Flip vertical move

Other way
Readjust
2024-05-14 16:26:32 -05:00 · 2024-05-14 16:24:01 -05:00 · 2024-05-14 16:22:50 -05:00 · 2024-05-14 16:16:05 -05:00 · 2024-05-14 16:01:10 -05:00 · 2024-05-14 14:59:12 -05:00
38 changed files with 2790 additions and 914 deletions
@@ -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
@@ -15,7 +16,7 @@ output.mp4
 # log files
 output.log
 # images
-*.png
+map*.png
 # Built app
 build
 # Generated label images
@@ -0,0 +1,3 @@
+[submodule "jukebox-web"]
+	path = jukebox-web
+	url = https://git.myitr.org/Jukebox/jukebox-web
@@ -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
@@ -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


@@ -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>
@@ -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:
@@ -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:
@@ -3,70 +3,98 @@ core:
  serverip: 172.26.178.114
  clientip: 172.26.176.1
  server: Hyper-Vd
+  loopspeed: 100 # fps

 arm:
  ip: 192.168.1.145
+  tool:
+    offset_x: 0
+    offset_y: 0
+    offset_z: 0.14
+  limbs:
+    limb_base: 0.11
+    limb1: 0.425
+    limb2: 0.39225
+    limb3: 0.1
+    limb_wrist: 0.0997
+
+cables:
+  port: 7900
+  directory: ./cables/ # must include trailing slash

-#cable_map:
 cameras:
  banner:
    ip: 192.168.1.125
    port: 32200

+animation_time: 100
+
 led: 
-  fps: 90
-  timeout: 0
+  fps: 100
+  timeout: 1
  controllers:
-    - universe: 9
-      ip: 192.168.68.131
+    - universe: 1
+      ip: 192.168.1.200
      ledstart: 0
      ledend: 143
      mode: rgb
-    - universe: 3
-      ip: 192.168.68.131
+    - universe: 2
+      ip: 192.168.1.201
      ledstart: 144
      ledend: 287
      mode: rgb
-    - universe: 2
-      ip: 192.168.68.131
+    - universe: 3
+      ip: 192.168.1.202
      ledstart: 288
      ledend: 431
      mode: rgb
    - universe: 4
-      ip: 192.168.5.40
+      ip: 192.168.1.203
      ledstart: 432
      ledend: 575
      mode: rgb
-    - universe: 1
-      ip: 192.168.5.4
+    - universe: 5
+      ip: 192.168.1.204
      ledstart: 576
      ledend: 719
      mode: rgb
-    - universe: 5
-      ip: 192.168.68.131
+    - universe: 6
+      ip: 192.168.1.205
      ledstart: 720
      ledend: 863
      mode: rgb
-    - universe: 6
-      ip: 192.168.68.131
+    - universe: 7
+      ip: 192.168.1.206
      ledstart: 864
      ledend: 1007
      mode: rgb
-    - universe: 7
-      ip: 192.168.68.131
+    - universe: 8
+      ip: 192.168.1.207
      ledstart: 1008
      ledend: 1151
      mode: rgb
-    - universe: 8
-      ip: 192.168.68.131
+    - universe: 9
+      ip: 192.168.1.208
      ledstart: 1152
      ledend: 1295
      mode: rgb
-    - universe: 0
-      ip: 192.168.68.130
-      ledstart: 1296
-      ledend: 1365
-      mode: rgbw
+    - universe: 10
+      ip: 192.168.1.209
+      mode: solid
+      color: [0, 50, 150]
+    - universe: 11
+      ip: 192.168.1.210
+      mode: solid
+      color: [0, 50, 150]
+    - universe: 12
+      ip: 192.168.1.211
+      mode: solid
+      color: [0, 50, 150]
+    # - universe: 0
+    #   ip: 192.168.1.209
+    #   ledstart: 1296
+    #   ledend: 1365
+    #   mode: rgbw
    

  map:
@@ -76,37 +104,37 @@ led:
      start: 0
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [0, 304.8]
    - type: circle
      start: 24
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-65.991, 266.7]
    - type: circle
      start: 48
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-131.982, 228.6]
    - type: circle
      start: 72
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-197.973, 190.5]
    - type: circle
      start: 96
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-263.965, 152.4]
    - type: circle
      start: 120
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-263.965, 76.2]

    # controller 2
@@ -114,37 +142,37 @@ led:
      start: 144
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [0, 228.6]
    - type: circle
      start: 168
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-65.991, 190.5]
    - type: circle
      start: 192
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-131.982, 152.4]
    - type: circle
      start: 216
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-197.973, 114.3]
    - type: circle
      start: 240
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-197.973, 38.1]
    - type: circle
      start: 264
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-263.965, 0]

    # controller 3
@@ -152,37 +180,37 @@ led:
      start: 288
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [0, 152.4]
    - type: circle
      start: 312
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-65.991, 114.3]
    - type: circle
      start: 336
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-131.982, 76.2]
    - type: circle
      start: 360
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-131.982, 0]
    - type: circle
      start: 384
      size: 24
      diameter: 63.5
-      angle: 0
-      pos: [-197.973, -38.1]
+      angle: 180
+      pos: [-199.0, -35.0]
    - type: circle
      start: 408
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-263.965, -76.2]

    # controller 4
@@ -190,37 +218,37 @@ led:
      start: 432
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [131.982, 76.2]
    - type: circle
      start: 456
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [131.982, 152.4]
    - type: circle
      start: 480
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [131.982, 228.6]
    - type: circle
      start: 504
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [65.991, 266.7]
    - type: circle
      start: 528
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [65.991, 190.5]
    - type: circle
      start: 552
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [65.991, 114.3]
    

@@ -229,37 +257,37 @@ led:
      start: 576
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [131.982, 0]
    - type: circle
      start: 600
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [197.973, 38.1]
    - type: circle
      start: 624
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [197.973, 114.3]
    - type: circle
      start: 648
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [197.973, 190.5]
    - type: circle
      start: 672
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [263.965, 152.4]
    - type: circle
      start: 696
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [263.965, 76.2]

    # controller 6
@@ -267,37 +295,37 @@ led:
      start: 720
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [131.982, -76.2]
    - type: circle
      start: 744
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [197.973, -38.1]
    - type: circle
      start: 768
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [263.965, 0]
    - type: circle
      start: 792
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [263.965, -76.2]
    - type: circle
      start: 816
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [263.965, -152.4]
    - type: circle
      start: 840
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [197.973, -114.3]

    # controller 7
@@ -305,75 +333,75 @@ led:
      start: 864
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [65.991, -114.3]
    - type: circle
      start: 888
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [0, -152.4]
    - type: circle
      start: 912
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-65.991, -114.3]
    - type: circle
      start: 936
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-131.982, -76.2]
    - type: circle
      start: 960
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-197.973, -114.3]
    - type: circle
      start: 984
      size: 24
      diameter: 63.5
-      angle: 0
-      pos: [-131.982, -152.4]
+      angle: 180
+      pos: [-133.0, -151.0]

    # controller 8
    - type: circle
      start: 1008
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [0, -228.6]
    - type: circle
      start: 1032
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-65.991, -190.5]
    - type: circle
      start: 1056
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-65.991, -266.7]
    - type: circle
      start: 1080
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-131.982, -228.6]
    - type: circle
      start: 1104
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-197.973, -190.5]
    - type: circle
      start: 1128
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-263.965, -152.4]

    # controller 9
@@ -381,49 +409,49 @@ led:
      start: 1152
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [0, -304.8]
    - type: circle
      start: 1176
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [65.991, -266.7]
    - type: circle
      start: 1200
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [131.982, -228.6]
    - type: circle
      start: 1224
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [197.973, -190.5]
    - type: circle
      start: 1248
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [131.982, -152.4]
    - type: circle
      start: 1272
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [65.991, -190.5]

    # Strips
-    - type: strip
-      start: 1296
-      size: 70
-      length: 600
-      angle: 270 # down
-      pos: [375, 300]
+    # - type: strip
+    #   start: 1296
+    #   size: 70
+    #   length: 600
+    #   angle: 270 # down
+    #   pos: [375, 300]

 global_position_offset: [0,0] # default coordinate spce below as center of arm at 0,0 - adjust if necessary
-animation_time: 40
+
 position_map:
  - index: 0
    pos: [-152.4, 263.965]
@@ -500,7 +528,7 @@ position_map:
  - index: 36
    pos: [-228.6, -131.982]
  - index: 37
-    pos: [-152.4, -131.982]
+    pos: [-151.0, -133.0]
  - index: 38
    pos: [-76.2, -131.982]
  - index: 39
@@ -516,7 +544,7 @@ position_map:
  - index: 44
    pos: [-114.3, -197.973]
  - index: 45
-    pos: [-38.1, -197.973]
+    pos: [-35.0, -199.0]
  - index: 46
    pos: [38.1, -197.973]
  - index: 47
@@ -0,0 +1,17 @@
+import http.server
+import socketserver
+import os
+
+def run_server(port, directory):
+    """
+    Run a simple HTTP server serving files from the specified directory.
+    """
+    # Change the working directory to the specified directory
+    os.makedirs(directory, exist_ok=True)
+    os.chdir(directory)
+
+    # Create the HTTP server
+    handler = http.server.SimpleHTTPRequestHandler
+    with socketserver.TCPServer(("", port), handler) as httpd:
+        print(f"Serving cable images & files at port {port}")
+        httpd.serve_forever()
@@ -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")


@@ -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>
@@ -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": {
@@ -61,9 +61,15 @@ 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")

 def delete_folder(path):
    # Check if the path is a directory
@@ -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 +234,86 @@ 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*5.2), int(width*5.2/png_width*png_height)))
+    png_width, png_height = png_image_pillow.size
+    # paste belden logo first because it has a big border that would cover stuff up
+    img.paste(png_image_pillow, (int(width*5-png_width/2), int(width*4.25 - png_height/2)))
+
+    # draw circle border
+    #draw.arc(((width - width/5, width - width/5), (width*9 + width/5, width*9 + width/5)),0,360,fill='blue', width = int(width/8))
+    draw.arc(((width+int(width / 1.4), width+int(width / 1.4)), (width*9-int(width / 1.4), width*9-int(width / 1.4))),0,360,fill=(0, 73,144), width = int(width/8))
+    
+    font_path = find_data_file("GothamCond-Medium.otf") 
+    font_size = width/2
+    font = ImageFont.truetype(font_path, font_size)
+    text_width = font.getlength(partnum[2:])
+    # shrink font dynamically if it's too long of a name
+    while text_width > width*4:
+        font_size -= 1
+        font = ImageFont.truetype(font_path, font_size)
+        text_width = font.getlength(partnum[2:])
+
+    txtx = (int(width * 10) - text_width) / 2
+    txty = (int(width * 10)) / 2
+    # draw part number text
+    draw.text((txtx,txty),partnum[2:], "black", font)
+    
+    # Draw QR code
+    partnum = partnum.replace(" ", "%20")
+    qrcode = segno.make('HTTPS://BLDN.APP/' + partnum,micro=False,boost_error=False,error="L",mask=3)
+    out = io.BytesIO()
+    qrx, _ = qrcode.symbol_size(1,0)
+    qrcode.save(out, scale=width*2/qrx, kind="PNG", border=0)
+    qrimg = Image.open(out)
+    img.paste(qrimg, box=(int(width*4),int(width*5.75)))
+
+    
    return img

 if __name__ == "__main__":
    #print(generate_code("BL10GXS13"))
    #print(generate_code("BL10GXgd35j35S13"))
    #print(generate_code("BL10GX54hS13"))
-    print(generate_code("BL10Gj34qXS13", False, False))
+    #print(generate_code("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")
@@ -14,24 +14,33 @@ import cv2
 import numpy as np
 from uptime import uptime

-sender = None
-debug = True
-config = None
-leds = None
-leds_size = None
-leds_normalized = None
-controllers = None
-data = None
-exactdata = None
-rings = None
-ringstatus = None
-mode = "Startup"
-firstrun = True
-changecount = 0
-animation_time = 0
-start = uptime()

-def ping(host):
+
+class LEDSystem():
+    sender = None
+    debug = True
+    config = None
+    leds = None
+    leds_size = None
+    leds_normalized = None
+    controllers = None
+    data = None
+    exactdata = None
+    rings = None
+    ringstatus = None
+    mode = "Startup"
+    firstrun = True
+    changecount = 0
+    animation_time = 0
+    start = uptime()
+    solid_controllers = None
+    
+    def __init__(self):
+        self.start = uptime()
+        #self.init()
+        #return self
+
+    def ping(self, host):
        #Returns True if host (str) responds to a ping request.

