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

No commits in common. "main" and "labelgenv0.1" have entirely different histories.
main ... labelgenv0

45 changed files with 1350 additions and 5834 deletions
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5
.gitignore vendored
View File

@ -3,7 +3,6 @@ venv
__pycache__ __pycache__
# cable data folder(s) # cable data folder(s)
cables cables
cables_old
cables-sample.zip cables-sample.zip
# meilisearch (mainly where I've put the data volume for the container) # meilisearch (mainly where I've put the data volume for the container)
meili_data meili_data
@ -16,10 +15,8 @@ output.mp4
# log files # log files
output.log output.log
# images # images
map*.png *.png
# Built app # Built app
build build
# Generated label images # Generated label images
labels labels
temp
pick_count.txt

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

6
Dockerfile
View File

@ -3,11 +3,11 @@ FROM python:3.11-slim
# Get runtime dependencies # Get runtime dependencies
# glx for OpenCV, ghostscript for datasheet PDF rendering, zbar for barcode scanning, git for cloning repos # 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 RUN apt-get update && apt-get install -y libgl1-mesa-glx ghostscript libzbar0 git && apt-get clean && rm -rf /var/lib/apt/lists
COPY requirements.txt ./ COPY *.py *.yml *.sh *.txt *.html static templates ./
#COPY config-server.yml config.yml #COPY config-server.yml config.yml
RUN pip3 install -r requirements.txt 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 5000
EXPOSE 8000 EXPOSE 8000
EXPOSE 9000 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 self.onLine = False
fprint("Offline") fprint("Offline")
def close(self):
self.trans.close()
def read_img(self): def read_img(self):
resposta = 'Falha' resposta = 'Falha'
try: try:
if not self.onLine: if not self.onLine:
#print(f'tentando Conectar camera {self.ip}...') #print(f'tentando Conectar camera {self.ip}...')
gravaLog(ip=self.ip,msg=f'Trying to connect...') gravaLog(ip=self.ip,msg=f'Trying to connect...')
#sleep(2) sleep(2)
try: try:
self.trans = socket.socket(socket.AF_INET,socket.SOCK_STREAM) self.trans = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
self.trans.connect((self.ip,self.PORT)) self.trans.connect((self.ip,self.PORT))
@ -58,7 +55,7 @@ class DriveImg():
except: except:
self.onLine = False self.onLine = False
self.trans.close() self.trans.close()
return "Error", None return resposta
ret = self.trans.recv(64) ret = self.trans.recv(64)
try: try:
valida = str(ret[0:15].decode('UTF-8')) valida = str(ret[0:15].decode('UTF-8'))
@ -66,15 +63,15 @@ class DriveImg():
if valida.find("TC IMAGE")<0: if valida.find("TC IMAGE")<0:
self.onLine = False self.onLine = False
self.trans.close() self.trans.close()
#sleep(2) sleep(2)
gravaLog(ip=self.ip,tipo="Falha",msg=f'Unable to find TC IMAGE bookmark') gravaLog(ip=self.ip,tipo="Falha",msg=f'Unable to find TC IMAGE bookmark')
return "Error", None return "Error"
except Exception as ex: except Exception as ex:
self.onLine = False self.onLine = False
self.trans.close() self.trans.close()
#sleep(2) sleep(2)
gravaLog(ip=self.ip,tipo="Falha",msg=f'Error - {str(ex)}') gravaLog(ip=self.ip,tipo="Falha",msg=f'Error - {str(ex)}')
return "Error", None return "Error"
if ret: if ret:
frame = int.from_bytes(ret[24:27],"little") frame = int.from_bytes(ret[24:27],"little")
isJpeg = int.from_bytes(ret[32:33],"little") isJpeg = int.from_bytes(ret[32:33],"little")
@ -116,8 +113,8 @@ class DriveImg():
#print(f'erro {str(ex)}') #print(f'erro {str(ex)}')
self.onLine = False self.onLine = False
self.trans.close() self.trans.close()
#sleep(2) sleep(2)
return "Error", None return resposta
class DriveData(): class DriveData():
HEADERSIZE = 100 HEADERSIZE = 100
@ -142,7 +139,7 @@ class DriveData():
if not self.onLine: if not self.onLine:
#print(f'tentando Conectar...\n') #print(f'tentando Conectar...\n')
gravaLog(ip=self.ip,msg=f'tentando Conectar...',file="log_data.txt") gravaLog(ip=self.ip,msg=f'tentando Conectar...',file="log_data.txt")
#sleep(2) sleep(2)
try: try:
self.trans = socket.socket(socket.AF_INET,socket.SOCK_STREAM) self.trans = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
self.trans.connect((self.ip,self.PORT)) self.trans.connect((self.ip,self.PORT))
@ -157,7 +154,7 @@ class DriveData():
except Exception as ex: except Exception as ex:
self.onLine = False self.onLine = False
gravaLog(ip=self.ip,tipo="Falha Generica",msg=f'erro {str(ex)}',file="log_data.txt") gravaLog(ip=self.ip,tipo="Falha Generica",msg=f'erro {str(ex)}',file="log_data.txt")
#sleep(2) sleep(2)
return resposta 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
c0,0-22.3,0-24.8,0c0-2,0-9.4,0-11.4c2.5,0,26.1,0,26.1,0V32.1H139.8z"/>
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<path class="st0" d="M169.3,32.1H146v87.2h51V98c0,0-23.9,0-26.3,0c0-2.6,0-65.9,0-65.9H169.3z"/>
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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>
</svg>
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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

@ -9,22 +9,5 @@ services:
volumes: volumes:
- "meili_data:/meili_data" - "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: volumes:
meili_data: meili_data:

220
config.yml
View File

@ -3,102 +3,70 @@ core:
serverip: 172.26.178.114 serverip: 172.26.178.114
clientip: 172.26.176.1 clientip: 172.26.176.1
server: Hyper-Vd server: Hyper-Vd
loopspeed: 60 # fps
mqtt:
enabled: True
server: 172.31.108.4
arm: arm:
ip: 192.168.1.145 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: cameras:
banner: banner:
ip: 192.168.1.199 ip: 192.168.1.125
port: 80 port: 32200
animation_time: 60
led: led:
fps: 100 fps: 90
timeout: 1 timeout: 0
controllers: controllers:
- universe: 1 - universe: 9
ip: 192.168.1.200 ip: 192.168.68.131
ledstart: 0 ledstart: 0
ledend: 143 ledend: 143
mode: rgb mode: rgb
- universe: 2 - universe: 3
ip: 192.168.1.201 ip: 192.168.68.131
ledstart: 144 ledstart: 144
ledend: 287 ledend: 287
mode: rgb mode: rgb
- universe: 3 - universe: 2
ip: 192.168.1.202 ip: 192.168.68.131
ledstart: 288 ledstart: 288
ledend: 431 ledend: 431
mode: rgb mode: rgb
- universe: 4 - universe: 4
ip: 192.168.1.203 ip: 192.168.5.40
ledstart: 432 ledstart: 432
ledend: 575 ledend: 575
mode: rgb mode: rgb
- universe: 5 - universe: 1
ip: 192.168.1.204 ip: 192.168.5.4
ledstart: 576 ledstart: 576
ledend: 719 ledend: 719
mode: rgb mode: rgb
- universe: 6 - universe: 5
ip: 192.168.1.205 ip: 192.168.68.131
ledstart: 720 ledstart: 720
ledend: 863 ledend: 863
mode: rgb mode: rgb
- universe: 7 - universe: 6
ip: 192.168.1.206 ip: 192.168.68.131
ledstart: 864 ledstart: 864
ledend: 1007 ledend: 1007
mode: rgb mode: rgb
- universe: 8 - universe: 7
ip: 192.168.1.207 ip: 192.168.68.131
ledstart: 1008 ledstart: 1008
ledend: 1151 ledend: 1151
mode: rgb mode: rgb
- universe: 9 - universe: 8
ip: 192.168.1.208 ip: 192.168.68.131
ledstart: 1152 ledstart: 1152
ledend: 1295 ledend: 1295
mode: rgb mode: rgb
- universe: 10 - universe: 0
ip: 192.168.1.209 ip: 192.168.68.130
mode: solid ledstart: 1296
color: [0, 50, 100] ledend: 1365
- universe: 11 mode: rgbw
ip: 192.168.1.210
mode: solid
color: [0, 50, 100]
- universe: 12
ip: 192.168.1.211
mode: solid
color: [0, 50, 100]
# - universe: 0
# ip: 192.168.1.209
# ledstart: 1296
# ledend: 1365
# mode: rgbw
map: map:
@ -108,37 +76,37 @@ led:
start: 0 start: 0
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [0, 304.8] pos: [0, 304.8]
- type: circle - type: circle
start: 24 start: 24
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-65.991, 266.7] pos: [-65.991, 266.7]
- type: circle - type: circle
start: 48 start: 48
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-131.982, 228.6] pos: [-131.982, 228.6]
- type: circle - type: circle
start: 72 start: 72
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-197.973, 190.5] pos: [-197.973, 190.5]
- type: circle - type: circle
start: 96 start: 96
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-263.965, 152.4] pos: [-263.965, 152.4]
- type: circle - type: circle
start: 120 start: 120
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-263.965, 76.2] pos: [-263.965, 76.2]
# controller 2 # controller 2
@ -146,37 +114,37 @@ led:
start: 144 start: 144
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [0, 228.6] pos: [0, 228.6]
- type: circle - type: circle
start: 168 start: 168
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-65.991, 190.5] pos: [-65.991, 190.5]
- type: circle - type: circle
start: 192 start: 192
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-131.982, 152.4] pos: [-131.982, 152.4]
- type: circle - type: circle
start: 216 start: 216
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-197.973, 114.3] pos: [-197.973, 114.3]
- type: circle - type: circle
start: 240 start: 240
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-197.973, 38.1] pos: [-197.973, 38.1]
- type: circle - type: circle
start: 264 start: 264
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-263.965, 0] pos: [-263.965, 0]
# controller 3 # controller 3
@ -184,37 +152,37 @@ led:
start: 288 start: 288
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [0, 152.4] pos: [0, 152.4]
- type: circle - type: circle
start: 312 start: 312
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-65.991, 114.3] pos: [-65.991, 114.3]
- type: circle - type: circle
start: 336 start: 336
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-131.982, 76.2] pos: [-131.982, 76.2]
- type: circle - type: circle
start: 360 start: 360
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-131.982, 0] pos: [-131.982, 0]
- type: circle - type: circle
start: 384 start: 384
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-199.0, -35.0] pos: [-197.973, -38.1]
- type: circle - type: circle
start: 408 start: 408
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-263.965, -76.2] pos: [-263.965, -76.2]
# controller 4 # controller 4
@ -222,37 +190,37 @@ led:
start: 432 start: 432
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [131.982, 76.2] pos: [131.982, 76.2]
- type: circle - type: circle
start: 456 start: 456
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [131.982, 152.4] pos: [131.982, 152.4]
- type: circle - type: circle
start: 480 start: 480
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [131.982, 228.6] pos: [131.982, 228.6]
- type: circle - type: circle
start: 504 start: 504
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [65.991, 266.7] pos: [65.991, 266.7]
- type: circle - type: circle
start: 528 start: 528
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [65.991, 190.5] pos: [65.991, 190.5]
- type: circle - type: circle
start: 552 start: 552
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [65.991, 114.3] pos: [65.991, 114.3]
@ -261,37 +229,37 @@ led:
start: 576 start: 576
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [131.982, 0] pos: [131.982, 0]
- type: circle - type: circle
start: 600 start: 600
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [201.973, 34.1] pos: [197.973, 38.1]
- type: circle - type: circle
start: 624 start: 624
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [197.973, 114.3] pos: [197.973, 114.3]
- type: circle - type: circle
start: 648 start: 648
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [197.973, 190.5] pos: [197.973, 190.5]
- type: circle - type: circle
start: 672 start: 672
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [263.965, 152.4] pos: [263.965, 152.4]
- type: circle - type: circle
start: 696 start: 696
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [263.965, 76.2] pos: [263.965, 76.2]
# controller 6 # controller 6
@ -299,37 +267,37 @@ led:
start: 720 start: 720
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [131.982, -76.2] pos: [131.982, -76.2]
- type: circle - type: circle
start: 744 start: 744
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [197.973, -38.1] pos: [197.973, -38.1]
- type: circle - type: circle
start: 768 start: 768
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [263.965, 0] pos: [263.965, 0]
- type: circle - type: circle
start: 792 start: 792
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [263.965, -76.2] pos: [263.965, -76.2]
- type: circle - type: circle
start: 816 start: 816
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [263.965, -152.4] pos: [263.965, -152.4]
- type: circle - type: circle
start: 840 start: 840
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [197.973, -114.3] pos: [197.973, -114.3]
# controller 7 # controller 7
@ -337,75 +305,75 @@ led:
start: 864 start: 864
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [65.991, -114.3] pos: [65.991, -114.3]
- type: circle - type: circle
start: 888 start: 888
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [0, -152.4] pos: [0, -152.4]
- type: circle - type: circle
start: 912 start: 912
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-65.991, -114.3] pos: [-65.991, -114.3]
- type: circle - type: circle
start: 936 start: 936
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-131.982, -76.2] pos: [-131.982, -76.2]
- type: circle - type: circle
start: 960 start: 960
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-197.973, -114.3] pos: [-197.973, -114.3]
- type: circle - type: circle
start: 984 start: 984
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-133.0, -151.0] pos: [-131.982, -152.4]
# controller 8 # controller 8
- type: circle - type: circle
start: 1008 start: 1008
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [0, -228.6] pos: [0, -228.6]
- type: circle - type: circle
start: 1032 start: 1032
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-65.991, -190.5] pos: [-65.991, -190.5]
- type: circle - type: circle
start: 1056 start: 1056
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-65.991, -266.7] pos: [-65.991, -266.7]
- type: circle - type: circle
start: 1080 start: 1080
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-131.982, -228.6] pos: [-131.982, -228.6]
- type: circle - type: circle
start: 1104 start: 1104
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-197.973, -190.5] pos: [-197.973, -190.5]
- type: circle - type: circle
start: 1128 start: 1128
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [-263.965, -152.4] pos: [-263.965, -152.4]
# controller 9 # controller 9
@ -413,49 +381,49 @@ led:
start: 1152 start: 1152
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [0, -304.8] pos: [0, -304.8]
- type: circle - type: circle
start: 1176 start: 1176
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [65.991, -266.7] pos: [65.991, -266.7]
- type: circle - type: circle
start: 1200 start: 1200
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [131.982, -228.6] pos: [131.982, -228.6]
- type: circle - type: circle
start: 1224 start: 1224
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [197.973, -190.5] pos: [197.973, -190.5]
- type: circle - type: circle
start: 1248 start: 1248
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [131.982, -152.4] pos: [131.982, -152.4]
- type: circle - type: circle
start: 1272 start: 1272
size: 24 size: 24
diameter: 63.5 diameter: 63.5
angle: 180 angle: 0
pos: [65.991, -190.5] pos: [65.991, -190.5]
# Strips # Strips
# - type: strip - type: strip
# start: 1296 start: 1296
# size: 70 size: 70
# length: 600 length: 600
# angle: 270 # down angle: 270 # down
# pos: [375, 300] pos: [375, 300]
global_position_offset: [0,0] # default coordinate spce below as center of arm at 0,0 - adjust if necessary global_position_offset: [0,0] # default coordinate spce below as center of arm at 0,0 - adjust if necessary
animation_time: 40
position_map: position_map:
- index: 0 - index: 0
pos: [-152.4, 263.965] pos: [-152.4, 263.965]
@ -474,7 +442,7 @@ position_map:
- index: 7 - index: 7
pos: [-38.1, 197.973] pos: [-38.1, 197.973]
- index: 8 - index: 8
pos: [34.1, 201.973] pos: [38.1, 197.973]
- index: 9 - index: 9
pos: [114.3, 197.973] pos: [114.3, 197.973]
- index: 10 - index: 10
@ -532,7 +500,7 @@ position_map:
- index: 36 - index: 36
pos: [-228.6, -131.982] pos: [-228.6, -131.982]
- index: 37 - index: 37
pos: [-151.0, -133.0] pos: [-152.4, -131.982]
- index: 38 - index: 38
pos: [-76.2, -131.982] pos: [-76.2, -131.982]
- index: 39 - index: 39
@ -548,7 +516,7 @@ position_map:
- index: 44 - index: 44
pos: [-114.3, -197.973] pos: [-114.3, -197.973]
- index: 45 - index: 45
pos: [-35.0, -199.0] pos: [-38.1, -197.973]
- index: 46 - index: 46
pos: [38.1, -197.973] pos: [38.1, -197.973]
- index: 47 - index: 47

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()

