Add QR codes for Web UI

Add mode query
Fix simulation mode
2024-08-20 10:05:57 -05:00 · 2024-08-16 12:12:39 -05:00 · 2024-08-16 12:09:32 -05:00 · 2024-08-08 10:51:05 -05:00 · 2024-08-06 17:41:45 -05:00 · 2024-08-06 17:36:31 -05:00
38 changed files with 5498 additions and 1218 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -3,6 +3,7 @@ venv
 __pycache__
 # cable data folder(s)
 cables
+cables_old
 cables-sample.zip
 # meilisearch (mainly where I've put the data volume for the container)
 meili_data
@@ -20,3 +21,4 @@ map*.png
 build
 # Generated label images
 labels
+temp
--- a/.gitmodules
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "jukebox-web"]
+	path = jukebox-web
+	url = https://git.myitr.org/Jukebox/jukebox-web
--- a/6
+++ b/6
@@ -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
--- a/banner_ivu_export.py
+++ b/banner_ivu_export.py
@@ -40,13 +40,16 @@ class DriveImg():
            self.onLine = False 
            fprint("Offline")

+    def close(self):
+        self.trans.close()
+
    def read_img(self):
        resposta = 'Falha'
        try:
            if not self.onLine:
                #print(f'tentando Conectar camera {self.ip}...')
                gravaLog(ip=self.ip,msg=f'Trying to connect...')
-                sleep(2)
+                #sleep(2)
                try:
                    self.trans = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
                    self.trans.connect((self.ip,self.PORT))
@@ -55,7 +58,7 @@ class DriveImg():
                except:
                    self.onLine = False
                    self.trans.close()
-                    return resposta
+                    return "Error", None
            ret = self.trans.recv(64)
            try:
                valida = str(ret[0:15].decode('UTF-8'))
@@ -63,15 +66,15 @@ class DriveImg():
                if valida.find("TC IMAGE")<0:
                    self.onLine = False
                    self.trans.close()
-                    sleep(2)
+                    #sleep(2)
                    gravaLog(ip=self.ip,tipo="Falha",msg=f'Unable to find TC IMAGE bookmark')
-                    return "Error"
+                    return "Error", None
            except Exception as ex:
                self.onLine = False
                self.trans.close()
-                sleep(2)
+                #sleep(2)
                gravaLog(ip=self.ip,tipo="Falha",msg=f'Error - {str(ex)}')
-                return "Error"
+                return "Error", None
            if ret:
                frame = int.from_bytes(ret[24:27],"little")
                isJpeg = int.from_bytes(ret[32:33],"little")
@@ -113,8 +116,8 @@ class DriveImg():
            #print(f'erro {str(ex)}')
            self.onLine = False
            self.trans.close()
-            sleep(2)
-            return resposta
+            #sleep(2)
+            return "Error", None

 class DriveData():
    HEADERSIZE = 100
@@ -139,7 +142,7 @@ class DriveData():
            if not self.onLine:
                #print(f'tentando Conectar...\n')
                gravaLog(ip=self.ip,msg=f'tentando Conectar...',file="log_data.txt")
-                sleep(2)
+                #sleep(2)
                try:
                    self.trans = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
                    self.trans.connect((self.ip,self.PORT))
@@ -154,7 +157,7 @@ class DriveData():
        except Exception as ex:
            self.onLine = False 
            gravaLog(ip=self.ip,tipo="Falha Generica",msg=f'erro {str(ex)}',file="log_data.txt")
-            sleep(2)
+            #sleep(2)
            return resposta


--- a/cables.txt
+++ b/cables.txt
@@ -0,0 +1,26 @@
+1172C
+86104CY
+FIT-221-1_4
+10GXW13
+10GXW53
+29501F
+29512
+3092A
+3105A
+3106A
+6300FE
+6300UE
+7922A
+7958A
+8760
+9841
+FI4X012W0
+FISX012W0
+IOP6U
+RA500P
+SPE101
+SPE102
+TF-1LF-006-RS5
+TF-SD9-006-RI5
+TT-SLG-024-HTN
+3050
--- a/client.bat
+++ b/client.bat
@@ -0,0 +1,29 @@
+
+@echo off
+
+:: BatchGotAdmin
+:-------------------------------------
+REM  --> Check for permissions
+>nul 2>&1 "%SYSTEMROOT%\system32\cacls.exe" "%SYSTEMROOT%\system32\config\system"
+
+REM --> If error flag set, we do not have admin.
+if '%errorlevel%' NEQ '0' (
+    echo Requesting administrative privileges...
+    goto UACPrompt
+) else ( goto gotAdmin )
+
+:UACPrompt
+    echo Set UAC = CreateObject^("Shell.Application"^) > "%temp%\getadmin.vbs"
+    set params = %*:"=""
+    echo UAC.ShellExecute "cmd.exe", "/c %~s0 %params%", "", "runas", 1 >> "%temp%\getadmin.vbs"
+
+    "%temp%\getadmin.vbs"
+    del "%temp%\getadmin.vbs"
+    exit /B
+
+:gotAdmin
+    pushd "%CD%"
+    CD /D "%~dp0"
+    python run.py
+:--------------------------------------
+
--- a/compose-search-only.yml
+++ b/compose-search-only.yml
@@ -0,0 +1,13 @@
+services:
+  meilisearch:
+    image: "getmeili/meilisearch:v1.6.2"
+    ports:
+      - "7700:7700"
+    environment:
+      MEILI_MASTER_KEY: fluffybunnyrabbit
+      MEILI_NO_ANALYTICS: true
+    volumes:
+      - "meili_data:/meili_data"
+  
+volumes:
+  meili_data:
--- a/compose.yml
+++ b/compose.yml
@@ -9,5 +9,22 @@ services:
    volumes:
      - "meili_data:/meili_data"
  
+  jukebox-software:
+    build: .
+    init: true
+    ports:
+      - "5000:5000"
+      - "8000:8000"
+      - "9000:9000"
+    environment:
+      - PYTHONUNBUFFERED=1
+    depends_on:
+      - meilisearch
+  
+  jukebox-web:
+    build: jukebox-web
+    ports:
+      - "3000:3000"
+
 volumes:
  meili_data:
--- a/config.yml
+++ b/config.yml
@@ -3,70 +3,102 @@ core:
  serverip: 172.26.178.114
  clientip: 172.26.176.1
  server: Hyper-Vd
+  loopspeed: 60 # fps
+
+mqtt:
+  enabled: False
+  server: 172.31.108.4

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

-#cable_map:
 cameras:
  banner:
-    ip: 192.168.1.125
-    port: 32200
+    ip: 192.168.1.199
+    port: 80
+
+animation_time: 60

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

  map:
@@ -76,37 +108,37 @@ led:
      start: 0
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [0, 304.8]
    - type: circle
      start: 24
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-65.991, 266.7]
    - type: circle
      start: 48
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-131.982, 228.6]
    - type: circle
      start: 72
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-197.973, 190.5]
    - type: circle
      start: 96
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-263.965, 152.4]
    - type: circle
      start: 120
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-263.965, 76.2]

    # controller 2
@@ -114,37 +146,37 @@ led:
      start: 144
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [0, 228.6]
    - type: circle
      start: 168
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-65.991, 190.5]
    - type: circle
      start: 192
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-131.982, 152.4]
    - type: circle
      start: 216
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-197.973, 114.3]
    - type: circle
      start: 240
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-197.973, 38.1]
    - type: circle
      start: 264
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-263.965, 0]

    # controller 3
@@ -152,37 +184,37 @@ led:
      start: 288
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [0, 152.4]
    - type: circle
      start: 312
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-65.991, 114.3]
    - type: circle
      start: 336
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-131.982, 76.2]
    - type: circle
      start: 360
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-131.982, 0]
    - type: circle
      start: 384
      size: 24
      diameter: 63.5
-      angle: 0
-      pos: [-197.973, -38.1]
+      angle: 180
+      pos: [-199.0, -35.0]
    - type: circle
      start: 408
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-263.965, -76.2]

    # controller 4
@@ -190,37 +222,37 @@ led:
      start: 432
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [131.982, 76.2]
    - type: circle
      start: 456
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [131.982, 152.4]
    - type: circle
      start: 480
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [131.982, 228.6]
    - type: circle
      start: 504
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [65.991, 266.7]
    - type: circle
      start: 528
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [65.991, 190.5]
    - type: circle
      start: 552
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [65.991, 114.3]
    

@@ -229,37 +261,37 @@ led:
      start: 576
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [131.982, 0]
    - type: circle
      start: 600
      size: 24
      diameter: 63.5
-      angle: 0
-      pos: [197.973, 38.1]
+      angle: 180
+      pos: [201.973, 34.1]
    - type: circle
      start: 624
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [197.973, 114.3]
    - type: circle
      start: 648
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [197.973, 190.5]
    - type: circle
      start: 672
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [263.965, 152.4]
    - type: circle
      start: 696
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [263.965, 76.2]

    # controller 6
@@ -267,37 +299,37 @@ led:
      start: 720
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [131.982, -76.2]
    - type: circle
      start: 744
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [197.973, -38.1]
    - type: circle
      start: 768
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [263.965, 0]
    - type: circle
      start: 792
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [263.965, -76.2]
    - type: circle
      start: 816
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [263.965, -152.4]
    - type: circle
      start: 840
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [197.973, -114.3]

    # controller 7
@@ -305,75 +337,75 @@ led:
      start: 864
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [65.991, -114.3]
    - type: circle
      start: 888
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [0, -152.4]
    - type: circle
      start: 912
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-65.991, -114.3]
    - type: circle
      start: 936
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-131.982, -76.2]
    - type: circle
      start: 960
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [-197.973, -114.3]
    - type: circle
      start: 984
      size: 24
      diameter: 63.5
-      angle: 0
-      pos: [-131.982, -152.4]
+      angle: 180
+      pos: [-133.0, -151.0]

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

    # controller 9
@@ -381,49 +413,49 @@ led:
      start: 1152
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [0, -304.8]
    - type: circle
      start: 1176
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [65.991, -266.7]
    - type: circle
      start: 1200
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [131.982, -228.6]
    - type: circle
      start: 1224
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [197.973, -190.5]
    - type: circle
      start: 1248
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [131.982, -152.4]
    - type: circle
      start: 1272
      size: 24
      diameter: 63.5
-      angle: 0
+      angle: 180
      pos: [65.991, -190.5]

