Add QR codes for Web UI

.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
@@ -15,8 +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

@@ -3,11 +3,11 @@ FROM python:3.11-slim
 # Get runtime dependencies
 # glx for OpenCV, ghostscript for datasheet PDF rendering, zbar for barcode scanning, git for cloning repos
 RUN apt-get update && apt-get install -y libgl1-mesa-glx ghostscript libzbar0 git && apt-get clean && rm -rf /var/lib/apt/lists
-COPY *.py *.yml *.sh *.txt *.html static templates ./
+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

client.bat

@@ -0,0 +1,29 @@
+
+@echo off
+
+:: BatchGotAdmin
+:-------------------------------------
+REM  --> Check for permissions
+>nul 2>&1 "%SYSTEMROOT%\system32\cacls.exe" "%SYSTEMROOT%\system32\config\system"
+
+REM --> If error flag set, we do not have admin.
+if '%errorlevel%' NEQ '0' (
+    echo Requesting administrative privileges...
+    goto UACPrompt
+) else ( goto gotAdmin )
+
+:UACPrompt
+    echo Set UAC = CreateObject^("Shell.Application"^) > "%temp%\getadmin.vbs"
+    set params = %*:"=""
+    echo UAC.ShellExecute "cmd.exe", "/c %~s0 %params%", "", "runas", 1 >> "%temp%\getadmin.vbs"
+
+    "%temp%\getadmin.vbs"
+    del "%temp%\getadmin.vbs"
+    exit /B
+
+:gotAdmin
+    pushd "%CD%"
+    CD /D "%~dp0"
+    python run.py
+:--------------------------------------
+

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 +3,102 @@ core:
   serverip: 172.26.178.114
   clientip: 172.26.176.1
   server: Hyper-Vd
+  loopspeed: 60 # fps
+
+mqtt:
+  enabled: False
+  server: 172.31.108.4
 
 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
+    ip: 192.168.1.199
+    port: 80
+
+animation_time: 60
 
 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, 100]
+    - universe: 11
+      ip: 192.168.1.210
+      mode: solid
+      color: [0, 50, 100]
+    - universe: 12
+      ip: 192.168.1.211
+      mode: solid
+      color: [0, 50, 100]
+    # - universe: 0
+    #   ip: 192.168.1.209
+    #   ledstart: 1296
+    #   ledend: 1365
+    #   mode: rgbw
     
 
   map:
@@ -76,37 +108,37 @@ 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 +146,37 @@ 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 +184,37 @@ 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 +222,37 @@ 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 +261,37 @@ 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
-      pos: [197.973, 38.1]
+      angle: 180
+      pos: [201.973, 34.1]
     - 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 +299,37 @@ 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 +337,75 @@ 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 +413,49 @@ 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]
@@ -442,7 +474,7 @@ position_map:
   - index: 7
     pos: [-38.1, 197.973]
   - index: 8
-    pos: [38.1, 197.973]
+    pos: [34.1, 201.973]
   - index: 9
     pos: [114.3, 197.973]
   - index: 10
@@ -500,7 +532,7 @@ 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 +548,7 @@ 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 +1,23 @@
+import http.server
+import socketserver
+import os
+
+class CORSHTTPRequestHandler(http.server.SimpleHTTPRequestHandler):
+    def end_headers(self):
+        self.send_header('Access-Control-Allow-Origin', '*')
+        self.send_header('Access-Control-Allow-Methods', 'GET, POST, OPTIONS')
+        self.send_header('Access-Control-Allow-Headers', 'X-Requested-With, Content-Type')
+        http.server.SimpleHTTPRequestHandler.end_headers(self)
+
+def run_server(port, directory):
+    """
+    Run a simple HTTP server serving files from the specified directory with CORS enabled.
+    """
+    # Change the working directory to the specified directory
+    os.makedirs(directory, exist_ok=True)
+    os.chdir(directory)
+
+    # Create the HTTP server using the CORS-enabled handler
+    with socketserver.TCPServer(("", port), CORSHTTPRequestHandler) as httpd:
+        print(f"Serving files at port {port} with CORS enabled")
+        httpd.serve_forever()

get_specs.py

@@ -30,6 +30,7 @@ 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"]
@@ -47,7 +48,6 @@ 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)
@@ -70,6 +70,8 @@ def query_search(partnum, source):
                 if idx < 0:
                     fprint("Could not find part in API: " + partnum)
                     return False
+                
+                name = a["results"][idx]["title"]
                 #fprint("Search result found: result " + str(idx) + ", for ID " + name)
                 #urlname = a["results"][0]["raw"]["catalogitemurlname"]
                 img = a["results"][idx]["raw"]["catalogitemimageurl"]
@@ -79,15 +81,20 @@ 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)
@@ -157,8 +164,9 @@ def touch(path):
 
 
 
-def get_multi(partnums, delay=0.25, dir="cables/", cache=True):
-    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:
+        
         failed = list()
         actualpartnums = list()
         def _try_download_datasheet(partnum, output_dir, dstype): # Guess datasheet URL
@@ -186,7 +194,7 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True):
                             # 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"
@@ -215,7 +223,7 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True):
                             # 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"
@@ -242,7 +250,7 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True):
                             # 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]
@@ -251,34 +259,35 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True):
                 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..."
             
