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Jukebox:main
Jukebox:dthomas_meilisearch
Jukebox:dthomas-db
Jukebox:labelgenv0.2
Jukebox:labelgenv0.1
..
compare: Jukebox:dthomas_meilisearch
Branches Tags
Jukebox:main
Jukebox:dthomas_meilisearch
Jukebox:dthomas-db
Jukebox:labelgenv0.2
Jukebox:labelgenv0.1

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main ... dthomas_me

46 changed files with 1321 additions and 6464 deletions
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9
.gitignore vendored
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@ -3,7 +3,6 @@ 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
@ -16,10 +15,4 @@ output.mp4
# log files
output.log
# images
map*.png
# Built app
build
# Generated label images
labels
temp
pick_count.txt
*.png

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

12
Dockerfile
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@ -1,13 +1,11 @@
FROM python:3.11-slim
FROM python:latest
# Get runtime dependencies
# glx for OpenCV, ghostscript for datasheet PDF rendering, zbar for barcode scanning, git for cloning repos
RUN apt-get update && apt-get install -y libgl1-mesa-glx ghostscript libzbar0 git && apt-get clean && rm -rf /var/lib/apt/lists
COPY requirements.txt ./
RUN apt-get update && apt-get install -y libgl1-mesa-glx ghostscript && apt-get clean && rm -rf /var/lib/apt/lists
COPY . .
#COPY config-server.yml config.yml
RUN pip3 install -r requirements.txt
COPY *.py *.yml *.sh *.txt *.html static templates ./
CMD ["sh", "-c", "python3 run.py"]
CMD ["python3", "run.py"]
EXPOSE 5000
EXPOSE 8000
EXPOSE 9000

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GothamCond-Medium.otf
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23
banner_ivu_export.py
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@ -40,16 +40,13 @@ 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))
@ -58,7 +55,7 @@ class DriveImg():
except:
self.onLine = False
self.trans.close()
return "Error", None
return resposta
ret = self.trans.recv(64)
try:
valida = str(ret[0:15].decode('UTF-8'))
@ -66,15 +63,15 @@ 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", None
return "Error"
except Exception as ex:
self.onLine = False
self.trans.close()
#sleep(2)
sleep(2)
gravaLog(ip=self.ip,tipo="Falha",msg=f'Error - {str(ex)}')
return "Error", None
return "Error"
if ret:
frame = int.from_bytes(ret[24:27],"little")
isJpeg = int.from_bytes(ret[32:33],"little")
@ -116,8 +113,8 @@ class DriveImg():
#print(f'erro {str(ex)}')
self.onLine = False
self.trans.close()
#sleep(2)
return "Error", None
sleep(2)
return resposta
class DriveData():
HEADERSIZE = 100
@ -142,7 +139,7 @@ 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))
@ -157,7 +154,7 @@ 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

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belden-logo-superhires.png
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41
belden-logo.svg
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@ -1,41 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- Generator: Adobe Illustrator 25.2.1, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
viewBox="0 0 446.6 151.4" style="enable-background:new 0 0 446.6 151.4;" xml:space="preserve">
<style type="text/css">
.st0{fill:#004990;}
</style>
<g>
<g>
<path class="st0" d="M21.2,32.1h-1.4v87.2H55c20.3,0,32-9.1,32-24.9c0-12.3-5.6-19.7-15.8-22.1c5.1-3.6,7.8-9.1,7.8-16.9
c0-15.5-8.9-23.3-26.5-23.3H21.2z M44.7,51.6c7.4,0,11.4,1.1,11.4,6.8c0,4.8-3.1,6.8-10.5,6.8c0,0-0.6,0-1.1,0
c0-2.1,0-11.5,0-13.6C44.5,51.6,44.7,51.6,44.7,51.6z M45.4,84.4l1.8,0c4.6,0,10.3-0.1,13,2.6c1.2,1.2,1.8,2.9,1.8,5.2
c0,2-0.6,3.5-1.7,4.7c-3,3-9.2,2.9-13.8,2.9c0,0-1.4,0-2.1,0c0-2.1,0-13.3,0-15.4C44.9,84.4,45.4,84.4,45.4,84.4z"/>
<g>
<path class="st0" d="M139.8,32.1H90.4v87.2h50.8V98c0,0-23.7,0-26.1,0c0-2,0-9.8,0-11.8c2.4,0,24.8,0,24.8,0V64.8
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<g>
<g>
<path class="st0" d="M233.8,32.1h-32.5v87.2h32.5c24.4,0,44.3-19.6,44.3-43.6C278.1,51.7,258.2,32.1,233.8,32.1z M226,53.5
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c16.7-4.7,28.3-19.2,28.5-39.9v-0.3c-0.2-20.7-11.9-35.1-28.5-39.8c19,3.9,33.5,17.7,33.6,39.7v0.4
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</g>
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26
cables.txt
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@ -1,26 +0,0 @@
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

29
client.bat
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@ -1,29 +0,0 @@
@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
:--------------------------------------

13
compose-search-only.yml
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@ -1,13 +0,0 @@
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:

17
compose.yml
View File

@ -8,23 +8,6 @@ services:
MEILI_NO_ANALYTICS: true
volumes:
- "meili_data:/meili_data"
jukebox-software:
build: .
init: true
ports:
- "5000:5000"
- "8000:8000"
- "9000:9000"
environment:
- PYTHONUNBUFFERED=1
depends_on:
- meilisearch
jukebox-web:
build: jukebox-web
ports:
- "3000:3000"
volumes:
meili_data:

222
config.yml
View File

@ -3,102 +3,70 @@ core:
serverip: 172.26.178.114
clientip: 172.26.176.1
server: Hyper-Vd
loopspeed: 60 # fps
mqtt:
enabled: True
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: 192.168.1.199
port: 80
animation_time: 60
ip: 192.168.1.125
port: 32200
led:
fps: 100
timeout: 1
fps: 90
timeout: 0
controllers:
- universe: 1
ip: 192.168.1.200
- universe: 9
ip: 192.168.68.131
ledstart: 0
ledend: 143
mode: rgb
- universe: 2
ip: 192.168.1.201
- universe: 3
ip: 192.168.68.131
ledstart: 144
ledend: 287
mode: rgb
- universe: 3
ip: 192.168.1.202
- universe: 2
ip: 192.168.68.131
ledstart: 288
ledend: 431
mode: rgb
- universe: 4
ip: 192.168.1.203
ip: 192.168.5.40
ledstart: 432
ledend: 575
mode: rgb
- universe: 5
ip: 192.168.1.204
- universe: 1
ip: 192.168.5.4
ledstart: 576
ledend: 719
mode: rgb
- universe: 6
ip: 192.168.1.205
- universe: 5
ip: 192.168.68.131
ledstart: 720
ledend: 863
mode: rgb
- universe: 7
ip: 192.168.1.206
- universe: 6
ip: 192.168.68.131
ledstart: 864
ledend: 1007
mode: rgb
- universe: 8
ip: 192.168.1.207
- universe: 7
ip: 192.168.68.131
ledstart: 1008
ledend: 1151
mode: rgb
- universe: 9
ip: 192.168.1.208
- universe: 8
ip: 192.168.68.131
ledstart: 1152
ledend: 1295
mode: rgb
- 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
- universe: 0
ip: 192.168.68.130
ledstart: 1296
ledend: 1365
mode: rgbw
map:
@ -108,37 +76,37 @@ led:
start: 0
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [0, 304.8]
- type: circle
start: 24
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-65.991, 266.7]
- type: circle
start: 48
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-131.982, 228.6]
- type: circle
start: 72
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-197.973, 190.5]
- type: circle
start: 96
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-263.965, 152.4]
- type: circle
start: 120
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-263.965, 76.2]
# controller 2
@ -146,37 +114,37 @@ led:
start: 144
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [0, 228.6]
- type: circle
start: 168
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-65.991, 190.5]
- type: circle
start: 192
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-131.982, 152.4]
- type: circle
start: 216
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-197.973, 114.3]
- type: circle
start: 240
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-197.973, 38.1]
- type: circle
start: 264
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-263.965, 0]
# controller 3
@ -184,37 +152,37 @@ led:
start: 288
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [0, 152.4]
- type: circle
start: 312
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-65.991, 114.3]
- type: circle
start: 336
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-131.982, 76.2]
- type: circle
start: 360
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-131.982, 0]
- type: circle
start: 384
size: 24
diameter: 63.5
angle: 180
pos: [-199.0, -35.0]
angle: 0
pos: [-197.973, -38.1]
- type: circle
start: 408
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-263.965, -76.2]
# controller 4
@ -222,37 +190,37 @@ led:
start: 432
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [131.982, 76.2]
- type: circle
start: 456
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [131.982, 152.4]
- type: circle
start: 480
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [131.982, 228.6]
- type: circle
start: 504
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [65.991, 266.7]
- type: circle
start: 528
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [65.991, 190.5]
- type: circle
start: 552
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [65.991, 114.3]
@ -261,37 +229,37 @@ led:
start: 576
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [131.982, 0]
- type: circle
start: 600
size: 24
diameter: 63.5
angle: 180
pos: [201.973, 34.1]
angle: 0
pos: [197.973, 38.1]
- type: circle
start: 624
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [197.973, 114.3]
- type: circle
start: 648
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [197.973, 190.5]
- type: circle
start: 672
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [263.965, 152.4]
- type: circle
start: 696
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [263.965, 76.2]
# controller 6
@ -299,37 +267,37 @@ led:
start: 720
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [131.982, -76.2]
- type: circle
start: 744
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [197.973, -38.1]
- type: circle
start: 768
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [263.965, 0]
- type: circle
start: 792
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [263.965, -76.2]
- type: circle
start: 816
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [263.965, -152.4]
- type: circle
start: 840
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [197.973, -114.3]
# controller 7
@ -337,75 +305,75 @@ led:
start: 864
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [65.991, -114.3]
- type: circle
start: 888
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [0, -152.4]
- type: circle
start: 912
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-65.991, -114.3]
- type: circle
start: 936
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-131.982, -76.2]
- type: circle
start: 960
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-197.973, -114.3]
- type: circle
start: 984
size: 24
diameter: 63.5
angle: 180
pos: [-133.0, -151.0]
angle: 0
pos: [-131.982, -152.4]
# controller 8
- type: circle
start: 1008
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [0, -228.6]
- type: circle
start: 1032
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-65.991, -190.5]
- type: circle
start: 1056
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-65.991, -266.7]
- type: circle
start: 1080
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-131.982, -228.6]
- type: circle
start: 1104
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-197.973, -190.5]
- type: circle
start: 1128
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [-263.965, -152.4]
# controller 9
@ -413,49 +381,49 @@ led:
start: 1152
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [0, -304.8]
- type: circle
start: 1176
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [65.991, -266.7]
- type: circle
start: 1200
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [131.982, -228.6]
- type: circle
start: 1224
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [197.973, -190.5]
- type: circle
start: 1248
size: 24
diameter: 63.5
angle: 180
angle: 0
pos: [131.982, -152.4]
- type: circle
start: 1272
size: 24
diameter: 63.5
angle: 180
angle: 0
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]
@ -474,7 +442,7 @@ position_map:
- index: 7
pos: [-38.1, 197.973]
- index: 8
pos: [34.1, 201.973]
pos: [38.1, 197.973]
- index: 9
pos: [114.3, 197.973]
- index: 10
@ -532,7 +500,7 @@ position_map:
- index: 36
pos: [-228.6, -131.982]
- index: 37
pos: [-151.0, -133.0]
pos: [-152.4, -131.982]
- index: 38
pos: [-76.2, -131.982]
- index: 39
@ -548,7 +516,7 @@ position_map:
- index: 44
pos: [-114.3, -197.973]
- index: 45
pos: [-35.0, -199.0]
pos: [-38.1, -197.973]
- index: 46
pos: [38.1, -197.973]
- index: 47
@ -564,4 +532,4 @@ position_map:
- index: 52
pos: [76.2, -263.965]
- index: 53
pos: [152.4, -263.965]
pos: [152.4, -263.965]