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

 global_position_offset: [0,0] # default coordinate spce below as center of arm at 0,0 - adjust if necessary
-animation_time: 40
+
 position_map:
  - index: 0
    pos: [-152.4, 263.965]
@@ -442,7 +474,7 @@ position_map:
  - index: 7
    pos: [-38.1, 197.973]
  - index: 8
-    pos: [38.1, 197.973]
+    pos: [34.1, 201.973]
  - index: 9
    pos: [114.3, 197.973]
  - index: 10
@@ -500,7 +532,7 @@ position_map:
  - index: 36
    pos: [-228.6, -131.982]
  - index: 37
-    pos: [-152.4, -131.982]
+    pos: [-151.0, -133.0]
  - index: 38
    pos: [-76.2, -131.982]
  - index: 39
@@ -516,7 +548,7 @@ position_map:
  - index: 44
    pos: [-114.3, -197.973]
  - index: 45
-    pos: [-38.1, -197.973]
+    pos: [-35.0, -199.0]
  - index: 46
    pos: [38.1, -197.973]
  - index: 47
--- a/fileserver.py
+++ b/fileserver.py
@@ -0,0 +1,23 @@
+import http.server
+import socketserver
+import os
+
+class CORSHTTPRequestHandler(http.server.SimpleHTTPRequestHandler):
+    def end_headers(self):
+        self.send_header('Access-Control-Allow-Origin', '*')
+        self.send_header('Access-Control-Allow-Methods', 'GET, POST, OPTIONS')
+        self.send_header('Access-Control-Allow-Headers', 'X-Requested-With, Content-Type')
+        http.server.SimpleHTTPRequestHandler.end_headers(self)
+
+def run_server(port, directory):
+    """
+    Run a simple HTTP server serving files from the specified directory with CORS enabled.
+    """
+    # Change the working directory to the specified directory
+    os.makedirs(directory, exist_ok=True)
+    os.chdir(directory)
+
+    # Create the HTTP server using the CORS-enabled handler
+    with socketserver.TCPServer(("", port), CORSHTTPRequestHandler) as httpd:
+        print(f"Serving files at port {port} with CORS enabled")
+        httpd.serve_forever()
--- a/get_specs.py
+++ b/get_specs.py
@@ -30,6 +30,7 @@ def query_search(partnum, source):
    fprint("Searching for " + partnum)
    if source == "Belden":
        token_url = "https://www.belden.com/coveo/rest/token?t=" + str(int(time.time()))
+        try:
            with requests.get(token_url) as r:
                out = json.loads(r.content)
            token = out["token"]
@@ -47,7 +48,6 @@ def query_search(partnum, source):
                'Authorization': f'Bearer {token}',
                'Content-Type': 'application/json'
            }
-        try:
            with requests.post(search_url, headers=headers, data=search_data) as r:
                a = r.text
                a = json.loads(a)
@@ -81,15 +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)
@@ -159,8 +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
@@ -188,7 +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"
@@ -217,7 +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"
@@ -244,7 +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]
@@ -253,31 +259,31 @@ 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):
@@ -289,8 +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:
@@ -300,53 +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"
@@ -373,11 +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:")
@@ -408,7 +442,7 @@ if __name__ == "__main__":
    # ]
    partnums = [
    # Actual cables in Jukebox
-     
+    "BL3092A",
    "AW86104CY",
    "AW3050",
    "AW6714",
@@ -438,8 +472,9 @@ if __name__ == "__main__":
    "BL6300FE 009Q",
    "BLRA500P 006Q",

-
+    ]
    # Some ones I picked, including some invalid ones
+    a = [
    "BL10GXS12", 
    "BLRST%205L-RKT%205L-949",
    "BL10GXS13",
--- a/inv_kin_testing.ipynb
+++ b/inv_kin_testing.ipynb
--- a/1
+++ b/1
--- a/label_document.py
+++ b/label_document.py
@@ -0,0 +1,51 @@
+#!/usr/bin/env python3
+import fitz  # PyMuPDF
+from reportlab.pdfgen import canvas
+from reportlab.lib.pagesizes import letter
+import os
+
+
+def generate_pdf(path="labels"):
+    # Open the existing PDF
+    image_folder_path = path
+    doc = fitz.open('label_template.pdf')
+    page = doc[0]  # Assuming you want to read from the first page
+
+    placeholders = []
+    for shape in page.get_drawings():
+        if shape['type'] == 's':  # Checking for rectangle types
+            placeholders.append({
+                'x': shape['rect'].x0,
+                'y': shape['rect'].y0,
+                'width': shape['rect'].width,
+                'height': shape['rect'].height
+            })
+
+    # List all PNG images in the folder
+    image_files = [f for f in os.listdir(image_folder_path) if f.endswith('.png')]
+    image_paths = [os.path.join(image_folder_path, file) for file in image_files]
+
+    # Create a new PDF with ReportLab
+    c = canvas.Canvas(path + "/print.pdf", pagesize=letter)
+    current_placeholder = 0  # Track the current placeholder index
+
+    for image_path in image_paths:
+        if current_placeholder >= len(placeholders):  # Check if a new page is needed
+            c.showPage()
+            current_placeholder = 0  # Reset placeholder index for new page
+
+        # Get current placeholder
+        placeholder = placeholders[current_placeholder]
+
+        # Place image at the placeholder position
+        c.drawImage(image_path, placeholder['x'], page.rect.height - placeholder['y'] - placeholder['height'], width=placeholder['width'], height=placeholder['height'])
+        current_placeholder += 1
+
+    # Save the final PDF
+    c.save()
+
+    # Close the original PDF
+    doc.close()
+
+if __name__ == "__main__":
+    generate_pdf("labels")
--- a/label_generator.py
+++ b/label_generator.py
@@ -9,6 +9,7 @@ import os
 import signal
 from PIL import Image
 from label_image import generate_code
+from label_document import generate_pdf


 def input_cable():
@@ -22,7 +23,7 @@ def input_cable():
    print("Input part number:", inputnum)
    print("Searching databases for cables...")
    # Search both AW and BL sites
-    status, output = get_multi(["BL"+inputnum, "AW"+inputnum], delay=0.1, dir="temp/" + str(uuid.uuid4()) + "/", cache=False)
+    status, output = get_multi(["BL"+inputnum, "AW"+inputnum], delay=0.1, dir="temp/" + str(uuid.uuid4()) + "/", webport=":9000", cache=False)
    print("")
    if len(output) > 1:
        for i in output:
@@ -70,6 +71,8 @@ def gen_label(partnum, path="labels"):
    img = generate_code(partnum)
    os.makedirs(path, exist_ok=True)
    img.save(path + "/" + partnum + ".png")
+    generate_pdf(path)
+

 def delete_folder(path):
    # Check if the path is a directory
--- a/label_image.py
+++ b/label_image.py
@@ -269,10 +269,10 @@ def qr_image(data, width=600):
    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_image_pillow = png_image_pillow.resize((int(width*4), int(width*4/png_width*png_height)))
    png_width, png_height = png_image_pillow.size
    # paste belden logo first because it has a big border that would cover stuff up
-    img.paste(png_image_pillow, (int(width*5-png_width/2), int(width*4.25 - png_height/2)))
+    img.paste(png_image_pillow, (int(width*5-png_width/2), int(width*3.25 - png_height/2)))

    # draw circle border
    #draw.arc(((width - width/5, width - width/5), (width*9 + width/5, width*9 + width/5)),0,360,fill='blue', width = int(width/8))
@@ -289,7 +289,7 @@ def qr_image(data, width=600):
        text_width = font.getlength(partnum[2:])

    txtx = (int(width * 10) - text_width) / 2
-    txty = (int(width * 10)) / 2
+    txty = (int(width * 7.5)) / 2
    # draw part number text
    draw.text((txtx,txty),partnum[2:], "black", font)
    
@@ -298,10 +298,11 @@ def qr_image(data, width=600):
    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)
+    qrcode.save(out, scale=width*3/qrx, kind="PNG", border=0)
    qrimg = Image.open(out)
-    img.paste(qrimg, box=(int(width*4),int(width*5.75)))
-
+    img.paste(qrimg, box=(int(width*3.5),int(width*4.5)))
+    img = img.crop((width+int(width / 1.4)-int(width/8),width+int(width / 1.4)-int(width/8),img.size[0] - (width+int(width / 1.4)-int(width/8)), img.size[1] - (width+int(width / 1.4)-int(width/8))  ))
+    img = img.resize((1200, 1200), Image.LANCZOS) # 1200 dpi
    
    return img

--- a/label_template.pdf
+++ b/label_template.pdf
--- a/led_control.py
+++ b/led_control.py
--- a/led_demo.bat
+++ b/led_demo.bat
@@ -0,0 +1 @@
+python led_control.py
--- a/map.png
+++ b/map.png
--- a/pick_count.txt
+++ b/pick_count.txt
@@ -0,0 +1 @@
+56
--- a/process_video.py
+++ b/process_video.py
@@ -4,29 +4,54 @@ import cv2
 import banner_ivu_export
 import numpy as np
 from util import fprint
+import requests

 class qr_reader():
    camera = None
    def __init__(self, ip, port):
-        self.camera = banner_ivu_export.DriveImg(ip, port)
+        self.ip = ip
+        self.port = port
+        self.url = "http://" + ip + ":" + str(port) + "/barcode"
+        #self.camera = banner_ivu_export.DriveImg(ip, port)

+    # def read_qr(self, tries=1):
+    #     print("Trying " + str(tries) + " frames.")
+    #     self.camera = banner_ivu_export.DriveImg(self.ip, self.port)
+    #     for x in range(tries):
+    #         print(str(x) + " ", end="", flush=True)
+    #         imgtype, img = self.camera.read_img()
+                
+    #         if img is not None:    
+    #             #fprint(imgtype)
+    #             image_array = np.frombuffer(img, np.uint8)
+    #             img = cv2.imdecode(image_array, cv2.IMREAD_COLOR)
+    #             #cv2.imshow('Image', img)
+    #             #cv2.waitKey(1)
+    #             detect = cv2.QRCodeDetector()
+    #             value, points, straight_qrcode = detect.detectAndDecode(img)
+                
+    #             if value != "":
+    #                 self.camera.close()
+    #                 return value
+    #         else:
+    #             print("\nGot no image for " + str(x))
+
+    #     self.camera.close()
+    #     return False
    def read_qr(self, tries=1):
-        print("Trying " + str(tries) + " frames.")
-        for x in range(tries):
        try:
-                imgtype, img = self.camera.read_img()
-                #fprint(imgtype)
-                image_array = np.frombuffer(img, np.uint8)
-                img = cv2.imdecode(image_array, cv2.IMREAD_COLOR)
-                #cv2.imshow('Image', img)
-                #cv2.waitKey(1)
-                detect = cv2.QRCodeDetector()
-                value, points, straight_qrcode = detect.detectAndDecode(img)
-                return value
-            except:
-                continue
+            response = requests.get(self.url, timeout=tries * 15)
+            response.raise_for_status()  # Raise an error for bad status codes
+            print(response.text)  # Or handle the response as needed
+            if len(response.text) < 8:
                return False
+            return response.text
+        except requests.Timeout:
+            print(f'The request timed out after {tries * 15} seconds')
+        except requests.RequestException as e:
+            print(f'An error occurred: {e}')
        
