862 lines
29 KiB
Python
Executable File
862 lines
29 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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#multiprocessing.set_start_method('spawn', True)
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from pyModbusTCP.client import ModbusClient
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from uptime import uptime
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# set to false to run without real hardware for development
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real = False
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skip_scanning = True
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mbconn = None
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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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mainloop_get = Queue()
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mode = "Startup"
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oldmode = "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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cable_list_state = list()
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just_placed = -1
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ring_animation = None
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led_set_mode = None
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sensors = [0,0,0,0]
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websocket_process = None
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def arm_start_callback(res):
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fprint("Arm action complete.")
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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 check_server():
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#print("HI")
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global cable_list
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global to_server_queue
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global from_server_queue
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global jbs
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if True:
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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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return
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if "type" not in decoded:
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fprint("Missing \"type\" field.")
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return
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if "call" not in decoded:
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fprint("Missing \"call\" field.")
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return
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if "data" not in decoded:
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fprint("Missing \"data\" field.")
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return
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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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try:
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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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pass
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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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pass
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elif call == "request":
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tmp = list()
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for idx in range(len(cable_list)):
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if cable_list[idx] is not False:
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tmp1 = {"part_number": cable_list[idx], "position": idx, "name": cable_list[idx], "brand": "Belden", "description": "Blah", "short_description": "Bla"}
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tmp.append(tmp1)
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out = {"map": tmp}
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fprint(out)
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send_data(decoded["type"], "send", out, client_id)
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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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pass
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elif call == "request":
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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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pass
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elif call == "request":
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results = jbs.search(data["string"])["hits"]
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dataout = dict()
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dataout["cables"] = list()
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for result in results:
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dataout["cables"].append(result["fullspecs"])
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send_data(decoded["type"], "send", dataout, client_id)
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case "keyboard":
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fprint("keyboard message")
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if call == "send":
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pass
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elif call == "request":
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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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pass
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elif call == "request":
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pass
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case "cable_get":
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fprint("cable_get message")
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if call == "send":
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global mainloop_get
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if "part_number" in data:
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for cableidx in range(len(cable_list)):
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cable = cable_list[cableidx]
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if cable == data["part_number"]:
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fprint("Adding cable to dispense queue")
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mainloop_get.put(("pickup", cableidx))
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elif "position" in data:
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fprint("Adding cable to dispense queue")
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mainloop_get.put(("pickup", data["position"]))
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else:
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fprint("Invalid data.")
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case _:
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fprint("Unknown/unimplemented data type: " + decoded["type"])
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except Exception as e:
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fprint(traceback.format_exc())
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fprint(e)
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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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global to_server_queue
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global from_server_queue
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global websocket_process
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arm = Rob(config)
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if real:
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pool.apply_async(ur5_control.powerup_arm, (arm,), callback=arm_start_callback, error_callback=handle_error)
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else:
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arm_ready = True
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global ledsys
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if real:
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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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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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if real:
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ledsys.init()
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led_ready = True
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fprint("LED controllers initialized.", sendqueue=to_server_queue)
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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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global mbconn
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mbconn = ModbusClient(host="192.168.1.20", port=502, auto_open=True, auto_close=True)
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get_sensors()
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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"], int(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 powerup" + " 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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if real:
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ur5_control.init_arm(arm)
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fprint("Arm initialized.", sendqueue=to_server_queue)
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fprint("Starting websocket server...", sendqueue=to_server_queue)
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websocket_process = server.start_websocket_server(to_server_queue, from_server_queue)
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return True
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def handle_error(error):
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print(error, flush=True)
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def get_sensors():
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global mbconn
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global sensors
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oldsens = sensors
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#print("Reading sensors")
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#mbconn.open()
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"""
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port 1: 256
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port 2: 272
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port 3: 288
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port 4: 304
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port 5: 320
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port 6: 336
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port 7: 352
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port 8: 368
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"""
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out = list()
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for reg in [352, 288, 304, 368]:
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val = mbconn.read_holding_registers(reg)[0]
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if val == 1:
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out.append(1)
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else:
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out.append(0)
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sensors = out
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#fprint("Values: " + str(sensors))
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#mbconn.close()
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for x in range(len(oldsens)):
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if oldsens[x] == 0 and out[x] == 1:
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# cable newly detected on tray
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fprint("Precense detected: slot " + str(x))
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return x
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return -1
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def get_open_spot(sensordata):
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for x in range(len(sensordata)):
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sens = sensordata[x]
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if not sens:
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return x
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# if we get here, every spot is full
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return False
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def mainloop_server(pool):
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# NON-blocking loop
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global real
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global ring_animation
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global led_set_mode
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global just_placed
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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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global mainloop_get
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global cable_list_state
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global scan_value
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global oldmode
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if mode != oldmode:
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print(" ***** Running mode:", mode, "***** ")
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oldmode = mode
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if killme.value > 0:
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killall()
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# check for messages
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check_server()
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# do every loop!
