update

app.py

@@ -1,25 +1,94 @@
 import gradio as gr
 from client import CobotController
 from utils import get_credentials
-from typing import Any
 import json
+import threading
+import time
+from collections import deque
+import namesgenerator
+
+# Queue system setup
+SESSION_TIME = 120
+
+class QueueSystem:
+	def __init__(self):
+		self.queue = deque()
+		self.current_user = None
+		self.session_start_time = None
+		self.lock = threading.Lock()
+
+	def enqueue_user(self, user_id):
+		with self.lock:
+			if user_id not in self.queue and user_id != self.current_user:
+				self.queue.append(user_id)
+
+	def dequeue_user(self):
+		with self.lock:
+			if self.queue:
+				return self.queue.popleft()
+			return None
+
+	def get_queue_info(self, user_id):
+		with self.lock:
+			if user_id == self.current_user:
+				remaining_time = max(0, SESSION_TIME - (time.time() - self.session_start_time))
+				return 0, remaining_time
+			elif user_id in self.queue:
+				position = list(self.queue).index(user_id) + 1
+				if self.session_start_time:
+					wait_time = (position - 1) * SESSION_TIME + max(0, SESSION_TIME - (time.time() - self.session_start_time))
+				else:
+					wait_time = position * SESSION_TIME
+				return position, wait_time
+			else:
+				return None, None
+
+	def start_session(self, user_id):
+		with self.lock:
+			if self.current_user is None:
+				self.current_user = user_id
+				self.session_start_time = time.time()
+				return True
+			return False
+
+	def end_session(self):
+		with self.lock:
+			if self.current_user and time.time() - self.session_start_time >= SESSION_TIME:
+				self.current_user = None
+				self.session_start_time = None
+				return True
+			return False
+
+queue_system = QueueSystem()
+
+# Background timer thread to end session after SESSION_TIME
+def background_timer():
+	while True:
+		time.sleep(1)
+		if queue_system.end_session():
+			next_user = queue_system.dequeue_user()
+			if next_user:
+				queue_system.start_session(next_user)
+
+timer_thread = threading.Thread(target=background_timer, daemon=True)
+timer_thread.start()
 
 user, pwd, host, endpoint, port = get_credentials(False)
 client = CobotController(user, pwd, host, port, endpoint)
 
 CSS = """
 #col {
-    background-color: #161624;
-    padding: 16px;
-    border-radius: 8px;
+	background-color: #161624;
+	padding: 16px;
+	border-radius: 8px;
 }
 #nogaprow {
-    gap: 0px !important; 
+	gap: 0px !important; 
 }
 #nogapcol {
-    padding: 0px !important;
-	border: none !important;  /* Removes the border around each column */
-    box-shadow: none !important;
+	padding: 0px !important;
+	border: none !important;
+	box-shadow: none !important;
 }
 """
 
@@ -68,17 +137,41 @@ def handle_request(
 		resp["command"] = command
 		return json.dumps(resp, indent=4), gr.Image(visible=False)
 
+def process_user_auth(command, user_id, gripper_value, gripper_speed, angle1, angle2, angle3, angle4,
+					  angle5, angle6, angle_speed, xcoord, ycoord, zcoord, roll, pitch, yaw, coord_speed):
+	if queue_system.current_user is None:
+		queue_system.start_session(user_id)
+	queue_system.enqueue_user(user_id)
+	position, wait_time = queue_system.get_queue_info(user_id)
+	
+	if position == 0:
+		result, response_image = handle_request(
+			command, gripper_value, gripper_speed, angle1, angle2, angle3, angle4,
+			angle5, angle6, angle_speed, xcoord, ycoord, zcoord, roll, pitch, yaw, coord_speed
+		)
+		remaining_time_msg = f"Your turn!\nTime remaining: {wait_time:.2f} seconds."
+		return result, response_image, remaining_time_msg
+	elif position is not None:
+		wait_msg = f"There are {position - 1} people ahead of you in the queue.\nWait time: {wait_time:.2f} seconds."
+		return None, None, wait_msg
+	else:
+		return None, None, "Error: You are not in the queue."
+
+
 with gr.Blocks(css=CSS) as app:
 	gr.Markdown("# MyCobot 280pi MQTT Control Demo")
 	gr.Markdown("This is a demo that uses the MQTT protocol to communicate with the MyCobot 280pi over the internet. You can remotely send commands to the cobot and query it's current status.")
 