172
get_specs.py
View File

@ -30,24 +30,24 @@ def query_search(partnum, source):
fprint("Searching for " + partnum) fprint("Searching for " + partnum)
if source == "Belden": if source == "Belden":
token_url = "https://www.belden.com/coveo/rest/token?t=" + str(int(time.time())) token_url = "https://www.belden.com/coveo/rest/token?t=" + str(int(time.time()))
try: with requests.get(token_url) as r:
with requests.get(token_url) as r: out = json.loads(r.content)
out = json.loads(r.content) token = out["token"]
token = out["token"] search_url = "https://www.belden.com/coveo/rest/search"
search_url = "https://www.belden.com/coveo/rest/search"
# Ridiculous search parameters extracted from website. Do not touch # 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 = 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) 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": "" }' #"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(search_data)
#fprint(json.loads(search_data)) #fprint(json.loads(search_data))
#search_data = '{ "q": "' + str(partnum) + '" }' #search_data = '{ "q": "' + str(partnum) + '" }'
#fprint(search_data) #fprint(search_data)
headers = headers = { headers = headers = {
'Authorization': f'Bearer {token}', 'Authorization': f'Bearer {token}',
'Content-Type': 'application/json' 'Content-Type': 'application/json'
} }
try:
with requests.post(search_url, headers=headers, data=search_data) as r: with requests.post(search_url, headers=headers, data=search_data) as r:
a = r.text a = r.text
a = json.loads(a) a = json.loads(a)
@ -70,8 +70,6 @@ def query_search(partnum, source):
if idx < 0: if idx < 0:
fprint("Could not find part in API: " + partnum) fprint("Could not find part in API: " + partnum)
return False 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"] #urlname = a["results"][0]["raw"]["catalogitemurlname"]
img = a["results"][idx]["raw"]["catalogitemimageurl"] img = a["results"][idx]["raw"]["catalogitemimageurl"]
@ -81,20 +79,15 @@ def query_search(partnum, source):
brand = a["results"][idx]["raw"]["catalogitembrand"] brand = a["results"][idx]["raw"]["catalogitembrand"]
desc = a["results"][idx]["raw"]["catalogitemlongdesc"] desc = a["results"][idx]["raw"]["catalogitemlongdesc"]
shortdesc = a["results"][idx]["raw"]["catalogitemshortdesc"] shortdesc = a["results"][idx]["raw"]["catalogitemshortdesc"]
app = a["results"][idx]["raw"]["catalogitemapplication"] a = json.dumps(a["results"][idx], indent=2)
category = a["results"][idx]["raw"]["catalogitemfilterproductcategory"]
#a = json.dumps(a["results"][idx], indent=2)
#print(a, urlname, img, uri, dsurl) #print(a, urlname, img, uri, dsurl)
out = dict() out = dict()
out["url"] = "https://www.belden.com/products/" + uri out["url"] = "https://www.belden.com/products/" + uri
out["datasheet"] = "https://catalog.belden.com/techdata/EN/" + dsid + "_techdata.pdf" out["datasheet"] = "https://catalog.belden.com/techdata/EN/" + dsid + "_techdata.pdf"
out["brand"] = brand out["brand"] = brand
out["short_description"] = shortdesc out["name"] = shortdesc
out["description"] = desc out["description"] = desc
out["application"] = app
out["category"] = category
out["image"] = "https://www.belden.com" + img out["image"] = "https://www.belden.com" + img
out["partnum"] = name out["partnum"] = name
#print(out) #print(out)
@ -164,9 +157,8 @@ def touch(path):
def get_multi(partnums, delay, dir, webport, cache=True, bar=None): def get_multi(partnums, delay=0.25, dir="cables/", cache=True):
#with alive_bar(len(partnums) * 2, dual_line=True, calibrate=30, bar="classic2", spinner="classic", disable=True, file=sys.stdout) as bar: with alive_bar(len(partnums) * 2, dual_line=True, calibrate=30, bar="classic2", spinner="classic") as bar:
failed = list() failed = list()
actualpartnums = list() actualpartnums = list()
def _try_download_datasheet(partnum, output_dir, dstype): # Guess datasheet URL def _try_download_datasheet(partnum, output_dir, dstype): # Guess datasheet URL
@ -194,7 +186,7 @@ def get_multi(partnums, delay, dir, webport, cache=True, bar=None):
# and set chunk_size parameter to None. # and set chunk_size parameter to None.
#if chunk: #if chunk:
bartext = bartext + "." bartext = bartext + "."
# bar.text = bartext bar.text = bartext
f.write(chunk) f.write(chunk)
#fprint("") #fprint("")
return output_dir + "/datasheet.pdf" return output_dir + "/datasheet.pdf"
@ -223,7 +215,7 @@ def get_multi(partnums, delay, dir, webport, cache=True, bar=None):
# and set chunk_size parameter to None. # and set chunk_size parameter to None.
#if chunk: #if chunk:
bartext = bartext + "." bartext = bartext + "."
# bar.text = bartext bar.text = bartext
f.write(chunk) f.write(chunk)
#fprint("") #fprint("")
return output_dir + "/datasheet.pdf" return output_dir + "/datasheet.pdf"
@ -250,7 +242,7 @@ def get_multi(partnums, delay, dir, webport, cache=True, bar=None):
# and set chunk_size parameter to None. # and set chunk_size parameter to None.
#if chunk: #if chunk:
bartext = bartext + "." bartext = bartext + "."
# bar.text = bartext bar.text = bartext
f.write(chunk) f.write(chunk)
#fprint("") #fprint("")
return output_dir + "/part-hires." + url.split(".")[-1] return output_dir + "/part-hires." + url.split(".")[-1]
@ -259,35 +251,34 @@ def get_multi(partnums, delay, dir, webport, cache=True, bar=None):
os.remove(partnum + "/datasheet.pdf") os.remove(partnum + "/datasheet.pdf")
sys.exit() 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) fprint("Using cached datasheet for " + partnum)
# bar.text = "Using cached datasheet for " + partnum bar.text = "Using cached datasheet for " + partnum
# bar(skipped=True) bar(skipped=True)
if not os.path.exists(output_dir + "/parsed"): if not os.path.exists(output_dir + "/parsed"):
fprint("Parsing Datasheet contents of " + partnum) 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) out = read_datasheet.parse(path, output_dir, partnum, dstype)
# bar(skipped=False) bar(skipped=False)
return out return out
else: else:
fprint("Datasheet already parsed for " + partnum) fprint("Datasheet already parsed for " + partnum)
# bar.text = "Datasheet already parsed for " + partnum + ".pdf" bar.text = "Datasheet already parsed for " + partnum + ".pdf"
# bar(skipped=True) bar(skipped=True)
def __downloaded_datasheet(partnum, path, output_dir, dstype, weburl, extra): def __downloaded_datasheet(partnum, path, output_dir, dstype):
fprint("Downloaded " + path) fprint("Downloaded " + path)
# bar.text = "Downloaded " + path bar.text = "Downloaded " + path
# bar(skipped=False) bar(skipped=False)
fprint("Parsing Datasheet contents of " + partnum) 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) out = read_datasheet.parse(path, output_dir, partnum, dstype)
# bar(skipped=False) bar(skipped=False)
return out return out
def run_search(partnum): def run_search(partnum):
partnum = partnum.replace("%20", " ") # undo URL encoding
oldpartnum = partnum oldpartnum = partnum
if dstype == "Alphawire": if dstype == "Alphawire":
# For alphawire, sanitize the part number for only the final result check, because their API is very wierd # For alphawire, sanitize the part number for only the final result check, because their API is very wierd
@ -295,9 +286,8 @@ def get_multi(partnums, delay, dir, webport, cache=True, bar=None):
partnum = partnum.replace("/","_") partnum = partnum.replace("/","_")
output_dir = dir + partnum output_dir = dir + partnum
path = output_dir + "/datasheet.pdf" path = output_dir + "/datasheet.pdf"
weburl = ":" + str(webport) + "/" + partnum + "/"
bartext = "Downloading files for part " + partnum bartext = "Downloading files for part " + partnum
# bar.text = bartext bar.text = bartext
partnum = oldpartnum.replace("_","/") partnum = oldpartnum.replace("_","/")
returnval = [partnum, dstype, False, False] 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: 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:
@ -307,80 +297,53 @@ def get_multi(partnums, delay, dir, webport, cache=True, bar=None):
if search_result is not False: if search_result is not False:
# Download high resolution part image if available and needed # Download high resolution part image if available and needed
#oldpartnum = partnum #oldpartnum = partnum
partnum = search_result["partnum"] partnum = search_result["partnum"]
returnval = [partnum, dstype, False, False] returnval = [partnum, dstype, False, False]
output_dir = dir + partnum output_dir = dir + partnum
path = output_dir + "/datasheet.pdf" path = output_dir + "/datasheet.pdf"
bartext = "Downloading files for part " + partnum bartext = "Downloading files for part " + partnum
os.makedirs(output_dir, exist_ok=True) bar.text = bartext
with open(output_dir + "/search-result.json", 'w') as json_file:
fprint("Saving search result of " + partnum)
json.dump(search_result, json_file)
# bar.text = bartext
if not os.path.exists(output_dir + "/found_part_hires") or not cache: if not os.path.exists(output_dir + "/found_part_hires") or not cache:
if _download_image(search_result["image"], output_dir): if _download_image(search_result["image"], output_dir):
fprint("Downloaded hi-res part image for " + partnum) fprint("Downloaded hi-res part image for " + partnum)
returnval = [partnum, dstype, True, False] returnval = [partnum, dstype, True, False]
if os.path.exists(output_dir + "/parsed"): touch(output_dir + "/found_part_hires")
os.remove(output_dir + "/parsed")
touch(output_dir + "/found_part_hires")
else: else:
fprint("Using cached hi-res part image for " + partnum) fprint("Using cached hi-res part image for " + partnum)
# Download datasheet from provided URL if needed # Download datasheet from provided URL if needed
if os.path.exists(path) and os.path.getsize(path) > 1 and cache: 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) out = __use_cached_datasheet(partnum, path, output_dir, dstype)
returnval = [partnum, dstype, True, out] returnval = [partnum, dstype, True, out]
elif _download_datasheet(search_result["datasheet"], output_dir) is not False: elif _download_datasheet(search_result["datasheet"], output_dir) is not False:
out = __downloaded_datasheet(partnum, path, output_dir, dstype, weburl, search_result) out = __downloaded_datasheet(partnum, path, output_dir, dstype)
returnval = [partnum, dstype, True, out] returnval = [partnum, dstype, True, out]
elif os.path.exists(path) and os.path.getsize(path) > 1 and cache: elif os.path.exists(path) and os.path.getsize(path) > 1 and cache:
search_result = {} out = __use_cached_datasheet(partnum, path, output_dir, dstype)
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] returnval = [partnum, dstype, True, out]
# If search fails, and we don't already have the datasheet, guess datasheet URL and skip the hires image download # 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: elif _try_download_datasheet(partnum, output_dir, dstype) is not False:
search_result = {} out = __downloaded_datasheet(partnum, path, output_dir, dstype)
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] returnval = [partnum, dstype, False, out]
# Failed to download with search or guess :( # Failed to download with search or guess :(
else: else:
return False return False
time.sleep(delay)
actualpartnums.append(returnval) actualpartnums.append(returnval)
return returnval return returnval
# We already have a hi-res image and the datasheet - perfect! # We already have a hi-res image and the datasheet - perfect!
else: else:
fprint("Using cached hi-res part image for " + partnum) fprint("Using cached hi-res part image for " + partnum)
search_result = {} out = __use_cached_datasheet(partnum, path, output_dir, dstype)
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] returnval = [partnum, dstype, False, out]
actualpartnums.append(returnval)
return True return True
for fullpartnum in partnums: for fullpartnum in partnums:
if fullpartnum is False:
actualpartnums.append(False)
continue
if fullpartnum[0:2] == "BL": # catalog.belden.com entry if fullpartnum[0:2] == "BL": # catalog.belden.com entry
partnum = fullpartnum[2:] partnum = fullpartnum[2:]
dstype = "Belden" dstype = "Belden"
@ -407,19 +370,19 @@ def get_multi(partnums, delay, dir, webport, cache=True, bar=None):
time.sleep(delay) time.sleep(delay)
if not success: if not success:
fprint("Failed to download datasheet for part " + partnum) fprint("Failed to download datasheet for part " + partnum)
# bar.text = "Failed to download datasheet for part " + partnum bar.text = "Failed to download datasheet for part " + partnum
failed.append((partnum, dstype)) failed.append((partnum, dstype))
# bar(skipped=True) bar(skipped=True)
# bar(skipped=True) bar(skipped=True)
time.sleep(delay)
if len(failed) > 0:
if len(failed) > 0: fprint("Failed to download:")
fprint("Failed to download:") for partnum in failed:
for partnum in failed: fprint(partnum[1] + " " + partnum[0])
fprint(partnum[1] + " " + partnum[0]) return False, actualpartnums # Go to manual review upload page
return False, actualpartnums # Go to manual review upload page else:
else: return True, actualpartnums # All cables downloaded; we are good to go
return True, actualpartnums # All cables downloaded; we are good to go
@ -442,7 +405,6 @@ if __name__ == "__main__":
# ] # ]
partnums = [ partnums = [
# Actual cables in Jukebox # Actual cables in Jukebox
"BL3092A",
"AW86104CY", "AW86104CY",
"AW3050", "AW3050",
"AW6714", "AW6714",
@ -472,11 +434,10 @@ if __name__ == "__main__":
"BL6300FE 009Q", "BL6300FE 009Q",
"BLRA500P 006Q", "BLRA500P 006Q",
]
# Some ones I picked, including some invalid ones # Some ones I picked, including some invalid ones
a = [
"BL10GXS12", "BL10GXS12",
"BLRST%205L-RKT%205L-949", "BLRST 5L-RKT 5L-949",
"BL10GXS13", "BL10GXS13",
"BL10GXW12", "BL10GXW12",
"BL10GXW13", "BL10GXW13",
@ -487,18 +448,13 @@ if __name__ == "__main__":
"BLFISD012R9", "BLFISD012R9",
"BLFDSD012A9", "BLFDSD012A9",
"BLFSSL024NG", "BLFSSL024NG",
"BLFISX006W0", # datasheet only "BLFISX006W0",
"BLFISX00103", # invalid "BLFISX00103",
"BLC6D1100007" # invalid "BLC6D1100007"
] ]
#print(query_search("TT-SLG-024-HTNN", "Belden")) print(query_search("74002", "Belden"))
from label_generator import gen_label #get_multi(partnums, 0.25)
gen_label("BLTF-SD9-006-RI5")
gen_label("BLRA500P")
gen_label("AWFIT-221-1_4")
gen_label("BLRST 5L-RKT 5L-949")
get_multi(partnums, 0.25)
#query_search("10GXS13", "Belden") #query_search("10GXS13", "Belden")