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if ring_animation is not None and ledsys.mode != "idle" and real:
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ledsys.mainloop(None, ring_animation)
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elif ring_animation is not None and real:
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ledsys.mainloop(led_set_mode, ring_animation)
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led_set_mode = None
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else:
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pass
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#fprint("Not triggering LED loop: no ring animation")
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if mode == "Startup":
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if not real or skip_scanning:
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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_start_callback, ("",))
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arm_ready = False
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pool.apply_async(ur5_control.holder_to_camera, (arm,counter), callback=arm_start_callback, error_callback=handle_error)
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fprint("Getting cable index " + str(counter) + " and scanning...")
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arm_state = "GET"
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ring_animation = counter
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led_set_mode = "GrabA"
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#ur5_control.to_camera(arm, counter)
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#arm_ready = True
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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, (10,), callback=camera_start_callback, error_callback=handle_error)
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arm_ready = False
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elif camera_ready:
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ring_animation = counter
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led_set_mode = "GrabC"
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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(ur5_control.camera_to_holder, (arm,counter), callback=arm_start_callback, error_callback=handle_error)
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#ur5_control.return_camera(arm, counter)
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#arm_ready = True
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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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ring_animation = None
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led_set_mode == "idle"
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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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if not real or skip_scanning:
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cable_list = tmp # comment out for real demo
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for idx in range(len(cable_list)):
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cable_list_state.append(True)
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pool.apply_async(get_specs.get_multi, (cable_list, 0.3), callback=cable_search_callback, error_callback=handle_error)
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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
|
|
|
|
print(partnums)
|
|
if success:
|
|
# easy mode
|
|
fprint("All cables inventoried and parsed.")
|
|
fprint("Adding to database...")
|
|
for idx in range(len(cable_list)):
|
|
partnum = cable_list[idx]
|
|
if partnum is not False:
|
|
with open("cables/" + partnum + "/search.json", "rb") as f:
|
|
searchdata = json.load(f)
|
|
searchdata["position"] = idx
|
|
with open("cables/" + partnum + "/specs.json", "rb") as f:
|
|
specs = json.load(f)
|
|
searchdata["fullspecs"] = specs
|
|
searchdata["fullspecs"]["position"] = idx
|
|
jbs.add_document(searchdata)
|
|
#sleep(0.5)
|
|
#print(jbs.get_position("1"))
|
|
|
|
fprint("All cables added to database.")
|
|
mode = "Idle"
|
|
|
|
else:
|
|
# TODO: manual input
|
|
pass
|
|
|
|
|
|
if mode == "Idle":
|
|
# do nothing
|
|
if arm_ready is False:
|
|
pass
|
|
|
|
else:
|
|
global mainloop_get
|
|
#print("Checking sensors..")
|
|
newtube = get_sensors()
|
|
if newtube >= 0 and newtube != just_placed:
|
|
# need to return a cable
|
|
mainloop_get.put(("return", newtube))
|
|
just_placed = -1
|
|
|
|
if not mainloop_get.empty():
|
|
fprint("Movement requested. Keep clear of the machine!")