+        return False
    
 class video_streamer():
    camera = None
@@ -41,5 +66,7 @@ class video_streamer():

 if __name__ == "__main__":
    test = qr_reader("192.168.1.125", 32200)
+    import time
    while True:
-        fprint(test.read_qr(5))
+        fprint(test.read_qr(300))
+        time.sleep(1)
--- a/read_datasheet.py
+++ b/read_datasheet.py
@@ -16,6 +16,8 @@ from util import win32
 import os
 import glob
 import sys
+from PIL import Image
+import segno

 def touch(path):
    with open(path, 'a'):
@@ -37,7 +39,7 @@ def extract_table_name(table_start, searchpage, reader, dstype, fallbackname):
        ymax = table_start + 10
    elif dstype == "Alphawire":
        ymin = table_start - 5
-        ymax = table_start + 10
+        ymax = table_start + 20
    page = reader.pages[searchpage - 1]
    parts = []
    def visitor_body(text, cm, tm, fontDict, fontSize):
@@ -52,14 +54,52 @@ def extract_table_name(table_start, searchpage, reader, dstype, fallbackname):
    return text_body
    #fprint(text_body)

-def parse(filename, output_dir, partnum, dstype):
+def find_file_noext(directory, prefix="part-hires"):
+    """
+    Find files in the specified directory that start with the given prefix and have any extension.
+
+    :param directory: The directory to search in.
+    :param prefix: The prefix to search for.
+    :return: A list of matching file names.
+    """
+    # Get all files and directories in the specified directory
+    entries = os.listdir(directory)
+    # Filter files that match 'filename.EXTENSION'
+    matching_files = [file for file in entries if os.path.isfile(os.path.join(directory, file)) and file.split('.')[0] == prefix and len(file.split('.')) == 2]
+    #print(directory, matching_files)
+    return matching_files
+
+def rotate_and_crop_image(path, image_name, force_rotate=False, partnum=""):
+    # Open the image file
+    fprint("Generating thumbnail image for part " + partnum)
+    image_path = path + "/" + image_name
+    with Image.open(image_path) as img:
+        # Check if the image is wider than it is tall
+        if force_rotate or img.width > img.height * 1.2:
+            # Rotate the image by 90 degrees counter-clockwise
+            img = img.rotate(90, expand=True)
+        
+        # Determine the size of the square (the length of the shorter side of the image)
+        square_size = min(img.width, img.height)
+        if img.height < img.width:
+            offset = (img.width - img.height)/2
+            img_cropped = img.crop((offset, 0, square_size+offset, square_size))
+        else:
+            # Crop the image to a square from the top
+            img_cropped = img.crop((0, 0, square_size, square_size))
+        
+        # Save or display the image
+        img_cropped.save(path + "/" + "thumbnail-" + image_name)  # Save the cropped image
+        
+
+def parse(filename, output_dir, partnum, dstype, weburl, extra):
    tables = []
    # Extract table data
    try:
        if dstype == "Belden":
            tables = camelot.read_pdf(filename, pages="1-end", flavor='lattice', backend="ghostscript", split_text=False, line_scale=100, process_background=True, resolution=600, interations=1, layout_kwargs={'detect_vertical': False, 'char_margin': 0.5}, shift_text=['r', 't'])
        elif dstype == "Alphawire":
-            tables = camelot.read_pdf(filename, pages="1-end", flavor='lattice', backend="ghostscript", split_text=False, line_scale=50, process_background=True, resolution=600, interations=1, layout_kwargs={'detect_vertical': True, 'char_margin': 0.5}, shift_text=['l', 't'])
+            tables = camelot.read_pdf(filename, pages="1-end", flavor='lattice', backend="ghostscript", split_text=False, line_scale=50, process_background=True, resolution=600, interations=1, layout_kwargs={'detect_vertical': True, 'char_margin': 0.5}, shift_text=['l', 'b'])
    except (OSError, RuntimeError) as e: 
        print(e)
        if win32:
@@ -95,11 +135,26 @@ def parse(filename, output_dir, partnum, dstype):
            #fprint(table_start)
            
            text_body = extract_table_name(table_start, table.page, reader, dstype, n)
-
+            #print(text_body)
            table_list[text_body] = table.df
+            #print(table_list[text_body])
            if dstype == "Alphawire":
-                table_list_raw[text_body] = table
                
+                def reorder_row(row):
+                    # Filter out NaNs and compute the original non-NaN values
+                    non_nans = row[~row.isnull()]
+                    # Create a new row with NaNs filled at the end
+                    new_row = pd.Series(index=row.index)
+                    new_row[:len(non_nans)] = non_nans
+                    return new_row
+    
+                # Apply the function to each row and return a new DataFrame
+
+
+                #table_list[text_body] = table.df.apply(reorder_row, axis=1)
+                #print(table_list[text_body])
+                table_list_raw[text_body] = table
+                #print(tbl)
            #table.to_html("table" + str(n) + ".html")
            
            #fprint(table.df)
@@ -134,6 +189,27 @@ def parse(filename, output_dir, partnum, dstype):
                    fp.write(image_file_object.data)
                    count += 1
    
+    if os.path.exists(output_dir + "/found_part_hires"):
+        rotate_and_crop_image(output_dir, find_file_noext(output_dir, prefix="part-hires")[0], force_rotate=(dstype == "Alphawire"), partnum=partnum)
+        img = weburl + find_file_noext(output_dir, prefix="thumbnail-part-hires")[0]
+    elif len(find_file_noext(output_dir, prefix="part")) > 0:
+        rotate_and_crop_image(output_dir, find_file_noext(output_dir, prefix="part")[0], force_rotate=(dstype == "Alphawire"), partnum=partnum)
+        img = weburl + find_file_noext(output_dir, prefix="thumbnail-part")[0]
+    else:
+        img = None
+
+    fprint("Making QR code for part " + partnum)
+    partnumqr = partnum.replace(" ", "%20")
+    if dstype == "Alphawire":
+        partnumqr = "AW" + partnumqr
+    if dstype == "Belden":
+        partnumqr = "BL" + partnumqr
+    qrcode = segno.make('HTTPS://BLDN.APP/' + partnumqr,micro=False,boost_error=False,error="L",mask=3)
+    #out = io.BytesIO()
+    qrx, _ = qrcode.symbol_size(1,0)
+    qrcode.save(output_dir + "/qrcode.png", scale=500.0/qrx, kind="PNG", border=0, light="#00000000")
+    qrpath = weburl + find_file_noext(output_dir, prefix="qrcode")[0]
+
    # Table parsing and reordring
    tables = dict()
    torename = dict()
@@ -141,6 +217,7 @@ def parse(filename, output_dir, partnum, dstype):
    #print(table_list.keys())
    for table_name in table_list.keys():
        # determine shape: horizontal or vertical
+        #print(table_name)
        table = table_list[table_name]
        rows = table.shape[0]
        cols = table.shape[1]
@@ -177,11 +254,11 @@ def parse(filename, output_dir, partnum, dstype):
            if dstype == "Alphawire" and table_name_2.find("\n") >= 0:
                torename[table_name_2] = table_name_2[0:table_name_2.find("\n")]

-            if table_name_2.find(table.iloc[-1, 0]) >= 0:
-                # Name taken from table directly above - this table does not have a name
-                torename[table_name_2] = "Specs " + str(len(tables))
-                #table_list["Specs " + str(len(tables))] = table_list[table_name_2] # rename table to arbitrary altername name
-                break
+            # if dstype == "Alphawire" and table_name_2.find(table.iloc[-1, 0]) >= 0:
+            #     # Name taken from table directly above - this table does not have a name
+            #     torename[table_name_2] = "Specs " + str(len(tables))
+            #     #table_list["Specs " + str(len(tables))] = table_list[table_name_2] # rename table to arbitrary altername name
+            #     break

        if vertical:
            out = dict()
@@ -199,9 +276,9 @@ def parse(filename, output_dir, partnum, dstype):
                out[col_data[0].replace("\n", " ")] = col_data[1:]
        
        tables[table_name] = out
-
+        #print(out)
        # multi-page table check, Alphawire
-        if dstype == "Alphawire" and table_name.isdigit():
+        if dstype == "Alphawire" and table_name.isdigit() and previous_table != "":
            # table continues from previous page or has name on previous page
            thistbl = table_list_raw[table_name]
            prevtbl = table_list_raw[previous_table]
@@ -251,9 +328,6 @@ def parse(filename, output_dir, partnum, dstype):
                #fprint(table_name)
                #fprint(previous_table)
                
-                
-                
-                
                main_key = previous_table
                cont_key = table_name
                #fprint(tables)
@@ -267,15 +341,21 @@ def parse(filename, output_dir, partnum, dstype):
                    del tables[table_name]
    
                else:
+                    #print(tables)
+                    #print(main_key)
+                    #print(cont_key)
                    for key in tables[cont_key].keys():
                        tables[main_key][key] = tables[cont_key][key]
                    del tables[table_name]
-
+            else:
+                previous_table = table_name
+        else:
            previous_table = table_name
    
    # remove & rename tables
+    #print(torename)
    for table_name in torename.keys():
-        tables[torename[table_name]] = tables[table_name]
+        tables[torename[str(table_name)]] = tables[str(table_name)]
        del tables[table_name]
    # remove multi-line values that occasionally squeak through
    def replace_newlines_in_dict(d):
@@ -291,15 +371,42 @@ def parse(filename, output_dir, partnum, dstype):
    tables = replace_newlines_in_dict(tables)

