607 lines
19 KiB
Python
Executable File
607 lines
19 KiB
Python
Executable File
#!/usr/bin/env python3
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from alive_progress import alive_bar
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import get_specs
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import traceback
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#import logging
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import yaml
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from multiprocessing import Process, Manager, Pool, TimeoutError, active_children, log_to_stderr, Pipe, Queue
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from multiprocessing.pool import Pool
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import multiprocessing
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from time import sleep
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from util import fprint
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from util import run_cmd
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import sys
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import ur5_control
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from ur5_control import Rob
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import os
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import signal
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import socket
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from flask import Flask, render_template, request
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import requests
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from led_control import LEDSystem
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import server
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import asyncio
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import json
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import process_video
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import search
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from search import JukeboxSearch
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config = None
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keeprunning = True
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arm_ready = False
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led_ready = False
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camera_ready = False
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sensor_ready = False
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vm_ready = False
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cable_search_ready = False
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killme = None
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#pool = None
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serverproc = None
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camera = None
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ledsys = None
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arm = None
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to_server_queue = Queue()
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from_server_queue = Queue()
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mode = "Startup"
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counter = 0
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jbs = None
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scan_value = None
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arm_state = None
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cable_list = list()
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parse_res = None
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def arm_start_callback(res):
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global arm_ready
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arm_ready = True
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def led_start_callback(res):
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global led_ready
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led_ready = True
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global ledsys
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ledsys = res
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def camera_start_callback(res):
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global camera_ready
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camera_ready = True
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global scan_value
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scan_value = res
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def sensor_start_callback(res):
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global sensor_ready
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sensor_ready = True
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def vm_start_callback(res):
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global vm_ready
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vm_ready = True
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def cable_search_callback(res):
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global cable_search_ready
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cable_search_ready = True
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global parse_res
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parse_res = res
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def wait_for(val, name):
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#global val
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if val is False:
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fprint("waiting for " + name + " to complete...")
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while val is False:
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sleep(0.1)
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def send_data(type, call, data, client_id="*"):
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out = dict()
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out["type"] = type
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out["call"] = call
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out["data"] = data
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to_server_queue.put((client_id, json.dumps(out)))
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def start_server_socket():
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global jbs
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"""app = Flask(__name__)
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@app.route('/report_ip', methods=['POST'])
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def report_ip():
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client_ip = request.json.get('ip')
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fprint(f"Received IP: {client_ip}")
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# You can store or process the IP address as needed
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return "IP Received", 200
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app.run(host='0.0.0.0', port=5000)"""
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global to_server_queue
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global from_server_queue
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fprint("Starting WebSocket server...")
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websocket_process = server.start_websocket_server(to_server_queue, from_server_queue)
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# Example
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#to_server_queue.put("Hello, WebSocket clients!")
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while True:
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#print("HI")
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# Handeling Server Requests Loop, will run forever
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if not from_server_queue.empty():
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client_id, message = from_server_queue.get()
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fprint(f"Message from client {client_id}: {message}")
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# Message handler
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try:
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decoded = json.loads(message)
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except:
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fprint("Non-JSON message recieved")
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continue
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if "type" not in decoded:
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fprint("Missing \"type\" field.")
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continue
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if "call" not in decoded:
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fprint("Missing \"call\" field.")
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continue
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if "data" not in decoded:
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fprint("Missing \"data\" field.")
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continue
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# if we get here, we have a "valid" data packet
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data = decoded["data"]
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call = decoded["call"]
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match decoded["type"]:
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case "log":
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fprint("log message")
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if call == "send":
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fprint("webapp: " + str(data), sendqueue=to_server_queue)
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elif call == "request":
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fprint("")
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case "cable_map":
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fprint("cable_map message")
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if call == "send":
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fprint("")
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elif call == "request":
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fprint("")
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case "ping":
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fprint("Pong!!!")