-	user_id = gr.Textbox(label="User ID", info="Enter a unique user id of your choice. This user id will be placed into a queue to give you access to the cobot, so make sure you remember it!")
+	with gr.Row():
+		with gr.Column():
+			user_id = gr.Textbox(label="User ID", info="Enter a unique user id of your choice or take note of the current one. This user id will be placed into a queue to give you access to the cobot, so make sure you remember it!")
+		with gr.Column():
+			status_text = gr.Textbox(label="Queue status", value="", interactive=False, max_lines=2)
 
 	with gr.Row():
 		# QUERY PANEL
 		with gr.Column(elem_id="col"):
 			gr.Markdown("## Query")
-			gr.Markdown("Use buttons on this panel to query the current status of the cobot, including information like joint angles, coordinates, gripper state and what the onboard camera sees.")
 			angle_query_button = gr.Button("Query Angles")
 			coord_query_button = gr.Button("Query Coordinates")
 			gripper_query_button = gr.Button("Query Gripper state")
@@ -87,8 +180,7 @@ with gr.Blocks(css=CSS) as app:
 		# GRIPPER PANEL
 		with gr.Column(elem_id="col"):
 			gr.Markdown("## Gripper Control")
-			gr.Markdown("Use this panel to control the gripper of the cobot.")
-			gripper_value = gr.Slider(minimum=0.0, maximum=100.0, step=1.0, label="Gripper value", info="0 = gripper fully closed, 100 = gripper fully open")
+			gripper_value = gr.Slider(minimum=0.0, maximum=100.0, step=1.0, label="Gripper value")
 			speed_gripper = gr.Slider(value=50.0, minimum=0.0, maximum=100.0, step=1.0, label="Movement speed")
 			gripper_control_button = gr.Button("Send gripper command")
 
@@ -96,7 +188,6 @@ with gr.Blocks(css=CSS) as app:
 		# ANGLE PANEL
 		with gr.Column(elem_id="col"):
 			gr.Markdown("## Angle Control")
-			gr.Markdown("Use this panel to control the joint angles of the cobot. Each angle corresponds to one of the 6 joints on the cobot.")
 			with gr.Row(elem_id="nogaprow"):
 				with gr.Column(elem_id="nogapcol"):
 					angle1 = gr.Number(value=0.0, label="Angle 1", step=5.0)
@@ -112,7 +203,6 @@ with gr.Blocks(css=CSS) as app:
 		# COORD PANEL
 		with gr.Column(elem_id="col"):
 			gr.Markdown("## Coordinate Control")
-			gr.Markdown("Use this panel to control the joint coordinates of the cobot head. The angles are in [6-DoF format](https://en.wikipedia.org/wiki/Six_degrees_of_freedom).")
 			with gr.Row(elem_id="nogaprow"):
 				with gr.Column(elem_id="nogapcol"):
 					xcoord = gr.Number(value=0.0, label="X coordinate", step=5.0)
@@ -128,202 +218,54 @@ with gr.Blocks(css=CSS) as app:
 	response = gr.Textbox(label="Response")
 	response_image = gr.Image(visible=False)
 