        # Option for the number of packets as a function of
@@ -49,32 +58,25 @@ def ping(host):

        return subprocess.call(command, stdout=subprocess.DEVNULL, stderr=subprocess.STDOUT) == 0

-def map():
-    global config
-    global leds
-    global leds_size
-    global leds_normalized
-    global controllers
-    global rings
-    global ringstatus
-    global animation_time
-    
+    def map(self):

        with open('config.yml', 'r') as fileread:
            #global config
-        config = yaml.safe_load(fileread)
+            self.config = yaml.safe_load(fileread)

-    animation_time = config["animation_time"]
-    leds = list()
-    leds_size = list()
-    controllers = list()
-    rings = list(range(len(config["position_map"])))
-    ringstatus = list(range(len(config["position_map"])))
+        self.animation_time = self.config["animation_time"]
+        self.leds = list()
+        self.leds_size = list()
+        self.controllers = list()
+        self.solid_controllers = list()
+        self.rings = list(range(len(self.config["position_map"])))
+        print("Setting ring status")
+        self.ringstatus = list(range(len(self.config["position_map"])))
        #print(rings)
        #fprint(config["led"]["map"])
        generate_map = False
        map = list()
-    for shape in config["led"]["map"]:
+        for shape in self.config["led"]["map"]:
            if shape["type"] == "circle":

                if generate_map:
@@ -84,24 +86,24 @@ def map():
                angle = 0
                radius = shape["diameter"] / 2
                lednum = shape["start"]
-            for item in config['position_map']:
+                for item in self.config['position_map']:
                # Check if the current item's position matches the target position
                    #print(item['pos'],(shape["pos"][1],shape["pos"][0]))
                    if tuple(item['pos']) == (shape["pos"][1],shape["pos"][0]):
-                    rings[item["index"]] = (shape["pos"][1],shape["pos"][0],lednum,lednum+shape["size"]) # rings[index] = x, y, startpos, endpos
-                    ringstatus[item["index"]] = [None, None]
+                        self.rings[item["index"]] = (shape["pos"][1],shape["pos"][0],lednum,lednum+shape["size"]) # rings[index] = x, y, startpos, endpos
+                        self.ringstatus[item["index"]] = [None, None]
                        break
-            if len(leds) < lednum + shape["size"]:
-                for x in range(lednum + shape["size"] - len(leds)):
-                    leds.append(None)
-                    leds_size.append(None)
-            while angle < 359.999:
+                if len(self.leds) < lednum + shape["size"]:
+                    for x in range(lednum + shape["size"] - len(self.leds)):
+                        self.leds.append(None)
+                        self.leds_size.append(None)
+                while angle > -359.999:
                    tmpangle = angle + shape["angle"]
                    x = math.cos(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][1] # flip by 90 degress when we changed layout
                    y = math.sin(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][0]
-                leds[lednum] = (x,y)
+                    self.leds[lednum] = (x,y)
                    lednum = lednum + 1
-                angle = angle + anglediv
+                    angle = angle - anglediv

            elif shape["type"] == "strip":
                angle = shape["angle"]
@@ -112,13 +114,13 @@ def map():
                xmov = math.cos(angle * (math.pi / 180.0)) * distdiv
                ymov = math.sin(angle * (math.pi / 180.0)) * distdiv
                pos = shape["pos"]
-            if len(leds) < lednum + shape["size"]:
-                for x in range(lednum + shape["size"] - len(leds)):
-                    leds.append(None)
-                    leds_size.append(None)
+                if len(self.leds) < lednum + shape["size"]:
+                    for x in range(lednum + shape["size"] - len(self.leds)):
+                        self.leds.append(None)
+                        self.leds_size.append(None)

                while dist < length:
-                leds[lednum] = (pos[0], pos[1])
+                    self.leds[lednum] = (pos[0], pos[1])
                    pos[0] += xmov
                    pos[1] += ymov
                    dist += distdiv
@@ -140,276 +142,356 @@ def map():
            yaml_str = yaml.dump(data, default_flow_style=False)
            print(yaml_str)

-    print(rings)
+        print(self.rings)
        flag = 0
-    for x in leds:
+        for x in self.leds:
            if x is None:
                flag = flag + 1
        if flag > 0:
            fprint("Warning: Imperfect LED map ordering. Hiding undefined lights.")
-        for x in range(len(leds)):
-            if leds[x] is None:
-                leds[x] = (0, 0)
+            for x in range(len(self.leds)):
+                if self.leds[x] is None:
+                    self.leds[x] = (0, 0)


        #leds = tmpleds.reverse()
        #fprint(leds)

        # controller mapping
-    for ctrl in config["led"]["controllers"]:
-        if len(controllers) < ctrl["universe"]+1:
-            for x in range(ctrl["universe"]+1 - len(controllers)):
-                controllers.append(None)
+        for ctrl in self.config["led"]["controllers"]:
+            if ctrl["mode"] == "solid":
+                self.solid_controllers.append((ctrl["universe"]-1, ctrl["color"], ctrl["ip"]))
+            else:
+                if len(self.controllers) < ctrl["universe"]:
+                    print(ctrl["universe"])
+                    for x in range(ctrl["universe"] - len(self.controllers)):
+                        self.controllers.append(None)

-        controllers[ctrl["universe"]] = (ctrl["ledstart"],ctrl["ledend"]+1,ctrl["ip"])
+                self.controllers[ctrl["universe"]-1] = (ctrl["ledstart"],ctrl["ledend"]+1,ctrl["ip"])
                for x in range(ctrl["ledstart"],ctrl["ledend"]+1):
-            leds_size[x] = len(ctrl["mode"])
+                    self.leds_size[x] = len(ctrl["mode"])
        #fprint(controllers)

-    if(debug):
+        if(self.debug):
            import matplotlib.pyplot as plt
            plt.axis('equal')
-        for ctrl in controllers:
-            plt.scatter(*zip(*leds[ctrl[0]:ctrl[1]]), s=2)
+            for ctrl in self.controllers:
+                plt.scatter(*zip(*self.leds[ctrl[0]:ctrl[1]]), s=2)
            #plt.scatter(*zip(*leds), s=3)
            plt.savefig("map.png", dpi=600, bbox_inches="tight")

-    leds_adj = [(x-min([led[0] for led in leds]), # push to zero start
-                    y-min([led[1] for led in leds]) )
-                   for x, y in leds]
+        leds_adj = [(x-min([led[0] for led in self.leds]), # push to zero start
+                        y-min([led[1] for led in self.leds]) )
+                       for x, y in self.leds]

-    leds_normalized = [(x / max([led[0] for led in leds_adj]), 
+        self.leds_normalized = [(x / max([led[0] for led in leds_adj]), 
                        y / max([led[1] for led in leds_adj]))
                       for x, y in leds_adj]
        #return leds, controllers

-def init():
-    map()
-    global sender
-    global config
-    global leds
-    global leds_size
-    global controllers
-    global data
-    global exactdata
-    sender = sacn.sACNsender(fps=config["led"]["fps"], universeDiscovery=False)
-    sender.start()  # start the sending thread
-    """for x in range(len(controllers)):
-        print("Waiting for the controller at", controllers[x][2], "to be online...", end="")
+    def init(self):
+        self.map()
+        self.sender = sacn.sACNsender(fps=self.config["led"]["fps"], universeDiscovery=False)
+        self.sender.start()  # start the sending thread
+        for x in range(len(self.controllers)):
+            print("Waiting for the controller at", self.controllers[x][2], "to be online...", end="", flush=True)
            count = 0
-        while not ping(controllers[x][2]):
+            while not self.ping(self.controllers[x][2]):
                count = count + 1
-            if count >= config["led"]["timeout"]:
-                fprint(" ERROR: controller still offline after " + str(count) + " seconds, continuing...")
+                if count >= self.config["led"]["timeout"]:
+                    print(" ERROR: controller still offline after " + str(count) + " seconds, continuing...")
                    break
-        if count < config["led"]["timeout"]:
-            fprint(" done")"""
-    for x in range(len(controllers)):
-        print("Activating controller", x, "at", controllers[x][2], "with", controllers[x][1]-controllers[x][0], "LEDs.")
-        sender.activate_output(x+1)  # start sending out data
-        sender[x+1].destination = controllers[x][2]
-    sender.manual_flush = True
+            else:
+                print(" done")
+            #if count < self.config["led"]["timeout"]:
+                
+        for x in range(len(self.solid_controllers)):
+            print("Waiting for the controller at", self.solid_controllers[x][2], "to be online...", end="", flush=True)
+            count = 0
+            while not self.ping(self.solid_controllers[x][2]):
+                count = count + 1
+                if count >= self.config["led"]["timeout"]:
+                    print(" ERROR: controller still offline after " + str(count) + " seconds, continuing...")
+                    break
+            else:
+                print(" done")
+                
+        time.sleep(1)
+        for x in range(len(self.controllers)):
+            print("Activating controller", x+1, "at", self.controllers[x][2], "with", self.controllers[x][1]-self.controllers[x][0], "LEDs.")
+            self.sender.activate_output(x+1)  # start sending out data
+            self.sender[x+1].destination = self.controllers[x][2]
+
+        for x in range(len(self.solid_controllers)):
+            ctrl = self.solid_controllers[x]
+            print("Activating controller", ctrl[0], "at", ctrl[2], "with solid color ", ctrl[1])
+            self.sender.activate_output(ctrl[0]+1)  # start sending out data
+            self.sender[ctrl[0]+1].destination = ctrl[2]
+
+        self.sender.manual_flush = True

        # initialize global pixel data list
-    data = list()
-    exactdata = list()
-    for x in range(len(leds)):
-        if leds_size[x] == 3:
-            exactdata.append(None)
-            data.append((20,20,127))
-        elif leds_size[x] == 4:
-            exactdata.append(None)
-            data.append((50,50,255,0))
+        self.data = list()
+        self.exactdata = list()
+        for x in range(len(self.leds)):
+            if self.leds_size[x] == 3:
+                self.exactdata.append(None)
+                self.data.append((0,0,127))
+            elif self.leds_size[x] == 4:
+                self.exactdata.append(None)
+                self.data.append((50,50,255,0))
            else:
-            exactdata.append(None)
-            data.append((0,0,0))
-    sendall(data)
+                self.exactdata.append(None)
+                self.data.append((0,0,0))
+        self.sendall(self.data)
        #time.sleep(50000)    
-    fprint("Running start-up test sequence...")
-    for y in range(1):
-        for x in range(len(leds)):
-            setpixel(0,60,144,x)
-        sendall(data)
-        #time.sleep(2)
-    alloffsmooth()
+        # fprint("Running start-up test sequence...")
+        # for y in range(1):
+        #     for x in range(len(self.leds)):
+        #         self.setpixel(0,60,144,x)
+        #     self.sendall(self.data)
+        #     #time.sleep(2)
+        # self.alloffsmooth()
+        self.startup_animation(show=False)

-def sendall(datain):
+    def sendall(self, datain):
        # send all LED data to all controllers
        # data must have all LED data in it as [(R,G,B,)] tuples in an array, 1 tuple per pixel
-    global controllers
-    global sender
-    sender.manual_flush = True
-    for x in range(len(controllers)):
-        sender[x+1].dmx_data = list(sum(datain[controllers[x][0]:controllers[x][1]] , ())) # flatten the subsection of the data array
+        self.sender.manual_flush = True
+        for x in range(len(self.controllers)):
+            self.sender[x+1].dmx_data = list(sum(datain[self.controllers[x][0]:self.controllers[x][1]] , ())) # flatten the subsection of the data array

-    sender.flush()
+        offset = len(self.controllers)
+        for x in range(len(self.solid_controllers)):
+            ctrl = self.solid_controllers[x]
+            self.sender[ctrl[0]+1].dmx_data = list(ctrl[1]) * 170
+
+
+        self.sender.flush()
        time.sleep(0.002)
        #sender.flush() # 100% reliable with 2 flushes, often fails with 1
        #time.sleep(0.002)
        #sender.flush()

-def fastsendall(datain):
+    def fastsendall(self, datain):
        # send all LED data to all controllers
        # data must have all LED data in it as [(R,G,B,)] tuples in an array, 1 tuple per pixel
-    global controllers
-    global sender
-    sender.manual_flush = False
-    print(datain[controllers[0][0]:controllers[0][1]])
-    for x in range(len(controllers)):
-        sender[x+1].dmx_data = list(sum(datain[controllers[x][0]:controllers[x][1]] , ())) # flatten the subsection of the data array
+        self.sender.manual_flush = True
+        #print(datain[self.controllers[0][0]:self.controllers[0][1]])
+        for x in range(len(self.controllers)):
+            self.sender[x+1].dmx_data = list(sum(datain[self.controllers[x][0]:self.controllers[x][1]] , ())) # flatten the subsection of the data array

-    sender.flush()
+        self.sender.flush()

-def senduniverse(datain, lednum):
+    def senduniverse(self, datain, lednum):
        # send all LED data for 1 controller/universe
        # data must have all LED data in it as [(R,G,B,)] tuples in an array, 1 tuple per pixel
-    global controllers
-    global sender
-    for x in range(len(controllers)):
-        if lednum >= controllers[x][0] and lednum < controllers[x][1]:
-            sender[x+1].dmx_data = list(sum(datain[controllers[x][0]:controllers[x][1]] , ())) # flatten the subsection of the data array
+        for x in range(len(self.controllers)):
+            if lednum >= self.controllers[x][0] and lednum < self.controllers[x][1]:
+                self.sender[x+1].dmx_data = list(sum(datain[self.controllers[x][0]:self.controllers[x][1]] , ())) # flatten the subsection of the data array

-    sender.flush()
+        self.sender.flush()
        time.sleep(0.004)
        #sender.flush() # 100% reliable with 2 flushes, often fails with 1
        #time.sleep(0.002)
        #sender.flush()

-def alloff():
+    def alloff(self):
        tmpdata = list()
-    for x in range(len(leds)):
-        if leds_size[x] == 3:
+        for x in range(len(self.leds)):
+            if self.leds_size[x] == 3:
                tmpdata.append((0,0,0))
-        elif leds_size[x] == 4:
+            elif self.leds_size[x] == 4:
                tmpdata.append((0,0,0,0))
            else:
                tmpdata.append((0,0,0))
-    sendall(tmpdata)
+        self.sendall(tmpdata)
        #sendall(tmpdata)
        #sendall(tmpdata) #definitely make sure it's off
+        return self

-def allon():
-    global data
-    sendall(data)
+    def allon(self):
+        self.sendall(self.data)
+        return self

-def alloffsmooth():
-    tmpdata = data
+    def alloffsmooth(self):
+        tmpdata = self.data
        for x in range(256):
-        for x in range(len(data)):
-            setpixel(tmpdata[x][0]-1,tmpdata[x][1]-1,tmpdata[x][2]-1, x)
-        sendall(tmpdata)
+            for x in range(len(self.data)):
+                self.setpixel(tmpdata[x][0]-1,tmpdata[x][1]-1,tmpdata[x][2]-1, x)
+            self.sendall(tmpdata)

-    alloff()
+        self.alloff()
+        return self

-def setpixelnow(r, g, b, num):
+    def setpixelnow(self, r, g, b, num):
        # slight optimization: send only changed universe
        # unfortunately no way to manual flush data packets to only 1 controller with this sACN library
-    global data
-    setpixel(r,g,b,num)
-    senduniverse(data, num)
+        self.setpixel(r,g,b,num)
+        self.senduniverse(self.data, num)
+        return self