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# Lucas' notes
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# Add a ping pong :) response/handler
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# Add a get cable response/handler
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# this will tell the robot arm to move
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# Call for turning off everything
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# TODO Helper for converting Python Dictionaries to JSON
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# make function: pythonData --> { { "type": "...", "call": "...", "data": pythonData } }
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# to send: to_server_queue.put(("*", "JSON STRING HERE")) # replace * with UUID of client to send to one specific location
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case "cable_details":
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fprint("cable_details message")
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if call == "send":
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fprint("")
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elif call == "request":
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fprint("")
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dataout = dict()
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dataout["cables"] = list()
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print(data)
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if "part_number" in data:
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for part in data["part_number"]:
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#print(part)
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#print(jbs.get_partnum(part))
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dataout["cables"].append(jbs.get_partnum(part)["fullspecs"])
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if "position" in data:
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for pos in data["position"]:
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#print(pos)
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#print(jbs.get_position(str(pos)))
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dataout["cables"].append(jbs.get_position(str(pos))["fullspecs"])
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send_data(decoded["type"], "send", dataout, client_id)
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case "cable_search":
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fprint("cable_search message")
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if call == "send":
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fprint("")
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elif call == "request":
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fprint("")
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case "keyboard":
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fprint("keyboard message")
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if call == "send":
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fprint("")
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elif call == "request":
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fprint("")
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if data["enabled"] == True:
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# todo : send this to client
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p = Process(target=run_cmd, args=("./keyboard-up.ps1",))
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p.start()
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elif data["enabled"] == False:
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p = Process(target=run_cmd, args=("./keyboard-down.ps1",))
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p.start()
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case "machine_settings":
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fprint("machine_settings message")
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if call == "send":
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fprint("")
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elif call == "request":
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fprint("")
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case _:
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fprint("Unknown/unimplemented data type: " + decoded["type"])
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sleep(0.001) # Sleep to prevent tight loop
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def start_client_socket():
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app = Flask(__name__)
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@app.route('/control_client', methods=['POST'])
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def message_from_server():
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# Handle message from server
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data = request.json
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fprint(f"Message from server: {data.get('message')}")
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return "Message received", 200
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app.run(host='0.0.0.0', port=6000)
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def check_server_online(serverip, clientip):
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def send_ip_to_server(server_url, client_ip):
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try:
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response = requests.post(server_url, json={'ip': client_ip}, timeout=1)
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fprint(f"Server response: {response.text}")
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return True
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except requests.exceptions.RequestException as e:
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fprint(f"Error sending IP to server: {e}")
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return False
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server_url = 'http://' + serverip + ':5000/report_ip'
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while not send_ip_to_server(server_url, clientip):
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sleep(1)
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fprint("Successfully connected to server.")
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return True
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def setup_server(pool):
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# linux server setup
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global config
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global counter
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global sensor_ready
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global camera_ready
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global led_ready
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global arm_ready
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global serverproc
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global camera
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global arm
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global jbs
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arm = Rob(config)
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pool.apply_async(arm.init_arm, callback=arm_start_callback)
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global ledsys
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ledsys = LEDSystem()
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pool.apply_async(ledsys.init, callback=led_start_callback)
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#pool.apply_async(sensor_control.init, callback=sensor_start_callback)
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jbs = JukeboxSearch()
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serverproc = Process(target=start_server_socket)
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serverproc.start()
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if led_ready is False:
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fprint("waiting for " + "LED controller initialization" + " to complete...", sendqueue=to_server_queue)
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while led_ready is False:
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sleep(0.1)
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fprint("LED controllers initialized.", sendqueue=to_server_queue)
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#to_server_queue.put("[log] LED controllers initialized.")
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sensor_ready = True
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if sensor_ready is False:
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fprint("waiting for " + "Sensor Initialization" + " to complete...", sendqueue=to_server_queue)
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while sensor_ready is False:
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sleep(0.1)
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fprint("Sensors initialized.", sendqueue=to_server_queue)
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if camera_ready is False:
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fprint("waiting for " + "Camera initilization" + " to complete...", sendqueue=to_server_queue)
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camera = process_video.qr_reader(config["cameras"]["banner"]["ip"], config["cameras"]["banner"]["port"])
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fprint("Camera initialized.", sendqueue=to_server_queue)
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arm_ready = True
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if arm_ready is False:
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fprint("waiting for " + "UR5 initilization" + " to complete...", sendqueue=to_server_queue)
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while arm_ready is False:
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sleep(0.1)
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fprint("Arm initialized.", sendqueue=to_server_queue)
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return True
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def mainloop_server(pool):
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# NON-blocking loop
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global config
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global counter
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global killme
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global mode
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global jbs
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global arm
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global ledsys
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global camera
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global arm_ready
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global arm_state
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global camera_ready
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global cable_search_ready
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global cable_list
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if killme.value > 0:
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killall()
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if mode == "Startup":
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counter = 54
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if counter < 54:
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# scanning cables
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if arm_state is None:
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#pool.apply_async(arm.get cable to camera, callback=arm_start_callback)
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#ur5_control.goto_holder_index(arm)
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#ur5 get item
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# ur5 bring to camera
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fprint("Getting cable index " + str(counter) + " and scanning...")
