radius and idx < exclude[0] or idx > exclude[1]:
+                        dist = math.isqrt(int(math.pow(int(posxy[0] - led[0]), 2) + math.pow(int(posxy[1] - led[1]), 2)))
+                        #dist = max(posxy[0] - led[0], posxy[1] - led[1])
+                        if dist < radius:
+                            ratio = 1 - dist/radius
+                            #if ratio < 0:
+                            #    ratio = 0
+                            self.data[idx] = (int(base[0] + ratio * deltar), int(base[1] + ratio * deltag), 100) #base[2] + ratio * deltab)
+            else:
+                #print("No arm position!")
+                pass
+        self.sendall(self.data)
+        return self
+
+    def fadeall(self, idxa,idxb,sizerem,r,g,b):
         if sizerem < 1:
             return 0
-    global exactdata
         sum = 0
         for x in range(idxa,idxb):
-        if exactdata[x] is None:
-            exactdata[x] = data[x]
-        old = exactdata[x]
+            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]
@@ -419,27 +501,26 @@ def fadeall(idxa,idxb,sizerem,r,g,b):
             db = (b - old[2])/sizerem 
             db += old[2]
             sum += abs(db)
-        exactdata[x] = (dr, dg, db)
+            self.exactdata[x] = (dr, dg, db)
             #print(new)
-        setpixel(dr, dg, db, x)
+            self.setpixel(dr, dg, db, x)
             if sizerem == 1:
-            exactdata[x] = None
+                self.exactdata[x] = None
         if sum == 0 and sizerem > 2:
             sizerem = 2
         return sizerem - 1
 
-def fadeorder(idxa,idxb,sizerem,r,g,b):
+    def fadeorder(self, idxa,idxb,sizerem,r,g,b):
         if sizerem < 1:
             return 0
-    global exactdata
         drs = 0
         dgs = 0
         dbs = 0
         sum = 0
         for x in range(idxa,idxb):
-        if exactdata[x] is None:
-            exactdata[x] = data[x]
-        old = exactdata[x]
+            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])
@@ -451,9 +532,9 @@ def fadeorder(idxa,idxb,sizerem,r,g,b):
         dgs /= sizerem
         dbs /= sizerem
         sum += abs(drs) + abs(dgs) + abs(dbs)
-    print(drs,dgs,dbs)
+        #print(drs,dgs,dbs)
         for x in range(idxa,idxb):
-        old = exactdata[x]
+            old = self.exactdata[x]
             new = list(old)
             if drs > 0:
                 if old[0] + drs > r:
@@ -500,20 +581,18 @@ def fadeorder(idxa,idxb,sizerem,r,g,b):
                     dbs = 0
 
             if drs != 0 or dgs != 0 or dbs != 0:
-            exactdata[x] = new
-            setpixel(new[0],new[1],new[2],x)
+                self.exactdata[x] = new
+                self.setpixel(new[0],new[1],new[2],x)
 
             if sizerem == 1:
-            exactdata[x] = None
+                self.exactdata[x] = None
 
         if sum == 0 and sizerem > 2:
             sizerem = 2
         return sizerem - 1
 
 
-def setpixel(r, g, b, num):
-    global data
-    global leds_size
+    def setpixel(self, r, g, b, num):
         # constrain values
         if r < 0:
             r = 0
@@ -528,29 +607,37 @@ def setpixel(r, g, b, num):
         elif b > 255:
             b = 255
 
-    if leds_size[num] == 3:
-        data[num] = (int(r), int(g), int(b))
-    elif leds_size[num] == 4: # cut out matching white and turn on white pixel instead
-        data[num] = (( int(r) - int(min(r,g,b)), int(g) - int(min(r,g,b)), int(b) - int(min(r,g,b)), int(min(r,g,b))) )
+        if self.leds_size[num] == 3:
+            self.data[num] = (int(r), int(g), int(b))
+        elif self.leds_size[num] == 4: # cut out matching white and turn on white pixel instead
+            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 setpixelfast3(self, rgb, num):
+        self.data[num] = rgb
 
-def close():
-    global sender
+    def close(self):
         time.sleep(0.5)
-    sender.stop()
+        self.sender.stop()
+        return self
 
-def mapimage(image, fps=90):
-    global start
-    while uptime() - start < 1/fps:
-        time.sleep(0.00001)
-    fprint(1 / (uptime() - start))
-    start = uptime()
+    def mapimage(self, image, fps=30):
+        
+        #fprint(1 / (uptime() - self.start))
+        self.start = uptime()
         minsize = min(image.shape[0:2])
-    leds_normalized2 = [(x * minsize, 
+        if image.shape[1] > image.shape[0]:
+            offset = (image.shape[1] - image.shape[0])/2
+            leds_normalized2 = [(x * minsize + offset, 
                                 y * minsize)
-                        for x, y in leds_normalized]
+                                for x, y in self.leds_normalized]
+        else:
+            offset = (image.shape[0] - image.shape[1])/2
+            leds_normalized2 = [(x * minsize, 
+                                y * minsize + offset)
+                                for x, y in self.leds_normalized]
 
         cv2.imshow("video", image)
         cv2.waitKey(1)
@@ -562,44 +649,49 @@ def mapimage(image, fps=90):
         for xx in range(len(leds_normalized2)):
             led = leds_normalized2[xx]
             x, y = int(round(led[0])), int(round(led[1]))
-        
+            yinv = image.shape[0]-1
             if x < image.shape[1] and y < image.shape[0]:
                 #avgx += x
                 #avgy += y
-            color = tuple(image[y, x])
-            setpixel(color[2]/2,color[1]/2,color[0]/2,xx) # swap b & r
+                color = tuple(image[yinv-y, x])
+                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
-    fastsendall(data)
-
-def mainloop(stmode, ring = -1, fps = 100, preview = False):
-    global start
-    while uptime() - start < 1/fps:
+        self.fastsendall(self.data)
+        while self.start + 1.0/fps > uptime():
             time.sleep(0.00001)
-    fprint(1 / (uptime() - start))
-    start = uptime()
-    if mode is not None:
-        setmode(stmode)
-    runmodes(ring)
-    if preview:
-        drawdata()
+        return self
 
-def drawdata():
+    def mainloop(self, stmode, ring = -1, fps = 100, preview = False, arm_position = None):
+        while uptime() - self.start < 1/fps:
+            time.sleep(0.00001)
+        #fprint("Running LED loop with ring " + str(ring) + " and set mode " + str(stmode))
+        #fprint(1 / (uptime() - self.start))
+        self.start = uptime()
+        if self.mode is not None:
+            self.setmode(stmode)
+
+        #if self.
+        self.runmodes(ring, arm_position)
+        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 leds]
-    y = [led[1] for led in leds]
-    colors = data
+        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)
@@ -612,67 +704,77 @@ def drawdata():
         plt.show()
         plt.savefig("map3.png", dpi=50, bbox_inches="tight")
         plt.clf()
+        return self
 
-def startup_animation(show):
+    def startup_animation(self, show):
 
 
         stmode = "Startup"
-    mainloop(stmode, preview=show)
-    while mode == "Startup":
-        mainloop(None, preview=show)
+        self.mainloop(stmode, preview=show)
+        while self.mode == "Startup":
+            self.mainloop(None, preview=show)
         for x in range(54):
-        ringstatus[x][0] = False
-        mainloop(None, preview=show)
+            self.ringstatus[x][0] = False
+            self.mainloop(None, preview=show)
 
-    for x in range(animation_time):
-        mainloop(None, preview=show)
-    clear_animations()
-    stmode = "StartupCheck"
-    mainloop(stmode, preview=show)
-    clear_animations()
+        for x in range(self.animation_time):
+            self.mainloop(None, preview=show)
+        self.clear_animations()
+        stmode = "Idle"
+        self.mainloop(stmode, preview=show)
+        self.clear_animations()
+        return self
 
-def clear_animations():
-    for x in range(len(leds)):
-        exactdata[x] = None
+    def clear_animations(self):
+        for x in range(len(self.leds)):
+            self.exactdata[x] = None
+        return self
 