-def setmode(stmode, r=0,g=0,b=0):
-    global mode
-    global firstrun
+    def setmode(self, stmode, r=0,g=0,b=0):
        if stmode is not None:
-        if mode != stmode:
-            firstrun = True
+            if self.mode != stmode:
+                self.firstrun = True

-        mode = stmode
+            self.mode = stmode
+        return self
+    
+    def setrange(self, start, end, r,g,b):
+        val = (r,g,b)
+        for x in range(start,end):
+            self.data[x] = val
+
+    def setallringsexcept(self, r,g,b, exclude):
+        startidx1 = 0
+        endidx2 = len(self.leds)
+        endidx1 = self.rings[exclude][2]
+        startidx2 = self.rings[exclude][3]+1
+        self.setrange(startidx1, endidx1, r,g,b)
+        self.setrange(startidx2, endidx2, r,g,b)
        

-def setring(r,g,b,idx):
-    
-    ring = rings[idx]
+    def setring(self, r,g,b,idx):
+        ring = self.rings[idx]
        for pixel in range(ring[2],ring[3]):
-        setpixel(r,g,b,pixel)
+            self.setpixel(r,g,b,pixel)
        #global data
        #senduniverse(data, ring[2])
+        return self

-def runmodes(ring = -1, speed = 1):
-    global mode
-    global firstrun
-    global changecount
-    fprint("Mode: " + str(mode))
-    if mode == "Startup":
+    def runmodes(self, ring = -1, arm_position = None):
+        #fprint("Mode: " + str(self.mode))
+        if self.mode == "Startup":
            # loading animation. cable check
-        if firstrun:
-            changecount = animation_time * 3
-            firstrun = False
-            for x in range(len(ringstatus)):
-                ringstatus[x] = [True, animation_time]
+            if self.firstrun:
+                self.changecount = self.animation_time * 2
+                self.firstrun = False
+                for x in range(len(self.ringstatus)):
+                    self.ringstatus[x] = [True, self.animation_time]

-        if changecount > 0:
-            fprint(changecount)
-            changecount = fadeorder(0,len(leds), changecount, 0,50,100)
+            if self.changecount > 0:
+                #fprint(self.changecount)
+                self.changecount = self.fadeorder(0,len(self.leds), self.changecount, 0,50,100)
            else:
-            setmode("Startup2")
+                self.setmode("Startup2")


-    elif mode == "Startup2":
-        if firstrun:
-            firstrun = False
+        elif self.mode == "Startup2":
+            if self.firstrun:
+                self.firstrun = False

            else:
-            for x in range(len(ringstatus)):
-                if ringstatus[x][0]:
-                    setring(0, 50, 100, x)
+                for x in range(len(self.ringstatus)):
+                    if self.ringstatus[x][0]:
+                        self.setring(0, 50, 100, x)
                    else:
-                    ringstatus[x][1] = fadeall(rings[x][2],rings[x][3], ringstatus[x][1], 100,0,0) # not ready
+                        #self.ringstatus[x][1] = self.fadeall(self.rings[x][2],self.rings[x][3], self.ringstatus[x][1], 100,0,0) # not ready
+                        self.ringstatus[x][1] = self.fadeall(self.rings[x][2],self.rings[x][3], self.ringstatus[x][1], 0,50,100)

-    elif mode == "StartupCheck":
-        if firstrun:
-            firstrun = False
-            for x in range(len(ringstatus)):
-                ringstatus[x] = [False, animation_time]
+        elif self.mode == "StartupCheck":
+            if self.firstrun:
+                self.firstrun = False
+                for x in range(len(self.ringstatus)):
+                    self.ringstatus[x] = [False, self.animation_time]
            else:
-            for x in range(len(ringstatus)):
-                if ringstatus[x][0]:
-                    ringstatus[x][1] = fadeall(rings[x][2],rings[x][3], ringstatus[x][1], 0,50,100) # ready  
+                for x in range(len(self.ringstatus)):
+                    if self.ringstatus[x][0]:
+                        self.ringstatus[x][1] = self.fadeall(self.rings[x][2],self.rings[x][3], self.ringstatus[x][1], 0,50,100) # ready  
                    else:
-                    setring(100, 0, 0, x)
+                        self.setring(100, 0, 0, x)

-    elif mode == "GrabA":
-        if firstrun:
-            firstrun = False
-            changecount = animation_time # 100hz
-        if changecount > 0:
-            changecount = fadeall(rings[ring][2],rings[ring][3], changecount, 100,0,0)
+        elif self.mode == "GrabA":
+            if self.firstrun:
+                self.firstrun = False
+                self.changecount = self.animation_time # 100hz
+            if self.changecount > 0:
+                self.changecount = self.fadeall(self.rings[ring][2],self.rings[ring][3], self.changecount, 100,0,0)
            else:
-            setring(100,0,0,ring)
-            setmode("GrabB")
-    elif mode == "GrabB":
-        if firstrun:
-            firstrun = False
-            changecount = animation_time # 100hz
-        if changecount > 0:
-            changecount = fadeorder(rings[ring][2],rings[ring][3], changecount, 0,100,0)
+                self.setring(100,0,0,ring)
+                self.setmode("GrabB")
+        elif self.mode == "GrabB":
+            if self.firstrun:
+                self.firstrun = False
+                self.changecount = self.animation_time # 100hz
+            if self.changecount > 0:
+                #self.changecount = self.fadeorder(self.rings[ring][2],self.rings[ring][3], self.changecount, 0,100,0)
+                self.changecount = self.fadeorder(self.rings[ring][2],self.rings[ring][2]+24, self.changecount, 0,100,0)
            else:
-            setring(0,100,0,ring)
-            setmode("idle")
-    elif mode == "GrabC":
-        if firstrun:
-            firstrun = False
-            changecount = animation_time # 100hz
-        if changecount > 0:
-            changecount = fadeall(rings[ring][2],rings[ring][3], changecount, 0,50,100)
+                self.setring(0,100,0,ring)
+                self.setmode("Idle")
+        elif self.mode == "GrabC":
+            if self.firstrun:
+                self.firstrun = False
+                self.changecount = self.animation_time # 100hz
+            if self.changecount > 0:
+                self.changecount = self.fadeall(self.rings[ring][2],self.rings[ring][3], self.changecount, 0,50,100)
            else:
-            setring(0,50,100,ring)
-            setmode("idle")
-    elif mode == "idle":
-        time.sleep(0)
+                self.setring(0,50,100,ring)
+                self.setmode("Idle")

-    sendall(data)
+        elif self.mode == "GrabAA":
+            print("GrabAA")
+            if self.firstrun:
+                self.firstrun = False
+                self.changecount = self.animation_time # 100hz
+            if self.changecount > 0:
+                self.changecount = self.fadeall(self.rings[ring][2],self.rings[ring][3], self.changecount, 100,0,0)
+            else:
+                self.setring(100,0,0,ring)
+                self.setmode("Idle")
+        elif self.mode == "GrabAB":
+            if self.firstrun:
+                self.firstrun = False
+                self.changecount = self.animation_time # 100hz
+            if self.changecount > 0:
+                #self.changecount = self.fadeorder(self.rings[ring][2],self.rings[ring][3], self.changecount, 0,100,0)
+                self.changecount = self.fadeorder(self.rings[ring][2],self.rings[ring][2]+24, self.changecount, 0,100,0)
+            else:
+                self.setring(0,100,0,ring)
+                self.setmode("Idle")

-def fadeall(idxa,idxb,sizerem,r,g,b):
+        elif self.mode == "Idle":
+            if self.firstrun:
+                self.firstrun = False
+            if arm_position is not None:
+                posxy = list()
+                posxy.append(int(arm_position[0] * 1000)) # x   convert m to mm
+                posxy.append(int(arm_position[1] * 1000)) # y
+                radius = int(arm_position[2] * 1000) / 3
+                base = (0,50,100)
+                target = (100,100,100)
+                deltar = target[0] - base[0]
+                deltag = target[0] - base[0]
+                #deltab = target[0] - base[0]
+                # reset!
+                self.setallringsexcept(0,50,100, ring)
+                exclude = self.rings[ring][2],self.rings[ring][3]
+                # fade outwards
+                for idx,led in enumerate(self.leds):
+                    if posxy[0] - led[0] < radius and posxy[1] - led[1] < radius and idx < exclude[0] or idx > exclude[1]:
+                        dist = math.isqrt(int(math.pow(int(posxy[0] - led[0]), 2) + math.pow(int(posxy[1] - led[1]), 2)))
+                        #dist = max(posxy[0] - led[0], posxy[1] - led[1])
+                        if dist < radius:
+                            ratio = 1 - dist/radius
+                            #if ratio < 0:
+                            #    ratio = 0
+                            self.data[idx] = (int(base[0] + ratio * deltar), int(base[1] + ratio * deltag), 100) #base[2] + ratio * deltab)
+            else:
+                #print("No arm position!")
+                pass
+        self.sendall(self.data)
+        return self
+
+    def fadeall(self, idxa,idxb,sizerem,r,g,b):
        if sizerem < 1:
            return 0
-    global exactdata
        sum = 0
        for x in range(idxa,idxb):
-        if exactdata[x] is None:
-            exactdata[x] = data[x]
-        old = exactdata[x]
+            if self.exactdata[x] is None:
+                self.exactdata[x] = self.data[x]
+            old = self.exactdata[x]
            dr = (r - old[0])/sizerem
            sum += abs(dr)
            dr += old[0]
@@ -419,27 +501,26 @@ def fadeall(idxa,idxb,sizerem,r,g,b):
            db = (b - old[2])/sizerem 
            db += old[2]
            sum += abs(db)
-        exactdata[x] = (dr, dg, db)
+            self.exactdata[x] = (dr, dg, db)
            #print(new)
-        setpixel(dr, dg, db, x)
+            self.setpixel(dr, dg, db, x)
            if sizerem == 1:
-            exactdata[x] = None
+                self.exactdata[x] = None
        if sum == 0 and sizerem > 2:
            sizerem = 2
        return sizerem - 1

-def fadeorder(idxa,idxb,sizerem,r,g,b):
+    def fadeorder(self, idxa,idxb,sizerem,r,g,b):
        if sizerem < 1:
            return 0
-    global exactdata
        drs = 0
        dgs = 0
        dbs = 0
        sum = 0
        for x in range(idxa,idxb):
-        if exactdata[x] is None:
-            exactdata[x] = data[x]
-        old = exactdata[x]
+            if self.exactdata[x] is None:
+                self.exactdata[x] = self.data[x]
+            old = self.exactdata[x]
            dr = (r - old[0])
            dg = (g - old[1])
            db = (b - old[2])
@@ -451,9 +532,9 @@ def fadeorder(idxa,idxb,sizerem,r,g,b):
        dgs /= sizerem
        dbs /= sizerem
        sum += abs(drs) + abs(dgs) + abs(dbs)
-    print(drs,dgs,dbs)
+        #print(drs,dgs,dbs)
        for x in range(idxa,idxb):
-        old = exactdata[x]
+            old = self.exactdata[x]
            new = list(old)
            if drs > 0:
                if old[0] + drs > r:
@@ -500,20 +581,18 @@ def fadeorder(idxa,idxb,sizerem,r,g,b):
                    dbs = 0

            if drs != 0 or dgs != 0 or dbs != 0:
-            exactdata[x] = new
-            setpixel(new[0],new[1],new[2],x)
+                self.exactdata[x] = new
+                self.setpixel(new[0],new[1],new[2],x)

            if sizerem == 1:
-            exactdata[x] = None
+                self.exactdata[x] = None

        if sum == 0 and sizerem > 2:
            sizerem = 2
        return sizerem - 1


-def setpixel(r, g, b, num):
-    global data
-    global leds_size
+    def setpixel(self, r, g, b, num):
        # constrain values
        if r < 0:
            r = 0
@@ -528,29 +607,37 @@ def setpixel(r, g, b, num):
        elif b > 255:
            b = 255

-    if leds_size[num] == 3:
-        data[num] = (int(r), int(g), int(b))
-    elif leds_size[num] == 4: # cut out matching white and turn on white pixel instead
-        data[num] = (( int(r) - int(min(r,g,b)), int(g) - int(min(r,g,b)), int(b) - int(min(r,g,b)), int(min(r,g,b))) )
+        if self.leds_size[num] == 3:
+            self.data[num] = (int(r), int(g), int(b))
+        elif self.leds_size[num] == 4: # cut out matching white and turn on white pixel instead
+            self.data[num] = (( int(r) - int(min(r,g,b)), int(g) - int(min(r,g,b)), int(b) - int(min(r,g,b)), int(min(r,g,b))) )
        else:
-        data[num] = (int(r), int(g), int(b))
+            self.data[num] = (int(r), int(g), int(b))
+        return self
    
+    def setpixelfast3(self, rgb, num):
+        self.data[num] = rgb

-def close():
-    global sender
+    def close(self):
        time.sleep(0.5)
-    sender.stop()
+        self.sender.stop()
+        return self