    # summary
-
+    #print(tables)
    output_table = dict()
    output_table["partnum"] = partnum
    id = str(uuid.uuid4())
    output_table["id"] = id
    #output_table["position"] = id
-    #output_table["brand"] = brand
-    output_table["fullspecs"] = tables
-    output_table["searchspecs"] = {"partnum": partnum, **flatten(tables)}
+    if "brand" in extra:
+        output_table["brand"] = extra["brand"]
+    else:
+        output_table["brand"] = dstype
+    output_table["datasheet"] = weburl + "datasheet.pdf"
+    output_table["qrcode"] = qrpath 
+    if img is not None:
+        output_table["image"] = img
+        output_table["fullspecs"] = {"partnum": partnum, "id": id, "brand": output_table["brand"], "image": img, "datasheet": weburl + "datasheet.pdf", "qrcode": qrpath, **tables}
+        output_table["searchspecs"] = {"partnum": partnum, "brand": output_table["brand"], "image": img, "datasheet": weburl + "datasheet.pdf", "qrcode": qrpath, **flatten(tables)}
+    else:
+        output_table["fullspecs"] = {"partnum": partnum, "id": id, "brand": output_table["brand"], "datasheet": weburl + "datasheet.pdf", "qrcode": qrpath, **tables}
+        output_table["searchspecs"] = {"partnum": partnum, "brand": output_table["brand"], "datasheet": weburl + "datasheet.pdf", "qrcode": qrpath, **flatten(tables)}
+
+    if "short_description" in extra:
+        output_table["short_description"] = extra["short_description"]
+        output_table["fullspecs"]["short_description"] = extra["short_description"]
+        output_table["searchspecs"]["short_description"] = extra["short_description"]
+    if "description" in extra:
+        output_table["description"] = extra["description"]
+        output_table["fullspecs"]["description"] = extra["description"]
+        output_table["searchspecs"]["description"] = extra["description"]
+    if "application" in extra:
+        output_table["application"] = extra["application"]
+        output_table["fullspecs"]["application"] = extra["application"]
+        output_table["searchspecs"]["application"] = extra["application"]
+    if "category" in extra:
+        output_table["category"] = extra["category"]
+        output_table["fullspecs"]["category"] = extra["category"]
+        output_table["searchspecs"]["category"] = extra["category"]
    
    output_table["searchspecs"]["id"] = id
    
@@ -308,16 +415,17 @@ def parse(filename, output_dir, partnum, dstype):
    #print(output_table)

    #run_cmd("rm \"" + output_dir + "\"/*.json") # not reliable!
-    pattern = os.path.join(output_dir, '*.json')
-    json_files = glob.glob(pattern)
-    for file_path in json_files:
-        os.remove(file_path)
+    # pattern = os.path.join(output_dir, '*.json')
+    # json_files = glob.glob(pattern)
+    # for file_path in json_files:
+    #     os.remove(file_path)
        #print(f"Deleted {file_path}")
-    with open(output_dir + "/search_" + output_table["searchspecs"]["id"] + ".json", 'w') as json_file:
+    with open(output_dir + "/search.json", 'w') as json_file:
        json.dump(output_table["searchspecs"], json_file)
-    with open(output_dir + "/specs_" + output_table["partnum"] + ".json", 'w') as json_file:
+    with open(output_dir + "/specs.json", 'w') as json_file:
        json.dump(output_table["fullspecs"], json_file)
        
+    fprint("Datasheet values parsed and saved for " + partnum)
    #print(json.dumps(output_table, indent=2))
    touch(output_dir + "/parsed") # mark as parsed
    return True
@@ -346,12 +454,20 @@ def flatten(tables):

            fullkeyname = (table + ": " + keyname).replace(".","")
            if type(tables[table][key]) is not tuple:
+                if len(tables[table][key]) > 0:
                    out[fullkeyname] = convert_to_number(tables[table][key])
                #print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
            elif len(tables[table][key]) == 1:
+                if len(tables[table][key][0]) > 0:
                    out[fullkeyname] = convert_to_number(tables[table][key][0])
                #print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
-
+            else:
+                tmp = []
+                for x in range(len(tables[table][key])):
+                    if len(tables[table][key][x]) > 0:
+                        tmp.append(tables[table][key][x].strip())
+                        #out[fullkeyname + " " + str(x+1)] = convert_to_number(tables[table][key][x])
+                out[fullkeyname] = tmp
            # if the item has at least two commas in it, split it
            if tables[table][key].count(',') > 0:
                out[fullkeyname] = list(map(lambda x: x.strip(), tables[table][key].split(",")))
@@ -369,4 +485,4 @@ def flatten(tables):
    

 if __name__ == "__main__":
-    print(parse("cables/3050/datasheet.pdf", "cables/3050", "3050", "Alphawire"))
+    print(parse("cables/3050/datasheet-new.pdf", "cables/3050", "3050", "Alphawire"))
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,9 +1,10 @@
 # Runtime
-camelot-py
-opencv-python
+camelot-py[base]==0.9.0
+#opencv-python
 pypdf2==2.12.1
 alive-progress
 requests
+math3d==4.0.0
 git+https://github.com/Byeongdulee/python-urx.git
 meilisearch
 pyyaml
@@ -16,10 +17,12 @@ numpy
 scipy
 ipywidgets
 pandas
-pyarrow
+#pyarrow
 ghostscript
 pyzbar
 segno
+pyModbusTCP
+paho-mqtt

 # Development
 matplotlib
--- a/run.py
+++ b/run.py
--- a/run.sh
+++ b/run.sh
@@ -0,0 +1,5 @@
+#!/bin/sh
+
+pkill -9 python # kill any old processes
+cd /root/jukebox-software
+python run.py
--- a/search.py
+++ b/search.py
@@ -1,10 +1,12 @@
+#!/usr/bin/env python3
+
 """Interactions with the Meilisearch API for adding and searching cables."""
 from meilisearch import Client
 from meilisearch.task import TaskInfo
 from meilisearch.errors import MeilisearchApiError
-import json
+import time

-DEFAULT_URL = "http://localhost:7700"
+DEFAULT_URL = "http://127.0.0.1:7700"
 DEFAULT_APIKEY = "fluffybunnyrabbit" # I WOULD RECOMMEND SOMETHING MORE SECURE
 DEFAULT_INDEX = "cables"
 DEFAULT_FILTERABLE_ATTRS = ["partnum", "uuid", "position"] # default filterable attributes
@@ -34,12 +36,15 @@ class JukeboxSearch:
        # create the index if it does not exist already
        try:
            self.client.get_index(self.index)
+            self.client.delete_index(self.index)
+            self.client.create_index(self.index)
        except MeilisearchApiError as _:
            self.client.create_index(self.index)
        # make a variable to easily reference the index
        self.idxref = self.client.index(self.index)
-
+        time.sleep(0.05)
        # update filterable attributes if needed
+        self.idxref.update_distinct_attribute('partnum')
        self.update_filterables(filterable_attrs)

    def add_document(self, document: dict) -> TaskInfo:
@@ -65,11 +70,10 @@ class JukeboxSearch:
        
        :param filterables: List of all filterable attributes"""

-        existing_filterables = self.idxref.get_filterable_attributes()
-        if len(set(existing_filterables).difference(set(filterables))) > 0:
+        #existing_filterables = self.idxref.get_filterable_attributes()
+        #if len(set(existing_filterables).difference(set(filterables))) > 0:
        taskref = self.idxref.update_filterable_attributes(filterables)
-
-            self.client.wait_for_task(taskref.index_uid)
+        #self.client.wait_for_task(taskref.index_uid)

    def search(self, query: str, filters: str = None):
        """Execute a search query on the Meilisearch index.
@@ -90,7 +94,7 @@ class JukeboxSearch:
        :returns: A dict containing the results; If no results found, an empty dict."""
        q = self.search("", filter)
        if q["estimatedTotalHits"] != 0:
-            return ["hits"][0]
+            return q["hits"][0]
        else:
            return dict()

--- a/server.py
+++ b/server.py
@@ -83,7 +83,7 @@ async def send_messages(to_server_queue):
        await asyncio.sleep(0.001)

 def websocket_server(to_server_queue, from_server_queue):
-    start_server = websockets.serve(lambda ws, path: handler(ws, path, to_server_queue, from_server_queue), "localhost", 9000)
+    start_server = websockets.serve(lambda ws, path: handler(ws, path, to_server_queue, from_server_queue), "0.0.0.0", 9000)