-def do_animation(stmode, ring=-1):
-    mainloop(stmode, ring, preview=show)
-    wait_for_animation(ring)
+    def do_animation(self, stmode, ring=-1):
+        self.mainloop(stmode, ring, preview=show)
+        self.wait_for_animation(ring)
+        return self
 
-def start_animation(stmode, ring=-1):
-    mainloop(stmode, ring, preview=show)
+    def start_animation(self, stmode, ring=-1):
+        self.mainloop(stmode, ring, preview=show)
+        return self
 
-def wait_for_animation(ring=-1):
-    while mode != "idle":
-        mainloop(None, ring, preview=show)
+    def wait_for_animation(self, ring=-1):
+        while self.mode != "Idle":
+            self.mainloop(None, ring, preview=show)
+        return self
 
 if __name__ == "__main__":
-    init()
+    
     import matplotlib.pyplot as plt
-    """cap = cv2.VideoCapture('badapple.mp4')
+    ledsys = LEDSystem()
+    ledsys.init()
+    cap = cv2.VideoCapture('output.mp4')
     while cap.isOpened():
         ret, frame = cap.read()
         if not ret:
             break
-        mapimage(frame, fps=30)"""
-    show = True
+        ledsys.mapimage(frame, fps=60)
+
+    show = False
     ring = 1
-    startup_animation(show)
+    
+    ledsys.startup_animation(show)
     for x in range(54):
-        ringstatus[x][0] = True
-        mainloop(None, preview=show)
-    for x in range(animation_time):
-        mainloop(None, preview=show)
+        ledsys.ringstatus[x][0] = True
+        ledsys.mainloop(None, preview=show)
+    for x in range(ledsys.animation_time):
+        ledsys.mainloop(None, preview=show)
     
-    do_animation("GrabA", 1)
+    ledsys.do_animation("GrabA", 1)
 
-    do_animation("GrabA", 5)
-    start_animation("GrabC", 1)
+    ledsys.do_animation("GrabA", 5)
+    ledsys.start_animation("GrabC", 1)
     
-    wait_for_animation(1)
-    do_animation("GrabC", 5)
+    ledsys.wait_for_animation(1)
+    ledsys.do_animation("GrabC", 5)
     
-    close()
+    ledsys.close()
     #sys.exit(0)
 
 

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 img is not None:    
                 #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

@@ -1,9 +1,8 @@
 #!/usr/bin/env python3
 
-# Parse Belden catalog techdata datasheets 
+# Parse Belden (100%) & Alphawire (75%) catalog techdata datasheets 
 
 import pandas as pd
-pd.set_option('future.no_silent_downcasting', True)
 from PyPDF2 import PdfReader
 import camelot
 import numpy as np
@@ -13,55 +12,148 @@ import json
 from util import fprint
 import uuid
 from util import run_cmd
+from util import win32
 import os
+import glob
+import sys
+from PIL import Image
 
 def touch(path):
     with open(path, 'a'):
         os.utime(path, None)
 
-def parse(filename, output_dir, partnum, dstype):
+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 + 20
+    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 find_file_noext(directory, prefix="part-hires"):
+    """
+    Find files in the specified directory that start with the given prefix and have any extension.
+
+    :param directory: The directory to search in.
+    :param prefix: The prefix to search for.
+    :return: A list of matching file names.
+    """
+    # Get all files and directories in the specified directory
+    entries = os.listdir(directory)
+    # Filter files that match 'filename.EXTENSION'
+    matching_files = [file for file in entries if os.path.isfile(os.path.join(directory, file)) and file.split('.')[0] == prefix and len(file.split('.')) == 2]
+    #print(directory, matching_files)
+    return matching_files
+
+def rotate_and_crop_image(path, image_name, force_rotate=False, partnum=""):
+    # Open the image file
+    fprint("Generating thumbnail image for part " + partnum)
+    image_path = path + "/" + image_name
+    with Image.open(image_path) as img:
+        # Check if the image is wider than it is tall
+        if force_rotate or img.width > img.height * 1.2:
+            # Rotate the image by 90 degrees counter-clockwise
+            img = img.rotate(90, expand=True)
+        
+        # Determine the size of the square (the length of the shorter side of the image)
+        square_size = min(img.width, img.height)
+        if img.height < img.width:
+            offset = (img.width - img.height)/2
+            img_cropped = img.crop((offset, 0, square_size+offset, square_size))
+        else:
+            # Crop the image to a square from the top
+            img_cropped = img.crop((0, 0, square_size, square_size))
+        
+        # Save or display the image
+        img_cropped.save(path + "/" + "thumbnail-" + image_name)  # Save the cropped image
+        
+
+def parse(filename, output_dir, partnum, dstype, weburl, extra):
+    tables = []
     # Extract table data
-
-    tables = camelot.read_pdf(filename, pages="1-end", flavor='lattice', backend="poppler", split_text=False, line_scale=100, process_background=True, resolution=600, interations=1, layout_kwargs={'detect_vertical': False, 'char_margin': 0.5}, shift_text=['r', 't'])
+    try:
+        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', 'b'])
+    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:
+        #with pd.options.context("future.no_silent_downcasting", True):
         table.df.infer_objects(copy=False)
-        table.df.replace('', np.nan, inplace=True)
+        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)
+            #print(text_body)
             table_list[text_body] = table.df
+            #print(table_list[text_body])
+            if dstype == "Alphawire":
+                
+                def reorder_row(row):
+                    # Filter out NaNs and compute the original non-NaN values
+                    non_nans = row[~row.isnull()]
+                    # Create a new row with NaNs filled at the end
+                    new_row = pd.Series(index=row.index)
+                    new_row[:len(non_nans)] = non_nans
+                    return new_row
+    
+                # Apply the function to each row and return a new DataFrame
+
+
+                #table_list[text_body] = table.df.apply(reorder_row, axis=1)
+                #print(table_list[text_body])
+                table_list_raw[text_body] = table
+                #print(tbl)
             #table.to_html("table" + str(n) + ".html")
             
             #fprint(table.df)
@@ -71,7 +163,7 @@ def parse(filename, output_dir, partnum, dstype):
     
     #tables.export(output_dir + '/techdata.json', f='json')
 
-    # fprint(table_list)
+    #fprint(table_list)
     # Extract Basic details - part name & description, image, etc
 
     reader = PdfReader(filename)
@@ -96,28 +188,46 @@ def parse(filename, output_dir, partnum, dstype):
                     fp.write(image_file_object.data)
                     count += 1
     
+    if os.path.exists(output_dir + "/found_part_hires"):
+        rotate_and_crop_image(output_dir, find_file_noext(output_dir, prefix="part-hires")[0], force_rotate=(dstype == "Alphawire"), partnum=partnum)
+        img = weburl + find_file_noext(output_dir, prefix="thumbnail-part-hires")[0]
+    elif len(find_file_noext(output_dir, prefix="part")) > 0:
+        rotate_and_crop_image(output_dir, find_file_noext(output_dir, prefix="part")[0], force_rotate=(dstype == "Alphawire"), partnum=partnum)
+        img = weburl + find_file_noext(output_dir, prefix="thumbnail-part")[0]
+    else:
+        img = None
+
     # 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
+        #print(table_name)
         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
@@ -125,19 +235,26 @@ def parse(filename, output_dir, partnum, dstype):
             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:
-                # Name taken from table directly above - this table does not have a name
-                torename[table_name_2] = "Specs " + str(len(tables))
-                #table_list["Specs " + str(len(tables))] = table_list[table_name_2] # rename table to arbitrary altername name
-                break
+            if 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
+            #     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()
@@ -146,18 +263,58 @@ def parse(filename, output_dir, partnum, dstype):
                 out[col_data[0].replace("\n", " ")] = col_data[1:]
         
         tables[table_name] = out
+        #print(out)
+        # multi-page table check, Alphawire
+        if dstype == "Alphawire" and table_name.isdigit() and previous_table != "":
+            # 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:
+                # wraparound
+                #print("WRAP")
+                #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])
+                main_key = previous_table
+                cont_key = table_name
+                #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):
+                            #print(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[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
+        # 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)
@@ -171,15 +328,21 @@ def parse(filename, output_dir, partnum, dstype):
                     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 renamed tables
+    # remove & rename tables
+    #print(torename)
     for table_name in torename.keys():
-        tables[torename[table_name]] = tables[table_name]
+        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):
@@ -195,15 +358,41 @@ def parse(filename, output_dir, partnum, dstype):
     tables = replace_newlines_in_dict(tables)
 
