| import gradio as gr | |
| import time | |
| import random | |
| 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): | |
| time.sleep(random.randint(1, 5)) | |
| return f"Command: {selected_command}, Params: {locals()}" | |
| options = [ | |
| "query/angles", "query/coords", "query/camera", "query/gripper", | |
| "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") | |
| ) | |
| 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 | |
| ] | |
| ) | |
| submit_button = gr.Button("Send Command") | |
| output_text = gr.Textbox() | |
| 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 | |
| ) | |
| app.launch(server_port=9000) | |