|
|
action, get_cable = mainloop_get.get()
|
|
if get_cable > -1:
|
|
global sensors
|
|
if action == "pickup":
|
|
spot = get_open_spot(sensors)
|
|
if spot is not False:
|
|
arm_ready = False
|
|
if real:
|
|
pool.apply_async(ur5_control.holder_to_tray, (arm, get_cable, spot), callback=arm_start_callback, error_callback=handle_error)
|
|
else:
|
|
arm_ready = True
|
|
fprint("Getting cable at position " + str(get_cable))
|
|
mode = "Pickup"
|
|
cable_list_state[get_cable] = False # mark as removed
|
|
get_sensors()
|
|
|
|
if action == "return":
|
|
arm_ready = False
|
|
fprint("Returning cable from tray position " + str(get_cable))
|
|
if real:
|
|
pool.apply_async(ur5_control.tray_to_camera, (arm, get_cable), callback=arm_start_callback, error_callback=handle_error)
|
|
else:
|
|
arm_ready = True
|
|
mode = "ReturnC"
|
|
else:
|
|
# LED idle anim
|
|
pass
|
|
|
|
if mode == "Pickup":
|
|
# complete
|
|
if arm_ready == True:
|
|
mode = "Idle"
|
|
|
|
else:
|
|
# getting cable and bringing to tray
|
|
# led animation
|
|
pass
|
|
|
|
if mode == "ReturnC":
|
|
# complete
|
|
if arm_ready == True:
|
|
mode = "Scan"
|
|
arm_ready = False
|
|
camera_ready = False
|
|
if real:
|
|
pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error)
|
|
else:
|
|
camera_ready = True
|
|
scan_value = "10GXS13"
|
|
|
|
else:
|
|
# getting cable from and bringing to camera
|
|
# led animation
|
|
pass
|
|
|
|
if mode == "Scan":
|
|
if camera_ready == True:
|
|
if scan_value is False:
|
|
# unable to scan ???? not good
|
|
fprint("Unable to scan cable. Gonna retry.")
|
|
camera_ready = False
|
|
pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error)
|
|
pass
|
|
elif scan_value.find("bldn.app/") > -1:
|
|
scan_value = scan_value[scan_value.find("bldn.app/")+9:]
|
|
|
|
fprint("Got cable: " + str(scan_value))
|
|
if scan_value[0:2] == "BL" or scan_value[0:2] == "AW":
|
|
scan_value = scan_value[2:]
|
|
for idx in range(len(cable_list)):
|
|
cable = cable_list[idx]
|
|
if cable == scan_value and cable_list_state[idx] == False:
|
|
cable_list_state[idx] = True # mark cable as returned
|
|
arm_ready = False
|
|
if real:
|
|
pool.apply_async(ur5_control.camera_to_holder, (arm, idx), callback=arm_start_callback, error_callback=handle_error)
|
|
else:
|
|
arm_ready = True
|
|
mode = "Return"
|
|
break
|
|
elif cable == scan_value and cable_list_state[idx] == True:
|
|
fprint("WARNING: Holder still marked as occupied!")
|
|
arm_ready = False
|
|
if real:
|
|
pool.apply_async(ur5_control.camera_to_holder, (arm, idx), callback=arm_start_callback, error_callback=handle_error)
|
|
else:
|
|
arm_ready = True
|
|
mode = "Return"
|
|
break
|
|
|
|
|
|
|
|
|
|
if mode == "Return":
|
|
if arm_ready == True:
|
|
mode = "Idle"
|
|
#arm_ready = False
|
|
# movement finished
|
|
|
|
else:
|
|
# cable going from camera to holder
|
|
# led animation
|
|
pass
|
|
|
|
|
|
|
|
|
|
|
|
def run_loading_app():
|
|
|
|
app = Flask(__name__)
|
|
@app.route('/')
|
|
def index():
|
|
return render_template('index.html')
|
|
|
|
app.run(debug=True, use_reloader=False, port=7000)
|
|
|
|
def setup_client(pool):
|
|
# Windows client setup
|
|
fprint("Opening browser...")