     # summary
-
+    #print(tables)
     output_table = dict()
     output_table["partnum"] = partnum
     id = str(uuid.uuid4())
     output_table["id"] = id
     #output_table["position"] = id
-    #output_table["brand"] = brand
-    output_table["fullspecs"] = tables
-    output_table["searchspecs"] = {"partnum": partnum, **flatten(tables)}
+    if "brand" in extra:
+        output_table["brand"] = extra["brand"]
+    else:
+        output_table["brand"] = dstype
+
+    if img is not None:
+        output_table["image"] = img
+        output_table["fullspecs"] = {"partnum": partnum, "id": id, "brand": output_table["brand"], "image": img, "datasheet": output_dir + "/datasheet.pdf", **tables}
+        output_table["searchspecs"] = {"partnum": partnum, "brand": output_table["brand"], "image": img, "datasheet": output_dir + "/datasheet.pdf", **flatten(tables)}
+    else:
+        output_table["fullspecs"] = {"partnum": partnum, "id": id, "brand": output_table["brand"], "datasheet": output_dir + "/datasheet.pdf", **tables}
+        output_table["searchspecs"] = {"partnum": partnum, "brand": output_table["brand"], "datasheet": output_dir + "/datasheet.pdf", **flatten(tables)}
+
+    if "short_description" in extra:
+        output_table["short_description"] = extra["short_description"]
+        output_table["fullspecs"]["short_description"] = extra["short_description"]
+        output_table["searchspecs"]["short_description"] = extra["short_description"]
+    if "description" in extra:
+        output_table["description"] = extra["description"]
+        output_table["fullspecs"]["description"] = extra["description"]
+        output_table["searchspecs"]["description"] = extra["description"]
+    if "application" in extra:
+        output_table["application"] = extra["application"]
+        output_table["fullspecs"]["application"] = extra["application"]
+        output_table["searchspecs"]["application"] = extra["application"]
+    if "category" in extra:
+        output_table["category"] = extra["category"]
+        output_table["fullspecs"]["category"] = extra["category"]
+        output_table["searchspecs"]["category"] = extra["category"]
     
     output_table["searchspecs"]["id"] = id
     
@@ -211,11 +400,21 @@ def parse(filename, output_dir, partnum, dstype):
 
     #print(output_table)
 
-    run_cmd("rm \"" + output_dir + "\"/*.json") # not reliable!
-    with open(output_dir + "/" + output_table["searchspecs"]["id"] + ".json", 'w') as json_file:
+    #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)
-    touch(output_dir + "/parsed")
-    return output_table
+    with open(output_dir + "/specs.json", 'w') as json_file:
+        json.dump(output_table["fullspecs"], json_file)
+        
+    fprint("Datasheet values parsed and saved for " + partnum)
+    #print(json.dumps(output_table, indent=2))
+    touch(output_dir + "/parsed") # mark as parsed
+    return True
 
 
 def flatten(tables):
@@ -241,13 +440,20 @@ def flatten(tables):
 
             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(",")))
@@ -256,7 +462,7 @@ def flatten(tables):
             # 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("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
 
 
     #print("}")
@@ -265,4 +471,4 @@ def flatten(tables):
     
 
 if __name__ == "__main__":
-    parse("test2.pdf", "cables/10GXS13", "10GXS13")
+    print(parse("cables/3050/datasheet-new.pdf", "cables/3050", "3050", "Alphawire"))

requirements.txt

@@ -1,10 +1,11 @@
 # Runtime
-camelot-py[base]
-opencv-python
+camelot-py[base]==0.9.0
+#opencv-python
 pypdf2==2.12.1
 alive-progress
 requests
-git+https://github.com/Byeongdulee/python-urx.git
+math3d==4.0.0
+git+https://git.myitr.org/adeck/python-urx-getl-rt.git
 meilisearch
 pyyaml
 Flask
@@ -15,6 +16,14 @@ 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 +13,29 @@ 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
+import fileserver
 
+# set to false to run without real hardware for development
+real = True
+skip_scanning = True
 
-
+mbconn = None
 config = None
 keeprunning = True
 arm_ready = False
@@ -32,25 +43,54 @@ 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"
+oldmode = "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
+sensors = [0,0,0,0]
+websocket_process = None
+arm_updates = None
+animation_wait = False
+arm_position = (0,0,0,0,0,0)
+arm_position_process = None
+start_animation = False
+failcount = 0
 
 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 +100,12 @@ 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:
@@ -67,29 +113,20 @@ def wait_for(val, name):
         while val is False:
             sleep(0.1)
 
-def start_server_socket():
-    """app = Flask(__name__)
+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)))    
 
-    @app.route('/report_ip', methods=['POST'])
-    def report_ip():
-        client_ip = request.json.get('ip')
-        fprint(f"Received IP: {client_ip}")
-        # You can store or process the IP address as needed
-        return "IP Received", 200
-    
-    app.run(host='0.0.0.0', port=5000)"""
+def check_server():
+        #print("HI")
+    global cable_list
     global to_server_queue
     global from_server_queue
-    fprint("Starting WebSocket server...")
-    websocket_process = server.start_websocket_server(to_server_queue, from_server_queue)
-    
-    # Example
-    #to_server_queue.put("Hello, WebSocket clients!")
-    
-
-    while True:
-        #print("HI")
-
+    global jbs
+    if True:
         # Handeling Server Requests Loop, will run forever
 
         if not from_server_queue.empty():
@@ -99,44 +136,89 @@ def start_server_socket():
             # Message handler
             try:
                 decoded = json.loads(message)
+            except:
+                fprint("Non-JSON message recieved")
+                return
+
             if "type" not in decoded:
                 fprint("Missing \"type\" field.")
-                    continue
+                return
             if "call" not in decoded:
                 fprint("Missing \"call\" field.")
-                    continue
+                return
             if "data" not in decoded:
                 fprint("Missing \"data\" field.")
-                    continue
-
+                return
             # 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: " + 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:
+                                    cabledata = jbs.get_position(str(idx))
+                                    fs = cabledata["fullspecs"]
+                                    tmp1 = {"part_number": cable_list[idx], "position": idx, "name": cable_list[idx], "brand": cabledata["brand"] }
+                                    if "Product Overview" in fs and "Product Category" in fs["Product Overview"]:
+                                        tmp1["category"] = fs["Product Overview"]["Product Category"]
+                                    if "Product Overview" in fs and "Suitable Applications" in fs["Product Overview"]:
+                                        if len(fs["Product Overview"]["Suitable Applications"]) == 0 or not isinstance(fs["Product Overview"]["Suitable Applications"], str):
+                                            for key, value in fs["Product Overview"].items():
+                                                #print(key,value)
+                                                if len(value) > 5 and isinstance(value, str):
+                                                    tmp1["application"] = value
+                                                elif len(key) > 15 and not isinstance(value, str):
+                                                    tmp1["application"] = key
+                                        else:
+                                            tmp1["application"] = fs["Product Overview"]["Suitable Applications"]
+                                    elif "Product Overview" in fs and "Suitable Applications:" in fs["Product Overview"]:
+                                        if len(fs["Product Overview"]["Suitable Applications:"]) == 0 or not isinstance(fs["Product Overview"]["Suitable Applications:"], str):
+                                            for key, value in fs["Product Overview"].items():
+                                                #print(key,value)
+                                                if len(value) > 5 and isinstance(value, str):
+                                                    tmp1["application"] = value
+                                                elif len(key) > 15 and not isinstance(value, str):
+                                                    tmp1["application"] = key
+                                        else:
+                                            tmp1["application"] = fs["Product Overview"]["Suitable Applications:"]
 