23
fileserver.py
View File

@ -1,23 +0,0 @@
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()

258
get_specs.py
View File

@ -27,41 +27,40 @@ def check_internet(url='https://belden.com', timeout=5):
def query_search(partnum, source):
fprint("Searching for " + partnum)
if source == "Belden":
token_url = "https://www.belden.com/coveo/rest/token?t=" + str(int(time.time()))
try:
with requests.get(token_url) as r:
out = json.loads(r.content)
token = out["token"]
search_url = "https://www.belden.com/coveo/rest/search"
with requests.get(token_url) as r:
out = json.loads(r.content)
token = out["token"]
search_url = "https://www.belden.com/coveo/rest/search"
# Ridiculous search parameters extracted from website. Do not touch
search_data = r"""{ "q": "{QUERY}", "sortCriteria": "relevancy", "numberOfResults": "250", "sortCriteria": "@catalogitemwebdisplaypriority ascending", "searchHub": "products-only-search", "pipeline": "Site Search", "maximumAge": "900000", "tab": "products-search", "locale": "en", "aq": "(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((@syssource==\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\" @catalogitemprimarycategorypublished==true)) ((@catalogitemregionavailable=Global) (@z95xlanguage==en))", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\"Coveo_web_index - rg-nc-prod-sitecore-prod\")) OR (@source==(\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\",\"website_001002_Category_index-rg-nc-prod-sitecore-prod\"))", "firstResult": "0" }, "categoryFacets": "[{\"field\":\"@catalogitemcategories\",\"path\":[],\"injectionDepth\":1000,\"maximumNumberOfValues\":6,\"delimitingCharacter\":\"|\"}]", "facetOptions": "{}", "groupBy": " [{\"field\":\"@contenttype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[\"Products\"],\"queryOverride\":\"{QUERY}\",\"advancedQueryOverride\":\"(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((((((((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) ((@z95xpath=C292F3A37B3A4E6BAB345DF87ADDE516 @z95xid<>C292F3A37B3A4E6BAB345DF87ADDE516) @z95xtemplate==E4EFEB787BDC4B1A908EFC64D56CB2A4)) OR ((@z95xpath=723501A864754FEEB8AE377E4C710271 @z95xid<>723501A864754FEEB8AE377E4C710271) ((@z95xpath=600114EAB0E5407A84AAA9F0985B6575 @z95xid<>600114EAB0E5407A84AAA9F0985B6575) @z95xtemplate==2BE4FD6B3B2C49EBBD9E1F6C92238B05))) OR (@syssource==\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\" @catalogitemprimarycategorypublished==true)) OR ((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) @z95xpath<>C292F3A37B3A4E6BAB345DF87ADDE516)) OR @syssource==\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\") NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B))) ((@catalogitemregionavailable=Global) (@z95xlanguage==en) OR (@contenttype=(Blogs,Resources,Other)) (NOT @ez120xcludefromcoveo==1))\",\"constantQueryOverride\":\"((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))\"},{\"field\":\"@catalogitembrand\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemenvironment\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemregionalavailability\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@prez45xtez120xt\",\"maximumNumberOfValues\":5,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@tags\",\"maximumNumberOfValues\":4,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetassettype\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetbrand\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetmarket\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsolution\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsearchcontentpagetype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]}]" }"""
search_data = search_data.replace(r"{QUERY}", partnum)
#"aq": "", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))", "firstResult": "0", "categoryFacets": "[{\\"field\\":\\"@catalogitemcategories\\",\\"path\\":[],\\"injectionDepth\\":1000,\\"maximumNumberOfValues\\":6,\\"delimitingCharacter\\":\\"|\\"}]", "facetOptions": "{}", "groupBy": "" }'
#fprint(search_data)
#fprint(json.loads(search_data))
#search_data = '{ "q": "' + str(partnum) + '" }'
#fprint(search_data)
headers = headers = {
'Authorization': f'Bearer {token}',
'Content-Type': 'application/json'
}
# Ridiculous search parameters extracted from website. Do not touch
search_data = r"""{ "q": "{QUERY}", "sortCriteria": "relevancy", "numberOfResults": "250", "sortCriteria": "@catalogitemwebdisplaypriority ascending", "searchHub": "products-only-search", "pipeline": "Site Search", "maximumAge": "900000", "tab": "products-search", "locale": "en", "aq": "(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((@syssource==\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\" @catalogitemprimarycategorypublished==true)) ((@catalogitemregionavailable=Global) (@z95xlanguage==en))", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\"Coveo_web_index - rg-nc-prod-sitecore-prod\")) OR (@source==(\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\",\"website_001002_Category_index-rg-nc-prod-sitecore-prod\"))", "firstResult": "0" }, "categoryFacets": "[{\"field\":\"@catalogitemcategories\",\"path\":[],\"injectionDepth\":1000,\"maximumNumberOfValues\":6,\"delimitingCharacter\":\"|\"}]", "facetOptions": "{}", "groupBy": " [{\"field\":\"@contenttype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[\"Products\"],\"queryOverride\":\"{QUERY}\",\"advancedQueryOverride\":\"(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((((((((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) ((@z95xpath=C292F3A37B3A4E6BAB345DF87ADDE516 @z95xid<>C292F3A37B3A4E6BAB345DF87ADDE516) @z95xtemplate==E4EFEB787BDC4B1A908EFC64D56CB2A4)) OR ((@z95xpath=723501A864754FEEB8AE377E4C710271 @z95xid<>723501A864754FEEB8AE377E4C710271) ((@z95xpath=600114EAB0E5407A84AAA9F0985B6575 @z95xid<>600114EAB0E5407A84AAA9F0985B6575) @z95xtemplate==2BE4FD6B3B2C49EBBD9E1F6C92238B05))) OR (@syssource==\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\" @catalogitemprimarycategorypublished==true)) OR ((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) @z95xpath<>C292F3A37B3A4E6BAB345DF87ADDE516)) OR @syssource==\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\") NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B))) ((@catalogitemregionavailable=Global) (@z95xlanguage==en) OR (@contenttype=(Blogs,Resources,Other)) (NOT @ez120xcludefromcoveo==1))\",\"constantQueryOverride\":\"((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))\"},{\"field\":\"@catalogitembrand\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemenvironment\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemregionalavailability\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@prez45xtez120xt\",\"maximumNumberOfValues\":5,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@tags\",\"maximumNumberOfValues\":4,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetassettype\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetbrand\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetmarket\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsolution\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsearchcontentpagetype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]}]" }"""
search_data = search_data.replace(r"{QUERY}", partnum)
#"aq": "", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))", "firstResult": "0", "categoryFacets": "[{\\"field\\":\\"@catalogitemcategories\\",\\"path\\":[],\\"injectionDepth\\":1000,\\"maximumNumberOfValues\\":6,\\"delimitingCharacter\\":\\"|\\"}]", "facetOptions": "{}", "groupBy": "" }'
#fprint(search_data)
#fprint(json.loads(search_data))
#search_data = '{ "q": "' + str(partnum) + '" }'
#fprint(search_data)
headers = headers = {
'Authorization': f'Bearer {token}',
'Content-Type': 'application/json'
}
try:
with requests.post(search_url, headers=headers, data=search_data) as r:
a = r.text
a = json.loads(a)
idx = -1
name = ""
for partid in range(len(a["results"])-1, -1, -1):
for partid in range(len(a["results"])):
name = a["results"][partid]["title"]
if name != partnum:
if name.find(partnum) >= 0:
idx = partid
#break
break
elif partnum.find(name) >= 0:
idx = partid
#break
break
else:
idx = partid
@ -70,9 +69,7 @@ def query_search(partnum, source):
if idx < 0:
fprint("Could not find part in API: " + partnum)
return False
name = a["results"][idx]["title"]
#fprint("Search result found: result " + str(idx) + ", for ID " + name)
fprint("Search result found: result " + str(idx) + ", for ID " + name)
#urlname = a["results"][0]["raw"]["catalogitemurlname"]
img = a["results"][idx]["raw"]["catalogitemimageurl"]
img = img[0:img.index("?")]
@ -81,26 +78,21 @@ def query_search(partnum, source):
brand = a["results"][idx]["raw"]["catalogitembrand"]
desc = a["results"][idx]["raw"]["catalogitemlongdesc"]
shortdesc = a["results"][idx]["raw"]["catalogitemshortdesc"]
app = a["results"][idx]["raw"]["catalogitemapplication"]
category = a["results"][idx]["raw"]["catalogitemfilterproductcategory"]
#a = json.dumps(a["results"][idx], indent=2)
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["short_description"] = shortdesc
out["name"] = shortdesc
out["description"] = desc
out["application"] = app
out["category"] = category
out["image"] = "https://www.belden.com" + img
out["partnum"] = name
#print(out)
return out
except:
print("Failed to search with API. Falling back to datasheet lookup.")
print("falied to search with API. Falling back to datasheet lookup.")
return False
@ -120,14 +112,12 @@ def query_search(partnum, source):
r = requests.get(url=alphaurl)
data = r.json()
output = dict()
#print(data["Results"])
#print(data)
try:
if data["Count"] > 0:
#print(data["Results"][0]["Url"])
for result in data["Results"]:
#print(result["Url"])
if result["Url"].split("/")[-1] == partnum.replace("-", "").replace("/", "_"):
if result["Url"].split("/")[-1] == partnum:
#print(partnum)
#print(result["Html"])
try:
@ -143,18 +133,14 @@ def query_search(partnum, source):
dsidx = result["Html"].index("<a href=\"/disteAPI/") + 9
dsidx2 = result["Html"].index(partnum, dsidx) + len(partnum)
output["datasheet"] = "https://www.alphawire.com" + result["Html"][dsidx:dsidx2]
output["partnum"] = partnum.replace("/", "_") #.replace("-", "").replace("/", "_")
#
# "test".index()
output["partnum"] = partnum
#"test".index()
#print(output)
return output
except:
print("Failed to search with API. Falling back to datasheet lookup.")
return False
print("Failed to search with API. Falling back to datasheet lookup.")
return False
@ -164,20 +150,14 @@ def touch(path):
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
def get_multi(partnums, delay=0.25):
with alive_bar(len(partnums) * 2, dual_line=True, calibrate=30, bar="classic2", spinner="classic") as bar:
def _try_download_datasheet(partnum, output_dir): # Guess datasheet URL
global bartext
if dstype == "Belden":
sanitized_name = partnum.replace(" ", "")
url = "https://catalog.belden.com/techdata/EN/" + sanitized_name + "_techdata.pdf"
elif dstype == "Alphawire":
# Alphawire Datasheet URLs do not use a sanitized part number (but product pages do)
url = "https://www.alphawire.com/disteAPI/SpecPDF/DownloadProductSpecPdf?productPartNumber=" + partnum
sanitized_name = partnum.replace(" ", "")
url = "https://catalog.belden.com/techdata/EN/" + sanitized_name + "_techdata.pdf"
#fprint(url)
try:
with requests.get(url, stream=True) as r:
@ -187,14 +167,13 @@ def get_multi(partnums, delay, dir, webport, cache=True, bar=None):
if r.status_code == 404:
return False
os.makedirs(output_dir, exist_ok=True)
bartext = ""
with open(output_dir + "/datasheet.pdf", 'wb') as f:
for chunk in r.iter_content(chunk_size=65536):
for chunk in r.iter_content(chunk_size=131072):
# If you have chunk encoded response uncomment if
# and set chunk_size parameter to None.
#if chunk:
bartext = bartext + "."
# bar.text = bartext
bar.text = bartext
f.write(chunk)
#fprint("")
return output_dir + "/datasheet.pdf"
@ -216,14 +195,13 @@ def get_multi(partnums, delay, dir, webport, cache=True, bar=None):
if r.status_code == 404:
return False
os.makedirs(output_dir, exist_ok=True)
bartext = ""
with open(output_dir + "/datasheet.pdf", 'wb') as f:
for chunk in r.iter_content(chunk_size=65536):
for chunk in r.iter_content(chunk_size=131072):
# If you have chunk encoded response uncomment if
# and set chunk_size parameter to None.
#if chunk:
bartext = bartext + "."
# bar.text = bartext
bar.text = bartext
f.write(chunk)
#fprint("")
return output_dir + "/datasheet.pdf"
@ -243,14 +221,13 @@ def get_multi(partnums, delay, dir, webport, cache=True, bar=None):
if r.status_code == 404:
return False
os.makedirs(output_dir, exist_ok=True)
bartext = ""
with open(output_dir + "/part-hires." + url.split(".")[-1], 'wb') as f:
for chunk in r.iter_content(chunk_size=65536):
for chunk in r.iter_content(chunk_size=131072):
# If you have chunk encoded response uncomment if
# and set chunk_size parameter to None.
#if chunk:
bartext = bartext + "."
# bar.text = bartext
bar.text = bartext
f.write(chunk)
#fprint("")
return output_dir + "/part-hires." + url.split(".")[-1]
@ -259,128 +236,82 @@ def get_multi(partnums, delay, dir, webport, cache=True, bar=None):
os.remove(partnum + "/datasheet.pdf")
sys.exit()
def __use_cached_datasheet(partnum, path, output_dir, dstype, weburl, extra):
def __use_cached_datasheet(partnum, path, output_dir, dstype):
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, weburl, extra)
# bar(skipped=False)
return out
read_datasheet.parse(path, output_dir, partnum, dstype)
bar(skipped=False)
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, weburl, extra):
def __downloaded_datasheet(partnum, path, output_dir, dstype):
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, weburl, extra)
# bar(skipped=False)
return out
bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
read_datasheet.parse(path, output_dir, partnum, dstype)
bar(skipped=False)
def run_search(partnum):
partnum = partnum.replace("%20", " ") # undo URL encoding
oldpartnum = partnum
if dstype == "Alphawire":
# For alphawire, sanitize the part number for only the final result check, because their API is very wierd
# For the actual search, it must be un-sanitized
partnum = partnum.replace("/","_")
output_dir = dir + partnum
output_dir = "cables/" + partnum
path = output_dir + "/datasheet.pdf"
weburl = ":" + str(webport) + "/" + partnum + "/"
bartext = "Downloading files for part " + partnum
# 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:
bar.text = bartext
#
if (not os.path.exists(output_dir + "/found_part_hires")) or not (os.path.exists(path) and os.path.getsize(path) > 1):
# Use query
search_result = query_search(partnum, dstype)
# Try to use belden.com search
if search_result is not False:
# Download high resolution part image if available and needed
#oldpartnum = partnum
partnum = search_result["partnum"]
returnval = [partnum, dstype, False, False]
output_dir = dir + partnum
output_dir = "cables/" + partnum
path = output_dir + "/datasheet.pdf"
bartext = "Downloading files for part " + partnum
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
bar.text = bartext
if not os.path.exists(output_dir + "/found_part_hires") or not cache:
if not os.path.exists(output_dir + "/found_part_hires"):
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")
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, weburl, search_result)
returnval = [partnum, dstype, True, out]
if os.path.exists(path) and os.path.getsize(path) > 1:
__use_cached_datasheet(partnum, path, output_dir, dstype)
elif _download_datasheet(search_result["datasheet"], output_dir) is not False:
out = __downloaded_datasheet(partnum, path, output_dir, dstype, weburl, search_result)
returnval = [partnum, dstype, True, out]
__downloaded_datasheet(partnum, path, output_dir, dstype)
elif os.path.exists(path) and os.path.getsize(path) > 1 and cache:
search_result = {}
if os.path.exists(output_dir + "/search-result.json"):
with open(output_dir + "/search-result.json", 'r', encoding='utf-8') as file:
search_result = json.load(file)
out = __use_cached_datasheet(partnum, path, output_dir, dstype, weburl, search_result)
returnval = [partnum, dstype, True, out]
elif os.path.exists(path) and os.path.getsize(path) > 1:
__use_cached_datasheet(partnum, path, output_dir, dstype)
# 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:
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]
elif _try_download_datasheet(partnum, output_dir) is not False:
__downloaded_datasheet(partnum, path, output_dir, dstype)
# Failed to download with search or guess :(
else:
return False
time.sleep(delay)
actualpartnums.append(returnval)
return returnval
return True
# We already have a hi-res image and the datasheet - perfect!
else:
fprint("Using cached hi-res part image for " + partnum)
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)
__use_cached_datasheet(partnum, path, output_dir, dstype)
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"
@ -407,19 +338,19 @@ def get_multi(partnums, delay, dir, webport, cache=True, bar=None):
time.sleep(delay)
if not success:
fprint("Failed to download datasheet for part " + partnum)
# bar.text = "Failed to download datasheet for part " + partnum
failed.append((partnum, dstype))
# bar(skipped=True)
# bar(skipped=True)
bar.text = "Failed to download datasheet for part " + partnum
failed.append(partnum)
bar(skipped=True)
bar(skipped=True)
time.sleep(delay)
if len(failed) > 0:
fprint("Failed to download:")
for partnum in failed:
fprint(partnum[1] + " " + partnum[0])
return False, actualpartnums # Go to manual review upload page
else:
return True, actualpartnums # All cables downloaded; we are good to go
if len(failed) > 0:
fprint("Failed to download:")
for partnum in failed:
fprint(partnum)
return False # Go to manual review upload page
else:
return True # All cables downloaded; we are good to go
@ -442,12 +373,11 @@ if __name__ == "__main__":
# ]
partnums = [
# Actual cables in Jukebox
"BL3092A",
"AW86104CY",
"AW3050",
"AW6714",
"AW1172C",
"AWFIT-221-1/4",
"AW2211/4",
"BLTF-1LF-006-RS5N",
"BLTF-SD9-006-RI5N",
@ -472,11 +402,10 @@ if __name__ == "__main__":
"BL6300FE 009Q",
"BLRA500P 006Q",
]
# Some ones I picked, including some invalid ones
a = [
"BL10GXS12",
"BLRST%205L-RKT%205L-949",
"BLRST 5L-RKT 5L-949",
"BL10GXS13",
"BL10GXW12",
"BL10GXW13",
@ -487,17 +416,12 @@ if __name__ == "__main__":
"BLFISD012R9",
"BLFDSD012A9",
"BLFSSL024NG",
"BLFISX006W0", # datasheet only
"BLFISX00103", # invalid
"BLC6D1100007" # invalid
"BLFISX006W0",
"BLFISX00103",
"BLC6D1100007"
]
#print(query_search("TT-SLG-024-HTNN", "Belden"))
from label_generator import gen_label
gen_label("BLTF-SD9-006-RI5")
gen_label("BLRA500P")
gen_label("AWFIT-221-1_4")
gen_label("BLRST 5L-RKT 5L-949")
#query_search("86104CY", "Alphawire")
get_multi(partnums, 0.25)
#query_search("10GXS13", "Belden")