-                out = 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..."
-            out = 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):
+            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
@@ -286,8 +295,9 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True):
                 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
+            # 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:
@@ -297,53 +307,80 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True):
                 if search_result is not False:
                     # Download high resolution part image if available and needed
                     #oldpartnum = partnum
+                    
                     partnum = search_result["partnum"]
                     returnval = [partnum, dstype, False, False]
                     output_dir = dir + partnum
                     path = output_dir + "/datasheet.pdf"
                     bartext = "Downloading files for part " + partnum
-                    bar.text = bartext
+                    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") 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 and cache:
-                        out = __use_cached_datasheet(partnum, path, output_dir, dstype)
+                        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:
-                        out = __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 and cache:
-                    out = __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, 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, dstype) is not False:
-                    out = __downloaded_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 = __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
+                
+                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)
-                out = __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"
@@ -370,11 +407,11 @@ def get_multi(partnums, delay=0.25, dir="cables/", cache=True):
                             time.sleep(delay)
                 if not success:
                     fprint("Failed to download datasheet for part " + partnum)
-                    bar.text = "Failed to download datasheet for part " + partnum
+                    # bar.text = "Failed to download datasheet for part " + partnum
                     failed.append((partnum, dstype))
-                    bar(skipped=True)
-                    bar(skipped=True)
-            time.sleep(delay)
+                    # bar(skipped=True)
+                    # bar(skipped=True)
+            
             
         if len(failed) > 0:
             fprint("Failed to download:")
@@ -405,6 +442,7 @@ if __name__ == "__main__":
     # ]
     partnums = [
     # Actual cables in Jukebox
+    "BL3092A",
     "AW86104CY",
     "AW3050",
     "AW6714",
@@ -434,10 +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",
@@ -448,13 +487,18 @@ if __name__ == "__main__":
     "BLFISD012R9",
     "BLFDSD012A9",
     "BLFSSL024NG",
-    "BLFISX006W0",
-    "BLFISX00103",
-    "BLC6D1100007"
+    "BLFISX006W0", # datasheet only
+    "BLFISX00103", # invalid
+    "BLC6D1100007" # invalid
     
     ]
-    print(query_search("74002", "Belden"))
-    #get_multi(partnums, 0.25)
+    #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>