+                                    if "image" in cabledata:
+                                        tmp1["image"] = cabledata["image"]
+                                    if "datasheet" in cabledata:
+                                        tmp1["datasheet"] = cabledata["datasheet"]
+                                    if "description" in cabledata:
+                                        tmp1["description"] = cabledata["description"]
+                                    if "short_description" in cabledata:
+                                        tmp1["short_description"] = cabledata["short_description"]
+                                    if "application" in cabledata:
+                                        tmp1["application"] = cabledata["application"]
+                                    if "category" in cabledata:
+                                        tmp1["category"] = cabledata["category"]
+
+                                    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 } }
 
@@ -145,23 +227,80 @@ def start_server_socket():
                     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["map"] = list()
+                            for cabledata in results:
+
+                                fs = cabledata["fullspecs"]
+                                tmp1 = {"part_number": cabledata["partnum"], "position": cabledata["position"], "name": cabledata["partnum"], "brand": cabledata["brand"] }
+                                if "Product Overview" in fs and "Product Category" in fs["Product Overview"]:
+                                    tmp1["category"] = fs["Product Overview"]["Product Category"]
+                                if "Product Overview" in fs and "Suitable Applications" in fs["Product Overview"]:
+                                    if len(fs["Product Overview"]["Suitable Applications"]) == 0 or not isinstance(fs["Product Overview"]["Suitable Applications"], str):
+                                        for key, value in fs["Product Overview"].items():
+                                            #print(key,value)
+                                            if len(value) > 5 and isinstance(value, str):
+                                                tmp1["application"] = value
+                                            elif len(key) > 15 and not isinstance(value, str):
+                                                tmp1["application"] = key
+                                    else:
+                                        tmp1["application"] = fs["Product Overview"]["Suitable Applications"]
+                                elif "Product Overview" in fs and "Suitable Applications:" in fs["Product Overview"]:
+                                    if len(fs["Product Overview"]["Suitable Applications:"]) == 0 or not isinstance(fs["Product Overview"]["Suitable Applications:"], str):
+                                        for key, value in fs["Product Overview"].items():
+                                            #print(key,value)
+                                            if len(value) > 5 and isinstance(value, str):
+                                                tmp1["application"] = value
+                                            elif len(key) > 15 and not isinstance(value, str):
+                                                tmp1["application"] = key
+                                    else:
+                                        tmp1["application"] = fs["Product Overview"]["Suitable Applications:"]
+                                if "image" in cabledata:
+                                    tmp1["image"] = cabledata["image"]
+                                if "datasheet" in cabledata:
+                                    tmp1["datasheet"] = cabledata["datasheet"]
+                                if "description" in cabledata:
+                                    tmp1["description"] = cabledata["description"]
+                                if "short_description" in cabledata:
+                                    tmp1["short_description"] = cabledata["short_description"]
+                                if "application" in cabledata:
+                                    tmp1["application"] = cabledata["application"]
+                                if "category" in cabledata:
+                                    tmp1["category"] = cabledata["category"]
+                                
+                                dataout["map"].append(tmp1)
+                            
+                            # after loop
+                            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",))
@@ -169,24 +308,43 @@ 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"]:
+                                        fprint("Adding cable to dispense queue")
+                                        mainloop_get.put(("pickup", cableidx))
+                            elif "position" in data:
+                                fprint("Adding cable to dispense queue")
+                                mainloop_get.put(("pickup", data["position"]))
+                            elif "tray" in data:
+                                fprint("Adding tray return to dispense queue")
+                                mainloop_get.put(("return", data["tray"]))
+                            else:
+                                fprint("Invalid data.")
                     
                     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
+        #sleep(0.001)  # Sleep to prevent tight loop
     
 
 
@@ -221,7 +379,7 @@ def check_server_online(serverip, clientip):
     return True
     
         
-def setup_server(pool):
+def setup_server(pool, manager):
     # linux server setup
     global config
     global counter
@@ -231,57 +389,530 @@ def setup_server(pool):
     global arm_ready
     global serverproc
     global camera
+    global arm
+    global jbs
+    global to_server_queue
+    global from_server_queue
+    global websocket_process
+    global arm_updates
+    global arm_position_process
+    global ledsys
+    arm_updates = manager.Queue()
+    arm = Rob(config)
+    if real:
+        pool.apply_async(ur5_control.powerup_arm, (arm,), callback=arm_start_callback, error_callback=handle_error)
+    else:
+        arm_ready = True
     
-    pool.apply_async(ur5_control.init, (config["arm"]["ip"],), callback=arm_start_callback)
-    pool.apply_async(led_control.init, callback=led_start_callback)
+    if real:
+        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)
-    serverproc.start()
+    jbs = JukeboxSearch()
+    
+    
     
     if led_ready is False:
         fprint("waiting for " + "LED controller initialization" + " to complete...", sendqueue=to_server_queue)
-        while led_ready is False:
-            sleep(0.1)
+        if real:
+            ledsys.init()
+        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:
-            sleep(0.1)
+        global mbconn
+        mbconn = ModbusClient(host="192.168.1.20", port=502, auto_open=True, auto_close=False)
+        get_sensors()
     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)
+
+    if real:
+        ur5_control.init_arm(arm)
     fprint("Arm initialized.", sendqueue=to_server_queue)
 
+    fprint("Creating arm position watcher...")
+    arm_position_process = pool.apply_async(ur5_control.get_position_thread, (arm,arm_updates))
 
+    fprint("Starting websocket server...", sendqueue=to_server_queue)
+    websocket_process = server.start_websocket_server(to_server_queue, from_server_queue)
     
-        
+    fprint("Starting image file server...", sendqueue=to_server_queue)
+    image_server_process = Process(target=fileserver.run_server, args=(config["cables"]["port"], config["cables"]["directory"]))
+    image_server_process.start()
     return True
 
+def handle_error(error):
+	print(error, flush=True)
+
+def get_sensors():
+    global mbconn
+    global sensors
+    oldsens = sensors
+    #print("Reading sensors")
+    # mbconn.open()
+    """
+    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()
+    if real:
+        for reg in [352, 288, 304, 368]:
+            val = mbconn.read_holding_registers(reg)
+            if val is not None:
+                val = val[0]
+                if val == 1:
+                    out.append(1)
+                else:
+                    out.append(0)
+    else:
+        out = [0, 0, 0, 0]
+
+    if len(out) != 4:
+        return -1
+    sensors = out
+    #fprint("Values: " + str(sensors))
+    mbconn.close()
+    for x in range(len(oldsens)):
+        if oldsens[x] == 0 and out[x] == 1:
+            # cable newly detected on tray
+            fprint("Precense detected: slot " + str(x))
+            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):
+def mainloop_server(pool, manager):
+    # NON-blocking loop
+    global real
+    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
+    global scan_value
+    global oldmode
+    global arm_updates
+    global animation_wait
+    global arm_position
+    global arm_position_process
+    global start_animation
+    global failcount
+
+    if mode != oldmode:
+        print(" ***** Running mode:", mode, "***** ")
+        oldmode = mode
+        if mode == "Startup": # very first loop
+            pass
 