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index.html Normal file
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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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Subproject commit 03ed1f22e8752c9b3c8dd313612fd9de30c55ddb

51
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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@ -9,7 +9,6 @@ import os
import signal import signal
from PIL import Image from PIL import Image
from label_image import generate_code from label_image import generate_code
from label_document import generate_pdf
def input_cable(): def input_cable():
@ -23,7 +22,7 @@ def input_cable():
print("Input part number:", inputnum) print("Input part number:", inputnum)
print("Searching databases for cables...") print("Searching databases for cables...")
# Search both AW and BL sites # 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) status, output = get_multi(["BL"+inputnum, "AW"+inputnum], delay=0.1, dir="temp/" + str(uuid.uuid4()) + "/", cache=False)
print("") print("")
if len(output) > 1: if len(output) > 1:
for i in output: for i in output:
@ -62,17 +61,9 @@ def input_cable():
imgstr = "BL" imgstr = "BL"
elif output[1] == "Alphawire": elif output[1] == "Alphawire":
imgstr = "AW" imgstr = "AW"
gen_label(imgstr + output[0]) img = generate_code(imgstr + output[0])
#img = generate_code(imgstr + output[0]) os.makedirs("labels", exist_ok=True)
#os.makedirs("labels", exist_ok=True) img.save("labels/" + imgstr + output[0] + ".png")
#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): def delete_folder(path):
# Check if the path is a directory # Check if the path is a directory

86
label_image.py
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@ -3,13 +3,8 @@ from util import fprint
from PIL import Image from PIL import Image
from PIL import ImageDraw from PIL import ImageDraw
from PIL import ImageFont
#import cv2 #import cv2
import numpy as np import numpy as np
from util import find_data_file
import segno
import io
#import cairosvg
#import math #import math
@ -139,8 +134,7 @@ for charset in (CODE128A, CODE128B):
def generate_code(data, show=False, check=False): def generate_code(data, show=False, check=False):
#img = code128_image(data) img = code128_image(data)
img = qr_image(data)
if show: if show:
img.show() img.show()
#img.show() #img.show()
@ -204,7 +198,6 @@ def code128_format(data):
return codes return codes
def code128_image(data, height=100, thickness=3, quiet_zone=False): def code128_image(data, height=100, thickness=3, quiet_zone=False):
partnum = data
if not data[-1] == CODE128B['Stop']: if not data[-1] == CODE128B['Stop']:
data = code128_format(data) data = code128_format(data)
@ -234,87 +227,12 @@ def code128_image(data, height=100, thickness=3, quiet_zone=False):
#draw.arc(((width - width/5, width - width/5), (width*9 + width/5, width*9 + width/5)),0,360,fill='blue', width = int(width/8)) #draw.arc(((width - 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)) 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 return img
if __name__ == "__main__": if __name__ == "__main__":
#print(generate_code("BL10GXS13")) #print(generate_code("BL10GXS13"))
#print(generate_code("BL10GXgd35j35S13")) #print(generate_code("BL10GXgd35j35S13"))
#print(generate_code("BL10GX54hS13")) #print(generate_code("BL10GX54hS13"))
#print(generate_code("BL10Gj34qXS13", False, False)) print(generate_code("BL10Gj34qXS13", False, False))
#print(generate_code("BL104w5545dp7bfwp43643534/4563G-XS13")) #print(generate_code("BL104w5545dp7bfwp43643534/4563G-XS13"))
#adjust_image(cv2.imread('test_skew.jpg')) #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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python led_control.py

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process_video.py
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@ -4,55 +4,30 @@ import cv2
import banner_ivu_export import banner_ivu_export
import numpy as np import numpy as np
from util import fprint from util import fprint
import requests
class qr_reader(): class qr_reader():
camera = None camera = None
def __init__(self, ip, port): def __init__(self, ip, port):
self.ip = ip self.camera = banner_ivu_export.DriveImg(ip, port)
self.port = port
self.url = "http://" + ip + ":" + str(port) + "/barcode"
#self.camera = banner_ivu_export.DriveImg(ip, port)
# def read_qr(self, tries=1):
# print("Trying " + str(tries) + " frames.")
# self.camera = banner_ivu_export.DriveImg(self.ip, self.port)
# for x in range(tries):
# print(str(x) + " ", end="", flush=True)
# imgtype, img = self.camera.read_img()
# if img is not None:
# #fprint(imgtype)
# image_array = np.frombuffer(img, np.uint8)
# img = cv2.imdecode(image_array, cv2.IMREAD_COLOR)
# #cv2.imshow('Image', img)
# #cv2.waitKey(1)
# detect = cv2.QRCodeDetector()
# value, points, straight_qrcode = detect.detectAndDecode(img)
# if value != "":
# self.camera.close()
# return value
# else:
# print("\nGot no image for " + str(x))
# self.camera.close()
# return False
def read_qr(self, tries=1): def read_qr(self, tries=1):
try: print("Trying " + str(tries) + " frames.")
response = requests.get(self.url, timeout=tries * 15) for x in range(tries):
response.raise_for_status() # Raise an error for bad status codes try:
print(response.text) # Or handle the response as needed imgtype, img = self.camera.read_img()
if len(response.text) < 8: #fprint(imgtype)
return False image_array = np.frombuffer(img, np.uint8)
return response.text img = cv2.imdecode(image_array, cv2.IMREAD_COLOR)
except requests.Timeout: #cv2.imshow('Image', img)
print(f'The request timed out after {tries * 15} seconds') #cv2.waitKey(1)
except requests.RequestException as e: detect = cv2.QRCodeDetector()
print(f'An error occurred: {e}') value, points, straight_qrcode = detect.detectAndDecode(img)
return value
except:
continue
return False return False
class video_streamer(): class video_streamer():
camera = None camera = None
def __init__(self, ip, port): def __init__(self, ip, port):
@ -66,7 +41,5 @@ class video_streamer():
if __name__ == "__main__": if __name__ == "__main__":
test = qr_reader("192.168.1.125", 32200) test = qr_reader("192.168.1.125", 32200)
import time
while True: while True:
fprint(test.read_qr(300)) fprint(test.read_qr(5))
time.sleep(1)