inv_kin_testing.ipynb

@@ -9,7 +9,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
+   "execution_count": 1,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -28,7 +28,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": 2,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -52,16 +52,23 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 75,
+   "execution_count": 3,
    "metadata": {},
    "outputs": [
     {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "flip\n",
-      "[62.18186071534606, -126.63734509021032, 142.6959710408549, -106.0586259506446]\n"
+     "data": {
+      "text/plain": [
+       "[82.5301003420473,\n",
+       " -83.54918182551367,\n",
+       " 111.24503912126411,\n",
+       " -117.69585729575046,\n",
+       " -90.0,\n",
+       " 90.0]"
       ]
+     },
+     "execution_count": 3,
+     "metadata": {},
+     "output_type": "execute_result"
     }
    ],
    "source": [
@@ -69,7 +76,6 @@
     "    # Normalizes degree theta from -1.5pi to 1.5pi\n",
     "    multiplier = 1.5\n",
     "    normalized_theta = theta % (math.pi * multiplier)\n",
-    "    \n",
     "    # Maintain the negative sign if the original angle is negative\n",
     "    if theta < 0:\n",
     "        normalized_theta -= math.pi * multiplier\n",
@@ -77,28 +83,28 @@
     "    # Return angle\n",
     "    return normalized_theta\n",
     "\n",
-    "def get_joints_from_xyz_rel(x, y, z, rx=0, ry=0, rz=0, tool_offset=(0.145, 0, 0.14), initial_guess = (math.pi/2, math.pi/2, 0)):\n",
+    "def get_joints_from_xyz_rel(x, y, z, rx=0, ry=-math.pi/2, rz=0, initial_guess = (math.pi/2, math.pi/2, 0)):\n",
     "    # Get limbs and offsets\n",
-    "    offset_x, offset_y, offset_z = tool_offset\n",
-    "    l_bs, l1, l2, l3 = (0.14, .422864, .359041, .15)\n",
-    "\n",
+    "    offset_x, offset_y, offset_z = (0, 0, 0.14)     # Tool offset\n",
+    "    l_bs, l1, l2, l3, l_wt = (0.1333, .425, .39225, .1267, .0997)    # Limb lengths\n",
+    "    \n",
     "    # Calculate base angle and r relative to shoulder joint\n",
     "    def calculate_theta(x, y, a):\n",
     "        # Calculate if we need the + or - in our equations\n",
-    "        if (x>-a and y>=0) or (x>a and y<0):\n",
-    "            print('no flip')\n",
+    "        if (x>a and y>=0) or (x>-a and y<0):\n",
     "            flip = 1\n",
-    "        elif (x<-a and y>=0) or (x<a and y<0):\n",
-    "            print('flip')\n",
+    "        elif (x<a and y>=0) or (x<-a and y<0):\n",
     "            flip = -1\n",
     "        else: \n",
-    "            print('critical')\n",
     "            # Critical section (x=a, or x=-a). Infinite slope\n",
     "            # Return 0 or 180 depending on sign\n",
-    "            return math.atan2(y, 0)\n",
+    "            return math.atan2(y, 0) - math.pi/2\n",
     "        \n",
     "        # Calculate tangent line y = mx + b\n",
-    "        m = (x*y - math.sqrt(x*x*y*y-(x*x-a*a)*(y*y-a*a)))/(x*x-a*a)\n",
+    "        if abs(a) != abs(x): # If there is no division by 0\n",
+    "            m = (x*y + math.sqrt(x*x*y*y-(x*x-a*a)*(y*y-a*a)))/(x*x-a*a)\n",
+    "        else: # Deal with edge case when x^2=a^2\n",
+    "            m = flip*(-a*a+y*y)/(a*y-flip*abs(a*y))\n",
     "        b = flip * a * math.sqrt(1+m*m)\n",
     "\n",
     "        # Calculate equivalent tangent point on circle\n",
@@ -108,11 +114,11 @@
     "        # Calculate base angle, make angle negative if flip=1\n",
     "        theta = math.atan2(cy, cx) + (-math.pi if flip==1 else 0)\n",
     "\n",
-    "        return theta\n",
+    "        return theta \n",
     "    \n",
     "    base_theta = calculate_theta(x, y, l_bs)\n",
-    "    cx, cy = l_bs*math.cos(base_theta), l_bs*math.sin(l_bs)\n",
-    "    r = math.sqrt((x-cx)**2 + (y-cy)**2) - 0.1\n",
+    "    cx, cy = l_bs*math.cos(base_theta), l_bs*math.sin(base_theta)\n",
+    "    r = math.sqrt((x-cx)**2 + (y-cy)**2) \n",
     "\n",
     "\n",
     "    # Formulas to find out joint positions for (r, z)\n",
@@ -120,7 +126,7 @@
     "        a, b, c = p            \n",
     "\n",
     "        return (l1*math.cos(a) + l2*math.cos(a-b) + l3*math.cos(a-b-c) - r, # r\n",
-    "                l1*math.sin(a) + l2*math.sin(a-b) - l3*math.sin(a-b-c) - (z+offset_z),  # z\n",
+    "                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\n",
     "                a-b-c) # wrist angle\n",
     "\n",
     "\n",
@@ -130,123 +136,48 @@
     "    # Return result\n",
     "    return base, shoulder, elbow, wrist1, ry, rz\n",
     "\n",
-    "def get_joints_from_xyz_abs(x, y, z):\n",
-    "    joints = get_joints_from_xyz_rel(x, y, z)\n",
+    "def get_joints_from_xyz_abs(x, y, z, rx=0, ry=-math.pi/2, rz=math.pi/2):\n",
+    "    joints = get_joints_from_xyz_rel(x, y, z, rx, ry, rz)\n",
     "\n",
     "    # Joint offsets\n",
     "    # Base, Shoulder, Elbow, Wrist\n",
     "    inverse = [1, -1, 1, 1, 1, 1]\n",
-    "    offsets = [-math.pi/2, 0, 0, -math.pi/2, -math.pi/2, 0]\n",
+    "    offsets = [-math.pi/2, 0, 0, -math.pi/2, 0, 0]\n",
     "\n",
     "    # Return adjusted joint positions\n",
-    "    return [o+j*i for j, o, i in zip(joints, offsets, inverse)]\n",
+    "    robot_angles = [o+j*i for j, o, i in zip(joints, offsets, inverse)]\n",
     "\n",
-    "# print([math.degrees(deg) for deg in get_joints_from_xyz_rel(0.3, 0.3, 0.3)])\n",
-    "print([math.degrees(deg) for deg in get_joints_from_xyz_abs(0, -0.3, 0.1)])"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 64,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "no flip\n"
-     ]
-    },
-    {
-     "data": {
-      "text/plain": [
-       "-126.86989764584402"
-      ]
-     },
-     "execution_count": 64,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
-   "source": [
-    "def calculate_theta(x, y, a):\n",
-    "        # Calculate if we need the + or - in our equations\n",
-    "        if (x>a and y>=0) or (x>-a and y<0):\n",
-    "            print('no flip')\n",
-    "            flip = 1\n",
-    "        elif (x<a and y>=0) or (x<-a and y<0):\n",
-    "            print('flip')\n",
-    "            flip = -1\n",
-    "        else: \n",
-    "            print('critical')\n",
-    "            # Critical section (x=a, or x=-a). Infinite slope\n",
-    "            # Return 0 or 180 depending on sign\n",
-    "            return math.atan2(y, 0)\n",
-    "        \n",
-    "        # Calculate tangent line y = mx + b\n",
-    "        m = (x*y + math.sqrt(x*x*y*y-(x*x-a*a)*(y*y-a*a)))/(x*x-a*a)\n",
-    "        b = flip * a * math.sqrt(1+m*m)\n",
+    "    return robot_angles\n",
     "\n",
-    "        # Calculate equivalent tangent point on circle\n",
-    "        cx = (-flip*m*b)/(1+m*m)\n",
-    "        cy = m*cx + flip*b\n",
-    "\n",
-    "        # Calculate base angle\n",
-    "        theta = math.atan2(cy, cx) + (-math.pi if flip==1 else 0)\n",
-    "\n",
-    "        return theta\n",