     if killme.value > 0:
         killall()
-    counter = counter + 1
 
-    # fprint("Looking for QR code...")
-    # print(camera.read_qr(30))
+    # check for messages
+    check_server()
+
+    # do every loop!
+    checkpoint = None
+    if not arm_updates.empty():
+        val = arm_updates.get()
+        
+        if isinstance(val, tuple):
+            arm_position = val
+        else:
+            print("Arm queue message " + str(val))
+            checkpoint = val
+            print(ring_animation, animation_wait, ledsys.mode, arm_position)
+            
+
+    if start_animation:
+        # animation start requested
+        # may not be immediate
+        if ring_animation is not None:
+            if animation_wait:
+                # wait for checkpoint
+                if checkpoint is not None:
+                    fprint("Starting checkpointed animation " + str(led_set_mode) + " for ring " + str(ring_animation))
+                    ledsys.mainloop(led_set_mode, ring_animation, arm_position=arm_position)
+                    led_set_mode = None
+                    animation_wait = False
+                    start_animation = False
+
+                else:
+                    # still waiting
+                    ledsys.mainloop(None, ring_animation, arm_position=arm_position)
+
+            else:
+                # no waiting, just start
+                fprint("Starting immediate animation " + str(led_set_mode) + " for ring " + str(ring_animation))
+                ledsys.mainloop(led_set_mode, ring_animation, arm_position=arm_position)
+                led_set_mode = None
+                animation_wait = False
+                start_animation = False
+        else:
+            # no ring animation specified
+            pass
+    
+    else:
+        # no new animation
+        if ring_animation is not None:
+            ledsys.mainloop(None, ring_animation, arm_position=arm_position)
+            
+        else:
+            pass
+
+    # if start_animation is False and ring_animation is not None and ledsys.mode != "Idle" and real:
+    #     ledsys.mainloop(None, ring_animation, arm_position=arm_position)
+
+    # elif start_animation is True and ring_animation is not None and real:
+    #     if animation_wait:
+    #         if checkpoint is not None: # got to checkpoint from UR5
+    #             fprint("Starting checkpointed animation " + str(led_set_mode) + " for ring " + str(ring_animation))
+    #             ledsys.mainloop(led_set_mode, ring_animation, arm_position=arm_position)
+    #             led_set_mode = None
+    #             animation_wait = False
+    #             start_animation = False
+    #     else:
+    #         fprint("Starting immediate animation " + str(led_set_mode) + " for ring " + str(ring_animation))
+    #         ledsys.mainloop(led_set_mode, ring_animation, arm_position=arm_position)
+    #         led_set_mode = None
+    #         start_animation = False
+    # else:
+    #     ledsys.mainloop(None, 49, arm_position=arm_position)
+    #     pass
+    #     #fprint("Not triggering LED loop: no ring animation")
+
+    if mode == "Startup":
+        if not real or skip_scanning:
+            counter = 54
+            
+        if counter < 54:
+            # scanning cables
+            if arm_state is None:
+                #pool.apply_async(arm_start_callback, ("",))
+                arm_ready = False
+                pool.apply_async(ur5_control.holder_to_camera, (arm,arm_updates,counter), callback=arm_start_callback, error_callback=handle_error)
+                fprint("Getting cable index " + str(counter) + " and scanning...")
+                arm_state = "GET"
+                ring_animation = counter
+                animation_wait = True
+                start_animation = True
+                led_set_mode = "GrabA"
+                #ur5_control.to_camera(arm, counter)
+                #arm_ready = True
+
+            elif arm_ready and arm_state == "GET":
+                fprint("Looking for QR code...")
+                pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error)
+                arm_ready = False
+
+            elif camera_ready:
+                ring_animation = counter
+                animation_wait = True
+                start_animation = True
+                led_set_mode = "GrabC"
+                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.camera_to_holder, (arm,arm_updates,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"
+            start_animation = True
+            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
+
+            if not real or skip_scanning:
+                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, config["cables"]["directory"], config["cables"]["port"]), 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"
+                    
+                else:
+                    # TODO: manual input
+                    pass
+
+            
+    if mode == "Idle":
+        # do nothing
+        if arm_ready is False:
+            pass
+
+        else:
+            global mainloop_get
+            #print("Checking sensors..")
+            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():
+                fprint("Movement requested. Keep clear of the machine!")
+                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
+                            if real:
+                                animation_wait = False
+                                ring_animation = get_cable
+                                start_animation = True
+                                led_set_mode = "GrabAA"
+                                pool.apply_async(ur5_control.holder_to_tray, (arm, arm_updates, get_cable, spot), callback=arm_start_callback, error_callback=handle_error)
+                            else:
+                                arm_ready = True
+                            fprint("Getting cable at position " + str(get_cable))
+                            mode = "Pickup"
+                            cable_list_state[get_cable] = False # mark as removed
+                            get_sensors()
+
+                    if action == "return":
+                        arm_ready = False
+                        fprint("Returning cable from tray position " + str(get_cable))
+                        if real:
+                            failcount = 0
+                            pool.apply_async(ur5_control.tray_to_camera, (arm, arm_updates, get_cable), callback=arm_start_callback, error_callback=handle_error)
+                        else:
+                            arm_ready = True
+                        mode = "ReturnC"
+            else:
+                # LED idle anim
+                pass
+
+    if mode == "Pickup":
+        # complete
+        if arm_ready == True:
+            mode = "Idle"
+            
+        else:
+            # getting cable and bringing to tray
+            # led animation
+            if ledsys.mode == "Idle" and led_set_mode != "GrabAA":
+                animation_wait = True
+                start_animation = True
+                led_set_mode = "GrabAB"
+            pass
+    
+    if mode == "ReturnC":
+        # complete
+        if arm_ready == True:
+            mode = "Scan"
+            arm_ready = False
+            camera_ready = False
+            if real:
+                animation_wait = False
+                start_animation = True
+                ring_animation = 49
+                led_set_mode = "Camera"
+                pool.apply_async(camera.read_qr, (50,), callback=camera_start_callback, error_callback=handle_error)
+            else:
+                camera_ready = True
+                scan_value = "10GXS13"
+            
+        else:
+            # getting cable from and bringing to camera
+            # led animation
+            pass
+
+    if mode == "Scan":
+        if camera_ready == True:
+            if scan_value is False:
+                # unable to scan ???? not good
+                if failcount > 15:
+                    mode = "Idle"
+                    fprint("Giving up scanning cable.")
+                    failcount = 0
+                else:
+                    fprint("Unable to scan cable. Gonna retry.")
+                    camera_ready = False
+                    #mode = "Idle"
+                    failcount += 1
+
+                    pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error)
+
+            elif scan_value.find("bldn.app/") > -1:
+                scan_value = scan_value[scan_value.find("bldn.app/")+9:]
+            
+                fprint("Got cable: " + str(scan_value))
+                if scan_value[0:2] == "BL" or scan_value[0:2] == "AW":
+                    scan_value = scan_value[2:]
+                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
+                        if real:
+                            animation_wait = True
+                            ring_animation = idx
+                            led_set_mode = "GrabC"
+                            start_animation = True
+                            pool.apply_async(ur5_control.camera_to_holder, (arm, arm_updates, idx), callback=arm_start_callback, error_callback=handle_error)
+                        else:
+                            arm_ready = True
+                        mode = "Return"
+                        break
+                    elif cable == scan_value and cable_list_state[idx] == True:
+                        fprint("WARNING: Holder still marked as occupied!")
+                        arm_ready = False
+                        if real:
+                            animation_wait = True
+                            ring_animation = idx
+                            led_set_mode = "GrabC"
+                            start_animation = True
+                            pool.apply_async(ur5_control.camera_to_holder, (arm, arm_updates, idx), callback=arm_start_callback, error_callback=handle_error)
+                        else:
+                            arm_ready = True
+                        mode = "Return"
+                        break
+                if mode == "Scan":
+                    mode = "Idle"
+
+            
+
+    if mode == "Return":
+        if arm_ready == True:
+            mode = "Idle"
+            #arm_ready = False
+            # movement finished
+
+        else: 
+            # cable going from camera to holder
+            # led animation
+            pass
+            
+    
+        
+
 
 def run_loading_app():
     