-def mapimage(image, fps=90):
-    global start
-    while uptime() - start < 1/fps:
-        time.sleep(0.00001)
-    fprint(1 / (uptime() - start))
-    start = uptime()
+    def mapimage(self, image, fps=30):
+        
+        #fprint(1 / (uptime() - self.start))
+        self.start = uptime()
        minsize = min(image.shape[0:2])
-    leds_normalized2 = [(x * minsize, 
+        if image.shape[1] > image.shape[0]:
+            offset = (image.shape[1] - image.shape[0])/2
+            leds_normalized2 = [(x * minsize + offset, 
                                y * minsize)
-                        for x, y in leds_normalized]
+                                for x, y in self.leds_normalized]
+        else:
+            offset = (image.shape[0] - image.shape[1])/2
+            leds_normalized2 = [(x * minsize, 
+                                y * minsize + offset)
+                                for x, y in self.leds_normalized]

        cv2.imshow("video", image)
        cv2.waitKey(1)
@@ -562,44 +649,49 @@ def mapimage(image, fps=90):
        for xx in range(len(leds_normalized2)):
            led = leds_normalized2[xx]
            x, y = int(round(led[0])), int(round(led[1]))
-        
+            yinv = image.shape[0]-1
            if x < image.shape[1] and y < image.shape[0]:
                #avgx += x
                #avgy += y
-            color = tuple(image[y, x])
-            setpixel(color[2]/2,color[1]/2,color[0]/2,xx) # swap b & r
+                color = tuple(image[yinv-y, x])
+                self.setpixel(color[2]/2,color[1]/2,color[0]/2,xx) # swap b & r
                #print(color)
            else:
                #avgx += x
                #avgy += y
-            setpixel(0,0,0,xx)
+                self.setpixel(0,0,0,xx)
        #avgx /= len(leds)
        #avgy /= len(leds)
        #print((avgx,avgy, max([led[0] for led in leds_adj]), max([led[1] for led in leds_adj]) , min(image.shape[0:2]) ))
-    global data
-    fastsendall(data)
-
-def mainloop(stmode, ring = -1, fps = 100, preview = False):
-    global start
-    while uptime() - start < 1/fps:
+        self.fastsendall(self.data)
+        while self.start + 1.0/fps > uptime():
            time.sleep(0.00001)
-    fprint(1 / (uptime() - start))
-    start = uptime()
-    if mode is not None:
-        setmode(stmode)
-    runmodes(ring)
-    if preview:
-        drawdata()
+        return self

-def drawdata():
+    def mainloop(self, stmode, ring = -1, fps = 100, preview = False, arm_position = None):
+        while uptime() - self.start < 1/fps:
+            time.sleep(0.00001)
+        #fprint("Running LED loop with ring " + str(ring) + " and set mode " + str(stmode))
+        #fprint(1 / (uptime() - self.start))
+        self.start = uptime()
+        if self.mode is not None:
+            self.setmode(stmode)
+
+        #if self.
+        self.runmodes(ring, arm_position)
+        if preview:
+            self.drawdata()
+        return self
+
+    def drawdata(self):
        #tmp = list()
        #for x in len(leds):
        #    led = leds[x]
        #    tmp.append((led[0], led[1], data[x]))

-    x = [led[0] for led in leds]
-    y = [led[1] for led in leds]
-    colors = data
+        x = [led[0] for led in self.leds]
+        y = [led[1] for led in self.leds]
+        colors = self.data
        colors_normalized = [(x[0]/255, x[1]/255, x[2]/255) for x in colors]
        # Plot the points
        plt.scatter(x, y, c=colors_normalized)
@@ -612,67 +704,77 @@ def drawdata():
        plt.show()
        plt.savefig("map3.png", dpi=50, bbox_inches="tight")
        plt.clf()
+        return self

-def startup_animation(show):
+    def startup_animation(self, show):


        stmode = "Startup"
-    mainloop(stmode, preview=show)
-    while mode == "Startup":
-        mainloop(None, preview=show)
+        self.mainloop(stmode, preview=show)
+        while self.mode == "Startup":
+            self.mainloop(None, preview=show)
        for x in range(54):
-        ringstatus[x][0] = False
-        mainloop(None, preview=show)
+            self.ringstatus[x][0] = False
+            self.mainloop(None, preview=show)

-    for x in range(animation_time):
-        mainloop(None, preview=show)
-    clear_animations()
-    stmode = "StartupCheck"
-    mainloop(stmode, preview=show)
-    clear_animations()
+        for x in range(self.animation_time):
+            self.mainloop(None, preview=show)
+        self.clear_animations()
+        stmode = "Idle"
+        self.mainloop(stmode, preview=show)
+        self.clear_animations()
+        return self

-def clear_animations():
-    for x in range(len(leds)):
-        exactdata[x] = None
+    def clear_animations(self):
+        for x in range(len(self.leds)):
+            self.exactdata[x] = None
+        return self

-def do_animation(stmode, ring=-1):
-    mainloop(stmode, ring, preview=show)
-    wait_for_animation(ring)
+    def do_animation(self, stmode, ring=-1):
+        self.mainloop(stmode, ring, preview=show)
+        self.wait_for_animation(ring)
+        return self

-def start_animation(stmode, ring=-1):
-    mainloop(stmode, ring, preview=show)
+    def start_animation(self, stmode, ring=-1):
+        self.mainloop(stmode, ring, preview=show)
+        return self

-def wait_for_animation(ring=-1):
-    while mode != "idle":
-        mainloop(None, ring, preview=show)
+    def wait_for_animation(self, ring=-1):
+        while self.mode != "Idle":
+            self.mainloop(None, ring, preview=show)
+        return self

 if __name__ == "__main__":
-    init()
+    
    import matplotlib.pyplot as plt
-    """cap = cv2.VideoCapture('badapple.mp4')
+    ledsys = LEDSystem()
+    ledsys.init()
+    cap = cv2.VideoCapture('output.mp4')
    while cap.isOpened():
        ret, frame = cap.read()
        if not ret:
            break
-        mapimage(frame, fps=30)"""
-    show = True
+        ledsys.mapimage(frame, fps=60)
+
+    show = False
    ring = 1
-    startup_animation(show)
+    
+    ledsys.startup_animation(show)
    for x in range(54):
-        ringstatus[x][0] = True
-        mainloop(None, preview=show)
-    for x in range(animation_time):
-        mainloop(None, preview=show)
+        ledsys.ringstatus[x][0] = True
+        ledsys.mainloop(None, preview=show)
+    for x in range(ledsys.animation_time):
+        ledsys.mainloop(None, preview=show)
    
-    do_animation("GrabA", 1)
+    ledsys.do_animation("GrabA", 1)

-    do_animation("GrabA", 5)
-    start_animation("GrabC", 1)
+    ledsys.do_animation("GrabA", 5)
+    ledsys.start_animation("GrabC", 1)
    
-    wait_for_animation(1)
-    do_animation("GrabC", 5)
+    ledsys.wait_for_animation(1)
+    ledsys.do_animation("GrabC", 5)
    
-    close()
+    ledsys.close()
    #sys.exit(0)


@@ -8,13 +8,18 @@ from util import fprint
 class qr_reader():
    camera = None
    def __init__(self, ip, port):
-        self.camera = banner_ivu_export.DriveImg(ip, port)
+        self.ip = ip
+        self.port = port
+        #self.camera = banner_ivu_export.DriveImg(ip, port)

    def read_qr(self, tries=1):
        print("Trying " + str(tries) + " frames.")
+        self.camera = banner_ivu_export.DriveImg(self.ip, self.port)
        for x in range(tries):
-            try:
+            print(str(x) + " ", end="", flush=True)
            imgtype, img = self.camera.read_img()
+                
+            if img is not None:    
                #fprint(imgtype)
                image_array = np.frombuffer(img, np.uint8)
                img = cv2.imdecode(image_array, cv2.IMREAD_COLOR)
@@ -22,9 +27,13 @@ class qr_reader():
                #cv2.waitKey(1)
                detect = cv2.QRCodeDetector()
                value, points, straight_qrcode = detect.detectAndDecode(img)
+                
+                if value != "":
+                    self.camera.close()
                    return value
-            except:
-                continue
+                    
+
+        self.camera.close()
        return False
        

@@ -41,5 +50,7 @@ class video_streamer():

 if __name__ == "__main__":
    test = qr_reader("192.168.1.125", 32200)
+    import time
    while True:
-        fprint(test.read_qr(5))
+        fprint(test.read_qr(300))
+        time.sleep(1)
@@ -16,6 +16,7 @@ from util import win32
 import os
 import glob
 import sys
+from PIL import Image

 def touch(path):
    with open(path, 'a'):
@@ -37,7 +38,7 @@ 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 +53,52 @@ 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 +134,26 @@ 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 +188,15 @@ def parse(filename, output_dir, partnum, dstype):
                    fp.write(image_file_object.data)
                    count += 1
    
+    if os.path.exists(output_dir + "/found_part_hires"):
+        rotate_and_crop_image(output_dir, find_file_noext(output_dir, prefix="part-hires")[0], force_rotate=(dstype == "Alphawire"), partnum=partnum)
+        img = weburl + find_file_noext(output_dir, prefix="thumbnail-part-hires")[0]
+    elif len(find_file_noext(output_dir, prefix="part")) > 0:
+        rotate_and_crop_image(output_dir, find_file_noext(output_dir, prefix="part")[0], force_rotate=(dstype == "Alphawire"), partnum=partnum)
+        img = weburl + find_file_noext(output_dir, prefix="thumbnail-part")[0]
+    else:
+        img = None
+
    # Table parsing and reordring
    tables = dict()
    torename = dict()
@@ -141,6 +204,7 @@ 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 +241,11 @@ 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 +263,9 @@ 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 +315,6 @@ 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 +328,21 @@ def parse(filename, output_dir, partnum, dstype):
                    del tables[table_name]
    
                else:
+                    #print(tables)
+                    #print(main_key)
+                    #print(cont_key)
                    for key in tables[cont_key].keys():
                        tables[main_key][key] = tables[cont_key][key]
                    del tables[table_name]
-
+            else:
+                previous_table = table_name
+        else:
            previous_table = table_name
    
    # remove & 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 +358,41 @@ def parse(filename, output_dir, partnum, dstype):
    tables = replace_newlines_in_dict(tables)

    # summary
-
+    #print(tables)
    output_table = dict()
    output_table["partnum"] = partnum
    id = str(uuid.uuid4())
    output_table["id"] = id
    #output_table["position"] = id
-    #output_table["brand"] = brand
-    output_table["fullspecs"] = tables
-    output_table["searchspecs"] = {"partnum": partnum, **flatten(tables)}
+    if "brand" in extra:
+        output_table["brand"] = extra["brand"]
+    else:
+        output_table["brand"] = dstype
+
+    if img is not None:
+        output_table["image"] = img
+        output_table["fullspecs"] = {"partnum": partnum, "id": id, "brand": output_table["brand"], "image": img, "datasheet": output_dir + "/datasheet.pdf", **tables}
+        output_table["searchspecs"] = {"partnum": partnum, "brand": output_table["brand"], "image": img, "datasheet": output_dir + "/datasheet.pdf", **flatten(tables)}
+    else:
+        output_table["fullspecs"] = {"partnum": partnum, "id": id, "brand": output_table["brand"], "datasheet": output_dir + "/datasheet.pdf", **tables}
+        output_table["searchspecs"] = {"partnum": partnum, "brand": output_table["brand"], "datasheet": output_dir + "/datasheet.pdf", **flatten(tables)}
+
+    if "short_description" in extra:
+        output_table["short_description"] = extra["short_description"]
+        output_table["fullspecs"]["short_description"] = extra["short_description"]
+        output_table["searchspecs"]["short_description"] = extra["short_description"]
+    if "description" in extra:
+        output_table["description"] = extra["description"]
+        output_table["fullspecs"]["description"] = extra["description"]
+        output_table["searchspecs"]["description"] = extra["description"]
+    if "application" in extra:
+        output_table["application"] = extra["application"]
+        output_table["fullspecs"]["application"] = extra["application"]
+        output_table["searchspecs"]["application"] = extra["application"]
+    if "category" in extra:
+        output_table["category"] = extra["category"]
+        output_table["fullspecs"]["category"] = extra["category"]
+        output_table["searchspecs"]["category"] = extra["category"]
    
    output_table["searchspecs"]["id"] = id
    
@@ -308,16 +401,17 @@ 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 +440,20 @@ def flatten(tables):

            fullkeyname = (table + ": " + keyname).replace(".","")
            if type(tables[table][key]) is not tuple:
+                if len(tables[table][key]) > 0:
                    out[fullkeyname] = convert_to_number(tables[table][key])
                #print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
            elif len(tables[table][key]) == 1:
+                if len(tables[table][key][0]) > 0:
                    out[fullkeyname] = convert_to_number(tables[table][key][0])
                #print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
-
+            else:
+                tmp = []
+                for x in range(len(tables[table][key])):
+                    if len(tables[table][key][x]) > 0:
+                        tmp.append(tables[table][key][x].strip())
+                        #out[fullkeyname + " " + str(x+1)] = convert_to_number(tables[table][key][x])
+                out[fullkeyname] = tmp
            # if the item has at least two commas in it, split it
            if tables[table][key].count(',') > 0:
                out[fullkeyname] = list(map(lambda x: x.strip(), tables[table][key].split(",")))
@@ -369,4 +471,4 @@ 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"))
@@ -1,10 +1,11 @@
 # Runtime
-camelot-py
-opencv-python
+camelot-py[base]==0.9.0
+#opencv-python
 pypdf2==2.12.1
 alive-progress
 requests
-git+https://github.com/Byeongdulee/python-urx.git
+math3d==4.0.0
+git+https://git.myitr.org/adeck/python-urx-getl-rt.git
 meilisearch
 pyyaml
 Flask
@@ -16,10 +17,11 @@ numpy
 scipy
 ipywidgets
 pandas
-pyarrow
+#pyarrow
 ghostscript
 pyzbar
-
+segno
+pyModbusTCP

 # Development
 matplotlib
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3

+from alive_progress import alive_bar
 import get_specs
 import traceback
 #import logging
@@ -12,19 +13,29 @@ from util import fprint
 from util import run_cmd
 import sys
 import ur5_control
+from ur5_control import Rob
 import os
 import signal
 import socket
 from flask import Flask, render_template, request
 import requests
-import led_control
+from led_control import LEDSystem
 import server
 import asyncio
 import json
 import process_video
+import search
+from search import JukeboxSearch
+#multiprocessing.set_start_method('spawn', True)
+from pyModbusTCP.client import ModbusClient
+from uptime import uptime
+import fileserver

+# set to false to run without real hardware for development
+real = True
+skip_scanning = True