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

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jukebox-web

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label_document.py
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#!/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")

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label_generator.py
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#!/usr/bin/env python3
from get_specs import get_multi
import sys
import uuid
import os
import signal
from PIL import Image
from label_image import generate_code
from label_document import generate_pdf
def input_cable():
print("")
print("Use the full part number. Spaces, special characters are allowed. Do not specify the brand.")
print("")
print("Please enter a part number and press enter:")
inputnum = input("").strip()
if len(inputnum) < 2:
killall_signal(0, 0)
print("Input part number:", inputnum)
print("Searching databases for cables...")
# Search both AW and BL sites
status, output = get_multi(["BL"+inputnum, "AW"+inputnum], delay=0.1, dir="temp/" + str(uuid.uuid4()) + "/", webport=":9000", cache=False)
print("")
if len(output) > 1:
for i in output:
print(i[1], i[0])
print("Multiple brands with the same part number! Please type \"b\" for the Belden part number or \"a\" for the Alphawire cable")
inputbrand = input()
if inputbrand == "b":
output = [output[0]]
elif inputbrand == "a":
output = [output[1]]
elif len(output) == 0:
print("No results found for part number", inputnum + ". Please try again with a different part number.")
return
output = output[0]
print("")
if output[2] and output[3]:
print("Cable result found -",output[1], output[0], "with high-quality image and full specs")
elif output[2]:
print("Cable result found -",output[1], output[0], "with high-quality image and no specs")
elif output[3]:
print("Cable result found -",output[1], output[0], "with no/low quality image and full specs")
else:
print("Cable result found -",output[1], output[0], "with no/low quality image and no specs")
print("")
if not output[3]:
print("Unable to decode cable specs. Please try again with a different part number.")
return False
else:
print("")
print("*** Cable details confirmed. Creating label...")
print("")
img = None
imgstr = ""
if output[1] == "Belden":
imgstr = "BL"
elif output[1] == "Alphawire":
imgstr = "AW"
gen_label(imgstr + output[0])
#img = generate_code(imgstr + output[0])
#os.makedirs("labels", exist_ok=True)
#img.save("labels/" + imgstr + output[0] + ".png")
def gen_label(partnum, path="labels"):
img = generate_code(partnum)
os.makedirs(path, exist_ok=True)
img.save(path + "/" + partnum + ".png")
generate_pdf(path)
def delete_folder(path):
# Check if the path is a directory
if not os.path.isdir(path):
return
# List all files and directories in the path
for filename in os.listdir(path):
file_path = os.path.join(path, filename)
# If it's a directory, recursively call this function
if os.path.isdir(file_path):
delete_folder(file_path)
else:
# If it's a file, remove it
os.remove(file_path)
# After removing all contents, remove the directory itself
os.rmdir(path)
def killall_signal(a,b):
delete_folder("temp")
os.kill(os.getpid(), 9) # dirty kill of self
if __name__ == "__main__":
signal.signal(signal.SIGINT, killall_signal)
signal.signal(signal.SIGTERM, killall_signal)
print("Welcome to the Jukebox cable utility. This tool will allow you to verify Belden & Alphawire cable part numbers and create labels for samples in the Jukebox.")
print("This tool requires internet access to download cable specifications and verify part numbers.")
#print("Use Ctrl+C to exit.")
while True:
delete_folder("temp")
input_cable()