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arm_state = "GET"
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elif arm_ready and arm_state == "GET":
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fprint("Looking for QR code...")
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pool.apply_async(camera.read_qr, (30,), callback=camera_start_callback)
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arm_ready = False
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elif camera_ready:
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fprint("Adding cable to list...")
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global scan_value
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if scan_value is False:
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cable_list.append(scan_value)
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elif scan_value.find("bldn.app/") > -1:
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scan_value = scan_value[scan_value.find("bldn.app/")+9:]
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else:
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cable_list.append(scan_value)
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fprint(scan_value)
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#pool.apply_async(arm.return cable, callback=arm_start_callback)
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arm_state = "RETURN"
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camera_ready = False
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elif arm_ready and arm_state == "RETURN":
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counter += 1
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arm_state = None
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else:
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# just wait til arm/camera is ready
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pass
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else:
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# scanned everything
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tmp = [
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# Actual cables in Jukebox
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"BLTF-1LF-006-RS5",
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"BLTF-SD9-006-RI5",
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"BLTT-SLG-024-HTN",
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"BLFISX012W0",
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"BLFI4X012W0",
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"BLSPE101",
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"BLSPE102",
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"BL7922A",
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"BL7958A",
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"BLIOP6U",
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"BL10GXW13",
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"BL10GXW53",
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"BL29501F",
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"BL29512",
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"BL3106A",
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"BL9841",
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"BL3105A",
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"BL3092A",
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"BL8760",
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"BL6300UE",
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"BL6300FE",
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"BLRA500P",
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"AW86104CY",
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"AW3050",
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"AW6714",
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"AW1172C",
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"AWFIT-221-1_4"
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]
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while len(tmp) < 54:
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tmp.append(False) # must have 54 entries
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cable_list = tmp # remove for real demo
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pool.apply_async(get_specs.get_multi, (tmp, 0.3), callback=cable_search_callback)
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mode = "Parsing"
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fprint("All cables scanned. Finding & parsing datasheets...")
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if mode == "Parsing":
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# waiting for search & parse to complete
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#cable_search_ready = True
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if cable_search_ready is False:
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pass
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else:
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# done
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global parse_res
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success, partnums = parse_res
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for idx in range(len(partnums)):
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if partnums[idx] is not False:
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cable_list[idx] = partnums[idx][0].replace("/", "_")
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else:
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cable_list[idx] = False
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print(partnums)
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if success:
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# easy mode
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fprint("All cables inventoried and parsed.")
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fprint("Adding to database...")
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for idx in range(len(cable_list)):
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partnum = cable_list[idx]
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if partnum is not False:
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with open("cables/" + partnum + "/search.json", "rb") as f:
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searchdata = json.load(f)
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searchdata["position"] = idx
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with open("cables/" + partnum + "/specs.json", "rb") as f:
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specs = json.load(f)
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searchdata["fullspecs"] = specs
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searchdata["fullspecs"]["position"] = idx
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jbs.add_document(searchdata)
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#sleep(0.5)
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#print(jbs.get_position("1"))
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fprint("All cables added to database.")
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mode = "Idle"
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else:
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# TODO: manual input
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pass
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if mode == "Idle":
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# do nothing
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if arm_ready is False:
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pool.apply_async(ur5_control.move_to_home, (arm,), callback=arm_start_callback)
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arm_ready = True
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else:
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# LED idle anim
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pass
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def run_loading_app():
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app = Flask(__name__)
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@app.route('/')
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def index():
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return render_template('index.html')
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app.run(debug=True, use_reloader=False, port=7000)
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def setup_client(pool):
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# Windows client setup
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fprint("Opening browser...")