|
|
firefox = webdriver.Firefox()
|
|
firefox.fullscreen_window()
|
|
global config
|
|
global vm_ready
|
|
global serverproc
|
|
# Open loading wepage
|
|
p = Process(target=run_loading_app)
|
|
p.start()
|
|
|
|
|
|
firefox.get('http://localhost:7000')
|
|
|
|
# start Linux server VM
|
|
if config["core"]["server"] == "Hyper-V":
|
|
run_cmd("Start-VM -Name Jukebox*") # any and all VMs starting with "Jukebox"
|
|
|
|
# Wait for VM to start and be reachable over the network
|
|
serverproc = Process(target=start_client_socket)
|
|
serverproc.start()
|
|
|
|
pool.apply_async(check_server_online, (config["core"]["serverip"],config["core"]["clientip"]), callback=vm_start_callback)
|
|
|
|
#wait_for(vm_ready, "VM Startup")
|
|
|
|
#global vm_ready
|
|
if vm_ready is False:
|
|
fprint("waiting for " + "VM Startup" + " to complete...")
|
|
while vm_ready is False:
|
|
sleep(0.1)
|
|
p.terminate()
|
|
firefox.get("http://" + config["core"]["serverip"] + ":8000")
|
|
return True
|
|
|
|
|
|
def mainloop_client(pool):
|
|
sleep(0.1)
|
|
|
|
# listen for & act on commands from VM, if needed
|
|
# mainly just shut down, possibly connect to wifi or something
|
|
|
|
"""class Logger(object):
|
|
def __init__(self, filename="output.log"):
|
|
self.log = open(filename, "a")
|
|
self.terminal = sys.stdout
|
|
|
|
def write(self, message):
|
|
self.log.write(message)
|
|
#close(filename)
|
|
#self.log = open(filename, "a")
|
|
try:
|
|
self.terminal.write(message)
|
|
except:
|
|
sleep(0)
|
|
|
|
def flush(self):
|
|
print("",end="")"""
|
|
|
|
def killall():
|
|
procs = active_children()
|
|
for proc in procs:
|
|
proc.kill()
|
|
fprint("All child processes killed")
|
|
os.kill(os.getpid(), 9) # dirty kill of self
|
|
|
|
|
|
def killall_signal(a, b):
|
|
global config
|
|
if config["core"]["server"] == "Hyper-V":
|
|
run_cmd("Stop-VM -Name Jukebox*") # any and all VMs starting with "Jukebox"
|
|
killall()
|
|
|
|
def error(msg, *args):
|
|
return multiprocessing.get_logger().error(msg, *args)
|
|
|
|
class LogExceptions(object):
|
|
def __init__(self, callable):
|
|
self.__callable = callable
|
|
|
|
def __call__(self, *args, **kwargs):
|
|
try:
|
|
result = self.__callable(*args, **kwargs)
|
|
|
|
except Exception as e:
|
|
# Here we add some debugging help. If multiprocessing's
|
|
# debugging is on, it will arrange to log the traceback
|
|
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, error_callback=None):
|
|
return Pool.apply_async(self, LogExceptions(func), args, kwds, callback, error_callback)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
#sys.stdout = Logger(filename="output.log")
|
|
#sys.stderr = Logger(filename="output.log")
|
|
#log_to_stderr(logging.DEBUG)
|
|
|
|
fprint("Starting Jukebox control system...")
|
|
with open('config.yml', 'r') as fileread:
|
|
#global config
|
|
config = yaml.safe_load(fileread)
|
|
fprint("Config loaded.")
|
|
with Manager() as manager:
|
|
fprint("Spawning threads...")
|
|
pool = LoggingPool(processes=10)
|
|
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...")
|
|
start = 0
|
|
speed = config["core"]["loopspeed"]
|
|
while(keeprunning):
|
|
start = uptime()
|
|
mainloop_server(pool)
|
|
#sleep(0.01)
|
|
# limit to certain "framerate"
|
|
#print(start, start + 1.0/speed, uptime())
|
|
while start + 1.0/speed > uptime():
|
|
sleep(0.001)
|
|
else:
|
|
fprint("Mode unspecified - quitting")
|
|
|
|
|
|
|
|
|