@@ -389,19 +1020,20 @@ class LogExceptions(object):
         return result
 
 class LoggingPool(Pool):
-    def apply_async(self, func, args=(), kwds={}, callback=None):
-        return Pool.apply_async(self, LogExceptions(func), args, kwds, callback)
+    def apply_async(self, func, args=(), kwds={}, callback=None, error_callback=None):
+        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)
@@ -418,9 +1050,21 @@ if __name__ == "__main__":
 
         elif config["core"]["mode"] == "linuxserver":
             fprint("Starting in server mode.")
-            if setup_server(pool):
+            if setup_server(pool, manager):
                 fprint("Entering main loop...")
+                start = 0
+                speed = config["core"]["loopspeed"]
                 while(keeprunning):
-                    mainloop_server(pool)
+                    start = uptime()
+                    mainloop_server(pool, manager)
+                    #sleep(0.01)
+                    # limit to certain "framerate"
+                    #print(start, start + 1.0/speed, uptime())
+                    while start + 1.0/speed > uptime():
+                        sleep(0.001)
+        else:
+            fprint("Mode unspecified - quitting")
+            
+            
 
 

search.py

@@ -1,10 +1,12 @@
+#!/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 json
+import time
 
-DEFAULT_URL = "http://localhost:7700"
+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
@@ -34,12 +36,15 @@ class JukeboxSearch:
         # 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:
@@ -65,11 +70,10 @@ class JukeboxSearch:
         
         :param filterables: List of all filterable attributes"""
 
-        existing_filterables = self.idxref.get_filterable_attributes()
-        if len(set(existing_filterables).difference(set(filterables))) > 0:
+        #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)
+        #self.client.wait_for_task(taskref.index_uid)
 
     def search(self, query: str, filters: str = None):
         """Execute a search query on the Meilisearch index.
@@ -90,7 +94,7 @@ class JukeboxSearch:
         :returns: A dict containing the results; If no results found, an empty dict."""
         q = self.search("", filter)
         if q["estimatedTotalHits"] != 0:
-            return ["hits"][0]
+            return q["hits"][0]
         else:
             return dict()
 

server.py

@@ -83,7 +83,7 @@ async def send_messages(to_server_queue):
         await asyncio.sleep(0.001)
 
 def websocket_server(to_server_queue, from_server_queue):
-    start_server = websockets.serve(lambda ws, path: handler(ws, path, to_server_queue, from_server_queue), "localhost", 9000)
+    start_server = websockets.serve(lambda ws, path: handler(ws, path, to_server_queue, from_server_queue), "0.0.0.0", 9000)
 
     asyncio.get_event_loop().run_until_complete(start_server)
     asyncio.get_event_loop().create_task(send_messages(to_server_queue))

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)],
+)

table0.html

@@ -0,0 +1,76 @@
+<table border="1" class="dataframe">
+  <thead>
+    <tr style="text-align: right;">
+      <th></th>
+      <th>1</th>
+      <th>2</th>
+      <th>3</th>
+      <th>4</th>
+    </tr>
+  </thead>
+  <tbody>
+    <tr>
+      <th>2</th>
+      <td></td>
+      <td></td>
+      <td></td>
+      <td>Diameters\n(In)</td>
+    </tr>
+    <tr>
+      <th>4</th>
+      <td>1) Component\n1\n1 X 1 HOOKUP</td>
+      <td></td>
+      <td></td>
+      <td></td>
+    </tr>
+    <tr>
+      <th>6</th>
+      <td>a) Conductor\n24\n(7/32) AWG Tinned Copper</td>
+      <td></td>
+      <td></td>
+      <td>0.024</td>
+    </tr>
+    <tr>
+      <th>8</th>
+      <td>b)\nInsulation\n0.016" Wall, Nom. PVC</td>
+      <td></td>
+      <td></td>
+      <td>0.056+/-\n0.002</td>
+    </tr>
+    <tr>
+      <th>10</th>
+      <td></td>
+      <td>(1) Print</td>
+      <td>ALPHA WIRE\nE163869-* RU AWM STYLES\n1569\n105C\nOR 1007\n80C 300V VW-1\nIEC 60332-2\n24 AWG\nOR CRU TR-64\n90C FT1 CE ROHS\n{0}\n* = Factory Code</td>
+      <td></td>
+    </tr>
+    <tr>
+      <th>12</th>
+      <td></td>
+      <td>(2) Color(s)</td>
+      <td>WHITE, BLACK, GREEN,\nYELLOW, BLUE, BROWN, ORANGE\nSLATE, VIOLET, WHITE/BLACK, WHITE/RED</td>
+      <td></td>
+    </tr>
+    <tr>
+      <th>13</th>
+      <td></td>
+      <td></td>
+      <td>WHITE/GREEN, WHITE/YELLOW, WHITE/BLUE\nWHITE/BROWN, WHITE/ORANGE, WHITE/SLATE\nWHITE/VIOLET, GREEN/YELLOW,\nPINK, DK. BLUE</td>
+      <td></td>
+    </tr>
+    <tr>
+      <th>14</th>
+      <td></td>
+      <td></td>
+      <td>BROWN/BLACK, WHITE/PINK, BROWN/GREEN, BROWN/BLUE</td>
+      <td></td>
+    </tr>
+    <tr>
+      <th>15</th>
+      <td></td>
+      <td></td>
+      <td>RED</td>
+      <td></td>
+    </tr>
+  </tbody>
+</table>

table1.html

@@ -0,0 +1,46 @@
+<table border="1" class="dataframe">
+  <thead>
+    <tr style="text-align: right;">
+      <th></th>
+      <th>1</th>
+      <th>2</th>
+    </tr>
+  </thead>
+  <tbody>
+    <tr>
+      <th>2</th>
+      <td>1) UL</td>
+      <td>AWM/STYLE\n1007\n80°C /\n300 VRMS</td>
+    </tr>
+    <tr>
+      <th>4</th>
+      <td></td>
+      <td>AWM/STYLE\n1569\n105°C /\n300 VRMS</td>
+    </tr>
+    <tr>
+      <th>6</th>
+      <td></td>
+      <td>VW-1</td>
+    </tr>
+    <tr>
+      <th>8</th>
+      <td>2) CSA International</td>
+      <td>TR-64\n90°C</td>
+    </tr>
+    <tr>
+      <th>10</th>
+      <td></td>
+      <td>FT1</td>
+    </tr>
+    <tr>
+      <th>12</th>
+      <td>3)\nIEC</td>
+      <td>EN 60332-2\nFlame Behavior</td>
+    </tr>
+    <tr>
+      <th>14</th>
+      <td>4) CE:</td>
+      <td>EU Low Voltage Directive\n2014/35/EU</td>
+    </tr>
+  </tbody>
+</table>

table2.html

@@ -0,0 +1,60 @@
+<table border="1" class="dataframe">
+  <thead>
+    <tr style="text-align: right;">
+      <th></th>
+      <th>1</th>
+      <th>2</th>
+      <th>4</th>
+    </tr>
+  </thead>
+  <tbody>
+    <tr>
+      <th>2</th>
+      <td>1)\nEU Directive\n2011/65/EU(RoHS2),\nEU Directive\n2015/863/EU (RoHS3):</td>
+      <td></td>
+      <td></td>
+    </tr>
+    <tr>
+      <th>4</th>
+      <td></td>
+      <td></td>
+      <td>All materials used in the manufacture of\nthis part\nare\nin compliance with European Directive\n2011/65/EU</td>
+    </tr>
+    <tr>
+      <th>5</th>
+      <td></td>
+      <td></td>
+      <td>and the\namending Directive\n2015/863/EU of\n4\nJune\n2015\nregarding the\nrestriction of use of\ncertain</td>
+    </tr>
+    <tr>
+      <th>6</th>
+      <td></td>
+      <td></td>
+      <td>hazardous\nsubstances\nin electrical\nand electronic\nequipment.</td>
+    </tr>
+    <tr>
+      <th>7</th>
+      <td>2) REACH Regulation (EC 1907/2006):</td>
+      <td></td>
+      <td></td>
+    </tr>
+    <tr>
+      <th>8</th>
+      <td></td>
+      <td></td>
+      <td>This product does not\ncontain Substances of Very High Concern (SVHC)\nlisted on the\nEuropean Union's</td>
+    </tr>
+    <tr>
+      <th>9</th>
+      <td></td>
+      <td></td>
+      <td>REACH candidate\nlist\nin excess of\n0.1% mass of\nthe\nitem.</td>
+    </tr>
+    <tr>
+      <th>11</th>
+      <td></td>
+      <td>3) California Proposition 65:</td>
+      <td>This product may\ncontain substances\nknown to the\nState of California\nto cause Cancer or Reproductive\nHarm, but\nis\nexempt\nfrom labeling based on the Consent\nJudgement.\nSee\nthe Alpha Wire website\nfor more\ninformation.</td>
+    </tr>
+  </tbody>
+</table>