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firefox = webdriver.Firefox()
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firefox.fullscreen_window()
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global config
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global vm_ready
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global serverproc
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# Open loading wepage
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p = Process(target=run_loading_app)
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p.start()
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firefox.get('http://localhost:7000')
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# start Linux server VM
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if config["core"]["server"] == "Hyper-V":
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run_cmd("Start-VM -Name Jukebox*") # any and all VMs starting with "Jukebox"
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# Wait for VM to start and be reachable over the network
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serverproc = Process(target=start_client_socket)
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serverproc.start()
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pool.apply_async(check_server_online, (config["core"]["serverip"],config["core"]["clientip"]), callback=vm_start_callback)
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#wait_for(vm_ready, "VM Startup")
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#global vm_ready
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if vm_ready is False:
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fprint("waiting for " + "VM Startup" + " to complete...")
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while vm_ready is False:
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sleep(0.1)
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p.terminate()
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firefox.get("http://" + config["core"]["serverip"] + ":8000")
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return True
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def mainloop_client(pool):
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sleep(0.1)
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# listen for & act on commands from VM, if needed
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# mainly just shut down, possibly connect to wifi or something
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"""class Logger(object):
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def __init__(self, filename="output.log"):
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self.log = open(filename, "a")
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self.terminal = sys.stdout
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def write(self, message):
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self.log.write(message)
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#close(filename)
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#self.log = open(filename, "a")
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try:
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self.terminal.write(message)
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except:
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sleep(0)
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def flush(self):
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print("",end="")"""
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def killall():
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procs = active_children()
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for proc in procs:
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proc.kill()
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fprint("All child processes killed")
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os.kill(os.getpid(), 9) # dirty kill of self
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def killall_signal(a, b):
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global config
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if config["core"]["server"] == "Hyper-V":
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run_cmd("Stop-VM -Name Jukebox*") # any and all VMs starting with "Jukebox"
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killall()
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def error(msg, *args):
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return multiprocessing.get_logger().error(msg, *args)
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class LogExceptions(object):
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def __init__(self, callable):
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self.__callable = callable
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def __call__(self, *args, **kwargs):
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try:
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result = self.__callable(*args, **kwargs)
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except Exception as e:
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# Here we add some debugging help. If multiprocessing's
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# debugging is on, it will arrange to log the traceback
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|
error(traceback.format_exc())
|
|
# Re-raise the original exception so the Pool worker can
|
|
# clean up
|
|
raise
|
|
|
|
# It was fine, give a normal answer
|
|
return result
|
|
|
|
class LoggingPool(Pool):
|
|
def apply_async(self, func, args=(), kwds={}, callback=None):
|
|
return Pool.apply_async(self, LogExceptions(func), args, kwds, callback)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
#sys.stdout = Logger(filename="output.log")
|
|
#sys.stderr = Logger(filename="output.log")
|
|
#log_to_stderr(logging.DEBUG)
|
|
fprint("Starting Jukebox control system...")
|
|
with open('config.yml', 'r') as fileread:
|
|
#global config
|
|
config = yaml.safe_load(fileread)
|
|
|
|
with Manager() as manager:
|
|
fprint("Spawning threads...")
|
|
pool = LoggingPool(processes=10)
|
|
counter = 0
|
|
killme = manager.Value('d', 0)
|
|
signal.signal(signal.SIGINT, killall_signal)
|
|
if config["core"]["mode"] == "winclient":
|
|
fprint("Starting in client mode.")
|
|
from selenium import webdriver
|
|
if setup_client(pool):
|
|
fprint("Entering main loop...")
|
|
while(keeprunning):
|
|
mainloop_client(pool)
|
|
|
|
elif config["core"]["mode"] == "linuxserver":
|
|
fprint("Starting in server mode.")
|
|
if setup_server(pool):
|
|
fprint("Entering main loop...")
|
|
while(keeprunning):
|
|
mainloop_server(pool)
|
|
|
|
|