-    "\n",
-    "calculate_theta(5,-5,1)"
+    "# Print degree rotation for each joint (robot angles)\n",
+    "[math.degrees(deg) for deg in get_joints_from_xyz_abs(-0.2, -0.5, 0.1)]"
    ]
   },
   {
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "### Simulate arm and joint angles"
+    "### Simulate Arm and Joint Angles"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 70,
+   "execution_count": 4,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "no flip\n",
-      "Target position (x,y,z): 0.3 0.3 0.3\n",
-      "Angles (base, shoulder, elbow, wrist): [-25.7322, 113.4225, 127.6133, -14.1908]\n",
-      "no flip\n",
-      "Robot Angles: [-115.7322, -113.4225, 127.6133, -104.1908]\n",
-      "elbow (x,y): -0.168 0.388\n",
-      "wrist (x,y): 0.18 0.3\n",
-      "tool  (x,y): 0.33 0.3\n"
-     ]
-    },
-    {
-     "data": {
-      "image/png": "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 truncated
-      "text/plain": [
-       "<Figure size 640x480 with 1 Axes>"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    }
-   ],
+   "outputs": [],
    "source": [
-    "def draw_arm(x, y, z):\n",
+    "def draw_arm_side_view(x, y, z, details=False):\n",
     "\n",
     "    # Get joint angles\n",
-    "    l1, l2, l3 = (.422864, .359041, .15)\n",
-    "    offset_x, offset_y, offset_z = (0.145, 0, 0.195)\n",
+    "    l1, l2, l3 = .425, .39225, .1267\n",
+    "    offset_x, offset_y, offset_z = (0, 0, 0.14)\n",
     "    r, theta = cartesian_to_polar(x, y)\n",
-    "    base, shoulder, elbow, wrist = get_joints_from_xyz_rel(x, y, z)\n",
+    "    base, shoulder, elbow, wrist, _, _ = get_joints_from_xyz_rel(x, y, z)\n",
     "\n",
     "    # Print angles\n",
+    "    if details:\n",
     "        print('Target position (x,y,z):', x, y, z)\n",
+    "        print('R: ', round(math.sqrt(x**2+y**2),4))\n",
     "        print('Angles (base, shoulder, elbow, wrist):', [round(math.degrees(i), 4) for i in [base, shoulder, elbow, wrist]])\n",
     "        print('Robot Angles:', [round(math.degrees(i), 4) for i in get_joints_from_xyz_abs(x, y, z)])\n",
     "\n",
@@ -263,6 +194,7 @@
     "    ty = y3 - offset_z\n",
     "\n",
     "    # Print each joint's endpoint position\n",
+    "    if details:\n",
     "        print('elbow (x,y):', round(x1,3), round(y1,3))\n",
     "        print('wrist (x,y):', round(x2,3), round(y2,3))\n",
     "        print('tool  (x,y):', round(x3,3), round(y3,3))\n",
@@ -287,37 +219,126 @@
     "\n",
     "    # Display z arrow\n",
     "    plt.annotate(f'', xy=(x3, 0), xycoords='data', xytext=(tx, ty), textcoords='data', arrowprops={'arrowstyle': '<->'})\n",
-    "    plt.annotate(f'z={round(ty,4)}', xy=(x3+0.01, y2/2), xycoords='data', xytext=(x3/2, 0), textcoords='offset points')\n",
+    "    plt.annotate(f'z={round(ty,4)}', xy=(tx+0.01, ty/2), xycoords='data', xytext=(x3/2, 0), textcoords='offset points')\n",
     "   \n",
     "    # Display plot\n",
     "    ax = plt.subplot(111)\n",
     "    ax.spines[['right', 'top']].set_visible(False)\n",
     "    plt.axis('equal')\n",
-    "    plt.show()\n",
-    "\n",
-    "draw_arm(0.3, 0.3, 0.3)"
+    "    plt.show()"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 18,
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def draw_arm_top_view(x, y, z, details=False):\n",
+    "    # Get joint and position information\n",
+    "    angles = get_joints_from_xyz_rel(x, y, z)\n",
+    "    offset_x, offset_y, offset_z = (0, 0, 0.14)     # Tool offset\n",
+    "    l_bs, l1, l2, l3, l_wt = (0.1333, .425, .39225, .1267, .0997)    # Limb lengths\n",
+    "    cx, cy = l_bs*math.cos(angles[0]), l_bs*math.sin(angles[0]) # Base tangent point\n",
+    "    line_angle = math.pi/2+angles[0]\n",
+    "\n",
+    "    if details:\n",
+    "        print('Angles:', [round(math.degrees(angle),3) for angle in angles])\n",
+    "        print(f'Circle position (cx, cy): ({round(cx, 3)}, {round(cy, 3)})')\n",
+    "\n",
+    "\n",
+    "    # Plot coordinate system\n",
+    "    fig = plt.figure()\n",
+    "    ax = fig.add_subplot(1, 1, 1)\n",
+    "    ax.spines['left'].set_position('center')\n",
+    "    ax.spines['bottom'].set_position('center')\n",
+    "    ax.spines['right'].set_color('none')\n",
+    "    ax.spines['top'].set_color('none')\n",
+    "    ax.set_yticklabels([])\n",
+    "    ax.set_xticklabels([])\n",
+    "    ax.set_xticks([])\n",
+    "    ax.set_yticks([])\n",
+    "\n",
+    "    # Target point\n",
+    "    # plt.plot(x, y, 'go')\n",
+    "\n",
+    "    # Circle\n",
+    "    circle = plt.Circle((0, 0), l_bs, color='b', fill=False, linewidth=1)\n",
+    "    plt.plot([0, cx], [0, cy], color='b', linewidth=1)\n",
+    "    ax.add_patch(circle)\n",
+    "\n",
+    "    # Draw limbs\n",
+    "    # Shoulder\n",
+    "    x1, y1 = polar_to_cartesian(l1*math.cos(angles[1]), line_angle)\n",
+    "    x1, y1 = cx+x1, cy+y1\n",
+    "    z1 = l1*math.sin(angles[1])\n",
+    "    plt.plot([cx, x1], [cy, y1], color='cyan', linewidth=3)\n",
+    "\n",
+    "    # Elbow\n",
+    "    x2, y2 = polar_to_cartesian(l2*math.cos(angles[1]-angles[2]), line_angle)\n",
+    "    x2 += x1\n",
+    "    y2 += y1\n",
+    "    z2 = z1 + l2*math.sin(angles[1]-angles[2])\n",
+    "    plt.plot([x1, x2], [y1, y2], color='orange', linewidth=2)\n",
+    "\n",
+    "    # Wrist\n",
+    "    x3, y3 = polar_to_cartesian(l3*math.cos(angles[1]-angles[2]-angles[3]), line_angle)\n",
+    "    x3 += x2\n",
+    "    y3 += y2\n",
+    "    z3 = z2 + l3*math.sin(angles[1]-angles[2]-angles[3]) \n",
+    "    plt.plot([x2, x3], [y2, y3], color='red', linewidth=2)\n",
+    "\n",
+    "    # Print joint positions\n",
+    "    if details:\n",
+    "        print(f'Shoulder (x, y, z): ({round(x1,3)}, {round(y1,3)}, {round(z1,3)})')\n",
+    "        print(f'Elbow    (x, y, z): ({round(x2,3)}, {round(y2,3)}, {round(z2,3)})')\n",
+    "        print(f'Wrist    (x, y, z): ({round(x3,3)}, {round(y3,3)}, {round(z3,3)})')\n",
+    "\n",
+    "    # Display angle\n",
+    "    plt.text(0.01, -0.01-cy/abs(cy+0.00001)*0.02, f'{round(math.degrees(angles[0]), 2)}°', fontsize=7)\n",
+    "\n",
+    "    # Display x arrow\n",
+    "    sign = x3/abs(x3)\n",
+    "    plt.annotate(f'', xy=(0, y3), xycoords='data', xytext=(x3, y3), textcoords='data', arrowprops={'arrowstyle': '<->'})\n",
+    "    plt.annotate(f'x={round(x3,3)}', xy=(-0.1-sign*0.13, y3-0.015), xycoords='data', xytext=(x2/2, 0), textcoords='offset points')\n",
+    "\n",
+    "    # Display y arrow\n",
+    "    sign = y3/abs(y3)\n",
+    "    plt.annotate(f'', xy=(x3, 0), xycoords='data', xytext=(x3, y3), textcoords='data', arrowprops={'arrowstyle': '<->'})\n",
+    "    plt.annotate(f'y={round(y3,3)}', xy=((x3-0.1), -0.015-sign*0.03), xycoords='data', xytext=(x3/2, 0), textcoords='offset points')\n",
+    "\n",
+    "\n",
+    "    # Set axis limits and labels\n",
+    "    axis_limit = math.hypot(x, y)+.1\n",