table3.html

@@ -0,0 +1,60 @@
+<table border="1" class="dataframe">
+  <thead>
+    <tr style="text-align: right;">
+      <th></th>
+      <th>1</th>
+      <th>2</th>
+      <th>3</th>
+    </tr>
+  </thead>
+  <tbody>
+    <tr>
+      <th>2</th>
+      <td></td>
+      <td>Physical &amp; Mechanical Properties</td>
+      <td></td>
+    </tr>
+    <tr>
+      <th>4</th>
+      <td>1)\nTemperature Range</td>
+      <td></td>
+      <td>-40\nto 105°C</td>
+    </tr>
+    <tr>
+      <th>6</th>
+      <td>2) Bend Radius</td>
+      <td></td>
+      <td>10X Cable Diameter</td>
+    </tr>
+    <tr>
+      <th>8</th>
+      <td>3) Pull\nTension</td>
+      <td></td>
+      <td>3.5\nLbs, Maximum</td>
+    </tr>
+    <tr>
+      <th>9</th>
+      <td></td>
+      <td>Electrical Properties\n(For\nEngineering purposes only)</td>
+      <td></td>
+    </tr>
+    <tr>
+      <th>11</th>
+      <td>1) Voltage Rating</td>
+      <td></td>
+      <td>300 VRMS</td>
+    </tr>
+    <tr>
+      <th>13</th>
+      <td>2)\nInductance</td>
+      <td></td>
+      <td>0.07 μH/ft, Nominal</td>
+    </tr>
+    <tr>
+      <th>15</th>
+      <td>3) Conductor DCR</td>
+      <td></td>
+      <td>25 Ω/1000ft @20°C, Nominal</td>
+    </tr>
+  </tbody>
+</table>

table4.html

@@ -0,0 +1,18 @@
+<table border="1" class="dataframe">
+  <thead>
+    <tr style="text-align: right;">
+      <th></th>
+      <th>1</th>
+    </tr>
+  </thead>
+  <tbody>
+    <tr>
+      <th>2</th>
+      <td>Packaging\nFlange\nx\nTraverse\nx Barrel\n(inches)</td>
+    </tr>
+    <tr>
+      <th>3</th>
+      <td>a)\n32800\nFT\n23\nx\n15\nx\n0 Max.\n4\nseparate pieces; Min length/piece\n10000\nFT.\nb)\n10000\nFT\n12\nx\n5.94\nx\n5 Max.\n3\nseparate pieces; Min length/piece\n1000\nFT.\nc)\n5000\nFT\n10.5\nx\n5\nx\n3.5 Continuous\nlength\nd)\n1000\nFT\n6.5\nx\n2\nx\n1.9 Continuous\nlength\ne)\n100\nFT\n2.75\nx\n2\nx\n1.125 Continuous\nlength\n \n[Spool\ndimensions may\nvary\nslightly]\nNotes:\na) Certain color\nand put-up combinations may only be\navailable by\nspecial order. Minimums may\napply.\nb)\nTolerance on 32800\nft. Put-Up is +/-\n10%</td>
+    </tr>
+  </tbody>
+</table>

tempCodeRunnerFile.py

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

test.py

@@ -1,4 +1,46 @@
-print("\u001b[37m")
+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:

ur5_control.py

@@ -5,53 +5,117 @@ import math
 import numpy as np
 import time
 import os
-import logging
-from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper
+#import logging
+import yaml
 import sys
 from util import fprint
+from pyModbusTCP.client import ModbusClient
+from multiprocessing import Queue
+import subprocess
+from util import win32
 
 
 
+class Rob():
+    robot = None
+    #offset_x, offset_y, offset_z = (0, 0, 0.14)     # Tool offset
+    #
     
-rob = None
+    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 init(ip):
-    global rob
+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)
-
+    count = 0
+    while not ping(robot.ip) and count == 10:
+        time.sleep(0.5)
+        count += 1
 
     # trigger auto-initialize
-
+    fprint("Arm online. Waiting for calibration.")
     # wait for auto-initialize
-
-    # init urx
+def connect(robot):
+    if robot.robot is None:
+        newrobot = Rob(robot.config)
+        robot = newrobot
+        ip = robot.ip
         fprint("Connecting to arm at " + ip)
         trying = True
-    while trying:
+        count = 0
+        while trying and count < 10:
+            count += 1
             try:
-            rob = urx.Robot(ip)
+                robot.robot = urx.Robot(ip, use_rt=False)
+                robot.robot.set_tcp((robot.offset_x, robot.offset_y, robot.offset_z, 0, 0, 0))
+                # Set weight
+                robot.robot.set_payload(2, (0, 0, 0.1))
                 trying = False
             except:
-            time.sleep(1)
-    robotiqgrip = Robotiq_Two_Finger_Gripper(rob)
-
+                time.sleep(0.5)
         # Sets robot arm endpoint offset (x,y,z,rx,ry,rz)
-    rob.set_tcp((0, 0, 0.15, 0, 0, 0))
         
-    # Set weight
-    rob.set_payload(2, (0, 0, 0.1))
+    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, threshold=None):
-    global rob
+    # setup - in case of fail. open gripper, move up, then go home.
+    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)
+    curr_j = rob.getj()
+    curr_j[3] -= 0.2 # radians
+    rob.movej(curr_j, vel=0.2, 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
@@ -67,8 +131,8 @@ def set_pos_abs(x, y, z, xb, yb, zb, threshold=None):
     #rob.speedj(0.2, 0.5, 99999)
     rob.set_pose(new_trans, acc=2, vel=2, command="movej", threshold=threshold)  # apply the new pose
 
-def set_pos_rel_rot_abs(x, y, z, xb, yb, zb):
-    global rob
+def set_pos_rel_rot_abs(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
@@ -85,8 +149,8 @@ def set_pos_rel_rot_abs(x, y, z, xb, yb, zb):
     #rob.speedj(0.2, 0.5, 99999)
     rob.set_pose(new_trans, acc=0.1, vel=0.4, command="movej")  # apply the new pose
 
-def set_pos_abs_rot_rel(x, y, z, xb, yb, zb):
-    global rob
+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
@@ -131,9 +195,8 @@ def polar_to_cartesian(r, theta):
     y = r * np.sin(theta)
     return x, y
 
-
-def move_to_polar(start_pos, end_pos):
-    global rob
+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])
@@ -190,19 +253,34 @@ def move_to_polar(start_pos, end_pos):
 
     return rx_intermediate
 
-def move_to_home():
-    global rob
+
+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
-    home_pos = [0.10421807948612624, 
-                -2.206111555015423, 
-                1.710679229503537, 
-                -1.075834511928354, 
-                -1.569301366430687, 
-                1.675098295930943]
-
+    store_pos = [-1.5708, 
+                -1.3, 
+                2.362, 
+                0.7056, 
+                -1.425, 
+                1.5708]
     # Move robot
-    rob.movej(home_pos, acc=2, vel=2)
+    rob.movej(store_pos, acc=0.1, vel=speed)
+    return True
 
 def normalize_degree(theta):
     # Normalizes degree theta from -1.5pi to 1.5pi
@@ -216,109 +294,497 @@ def normalize_degree(theta):
     # Return angle
     return normalized_theta
 
-def get_joints_from_xyz_rel(x, y, z, initial_guess = (math.pi/2, math.pi/2, 0), limbs=(.422864, .359041, .092124)):
-    # Get polar coordinates of x,y pair
-    r, theta = cartesian_to_polar(x, y)
+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) 
 