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label_image.py
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#!/usr/bin/env python3
from util import fprint
from PIL import Image
from PIL import ImageDraw
from PIL import ImageFont
#import cv2
import numpy as np
from util import find_data_file
import segno
import io
#import cairosvg
#import math
# Copied from http://en.wikipedia.org/wiki/Code_128
# Value Weights 128A 128B 128C
CODE128_CHART = """
0 212222 space space 00
1 222122 ! ! 01
2 222221 " " 02
3 121223 # # 03
4 121322 $ $ 04
5 131222 % % 05
6 122213 & & 06
7 122312 ' ' 07
8 132212 ( ( 08
9 221213 ) ) 09
10 221312 * * 10
11 231212 + + 11
12 112232 , , 12
13 122132 - - 13
14 122231 . . 14
15 113222 / / 15
16 123122 0 0 16
17 123221 1 1 17
18 223211 2 2 18
19 221132 3 3 19
20 221231 4 4 20
21 213212 5 5 21
22 223112 6 6 22
23 312131 7 7 23
24 311222 8 8 24
25 321122 9 9 25
26 321221 : : 26
27 312212 ; ; 27
28 322112 < < 28
29 322211 = = 29
30 212123 > > 30
31 212321 ? ? 31
32 232121 @ @ 32
33 111323 A A 33
34 131123 B B 34
35 131321 C C 35
36 112313 D D 36
37 132113 E E 37
38 132311 F F 38
39 211313 G G 39
40 231113 H H 40
41 231311 I I 41
42 112133 J J 42
43 112331 K K 43
44 132131 L L 44
45 113123 M M 45
46 113321 N N 46
47 133121 O O 47
48 313121 P P 48
49 211331 Q Q 49
50 231131 R R 50
51 213113 S S 51
52 213311 T T 52
53 213131 U U 53
54 311123 V V 54
55 311321 W W 55
56 331121 X X 56
57 312113 Y Y 57
58 312311 Z Z 58
59 332111 [ [ 59
60 314111 \ \ 60
61 221411 ] ] 61
62 431111 ^ ^ 62
63 111224 _ _ 63
64 111422 NUL ` 64
65 121124 SOH a 65
66 121421 STX b 66
67 141122 ETX c 67
68 141221 EOT d 68
69 112214 ENQ e 69
70 112412 ACK f 70
71 122114 BEL g 71
72 122411 BS h 72
73 142112 HT i 73
74 142211 LF j 74
75 241211 VT k 75
76 221114 FF l 76
77 413111 CR m 77
78 241112 SO n 78
79 134111 SI o 79
80 111242 DLE p 80
81 121142 DC1 q 81
82 121241 DC2 r 82
83 114212 DC3 s 83
84 124112 DC4 t 84
85 124211 NAK u 85
86 411212 SYN v 86
87 421112 ETB w 87
88 421211 CAN x 88
89 212141 EM y 89
90 214121 SUB z 90
91 412121 ESC { 91
92 111143 FS | 92
93 111341 GS } 93
94 131141 RS ~ 94
95 114113 US DEL 95
96 114311 FNC3 FNC3 96
97 411113 FNC2 FNC2 97
98 411311 ShiftB ShiftA 98
99 113141 CodeC CodeC 99
100 114131 CodeB FNC4 CodeB
101 311141 FNC4 CodeA CodeA
102 411131 FNC1 FNC1 FNC1
103 211412 StartA StartA StartA
104 211214 StartB StartB StartB
105 211232 StartC StartC StartC
106 2331112 Stop Stop Stop
""".split()
VALUES = [int(value) for value in CODE128_CHART[0::5]]
WEIGHTS = dict(zip(VALUES, CODE128_CHART[1::5]))
CODE128A = dict(zip(CODE128_CHART[2::5], VALUES))
CODE128B = dict(zip(CODE128_CHART[3::5], VALUES))
CODE128C = dict(zip(CODE128_CHART[4::5], VALUES))
for charset in (CODE128A, CODE128B):
charset[' '] = charset.pop('space')
def generate_code(data, show=False, check=False):
#img = code128_image(data)
img = qr_image(data)
if show:
img.show()
#img.show()
#print(data)
if(check):
from pyzbar.pyzbar import decode
from pyzbar.pyzbar import ZBarSymbol
print(decode(img, symbols=[ZBarSymbol.CODE128])[0].data.decode('ascii'))
#if(decode(img, symbols=[ZBarSymbol.CODE128])[0].data.decode('ascii') == data):
# return True
#else:
# return False
return img
def code128_format(data):
"""
Generate an optimal barcode from ASCII text
"""
text = str(data)
pos = 0
length = len(text)
# Start Code
if text[:2].isdigit():
charset = CODE128C
codes = [charset['StartC']]
else:
charset = CODE128B
codes = [charset['StartB']]
# Data
while pos < length:
if charset is CODE128C:
if text[pos:pos+2].isdigit() and length - pos > 1:
# Encode Code C two characters at a time
codes.append(int(text[pos:pos+2]))
pos += 2
else:
# Switch to Code B
codes.append(charset['CodeB'])
charset = CODE128B
elif text[pos:pos+4].isdigit() and length - pos >= 4:
# Switch to Code C
codes.append(charset['CodeC'])
charset = CODE128C
else:
# Encode Code B one character at a time
codes.append(charset[text[pos]])
pos += 1
# Checksum
checksum = 0
for weight, code in enumerate(codes):
checksum += max(weight, 1) * code
codes.append(checksum % 103)
# Stop Code
codes.append(charset['Stop'])
return codes
def code128_image(data, height=100, thickness=3, quiet_zone=False):
partnum = data
if not data[-1] == CODE128B['Stop']:
data = code128_format(data)
barcode_widths = []
for code in data:
for weight in WEIGHTS[code]:
barcode_widths.append(int(weight) * thickness)
width = sum(barcode_widths)
x = 0
if quiet_zone:
width += 20 * thickness
x = 10 * thickness
# Monochrome Image
img = Image.new('RGB', (int(width * 10), int(width * 10)), 'white')
draw = ImageDraw.Draw(img)
draw_bar = True
for bwidth in barcode_widths:
bwidth *= 4
if draw_bar:
draw.rectangle(((x + int(width * 3), width*6.25), (x + int(width * 3) + bwidth - 1, width*7)), fill='black')
draw_bar = not draw_bar
x += bwidth
#draw.arc(((width - width/5, width - width/5), (width*9 + width/5, width*9 + width/5)),0,360,fill='blue', width = int(width/8))
draw.arc(((width+int(width / 1.4), width+int(width / 1.4)), (width*9-int(width / 1.4), width*9-int(width / 1.4))),0,360,fill='blue', width = int(width/8))
font_path = find_data_file("OCRAEXT.TTF")
font_size = width/2
font = ImageFont.truetype(font_path, font_size)
text_width = font.getlength(partnum)
while text_width > width*4:
font_size -= 1
font = ImageFont.truetype(font_path, font_size)
text_width = font.getlength(partnum)
txtx = (int(width * 10) - text_width) / 2
txty = (int(width * 10)) / 2 + width / 2
draw.text((txtx,txty),partnum, "black", font)
return img
def qr_image(data, width=600):
partnum = data
# Monochrome Image
img = Image.new('RGB', (int(width * 10), int(width * 10)), 'white')
draw = ImageDraw.Draw(img)
#svg_path = find_data_file("belden-logo.svg")
#with open(svg_path, 'rb') as svg_file:
# png_image = cairosvg.svg2png(file_obj=svg_file,dpi=width*30, scale=30, background_color="white")
#with open("output.png", 'wb') as file:
# file.write(png_image)
png_image_io = "belden-logo-superhires.png"
png_image_pillow = Image.open(png_image_io)
png_width, png_height = png_image_pillow.size
png_image_pillow = png_image_pillow.resize((int(width*4), int(width*4/png_width*png_height)))
png_width, png_height = png_image_pillow.size
# paste belden logo first because it has a big border that would cover stuff up
img.paste(png_image_pillow, (int(width*5-png_width/2), int(width*3.25 - png_height/2)))
# draw circle border
#draw.arc(((width - width/5, width - width/5), (width*9 + width/5, width*9 + width/5)),0,360,fill='blue', width = int(width/8))
draw.arc(((width+int(width / 1.4), width+int(width / 1.4)), (width*9-int(width / 1.4), width*9-int(width / 1.4))),0,360,fill=(0, 73,144), width = int(width/8))
font_path = find_data_file("GothamCond-Medium.otf")
font_size = width/2
font = ImageFont.truetype(font_path, font_size)
text_width = font.getlength(partnum[2:])
# shrink font dynamically if it's too long of a name
while text_width > width*4:
font_size -= 1
font = ImageFont.truetype(font_path, font_size)
text_width = font.getlength(partnum[2:])
txtx = (int(width * 10) - text_width) / 2
txty = (int(width * 7.5)) / 2
# draw part number text
draw.text((txtx,txty),partnum[2:], "black", font)
# Draw QR code
partnum = partnum.replace(" ", "%20")
qrcode = segno.make('HTTPS://BLDN.APP/' + partnum,micro=False,boost_error=False,error="L",mask=3)
out = io.BytesIO()
qrx, _ = qrcode.symbol_size(1,0)
qrcode.save(out, scale=width*3/qrx, kind="PNG", border=0)
qrimg = Image.open(out)
img.paste(qrimg, box=(int(width*3.5),int(width*4.5)))
img = img.crop((width+int(width / 1.4)-int(width/8),width+int(width / 1.4)-int(width/8),img.size[0] - (width+int(width / 1.4)-int(width/8)), img.size[1] - (width+int(width / 1.4)-int(width/8)) ))
img = img.resize((1200, 1200), Image.LANCZOS) # 1200 dpi
return img
if __name__ == "__main__":
#print(generate_code("BL10GXS13"))
#print(generate_code("BL10GXgd35j35S13"))
#print(generate_code("BL10GX54hS13"))
#print(generate_code("BL10Gj34qXS13", False, False))
#print(generate_code("BL104w5545dp7bfwp43643534/4563G-XS13"))
#adjust_image(cv2.imread('test_skew.jpg'))
path = "labels"
img = generate_code("BL10GXS13")
import os
os.makedirs(path, exist_ok=True)
img.save(path + "/" + "BL10GXS13" + ".png")