+	# Queue-aware event handling
 	angle_query_button.click(
-		handle_request,
-		inputs = [
-			gr.Textbox(value="query/angles", visible=False),
-			gripper_value, speed_gripper, angle1, angle2, angle3, angle4,
-			angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch,
-			yaw, speed_coords 
-		],
-		outputs = [response, response_image]
+		process_user_auth,
+		inputs = [gr.Textbox(value="query/angles", visible=False), user_id, gripper_value, speed_gripper, angle1, angle2, angle3, angle4,
+				  angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch, yaw, speed_coords],
+		outputs = [response, response_image, status_text]
 	)
 	coord_query_button.click(
-		handle_request,
-		inputs = [
-			gr.Textbox(value="query/coords", visible=False),
-			gripper_value, speed_gripper, angle1, angle2, angle3, angle4,
-			angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch,
-			yaw, speed_coords 
-		],
-		outputs = [response, response_image]
+		process_user_auth,
+		inputs = [gr.Textbox(value="query/coords", visible=False), user_id, gripper_value, speed_gripper, angle1, angle2, angle3, angle4,
+				  angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch, yaw, speed_coords],
+		outputs = [response, response_image, status_text]
 	)
 	gripper_query_button.click(
-		handle_request,
-		inputs = [
-			gr.Textbox(value="query/gripper", visible=False),
-			gripper_value, speed_gripper, angle1, angle2, angle3, angle4,
-			angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch,
-			yaw, speed_coords 
-		],
-		outputs = [response, response_image]
+		process_user_auth,
+		inputs = [gr.Textbox(value="query/gripper", visible=False), user_id, gripper_value, speed_gripper, angle1, angle2, angle3, angle4,
+				  angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch, yaw, speed_coords],
+		outputs = [response, response_image, status_text]
 	)
 	camera_query_button.click(
-		handle_request,
-		inputs = [
-			gr.Textbox(value="query/camera", visible=False),
-			gripper_value, speed_gripper, angle1, angle2, angle3, angle4,
-			angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch,
-			yaw, speed_coords 
-		],
-		outputs = [response, response_image]
+		process_user_auth,
+		inputs = [gr.Textbox(value="query/camera", visible=False), user_id, gripper_value, speed_gripper, angle1, angle2, angle3, angle4,
+				  angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch, yaw, speed_coords],
+		outputs = [response, response_image, status_text]
 	)
 	gripper_control_button.click(
-		handle_request,
-		inputs = [
-			gr.Textbox(value="control/gripper", visible=False),
-			gripper_value, speed_gripper, angle1, angle2, angle3, angle4,
-			angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch,
-			yaw, speed_coords 
-		],
-		outputs = [response, response_image]
+		process_user_auth,
+		inputs = [gr.Textbox(value="control/gripper", visible=False), user_id, gripper_value, speed_gripper, angle1, angle2, angle3, angle4,
+				  angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch, yaw, speed_coords],
+		outputs = [response, response_image, status_text]
 	)
 	angle_control_button.click(
-		handle_request,
-		inputs = [
-			gr.Textbox(value="control/angles", visible=False),
-			gripper_value, speed_gripper, angle1, angle2, angle3, angle4,
-			angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch,
-			yaw, speed_coords 
-		],
-		outputs = [response, response_image]
+		process_user_auth,
+		inputs = [gr.Textbox(value="control/angles", visible=False), user_id, gripper_value, speed_gripper, angle1, angle2, angle3, angle4,
+				  angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch, yaw, speed_coords],
+		outputs = [response, response_image, status_text]
 	)
 	coord_control_button.click(
-		handle_request,
-		inputs = [
-			gr.Textbox(value="control/coords", visible=False),
-			gripper_value, speed_gripper, angle1, angle2, angle3, angle4,
-			angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch,
-			yaw, speed_coords 
-		],
-		outputs = [response, response_image]
+		process_user_auth,
+		inputs = [gr.Textbox(value="control/coords", visible=False), user_id, gripper_value, speed_gripper, angle1, angle2, angle3, angle4,
+				  angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch, yaw, speed_coords],
+		outputs = [response, response_image, status_text]
 	)
 
