added image output after each command that modifies the state of the cobot

app.py

@@ -97,18 +97,18 @@ CSS = """
 
 def handle_request(
 	command, gripper_value, gripper_speed, angle1, angle2, angle3, angle4,
-	angle5, angle6, angle_speed, xcoord, ycoord, zcoord, roll, pitch, yaw, coord_speed,
+	angle5, angle6, angle_speed, xcoord, ycoord, zcoord, roll, pitch, yaw, coord_speed,image_box
 ):
 	if command == "enterqueue":
 		return "", gr.Image(visible=False)
 	elif command == "query/angles":
 		resp = client.get_angles()
 		resp["command"] = command
-		return json.dumps(resp, indent=4), gr.Image(visible=False)
+		return json.dumps(resp, indent=4), image_box
 	elif command == "query/coords":
 		resp = client.get_coords()
 		resp["command"] = command
-		return json.dumps(resp, indent=4), gr.Image(visible=False)
+		return json.dumps(resp, indent=4), image_box
 	elif command == "query/camera":
 		resp = client.get_camera()
 		resp["command"] = command
@@ -119,31 +119,40 @@ def handle_request(
 	elif command == "query/gripper":
 		resp = client.get_gripper_value()
 		resp["command"] = command
-		return json.dumps(resp, indent=4), gr.Image(visible=False)
+		return json.dumps(resp, indent=4), image_box
 	elif command == "control/angles":
 		resp = client.send_angles(
 			angle_list = [angle1, angle2, angle3, angle4, angle5, angle6],
 			speed = angle_speed
 		)
 		resp["command"] = command
-		return json.dumps(resp, indent=4), gr.Image(visible=False)
+
+		image_resp = client.get_camera()
+		image_ret = gr.Image(value=image_resp["image"], visible=True) if image_resp["success"] else gr.Image(visible=False)
+		return json.dumps(resp, indent=4), image_ret
 	elif command == "control/gripper":
 		resp = client.send_gripper_value(
 			value = gripper_value,
 			speed = gripper_speed
 		)
 		resp["command"] = command
-		return json.dumps(resp, indent=4), gr.Image(visible=False)
+
+		image_resp = client.get_camera()
+		image_ret = gr.Image(value=image_resp["image"], visible=True) if image_resp["success"] else gr.Image(visible=False)
+		return json.dumps(resp, indent=4), image_ret
 	elif command == "control/coords":
 		resp = client.send_coords(
 			coord_list = [xcoord, ycoord, zcoord, roll, pitch, yaw],
 			speed = coord_speed
 		)
 		resp["command"] = command
-		return json.dumps(resp, indent=4), gr.Image(visible=False)
+
+		image_resp = client.get_camera()
+		image_ret = gr.Image(value=image_resp["image"], visible=True) if image_resp["success"] else gr.Image(visible=False)
+		return json.dumps(resp, indent=4), image_ret
 
 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):
+					  angle5, angle6, angle_speed, xcoord, ycoord, zcoord, roll, pitch, yaw, coord_speed, output_image):
 	if queue_system.current_user is None:
 		queue_system.start_session(user_id)
 	queue_system.enqueue_user(user_id)
@@ -152,7 +161,7 @@ def process_user_auth(command, user_id, gripper_value, gripper_speed, angle1, an
 	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
+			angle5, angle6, angle_speed, xcoord, ycoord, zcoord, roll, pitch, yaw, coord_speed, output_image
 		)
 		remaining_time_msg = f"Your turn!\nTime remaining: {wait_time:.2f} seconds."
 		return result, response_image, remaining_time_msg
@@ -173,7 +182,7 @@ with gr.Blocks(css=CSS) as app:
 	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 automatically generated user id. This user id will be placed into a queue to give you access to the cobot, so make sure you remember it!")
-			enter_queue_button = gr.Button("Enter queue")
+			enter_queue_button = gr.Button("Join queue")
 		with gr.Column():
 			status_text = gr.Textbox(label="Queue status", value="", interactive=False, lines=5)
 
@@ -235,49 +244,49 @@ with gr.Blocks(css=CSS) as app:
 	angle_query_button.click(
 		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],
+				  angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch, yaw, speed_coords, response_image],
 		outputs = [response, response_image, status_text]
 	)
 	coord_query_button.click(
 		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],
+				  angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch, yaw, speed_coords, response_image],
 		outputs = [response, response_image, status_text]
 	)
 	gripper_query_button.click(
 		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],
+				  angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch, yaw, speed_coords, response_image],
 		outputs = [response, response_image, status_text]
 	)
 	camera_query_button.click(
 		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],
+				  angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch, yaw, speed_coords, response_image],
 		outputs = [response, response_image, status_text]
 	)
 	gripper_control_button.click(
 		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],
+				  angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch, yaw, speed_coords, response_image],
 		outputs = [response, response_image, status_text]
 	)
 	angle_control_button.click(
 		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],
+				  angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch, yaw, speed_coords, response_image],
 		outputs = [response, response_image, status_text]
 	)
 	coord_control_button.click(
 		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],
+				  angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch, yaw, speed_coords, response_image],
 		outputs = [response, response_image, status_text]
 	)
 	enter_queue_button.click(
 		process_user_auth,
 		inputs = [gr.Textbox(value="enterqueue", visible=False), user_id, gripper_value, speed_gripper, angle1, angle2, angle3, angle4,
-				  angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch, yaw, speed_coords],
+				  angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch, yaw, speed_coords, response_image],
 		outputs = [response, response_image, status_text]
 	)