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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.ip = ip
self.port = port
self.url = "http://" + ip + ":" + str(port) + "/barcode"
#self.camera = banner_ivu_export.DriveImg(ip, port)
self.camera = banner_ivu_export.DriveImg(ip, port)
# def read_qr(self, tries=1):
# print("Trying " + str(tries) + " frames.")
# self.camera = banner_ivu_export.DriveImg(self.ip, self.port)
# for x in range(tries):
# 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):
try:
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}')
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
return False
class video_streamer():
camera = None
def __init__(self, ip, port):
@ -66,7 +41,5 @@ class video_streamer():
if __name__ == "__main__":
test = qr_reader("192.168.1.125", 32200)
import time
while True:
fprint(test.read_qr(300))
time.sleep(1)
fprint(test.read_qr(5))

344
read_datasheet.py
View File

@ -1,8 +1,9 @@
#!/usr/bin/env python3
# Parse Belden (100%) & Alphawire (75%) catalog techdata datasheets
# Parse Belden catalog techdata datasheets
import pandas as pd
pd.set_option('future.no_silent_downcasting', True)
from PyPDF2 import PdfReader
import camelot
import numpy as np
@ -12,149 +13,55 @@ import json
from util import fprint
import uuid
from util import run_cmd
from util import win32
import os
import glob
import sys
from PIL import Image
import segno
def touch(path):
with open(path, 'a'):
os.utime(path, None)
def find_data_file(filename):
if getattr(sys, "frozen", False):
# The application is frozen
datadir = os.path.dirname(sys.executable)
else:
# The application is not frozen
# Change this bit to match where you store your data files:
datadir = os.path.dirname(__file__)
return os.path.join(datadir, filename)
def parse(filename, output_dir, partnum, dstype):
def extract_table_name(table_start, searchpage, reader, dstype, fallbackname):
if dstype == "Belden":
ymin = table_start
ymax = table_start + 10
elif dstype == "Alphawire":
ymin = table_start - 5
ymax = table_start + 20
page = reader.pages[searchpage - 1]
parts = []
def visitor_body(text, cm, tm, fontDict, fontSize):
y = tm[5]
if y > ymin and y < ymax:
parts.append(text)
page.extract_text(visitor_text=visitor_body)
text_body = "".join(parts).strip('\n')
if len(text_body) == 0:
text_body = str(fallbackname)
return text_body
#fprint(text_body)
def find_file_noext(directory, prefix="part-hires"):
"""
Find files in the specified directory that start with the given prefix and have any extension.
:param directory: The directory to search in.
:param prefix: The prefix to search for.
:return: A list of matching file names.
"""
# Get all files and directories in the specified directory
entries = os.listdir(directory)
# Filter files that match 'filename.EXTENSION'
matching_files = [file for file in entries if os.path.isfile(os.path.join(directory, file)) and file.split('.')[0] == prefix and len(file.split('.')) == 2]
#print(directory, matching_files)
return matching_files
def rotate_and_crop_image(path, image_name, force_rotate=False, partnum=""):
# Open the image file
fprint("Generating thumbnail image for part " + partnum)
image_path = path + "/" + image_name
with Image.open(image_path) as img:
# Check if the image is wider than it is tall
if force_rotate or img.width > img.height * 1.2:
# Rotate the image by 90 degrees counter-clockwise
img = img.rotate(90, expand=True)
# Determine the size of the square (the length of the shorter side of the image)
square_size = min(img.width, img.height)
if img.height < img.width:
offset = (img.width - img.height)/2
img_cropped = img.crop((offset, 0, square_size+offset, square_size))
else:
# Crop the image to a square from the top
img_cropped = img.crop((0, 0, square_size, square_size))
# Save or display the image
img_cropped.save(path + "/" + "thumbnail-" + image_name) # Save the cropped image
def parse(filename, output_dir, partnum, dstype, weburl, extra):
tables = []
# Extract table data
try:
if dstype == "Belden":
tables = camelot.read_pdf(filename, pages="1-end", flavor='lattice', backend="ghostscript", split_text=False, line_scale=100, process_background=True, resolution=600, interations=1, layout_kwargs={'detect_vertical': False, 'char_margin': 0.5}, shift_text=['r', 't'])
elif dstype == "Alphawire":
tables = camelot.read_pdf(filename, pages="1-end", flavor='lattice', backend="ghostscript", split_text=False, line_scale=50, process_background=True, resolution=600, interations=1, layout_kwargs={'detect_vertical': True, 'char_margin': 0.5}, shift_text=['l', 'b'])
except (OSError, RuntimeError) as e:
print(e)
if win32:
print("Ghostscript is not installed! Launching installer...")
#subprocess.run([r".\\gs10030w64.exe"])
os.system(r'''Powershell -Command "& { Start-Process \"''' + find_data_file("gs10030w64.exe") + r'''\" -Verb RunAs } " ''')
# Will return once file launched...
print("Once the install is completed, try again.")
return False
else:
print("Ghostscript is not installed. You can install it with e.g. apt install ghostscript for Debian-based systems.")
return False
tables = camelot.read_pdf(filename, pages="1-end", flavor='lattice', backend="poppler", split_text=False, line_scale=100, process_background=True, resolution=600, interations=1, layout_kwargs={'detect_vertical': False, 'char_margin': 0.5}, shift_text=['r', 't'])
#fprint("Total tables extracted:", tables.n)
n = 0
#pagenum = 0
pagenum = 0
reader = PdfReader(filename)
page = reader.pages[0]
table_list = {}
table_list_raw = {}
pd.set_option('future.no_silent_downcasting', True)
for table in tables:
#with pd.options.context("future.no_silent_downcasting", True):
table.df.infer_objects(copy=False)
table.df = table.df.replace('', np.nan).infer_objects(copy=False)
table.df.replace('', np.nan, inplace=True)
table.df.dropna(inplace=True, how="all")
table.df.dropna(inplace=True, axis="columns", how="all")
table.df = table.df.replace(np.nan, '').infer_objects(copy=False)
table.df.replace(np.nan, '', inplace=True)
if not table.df.empty:
#fprint("\nTable " + str(n))
# Extract table names
table_start = table.cells[0][0].lt[1] # Read top-left cell's top-left coordinate
#fprint(table_start)
ymin = table_start
ymax = table_start + 10
if pagenum != table.page - 1:
pagenum = table.page - 1
page = reader.pages[table.page - 1]
parts = []
def visitor_body(text, cm, tm, fontDict, fontSize):
y = tm[5]
if y > ymin and y < ymax:
parts.append(text)
page.extract_text(visitor_text=visitor_body)
text_body = "".join(parts).strip('\n')
if len(text_body) == 0:
text_body = str(n)
#fprint(text_body)
text_body = extract_table_name(table_start, table.page, reader, dstype, n)
#print(text_body)
table_list[text_body] = table.df
#print(table_list[text_body])
if dstype == "Alphawire":
def reorder_row(row):
# Filter out NaNs and compute the original non-NaN values
non_nans = row[~row.isnull()]
# Create a new row with NaNs filled at the end
new_row = pd.Series(index=row.index)
new_row[:len(non_nans)] = non_nans
return new_row
# Apply the function to each row and return a new DataFrame
#table_list[text_body] = table.df.apply(reorder_row, axis=1)
#print(table_list[text_body])
table_list_raw[text_body] = table
#print(tbl)
#table.to_html("table" + str(n) + ".html")
#fprint(table.df)
@ -164,7 +71,7 @@ def parse(filename, output_dir, partnum, dstype, weburl, extra):
#tables.export(output_dir + '/techdata.json', f='json')
#fprint(table_list)
# fprint(table_list)
# Extract Basic details - part name & description, image, etc
reader = PdfReader(filename)
@ -188,59 +95,29 @@ def parse(filename, output_dir, partnum, dstype, weburl, extra):
with open(output_dir + "/brand.png", "wb") as fp:
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()
previous_table = ""
#print(table_list.keys())
for table_name in table_list.keys():
# determine shape: horizontal or vertical
#print(table_name)
table = table_list[table_name]
rows = table.shape[0]
cols = table.shape[1]
vertical = None
#print(rows, cols, table_name)
if rows > 2 and cols == 2:
vertical = True
elif cols == 1 and rows > 1:
elif cols == 1:
vertical = False
elif rows == 1:
vertical = True
elif cols == 2: # and rows <= 2
# inconsistent
if dstype == "Belden":
if table.iloc[0, 0].find(":") == len(table.iloc[0, 0]) - 1: # check if last character is ":" indicating a vertical table
vertical = True
else:
vertical = False
elif dstype == "Alphawire":
if table.iloc[0, 0].find(")") == 1 or table.iloc[0, 0].find(")") == 2 or table.iloc[0, 0].find(":") == len(table.iloc[0, 0]) - 1: # check if last character is ":" indicating a vertical table
vertical = True
else:
vertical = False
if table.iloc[0, 0].find(":") == len(table.iloc[0, 0]) - 1: # check if last character is ":" indicating a vertical table
vertical = True
else:
vertical = False
elif cols > 2: # and rows <= 2
vertical = False
@ -248,26 +125,19 @@ def parse(filename, output_dir, partnum, dstype, weburl, extra):
vertical = False
else: # 1 column, <= 2 rows
vertical = False
#print(vertical)
# missing name check
for table_name_2 in table_list.keys():
if dstype == "Alphawire" and table_name_2.find("\n") >= 0:
torename[table_name_2] = table_name_2[0:table_name_2.find("\n")]
# if dstype == "Alphawire" and table_name_2.find(table.iloc[-1, 0]) >= 0:
# # Name taken from table directly above - this table does not have a name
# torename[table_name_2] = "Specs " + str(len(tables))
# #table_list["Specs " + str(len(tables))] = table_list[table_name_2] # rename table to arbitrary altername name
# break
if table_name_2.find(table.iloc[-1, 0]) >= 0:
# Name taken from table directly above - this table does not have a name
torename[table_name_2] = "Specs " + str(len(tables))
#table_list["Specs " + str(len(tables))] = table_list[table_name_2] # rename table to arbitrary altername name
break
if vertical:
out = dict()
if rows > 1:
for row in table.itertuples(index=False, name=None):
out[row[0].replace("\n", " ").replace(":", "")] = row[1]
else:
for row in table.itertuples(index=False, name=None):
out[row[0].replace("\n", " ").replace(":", "")] = ""
for row in table.itertuples(index=False, name=None):
out[row[0].replace("\n", " ").replace(":", "")] = row[1]
else: # horizontal
out = dict()
@ -276,58 +146,18 @@ def parse(filename, output_dir, partnum, dstype, weburl, extra):
out[col_data[0].replace("\n", " ")] = col_data[1:]
tables[table_name] = out
#print(out)
# multi-page table check, Alphawire
if dstype == "Alphawire" and table_name.isdigit() and previous_table != "":
# table continues from previous page or has name on previous page
thistbl = table_list_raw[table_name]
prevtbl = table_list_raw[previous_table]
if prevtbl.cells[-1][0].lb[1] < 50 and thistbl.cells[0][0].lt[1] > 600:
# wraparound
#print("WRAP")
#print("PREV TABLE", prevtbl.df)
#print("THIS TABLE", thistbl.df)
#print("PREV TABLE CORNER", prevtbl.cells[-1][0].lb[1])
#print("THIS TABLE CORNER", thistbl.cells[0][0].lt[1])
main_key = previous_table
cont_key = table_name
#print(vertical)
if vertical == False:
main_keys = list(tables[main_key].keys())
for i, (cont_key, cont_values) in enumerate(tables[cont_key].items()):
if i < len(main_keys):
#print(tables[main_key][main_keys[i]])
tables[main_key][main_keys[i]] = (tuple(tables[main_key][main_keys[i]]) + (cont_key,) + cont_values)
del tables[table_name]
else:
#print(tables[cont_key].keys())
for key in tables[cont_key].keys():
#print(main_key, key, cont_key, key)
tables[main_key][key] = tables[cont_key][key]
del tables[table_name]
elif thistbl.cells[0][0].lt[1] > 600:
# name on previous page (grrrr)
#print("NAMEABOVE")
#print("PREV TABLE", prevtbl.df)
#print("THIS TABLE", thistbl.df)
#print("PREV TABLE CORNER", prevtbl.cells[-1][0].lb[1])
#print("THIS TABLE CORNER", thistbl.cells[0][0].lt[1])
name = extract_table_name(50, prevtbl.page,reader,dstype,table_name).strip("\n").strip()
#print("FOUND NAME:", name)
torename[table_name] = name
# multi-page table check, Belden
# multi-page table check
if dstype == "Belden":
if table_name.isdigit() and len(tables) > 1:
#fprint(table_name)
#fprint(previous_table)
main_key = previous_table
cont_key = table_name
#fprint(tables)
@ -341,21 +171,15 @@ def parse(filename, output_dir, partnum, dstype, weburl, extra):
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
previous_table = table_name
# remove & rename tables
#print(torename)
# remove renamed tables
for table_name in torename.keys():
tables[torename[str(table_name)]] = tables[str(table_name)]
tables[torename[table_name]] = tables[table_name]
del tables[table_name]
# remove multi-line values that occasionally squeak through
def replace_newlines_in_dict(d):
@ -371,42 +195,15 @@ def parse(filename, output_dir, partnum, dstype, weburl, extra):
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
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["brand"] = brand
output_table["fullspecs"] = tables
output_table["searchspecs"] = {"partnum": partnum, **flatten(tables)}
output_table["searchspecs"]["id"] = id
@ -414,21 +211,11 @@ def parse(filename, output_dir, partnum, dstype, weburl, extra):
#print(output_table)
#run_cmd("rm \"" + output_dir + "\"/*.json") # not reliable!
# pattern = os.path.join(output_dir, '*.json')
# json_files = glob.glob(pattern)
# for file_path in json_files:
# os.remove(file_path)
#print(f"Deleted {file_path}")
with open(output_dir + "/search.json", 'w') as json_file:
run_cmd("rm \"" + output_dir + "\"/*.json") # not reliable!
with open(output_dir + "/" + output_table["searchspecs"]["id"] + ".json", 'w') as json_file:
json.dump(output_table["searchspecs"], json_file)
with open(output_dir + "/specs.json", 'w') as json_file:
json.dump(output_table["fullspecs"], json_file)
fprint("Datasheet values parsed and saved for " + partnum)
#print(json.dumps(output_table, indent=2))
touch(output_dir + "/parsed") # mark as parsed
return True
touch(output_dir + "/parsed")
return output_table
def flatten(tables):
@ -454,20 +241,13 @@ 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])
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])
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(",")))
@ -476,7 +256,7 @@ def flatten(tables):
# if the item has at least two commas in it, split it
if tables[table][key].count(',') > 0:
out[fullkeyname] = list(map(lambda x: x.strip(), tables[table][key].split(",")))
#print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
#print("}")
@ -485,4 +265,4 @@ def flatten(tables):
if __name__ == "__main__":
print(parse("cables/3050/datasheet-new.pdf", "cables/3050", "3050", "Alphawire"))
parse("test2.pdf", "cables/10GXS13", "10GXS13")