-app.launch()
-
-# import gradio as gr
-# from collections import deque
-# import threading
-# import time
-
-# SESSION_TIME = 30
-
-# class QueueSystem:
-# 	def __init__(self):
-# 		self.queue = deque()
-# 		self.current_user = None
-# 		self.session_start_time = None
-# 		self.lock = threading.Lock()
-
-# 	def enqueue_user(self, user_id):
-# 		with self.lock:
-# 			if user_id not in self.queue and user_id != self.current_user:
-# 				self.queue.append(user_id)
-
-# 	def dequeue_user(self):
-# 		with self.lock:
-# 			if self.queue:
-# 				return self.queue.popleft()
-# 			return None
-
-# 	def get_queue_info(self, user_id):
-# 		with self.lock:
-# 			if user_id == self.current_user:
-# 				# Calculate remaining time for the current user
-# 				remaining_time = max(0, SESSION_TIME - (time.time() - self.session_start_time))
-# 				return 0, remaining_time
-# 			elif user_id in self.queue:
-# 				# Calculate wait time based on the queue position
-# 				position = list(self.queue).index(user_id) + 1
-# 				if self.session_start_time:
-# 					# Use the current session time to calculate wait time
-# 					wait_time = (position - 1) * SESSION_TIME + max(0, SESSION_TIME - (time.time() - self.session_start_time))
-# 				else:
-# 					# If no session is active, assume each user gets the full session time
-# 					wait_time = position * SESSION_TIME
-# 				return position, wait_time
-# 			else:
-# 				return None, None
-
-# 	def start_session(self, user_id):
-# 		with self.lock:
-# 			if self.current_user is None:
-# 				self.current_user = user_id
-# 				self.session_start_time = time.time()
-# 				return True
-# 			return False
-
-# 	def end_session(self):
-# 		with self.lock:
-# 			if self.current_user and time.time() - self.session_start_time >= SESSION_TIME:
-# 				self.current_user = None
-# 				self.session_start_time = None
-# 				return True
-# 			return False
-
-# queue_system = QueueSystem()
-
-# def process_input(input_text, user_id):
-#     if queue_system.current_user is None:
-#         queue_system.start_session(user_id)
-#     queue_system.enqueue_user(user_id)
-#     position, wait_time = queue_system.get_queue_info(user_id)
-	
-#     if position == 0:  # User is currently being served
-#         result = f"Processed: {input_text}"
-#         remaining_time = wait_time
-#         return result, f"Your turn! Time remaining: {remaining_time:.0f} seconds."
-#     elif position is not None:
-#         return None, f"You are in position {position}. Estimated wait time: {wait_time:.0f} seconds."
-#     else:
-#         return None, "Error: You are not in the queue."
-
-
-# def gradio_function(input_text, user_id):
-# 	result, status = process_input(input_text, user_id)
-# 	return result, status
-
-# def get_queue_status(user_id):
-# 	if not user_id:
-# 		return "Enter a User ID and submit to join the queue."
-# 	position, wait_time = queue_system.get_queue_info(user_id)
-# 	if position == 0:
-# 		return f"Your turn! Time remaining: {wait_time:.0f} seconds."
-# 	elif position is not None:
-# 		return f"You are in position {position}. Estimated wait time: {wait_time:.0f} seconds."
-# 	else:
-# 		return "You are not in the queue. Submit to join."
-
-# def background_timer():
-# 	while True:
-# 		time.sleep(1)
-# 		if queue_system.end_session():
-# 			next_user = queue_system.dequeue_user()
-# 			if next_user:
-# 				queue_system.start_session(next_user)
-
-# # Start the background timer thread
-# timer_thread = threading.Thread(target=background_timer, daemon=True)
-# timer_thread.start()
-
-# with gr.Blocks() as demo:
-# 	input_text = gr.Textbox(label="Input")
-# 	user_id = gr.Textbox(label="User ID")
-# 	output_text = gr.Textbox(label="Output")
-# 	status_text = gr.Markdown("Enter a User ID and submit to join the queue.")
-# 	submit_btn = gr.Button("Submit")
-
-# 	submit_btn.click(
-# 		fn=gradio_function,
-# 		inputs=[input_text, user_id],
-# 		outputs=[output_text, status_text]
-# 	)
-
-# 	demo.load(
-# 		fn=get_queue_status,
-# 		inputs=user_id,
-# 		outputs=status_text,
-# 	)
+	app.load(
+		namesgenerator.get_random_name,
+		outputs=[user_id]
+	)
 
-# demo.queue(default_concurrency_limit=1, max_size=100)
-# demo.launch()
+app.queue(default_concurrency_limit=1, max_size=100)
+app.launch()

requirements.txt

@@ -50,3 +50,4 @@ tzdata==2024.2
 urllib3==2.2.3
 uvicorn==0.32.0
 websockets==12.0
+namesgenerator==0.3