-
+mbconn = None
 config = None
 keeprunning = True
 arm_ready = False
@@ -32,25 +43,54 @@ led_ready = False
 camera_ready = False
 sensor_ready = False
 vm_ready = False
+cable_search_ready = False
 killme = None
 #pool = None
 serverproc = None
 camera = None
-
+ledsys = None
+arm = None
 to_server_queue = Queue()
 from_server_queue = Queue()
+mainloop_get = Queue()
+mode = "Startup"
+oldmode = "Startup"
+counter = 0
+jbs = None
+scan_value = None
+arm_state = None
+cable_list = list()
+parse_res = None
+cable_list_state = list()
+just_placed = -1
+ring_animation = None
+led_set_mode = None
+sensors = [0,0,0,0]
+websocket_process = None
+arm_updates = None
+animation_wait = False
+arm_position = (0,0,0,0,0,0)
+arm_position_process = None
+start_animation = False
+failcount = 0

 def arm_start_callback(res):
+    fprint("Arm action complete.")
    global arm_ready
    arm_ready = True
    
+
 def led_start_callback(res):
    global led_ready
    led_ready = True
+    global ledsys
+    ledsys = res

 def camera_start_callback(res):
    global camera_ready
    camera_ready = True
+    global scan_value
+    scan_value = res
    
 def sensor_start_callback(res):
    global sensor_ready
@@ -60,6 +100,12 @@ def vm_start_callback(res):
    global vm_ready
    vm_ready = True

+def cable_search_callback(res):
+    global cable_search_ready
+    cable_search_ready = True
+    global parse_res 
+    parse_res = res
+
 def wait_for(val, name):
    #global val
    if val is False:
@@ -67,29 +113,20 @@ def wait_for(val, name):
        while val is False:
            sleep(0.1)

-def start_server_socket():
-    """app = Flask(__name__)
+def send_data(type, call, data, client_id="*"):
+    out = dict()
+    out["type"] = type
+    out["call"] = call
+    out["data"] = data
+    to_server_queue.put((client_id, json.dumps(out)))    

-    @app.route('/report_ip', methods=['POST'])
-    def report_ip():
-        client_ip = request.json.get('ip')
-        fprint(f"Received IP: {client_ip}")
-        # You can store or process the IP address as needed
-        return "IP Received", 200
-    
-    app.run(host='0.0.0.0', port=5000)"""
+def check_server():
+        #print("HI")
+    global cable_list
    global to_server_queue
    global from_server_queue
-    fprint("Starting WebSocket server...")
-    websocket_process = server.start_websocket_server(to_server_queue, from_server_queue)
-    
-    # Example
-    #to_server_queue.put("Hello, WebSocket clients!")
-    
-
-    while True:
-        #print("HI")
-
+    global jbs
+    if True:
        # Handeling Server Requests Loop, will run forever

        if not from_server_queue.empty():
@@ -99,44 +136,89 @@ def start_server_socket():
            # Message handler
            try:
                decoded = json.loads(message)
+            except:
+                fprint("Non-JSON message recieved")
+                return
+
            if "type" not in decoded:
                fprint("Missing \"type\" field.")
-                    continue
+                return
            if "call" not in decoded:
                fprint("Missing \"call\" field.")
-                    continue
+                return
            if "data" not in decoded:
                fprint("Missing \"data\" field.")
-                    continue
-
+                return
            # if we get here, we have a "valid" data packet
            data = decoded["data"]
            call = decoded["call"]
+            try:
                match decoded["type"]:
                    case "log":
                        fprint("log message")
                        if call == "send":
                            fprint("webapp: " + str(data), sendqueue=to_server_queue)
                        elif call == "request":
-                            fprint("")
-
+                            pass
                    case "cable_map":
                        fprint("cable_map message")
                        if call == "send":
-                            fprint("")
+                            pass
                        elif call == "request":
-                            fprint("")
+                            tmp = list()
+                            for idx in range(len(cable_list)):
+                                if cable_list[idx] is not False:
+                                    cabledata = jbs.get_position(str(idx))
+                                    fs = cabledata["fullspecs"]
+                                    tmp1 = {"part_number": cable_list[idx], "position": idx, "name": cable_list[idx], "brand": cabledata["brand"] }
+                                    if "Product Overview" in fs and "Product Category" in fs["Product Overview"]:
+                                        tmp1["category"] = fs["Product Overview"]["Product Category"]
+                                    if "Product Overview" in fs and "Suitable Applications" in fs["Product Overview"]:
+                                        if len(fs["Product Overview"]["Suitable Applications"]) == 0 or not isinstance(fs["Product Overview"]["Suitable Applications"], str):
+                                            for key, value in fs["Product Overview"].items():
+                                                #print(key,value)
+                                                if len(value) > 5 and isinstance(value, str):
+                                                    tmp1["application"] = value
+                                                elif len(key) > 15 and not isinstance(value, str):
+                                                    tmp1["application"] = key
+                                        else:
+                                            tmp1["application"] = fs["Product Overview"]["Suitable Applications"]
+                                    elif "Product Overview" in fs and "Suitable Applications:" in fs["Product Overview"]:
+                                        if len(fs["Product Overview"]["Suitable Applications:"]) == 0 or not isinstance(fs["Product Overview"]["Suitable Applications:"], str):
+                                            for key, value in fs["Product Overview"].items():
+                                                #print(key,value)
+                                                if len(value) > 5 and isinstance(value, str):
+                                                    tmp1["application"] = value
+                                                elif len(key) > 15 and not isinstance(value, str):
+                                                    tmp1["application"] = key
+                                        else:
+                                            tmp1["application"] = fs["Product Overview"]["Suitable Applications:"]

+                                    if "image" in cabledata:
+                                        tmp1["image"] = cabledata["image"]
+                                    if "datasheet" in cabledata:
+                                        tmp1["datasheet"] = cabledata["datasheet"]
+                                    if "description" in cabledata:
+                                        tmp1["description"] = cabledata["description"]
+                                    if "short_description" in cabledata:
+                                        tmp1["short_description"] = cabledata["short_description"]
+                                    if "application" in cabledata:
+                                        tmp1["application"] = cabledata["application"]
+                                    if "category" in cabledata:
+                                        tmp1["category"] = cabledata["category"]
+
+                                    tmp.append(tmp1)
+                            out = {"map": tmp}
+                            fprint(out)
+                            send_data(decoded["type"], "send", out, client_id)

                    case "ping":
                        fprint("Pong!!!")
-
                    # Lucas' notes
                    # Add a ping pong :) response/handler
                    # Add a get cable response/handler
                    #       this will tell the robot arm to move
                    # Call for turning off everything
-
                    # TODO Helper for converting Python Dictionaries to JSON
                    # make function: pythonData --> { { "type": "...", "call": "...", "data": pythonData } }

@@ -145,23 +227,80 @@ def start_server_socket():
                    case "cable_details":
                        fprint("cable_details message")
                        if call == "send":
-                            fprint("")
+                            pass
                        elif call == "request":
-                            fprint("")
+                            dataout = dict()
+                            dataout["cables"] = list()
+                            print(data)
+                            if "part_number" in data:
+                                for part in data["part_number"]:
+                                    #print(part)
+                                    #print(jbs.get_partnum(part))
+                                    dataout["cables"].append(jbs.get_partnum(part)["fullspecs"])
+                            if "position" in data:
+                                for pos in data["position"]:
+                                    #print(pos)
+                                    #print(jbs.get_position(str(pos)))
+                                    dataout["cables"].append(jbs.get_position(str(pos))["fullspecs"])
+                            send_data(decoded["type"], "send", dataout, client_id)

                    case "cable_search":
                        fprint("cable_search message")
                        if call == "send":
-                            fprint("")
+                            pass
                        elif call == "request":
-                            fprint("")
+                            results = jbs.search(data["string"])["hits"]
+                            dataout = dict()
+                            dataout["map"] = list()
+                            for cabledata in results:
+
+                                fs = cabledata["fullspecs"]
+                                tmp1 = {"part_number": cabledata["partnum"], "position": cabledata["position"], "name": cabledata["partnum"], "brand": cabledata["brand"] }
+                                if "Product Overview" in fs and "Product Category" in fs["Product Overview"]:
+                                    tmp1["category"] = fs["Product Overview"]["Product Category"]
+                                if "Product Overview" in fs and "Suitable Applications" in fs["Product Overview"]:
+                                    if len(fs["Product Overview"]["Suitable Applications"]) == 0 or not isinstance(fs["Product Overview"]["Suitable Applications"], str):
+                                        for key, value in fs["Product Overview"].items():
+                                            #print(key,value)
+                                            if len(value) > 5 and isinstance(value, str):
+                                                tmp1["application"] = value
+                                            elif len(key) > 15 and not isinstance(value, str):
+                                                tmp1["application"] = key
+                                    else:
+                                        tmp1["application"] = fs["Product Overview"]["Suitable Applications"]
+                                elif "Product Overview" in fs and "Suitable Applications:" in fs["Product Overview"]:
+                                    if len(fs["Product Overview"]["Suitable Applications:"]) == 0 or not isinstance(fs["Product Overview"]["Suitable Applications:"], str):
+                                        for key, value in fs["Product Overview"].items():
+                                            #print(key,value)
+                                            if len(value) > 5 and isinstance(value, str):
+                                                tmp1["application"] = value
+                                            elif len(key) > 15 and not isinstance(value, str):
+                                                tmp1["application"] = key
+                                    else:
+                                        tmp1["application"] = fs["Product Overview"]["Suitable Applications:"]
+                                if "image" in cabledata:
+                                    tmp1["image"] = cabledata["image"]
+                                if "datasheet" in cabledata:
+                                    tmp1["datasheet"] = cabledata["datasheet"]
+                                if "description" in cabledata:
+                                    tmp1["description"] = cabledata["description"]
+                                if "short_description" in cabledata:
+                                    tmp1["short_description"] = cabledata["short_description"]
+                                if "application" in cabledata:
+                                    tmp1["application"] = cabledata["application"]
+                                if "category" in cabledata:
+                                    tmp1["category"] = cabledata["category"]
+                                
+                                dataout["map"].append(tmp1)
+                            
+                            # after loop
+                            send_data(decoded["type"], "send", dataout, client_id)

                    case "keyboard":
                        fprint("keyboard message")
                        if call == "send":
-                            fprint("")
+                            pass
                        elif call == "request":
-                            fprint("")
                            if data["enabled"] == True:
                                # todo : send this to client
                                p = Process(target=run_cmd, args=("./keyboard-up.ps1",))
@@ -169,24 +308,43 @@ def start_server_socket():
                            elif data["enabled"] == False:
                                p = Process(target=run_cmd, args=("./keyboard-down.ps1",))
                                p.start()
-
                    case "machine_settings":
                        fprint("machine_settings message")
                        if call == "send":
-                            fprint("")
+                            pass
                        elif call == "request":
-                            fprint("")
+                            pass
+
+                    case "cable_get":
+                        fprint("cable_get message")
+                        if call == "send":
+                            global mainloop_get
+                            
+                            if "part_number" in data:
+                                for cableidx in range(len(cable_list)):
+                                    cable = cable_list[cableidx]
+                                    if cable == data["part_number"]:
+                                        fprint("Adding cable to dispense queue")
+                                        mainloop_get.put(("pickup", cableidx))
+                            elif "position" in data:
+                                fprint("Adding cable to dispense queue")
+                                mainloop_get.put(("pickup", data["position"]))
+                            elif "tray" in data:
+                                fprint("Adding tray return to dispense queue")
+                                mainloop_get.put(("return", data["tray"]))
+                            else:
+                                fprint("Invalid data.")
                    
                    case _:
                        fprint("Unknown/unimplemented data type: " + decoded["type"])
+            except Exception as e:
+                fprint(traceback.format_exc())
+                fprint(e)

            
-            except:
-                fprint("Non-JSON message recieved")
-                continue


-        sleep(0.001)  # Sleep to prevent tight loop
+        #sleep(0.001)  # Sleep to prevent tight loop
    


@@ -221,7 +379,7 @@ def check_server_online(serverip, clientip):
    return True
    
        
-def setup_server(pool):
+def setup_server(pool, manager):
    # linux server setup
    global config
    global counter
@@ -231,57 +389,530 @@ def setup_server(pool):
    global arm_ready
    global serverproc
    global camera
+    global arm
+    global jbs
+    global to_server_queue
+    global from_server_queue
+    global websocket_process
+    global arm_updates
+    global arm_position_process
+    global ledsys
+    arm_updates = manager.Queue()
+    arm = Rob(config)
+    if real:
+        pool.apply_async(ur5_control.powerup_arm, (arm,), callback=arm_start_callback, error_callback=handle_error)
+    else:
+        arm_ready = True
    
-    pool.apply_async(ur5_control.init, (config["arm"]["ip"],), callback=arm_start_callback)
-    pool.apply_async(led_control.init, callback=led_start_callback)
+    if real:
+        ledsys = LEDSystem()
+    #pool.apply_async(ledsys.init, callback=led_start_callback)
    #pool.apply_async(sensor_control.init, callback=sensor_start_callback)
-    serverproc = Process(target=start_server_socket)
-    serverproc.start()
+    jbs = JukeboxSearch()
+    
+    
    
    if led_ready is False:
        fprint("waiting for " + "LED controller initialization" + " to complete...", sendqueue=to_server_queue)
-        while led_ready is False:
-            sleep(0.1)
+        if real:
+            ledsys.init()
+        led_ready = True
    fprint("LED controllers initialized.", sendqueue=to_server_queue)
-    #to_server_queue.put("[log] LED controllers initialized.")
-    sensor_ready = True
+
    if sensor_ready is False:
        fprint("waiting for " + "Sensor Initialization" + " to complete...", sendqueue=to_server_queue)
-        while sensor_ready is False:
-            sleep(0.1)
+        global mbconn
+        mbconn = ModbusClient(host="192.168.1.20", port=502, auto_open=True, auto_close=True)
+        get_sensors()
    fprint("Sensors initialized.", sendqueue=to_server_queue)

    if camera_ready is False:
        fprint("waiting for " + "Camera initilization" + " to complete...", sendqueue=to_server_queue)
-        # camera = process_video.qr_reader(config["cameras"]["banner"]["ip"], config["cameras"]["banner"]["port"])
+        camera = process_video.qr_reader(config["cameras"]["banner"]["ip"], int(config["cameras"]["banner"]["port"]))

    fprint("Camera initialized.", sendqueue=to_server_queue)