14
requirements.txt
View File

@ -1,10 +1,9 @@
# Runtime
camelot-py[base]==0.9.0
#opencv-python
camelot-py[base]
opencv-python
pypdf2==2.12.1
alive-progress
requests
math3d==4.0.0
git+https://github.com/Byeongdulee/python-urx.git
meilisearch
pyyaml
@ -16,15 +15,6 @@ websockets
numpy
scipy
ipywidgets
pandas
#pyarrow
ghostscript
pyzbar
segno
pyModbusTCP
paho-mqtt
# Development
matplotlib
#cx_Freeze # uncomment if building label generator app
# requires windows 10 SDK, visual C++, etc

1158
run.py
View File

File diff suppressed because it is too large Load Diff

5
run.sh
View File

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

24
search.py
View File

@ -1,12 +1,10 @@
#!/usr/bin/env python3
"""Interactions with the Meilisearch API for adding and searching cables."""
from meilisearch import Client
from meilisearch.task import TaskInfo
from meilisearch.errors import MeilisearchApiError
import time
import json
DEFAULT_URL = "http://127.0.0.1:7700"
DEFAULT_URL = "http://localhost:7700"
DEFAULT_APIKEY = "fluffybunnyrabbit" # I WOULD RECOMMEND SOMETHING MORE SECURE
DEFAULT_INDEX = "cables"
DEFAULT_FILTERABLE_ATTRS = ["partnum", "uuid", "position"] # default filterable attributes
@ -36,15 +34,12 @@ 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:
@ -70,10 +65,11 @@ 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:
taskref = self.idxref.update_filterable_attributes(filterables)
#self.client.wait_for_task(taskref.index_uid)
existing_filterables = self.idxref.get_filterable_attributes()
if len(set(existing_filterables).difference(set(filterables))) > 0:
taskref = self.idxref.update_filterable_attributes(filterables)
self.client.wait_for_task(taskref.index_uid)
def search(self, query: str, filters: str = None):
"""Execute a search query on the Meilisearch index.
@ -94,7 +90,7 @@ class JukeboxSearch:
:returns: A dict containing the results; If no results found, an empty dict."""
q = self.search("", filter)
if q["estimatedTotalHits"] != 0:
return q["hits"][0]
return ["hits"][0]
else:
return dict()
@ -118,4 +114,4 @@ class JukeboxSearch:
# entrypoint
if __name__ == "__main__":
jbs = JukeboxSearch()
jbs = JukeboxSearch()

2
server.py
View File

@ -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), "0.0.0.0", 9000)
start_server = websockets.serve(lambda ws, path: handler(ws, path, to_server_queue, from_server_queue), "localhost", 9000)
asyncio.get_event_loop().run_until_complete(start_server)
asyncio.get_event_loop().create_task(send_messages(to_server_queue))

20
setup-alpine-vm.sh
View File

@ -1,20 +0,0 @@
#!/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

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

76
table0.html
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@ -1,76 +0,0 @@
<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>

46
table1.html
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@ -1,46 +0,0 @@
<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>

60
table2.html
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@ -1,60 +0,0 @@
<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>

60
table3.html
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@ -1,60 +0,0 @@
<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>

18
table4.html
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@ -1,18 +0,0 @@
<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>

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44
test.py
View File

@ -1,46 +1,4 @@
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()
print("\u001b[37m")
class Ring:
def __init__(self) -> None:

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763
ur5_control.py
View File