    asyncio.get_event_loop().run_until_complete(start_server)
    asyncio.get_event_loop().create_task(send_messages(to_server_queue))
--- a/setup-alpine-vm.sh
+++ b/setup-alpine-vm.sh
@@ -0,0 +1,20 @@
+#!/bin/sh
+
+# This script must run as root!
+
+echo "https://dl-cdn.alpinelinux.org/alpine/latest-stable/main
+https://dl-cdn.alpinelinux.org/alpine/latest-stable/community" > /etc/apk/repositories
+
+apk upgrade
+apk add git docker docker-cli-compose
+
+rc-update add docker
+service docker start
+
+git clone https://git.myitr.org/Jukebox/jukebox-software
+cd jukebox-software
+git submodule init
+git submodule update
+
+docker compose build
+docker compose up -d
--- a/table0.html
+++ b/table0.html
@@ -0,0 +1,76 @@
+<table border="1" class="dataframe">
+  <thead>
+    <tr style="text-align: right;">
+      <th></th>
+      <th>1</th>
+      <th>2</th>
+      <th>3</th>
+      <th>4</th>
+    </tr>
+  </thead>
+  <tbody>
+    <tr>
+      <th>2</th>
+      <td></td>
+      <td></td>
+      <td></td>
+      <td>Diameters\n(In)</td>
+    </tr>
+    <tr>
+      <th>4</th>
+      <td>1) Component\n1\n1 X 1 HOOKUP</td>
+      <td></td>
+      <td></td>
+      <td></td>
+    </tr>
+    <tr>
+      <th>6</th>
+      <td>a) Conductor\n24\n(7/32) AWG Tinned Copper</td>
+      <td></td>
+      <td></td>
+      <td>0.024</td>
+    </tr>
+    <tr>
+      <th>8</th>
+      <td>b)\nInsulation\n0.016" Wall, Nom. PVC</td>
+      <td></td>
+      <td></td>
+      <td>0.056+/-\n0.002</td>
+    </tr>
+    <tr>
+      <th>10</th>
+      <td></td>
+      <td>(1) Print</td>
+      <td>ALPHA WIRE\nE163869-* RU AWM STYLES\n1569\n105C\nOR 1007\n80C 300V VW-1\nIEC 60332-2\n24 AWG\nOR CRU TR-64\n90C FT1 CE ROHS\n{0}\n* = Factory Code</td>
+      <td></td>
+    </tr>
+    <tr>
+      <th>12</th>
+      <td></td>
+      <td>(2) Color(s)</td>
+      <td>WHITE, BLACK, GREEN,\nYELLOW, BLUE, BROWN, ORANGE\nSLATE, VIOLET, WHITE/BLACK, WHITE/RED</td>
+      <td></td>
+    </tr>
+    <tr>
+      <th>13</th>
+      <td></td>
+      <td></td>
+      <td>WHITE/GREEN, WHITE/YELLOW, WHITE/BLUE\nWHITE/BROWN, WHITE/ORANGE, WHITE/SLATE\nWHITE/VIOLET, GREEN/YELLOW,\nPINK, DK. BLUE</td>
+      <td></td>
+    </tr>
+    <tr>
+      <th>14</th>
+      <td></td>
+      <td></td>
+      <td>BROWN/BLACK, WHITE/PINK, BROWN/GREEN, BROWN/BLUE</td>
+      <td></td>
+    </tr>
+    <tr>
+      <th>15</th>
+      <td></td>
+      <td></td>
+      <td>RED</td>
+      <td></td>
+    </tr>
+  </tbody>
+</table>
--- a/table1.html
+++ b/table1.html
@@ -0,0 +1,46 @@
+<table border="1" class="dataframe">
+  <thead>
+    <tr style="text-align: right;">
+      <th></th>
+      <th>1</th>
+      <th>2</th>
+    </tr>
+  </thead>
+  <tbody>
+    <tr>
+      <th>2</th>
+      <td>1) UL</td>
+      <td>AWM/STYLE\n1007\n80°C /\n300 VRMS</td>
+    </tr>
+    <tr>
+      <th>4</th>
+      <td></td>
+      <td>AWM/STYLE\n1569\n105°C /\n300 VRMS</td>
+    </tr>
+    <tr>
+      <th>6</th>
+      <td></td>
+      <td>VW-1</td>
+    </tr>
+    <tr>
+      <th>8</th>
+      <td>2) CSA International</td>
+      <td>TR-64\n90°C</td>
+    </tr>
+    <tr>
+      <th>10</th>
+      <td></td>
+      <td>FT1</td>
+    </tr>
+    <tr>
+      <th>12</th>
+      <td>3)\nIEC</td>
+      <td>EN 60332-2\nFlame Behavior</td>
+    </tr>
+    <tr>
+      <th>14</th>
+      <td>4) CE:</td>
+      <td>EU Low Voltage Directive\n2014/35/EU</td>
+    </tr>
+  </tbody>
+</table>
--- a/table2.html
+++ b/table2.html
@@ -0,0 +1,60 @@
+<table border="1" class="dataframe">
+  <thead>
+    <tr style="text-align: right;">
+      <th></th>
+      <th>1</th>
+      <th>2</th>
+      <th>4</th>
+    </tr>
+  </thead>
+  <tbody>
+    <tr>
+      <th>2</th>
+      <td>1)\nEU Directive\n2011/65/EU(RoHS2),\nEU Directive\n2015/863/EU (RoHS3):</td>
+      <td></td>
+      <td></td>
+    </tr>
+    <tr>
+      <th>4</th>
+      <td></td>
+      <td></td>
+      <td>All materials used in the manufacture of\nthis part\nare\nin compliance with European Directive\n2011/65/EU</td>
+    </tr>
+    <tr>
+      <th>5</th>
+      <td></td>
+      <td></td>
+      <td>and the\namending Directive\n2015/863/EU of\n4\nJune\n2015\nregarding the\nrestriction of use of\ncertain</td>
+    </tr>
+    <tr>
+      <th>6</th>
+      <td></td>
+      <td></td>
+      <td>hazardous\nsubstances\nin electrical\nand electronic\nequipment.</td>
+    </tr>
+    <tr>
+      <th>7</th>
+      <td>2) REACH Regulation (EC 1907/2006):</td>
+      <td></td>
+      <td></td>
+    </tr>
+    <tr>
+      <th>8</th>
+      <td></td>
+      <td></td>
+      <td>This product does not\ncontain Substances of Very High Concern (SVHC)\nlisted on the\nEuropean Union's</td>
+    </tr>
+    <tr>
+      <th>9</th>
+      <td></td>
+      <td></td>
+      <td>REACH candidate\nlist\nin excess of\n0.1% mass of\nthe\nitem.</td>
+    </tr>
+    <tr>
+      <th>11</th>
+      <td></td>
+      <td>3) California Proposition 65:</td>
+      <td>This product may\ncontain substances\nknown to the\nState of California\nto cause Cancer or Reproductive\nHarm, but\nis\nexempt\nfrom labeling based on the Consent\nJudgement.\nSee\nthe Alpha Wire website\nfor more\ninformation.</td>
+    </tr>
+  </tbody>
+</table>
--- a/table3.html
+++ b/table3.html
@@ -0,0 +1,60 @@
+<table border="1" class="dataframe">
+  <thead>
+    <tr style="text-align: right;">
+      <th></th>
+      <th>1</th>
+      <th>2</th>
+      <th>3</th>
+    </tr>
+  </thead>
+  <tbody>
+    <tr>
+      <th>2</th>
+      <td></td>
+      <td>Physical &amp; Mechanical Properties</td>
+      <td></td>
+    </tr>
+    <tr>
+      <th>4</th>
+      <td>1)\nTemperature Range</td>
+      <td></td>
+      <td>-40\nto 105°C</td>
+    </tr>
+    <tr>
+      <th>6</th>
+      <td>2) Bend Radius</td>
+      <td></td>
+      <td>10X Cable Diameter</td>
+    </tr>
+    <tr>
+      <th>8</th>
+      <td>3) Pull\nTension</td>
+      <td></td>
+      <td>3.5\nLbs, Maximum</td>
+    </tr>
+    <tr>
+      <th>9</th>
+      <td></td>
+      <td>Electrical Properties\n(For\nEngineering purposes only)</td>
+      <td></td>
+    </tr>
+    <tr>
+      <th>11</th>
+      <td>1) Voltage Rating</td>
+      <td></td>
+      <td>300 VRMS</td>
+    </tr>
+    <tr>
+      <th>13</th>
+      <td>2)\nInductance</td>
+      <td></td>
+      <td>0.07 μH/ft, Nominal</td>
+    </tr>
+    <tr>
+      <th>15</th>
+      <td>3) Conductor DCR</td>
+      <td></td>
+      <td>25 Ω/1000ft @20°C, Nominal</td>
+    </tr>
+  </tbody>
+</table>
--- a/table4.html
+++ b/table4.html
@@ -0,0 +1,18 @@
+<table border="1" class="dataframe">
+  <thead>
+    <tr style="text-align: right;">
+      <th></th>
+      <th>1</th>
+    </tr>
+  </thead>
+  <tbody>
+    <tr>
+      <th>2</th>
+      <td>Packaging\nFlange\nx\nTraverse\nx Barrel\n(inches)</td>
+    </tr>
+    <tr>
+      <th>3</th>
+      <td>a)\n32800\nFT\n23\nx\n15\nx\n0 Max.\n4\nseparate pieces; Min length/piece\n10000\nFT.\nb)\n10000\nFT\n12\nx\n5.94\nx\n5 Max.\n3\nseparate pieces; Min length/piece\n1000\nFT.\nc)\n5000\nFT\n10.5\nx\n5\nx\n3.5 Continuous\nlength\nd)\n1000\nFT\n6.5\nx\n2\nx\n1.9 Continuous\nlength\ne)\n100\nFT\n2.75\nx\n2\nx\n1.125 Continuous\nlength\n \n[Spool\ndimensions may\nvary\nslightly]\nNotes:\na) Certain color\nand put-up combinations may only be\navailable by\nspecial order. Minimums may\napply.\nb)\nTolerance on 32800\nft. Put-Up is +/-\n10%</td>
+    </tr>
+  </tbody>
+</table>
--- a/test.py
+++ b/test.py
@@ -1,4 +1,46 @@
-print("\u001b[37m")
+from pyModbusTCP.client import ModbusClient
+
+
+
+def get_sensors():
+    mbconn = ModbusClient(host="192.168.1.20", port=502, auto_open=True, auto_close=True)
+    """
+    port 1: 256
+    port 2: 272
+    port 3: 288
+    port 4: 304
+    port 5: 320
+    port 6: 336
+    port 7: 352
+    port 8: 368
+    """
+    out = list()
+    for reg in [352, 288, 304, 368]:
+        val = mbconn.read_holding_registers(reg)[0] # read only one register
+        print(val)
+        if val == 1:
+            out.append(True)
+        else:
+            out.append(False)
+
+    return out
+
+def get_open_spot(sensordata):
+    for x in range(len(sensordata)):
+        sens = sensordata[x]
+        if not sens:
+            return x
+        
+    # if we get here, every spot is full
+        
+    return False
+
+
+testmb = get_sensors()
+print(testmb)
+print("Spot open", get_open_spot(testmb))
+
+exit()

 class Ring:
    def __init__(self) -> None:
--- a/ur5_control.py
+++ b/ur5_control.py
@@ -5,54 +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
-offset_x, offset_y, offset_z = (0, 0, 0.14)     # Tool offset
-limb_base, limb1, limb2, limb3, limb_wrist = (0.105, .425, .39225, .1, .0997)    # Limb lengths
+    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"]
        
-def init(ip):
-    global rob
+        #self.init_arm()
+
+def ping(host):
+        #Returns True if host (str) responds to a ping request.
+
+        # Option for the number of packets as a function of
+        if win32:
+            param1 = '-n'
+            param2 = '-w'
+            param3 = '250'
+        else:
+            param1 = '-c'
+            param2 = '-W'
+            param3 = '0.25'
+
+        # Building the command. Ex: "ping -c 1 google.com"
+        command = ['ping', param1, '1', param2, param3, host]
+
+        return subprocess.call(command, stdout=subprocess.DEVNULL, stderr=subprocess.STDOUT) == 0
+
+def powerup_arm(robot):
    #sys.stdout = Logger()
    fprint("Starting UR5 power up...")
+    # power up robot here via PCB

-    # power up robot here
-
+    #
    # wait for power up (this function runs async)
-
+    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
@@ -68,8 +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
@@ -86,8 +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
@@ -132,9 +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])
@@ -191,24 +253,35 @@ def move_to_polar(start_pos, end_pos):

    return rx_intermediate

-def degtorad(angle):
-        return angle/180.0 * math.pi
-def radtodeg(angle):
-        return angle*180.0 / math.pi

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

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

 def normalize_degree(theta):
    # Normalizes degree theta from -1.5pi to 1.5pi
@@ -222,15 +295,14 @@ def normalize_degree(theta):
    # Return angle
    return normalized_theta

-
-
-def get_joints_from_xyz_rel(x, y, z, rx=0, ry=-math.pi/2, rz=0, initial_guess = (math.pi/2, math.pi/2, 0), l3offset=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
-    
    #l3=0.15
-    l_bs, l1, l2, l3, l_wt = (limb_base, limb1, limb2, limb3, limb_wrist)    # Limb lengths
+    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
@@ -273,200 +345,487 @@ def get_joints_from_xyz_rel(x, y, z, rx=0, ry=-math.pi/2, rz=0, initial_guess =
    # 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, l3offset=0):
-    joints = get_joints_from_xyz_rel(x, y, z, rx, ry, rz, l3offset=l3offset)
+def get_joints_from_xyz_abs(robot, x, y, z, rx=0, ry=-math.pi/2, rz=math.pi/2, l3offset=0, use_closest_path=True):
+    rob = robot.robot
+    joints = get_joints_from_xyz_rel(robot, x, y, z, rx, ry, rz, l3offset=l3offset)
+
+    # Return current positions if coordinates don't make sense
+    if z<0:
+        return rob.getj()