-    arm_ready = True
+    #arm_ready = True
    if arm_ready is False:
-        fprint("waiting for " + "UR5 initilization" + " to complete...", sendqueue=to_server_queue)
+        fprint("waiting for " + "UR5 powerup" + " to complete...", sendqueue=to_server_queue)
        while arm_ready is False:
            sleep(0.1)
+
+    if real:
+        ur5_control.init_arm(arm)
    fprint("Arm initialized.", sendqueue=to_server_queue)

+    fprint("Creating arm position watcher...")
+    arm_position_process = pool.apply_async(ur5_control.get_position_thread, (arm,arm_updates))

+    fprint("Starting websocket server...", sendqueue=to_server_queue)
+    websocket_process = server.start_websocket_server(to_server_queue, from_server_queue)
    
-        
+    fprint("Starting image file server...", sendqueue=to_server_queue)
+    image_server_process = Process(target=fileserver.run_server, args=(config["cables"]["port"], config["cables"]["directory"]))
+    image_server_process.start()
    return True

+def handle_error(error):
+	print(error, flush=True)
+
+def get_sensors():
+    global mbconn
+    global sensors
+    oldsens = sensors
+    #print("Reading sensors")
+    #mbconn.open()
+    """
+    port 1: 256
+    port 2: 272
+    port 3: 288
+    port 4: 304
+    port 5: 320
+    port 6: 336
+    port 7: 352
+    port 8: 368
+    
+    """
+    out = list()
+    if real:
+        for reg in [352, 288, 304, 368]:
+            val = mbconn.read_holding_registers(reg)
+            if val is not None:
+                val = val[0]
+                if val == 1:
+                    out.append(1)
+                else:
+                    out.append(0)
+    else:
+        out = [0, 0, 0, 0]
+
+    if len(out) != 4:
+        return -1
+    sensors = out
+    #fprint("Values: " + str(sensors))
+    #mbconn.close()
+    for x in range(len(oldsens)):
+        if oldsens[x] == 0 and out[x] == 1:
+            # cable newly detected on tray
+            fprint("Precense detected: slot " + str(x))
+            return x
+        
+    return -1
+def get_open_spot(sensordata):
+    for x in range(len(sensordata)):
+        sens = sensordata[x]
+        if not sens:
+            return x
+        
+    # if we get here, every spot is full
+        
+    return False
    

-def mainloop_server(pool):
+def mainloop_server(pool, manager):
+    # NON-blocking loop
+    global real
+    global ring_animation
+    global led_set_mode
+    global just_placed
    global config
    global counter
    global killme
+    global mode
+    global jbs
+    global arm
+    global ledsys
+    global camera
+    global arm_ready
+    global arm_state
+    global camera_ready
+    global cable_search_ready
+    global cable_list
+    global mainloop_get
+    global cable_list_state
+    global scan_value
+    global oldmode
+    global arm_updates
+    global animation_wait
+    global arm_position
+    global arm_position_process
+    global start_animation
+    global failcount
+
+    if mode != oldmode:
+        print(" ***** Running mode:", mode, "***** ")
+        oldmode = mode
+        if mode == "Startup": # very first loop
+            pass

    if killme.value > 0:
        killall()
-    counter = counter + 1

-    # fprint("Looking for QR code...")
-    # print(camera.read_qr(30))
+    # check for messages
+    check_server()
+
+    # do every loop!
+    checkpoint = None
+    if not arm_updates.empty():
+        val = arm_updates.get()
+        
+        if isinstance(val, tuple):
+            arm_position = val
+        else:
+            print("Arm queue message " + str(val))
+            checkpoint = val
+            print(ring_animation, animation_wait, ledsys.mode, arm_position)
+            
+
+    if start_animation:
+        # animation start requested
+        # may not be immediate
+        if ring_animation is not None:
+            if animation_wait:
+                # wait for checkpoint
+                if checkpoint is not None:
+                    fprint("Starting checkpointed animation " + str(led_set_mode) + " for ring " + str(ring_animation))
+                    ledsys.mainloop(led_set_mode, ring_animation, arm_position=arm_position)
+                    led_set_mode = None
+                    animation_wait = False
+                    start_animation = False
+
+                else:
+                    # still waiting
+                    ledsys.mainloop(None, ring_animation, arm_position=arm_position)
+
+            else:
+                # no waiting, just start
+                fprint("Starting immediate animation " + str(led_set_mode) + " for ring " + str(ring_animation))
+                ledsys.mainloop(led_set_mode, ring_animation, arm_position=arm_position)
+                led_set_mode = None
+                animation_wait = False
+                start_animation = False
+        else:
+            # no ring animation specified
+            pass
+    
+    else:
+        # no new animation
+        if ring_animation is not None:
+            ledsys.mainloop(None, ring_animation, arm_position=arm_position)
+            
+        else:
+            pass
+
+    # if start_animation is False and ring_animation is not None and ledsys.mode != "Idle" and real:
+    #     ledsys.mainloop(None, ring_animation, arm_position=arm_position)
+
+    # elif start_animation is True and ring_animation is not None and real:
+    #     if animation_wait:
+    #         if checkpoint is not None: # got to checkpoint from UR5
+    #             fprint("Starting checkpointed animation " + str(led_set_mode) + " for ring " + str(ring_animation))
+    #             ledsys.mainloop(led_set_mode, ring_animation, arm_position=arm_position)
+    #             led_set_mode = None
+    #             animation_wait = False
+    #             start_animation = False
+    #     else:
+    #         fprint("Starting immediate animation " + str(led_set_mode) + " for ring " + str(ring_animation))
+    #         ledsys.mainloop(led_set_mode, ring_animation, arm_position=arm_position)
+    #         led_set_mode = None
+    #         start_animation = False
+    # else:
+    #     ledsys.mainloop(None, 49, arm_position=arm_position)
+    #     pass
+    #     #fprint("Not triggering LED loop: no ring animation")
+
+    if mode == "Startup":
+        if not real or skip_scanning:
+            counter = 54
+            
+        if counter < 54:
+            # scanning cables
+            if arm_state is None:
+                #pool.apply_async(arm_start_callback, ("",))
+                arm_ready = False
+                pool.apply_async(ur5_control.holder_to_camera, (arm,arm_updates,counter), callback=arm_start_callback, error_callback=handle_error)
+                fprint("Getting cable index " + str(counter) + " and scanning...")
+                arm_state = "GET"
+                ring_animation = counter
+                animation_wait = True
+                start_animation = True
+                led_set_mode = "GrabA"
+                #ur5_control.to_camera(arm, counter)
+                #arm_ready = True
+
+            elif arm_ready and arm_state == "GET":
+                fprint("Looking for QR code...")
+                pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error)
+                arm_ready = False
+
+            elif camera_ready:
+                ring_animation = counter
+                animation_wait = True
+                start_animation = True
+                led_set_mode = "GrabC"
+                fprint("Adding cable to list...")
+                global scan_value
+                if scan_value is False:
+                    cable_list.append(scan_value)
+                elif scan_value.find("bldn.app/") > -1:
+                    scan_value = scan_value[scan_value.find("bldn.app/")+9:]
+                else:
+                    cable_list.append(scan_value)
+                fprint(scan_value)
+                pool.apply_async(ur5_control.camera_to_holder, (arm,arm_updates,counter), callback=arm_start_callback, error_callback=handle_error)
+                #ur5_control.return_camera(arm, counter)
+                #arm_ready = True
+                arm_state = "RETURN"
+                camera_ready = False
+
+            elif arm_ready and arm_state == "RETURN":
+                counter += 1
+                arm_state = None
+            else:
+                # just wait til arm/camera is ready
+                pass
+        else:
+            # scanned everything
+            ring_animation = None
+            led_set_mode == "Idle"
+            start_animation = True
+            tmp = [
+                    # Actual cables in Jukebox
+                    "BLTF-1LF-006-RS5",
+                    "BLTF-SD9-006-RI5",
+                    "BLTT-SLG-024-HTN",
+                    "BLFISX012W0",
+                    "BLFI4X012W0",
+                    "BLSPE101",
+                    "BLSPE102",
+                    "BL7922A",
+                    "BL7958A",
+                    "BLIOP6U",
+                    "BL10GXW13",
+                    "BL10GXW53",
+                    "BL29501F",
+                    "BL29512",
+                    "BL3106A",
+                    "BL9841",
+                    "BL3105A",
+                    "BL3092A",
+                    "BL8760",
+                    "BL6300UE",
+                    "BL6300FE",
+                    "BLRA500P",
+                    "AW86104CY",
+                    "AW3050",
+                    "AW6714",
+                    "AW1172C",
+                    "AWFIT-221-1_4"
+                ]
+            while len(tmp) < 54:
+                tmp.append(False) # must have 54 entries
+
+            if not real or skip_scanning:
+                cable_list = tmp # comment out for real demo
+
+            for idx in range(len(cable_list)):
+                cable_list_state.append(True)
+
+            pool.apply_async(get_specs.get_multi, (cable_list, 0.3, config["cables"]["directory"], config["cables"]["port"]), callback=cable_search_callback, error_callback=handle_error)
+            mode = "Parsing"
+            fprint("All cables scanned. Finding & parsing datasheets...")
+    if mode == "Parsing":
+            # waiting for search & parse to complete
+            #cable_search_ready = True
+            if cable_search_ready is False:
+                pass
+            else:
+                # done
+                global parse_res
+                success, partnums = parse_res
+                for idx in range(len(partnums)):
+                    if partnums[idx] is not False:
+                        cable_list[idx] = partnums[idx][0].replace("/", "_")
+                    else:
+                        cable_list[idx] = False
+                
+                print(partnums)
+                if success:
+                    # easy mode
+                    fprint("All cables inventoried and parsed.")
+                    fprint("Adding to database...")
+                    for idx in range(len(cable_list)):
+                        partnum = cable_list[idx]
+                        if partnum is not False:
+                            with open("cables/" + partnum + "/search.json", "rb") as f:
+                                searchdata = json.load(f)
+                                searchdata["position"] = idx
+                            with open("cables/" + partnum + "/specs.json", "rb") as f:
+                                specs = json.load(f)
+                            searchdata["fullspecs"] = specs
+                            searchdata["fullspecs"]["position"] = idx
+                            jbs.add_document(searchdata)
+                    #sleep(0.5)
+                    #print(jbs.get_position("1"))
+                    
+                    fprint("All cables added to database.")
+                    mode = "Idle"
+                    
+                else:
+                    # TODO: manual input
+                    pass
+
+            
+    if mode == "Idle":
+        # do nothing
+        if arm_ready is False:
+            pass
+
+        else:
+            global mainloop_get
+            #print("Checking sensors..")
+            newtube = get_sensors()
+            if newtube >= 0 and newtube != just_placed:
+                # need to return a cable
+                mainloop_get.put(("return", newtube))
+                just_placed = -1
+            
+            if not mainloop_get.empty():
+                fprint("Movement requested. Keep clear of the machine!")
+                action, get_cable = mainloop_get.get()
+                if get_cable > -1:
+                    global sensors
+                    if action == "pickup":
+                        spot = get_open_spot(sensors)
+                        if spot is not False:
+                            arm_ready = False
+                            if real:
+                                animation_wait = False
+                                ring_animation = get_cable
+                                start_animation = True
+                                led_set_mode = "GrabAA"
+                                pool.apply_async(ur5_control.holder_to_tray, (arm, arm_updates, get_cable, spot), callback=arm_start_callback, error_callback=handle_error)
+                            else:
+                                arm_ready = True
+                            fprint("Getting cable at position " + str(get_cable))
+                            mode = "Pickup"
+                            cable_list_state[get_cable] = False # mark as removed
+                            get_sensors()
+
+                    if action == "return":
+                        arm_ready = False
+                        fprint("Returning cable from tray position " + str(get_cable))
+                        if real:
+                            failcount = 0
+                            pool.apply_async(ur5_control.tray_to_camera, (arm, arm_updates, get_cable), callback=arm_start_callback, error_callback=handle_error)
+                        else:
+                            arm_ready = True
+                        mode = "ReturnC"
+            else:
+                # LED idle anim
+                pass
+
+    if mode == "Pickup":
+        # complete
+        if arm_ready == True:
+            mode = "Idle"
+            
+        else:
+            # getting cable and bringing to tray
+            # led animation
+            if ledsys.mode == "Idle" and led_set_mode != "GrabAA":
+                animation_wait = True
+                start_animation = True
+                led_set_mode = "GrabAB"
+            pass
+    
+    if mode == "ReturnC":
+        # complete
+        if arm_ready == True:
+            mode = "Scan"
+            arm_ready = False
+            camera_ready = False
+            if real:
+                animation_wait = False
+                start_animation = True
+                ring_animation = 49
+                led_set_mode = "Camera"
+                pool.apply_async(camera.read_qr, (50,), callback=camera_start_callback, error_callback=handle_error)
+            else:
+                camera_ready = True
+                scan_value = "10GXS13"
+            
+        else:
+            # getting cable from and bringing to camera
+            # led animation
+            pass
+
+    if mode == "Scan":
+        if camera_ready == True:
+            if scan_value is False:
+                # unable to scan ???? not good
+                if failcount > 15:
+                    mode = "Idle"
+                    fprint("Giving up scanning cable.")
+                    failcount = 0
+                else:
+                    fprint("Unable to scan cable. Gonna retry.")
+                    camera_ready = False
+                    #mode = "Idle"
+                    failcount += 1
+
+                    pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error)
+
+            elif scan_value.find("bldn.app/") > -1:
+                scan_value = scan_value[scan_value.find("bldn.app/")+9:]
+            
+                fprint("Got cable: " + str(scan_value))
+                if scan_value[0:2] == "BL" or scan_value[0:2] == "AW":
+                    scan_value = scan_value[2:]
+                for idx in range(len(cable_list)):
+                    cable = cable_list[idx]
+                    if cable == scan_value and cable_list_state[idx] == False:
+                        cable_list_state[idx] = True # mark cable as returned
+                        arm_ready = False
+                        if real:
+                            animation_wait = True
+                            ring_animation = idx
+                            led_set_mode = "GrabC"
+                            start_animation = True
+                            pool.apply_async(ur5_control.camera_to_holder, (arm, arm_updates, idx), callback=arm_start_callback, error_callback=handle_error)
+                        else:
+                            arm_ready = True
+                        mode = "Return"
+                        break
+                    elif cable == scan_value and cable_list_state[idx] == True:
+                        fprint("WARNING: Holder still marked as occupied!")
+                        arm_ready = False
+                        if real:
+                            animation_wait = True
+                            ring_animation = idx
+                            led_set_mode = "GrabC"
+                            start_animation = True
+                            pool.apply_async(ur5_control.camera_to_holder, (arm, arm_updates, idx), callback=arm_start_callback, error_callback=handle_error)
+                        else:
+                            arm_ready = True
+                        mode = "Return"
+                        break
+                if mode == "Scan":
+                    mode = "Idle"
+
+            
+
+    if mode == "Return":
+        if arm_ready == True:
+            mode = "Idle"
+            #arm_ready = False
+            # movement finished
+
+        else: 
+            # cable going from camera to holder
+            # led animation
+            pass
+            
+    
+        
+

 def run_loading_app():
    