+    "    plt.axis('square')\n",
+    "    plt.xlim(-axis_limit, axis_limit)\n",
+    "    plt.ylim(-axis_limit, axis_limit)\n",
+    "\n",
+    "    # Adjust the position of axis labels\n",
+    "    plt.xlabel('+x', horizontalalignment='right', x=1.05)\n",
+    "    plt.ylabel('+y', verticalalignment='top', rotation=0, y=1.05)\n",
+    "    plt.show()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Target position (x,y,z): 0.3 0.3 0.3\n",
-      "Angles (base, shoulder, elbow, wrist): [33.9862, 85.2162, 73.3858, 11.8304]\n",
-      "Robot Angles: [33.9862, -85.2162, 73.3858, -78.1696]\n",
-      "elbow (x,y): 0.035 0.421\n",
-      "wrist (x,y): 0.387 0.495\n",
-      "tool  (x,y): 0.537 0.495\n"
+      "Angles: [-53.867, 89.583, 87.39, 2.193, -90.0, 0.0]\n",
+      "Circle position (cx, cy): (0.079, -0.108)\n",
+      "Shoulder (x, y, z): (0.081, -0.106, 0.425)\n",
+      "Elbow    (x, y, z): (0.398, 0.125, 0.44)\n",
+      "Wrist    (x, y, z): (0.5, 0.2, 0.44)\n"
      ]
     },
     {
      "data": {
-      "image/png": "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 truncated
+      "image/png": "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 truncated
       "text/plain": [
        "<Figure size 640x480 with 1 Axes>"
       ]
@@ -329,48 +350,18 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Target position (x,y,z): -0.3 -0.3 0.7\n",
-      "Angles (base, shoulder, elbow, wrist): [-117.3239, 78.0693, 0.0255, 79.0945]\n",
-      "Robot Angles: [-117.3239, -78.0693, 0.0255, -10.9055]\n",
-      "elbow (x,y): 0.087 0.414\n",
-      "wrist (x,y): 0.162 0.765\n",
-      "tool  (x,y): 0.312 0.762\n"
-     ]
-    },
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "c:\\Users\\nadee\\AppData\\Local\\Programs\\Python\\Python310\\lib\\site-packages\\scipy\\optimize\\_minpack_py.py:178: RuntimeWarning: The iteration is not making good progress, as measured by the \n",
-      "  improvement from the last ten iterations.\n",
-      "  warnings.warn(msg, RuntimeWarning)\n"
+      "Target position (x,y,z): 0.5 0.2 0.3\n",
+      "R:  0.5385\n",
+      "Angles (base, shoulder, elbow, wrist): [-53.8671, 89.5827, 87.3895, 2.1932]\n",
+      "Robot Angles: [-143.8671, -89.5827, 87.3895, -87.8068, -90.0, 90.0]\n",
+      "elbow (x,y): 0.003 0.425\n",
+      "wrist (x,y): 0.395 0.44\n",
+      "tool  (x,y): 0.522 0.44\n"
      ]
     },
     {
      "data": {
-      "image/png": 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truncated
-      "text/plain": [
-       "<Figure size 640x480 with 1 Axes>"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Target position (x,y,z): -0.3 0.4 0.2\n",
-      "Angles (base, shoulder, elbow, wrist): [111.1813, 100.8341, 104.0795, -3.2455]\n",
-      "Robot Angles: [111.1813, -100.8341, 104.0795, -93.2455]\n",
-      "elbow (x,y): -0.079 0.415\n",
-      "wrist (x,y): 0.279 0.395\n",
-      "tool  (x,y): 0.429 0.395\n"
-     ]
-    },
-    {
-     "data": {
-      "image/png": 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truncated
+      "image/png": "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 truncated
       "text/plain": [
        "<Figure size 640x480 with 1 Axes>"
       ]
@@ -380,63 +371,76 @@
     }
    ],
    "source": [
-    "draw_arm(0.3, 0.3, 0.3)\n",
-    "draw_arm(-0.3, -0.3, 0.7)\n",
-    "draw_arm(-0.3, 0.4, 0.2)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "## Interactive Arm"
+    "def draw_arm(x, y, z, details=False):\n",
+    "    draw_arm_top_view(x,y,z, details=details)\n",
+    "    draw_arm_side_view(x,y,z, details=details)\n",
+    "\n",
+    "draw_arm(0.5,0.2,0.3, details=True)"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 19,
+   "execution_count": 10,
    "metadata": {},
    "outputs": [
     {
      "data": {
-      "application/vnd.jupyter.widget-view+json": {
-       "model_id": "30dd696bcdc14aec9a1d4c17fb4787d4",
-       "version_major": 2,
-       "version_minor": 0
-      },
       "text/plain": [
-       "interactive(children=(FloatSlider(value=0.3, description='x', max=1.0, step=0.01), FloatSlider(value=0.3, desc…"
+       "{'elbow': (0.06441407671759522, -0.08297834710053949, 0.42498873000714044),\n",
+       " 'wrist': (0.3809831975755794, 0.14814654552767514, 0.44000000000002354),\n",
+       " 'wrist2': (0.4617483203289997, 0.20711259462904327, 0.44000000000002354),\n",
+       " 'tool': (0.4617483203289997, 0.20711259462904327, 0.5800000000000236)}"
       ]
      },
-     "metadata": {},
-     "output_type": "display_data"
-    },
-    {
-     "data": {
-      "text/plain": [
-       "<function __main__.draw_arm(x, y, z)>"
-      ]
-     },
-     "execution_count": 19,
+     "execution_count": 10,
      "metadata": {},
      "output_type": "execute_result"
     }
    ],
    "source": [
-    "from ipywidgets import interact, FloatSlider\n",
+    "def joint_positions(x, y, z):\n",
+    "    # Get joint and position information\n",
+    "    angles = get_joints_from_xyz_abs(x, y, z)\n",
+    "    offset_x, offset_y, offset_z = (0, 0, 0.14)     # Tool offset\n",
+    "    l_bs, l1, l2, l3, l_wt = (0.1333, .425, .39225, .1267, .0997)    # Limb lengths\n",
+    "    cx, cy = l_bs*math.cos(angles[0]), l_bs*math.sin(angles[0]) # Base tangent point\n",
+    "    line_angle = math.pi/2+angles[0]\n",
     "\n",
-    "# Interactive slider for z coordinate\n",
-    "interact(draw_arm,  x=FloatSlider(min=0, max=1, step=0.01, value=0.3),\n",
-    "                    y=FloatSlider(min=0, max=1, step=0.01, value=0.3),\n",
-    "                    z=FloatSlider(min=0, max=1, step=0.01, value=0.3))\n"
+    "    # Elbow\n",
+    "    x1, y1 = polar_to_cartesian(l1*math.cos(angles[1]), line_angle)\n",
+    "    x1, y1 = cx+x1, cy+y1\n",
+    "    z1 = l1*math.sin(angles[1])\n",
+    "\n",
+    "    # Wrist\n",
+    "    x2, y2 = polar_to_cartesian(l2*math.cos(angles[1]-angles[2]), line_angle)\n",
+    "    x2 += x1\n",
+    "    y2 += y1\n",
+    "    z2 = z1 + l2*math.sin(angles[1]-angles[2])\n",
+    "\n",
+    "    # Wrist 2\n",
+    "    x3, y3 = polar_to_cartesian(l3*math.cos(angles[1]-angles[2]-angles[3]), line_angle)\n",
+    "    x3 += x2\n",
+    "    y3 += y2\n",
+    "    z3 = z2 + l3*math.sin(angles[1]-angles[2]-angles[3]) \n",
+    "\n",
+    "    # Tool\n",
+    "    x4, y4 = polar_to_cartesian(offset_z*math.cos(angles[1]-angles[2]-angles[3]-angles[4]), line_angle)\n",
+    "    x4 += x3\n",
+    "    y4 += y3\n",
+    "    z4 = z3 + offset_z*math.sin(angles[1]-angles[2]-angles[3]-angles[4])\n",
+    "\n",
+    "\n",
+    "    positions = {\n",
+    "        'elbow': (x1, y1, z1),\n",
+    "        'wrist': (x2, y2, z2),\n",
+    "        'wrist2': (x3, y3, z3),\n",
+    "        'tool': (x4, y4, z4)\n",
+    "    }\n",
+    "\n",
+    "    return positions\n",
+    "\n",
+    "joint_positions(0.5,0.2,0.3)"
    ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": []
   }
  ],
  "metadata": {

