app.py

import gradio as gr
from PIL import Image
from client import CobotController
from utils import get_credentials
import json
import uuid

user, pwd, host, endpoint, port = get_credentials(False)
client = CobotController(user, pwd, host, port, endpoint)

def handle_request(
	selected_command, angle1=0.0, angle2=0.0, angle3=0.0, angle4=0.0, 
	angle5=0.0, angle6=0.0, coord1=0.0, coord2=0.0, coord3=0.0, coord4=0.0, 
	coord5=0.0, coord6=0.0, gripper_value=0.0, speed_angles=0.0, speed_coords=0.0,
	speed_gripper=0.0
):
	img = None
	if selected_command == "query/angles":
		response = client.get_angles()
	elif selected_command == "query/coords":
		response = client.get_coords()
	elif selected_command == "query/gripper":
		response = client.get_gripper_value()
	elif selected_command == "query/camera":
		response = client.get_camera()
		img = response.pop("image")
	elif selected_command == "control/angles":
		response = client.send_angles(
			angle_list = [angle1, angle2, angle3, angle4, angle5, angle6],
			speed = speed_angles
		)
	elif selected_command == "control/coords":
		response = client.send_coords(
			angle_list = [coord1, coord2, coord3, coord4, coord5, coord6],
			speed = speed_coords
		)
	elif selected_command == "control/gripper":
		response = client.send_gripper_value(
			value = gripper_value,
			speed = speed_gripper
		)

	text_output = json.dumps(response, indent=4)
	if img is not None:
		return text_output, gr.update(value=img, visible=True)
	return text_output, None

options = [
	"query/angles", "query/coords", "query/gripper", "query/camera",
	"control/angles", "control/coords", "control/gripper"
]

with gr.Blocks() as app:
	gr.Markdown("# MyCobot 280pi MQTT Control demo")
	gr.Markdown("This is a public demo of the MyCobot 280pi...")

	selected_command = gr.Dropdown(choices=options, label="Select command")

	with gr.Group(visible=False) as query_angles_group:
		pass

	with gr.Group(visible=False) as query_coords_group:
		pass

	with gr.Group(visible=False) as query_camera_group:
		pass

	with gr.Group(visible=False) as query_gripper_group:
		pass

	with gr.Group(visible=False) as control_angles_group:
		angle1 = gr.Number(value=0.0, label="Angle 1", step=5.0)
		angle2 = gr.Number(value=0.0, label="Angle 2", step=5.0)
		angle3 = gr.Number(value=0.0, label="Angle 3", step=5.0)
		angle4 = gr.Number(value=0.0, label="Angle 4", step=5.0)
		angle5 = gr.Number(value=0.0, label="Angle 5", step=5.0)
		angle6 = gr.Number(value=0.0, label="Angle 6", step=5.0)
		speed_angles = gr.Slider(value=50.0, minimum=0.0, maximum=100.0, step=1.0, label="Speed")

	with gr.Group(visible=False) as control_coords_group:
		coord1 = gr.Number(value=0.0, label="X coordinate", step=5.0)
		coord2 = gr.Number(value=0.0, label="Y coordinate", step=5.0)
		coord3 = gr.Number(value=0.0, label="Z coordinate", step=5.0)
		coord4 = gr.Number(value=0.0, label="Rotation X", step=5.0)
		coord5 = gr.Number(value=0.0, label="Rotation Y", step=5.0)
		coord6 = gr.Number(value=0.0, label="Rotation Z", step=5.0)
		speed_coords = gr.Slider(value=50.0, minimum=0.0, maximum=100.0, step=1.0, label="Speed")

	with gr.Group(visible=False) as control_gripper_group:
		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="Speed")

	def toggle_visibility(command):
		return (
			gr.update(visible=command == "query/angles"),
			gr.update(visible=command == "query/coords"),
			gr.update(visible=command == "query/camera"),
			gr.update(visible=command == "query/gripper"),
			gr.update(visible=command == "control/angles"),
			gr.update(visible=command == "control/coords"),
			gr.update(visible=command == "control/gripper"),
			gr.update(visible=False),
			gr.update(value="")
		)

	submit_button = gr.Button("Send Command")
	output_text = gr.Textbox(label="")
	output_image = gr.Image(visible=False)

	selected_command.change(
		toggle_visibility,
		selected_command,
		[
			query_angles_group, query_coords_group, query_camera_group, query_gripper_group,
			control_angles_group, control_coords_group, control_gripper_group, output_image,
			output_text
		]
	)

	submit_button.click(
		handle_request,
		inputs=[selected_command, angle1, angle2, angle3, angle4, angle5, angle6,
				coord1, coord2, coord3, coord4, coord5, coord6, gripper_value, speed_angles,
				speed_coords, speed_gripper],
		outputs=[output_text, output_image]
	)

app.launch()