    # Joint offsets
    # Base, Shoulder, Elbow, Wrist
    inverse = [1, -1, 1, 1, 1, 1]
    offsets = [-math.pi/2, 0, 0, -math.pi/2, 0, 0]
-    if radtodeg(joints[1]) > 137:
+
+    if math.degrees(joints[1]) > 137:
        print("CRASH! Shoulder at", joints[1] * 180/math.pi)
    #else:
        #print("Shoulder at", joints[1] * 180/math.pi)
-    # Return adjusted joint positions
-    return [o+j*i for j, o, i in zip(joints, offsets, inverse)]

+    # 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
-def offset_gripper_angle(x, y, z, gripperangle=35, gripperlength=0.20+0.018, flip=False):
+    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 = -degtorad(gripperangle)
+        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(x, y, z-grippery, rx=gripperangle + degtorad(180), l3offset=-gripperx, ry=math.pi/2, rz=rz)
+        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 = degtorad(gripperangle)
+        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(x, y, z-grippery, rx=gripperangle, l3offset=-gripperx, rz=rz)
+        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]
    
-def goto_holder_index(idx, z=0.05, gripperangle=35, flip=False):
-    joint = config["position_map"][idx]
+    if verbose:
        print("Going to cable holder index", joint["index"], "at position", joint["pos"])   
-    angles = offset_gripper_angle(joint["pos"][1]/1000, joint["pos"][0]/1000, z, gripperangle=gripperangle, flip=flip)
+    
+    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
+    #return angles
    #angles = get_joints_from_xyz_abs(joint["pos"][1]/1000, joint["pos"][0]/1000, 0.05, )
+    return True
+
+def is_flipped(robot):
+    rob = robot.robot
+    wrist1 = rob.getj()[3]
+    
+    if wrist1 > 0:
+        return True
+    else:
+        return False
+
+def flip(robot):
+    rob = robot.robot
+
+    # A list of safe positions to flip
+    safe_positions = [(-0.18, -0.108, 0.35),
+                      (0.18, -0.108, 0.35)]
+    
+
+    # Find the closest safe position
+    curr_pos = rob.getl()[:3]
+    def dist_from_robot(pos):
+        x, y, z = pos
+        rx, ry, rz = curr_pos
+        return math.sqrt((rx-x)**2+(ry-y)**2+(rz-z)**2)
+
+    pos_dist_pairs = zip(safe_positions, [dist_from_robot(pos) for pos in safe_positions])
+    safe_pos = min(pos_dist_pairs, key=lambda x:x[1])[0]
+
+    # Flip at safe position
+    rob.movej(offset_gripper_angle(robot, *safe_pos, flip=is_flipped(robot)), vel=2, acc=2) # Move to safe position
+    rob.movej(offset_gripper_angle(robot, *safe_pos, flip=(not is_flipped(robot))), vel=2, acc=2) # Flip gripper
+    # print('flip?: ', is_flipped(robot))
+    return True
+
+def safe_move(robot, x, y, z, use_closest_path=True):
+    rob = robot.robot
+    flip_radius = 0.22 # Min radius on which to flip
+    r = math.sqrt(x**2 + y**2) # Get position radius
+
+    # Flip gripper if needed
+    if (r <= flip_radius and is_flipped(robot)) or (r > flip_radius and not is_flipped(robot)):
+        flip(robot)
+
+    rob.movej(offset_gripper_angle(robot, x, y, z, flip=is_flipped(robot), use_closest_path=use_closest_path), vel=2, acc=2)
+    return True
+
+def holder_routine(robot, pos_updates, holder_index, pick_up, verbose=False):
+    robot = connect(robot)
+    rob = robot.robot
+    
+    # Don't attempt to place a tube in the camera slot
+    if holder_index == 49:
+        return
+
+    if verbose:
+        fprint('Pickup routine for index' + str(holder_index))
+
+    # Go to the correct holder
+    if pick_up:
+        goto_holder_index(robot, holder_index, 0.05, use_closest_path=False)
+    else:
+        goto_holder_index(robot, holder_index, 0.2, use_closest_path=False)
+    
+    if pick_up:
+        open_gripper()
+
+    # Move down
+    curr_pos = rob.getl()
+    new_pos = curr_pos
+    new_pos[2] = 0.005
+    rob.movel(new_pos, vel=0.1, acc=1)
+    if pos_updates is not None:
+        pos_updates.put(1)
+    fprint("Triggering LED interface")
+    # Pick up or drop off
+    if pick_up:
+        close_gripper()
+    else:
+        open_gripper()
+    
+    # Move up
+    new_pos[2] = 0.2
+    rob.movel(new_pos, vel=2, acc=1)
+    was_flipped = is_flipped(robot)
+    if pos_updates is not None:
+        pos_updates.put(2)
+    fprint("Triggering LED interface")
+    # goto_holder_index(robot, 25, z=0.2)
+def pick_up_holder(robot, pos_updates, holder_index, verbose=False):
+    holder_routine(robot, pos_updates, holder_index, True, verbose=verbose)
+def drop_off_holder(robot, pos_updates, holder_index, verbose=False):
+    holder_routine(robot, pos_updates, holder_index, False, verbose=verbose)
+
+def tray_routine(robot, slot=0, pick_up=True):
+    robot = connect(robot)
+    rob = robot.robot
+    
+    # Default to 0 if invalid value
+    if slot not in [0, 1, 2, 3]:
+        slot = 0
+
+    slot_prepositions =  [(-9.93, -112.67, 144.02, -116.69, -54.13, -10.29),
+                         (-12.35, -124.95, 148.61, -107.27, -54.36, -13.26),
+                         (-16.45, -96.97, 137.85, 58.39, -305.08, 161.75),
+                         (-16.66, -97.28, 138.16, 58.54, -305.05, 161.50)] 
+
+    # Initial position depending on slot and robot orientation
+    if slot in [0, 1]:
+        if is_flipped(robot):
+            flip(robot)
+        else:
+            move_to_home(robot, keep_flip=True)
+    else:
+        goto_holder_index(robot, 25, z=0.3)
+
+    # Align robot to the slot
+    if slot in [2,3]:
+        angles = [(-2.77, -99.64, 131.02, 67.67, 70.04-360, 153.03),
+                  slot_prepositions[slot]]
+    else:
+        angles = [(-58, -114.45, 100.52, -45.24, -96.95, 120),
+                  (-39.98, -124.92, 132.28, -61.56, -55.60, -50.77),
+                  slot_prepositions[slot]]
+        
+    angles = [[x*math.pi/180 for x in move] for move in angles]
+    rob.movejs(angles,vel=2,acc=1) 
+
+   # Positions for each slot
+    slot_distance = .052
+    slot_height = -.015-.0095+0.007 # add 7mm for shim
+    first_slot = -0.3084+0.01+0.003 # add 3mm for tray adjust
+    slot_position = [
+        [first_slot, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
+        [first_slot+slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
+        [first_slot+2*slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
+        [first_slot+3*slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
+    ]
+    if pick_up:
+        open_gripper()
+    rob.movel(slot_position[slot], vel=0.2, acc=1)
+
+    # Place/Grab the tube
+    if pick_up:
+        close_gripper()
+    else:
+        open_gripper()
+
+
+    # Move back
+    tilt = 0.3
+    curr_pos = rob.getl()
+    new_pos = curr_pos
+    if slot==3:
+        new_pos[0] -= 0.05  #x
+    new_pos[1] += 0.15      #y
+    new_pos[2] = 0.09       #z
+    new_pos[3] += tilt
+    new_pos[4] += tilt
+    new_pos[5] += tilt
+    rob.movel(new_pos, vel=0.2, acc=1)
+    
+
+    # Go home to safe position
+    move_to_home(robot, speed=1, keep_flip=True)  
+def pick_up_tray(robot, slot=0):
+    tray_routine(robot, slot, True)
+def drop_off_tray(robot, slot=0):
+    tray_routine(robot, slot, False)
+
+
+def return_routine(robot, slot, holder_index=None, verbose=False):
+    # OLD UNUSED
+    robot = connect(robot)
+    rob = robot.robot
+
+    
+    open_gripper()
+    was_flipped = is_flipped(robot)
+    if slot is None:
+        rob.movej(offset_gripper_angle(robot, -0.15, -0.15, 0.3, flip=was_flipped, use_closest_path=False), vel=4, acc=3)
+        rob.movej(get_joints_from_xyz_abs(robot, -0.35, -0.15, 0.0, math.pi/2, 0.1), vel=4, acc=3)
+        close_gripper()
+    else:
+        xoffset = 0.051 * slot
+        rob.movej(offset_gripper_angle(robot, -0.15, -0.15, 0.3, flip=was_flipped, use_closest_path=False), vel=4, acc=3)
+        rob.movej(get_joints_from_xyz_abs(robot, -0.35+xoffset, -0.15, 0.0, math.pi/2, 0.1), vel=4, acc=3)
+        close_gripper()
+
+
+    if holder_index is not None:
+        goto_holder_index(robot, holder_index, 0.2, use_closest_path=False)
+        curr_pos = rob.getl()
+        new_pos = curr_pos
+        new_pos[2] = 0.015
+        rob.movel(new_pos, vel=0.1, acc=1)
+        open_gripper()
+        new_pos[2] = 0.1
+        rob.movel(new_pos, vel=2, acc=1)
+        return True
+    else:
+        # go to camera
+        rob.movej(offset_gripper_angle(robot, 0.35, -0.35, 0.3, flip=was_flipped, use_closest_path=False), vel=2, acc=2)
+        return True
+    
+
+def goto_camera(robot, pos_updates):
+    robot = connect(robot)
+    goto_holder_index(robot, 49, 0.2)
+
+def tray_to_camera(robot, pos_updates, slot):
+    pick_up_tray(robot, slot)
+    goto_camera(robot, pos_updates)
+def holder_to_tray(robot, pos_updates, holder_index, slot):
+    pick_up_holder(robot, pos_updates, holder_index)
+    drop_off_tray(robot, slot)
+
+def holder_to_camera(robot, pos_updates, holder_index, verbose=False):
+    robot = connect(robot)
+    fprint("Bringing tube at " + str(holder_index) + " to camera")
+    rob = robot.robot
+
+    pick_up_holder(robot, pos_updates, holder_index)
+    goto_camera(robot, pos_updates)
+def camera_to_holder(robot, pos_updates, holder_index, verbose=False):
+    robot = connect(robot)
+    rob = robot.robot
+
+    drop_off_holder(robot, pos_updates, holder_index)
+    
+
+# def open_gripper():
+#     fprint("Opening gripper")
+#     c = ModbusClient(host="192.168.1.21", port=502, auto_open=False, auto_close=False)
+#     c.open()
+#     while not c.is_open:
+#         time.sleep(0.01)
+
+#     c.write_single_register(112, 0b0)
+#     # c.write_single_register(435, 0b10000000)
+#     time.sleep(0.5)
+#     # c.write_single_register(112, 0b0)
+#     c.write_single_register(435, 0b10000000)
+#     time.sleep(0.5)
+#     c.close()
+    
+#     #c.close()
+
+# def close_gripper():
+#     fprint("Closing gripper")
+#     c = ModbusClient(host="192.168.1.21", port=502, auto_open=False, auto_close=False)
+#     c.open()
+#     while not c.is_open:
+#         time.sleep(0.01)
+    
+#     c.write_single_register(435, 0b00000000)
+#     # c.write_single_register(112, 0b1)
+#     time.sleep(0.5)
+#     # c.write_single_register(435, 0b00000000)
+#     c.write_single_register(112, 0b1)
+#     time.sleep(0.5)
+#     c.close()
+#     time.sleep(0.2)
+#     #
+    
+
+def open_gripper():
+    fprint("Opening gripper")
+    c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False)
+    
+    c.write_single_register(112, 0b0)
+    c.write_single_register(435, 0b10000000)
+
+    c.write_single_register(112, 0b0)
+    c.write_single_register(435, 0b10000000)
+    time.sleep(0.5)
+    c.close()
+    
+    #c.close()
+
+def close_gripper():
+    fprint("Closing gripper")
+    c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False)
+    c.write_single_register(435, 0b00000000)
+    c.write_single_register(112, 0b1)
+
+    c.write_single_register(435, 0b00000000)
+    c.write_single_register(112, 0b1)
+    time.sleep(0.5)
+    c.close()
+    #
+
+
+def get_position_thread(robot, pos_updates):
+    try:
+        robot = connect(robot)
+        rob = robot.robot
+        oldvals = rob.getl()
+        deltavals = [0,0,0]
+        import uptime
+        t = 0.01
+        count = 0
+        while True:
+            start = uptime.uptime()
+            if pos_updates.qsize() < 2:
+                vals = rob.getl()
+                if vals != oldvals:
+                    if pos_updates is not None:
+                        pos_updates.put(tuple(oldvals))
+                #time.sleep(0.01)
+                # deltavals = list()
+                # deltavals.append(vals[0]-oldvals[0])
+                # deltavals.append(vals[1]-oldvals[1])
+                # deltavals.append(vals[2]-oldvals[2])
+                # count = 0
+                    oldvals = vals
+                
+            # else:
+            #     count += 0.2
+            #     if count < 1:
+            #         tmpvals = vals
+            #         tmpvals[0] = oldvals[0] + deltavals[0]*count
+            #         tmpvals[1] = oldvals[1] + deltavals[1]*count
+            #         tmpvals[2] = oldvals[2] + deltavals[2]*count
+            #         pos_updates.put(tuple(tmpvals))
+            while start + t > uptime.uptime():
+                time.sleep(0.0001)
+    except:
+        pass