180
read_datasheet.py
View File

@ -16,8 +16,6 @@ from util import win32
import os import os
import glob import glob
import sys import sys
from PIL import Image
import segno
def touch(path): def touch(path):
with open(path, 'a'): with open(path, 'a'):
@ -39,7 +37,7 @@ def extract_table_name(table_start, searchpage, reader, dstype, fallbackname):
ymax = table_start + 10 ymax = table_start + 10
elif dstype == "Alphawire": elif dstype == "Alphawire":
ymin = table_start - 5 ymin = table_start - 5
ymax = table_start + 20 ymax = table_start + 10
page = reader.pages[searchpage - 1] page = reader.pages[searchpage - 1]
parts = [] parts = []
def visitor_body(text, cm, tm, fontDict, fontSize): def visitor_body(text, cm, tm, fontDict, fontSize):
@ -54,52 +52,14 @@ def extract_table_name(table_start, searchpage, reader, dstype, fallbackname):
return text_body return text_body
#fprint(text_body) #fprint(text_body)
def find_file_noext(directory, prefix="part-hires"): def parse(filename, output_dir, partnum, dstype):
"""
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 = [] tables = []
# Extract table data # Extract table data
try: try:
if dstype == "Belden": 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']) 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": 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']) tables = camelot.read_pdf(filename, pages="1-end", flavor='lattice', backend="ghostscript", split_text=False, line_scale=50, process_background=True, resolution=600, interations=1, layout_kwargs={'detect_vertical': True, 'char_margin': 0.5}, shift_text=['l', 't'])
except (OSError, RuntimeError) as e: except (OSError, RuntimeError) as e:
print(e) print(e)
if win32: if win32:
@ -135,26 +95,11 @@ def parse(filename, output_dir, partnum, dstype, weburl, extra):
#fprint(table_start) #fprint(table_start)
text_body = extract_table_name(table_start, table.page, reader, dstype, n) text_body = extract_table_name(table_start, table.page, reader, dstype, n)
#print(text_body)
table_list[text_body] = table.df table_list[text_body] = table.df
#print(table_list[text_body])
if dstype == "Alphawire": 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 table_list_raw[text_body] = table
#print(tbl)
#table.to_html("table" + str(n) + ".html") #table.to_html("table" + str(n) + ".html")
#fprint(table.df) #fprint(table.df)
@ -189,27 +134,6 @@ def parse(filename, output_dir, partnum, dstype, weburl, extra):
fp.write(image_file_object.data) fp.write(image_file_object.data)
count += 1 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 # Table parsing and reordring
tables = dict() tables = dict()
torename = dict() torename = dict()
@ -217,7 +141,6 @@ def parse(filename, output_dir, partnum, dstype, weburl, extra):
#print(table_list.keys()) #print(table_list.keys())
for table_name in table_list.keys(): for table_name in table_list.keys():
# determine shape: horizontal or vertical # determine shape: horizontal or vertical
#print(table_name)
table = table_list[table_name] table = table_list[table_name]
rows = table.shape[0] rows = table.shape[0]
cols = table.shape[1] cols = table.shape[1]
@ -254,11 +177,11 @@ def parse(filename, output_dir, partnum, dstype, weburl, extra):
if dstype == "Alphawire" and table_name_2.find("\n") >= 0: if dstype == "Alphawire" and table_name_2.find("\n") >= 0:
torename[table_name_2] = table_name_2[0:table_name_2.find("\n")] 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: if table_name_2.find(table.iloc[-1, 0]) >= 0:
# # Name taken from table directly above - this table does not have a name # Name taken from table directly above - this table does not have a name
# torename[table_name_2] = "Specs " + str(len(tables)) 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 #table_list["Specs " + str(len(tables))] = table_list[table_name_2] # rename table to arbitrary altername name
# break break
if vertical: if vertical:
out = dict() out = dict()
@ -276,9 +199,9 @@ def parse(filename, output_dir, partnum, dstype, weburl, extra):
out[col_data[0].replace("\n", " ")] = col_data[1:] out[col_data[0].replace("\n", " ")] = col_data[1:]
tables[table_name] = out tables[table_name] = out
#print(out)
# multi-page table check, Alphawire # multi-page table check, Alphawire
if dstype == "Alphawire" and table_name.isdigit() and previous_table != "": if dstype == "Alphawire" and table_name.isdigit():
# table continues from previous page or has name on previous page # table continues from previous page or has name on previous page
thistbl = table_list_raw[table_name] thistbl = table_list_raw[table_name]
prevtbl = table_list_raw[previous_table] prevtbl = table_list_raw[previous_table]
@ -328,6 +251,9 @@ def parse(filename, output_dir, partnum, dstype, weburl, extra):
#fprint(table_name) #fprint(table_name)
#fprint(previous_table) #fprint(previous_table)
main_key = previous_table main_key = previous_table
cont_key = table_name cont_key = table_name
#fprint(tables) #fprint(tables)
@ -341,21 +267,15 @@ def parse(filename, output_dir, partnum, dstype, weburl, extra):
del tables[table_name] del tables[table_name]
else: else:
#print(tables)
#print(main_key)
#print(cont_key)
for key in tables[cont_key].keys(): for key in tables[cont_key].keys():
tables[main_key][key] = tables[cont_key][key] tables[main_key][key] = tables[cont_key][key]
del tables[table_name] del tables[table_name]
else:
previous_table = table_name previous_table = table_name
else:
previous_table = table_name
# remove & rename tables # remove & rename tables
#print(torename)
for table_name in torename.keys(): 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] del tables[table_name]
# remove multi-line values that occasionally squeak through # remove multi-line values that occasionally squeak through
def replace_newlines_in_dict(d): def replace_newlines_in_dict(d):
@ -371,42 +291,15 @@ def parse(filename, output_dir, partnum, dstype, weburl, extra):
tables = replace_newlines_in_dict(tables) tables = replace_newlines_in_dict(tables)
# summary # summary
#print(tables)
output_table = dict() output_table = dict()
output_table["partnum"] = partnum output_table["partnum"] = partnum
id = str(uuid.uuid4()) id = str(uuid.uuid4())
output_table["id"] = id output_table["id"] = id
#output_table["position"] = id #output_table["position"] = id
if "brand" in extra: #output_table["brand"] = brand
output_table["brand"] = extra["brand"] output_table["fullspecs"] = tables
else: output_table["searchspecs"] = {"partnum": partnum, **flatten(tables)}
output_table["brand"] = dstype
output_table["datasheet"] = weburl + "datasheet.pdf"
output_table["qrcode"] = qrpath
if img is not None:
output_table["image"] = img
output_table["fullspecs"] = {"partnum": partnum, "id": id, "brand": output_table["brand"], "image": img, "datasheet": weburl + "datasheet.pdf", "qrcode": qrpath, **tables}
output_table["searchspecs"] = {"partnum": partnum, "brand": output_table["brand"], "image": img, "datasheet": weburl + "datasheet.pdf", "qrcode": qrpath, **flatten(tables)}
else:
output_table["fullspecs"] = {"partnum": partnum, "id": id, "brand": output_table["brand"], "datasheet": weburl + "datasheet.pdf", "qrcode": qrpath, **tables}
output_table["searchspecs"] = {"partnum": partnum, "brand": output_table["brand"], "datasheet": weburl + "datasheet.pdf", "qrcode": qrpath, **flatten(tables)}
if "short_description" in extra:
output_table["short_description"] = extra["short_description"]
output_table["fullspecs"]["short_description"] = extra["short_description"]
output_table["searchspecs"]["short_description"] = extra["short_description"]
if "description" in extra:
output_table["description"] = extra["description"]
output_table["fullspecs"]["description"] = extra["description"]
output_table["searchspecs"]["description"] = extra["description"]
if "application" in extra:
output_table["application"] = extra["application"]
output_table["fullspecs"]["application"] = extra["application"]
output_table["searchspecs"]["application"] = extra["application"]
if "category" in extra:
output_table["category"] = extra["category"]
output_table["fullspecs"]["category"] = extra["category"]
output_table["searchspecs"]["category"] = extra["category"]
output_table["searchspecs"]["id"] = id output_table["searchspecs"]["id"] = id
@ -415,17 +308,16 @@ def parse(filename, output_dir, partnum, dstype, weburl, extra):
#print(output_table) #print(output_table)
#run_cmd("rm \"" + output_dir + "\"/*.json") # not reliable! #run_cmd("rm \"" + output_dir + "\"/*.json") # not reliable!
# pattern = os.path.join(output_dir, '*.json') pattern = os.path.join(output_dir, '*.json')
# json_files = glob.glob(pattern) json_files = glob.glob(pattern)
# for file_path in json_files: for file_path in json_files:
# os.remove(file_path) os.remove(file_path)
#print(f"Deleted {file_path}") #print(f"Deleted {file_path}")
with open(output_dir + "/search.json", 'w') as json_file: with open(output_dir + "/search_" + output_table["searchspecs"]["id"] + ".json", 'w') as json_file:
json.dump(output_table["searchspecs"], json_file) json.dump(output_table["searchspecs"], json_file)
with open(output_dir + "/specs.json", 'w') as json_file: with open(output_dir + "/specs_" + output_table["partnum"] + ".json", 'w') as json_file:
json.dump(output_table["fullspecs"], json_file) json.dump(output_table["fullspecs"], json_file)
fprint("Datasheet values parsed and saved for " + partnum)
#print(json.dumps(output_table, indent=2)) #print(json.dumps(output_table, indent=2))
touch(output_dir + "/parsed") # mark as parsed touch(output_dir + "/parsed") # mark as parsed
return True return True
@ -454,20 +346,12 @@ def flatten(tables):
fullkeyname = (table + ": " + keyname).replace(".","") fullkeyname = (table + ": " + keyname).replace(".","")
if type(tables[table][key]) is not tuple: 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]) + "\",") #print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
elif len(tables[table][key]) == 1: 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]) + "\",") #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 the item has at least two commas in it, split it
if tables[table][key].count(',') > 0: if tables[table][key].count(',') > 0:
out[fullkeyname] = list(map(lambda x: x.strip(), tables[table][key].split(","))) out[fullkeyname] = list(map(lambda x: x.strip(), tables[table][key].split(",")))
@ -485,4 +369,4 @@ def flatten(tables):
if __name__ == "__main__": if __name__ == "__main__":
print(parse("cables/3050/datasheet-new.pdf", "cables/3050", "3050", "Alphawire")) print(parse("cables/3050/datasheet.pdf", "cables/3050", "3050", "Alphawire"))