-    # Get length of each limb
-    l1, l2, l3 = limbs
 
     # Formulas to find out joint positions for (r, z)
     def inv_kin_r_z(p):
         a, b, c = p            
 
         return (l1*math.cos(a) + l2*math.cos(a-b) + l3*math.cos(a-b-c) - r, # r
-                l1*math.sin(a) + l2*math.sin(a-b) - l3*math.sin(a-b-c) - z,  # z
+                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, wrist = [normalize_degree(deg) for deg in [theta, *fsolve(inv_kin_r_z, initial_guess)]]
-
+    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, wrist
+    return base, shoulder, elbow, wrist1, ry, rz
 
-def get_joints_from_xyz_abs(x, y, z):
-    joints = get_joints_from_xyz_rel(x, y, z)
+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]
-    offsets = [0, 0, 0, -math.pi/2]
+    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=2, acc=2)
+    return True
+
+def holder_routine(robot, pos_updates, 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)
+    if pos_updates is not None:
+        pos_updates.put(1)
+    fprint("Triggering LED interface")
+    # 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)
+    if pos_updates is not None:
+        pos_updates.put(2)
+    fprint("Triggering LED interface")
+    # goto_holder_index(robot, 25, z=0.2)
+def pick_up_holder(robot, pos_updates, holder_index, verbose=False):
+    holder_routine(robot, pos_updates, holder_index, True, verbose=verbose)
+def drop_off_holder(robot, pos_updates, holder_index, verbose=False):
+    holder_routine(robot, pos_updates, 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):
+    # OLD UNUSED
+    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, pos_updates):
+    robot = connect(robot)
+    goto_holder_index(robot, 49, 0.2)
+
+def tray_to_camera(robot, pos_updates, slot):
+    pick_up_tray(robot, slot)
+    goto_camera(robot, pos_updates)
+def holder_to_tray(robot, pos_updates, holder_index, slot):
+    pick_up_holder(robot, pos_updates, holder_index)
+    drop_off_tray(robot, slot)
+
+def holder_to_camera(robot, pos_updates, holder_index, verbose=False):
+    robot = connect(robot)
+    fprint("Bringing tube at " + str(holder_index) + " to camera")
+    rob = robot.robot
+
+    pick_up_holder(robot, pos_updates, holder_index)
+    goto_camera(robot, pos_updates)
+def camera_to_holder(robot, pos_updates, holder_index, verbose=False):
+    robot = connect(robot)
+    rob = robot.robot
+
+    drop_off_holder(robot, pos_updates, 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)
+    time.sleep(0.5)
+    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)
+    time.sleep(0.5)
+    c.write_single_register(435, 0b00000000)
+    c.write_single_register(112, 0b1)
+    time.sleep(0.5)
+    c.close()
+    #
+
+def get_position_thread(robot, pos_updates):
+    robot = connect(robot)
+    rob = robot.robot
+    oldvals = rob.getl()
+    deltavals = [0,0,0]
+    import uptime
+    t = 0.01
+    count = 0
+    while True:
+        start = uptime.uptime()
+        if pos_updates.qsize() < 2:
+            vals = rob.getl()
+            if vals != oldvals:
+                if pos_updates is not None:
+                    pos_updates.put(tuple(oldvals))
+                #time.sleep(0.01)
+                # deltavals = list()
+                # deltavals.append(vals[0]-oldvals[0])
+                # deltavals.append(vals[1]-oldvals[1])
+                # deltavals.append(vals[2]-oldvals[2])
+                # count = 0
+                oldvals = vals
+                
+            # else:
+            #     count += 0.2
+            #     if count < 1:
+            #         tmpvals = vals
+            #         tmpvals[0] = oldvals[0] + deltavals[0]*count
+            #         tmpvals[1] = oldvals[1] + deltavals[1]*count
+            #         tmpvals[2] = oldvals[2] + deltavals[2]*count
+            #         pos_updates.put(tuple(tmpvals))
+        while start + t > uptime.uptime():
+            time.sleep(0.0001)
                 
-    # Return adjusted joint positions
-    return [o+j*i for j, o, i in zip(joints, offsets, inverse)]
 
 if __name__ == "__main__":
     
-    #rob.movej((0, 0, 0, 0, 0, 0), 0.1, 0.2)
-    #rob.movel((x, y, z, rx, ry, rz), a, v)
-    init("192.168.1.145")
+    with open('config.yml', 'r') as fileread:
+        #global config
+        config = yaml.safe_load(fileread)
+    
+
+
+    robot = Rob(config) # robot of type Rob is the custom class above
+    #powerup_arm(robot)
+    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)
+    
+    # pick_up_holder(robot, 2)
+    #drop_off_tray(robot, 0)
+    # drop_off_tray(robot, 1)
+    # drop_off_tray(robot, 2)
+    # drop_off_tray(robot, 3)
+
+    # pick_up_tray(robot, 1)
+    # drop_off_holder(robot, 5)
+
+    # pick_up_holder(robot, 26)
+    # drop_off_tray(robot, 3)
+
+
+    # for i in range(0,54):
+    #     pick_up_holder(robot, None, i)
+
+    #     #print('Drop off', i+1)
+    #     drop_off_tray(robot, 0)
+    #     #input()
+
+    # # holder_to_camera(robot, 0)
+    # # camera_to_holder(robot, 0)
+
     print("Current tool pose is: ",  rob.getl())
-    move_to_home()
-
-    home_pose = [-0.4999999077032916, 
-               -0.2000072960336574, 
-               0.40002172976662786, 
-               0, 
-               -3.14152741295329, 
-               0]
-
-    # time.sleep(.5)
-
-    p1 = [0,
-
-        0.6,
-        .4,
-        0.2226,
-        3.1126,
-        0.0510]
-    
-    p2 = [0.171,
-        -0.115,
-        0.2,
-        0.2226,
-        3.1126,
-        0.0510]
-
     curr_pos = rob.getl()
-    # up/down, 
-    # tool rotation
-    # tool angle (shouldn't need)
-    # rob.set_pos(p1[0:3], acc=0.5, vel=0.5)
+    config = None
   
-    # set_pos_abs(*home_pose)
-
-
-    angles = get_joints_from_xyz_abs(0.3, 0.3, 0.3)
-    rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
-    
-    angles = get_joints_from_xyz_abs(-0.3, -0.3, 0.7)
-    rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
-    
-    angles = get_joints_from_xyz_abs(-0.3, 0.4, 0.2)
-    rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
-
-
-    # set_pos_abs(*p1)
-    # move = move_to_polar(p1, p2)
-
-
-    # for p in move:
-    #     print(math.degrees(p))
-    # print("Safe? :", is_safe_move(p1, p2))
-
-
-    # #set_pos_rel_rot_abs(0, 0, -0.2, math.pi, 0, -math.pi)
-    # set_pos_abs(0.3, -0.2, 0.5, math.pi, 0, -math.pi)
-    # set_pos_abs(0, 0.2, 0.6, math.pi, 0, -math.pi)
-    # set_pos_abs(-0.5, -0.2, 0.4, math.pi, 0, -math.pi)
-    # #set_pos_rel_rot_abs(0, 0, 0, math.pi, 0, -math.pi)
-
-    # print("Current tool pose is: ",  rob.getl())
-    # print("getj(): ",  rob.getj())
-
-    # move_to_home()
 
     rob.stop()
     os.kill(os.getpid(), 9) # dirty kill of self

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))
         

websocket_test.html

@@ -81,7 +81,7 @@
                 socket.send(message);
                 console.log('Message sent', message);
             }
-            setInterval(ping, 1500);
+            //setInterval(ping, 1500);
 
             // setInterval(() => {
             //     updateServiceStatus('serviceA', 'down');
@@ -150,7 +150,7 @@
         setInterval(updateClock, 100);
 
     </script>
-
+    <iframe src="http://192.168.1.12:3000/d-solo/cdiqwmlr8c9ogf/sensors?orgId=1&refresh=5s&from=1714431825720&to=1714433625721&theme=light&panelId=7" width="450" height="200" frameborder="0"></iframe>
 </body>
 
 </html>