 if __name__ == "__main__":
    
-    #rob.movej((0, 0, 0, 0, 0, 0), 0.1, 0.2)
-    #rob.movel((x, y, z, rx, ry, rz), a, v)
-    init("192.168.1.145")
-    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)
-
-    # set_pos_abs(*home_pose)
-
-
-    
-    # angles = get_joints_from_xyz_abs(-0.2, 0, 0)
-    # rob.movej(angles, acc=2, vel=2)
-    # angles = get_joints_from_xyz_abs(-0.2, -0.2, 0)
-    # rob.movej(angles, acc=2, vel=2)
-    # angles = get_joints_from_xyz_abs(0, -0.6, 0)
-    # rob.movej(angles, acc=2, vel=2)
-    # angles = get_joints_from_xyz_abs(0, -0.5, 0)
-    # rob.movej(angles, acc=2, vel=2)
-    # angles = get_joints_from_xyz_abs(0, -0.4, 0)
-    # rob.movej(angles, acc=2, vel=2)
-    # angles = get_joints_from_xyz_abs(0, -0.3, 0)
-    # rob.movej(angles, acc=2, vel=2)
-    # angles = get_joints_from_xyz_abs(0, -0.2, 0)
-    # rob.movej(angles, acc=2, vel=2)
-    # angles = get_joints_from_xyz_abs(0, -0.13, 0)
-    # rob.movej(angles, acc=2, vel=2)
-    config = None
-    joints = []
-    for i in np.linspace(-0.2, -0.7, 50):
-         joints.append(get_joints_from_xyz_abs(i, 0, 0))
-    #rob.movejs(joints, acc=2, vel=2)
-    import yaml
    with open('config.yml', 'r') as fileread:
        #global config
        config = yaml.safe_load(fileread)
    
-    #rob.movej(goto_holder_index(24, 0.2, 0), acc=2, vel=2)
-    #joints = []
-    
-    #for i in np.linspace(0, 340, 340):
-    #    joints.append(goto_holder_index(24, 0.5, i))
-    #rob.movejs(joints, acc=1, vel=3)
-    angle = 30
-    rob.movej(goto_holder_index(26, 0.1, angle), acc=2, vel=2)
-    time.sleep(1)
-    rob.movej(goto_holder_index(25, 0.1, angle), acc=2, vel=2)
-    time.sleep(1)
-    rob.movej(goto_holder_index(24, 0.1, angle, flip=True), acc=2, vel=2)
-    #rob.movej(goto_holder_index(32, 0.2, angle), acc=2, vel=2)
-    #rob.movej(goto_holder_index(38, 0.2, angle), acc=2, vel=2)
-    #rob.movej(goto_holder_index(25, 0.1, angle, flip=True), acc=2, vel=2)
-
-    #rob.movej(goto_holder_index(25, 0.2, angle, flip=True), acc=2, vel=2)
-    #rob.movej(goto_holder_index(24, 0.1, angle, flip=True), acc=2, vel=2)
-    #time.sleep(1)
-    #rob.movej(goto_holder_index(25, 0.1, angle, flip=True), acc=2, vel=2)
-    #rob.movej(goto_holder_index(49, 0.1, angle), acc=2, vel=2)
-    #rob.movej(goto_holder_index(49, 0.1, angle, flip=True), acc=2, vel=2)
-    # rob.movej(goto_holder_index(50, 0.1, angle, flip=True), acc=2, vel=2)
-    # rob.movej(goto_holder_index(51, 0.1, angle, flip=True), acc=2, vel=2)
-    # rob.movej(goto_holder_index(52, 0.1, angle, flip=True), acc=2, vel=2)
-    # rob.movej(goto_holder_index(53, 0.1, angle, flip=True), acc=2, vel=2)
-    #time.sleep(2)
-    #rob.movej(goto_holder_index(24, 0.15, 35, flip=True), acc=2, vel=2)
-    #time.sleep(10)
-    # time.sleep(4)
-    # goto_holder_index(26, 0.1, 20)
-    # time.sleep(4)
-    # goto_holder_index(26, 0.1, 30)
-    # time.sleep(4)
-    # goto_holder_index(26, 0.1, 40)
-    # for joint in config["position_map"]:
-    #joint = config["position_map"][26]
-    #print("Going to cable holder index", joint["index"], "at position", joint["pos"])   
-    #angles = get_joints_from_xyz_abs(joint["pos"][1]/1000, joint["pos"][0]/1000, 0.05, )# rx=math.pi / 5)
-    #joints.append(angles)
-
-    #rob.movej(angles, acc=2, vel=2)
-    #time.sleep(10)
-    #rob.movejs(joints, 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)
+    robot = Rob(config) # robot of type Rob is the custom class above
+    #powerup_arm(robot)
+    robot = connect(robot)
+    init_arm(robot)
+    
+    rob = robot.robot # rob is robot.robot is the urx robot class, what we've been using previously


+    #move_to_packup(robot)
+    move_to_home(robot)
+    pick_up_holder(robot, None, 8)
+    #drop_off_tray(robot, 0)
+    # drop_off_tray(robot, 1)
+    # drop_off_tray(robot, 2)
+    # drop_off_tray(robot, 3)

-    # set_pos_abs(*p1)
-    # move = move_to_polar(p1, p2)
+    # pick_up_tray(robot, 1)
+    # drop_off_holder(robot, 5)
+
+    # pick_up_holder(robot, 26)
+    # drop_off_tray(robot, 3)


-    # for p in move:
-    #     print(math.degrees(p))
-    # print("Safe? :", is_safe_move(p1, p2))
+    # for i in range(0,54):
+    #     pick_up_holder(robot, None, i)

+    #     #print('Drop off', i+1)
+    #     drop_off_tray(robot, 0)
+    #     #input()

-    # #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)
+    # # holder_to_camera(robot, 0)
+    # # camera_to_holder(robot, 0)

-    # print("Current tool pose is: ",  rob.getl())
-    # print("getj(): ",  rob.getj())
+    print("Current tool pose is: ",  rob.getl())
+    curr_pos = rob.getl()
+    config = None
  
-    # move_to_home()

    rob.stop()
    os.kill(os.getpid(), 9) # dirty kill of self
--- a/util.py
+++ b/util.py
@@ -26,8 +26,8 @@ if win32:
    #if not getattr(sys, "frozen", False):
    startupinfo.dwFlags |= subprocess.STARTF_USESHOWWINDOW # hide powershell window
    res = subprocess.check_output(["WMIC", "ComputerSystem", "GET", "UserName"], universal_newlines=True, startupinfo=startupinfo)
-    _, username = res.strip().rsplit("\n", 1)
-    userid, sysdom = username.rsplit("\\", 1)
+    # _, username = res.strip().rsplit("\n", 1)
+    # userid, sysdom = username.rsplit("\\", 1)

 if linux or macos:
    sysid = hex(uuid.getnode())
--- a/websocket_test.html
+++ b/websocket_test.html
@@ -81,7 +81,7 @@
                socket.send(message);
                console.log('Message sent', message);
            }
-            setInterval(ping, 1500);
+            //setInterval(ping, 1500);

            // setInterval(() => {
            //     updateServiceStatus('serviceA', 'down');
@@ -150,7 +150,7 @@
        setInterval(updateClock, 100);