11
requirements.txt
View File

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

1140
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

22
search.py
View File

@ -1,12 +1,10 @@
#!/usr/bin/env python3
"""Interactions with the Meilisearch API for adding and searching cables.""" """Interactions with the Meilisearch API for adding and searching cables."""
from meilisearch import Client from meilisearch import Client
from meilisearch.task import TaskInfo from meilisearch.task import TaskInfo
from meilisearch.errors import MeilisearchApiError 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_APIKEY = "fluffybunnyrabbit" # I WOULD RECOMMEND SOMETHING MORE SECURE
DEFAULT_INDEX = "cables" DEFAULT_INDEX = "cables"
DEFAULT_FILTERABLE_ATTRS = ["partnum", "uuid", "position"] # default filterable attributes DEFAULT_FILTERABLE_ATTRS = ["partnum", "uuid", "position"] # default filterable attributes
@ -36,15 +34,12 @@ class JukeboxSearch:
# create the index if it does not exist already # create the index if it does not exist already
try: try:
self.client.get_index(self.index) self.client.get_index(self.index)
self.client.delete_index(self.index)
self.client.create_index(self.index)
except MeilisearchApiError as _: except MeilisearchApiError as _:
self.client.create_index(self.index) self.client.create_index(self.index)
# make a variable to easily reference the index # make a variable to easily reference the index
self.idxref = self.client.index(self.index) self.idxref = self.client.index(self.index)
time.sleep(0.05)
# update filterable attributes if needed # update filterable attributes if needed
self.idxref.update_distinct_attribute('partnum')
self.update_filterables(filterable_attrs) self.update_filterables(filterable_attrs)
def add_document(self, document: dict) -> TaskInfo: def add_document(self, document: dict) -> TaskInfo:
@ -70,10 +65,11 @@ class JukeboxSearch:
:param filterables: List of all filterable attributes""" :param filterables: List of all filterable attributes"""
#existing_filterables = self.idxref.get_filterable_attributes() existing_filterables = self.idxref.get_filterable_attributes()
#if len(set(existing_filterables).difference(set(filterables))) > 0: if len(set(existing_filterables).difference(set(filterables))) > 0:
taskref = self.idxref.update_filterable_attributes(filterables) taskref = self.idxref.update_filterable_attributes(filterables)
#self.client.wait_for_task(taskref.index_uid)
self.client.wait_for_task(taskref.index_uid)
def search(self, query: str, filters: str = None): def search(self, query: str, filters: str = None):
"""Execute a search query on the Meilisearch index. """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.""" :returns: A dict containing the results; If no results found, an empty dict."""
q = self.search("", filter) q = self.search("", filter)
if q["estimatedTotalHits"] != 0: if q["estimatedTotalHits"] != 0:
return q["hits"][0] return ["hits"][0]
else: else:
return dict() return dict()

2
server.py
View File

@ -83,7 +83,7 @@ async def send_messages(to_server_queue):
await asyncio.sleep(0.001) await asyncio.sleep(0.001)
def websocket_server(to_server_queue, from_server_queue): 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().run_until_complete(start_server)
asyncio.get_event_loop().create_task(send_messages(to_server_queue)) 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

2
setup-label-generator.py
View File

@ -10,7 +10,7 @@ import opcode
import os import os
import distutils import distutils
#distutils_path = os.path.join(os.path.dirname(opcode.__file__), '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"]} build_exe_options = {"include_msvcr": True, "packages": ["camelot", "setuptools"], "optimize": 0, "silent": True, "include_files": ["gs10030w64.exe"], "excludes": ["scipy", "torch"]}
# base="Win32GUI" should be used only for Windows GUI app # base="Win32GUI" should be used only for Windows GUI app
base = "console" base = "console"

76
table0.html
View File

@ -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
View File

@ -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
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@ -1,46 +1,4 @@
from pyModbusTCP.client import ModbusClient print("\u001b[37m")
def get_sensors():
mbconn = ModbusClient(host="192.168.1.20", port=502, auto_open=True, auto_close=True)
"""
port 1: 256
port 2: 272
port 3: 288
port 4: 304
port 5: 320
port 6: 336
port 7: 352
port 8: 368
"""
out = list()
for reg in [352, 288, 304, 368]:
val = mbconn.read_holding_registers(reg)[0] # read only one register
print(val)
if val == 1:
out.append(True)
else:
out.append(False)
return out
def get_open_spot(sensordata):
for x in range(len(sensordata)):
sens = sensordata[x]
if not sens:
return x
# if we get here, every spot is full
return False
testmb = get_sensors()
print(testmb)
print("Spot open", get_open_spot(testmb))
exit()
class Ring: class Ring:
def __init__(self) -> None: def __init__(self) -> None:

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730
ur5_control.py
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@ -5,117 +5,53 @@ import math
import numpy as np import numpy as np
import time import time
import os import os
#import logging import logging
import yaml from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper
import sys import sys
from util import fprint 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): rob = None
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): def init(ip):
#Returns True if host (str) responds to a ping request. global rob
# Option for the number of packets as a function of
if win32:
param1 = '-n'
param2 = '-w'
param3 = '250'
else:
param1 = '-c'
param2 = '-W'
param3 = '0.25'
# Building the command. Ex: "ping -c 1 google.com"
command = ['ping', param1, '1', param2, param3, host]
return subprocess.call(command, stdout=subprocess.DEVNULL, stderr=subprocess.STDOUT) == 0
def powerup_arm(robot):
#sys.stdout = Logger() #sys.stdout = Logger()
fprint("Starting UR5 power up...") fprint("Starting UR5 power up...")
# power up robot here via PCB
# # power up robot here
# wait for power up (this function runs async) # 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 # trigger auto-initialize
fprint("Arm online. Waiting for calibration.")
# wait for auto-initialize # 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)
# init urx # 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)) #rob.set_payload(2, (0, 0, 0.1))
time.sleep(0.2) time.sleep(0.2)
fprint("UR5 ready.") fprint("UR5 ready.")
#return robot.robot
# setup - in case of fail. open gripper, move up, then go home. def set_pos_abs(x, y, z, xb, yb, zb, threshold=None):
rob = robot.robot global rob
open_gripper()
curr_pos = rob.getl()
new_pos = curr_pos
new_pos[2] += 0.025
rob.movel(new_pos, vel=0.05, acc=1)
curr_j = rob.getj()
curr_j[3] -= 0.2 # radians
rob.movej(curr_j, vel=0.2, acc=1)
move_to_home(robot, speed=0.5)
return True
def set_pos_abs(robot, x, y, z, xb, yb, zb, threshold=None):
rob = robot.robot
new_orientation = m3d.Transform() new_orientation = m3d.Transform()
new_orientation.orient.rotate_xb(xb) # Replace rx with the desired rotation around X-axis 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 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.speedj(0.2, 0.5, 99999)
rob.set_pose(new_trans, acc=2, vel=2, command="movej", threshold=threshold) # apply the new pose 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): def set_pos_rel_rot_abs(x, y, z, xb, yb, zb):
rob = robot.robot global rob
new_orientation = m3d.Transform() new_orientation = m3d.Transform()
new_orientation.orient.rotate_xb(xb) # Replace rx with the desired rotation around X-axis 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 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.speedj(0.2, 0.5, 99999)
rob.set_pose(new_trans, acc=0.1, vel=0.4, command="movej") # apply the new pose 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): def set_pos_abs_rot_rel(x, y, z, xb, yb, zb):
rob = robot.robot global rob
new_orientation = m3d.Transform() new_orientation = m3d.Transform()
new_orientation.orient.rotate_xb(xb) # Replace rx with the desired rotation around X-axis 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 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) y = r * np.sin(theta)
return x, y 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 # Convert to polar coordinates
start_r, start_theta = cartesian_to_polar(start_pos[0], start_pos[1]) 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 return rx_intermediate
def move_to_home():
def move_to_home(robot, keep_flip=False, speed=2): global rob
rob = robot.robot
if is_flipped(robot) and not keep_flip:
flip(robot)
# Move robot to home position
rob.movej(offset_gripper_angle(robot, *(-0.18, -0.108, 0.25), flip=is_flipped(robot)), vel=2, acc=2) # Move to safe position
return True
def move_to_packup(robot, speed=0.25):
robot = connect(robot)
rob = robot.robot
# known good starting point to reach store position
goto_holder_index(robot, 12, 0.3, flip=False, use_closest_path=False)
# Home position in degrees # Home position in degrees
store_pos = [-1.5708, home_pos = [0.10421807948612624,
-1.3, -2.206111555015423,
2.362, 1.710679229503537,
0.7056, -1.075834511928354,
-1.425, -1.569301366430687,
1.5708] 1.675098295930943]
# Move robot # Move robot
rob.movej(store_pos, acc=0.1, vel=speed) rob.movej(home_pos, acc=2, vel=2)
return True
def normalize_degree(theta): def normalize_degree(theta):
# Normalizes degree theta from -1.5pi to 1.5pi # Normalizes degree theta from -1.5pi to 1.5pi
@ -295,14 +216,13 @@ def normalize_degree(theta):
# Return angle # Return angle
return normalized_theta 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):
def get_joints_from_xyz_rel(x, y, z, rx=0, ry=-math.pi/2, rz=0, initial_guess = (math.pi/2, math.pi/2, 0)):
# Get limbs and offsets # Get limbs and offsets
offset_x, offset_y, offset_z = (0, 0, 0.14) # Tool offset
l_bs, l1, l2, l3, l_wt = (0.1333, .425, .39225, .1267, .0997) # Limb lengths
#l3=0.15 #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 # Calculate base angle and r relative to shoulder joint
def calculate_theta(x, y, a): def calculate_theta(x, y, a):
# Calculate if we need the + or - in our equations # Calculate if we need the + or - in our equations
@ -318,16 +238,19 @@ def get_joints_from_xyz_rel(robot, x, y, z, rx=0, ry=-math.pi/2, rz=0, initial_g
# Calculate tangent line y = mx + b # 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) 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) b = flip * a * math.sqrt(1+m*m)
# Calculate equivalent tangent point on circle # Calculate equivalent tangent point on circle
cx = (-flip*m*b)/(1+m*m) cx = (-flip*m*b)/(1+m*m)
cy = m*cx + flip*b cy = m*cx + flip*b
# Calculate base angle, make angle negative if flip=1 # Calculate base angle, make angle negative if flip=1
theta = math.atan2(cy, cx) + (-math.pi if flip==1 else 0) theta = math.atan2(cy, cx) + (-math.pi if flip==1 else 0)
return theta return theta
base_theta = calculate_theta(x, y, l_bs) base_theta = calculate_theta(x, y, l_bs)
cx, cy = l_bs*math.cos(base_theta), l_bs*math.sin(base_theta) cx, cy = l_bs*math.cos(base_theta), l_bs*math.sin(l_bs)
r = math.sqrt((x+offset_x+cx)**2 + (y+offset_y+cy)**2) r = math.sqrt((x-cx)**2 + (y-cy)**2)
# Formulas to find out joint positions for (r, z) # Formulas to find out joint positions for (r, z)
@ -341,491 +264,98 @@ def get_joints_from_xyz_rel(robot, x, y, z, rx=0, ry=-math.pi/2, rz=0, initial_g
# Normalize angles # Normalize angles
base, shoulder, elbow, wrist1 = [normalize_degree(deg) for deg in [base_theta, *fsolve(inv_kin_r_z, initial_guess)]] base, shoulder, elbow, wrist1 = [normalize_degree(deg) for deg in [base_theta, *fsolve(inv_kin_r_z, initial_guess)]]
wrist1 += rx
# Return result # Return result
return base, shoulder, elbow, wrist1, ry, rz return base, shoulder, elbow, wrist1, ry, rz
def get_joints_from_xyz_abs(robot, x, y, z, rx=0, ry=-math.pi/2, rz=math.pi/2, l3offset=0, use_closest_path=True): def get_joints_from_xyz_abs(x, y, z, rx=0, ry=-math.pi/2, rz=math.pi/2):
rob = robot.robot joints = get_joints_from_xyz_rel(x, y, z, rx, ry, rz)
joints = get_joints_from_xyz_rel(robot, x, y, z, rx, ry, rz, l3offset=l3offset)
# Return current positions if coordinates don't make sense
if z<0:
return rob.getj()
# Joint offsets # Joint offsets
# Base, Shoulder, Elbow, Wrist # Base, Shoulder, Elbow, Wrist
inverse = [1, -1, 1, 1, 1, 1] inverse = [1, -1, 1, 1, 1, 1]
offsets = [-math.pi/2, 0, 0, -math.pi/2, 0, 0] offsets = [-math.pi/2, 0, 0, -math.pi/2, 0, 0]
if math.degrees(joints[1]) > 137: # Return adjusted joint positions
print("CRASH! Shoulder at", joints[1] * 180/math.pi) return [o+j*i for j, o, i in zip(joints, offsets, inverse)]
#else:
#print("Shoulder at", joints[1] * 180/math.pi)
# Get adjusted joint positions
adjusted_joints = [o+j*i for j, o, i in zip(joints, offsets, inverse)]
curr_joints = rob.getj()
def get_complimentary_angle(joint_angle):
if joint_angle<0:
new_angle = joint_angle + 2*math.pi
else:
new_angle = joint_angle - 2*math.pi
if abs(new_angle) > math.radians(350):
return joint_angle
else:
return new_angle
# Use closest path (potentially going beyond 180 degrees)
if use_closest_path:
if abs(get_complimentary_angle(adjusted_joints[0])-curr_joints[0]) < abs(adjusted_joints[0]-curr_joints[0]):
adjusted_joints[0] = get_complimentary_angle(adjusted_joints[0])
# final_joint_positions = []
# for curr_joint, adjusted_joint in zip(curr_joints, adjusted_joints):
# if abs(curr_joint - adjusted_joint) < abs(curr_joint - get_complimentary_angle(adjusted_joint)):
# final_joint_positions.append(adjusted_joint)
# else:
# final_joint_positions.append(get_complimentary_angle(adjusted_joint))
# return final_joint_positions
return adjusted_joints
def move_arc(robot, x, y, z, rx=0, ry=-math.pi/2, rz=math.pi/2):
rob = robot.robot
start_joints = rob.getj()
end_joint = get_joints_from_xyz_abs(robot, x, y, z, rx, ry, rz)
n_points = 50
intermediate_joints = []
for i in range(0, 6):
intermediate_joints.append(np.linspace(start_joints[i], end_joint[i], n_points))
joints = [joint_position for joint_position in zip(*intermediate_joints)]
rob.movejs(joints, acc=2, vel=2, radius=0.1)
def offset_gripper_angle(robot, x, y, z, gripperangle=30, gripperlength=0.20+0.018, flip=False, use_closest_path=True, rzoffset=0):
# gripper angle: from vertical
# gripper length: from joint to start of grip
# to flip, you can use flip=True or make gripper angle negative
limb3 = robot.limb3
# Determine tool rotation depending on gripper angle
if gripperangle < 0:
rz = - math.pi / 2
else:
rz = math.pi / 2
if flip:
gripperangle = -math.radians(gripperangle)
grippery = gripperlength - math.cos(gripperangle) * gripperlength
grippery += math.sin(gripperangle) * limb3
gripperx = math.sin(gripperangle) * gripperlength + limb3 * 2
gripperx -= (1-math.cos(gripperangle)) * limb3
rz = math.pi / 2
# flip the whole wrist
return get_joints_from_xyz_abs(robot, x, y, z-grippery, rx=gripperangle + math.radians(180), l3offset=-gripperx, ry=-3*math.pi/2, rz=rz + rzoffset, use_closest_path=use_closest_path)
else:
gripperangle = math.radians(gripperangle)
grippery = gripperlength - math.cos(gripperangle) * gripperlength
grippery -= math.sin(gripperangle) * limb3
gripperx = math.sin(gripperangle) * gripperlength
gripperx += (1-math.cos(gripperangle)) * limb3
return get_joints_from_xyz_abs(robot, x, y, z-grippery, rx=gripperangle, l3offset=-gripperx, rz=rz, use_closest_path=use_closest_path)
def goto_holder_index(robot, idx, z=0.05, gripperangle=30, flip=False, use_closest_path=True, verbose=False):
joint = robot.config["position_map"][idx]
if verbose:
print("Going to cable holder index", joint["index"], "at position", joint["pos"])
safe_move(robot, joint["pos"][0]/1000, joint["pos"][1]/1000, z, use_closest_path=use_closest_path)
#angles = offset_gripper_angle(joint["pos"][1]/1000, joint["pos"][0]/1000, z, gripperangle=gripperangle, flip=flip)
#rob.movej(angles, acc=2, vel=2)
#return angles
#angles = get_joints_from_xyz_abs(joint["pos"][1]/1000, joint["pos"][0]/1000, 0.05, )
return True
def is_flipped(robot):
rob = robot.robot
wrist1 = rob.getj()[3]
if wrist1 > 0:
return True
else:
return False
def flip(robot):
rob = robot.robot