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

@@ -9,6 +9,7 @@ import os
 import signal
 from PIL import Image
 from label_image import generate_code
+from label_document import generate_pdf
 
 
 def input_cable():
@@ -22,7 +23,7 @@ def input_cable():
     print("Input part number:", inputnum)
     print("Searching databases for cables...")
     # Search both AW and BL sites
-    status, output = get_multi(["BL"+inputnum, "AW"+inputnum], delay=0.1, dir="temp/" + str(uuid.uuid4()) + "/", cache=False)
+    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:
@@ -61,9 +62,17 @@ def input_cable():
             imgstr = "BL"
         elif output[1] == "Alphawire":
             imgstr = "AW"
-        img = generate_code(imgstr + output[0])
-        os.makedirs("labels", exist_ok=True)
-        img.save("labels/" + imgstr + output[0] + ".png")
+        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

label_image.py

@@ -3,8 +3,13 @@ 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
 
 
@@ -134,7 +139,8 @@ for charset in (CODE128A, CODE128B):
 
 def generate_code(data, show=False, check=False):
 
-    img = code128_image(data)
+    #img = code128_image(data)
+    img = qr_image(data)
     if show:
         img.show()
     #img.show()
@@ -198,6 +204,7 @@ def code128_format(data):
     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)
         
@@ -227,12 +234,87 @@ def code128_image(data, height=100, thickness=3, quiet_zone=False):
 
     #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("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_demo.bat

@@ -0,0 +1 @@
+python led_control.py

pick_count.txt

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

process_video.py

@@ -4,29 +4,54 @@ import cv2
 import banner_ivu_export
 import numpy as np
 from util import fprint
+import requests
 
 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.url = "http://" + ip + ":" + str(port) + "/barcode"
+        #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):
+    #         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)
+    #             #cv2.imshow('Image', img)
+    #             #cv2.waitKey(1)
+    #             detect = cv2.QRCodeDetector()
+    #             value, points, straight_qrcode = detect.detectAndDecode(img)
+                
+    #             if value != "":
+    #                 self.camera.close()
+    #                 return value
+    #         else:
+    #             print("\nGot no image for " + str(x))
+
+    #     self.camera.close()
+    #     return False
     def read_qr(self, tries=1):
-        print("Trying " + str(tries) + " frames.")
-        for x in range(tries):
         try:
-                imgtype, img = self.camera.read_img()
-                #fprint(imgtype)
-                image_array = np.frombuffer(img, np.uint8)
-                img = cv2.imdecode(image_array, cv2.IMREAD_COLOR)
-                #cv2.imshow('Image', img)
-                #cv2.waitKey(1)
-                detect = cv2.QRCodeDetector()
-                value, points, straight_qrcode = detect.detectAndDecode(img)
-                return value
-            except:
-                continue
+            response = requests.get(self.url, timeout=tries * 15)
+            response.raise_for_status()  # Raise an error for bad status codes
+            print(response.text)  # Or handle the response as needed
+            if len(response.text) < 8:
                 return False
+            return response.text
+        except requests.Timeout:
+            print(f'The request timed out after {tries * 15} seconds')
+        except requests.RequestException as e:
+            print(f'An error occurred: {e}')
         
