added coord/angle reset and update buttons, refactor

app.py

@@ -187,85 +187,30 @@ def control_gripper(user_id, gripper_value, movement_speed):
 	else:
 		return None, queue_status_msg
 
-def handle_request(
-	command, gripper_value, gripper_speed, angle1, angle2, angle3, angle4,
-	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), image_box
-	elif command == "query/coords":
-		resp = client.get_coords()
-		resp["command"] = command
-		return json.dumps(resp, indent=4), image_box
-	elif command == "query/camera":
-		resp = client.get_camera()
-		resp["command"] = command
+def set_coords_to_current(user_id):
+	to_execute, queue_status_msg = authenticate_user(user_id)
+	if to_execute:
+		resp, _ = query_coords(user_id)
+		resp = json.loads(resp)
 		if not resp["success"]:
-			return json.dumps(resp, indent=4)
-		img = resp.pop("image")
-		return json.dumps(resp, indent=4), gr.Image(visible=True, value=img)
-	elif command == "query/gripper":
-		resp = client.get_gripper_value()
-		resp["command"] = command
-		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
-
-		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
-
-		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
-
-		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, output_image):
-	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, output_image
-		)
-		remaining_time_msg = f"Your turn!\nTime remaining: {wait_time:.2f} seconds."
-		return result, response_image, remaining_time_msg
-	elif position is not None:
-		if position == 1:
-			wait_msg = f"You are next!\nWait time: {wait_time:.2f} seconds."
-		else:
-			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
+			return None, None, None, None, None, None, queue_status_msg
+		return resp["coords"] + [queue_status_msg]
 	else:
-		return None, None, "Error: You are not in the queue."
+		return None, None, None, None, None, None, queue_status_msg
 
+def set_angles_to_current(user_id):
+	to_execute, queue_status_msg = authenticate_user(user_id)
+	if to_execute:
+		resp, _ = query_angles(user_id)
+		resp = json.loads(resp)
+		if not resp["success"]:
+			return None, None, None, None, None, None, queue_status_msg
+		return resp["angles"] + [queue_status_msg]
+	else:
+		return None, None, None, None, None, None, queue_status_msg
+
+def reset():
+	return 0, 0, 0, 0, 0, 0, 50
 
 with gr.Blocks(css=CSS) as app:
 	gr.Markdown("# MyCobot 280pi MQTT Control Demo")
@@ -306,6 +251,8 @@ with gr.Blocks(css=CSS) as app:
 		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.")
+			angle_set_button = gr.Button("Set to current angles")
+			reset_angle_button = gr.Button("Reset angles")
 			with gr.Row(elem_id="nogaprow"):
 				with gr.Column(elem_id="nogapcol"):
 					angle1 = gr.Slider(value=0.0, label="Angle 1", step=1.0, minimum=-168, maximum=168)
@@ -322,6 +269,8 @@ with gr.Blocks(css=CSS) as app:
 		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).")
+			coord_set_button = gr.Button("Set to current coords")
+			reset_coords_button = gr.Button("Reset coordinates")
 			with gr.Row(elem_id="nogaprow"):
 				with gr.Column(elem_id="nogapcol"):
 					xcoord = gr.Slider(value=0.0, label="X coordinate", step=1.0, minimum=-350, maximum=350)
@@ -373,6 +322,24 @@ with gr.Blocks(css=CSS) as app:
 		inputs = [user_id, xcoord, ycoord, zcoord, roll, pitch, yaw, speed_coords],
 		outputs = [response, status_text]
 	)
+	coord_set_button.click(
+		set_coords_to_current,
+		inputs = [user_id],
+		outputs = [xcoord, ycoord, zcoord, roll, pitch, yaw, status_text]
+	)
+	angle_set_button.click(
+		set_angles_to_current, 
+		inputs = [user_id],
+		outputs = [angle1, angle2, angle3, angle4, angle5, angle6, status_text]
+	)
+	reset_angle_button.click(
+		reset,
+		outputs = [angle1, angle2, angle3, angle4, angle5, angle6, speed_angles]
+	)
+	reset_coords_button.click(
+		reset,
+		outputs = [xcoord, ycoord, zcoord, roll, pitch, yaw, speed_coords]
+	)
 	enter_queue_button.click(
 		enter_queue,
 		inputs = [user_id],