# A list of safe positions to flip
safe_positions = [(-0.18, -0.108, 0.35),
(0.18, -0.108, 0.35)]
# Find the closest safe position
curr_pos = rob.getl()[:3]
def dist_from_robot(pos):
x, y, z = pos
rx, ry, rz = curr_pos
return math.sqrt((rx-x)**2+(ry-y)**2+(rz-z)**2)
pos_dist_pairs = zip(safe_positions, [dist_from_robot(pos) for pos in safe_positions])
safe_pos = min(pos_dist_pairs, key=lambda x:x[1])[0]
# Flip at safe position
rob.movej(offset_gripper_angle(robot, *safe_pos, flip=is_flipped(robot)), vel=2, acc=2) # Move to safe position
rob.movej(offset_gripper_angle(robot, *safe_pos, flip=(not is_flipped(robot))), vel=2, acc=2) # Flip gripper
# print('flip?: ', is_flipped(robot))
return True
def safe_move(robot, x, y, z, use_closest_path=True):
rob = robot.robot
flip_radius = 0.22 # Min radius on which to flip
r = math.sqrt(x**2 + y**2) # Get position radius
# Flip gripper if needed
if (r <= flip_radius and is_flipped(robot)) or (r > flip_radius and not is_flipped(robot)):
flip(robot)
rob.movej(offset_gripper_angle(robot, x, y, z, flip=is_flipped(robot), use_closest_path=use_closest_path), vel=2, acc=2)
return True
def holder_routine(robot, pos_updates, holder_index, pick_up, verbose=False):
robot = connect(robot)
rob = robot.robot
# Don't attempt to place a tube in the camera slot
if holder_index == 49:
return
if verbose:
fprint('Pickup routine for index' + str(holder_index))
# Go to the correct holder
if pick_up:
goto_holder_index(robot, holder_index, 0.05, use_closest_path=False)
else:
goto_holder_index(robot, holder_index, 0.2, use_closest_path=False)
if pick_up:
open_gripper()
# Move down
curr_pos = rob.getl()
new_pos = curr_pos
new_pos[2] = 0.005
rob.movel(new_pos, vel=0.1, acc=1)
if pos_updates is not None:
pos_updates.put(1)
fprint("Triggering LED interface")
# Pick up or drop off
if pick_up:
close_gripper()
else:
open_gripper()
# Move up
new_pos[2] = 0.2
rob.movel(new_pos, vel=2, acc=1)
was_flipped = is_flipped(robot)
if pos_updates is not None:
pos_updates.put(2)
fprint("Triggering LED interface")
# goto_holder_index(robot, 25, z=0.2)
def pick_up_holder(robot, pos_updates, holder_index, verbose=False):
holder_routine(robot, pos_updates, holder_index, True, verbose=verbose)
def drop_off_holder(robot, pos_updates, holder_index, verbose=False):
holder_routine(robot, pos_updates, holder_index, False, verbose=verbose)
def tray_routine(robot, slot=0, pick_up=True):
robot = connect(robot)
rob = robot.robot
# Default to 0 if invalid value
if slot not in [0, 1, 2, 3]:
slot = 0
slot_prepositions = [(-9.93, -112.67, 144.02, -116.69, -54.13, -10.29),
(-12.35, -124.95, 148.61, -107.27, -54.36, -13.26),
(-16.45, -96.97, 137.85, 58.39, -305.08, 161.75),
(-16.66, -97.28, 138.16, 58.54, -305.05, 161.50)]
# Initial position depending on slot and robot orientation
if slot in [0, 1]:
if is_flipped(robot):
flip(robot)
else:
move_to_home(robot, keep_flip=True)
else:
goto_holder_index(robot, 25, z=0.3)
# Align robot to the slot
if slot in [2,3]:
angles = [(-2.77, -99.64, 131.02, 67.67, 70.04-360, 153.03),
slot_prepositions[slot]]
else:
angles = [(-58, -114.45, 100.52, -45.24, -96.95, 120),
(-39.98, -124.92, 132.28, -61.56, -55.60, -50.77),
slot_prepositions[slot]]
angles = [[x*math.pi/180 for x in move] for move in angles]
rob.movejs(angles,vel=2,acc=1)
# Positions for each slot
slot_distance = .052
slot_height = -.015-.0095+0.007 # add 7mm for shim
first_slot = -0.3084+0.01+0.003 # add 3mm for tray adjust
slot_position = [
[first_slot, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
[first_slot+slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
[first_slot+2*slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
[first_slot+3*slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
]
if pick_up:
open_gripper()
rob.movel(slot_position[slot], vel=0.2, acc=1)
# Place/Grab the tube
if pick_up:
close_gripper()
else:
open_gripper()
# Move back
tilt = 0.3
curr_pos = rob.getl()
new_pos = curr_pos
if slot==3:
new_pos[0] -= 0.05 #x
new_pos[1] += 0.15 #y
new_pos[2] = 0.09 #z
new_pos[3] += tilt
new_pos[4] += tilt
new_pos[5] += tilt
rob.movel(new_pos, vel=0.2, acc=1)
# Go home to safe position
move_to_home(robot, speed=1, keep_flip=True)
def pick_up_tray(robot, slot=0):
tray_routine(robot, slot, True)
def drop_off_tray(robot, slot=0):
tray_routine(robot, slot, False)
def return_routine(robot, slot, holder_index=None, verbose=False):
# OLD UNUSED
robot = connect(robot)
rob = robot.robot
open_gripper()
was_flipped = is_flipped(robot)
if slot is None:
rob.movej(offset_gripper_angle(robot, -0.15, -0.15, 0.3, flip=was_flipped, use_closest_path=False), vel=4, acc=3)
rob.movej(get_joints_from_xyz_abs(robot, -0.35, -0.15, 0.0, math.pi/2, 0.1), vel=4, acc=3)
close_gripper()
else:
xoffset = 0.051 * slot
rob.movej(offset_gripper_angle(robot, -0.15, -0.15, 0.3, flip=was_flipped, use_closest_path=False), vel=4, acc=3)
rob.movej(get_joints_from_xyz_abs(robot, -0.35+xoffset, -0.15, 0.0, math.pi/2, 0.1), vel=4, acc=3)
close_gripper()
if holder_index is not None:
goto_holder_index(robot, holder_index, 0.2, use_closest_path=False)
curr_pos = rob.getl()
new_pos = curr_pos
new_pos[2] = 0.015
rob.movel(new_pos, vel=0.1, acc=1)
open_gripper()
new_pos[2] = 0.1
rob.movel(new_pos, vel=2, acc=1)
return True
else:
# go to camera
rob.movej(offset_gripper_angle(robot, 0.35, -0.35, 0.3, flip=was_flipped, use_closest_path=False), vel=2, acc=2)
return True
def goto_camera(robot, pos_updates):
robot = connect(robot)
goto_holder_index(robot, 49, 0.2)
def tray_to_camera(robot, pos_updates, slot):
pick_up_tray(robot, slot)
goto_camera(robot, pos_updates)
def holder_to_tray(robot, pos_updates, holder_index, slot):
pick_up_holder(robot, pos_updates, holder_index)
drop_off_tray(robot, slot)
def holder_to_camera(robot, pos_updates, holder_index, verbose=False):
robot = connect(robot)
fprint("Bringing tube at " + str(holder_index) + " to camera")
rob = robot.robot
pick_up_holder(robot, pos_updates, holder_index)
goto_camera(robot, pos_updates)
def camera_to_holder(robot, pos_updates, holder_index, verbose=False):
robot = connect(robot)
rob = robot.robot
drop_off_holder(robot, pos_updates, holder_index)
# def open_gripper():
# fprint("Opening gripper")
# c = ModbusClient(host="192.168.1.21", port=502, auto_open=False, auto_close=False)
# c.open()
# while not c.is_open:
# time.sleep(0.01)
# c.write_single_register(112, 0b0)
# # c.write_single_register(435, 0b10000000)
# time.sleep(0.5)
# # c.write_single_register(112, 0b0)
# c.write_single_register(435, 0b10000000)
# time.sleep(0.5)
# c.close()
# #c.close()
# def close_gripper():
# fprint("Closing gripper")
# c = ModbusClient(host="192.168.1.21", port=502, auto_open=False, auto_close=False)
# c.open()
# while not c.is_open:
# time.sleep(0.01)
# c.write_single_register(435, 0b00000000)
# # c.write_single_register(112, 0b1)
# time.sleep(0.5)
# # c.write_single_register(435, 0b00000000)
# c.write_single_register(112, 0b1)
# time.sleep(0.5)
# c.close()
# time.sleep(0.2)
# #
def open_gripper():
fprint("Opening gripper")
c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False)
c.write_single_register(112, 0b0)
c.write_single_register(435, 0b10000000)
c.write_single_register(112, 0b0)
c.write_single_register(435, 0b10000000)
time.sleep(0.5)
c.close()
#c.close()
def close_gripper():
fprint("Closing gripper")
c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False)
c.write_single_register(435, 0b00000000)
c.write_single_register(112, 0b1)
c.write_single_register(435, 0b00000000)
c.write_single_register(112, 0b1)
time.sleep(0.5)
c.close()
#
def get_position_thread(robot, pos_updates):
try:
robot = connect(robot)
rob = robot.robot
oldvals = rob.getl()
deltavals = [0,0,0]
import uptime
t = 0.01
count = 0
while True:
start = uptime.uptime()
if pos_updates.qsize() < 2:
vals = rob.getl()
if vals != oldvals:
if pos_updates is not None:
pos_updates.put(tuple(oldvals))
#time.sleep(0.01)
# deltavals = list()
# deltavals.append(vals[0]-oldvals[0])
# deltavals.append(vals[1]-oldvals[1])
# deltavals.append(vals[2]-oldvals[2])
# count = 0
oldvals = vals
# else:
# count += 0.2
# if count < 1:
# tmpvals = vals
# tmpvals[0] = oldvals[0] + deltavals[0]*count
# tmpvals[1] = oldvals[1] + deltavals[1]*count
# tmpvals[2] = oldvals[2] + deltavals[2]*count
# pos_updates.put(tuple(tmpvals))
while start + t > uptime.uptime():
time.sleep(0.0001)
except:
pass
if __name__ == "__main__": if __name__ == "__main__":
with open('config.yml', 'r') as fileread: #rob.movej((0, 0, 0, 0, 0, 0), 0.1, 0.2)
#global config #rob.movel((x, y, z, rx, ry, rz), a, v)
config = yaml.safe_load(fileread) init("192.168.1.145")
robot = Rob(config) # robot of type Rob is the custom class above
#powerup_arm(robot)
robot = connect(robot)
init_arm(robot)
rob = robot.robot # rob is robot.robot is the urx robot class, what we've been using previously
#move_to_packup(robot)
move_to_home(robot)
pick_up_holder(robot, None, 8)
#drop_off_tray(robot, 0)
# drop_off_tray(robot, 1)
# drop_off_tray(robot, 2)
# drop_off_tray(robot, 3)
# pick_up_tray(robot, 1)
# drop_off_holder(robot, 5)
# pick_up_holder(robot, 26)
# drop_off_tray(robot, 3)
# for i in range(0,54):
# pick_up_holder(robot, None, i)
# #print('Drop off', i+1)
# drop_off_tray(robot, 0)
# #input()
# # holder_to_camera(robot, 0)
# # camera_to_holder(robot, 0)
print("Current tool pose is: ", rob.getl()) print("Current tool pose is: ", rob.getl())
curr_pos = rob.getl() move_to_home()
config = None
home_pose = [-0.4999999077032916,
-0.2000072960336574,
0.40002172976662786,
0,
-3.14152741295329,
math.radians(62)]
# time.sleep(.5)
p1 = [0,
0.6,
.4,
0.2226,
3.1126,
0.0510]
p2 = [0.171,
-0.115,
0.2,
0.2226,
3.1126,
0.0510]
curr_pos = rob.getl()
# up/down,
# tool rotation
# tool angle (shouldn't need)
# rob.set_pos(p1[0:3], acc=0.5, vel=0.5)
# set_pos_abs(*home_pose)
angles = get_joints_from_xyz_abs(-0.7, 0, 0)
rob.movej(angles, acc=2, vel=2)
# joints = []
# for i in np.linspace(-0.3, -0.7, 50):
# joints.append(get_joints_from_xyz_abs(i, 0, 0))
# rob.movejs(joints, acc=2, vel=2)
# time.sleep(5)
# angles = get_joints_from_xyz_abs(0, -0.6, 0)
# rob.movej(angles, acc=2, vel=2)
# set_pos_abs(*p1)
# move = move_to_polar(p1, p2)
# for p in move:
# print(math.degrees(p))
# print("Safe? :", is_safe_move(p1, p2))
# #set_pos_rel_rot_abs(0, 0, -0.2, math.pi, 0, -math.pi)
# set_pos_abs(0.3, -0.2, 0.5, math.pi, 0, -math.pi)
# set_pos_abs(0, 0.2, 0.6, math.pi, 0, -math.pi)
# set_pos_abs(-0.5, -0.2, 0.4, math.pi, 0, -math.pi)
# #set_pos_rel_rot_abs(0, 0, 0, math.pi, 0, -math.pi)
# print("Current tool pose is: ", rob.getl())
# print("getj(): ", rob.getj())
# move_to_home()
rob.stop() rob.stop()
os.kill(os.getpid(), 9) # dirty kill of self os.kill(os.getpid(), 9) # dirty kill of self

4
util.py
View File

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

4
websocket_test.html
View File

@ -81,7 +81,7 @@
socket.send(message); socket.send(message);
console.log('Message sent', message); console.log('Message sent', message);
} }
//setInterval(ping, 1500); setInterval(ping, 1500);
// setInterval(() => { // setInterval(() => {
// updateServiceStatus('serviceA', 'down'); // updateServiceStatus('serviceA', 'down');
@ -150,7 +150,7 @@
setInterval(updateClock, 100); setInterval(updateClock, 100);
</script> </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> </body>
</html> </html>