@ -5,117 +5,53 @@ import math
import numpy as np
import time
import os
#import logging
import yaml
import logging
from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper
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
#
def __init__(self, config):
self.config = config
armc = config["arm"]
self.ip = armc["ip"]
tool = armc["tool"]
limbs = armc["limbs"]
self.offset_x, self.offset_y, self.offset_z = (tool["offset_x"], tool["offset_y"], tool["offset_z"])
self.limb_base = limbs["limb_base"]
self.limb1 = limbs["limb1"]
self.limb2 = limbs["limb2"]
self.limb3 = limbs["limb3"]
self.limb_wrist = limbs["limb_wrist"]
#self.init_arm()
def ping(host):
#Returns True if host (str) responds to a ping request.
rob = None
# 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):
def init(ip):
global rob
#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
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
count = 0
while trying and count < 10:
count += 1
try:
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(0.5)
# Sets robot arm endpoint offset (x,y,z,rx,ry,rz)
return robot
def init_arm(robot):
robot = connect(robot)
# wait for auto-initialize
# init urx
fprint("Connecting to arm at " + ip)
trying = True
while trying:
try:
rob = urx.Robot(ip)
trying = False
except:
time.sleep(1)
robotiqgrip = Robotiq_Two_Finger_Gripper(rob)
# Sets robot arm endpoint offset (x,y,z,rx,ry,rz)
rob.set_tcp((0, 0, 0.15, 0, 0, 0))
# Set weight
rob.set_payload(2, (0, 0, 0.1))
#rob.set_payload(2, (0, 0, 0.1))
time.sleep(0.2)
fprint("UR5 ready.")
#return robot.robot
# 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
def set_pos_abs(x, y, z, xb, yb, zb, threshold=None):
global rob
new_orientation = m3d.Transform()
new_orientation.orient.rotate_xb(xb) # Replace rx with the desired rotation around X-axis
new_orientation.orient.rotate_yb(yb) # Replace ry with the desired rotation around Y-axis
@ -131,8 +67,8 @@ def set_pos_abs(robot, 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(robot, x, y, z, xb, yb, zb):
rob = robot.robot
def set_pos_rel_rot_abs(x, y, z, xb, yb, zb):
global rob
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
@ -149,8 +85,8 @@ def set_pos_rel_rot_abs(robot, x, y, z, xb, yb, zb):
#rob.speedj(0.2, 0.5, 99999)
rob.set_pose(new_trans, acc=0.1, vel=0.4, command="movej") # apply the new pose
def set_pos_abs_rot_rel(robot, x, y, z, xb, yb, zb):
rob = robot.robot
def set_pos_abs_rot_rel(x, y, z, xb, yb, zb):
global rob
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
@ -195,8 +131,9 @@ def polar_to_cartesian(r, theta):
y = r * np.sin(theta)
return x, y
def move_to_polar(robot, start_pos, end_pos):
rob = robot.robot
def move_to_polar(start_pos, end_pos):
global rob
# Convert to polar coordinates
start_r, start_theta = cartesian_to_polar(start_pos[0], start_pos[1])
@ -253,35 +190,19 @@ def move_to_polar(robot, start_pos, end_pos):
return rx_intermediate
def move_to_home(robot, keep_flip=False, speed=2):
rob = robot.robot
if is_flipped(robot) and not keep_flip:
flip(robot)
# Move robot to home position
rob.movej(offset_gripper_angle(robot, *(-0.18, -0.108, 0.25), 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)
def move_to_home():
global rob
# Home position in degrees
store_pos = [-1.5708,
-1.3,
2.362,
0.7056,
-1.425,
1.5708]
home_pos = [0.10421807948612624,
-2.206111555015423,
1.710679229503537,
-1.075834511928354,
-1.569301366430687,
1.675098295930943]
# Move robot
rob.movej(store_pos, acc=0.1, vel=speed)
return True
rob.movej(home_pos, acc=2, vel=2)
def normalize_degree(theta):
# Normalizes degree theta from -1.5pi to 1.5pi
@ -295,537 +216,109 @@ def normalize_degree(theta):
# Return angle
return normalized_theta
def get_joints_from_xyz_rel(robot, x, y, z, rx=0, ry=-math.pi/2, rz=0, initial_guess = (math.pi/2, math.pi/2, 0), l3offset=0):
# Get limbs and offsets
#l3=0.15
l_bs, l1, l2, l3, l_wt = (robot.limb_base, robot.limb1, robot.limb2, robot.limb3, robot.limb_wrist) # Limb lengths
l3 += l3offset # add wrist offset, used for gripper angle calculations
offset_x = robot.offset_x
offset_y = robot.offset_y
offset_z = robot.offset_z
# Calculate base angle and r relative to shoulder joint
def calculate_theta(x, y, a):
# Calculate if we need the + or - in our equations
if (x>-a and y>=0) or (x>a and y<0):
flip = 1
elif (x<-a and y>=0) or (x<a and y<0):
flip = -1
else:
# Critical section (x=a, or x=-a). Infinite slope
# Return 0 or 180 depending on sign
return math.atan2(y, 0)
# Calculate tangent line y = mx + b
m = (x*y - math.sqrt(x*x*y*y-(x*x-a*a)*(y*y-a*a)))/(x*x-a*a)
b = flip * a * math.sqrt(1+m*m)
# Calculate equivalent tangent point on circle
cx = (-flip*m*b)/(1+m*m)
cy = m*cx + flip*b
# Calculate base angle, make angle negative if flip=1
theta = math.atan2(cy, cx) + (-math.pi if flip==1 else 0)
return theta
base_theta = calculate_theta(x, y, l_bs)
cx, cy = l_bs*math.cos(base_theta), l_bs*math.sin(base_theta)
r = math.sqrt((x+offset_x+cx)**2 + (y+offset_y+cy)**2)
def get_joints_from_xyz_rel(x, y, z, initial_guess = (math.pi/2, math.pi/2, 0), limbs=(.422864, .359041, .092124)):
# Get polar coordinates of x,y pair
r, theta = cartesian_to_polar(x, y)
# Get length of each limb
l1, l2, l3 = limbs
# Formulas to find out joint positions for (r, z)
def inv_kin_r_z(p):
a, b, c = p
a, b, c = p
return (l1*math.cos(a) + l2*math.cos(a-b) + l3*math.cos(a-b-c) - r, # r
l1*math.sin(a) + l2*math.sin(a-b) - l3*math.sin(a-b-c) - (l3*math.sin(a-b-c)) - (z + offset_z), # z
l1*math.sin(a) + l2*math.sin(a-b) - l3*math.sin(a-b-c) - z, # z
a-b-c) # wrist angle
# Normalize angles
base, shoulder, elbow, wrist1 = [normalize_degree(deg) for deg in [base_theta, *fsolve(inv_kin_r_z, initial_guess)]]
wrist1 += rx
base, shoulder, elbow, wrist = [normalize_degree(deg) for deg in [theta, *fsolve(inv_kin_r_z, initial_guess)]]
# Return result
return base, shoulder, elbow, wrist1, ry, rz
return base, shoulder, elbow, wrist
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()
def get_joints_from_xyz_abs(x, y, z):
joints = get_joints_from_xyz_rel(x, y, z)
# Joint offsets
# Base, Shoulder, Elbow, Wrist
inverse = [1, -1, 1, 1, 1, 1]
offsets = [-math.pi/2, 0, 0, -math.pi/2, 0, 0]
inverse = [1, -1, 1, 1]
offsets = [0, 0, 0, -math.pi/2]
if math.degrees(joints[1]) > 137:
print("CRASH! Shoulder at", joints[1] * 180/math.pi)
#else:
#print("Shoulder at", joints[1] * 180/math.pi)
# Get adjusted joint positions
adjusted_joints = [o+j*i for j, o, i in zip(joints, offsets, inverse)]
curr_joints = rob.getj()
def get_complimentary_angle(joint_angle):
if joint_angle<0:
new_angle = joint_angle + 2*math.pi
else:
new_angle = joint_angle - 2*math.pi
if abs(new_angle) > math.radians(350):
return joint_angle
else:
return new_angle
# Use closest path (potentially going beyond 180 degrees)
if use_closest_path:
if abs(get_complimentary_angle(adjusted_joints[0])-curr_joints[0]) < abs(adjusted_joints[0]-curr_joints[0]):
adjusted_joints[0] = get_complimentary_angle(adjusted_joints[0])
# final_joint_positions = []
# for curr_joint, adjusted_joint in zip(curr_joints, adjusted_joints):
# if abs(curr_joint - adjusted_joint) < abs(curr_joint - get_complimentary_angle(adjusted_joint)):
# final_joint_positions.append(adjusted_joint)
# else:
# final_joint_positions.append(get_complimentary_angle(adjusted_joint))
# return final_joint_positions
return adjusted_joints
def move_arc(robot, x, y, z, rx=0, ry=-math.pi/2, rz=math.pi/2):
rob = robot.robot
start_joints = rob.getj()
end_joint = get_joints_from_xyz_abs(robot, x, y, z, rx, ry, rz)
n_points = 50
intermediate_joints = []
for i in range(0, 6):
intermediate_joints.append(np.linspace(start_joints[i], end_joint[i], n_points))
joints = [joint_position for joint_position in zip(*intermediate_joints)]
rob.movejs(joints, acc=2, vel=2, radius=0.1)
def offset_gripper_angle(robot, x, y, z, gripperangle=30, gripperlength=0.20+0.018, flip=False, use_closest_path=True, rzoffset=0):
# gripper angle: from vertical
# gripper length: from joint to start of grip
# to flip, you can use flip=True or make gripper angle negative
limb3 = robot.limb3
# Determine tool rotation depending on gripper angle
if gripperangle < 0:
rz = - math.pi / 2
else:
rz = math.pi / 2
if flip:
gripperangle = -math.radians(gripperangle)
grippery = gripperlength - math.cos(gripperangle) * gripperlength
grippery += math.sin(gripperangle) * limb3
gripperx = math.sin(gripperangle) * gripperlength + limb3 * 2
gripperx -= (1-math.cos(gripperangle)) * limb3
rz = math.pi / 2
# flip the whole wrist
return get_joints_from_xyz_abs(robot, x, y, z-grippery, rx=gripperangle + math.radians(180), l3offset=-gripperx, ry=-3*math.pi/2, rz=rz + rzoffset, use_closest_path=use_closest_path)
else:
gripperangle = math.radians(gripperangle)
grippery = gripperlength - math.cos(gripperangle) * gripperlength
grippery -= math.sin(gripperangle) * limb3
gripperx = math.sin(gripperangle) * gripperlength
gripperx += (1-math.cos(gripperangle)) * limb3
return get_joints_from_xyz_abs(robot, x, y, z-grippery, rx=gripperangle, l3offset=-gripperx, rz=rz, use_closest_path=use_closest_path)
def goto_holder_index(robot, idx, z=0.05, gripperangle=30, flip=False, use_closest_path=True, verbose=False):
joint = robot.config["position_map"][idx]
if verbose:
print("Going to cable holder index", joint["index"], "at position", joint["pos"])
safe_move(robot, joint["pos"][0]/1000, joint["pos"][1]/1000, z, use_closest_path=use_closest_path)
#angles = offset_gripper_angle(joint["pos"][1]/1000, joint["pos"][0]/1000, z, gripperangle=gripperangle, flip=flip)
#rob.movej(angles, acc=2, vel=2)
#return angles
#angles = get_joints_from_xyz_abs(joint["pos"][1]/1000, joint["pos"][0]/1000, 0.05, )
return True
def is_flipped(robot):
rob = robot.robot
wrist1 = rob.getj()[3]
if wrist1 > 0:
return True
else:
return False
def flip(robot):
rob = robot.robot
# A list of safe positions to flip
safe_positions = [(-0.18, -0.108, 0.35),
(0.18, -0.108, 0.35)]
# Find the closest safe position
curr_pos = rob.getl()[:3]
def dist_from_robot(pos):
x, y, z = pos
rx, ry, rz = curr_pos
return math.sqrt((rx-x)**2+(ry-y)**2+(rz-z)**2)
pos_dist_pairs = zip(safe_positions, [dist_from_robot(pos) for pos in safe_positions])