@@ -389,19 +1020,20 @@ class LogExceptions(object):
        return result

 class LoggingPool(Pool):
-    def apply_async(self, func, args=(), kwds={}, callback=None):
-        return Pool.apply_async(self, LogExceptions(func), args, kwds, callback)
+    def apply_async(self, func, args=(), kwds={}, callback=None, error_callback=None):
+        return Pool.apply_async(self, LogExceptions(func), args, kwds, callback, error_callback)


 if __name__ == "__main__":
    #sys.stdout = Logger(filename="output.log")
    #sys.stderr = Logger(filename="output.log")
    #log_to_stderr(logging.DEBUG)
+    
    fprint("Starting Jukebox control system...")
    with open('config.yml', 'r') as fileread:
        #global config
        config = yaml.safe_load(fileread)
-
+    fprint("Config loaded.")
    with Manager() as manager:
        fprint("Spawning threads...")
        pool = LoggingPool(processes=10)
@@ -418,9 +1050,21 @@ if __name__ == "__main__":

        elif config["core"]["mode"] == "linuxserver":
            fprint("Starting in server mode.")
-            if setup_server(pool):
+            if setup_server(pool, manager):
                fprint("Entering main loop...")
+                start = 0
+                speed = config["core"]["loopspeed"]
                while(keeprunning):
-                    mainloop_server(pool)
+                    start = uptime()
+                    mainloop_server(pool, manager)
+                    #sleep(0.01)
+                    # limit to certain "framerate"
+                    #print(start, start + 1.0/speed, uptime())
+                    while start + 1.0/speed > uptime():
+                        sleep(0.001)
+        else:
+            fprint("Mode unspecified - quitting")
+            
+            


@@ -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()

@@ -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
@@ -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"
@@ -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>
@@ -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>
@@ -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>
@@ -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>
@@ -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>
@@ -0,0 +1,2 @@
+
+    drop_off_tray(robot, 0)
@@ -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:
@@ -5,53 +5,117 @@ import math
 import numpy as np
 import time
 import os
-import logging
-from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper
+#import logging
+import yaml
 import sys
 from util import fprint
+from pyModbusTCP.client import ModbusClient
+from multiprocessing import Queue
+import subprocess
+from util import win32



+class Rob():
+    robot = None
+    #offset_x, offset_y, offset_z = (0, 0, 0.14)     # Tool offset
+    #
    
-rob = None
+    def __init__(self, config):
+        self.config = config
+        armc = config["arm"]
+        self.ip = armc["ip"]
+        tool = armc["tool"]
+        limbs = armc["limbs"]
+        self.offset_x, self.offset_y, self.offset_z = (tool["offset_x"], tool["offset_y"], tool["offset_z"])
+        self.limb_base = limbs["limb_base"]
+        self.limb1 = limbs["limb1"]
+        self.limb2 = limbs["limb2"]
+        self.limb3 = limbs["limb3"]
+        self.limb_wrist = limbs["limb_wrist"]
        
+        #self.init_arm()

-def init(ip):
-    global rob
+def ping(host):
+        #Returns True if host (str) responds to a ping request.
+
+        # Option for the number of packets as a function of
+        if win32:
+            param1 = '-n'
+            param2 = '-w'
+            param3 = '250'
+        else:
+            param1 = '-c'
+            param2 = '-W'
+            param3 = '0.25'
+
+        # Building the command. Ex: "ping -c 1 google.com"
+        command = ['ping', param1, '1', param2, param3, host]
+
+        return subprocess.call(command, stdout=subprocess.DEVNULL, stderr=subprocess.STDOUT) == 0
+
+def powerup_arm(robot):
    #sys.stdout = Logger()
    fprint("Starting UR5 power up...")
+    # power up robot here via PCB

-    # power up robot here
-
+    #
    # wait for power up (this function runs async)
-
+    count = 0
+    while not ping(robot.ip) and count == 10:
+        time.sleep(0.5)
+        count += 1

    # trigger auto-initialize
-
+    fprint("Arm online. Waiting for calibration.")
    # wait for auto-initialize
-
-    # init urx
+def connect(robot):
+    if robot.robot is None:
+        newrobot = Rob(robot.config)
+        robot = newrobot
+        ip = robot.ip
        fprint("Connecting to arm at " + ip)
        trying = True
-    while trying:
+        count = 0
+        while trying and count < 10:
+            count += 1
            try:
-            rob = urx.Robot(ip)
+                robot.robot = urx.Robot(ip, use_rt=False)
+                robot.robot.set_tcp((robot.offset_x, robot.offset_y, robot.offset_z, 0, 0, 0))
+                # Set weight
+                robot.robot.set_payload(2, (0, 0, 0.1))
                trying = False
            except:
-            time.sleep(1)
-    robotiqgrip = Robotiq_Two_Finger_Gripper(rob)
-
+                time.sleep(0.5)
        # Sets robot arm endpoint offset (x,y,z,rx,ry,rz)
-    rob.set_tcp((0, 0, 0.15, 0, 0, 0))
        
-    # Set weight
-    rob.set_payload(2, (0, 0, 0.1))
+    return robot
+
+def init_arm(robot):
+    robot = connect(robot)
+    # init urx
+    
    #rob.set_payload(2, (0, 0, 0.1))
    time.sleep(0.2)
    fprint("UR5 ready.")
+    #return robot.robot

-def set_pos_abs(x, y, z, xb, yb, zb, threshold=None):
-    global rob
+    # setup - in case of fail. open gripper, move up, then go home.
+    rob = robot.robot
+    open_gripper()
+    curr_pos = rob.getl()
+    new_pos = curr_pos
+    new_pos[2] += 0.025
+    rob.movel(new_pos, vel=0.05, acc=1)
+    curr_j = rob.getj()
+    curr_j[3] -= 0.2 # radians
+    rob.movej(curr_j, vel=0.2, acc=1)
+    move_to_home(robot, speed=0.5)
+
+    return True
+
+def set_pos_abs(robot, x, y, z, xb, yb, zb, threshold=None):
+    rob = robot.robot
    new_orientation = m3d.Transform()
    new_orientation.orient.rotate_xb(xb)  # Replace rx with the desired rotation around X-axis
    new_orientation.orient.rotate_yb(yb)  # Replace ry with the desired rotation around Y-axis
@@ -67,8 +131,8 @@ def set_pos_abs(x, y, z, xb, yb, zb, threshold=None):
    #rob.speedj(0.2, 0.5, 99999)
    rob.set_pose(new_trans, acc=2, vel=2, command="movej", threshold=threshold)  # apply the new pose

-def set_pos_rel_rot_abs(x, y, z, xb, yb, zb):
-    global rob
+def set_pos_rel_rot_abs(robot, x, y, z, xb, yb, zb):
+    rob = robot.robot
    new_orientation = m3d.Transform()
    new_orientation.orient.rotate_xb(xb)  # Replace rx with the desired rotation around X-axis
    new_orientation.orient.rotate_yb(yb)  # Replace ry with the desired rotation around Y-axis
@@ -85,8 +149,8 @@ def set_pos_rel_rot_abs(x, y, z, xb, yb, zb):
    #rob.speedj(0.2, 0.5, 99999)
    rob.set_pose(new_trans, acc=0.1, vel=0.4, command="movej")  # apply the new pose

-def set_pos_abs_rot_rel(x, y, z, xb, yb, zb):
-    global rob
+def set_pos_abs_rot_rel(robot, x, y, z, xb, yb, zb):
+    rob = robot.robot
    new_orientation = m3d.Transform()
    new_orientation.orient.rotate_xb(xb)  # Replace rx with the desired rotation around X-axis
    new_orientation.orient.rotate_yb(yb)  # Replace ry with the desired rotation around Y-axis
@@ -131,9 +195,8 @@ def polar_to_cartesian(r, theta):
    y = r * np.sin(theta)
    return x, y

-
-def move_to_polar(start_pos, end_pos):
-    global rob
+def move_to_polar(robot, start_pos, end_pos):
+    rob = robot.robot

    # Convert to polar coordinates
    start_r, start_theta = cartesian_to_polar(start_pos[0], start_pos[1])
@@ -190,19 +253,34 @@ def move_to_polar(start_pos, end_pos):

    return rx_intermediate

-def move_to_home():
-    global rob
+
+def move_to_home(robot, keep_flip=False, speed=2):
+    rob = robot.robot
+
+    if is_flipped(robot) and not keep_flip:
+        flip(robot)
+
+    # Move robot to home position
+    rob.movej(offset_gripper_angle(robot, *(-0.18, -0.108, 0.35), flip=is_flipped(robot)), vel=2, acc=2) # Move to safe position
+
+    return True
+
+def move_to_packup(robot, speed=0.25):
+    rob = robot.robot
+    
+    # known good starting point to reach store position
+    goto_holder_index(robot, 12, 0.3, flip=False, use_closest_path=False)

    # Home position in degrees
-    home_pos = [0.10421807948612624, 
-                -2.206111555015423, 
-                1.710679229503537, 
-                -1.075834511928354, 
-                -1.569301366430687, 
-                1.675098295930943]
-
+    store_pos = [-1.5708, 
+                -1.3, 
+                2.362, 
+                0.7056, 
+                -1.425, 
+                1.5708]
    # Move robot
-    rob.movej(home_pos, acc=2, vel=2)
+    rob.movej(store_pos, acc=0.1, vel=speed)
+    return True

 def normalize_degree(theta):
    # Normalizes degree theta from -1.5pi to 1.5pi
@@ -216,13 +294,14 @@ 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 +317,16 @@ 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 +340,451 @@ 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
+    first_slot = -0.3084+0.02
+    slot_position = [
+        [first_slot, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
+        [first_slot+slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
+        [first_slot+2*slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
+        [first_slot+3*slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
+    ]
+    rob.movel(slot_position[slot],vel=0.2, acc=1)
+
+    # Place/Grab the tube
+    if pick_up:
+        close_gripper()
+    else:
+        open_gripper()
+
+
+    # Move back
+    tilt = 0.3
+    curr_pos = rob.getl()
+    new_pos = curr_pos
+    if slot==3:
+        new_pos[0] -= 0.05  #x
+    new_pos[1] += 0.15      #y
+    new_pos[2] = 0.09       #z
+    new_pos[3] += tilt
+    new_pos[4] += tilt
+    new_pos[5] += tilt
+    rob.movel(new_pos, vel=0.2, acc=1)
+    
+
+    # Go home to safe position
+    move_to_home(robot, speed=1, keep_flip=True)  
+def pick_up_tray(robot, slot=0):
+    tray_routine(robot, slot, True)
+def drop_off_tray(robot, slot=0):
+    tray_routine(robot, slot, False)
+
+
+def return_routine(robot, slot, holder_index=None, verbose=False):
+    # OLD UNUSED
+    robot = connect(robot)
+    rob = robot.robot
+
+    
+    open_gripper()
+    was_flipped = is_flipped(robot)
+    if slot is None:
+        rob.movej(offset_gripper_angle(robot, -0.15, -0.15, 0.3, flip=was_flipped, use_closest_path=False), vel=4, acc=3)
+        rob.movej(get_joints_from_xyz_abs(robot, -0.35, -0.15, 0.0, math.pi/2, 0.1), vel=4, acc=3)
+        close_gripper()
+    else:
+        xoffset = 0.051 * slot
+        rob.movej(offset_gripper_angle(robot, -0.15, -0.15, 0.3, flip=was_flipped, use_closest_path=False), vel=4, acc=3)
+        rob.movej(get_joints_from_xyz_abs(robot, -0.35+xoffset, -0.15, 0.0, math.pi/2, 0.1), vel=4, acc=3)
+        close_gripper()
+
+
+    if holder_index is not None:
+        goto_holder_index(robot, holder_index, 0.2, use_closest_path=False)
+        curr_pos = rob.getl()
+        new_pos = curr_pos
+        new_pos[2] = 0.015
+        rob.movel(new_pos, vel=0.1, acc=1)
+        open_gripper()
+        new_pos[2] = 0.1
+        rob.movel(new_pos, vel=2, acc=1)
+        return True
+    else:
+        # go to camera
+        rob.movej(offset_gripper_angle(robot, 0.35, -0.35, 0.3, flip=was_flipped, use_closest_path=False), vel=2, acc=2)
+        return True
+    
+
+def goto_camera(robot, pos_updates):
+    robot = connect(robot)
+    goto_holder_index(robot, 49, 0.2)
+
+def tray_to_camera(robot, pos_updates, slot):
+    pick_up_tray(robot, slot)
+    goto_camera(robot, pos_updates)
+def holder_to_tray(robot, pos_updates, holder_index, slot):
+    pick_up_holder(robot, pos_updates, holder_index)
+    drop_off_tray(robot, slot)
+
+def holder_to_camera(robot, pos_updates, holder_index, verbose=False):
+    robot = connect(robot)
+    fprint("Bringing tube at " + str(holder_index) + " to camera")
+    rob = robot.robot
+
+    pick_up_holder(robot, pos_updates, holder_index)
+    goto_camera(robot, pos_updates)
+def camera_to_holder(robot, pos_updates, holder_index, verbose=False):
+    robot = connect(robot)
+    rob = robot.robot
+
+    drop_off_holder(robot, pos_updates, holder_index)
+    
+
+def open_gripper():
+    fprint("Opening gripper")
+    c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False)
+    
+    c.write_single_register(112, 0b0)
+    c.write_single_register(435, 0b10000000)
+    time.sleep(0.5)
+    c.write_single_register(112, 0b0)
+    c.write_single_register(435, 0b10000000)
+    time.sleep(0.5)
+    c.close()
+    
+    #c.close()
+
+def close_gripper():
+    fprint("Closing gripper")
+    c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False)
+    c.write_single_register(435, 0b00000000)
+    c.write_single_register(112, 0b1)
+    time.sleep(0.5)
+    c.write_single_register(435, 0b00000000)
+    c.write_single_register(112, 0b1)
+    time.sleep(0.5)
+    c.close()
+    #
+
+def get_position_thread(robot, pos_updates):
+    robot = connect(robot)
+    rob = robot.robot
+    oldvals = rob.getl()
+    deltavals = [0,0,0]
+    import uptime
+    t = 0.01
+    count = 0
+    while True:
+        start = uptime.uptime()
+        if pos_updates.qsize() < 2:
+            vals = rob.getl()
+            if vals != oldvals:
+                if pos_updates is not None:
+                    pos_updates.put(tuple(oldvals))
+                #time.sleep(0.01)
+                # deltavals = list()
+                # deltavals.append(vals[0]-oldvals[0])
+                # deltavals.append(vals[1]-oldvals[1])
+                # deltavals.append(vals[2]-oldvals[2])
+                # count = 0
+                oldvals = vals
+                
+            # else:
+            #     count += 0.2
+            #     if count < 1:
+            #         tmpvals = vals
+            #         tmpvals[0] = oldvals[0] + deltavals[0]*count
+            #         tmpvals[1] = oldvals[1] + deltavals[1]*count
+            #         tmpvals[2] = oldvals[2] + deltavals[2]*count
+            #         pos_updates.put(tuple(tmpvals))
+        while start + t > uptime.uptime():
+            time.sleep(0.0001)
+                