+        return False
     
 class video_streamer():
     camera = None
@@ -41,5 +66,7 @@ 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

@@ -16,6 +16,8 @@ from util import win32
 import os
 import glob
 import sys
+from PIL import Image
+import segno
 
 def touch(path):
     with open(path, 'a'):
@@ -37,7 +39,7 @@ def extract_table_name(table_start, searchpage, reader, dstype, fallbackname):
         ymax = table_start + 10
     elif dstype == "Alphawire":
         ymin = table_start - 5
-        ymax = table_start + 10
+        ymax = table_start + 20
     page = reader.pages[searchpage - 1]
     parts = []
     def visitor_body(text, cm, tm, fontDict, fontSize):
@@ -52,14 +54,52 @@ def extract_table_name(table_start, searchpage, reader, dstype, fallbackname):
     return text_body
     #fprint(text_body)
 
-def parse(filename, output_dir, partnum, dstype):
+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
     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', 't'])
+            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:
@@ -95,11 +135,26 @@ def parse(filename, output_dir, partnum, dstype):
             #fprint(table_start)
             
             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":
-                table_list_raw[text_body] = table
                 
+                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)
@@ -134,6 +189,27 @@ 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
+
+    fprint("Making QR code for part " + partnum)
+    partnumqr = partnum.replace(" ", "%20")
+    if dstype == "Alphawire":
+        partnumqr = "AW" + partnumqr
+    if dstype == "Belden":
+        partnumqr = "BL" + partnumqr
+    qrcode = segno.make('HTTPS://BLDN.APP/' + partnumqr,micro=False,boost_error=False,error="L",mask=3)
+    #out = io.BytesIO()
+    qrx, _ = qrcode.symbol_size(1,0)
+    qrcode.save(output_dir + "/qrcode.png", scale=500.0/qrx, kind="PNG", border=0, light="#00000000")
+    qrpath = weburl + find_file_noext(output_dir, prefix="qrcode")[0]
+
     # Table parsing and reordring
     tables = dict()
     torename = dict()
@@ -141,6 +217,7 @@ def parse(filename, output_dir, partnum, dstype):
     #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]
@@ -177,11 +254,11 @@ def parse(filename, output_dir, partnum, dstype):
             if dstype == "Alphawire" and table_name_2.find("\n") >= 0:
                 torename[table_name_2] = table_name_2[0:table_name_2.find("\n")]
 
-            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(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()
@@ -199,9 +276,9 @@ 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():
+        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]
@@ -251,9 +328,6 @@ def parse(filename, output_dir, partnum, dstype):
                 #fprint(table_name)
                 #fprint(previous_table)
                 
-                
-                
-                
                 main_key = previous_table
                 cont_key = table_name
                 #fprint(tables)
@@ -267,15 +341,21 @@ 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 & 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):
@@ -291,15 +371,42 @@ 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
+    output_table["datasheet"] = weburl + "datasheet.pdf"
+    output_table["qrcode"] = qrpath 
+    if img is not None:
+        output_table["image"] = img
+        output_table["fullspecs"] = {"partnum": partnum, "id": id, "brand": output_table["brand"], "image": img, "datasheet": weburl + "datasheet.pdf", "qrcode": qrpath, **tables}
+        output_table["searchspecs"] = {"partnum": partnum, "brand": output_table["brand"], "image": img, "datasheet": weburl + "datasheet.pdf", "qrcode": qrpath, **flatten(tables)}
+    else:
+        output_table["fullspecs"] = {"partnum": partnum, "id": id, "brand": output_table["brand"], "datasheet": weburl + "datasheet.pdf", "qrcode": qrpath, **tables}
+        output_table["searchspecs"] = {"partnum": partnum, "brand": output_table["brand"], "datasheet": weburl + "datasheet.pdf", "qrcode": qrpath, **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
     
@@ -308,16 +415,17 @@ def parse(filename, output_dir, partnum, dstype):
     #print(output_table)
 
     #run_cmd("rm \"" + output_dir + "\"/*.json") # not reliable!
-    pattern = os.path.join(output_dir, '*.json')
-    json_files = glob.glob(pattern)
-    for file_path in json_files:
-        os.remove(file_path)
+    # 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_" + output_table["searchspecs"]["id"] + ".json", 'w') as json_file:
+    with open(output_dir + "/search.json", 'w') as json_file:
         json.dump(output_table["searchspecs"], json_file)
-    with open(output_dir + "/specs_" + output_table["partnum"] + ".json", 'w') as json_file:
+    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
@@ -346,12 +454,20 @@ 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(",")))
@@ -369,4 +485,4 @@ def flatten(tables):
     
 
 if __name__ == "__main__":
-    print(parse("cables/3050/datasheet.pdf", "cables/3050", "3050", "Alphawire"))
+    print(parse("cables/3050/datasheet-new.pdf", "cables/3050", "3050", "Alphawire"))

requirements.txt

@@ -1,9 +1,10 @@
 # Runtime
-camelot-py
-opencv-python
+camelot-py[base]==0.9.0
+#opencv-python
 pypdf2==2.12.1
 alive-progress
 requests
+math3d==4.0.0
 git+https://github.com/Byeongdulee/python-urx.git
 meilisearch
 pyyaml
@@ -16,10 +17,12 @@ numpy
 scipy
 ipywidgets
 pandas
-pyarrow
+#pyarrow
 ghostscript
 pyzbar
-
+segno
+pyModbusTCP
+paho-mqtt
 