    </script>
-
+    <iframe src="http://192.168.1.12:3000/d-solo/cdiqwmlr8c9ogf/sensors?orgId=1&refresh=5s&from=1714431825720&to=1714433625721&theme=light&panelId=7" width="450" height="200" frameborder="0"></iframe>
 </body>

 </html>
Author	SHA1	Message	Date
Cole Deck	a822ea5184	Add QR codes for Web UI	2024-08-20 10:05:57 -05:00
Cole Deck	5a5202e6f5	Add mode query	2024-08-16 12:12:39 -05:00
Cole Deck	3fb78f8b5a	Fix simulation mode	2024-08-16 12:09:32 -05:00
Cole Deck	48e7c7b85f	Update sensor code	2024-08-08 10:51:05 -05:00
Cole Deck	ea5daf8689	Switch to unicode encoding	2024-08-06 17:41:45 -05:00
Cole Deck	05baceb388	Fix logic	2024-08-06 17:36:31 -05:00
Cole Deck	43694ca97d	Use alternate method	2024-08-06 17:33:22 -05:00
Cole Deck	3f731a4bd3	Use alternate method	2024-08-06 17:30:41 -05:00
Cole Deck	419498cae6	Include stderr	2024-08-06 17:26:12 -05:00
Cole Deck	c89fc86812	Fix stdout flush	2024-08-06 17:16:20 -05:00
Cole Deck	f8507a1bc9	Add more statistics, fix camera, windows client update	2024-08-06 17:01:27 -05:00
Cole Deck	534cc23c8d	Update MQTT commands, arm height	2024-07-31 18:25:10 -05:00
Cole Deck	b677556ece	Add counter, MQTT	2024-07-30 12:54:13 -05:00
Cole Deck	621a530530	Update web with shutdown procedure	2024-07-29 14:01:20 -05:00
Cole Deck	0ad656728d	Add shutdown routine	2024-07-29 13:50:58 -05:00
Cole Deck	4591dc6900	Add show mode	2024-07-29 13:38:14 -05:00
Cole Deck	1ac8712e0f	Update web, disable sensors in testing mode	2024-07-29 12:06:16 -05:00
Cole Deck	af91817a98	Match LED strip color	2024-07-25 10:43:04 -05:00
Cole Deck	24e0094d2a	Add system controller camera mode	2024-07-25 10:35:16 -05:00
Cole Deck	faf4cc1ba8	Led loop	2024-05-14 21:52:14 -05:00
Cole Deck	0d0ec75783	update web	2024-05-14 21:50:46 -05:00
Cole Deck	5c4d92a84c	Remove temp file	2024-05-14 21:50:11 -05:00
Cole Deck	02ab16a566	Add windows client mode updates	2024-05-14 21:51:36 -05:00
Cole Deck	927f61e124	update loading app	2024-05-14 20:53:01 -05:00
Cole Deck	d69cce2e38	Add camera error message	2024-05-14 20:44:33 -05:00
Cole Deck	98fef5ad3d	increase camera timeout	2024-05-14 20:42:23 -05:00
Cole Deck	fa25b2c8b1	add CORS	2024-05-14 20:29:32 -05:00
Cole Deck	32260595a1	Open gripper before picking up	2024-05-14 20:21:09 -05:00
Cole Deck	aeeb4c232a	slow reset	2024-05-14 20:18:26 -05:00
Cole Deck	bbb2b3ff17	speed up	2024-05-14 20:10:47 -05:00
Cole Deck	b811351aba	remove old var	2024-05-14 20:08:45 -05:00
Cole Deck	38ee4f9b9a	update sensor system	2024-05-14 20:07:35 -05:00
Cole Deck	b56d176c82	test camera	2024-05-14 19:07:49 -05:00
Cole Deck	25085f542f	Try old method	2024-05-14 18:52:27 -05:00
Cole Deck	2562fea076	try this	2024-05-14 18:48:25 -05:00
Cole Deck	0ca9f01aa9	use boolean value	2024-05-14 18:44:54 -05:00
Cole Deck	8b37661a84	manual open in UR5 control	2024-05-14 18:43:43 -05:00
Cole Deck	6347cde9e2	Manually close modbus socket	2024-05-14 18:41:31 -05:00
Cole Deck	7885c0900d	add camera timeout	2024-05-14 18:32:09 -05:00
Cole Deck	c1f783bb2c	fix transition to idle after camera fail	2024-05-14 18:23:41 -05:00
Cole Deck	a2e7592ef7	adjust	2024-05-14 18:17:58 -05:00
Cole Deck	b0d61d7d00	Adjust slot position	2024-05-14 18:14:17 -05:00
Cole Deck	9687a6e492	Revert to base urx, reduce camera time	2024-05-14 17:52:53 -05:00
Cole Deck	0e6ca7490a	Lower frame count	2024-05-14 17:49:10 -05:00
Cole Deck	61954b23b9	Slow to 60hz	2024-05-14 17:44:52 -05:00
Cole Deck	3ede455d2c	Update web	2024-05-14 17:37:18 -05:00
Cole Deck	ba6c697f00	Add return from tray in web	2024-05-14 17:34:02 -05:00
Cole Deck	24d959da71	Update label generation, websocket listen mode	2024-05-14 17:33:47 -05:00
Cole Deck	33af359a86	Flip vertical move	2024-05-14 16:26:32 -05:00
Cole Deck	43f8c3b615	Other way	2024-05-14 16:24:01 -05:00
Cole Deck	a96f34baac	Readjust	2024-05-14 16:22:50 -05:00
Cole Deck	635c2708a0	Redo arm startup motion	2024-05-14 16:16:05 -05:00
Cole Deck	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
Cole Deck	5e0f1e93d2	prerelease	2024-05-13 02:21:07 -05:00
Cole Deck	fab8324dea	Update web	2024-05-12 18:36:07 -05:00
Cole Deck	dbaf018c7b	Remove hover effects for touchscreens	2024-05-12 18:30:04 -05:00
Cole Deck	f47270a600	Update jukebox-web	2024-05-12 18:19:03 -05:00
Cole Deck	e4861e0590	Add datasheet URL to cable details	2024-05-12 18:14:39 -05:00
Cole Deck	c45c59aa62	Fix cable_search	2024-05-12 17:56:47 -05:00
Cole Deck	1e01141f41	Make cable_search match cable_map	2024-05-12 16:59:59 -05:00
Cole Deck	2296aea463	Add useful print statements	2024-05-10 12:58:17 -05:00
Cole Deck	341d2232d7	Don't delete old JSON files	2024-05-10 12:51:45 -05:00
Cole Deck	25dc18669b	Downgrade camelot for better parsing	2024-05-10 12:28:59 -05:00
Cole Deck	6c8d0bf666	Update web ui	2024-05-09 18:19:24 -05:00
Cole Deck	be51423c89	Add real-time UR5 position updates (hopefully)	2024-05-09 18:18:55 -05:00
Cole Deck	f416e25c1c	Update LED system	2024-05-08 20:28:48 -05:00
Cole Deck	dd7bc12fe5	Update jukebox-web	2024-05-08 16:52:28 -05:00
Cole Deck	f06540f568	Add category field, update datasheet extracted fields	2024-05-08 16:51:01 -05:00
Cole Deck	4a78586c34	Update jukebox-web	2024-05-08 16:44:46 -05:00
Cole Deck	21cb2beb67	Pull description from Belden API for more consistent values	2024-05-08 16:44:22 -05:00
Cole Deck	a905858e3b	Add more descriptions	2024-05-08 15:48:26 -05:00
Cole Deck	faf33aede7	add descriptions	2024-05-08 15:18:09 -05:00
Cole Deck	dc4cf5c222	Center images	2024-05-08 13:27:45 -05:00
Cole Deck	ee78037f17	Remove debug statement	2024-05-08 13:07:47 -05:00
Cole Deck	f1f2e3191b	Square up images	2024-05-08 13:04:43 -05:00
Cole Deck	1f69dbdb82	fix clean install bug	2024-05-08 12:34:07 -05:00
Cole Deck	36249058ac	Add brand and images, fileserver for images, start to add arm queue	2024-05-08 12:29:43 -05:00
Cole Deck	eca65dc0e0	fix typo	2024-04-29 17:49:56 -05:00
Cole Deck	fabd1fe10a	Simulation for sensors	2024-04-29 17:48:42 -05:00
Cole Deck	b4ad57d52d	Separate scanning bypass	2024-04-29 17:25:02 -05:00
Cole Deck	72ab357dbf	Improve simulation mode	2024-04-29 17:19:52 -05:00
Cole Deck	d0083ed33f	Simulation mode	2024-04-29 13:30:04 -05:00
Cole Deck	d92ceafa57	Fix non-matching positions	2024-04-29 12:42:11 -05:00
Cole Deck	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
Cole Deck	fb31ab0d73	Add LED animations to runtime	2024-04-24 14:42:47 -05:00
Cole Deck	302d275c64	Update config	2024-04-24 14:42:47 -05:00
Cole Deck	43392fa3ca	Freeze math3d version	2024-04-24 14:42:47 -05:00
Cole Deck	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
Cole Deck	a698c4a753	Add more routines	2024-04-18 20:33:55 -05:00
Cole Deck	939474378a	Add open and close gripper functions	2024-04-12 22:05:34 -05:00
Cole Deck	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
Cole Deck	5edd7f4592	Remove extraneous `pass`	2024-03-27 20:41:07 -05:00
Cole Deck	4dd6f7649a	Implement cable_search	2024-03-27 20:40:20 -05:00
Cole Deck	dc1e568a96	Add basic cable_map implementation	2024-03-27 20:33:21 -05:00
Cole Deck	1ec6d92cfa	Deploy docker containers	2024-03-27 19:50:01 -05:00
Cole Deck	e21ded46f1	Update juekbox-web	2024-03-27 19:47:17 -05:00
Cole Deck	672507f498	Add jukebox web	2024-03-27 19:46:45 -05:00
Cole Deck	64bb50f055	Add setup-alpine-vm.sh	2024-03-28 00:44:57 +00:00
Cole Deck	5016b4e99f	Update compose.yml	2024-03-28 00:44:35 +00:00
Cole Deck	efbda23c38	Fix docker runtime support	2024-03-27 18:53:50 -05:00
Cole Deck	19ce328596	Correctly parse results from get_specs	2024-03-27 17:49:02 -05:00
Cole Deck	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
Cole Deck	82a52dea5a	Add cables to meilisearch db	2024-03-26 15:09:26 -05:00
Cole Deck	77fdc43fce	Add missing robot pass-ins	2024-03-24 15:35:46 -05:00
Cole Deck	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
Cole Deck	069d2175d9	Convert led code to class based for multithreading	2024-03-23 15:33:51 -05:00