safe_pos = min(pos_dist_pairs, key=lambda x:x[1])[0]
# Flip at safe position
rob.movej(offset_gripper_angle(robot, *safe_pos, flip=is_flipped(robot)), vel=2, acc=2) # Move to safe position
rob.movej(offset_gripper_angle(robot, *safe_pos, flip=(not is_flipped(robot))), vel=2, acc=2) # Flip gripper
# print('flip?: ', is_flipped(robot))
return True
def safe_move(robot, x, y, z, use_closest_path=True):
rob = robot.robot
flip_radius = 0.22 # Min radius on which to flip
r = math.sqrt(x**2 + y**2) # Get position radius
# Flip gripper if needed
if (r <= flip_radius and is_flipped(robot)) or (r > flip_radius and not is_flipped(robot)):
flip(robot)
rob.movej(offset_gripper_angle(robot, x, y, z, flip=is_flipped(robot), use_closest_path=use_closest_path), vel=2, acc=2)
return True
def holder_routine(robot, pos_updates, holder_index, pick_up, verbose=False):
robot = connect(robot)
rob = robot.robot
# Don't attempt to place a tube in the camera slot
if holder_index == 49:
return
if verbose:
fprint('Pickup routine for index' + str(holder_index))
# Go to the correct holder
if pick_up:
goto_holder_index(robot, holder_index, 0.05, use_closest_path=False)
else:
goto_holder_index(robot, holder_index, 0.2, use_closest_path=False)
if pick_up:
open_gripper()
# Move down
curr_pos = rob.getl()
new_pos = curr_pos
new_pos[2] = 0.005
rob.movel(new_pos, vel=0.1, acc=1)
if pos_updates is not None:
pos_updates.put(1)
fprint("Triggering LED interface")
# Pick up or drop off
if pick_up:
close_gripper()
else:
open_gripper()
# Move up
new_pos[2] = 0.2
rob.movel(new_pos, vel=2, acc=1)
was_flipped = is_flipped(robot)
if pos_updates is not None:
pos_updates.put(2)
fprint("Triggering LED interface")
# goto_holder_index(robot, 25, z=0.2)
def pick_up_holder(robot, pos_updates, holder_index, verbose=False):
holder_routine(robot, pos_updates, holder_index, True, verbose=verbose)
def drop_off_holder(robot, pos_updates, holder_index, verbose=False):
holder_routine(robot, pos_updates, holder_index, False, verbose=verbose)
def tray_routine(robot, slot=0, pick_up=True):
robot = connect(robot)
rob = robot.robot
# Default to 0 if invalid value
if slot not in [0, 1, 2, 3]:
slot = 0
slot_prepositions = [(-9.93, -112.67, 144.02, -116.69, -54.13, -10.29),
(-12.35, -124.95, 148.61, -107.27, -54.36, -13.26),
(-16.45, -96.97, 137.85, 58.39, -305.08, 161.75),
(-16.66, -97.28, 138.16, 58.54, -305.05, 161.50)]
# Initial position depending on slot and robot orientation
if slot in [0, 1]:
if is_flipped(robot):
flip(robot)
else:
move_to_home(robot, keep_flip=True)
else:
goto_holder_index(robot, 25, z=0.3)
# Align robot to the slot
if slot in [2,3]:
angles = [(-2.77, -99.64, 131.02, 67.67, 70.04-360, 153.03),
slot_prepositions[slot]]
else:
angles = [(-58, -114.45, 100.52, -45.24, -96.95, 120),
(-39.98, -124.92, 132.28, -61.56, -55.60, -50.77),
slot_prepositions[slot]]
angles = [[x*math.pi/180 for x in move] for move in angles]
rob.movejs(angles,vel=2,acc=1)
# Positions for each slot
slot_distance = .052
slot_height = -.015-.0095+0.007 # add 7mm for shim
first_slot = -0.3084+0.01+0.003 # add 3mm for tray adjust
slot_position = [
[first_slot, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
[first_slot+slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
[first_slot+2*slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
[first_slot+3*slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
]
if pick_up:
open_gripper()
rob.movel(slot_position[slot], vel=0.2, acc=1)
# Place/Grab the tube
if pick_up:
close_gripper()
else:
open_gripper()
# Move back
tilt = 0.3
curr_pos = rob.getl()
new_pos = curr_pos
if slot==3:
new_pos[0] -= 0.05 #x
new_pos[1] += 0.15 #y
new_pos[2] = 0.09 #z
new_pos[3] += tilt
new_pos[4] += tilt
new_pos[5] += tilt
rob.movel(new_pos, vel=0.2, acc=1)
# Go home to safe position
move_to_home(robot, speed=1, keep_flip=True)
def pick_up_tray(robot, slot=0):
tray_routine(robot, slot, True)
def drop_off_tray(robot, slot=0):
tray_routine(robot, slot, False)
def return_routine(robot, slot, holder_index=None, verbose=False):
# OLD UNUSED
robot = connect(robot)
rob = robot.robot
open_gripper()
was_flipped = is_flipped(robot)
if slot is None:
rob.movej(offset_gripper_angle(robot, -0.15, -0.15, 0.3, flip=was_flipped, use_closest_path=False), vel=4, acc=3)
rob.movej(get_joints_from_xyz_abs(robot, -0.35, -0.15, 0.0, math.pi/2, 0.1), vel=4, acc=3)
close_gripper()
else:
xoffset = 0.051 * slot
rob.movej(offset_gripper_angle(robot, -0.15, -0.15, 0.3, flip=was_flipped, use_closest_path=False), vel=4, acc=3)
rob.movej(get_joints_from_xyz_abs(robot, -0.35+xoffset, -0.15, 0.0, math.pi/2, 0.1), vel=4, acc=3)
close_gripper()
if holder_index is not None:
goto_holder_index(robot, holder_index, 0.2, use_closest_path=False)
curr_pos = rob.getl()
new_pos = curr_pos
new_pos[2] = 0.015
rob.movel(new_pos, vel=0.1, acc=1)
open_gripper()
new_pos[2] = 0.1
rob.movel(new_pos, vel=2, acc=1)
return True
else:
# go to camera
rob.movej(offset_gripper_angle(robot, 0.35, -0.35, 0.3, flip=was_flipped, use_closest_path=False), vel=2, acc=2)
return True
def goto_camera(robot, pos_updates):
robot = connect(robot)
goto_holder_index(robot, 49, 0.2)
def tray_to_camera(robot, pos_updates, slot):
pick_up_tray(robot, slot)
goto_camera(robot, pos_updates)
def holder_to_tray(robot, pos_updates, holder_index, slot):
pick_up_holder(robot, pos_updates, holder_index)
drop_off_tray(robot, slot)
def holder_to_camera(robot, pos_updates, holder_index, verbose=False):
robot = connect(robot)
fprint("Bringing tube at " + str(holder_index) + " to camera")
rob = robot.robot
pick_up_holder(robot, pos_updates, holder_index)
goto_camera(robot, pos_updates)
def camera_to_holder(robot, pos_updates, holder_index, verbose=False):
robot = connect(robot)
rob = robot.robot
drop_off_holder(robot, pos_updates, holder_index)
# def open_gripper():
# fprint("Opening gripper")
# c = ModbusClient(host="192.168.1.21", port=502, auto_open=False, auto_close=False)
# c.open()
# while not c.is_open:
# time.sleep(0.01)
# c.write_single_register(112, 0b0)
# # c.write_single_register(435, 0b10000000)
# time.sleep(0.5)
# # c.write_single_register(112, 0b0)
# c.write_single_register(435, 0b10000000)
# time.sleep(0.5)
# c.close()
# #c.close()
# def close_gripper():
# fprint("Closing gripper")
# c = ModbusClient(host="192.168.1.21", port=502, auto_open=False, auto_close=False)
# c.open()
# while not c.is_open:
# time.sleep(0.01)
# c.write_single_register(435, 0b00000000)
# # c.write_single_register(112, 0b1)
# time.sleep(0.5)
# # c.write_single_register(435, 0b00000000)
# c.write_single_register(112, 0b1)
# time.sleep(0.5)
# c.close()
# time.sleep(0.2)
# #
def open_gripper():
fprint("Opening gripper")
c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False)
c.write_single_register(112, 0b0)
c.write_single_register(435, 0b10000000)
c.write_single_register(112, 0b0)
c.write_single_register(435, 0b10000000)
time.sleep(0.5)
c.close()
#c.close()
def close_gripper():
fprint("Closing gripper")
c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False)
c.write_single_register(435, 0b00000000)
c.write_single_register(112, 0b1)
c.write_single_register(435, 0b00000000)
c.write_single_register(112, 0b1)
time.sleep(0.5)
c.close()
#
def get_position_thread(robot, pos_updates):
try:
robot = connect(robot)
rob = robot.robot
oldvals = rob.getl()
deltavals = [0,0,0]
import uptime
t = 0.01
count = 0
while True:
start = uptime.uptime()
if pos_updates.qsize() < 2:
vals = rob.getl()
if vals != oldvals:
if pos_updates is not None:
pos_updates.put(tuple(oldvals))
#time.sleep(0.01)
# deltavals = list()
# deltavals.append(vals[0]-oldvals[0])
# deltavals.append(vals[1]-oldvals[1])
# deltavals.append(vals[2]-oldvals[2])
# count = 0
oldvals = vals
# else:
# count += 0.2
# if count < 1:
# tmpvals = vals
# tmpvals[0] = oldvals[0] + deltavals[0]*count
# tmpvals[1] = oldvals[1] + deltavals[1]*count
# tmpvals[2] = oldvals[2] + deltavals[2]*count
# pos_updates.put(tuple(tmpvals))
while start + t > uptime.uptime():
time.sleep(0.0001)
except:
pass
# Return adjusted joint positions
return [o+j*i for j, o, i in zip(joints, offsets, inverse)]
if __name__ == "__main__":
with open('config.yml', 'r') as fileread:
#global config
config = yaml.safe_load(fileread)
robot = Rob(config) # robot of type Rob is the custom class above
#powerup_arm(robot)
robot = connect(robot)
init_arm(robot)
rob = robot.robot # rob is robot.robot is the urx robot class, what we've been using previously
#move_to_packup(robot)
move_to_home(robot)
pick_up_holder(robot, None, 8)
#drop_off_tray(robot, 0)
# drop_off_tray(robot, 1)
# drop_off_tray(robot, 2)
# drop_off_tray(robot, 3)
# pick_up_tray(robot, 1)
# drop_off_holder(robot, 5)
# pick_up_holder(robot, 26)
# drop_off_tray(robot, 3)
# for i in range(0,54):
# pick_up_holder(robot, None, i)
# #print('Drop off', i+1)
# drop_off_tray(robot, 0)
# #input()
# # holder_to_camera(robot, 0)
# # camera_to_holder(robot, 0)
#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,
0]
# time.sleep(.5)
p1 = [0,
0.6,
.4,
0.2226,
3.1126,
0.0510]
p2 = [0.171,
-0.115,
0.2,
0.2226,
3.1126,
0.0510]
curr_pos = rob.getl()
config = None
# 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(0.3, 0.3, 0.3)
rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
angles = get_joints_from_xyz_abs(-0.3, -0.3, 0.7)
rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
angles = get_joints_from_xyz_abs(-0.3, 0.4, 0.2)
rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
# set_pos_abs(*p1)
# move = move_to_polar(p1, p2)
# for p in move:
# print(math.degrees(p))
# print("Safe? :", is_safe_move(p1, p2))
# #set_pos_rel_rot_abs(0, 0, -0.2, math.pi, 0, -math.pi)
# set_pos_abs(0.3, -0.2, 0.5, math.pi, 0, -math.pi)
# set_pos_abs(0, 0.2, 0.6, math.pi, 0, -math.pi)
# set_pos_abs(-0.5, -0.2, 0.4, math.pi, 0, -math.pi)
# #set_pos_rel_rot_abs(0, 0, 0, math.pi, 0, -math.pi)
# print("Current tool pose is: ", rob.getl())
# print("getj(): ", rob.getj())
# move_to_home()
rob.stop()
os.kill(os.getpid(), 9) # dirty kill of self

6
util.py
View File

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

4
websocket_test.html
View File

@ -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>