 # Development
 matplotlib

run.sh

@@ -0,0 +1,5 @@
+#!/bin/sh
+
+pkill -9 python # kill any old processes
+cd /root/jukebox-software
+python run.py

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

@@ -10,7 +10,7 @@ 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"], "optimize": 0, "silent": True, "include_files": ["gs10030w64.exe"], "excludes": ["scipy", "torch"]}
+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"

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>

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 +253,35 @@ 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, 0.25), flip=is_flipped(robot)), vel=2, acc=2) # Move to safe position
+
+    return True
+
+def move_to_packup(robot, speed=0.25):
+    robot = connect(robot)
+    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
@@ -216,13 +295,14 @@ def normalize_degree(theta):
     # Return angle
     return normalized_theta
 
-
-def get_joints_from_xyz_rel(x, y, z, rx=0, ry=-math.pi/2, rz=0, initial_guess = (math.pi/2, math.pi/2, 0)):
+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
-    offset_x, offset_y, offset_z = (0, 0, 0.14)     # Tool offset
-    l_bs, l1, l2, l3, l_wt = (0.1333, .425, .39225, .1267, .0997)    # Limb lengths
     #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
@@ -238,19 +318,16 @@ def get_joints_from_xyz_rel(x, y, z, rx=0, ry=-math.pi/2, rz=0, initial_guess =
         # 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(l_bs)
-    r = math.sqrt((x-cx)**2 + (y-cy)**2) 
+    cx, cy = l_bs*math.cos(base_theta), l_bs*math.sin(base_theta)
+    r = math.sqrt((x+offset_x+cx)**2 + (y+offset_y+cy)**2) 
 
 
     # Formulas to find out joint positions for (r, z)
@@ -264,98 +341,491 @@ def get_joints_from_xyz_rel(x, y, z, rx=0, ry=-math.pi/2, rz=0, initial_guess =
 
     # Normalize angles
     base, shoulder, elbow, wrist1 = [normalize_degree(deg) for deg in [base_theta, *fsolve(inv_kin_r_z, initial_guess)]]
-
+    wrist1 += rx
     # Return result
     return base, shoulder, elbow, wrist1, ry, rz
 
-def get_joints_from_xyz_abs(x, y, z, rx=0, ry=-math.pi/2, rz=math.pi/2):
-    joints = get_joints_from_xyz_rel(x, y, z, rx, ry, rz)
+def get_joints_from_xyz_abs(robot, x, y, z, rx=0, ry=-math.pi/2, rz=math.pi/2, l3offset=0, use_closest_path=True):
+    rob = robot.robot
+    joints = get_joints_from_xyz_rel(robot, x, y, z, rx, ry, rz, l3offset=l3offset)
+
+    # Return current positions if coordinates don't make sense
+    if z<0:
+        return rob.getj()
 
     # Joint offsets
     # Base, Shoulder, Elbow, Wrist
     inverse = [1, -1, 1, 1, 1, 1]
     offsets = [-math.pi/2, 0, 0, -math.pi/2, 0, 0]
 
-    # Return adjusted joint positions
-    return [o+j*i for j, o, i in zip(joints, offsets, inverse)]
+    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+0.007 # add 7mm for shim
+    first_slot = -0.3084+0.01+0.003 # add 3mm for tray adjust
+    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],
+    ]
+    if pick_up:
+        open_gripper()
+    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=False, auto_close=False)
+#     c.open()
+#     while not c.is_open:
+#         time.sleep(0.01)
+
+#     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=False, auto_close=False)
+#     c.open()
+#     while not c.is_open:
+#         time.sleep(0.01)
+    
+#     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()
+#     time.sleep(0.2)
+#     #
+    
+
+def open_gripper():
+    fprint("Opening gripper")
+    c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False)
+    
+    c.write_single_register(112, 0b0)
+    c.write_single_register(435, 0b10000000)
+
+    c.write_single_register(112, 0b0)
+    c.write_single_register(435, 0b10000000)
+    time.sleep(0.5)
+    c.close()
+    
+    #c.close()
+
+def close_gripper():
+    fprint("Closing gripper")
+    c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False)
+    c.write_single_register(435, 0b00000000)
+    c.write_single_register(112, 0b1)
+
+    c.write_single_register(435, 0b00000000)
+    c.write_single_register(112, 0b1)
+    time.sleep(0.5)
+    c.close()
+    #
+
+
+def get_position_thread(robot, pos_updates):
+    try:
+        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)
+    except:
+        pass
 
 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)
+    move_to_home(robot)
+    pick_up_holder(robot, None, 8)
+    #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, 
-               math.radians(62)]
-
-    # 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(-0.7, 0, 0)
-    rob.movej(angles, acc=2, vel=2)
-
-    # joints = []
-    # for i in np.linspace(-0.3, -0.7, 50):
-    #     joints.append(get_joints_from_xyz_abs(i, 0, 0))
-    # rob.movejs(joints, acc=2, vel=2)
-
-    # time.sleep(5)
-
-
-    # angles = get_joints_from_xyz_abs(0, -0.6, 0)
-    # rob.movej(angles, acc=2, vel=2)
-    
-
-
-    # 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

@@ -26,8 +26,8 @@ if win32:
     #if not getattr(sys, "frozen", False):
     startupinfo.dwFlags |= subprocess.STARTF_USESHOWWINDOW # hide powershell window
     res = subprocess.check_output(["WMIC", "ComputerSystem", "GET", "UserName"], universal_newlines=True, startupinfo=startupinfo)
-    _, username = res.strip().rsplit("\n", 1)
-    userid, sysdom = username.rsplit("\\", 1)
+    # _, username = res.strip().rsplit("\n", 1)
+    # userid, sysdom = username.rsplit("\\", 1)
 
 if linux or macos:
     sysid = hex(uuid.getnode())

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>