 if __name__ == "__main__":
    
-    #rob.movej((0, 0, 0, 0, 0, 0), 0.1, 0.2)
-    #rob.movel((x, y, z, rx, ry, rz), a, v)
-    init("192.168.1.145")
+    with open('config.yml', 'r') as fileread:
+        #global config
+        config = yaml.safe_load(fileread)
+    
+
+
+    robot = Rob(config) # robot of type Rob is the custom class above
+    #powerup_arm(robot)
+    robot = connect(robot)
+    init_arm(robot)
+    
+    rob = robot.robot # rob is robot.robot is the urx robot class, what we've been using previously
+
+
+    move_to_packup(robot)
+    
+    # pick_up_holder(robot, 2)
+    #drop_off_tray(robot, 0)
+    # drop_off_tray(robot, 1)
+    # drop_off_tray(robot, 2)
+    # drop_off_tray(robot, 3)
+
+    # pick_up_tray(robot, 1)
+    # drop_off_holder(robot, 5)
+
+    # pick_up_holder(robot, 26)
+    # drop_off_tray(robot, 3)
+
+
+    # for i in range(0,54):
+    #     pick_up_holder(robot, None, i)
+
+    #     #print('Drop off', i+1)
+    #     drop_off_tray(robot, 0)
+    #     #input()
+
+    # # holder_to_camera(robot, 0)
+    # # camera_to_holder(robot, 0)
+
    print("Current tool pose is: ",  rob.getl())
-    move_to_home()
-
-    home_pose = [-0.4999999077032916, 
-               -0.2000072960336574, 
-               0.40002172976662786, 
-               0, 
-               -3.14152741295329, 
-               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
@@ -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>
Author	SHA1	Message	Date
adeck	33af359a86	Flip vertical move	2024-05-14 16:26:32 -05:00
adeck	43f8c3b615	Other way	2024-05-14 16:24:01 -05:00
adeck	a96f34baac	Readjust	2024-05-14 16:22:50 -05:00
adeck	635c2708a0	Redo arm startup motion	2024-05-14 16:16:05 -05:00
adeck	62ec1e7443	Add tray return API call	2024-05-14 16:01:10 -05:00
Cole Deck	951ae8cdda	Remove unnecessary deps that are pre-installed	2024-05-14 14:59:12 -05:00
adeck	5e0f1e93d2	prerelease	2024-05-13 02:21:07 -05:00
adeck	fab8324dea	Update web	2024-05-12 18:36:07 -05:00
adeck	dbaf018c7b	Remove hover effects for touchscreens	2024-05-12 18:30:04 -05:00
adeck	f47270a600	Update jukebox-web	2024-05-12 18:19:03 -05:00
adeck	e4861e0590	Add datasheet URL to cable details	2024-05-12 18:14:39 -05:00
adeck	c45c59aa62	Fix cable_search	2024-05-12 17:56:47 -05:00
adeck	1e01141f41	Make cable_search match cable_map	2024-05-12 16:59:59 -05:00
adeck	2296aea463	Add useful print statements	2024-05-10 12:58:17 -05:00
adeck	341d2232d7	Don't delete old JSON files	2024-05-10 12:51:45 -05:00
adeck	25dc18669b	Downgrade camelot for better parsing	2024-05-10 12:28:59 -05:00
adeck	6c8d0bf666	Update web ui	2024-05-09 18:19:24 -05:00
adeck	be51423c89	Add real-time UR5 position updates (hopefully)	2024-05-09 18:18:55 -05:00
adeck	f416e25c1c	Update LED system	2024-05-08 20:28:48 -05:00
adeck	dd7bc12fe5	Update jukebox-web	2024-05-08 16:52:28 -05:00
adeck	f06540f568	Add category field, update datasheet extracted fields	2024-05-08 16:51:01 -05:00
adeck	4a78586c34	Update jukebox-web	2024-05-08 16:44:46 -05:00
adeck	21cb2beb67	Pull description from Belden API for more consistent values	2024-05-08 16:44:22 -05:00
adeck	a905858e3b	Add more descriptions	2024-05-08 15:48:26 -05:00
adeck	faf33aede7	add descriptions	2024-05-08 15:18:09 -05:00
adeck	dc4cf5c222	Center images	2024-05-08 13:27:45 -05:00
adeck	ee78037f17	Remove debug statement	2024-05-08 13:07:47 -05:00
adeck	f1f2e3191b	Square up images	2024-05-08 13:04:43 -05:00
adeck	1f69dbdb82	fix clean install bug	2024-05-08 12:34:07 -05:00
adeck	36249058ac	Add brand and images, fileserver for images, start to add arm queue	2024-05-08 12:29:43 -05:00
adeck	eca65dc0e0	fix typo	2024-04-29 17:49:56 -05:00
adeck	fabd1fe10a	Simulation for sensors	2024-04-29 17:48:42 -05:00
adeck	b4ad57d52d	Separate scanning bypass	2024-04-29 17:25:02 -05:00
adeck	72ab357dbf	Improve simulation mode	2024-04-29 17:19:52 -05:00
adeck	d0083ed33f	Simulation mode	2024-04-29 13:30:04 -05:00
adeck	d92ceafa57	Fix non-matching positions	2024-04-29 12:42:11 -05:00
adeck	62bcb07956	Update runtime LED modes	2024-04-29 12:33:55 -05:00
BlueOceanWave	c52fe167bf	Merge branch 'main' of https://git.myitr.org/Jukebox/jukebox-software	2024-04-26 17:49:14 -05:00
BlueOceanWave	f7b4f264c4	Fixed positions for holder 47 and 45 in config.yaml	2024-04-26 17:49:11 -05:00
adeck	fb31ab0d73	Add LED animations to runtime	2024-04-24 14:42:47 -05:00
adeck	302d275c64	Update config	2024-04-24 14:42:47 -05:00
adeck	43392fa3ca	Freeze math3d version	2024-04-24 14:42:47 -05:00
adeck	660fe29236	Update camera image parser	2024-04-24 14:42:47 -05:00
BlueOceanWave	275cbd027e	Added open gripper to init routine	2024-04-24 14:42:07 -05:00
BlueOceanWave	f4e43f33d2	Created functions for routines	2024-04-24 14:40:38 -05:00
BlueOceanWave	ae97ed1a14	Made pickup and dropoff routines for tray and holder. Adjusted home position	2024-04-23 18:56:11 -05:00
BlueOceanWave	237319db14	Fixed drop off routine to not hit walls	2024-04-22 21:56:07 -05:00
adeck	a698c4a753	Add more routines	2024-04-18 20:33:55 -05:00
adeck	939474378a	Add open and close gripper functions	2024-04-12 22:05:34 -05:00
adeck	145f51d08c	Update IPs for LED system	2024-04-12 20:28:34 -05:00
BlueOceanWave	4973fc79be	Merge branch 'main' of https://git.myitr.org/Jukebox/jukebox-software	2024-04-12 20:28:33 -05:00
BlueOceanWave	ff2269193b	small dimensions fixes	2024-04-12 20:28:31 -05:00
adeck	5edd7f4592	Remove extraneous `pass`	2024-03-27 20:41:07 -05:00
adeck	4dd6f7649a	Implement cable_search	2024-03-27 20:40:20 -05:00
adeck	dc1e568a96	Add basic cable_map implementation	2024-03-27 20:33:21 -05:00
adeck	1ec6d92cfa	Deploy docker containers	2024-03-27 19:50:01 -05:00
adeck	e21ded46f1	Update juekbox-web	2024-03-27 19:47:17 -05:00
adeck	672507f498	Add jukebox web	2024-03-27 19:46:45 -05:00
adeck	64bb50f055	Add setup-alpine-vm.sh	2024-03-28 00:44:57 +00:00
adeck	5016b4e99f	Update compose.yml	2024-03-28 00:44:35 +00:00
adeck	efbda23c38	Fix docker runtime support	2024-03-27 18:53:50 -05:00
adeck	19ce328596	Correctly parse results from get_specs	2024-03-27 17:49:02 -05:00
adeck	ad216f21fa	Implement cable_details call	2024-03-26 18:42:01 -05:00
BlueOceanWave	6d6c2030a9	Merge branch 'main' of https://git.myitr.org/Jukebox/jukebox-software	2024-03-26 15:24:20 -05:00
BlueOceanWave	9893222335	Pick-up routine	2024-03-26 15:24:18 -05:00
adeck	82a52dea5a	Add cables to meilisearch db	2024-03-26 15:09:26 -05:00
adeck	77fdc43fce	Add missing robot pass-ins	2024-03-24 15:35:46 -05:00
adeck	3de59f5985	Convert ur5_control to class based (untested)	2024-03-24 15:31:58 -05:00
BlueOceanWave	6887fa943b	Merge branch 'main' of https://git.myitr.org/Jukebox/jukebox-software	2024-03-24 13:50:17 -05:00
BlueOceanWave	2ec7906ee4	Basic move restrictions and flip routine	2024-03-23 15:47:10 -05:00
adeck	069d2175d9	Convert led code to class based for multithreading	2024-03-23 15:33:51 -05:00
adeck	9b1b92e21d	Re-add https:// format, needed for most devices	2024-03-21 19:48:46 -05:00
adeck	ee0f8f4250	Remove cairosvg VERSION patch	2024-03-21 19:41:46 -05:00
adeck	9c9435570b	Remove cairosvg as it doesn't have pip-only lib. Use png instead.	2024-03-21 19:39:43 -05:00
adeck	1bf10f7349	Update label generator to include belden logo, use QR code, URL matching	2024-03-21 18:57:59 -05:00
adeck	3c8d6c7ad3	Remove debug print	2024-03-20 16:31:29 -05:00
adeck	cbe7225fc9	Fix bug with part name in query_search	2024-03-20 16:27:43 -05:00
adeck	44efc4006e	Correct flip rz orientation	2024-03-19 17:48:32 -05:00
adeck	218303e92b	Try different moves	2024-03-17 22:01:34 -05:00
adeck	e5d3f87b5c	Go to home position first	2024-03-17 20:49:39 -05:00
adeck	2ab1d0dbb3	Add flip around mode to fit edge slots	2024-03-17 20:48:26 -05:00
adeck	1338c3f440	Added tool z rotation for angled gripper	2024-03-17 20:07:25 -05:00
adeck	83b077b4df	Make limb lengths and offsets global	2024-03-17 19:59:17 -05:00
adeck	f16242f5be	Re-merge calculate_theta into get_joints_from_xyz_rel	2024-03-17 19:53:49 -05:00
adeck	2f28a01b7c	Add basic kinematics for gripper angle	2024-03-17 19:50:04 -05:00
adeck	fb85a56d47	Use movejs to go to all cable positions	2024-03-17 16:21:57 -05:00
adeck	bec0c63763	Fix ur5_control bugs, fully working IK!! Thanks Nadeem	2024-03-17 16:13:53 -05:00
BlueOceanWave	4ae30b82a0	Cleaned up notebook	2024-03-17 15:43:06 -05:00
BlueOceanWave	4bc3e30116	Fixed edge cases when calculating base angle	2024-03-17 01:01:39 -05:00
				`@@ -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>