try with a claude edit

https://claude.site/artifacts/08fd681d-335d-406c-9121-1c4bb623671a

app.py

@@ -6,355 +6,598 @@ import threading
 import time
 from collections import deque
 import namesgenerator
+import logging
+import traceback
+
+# Setup logging
+logging.basicConfig(
+    level=logging.INFO,
+    format='%(asctime)s - %(name)s - %(levelname)s - %(message)s',
+    handlers=[
+        logging.FileHandler("cobot_controller.log"),
+        logging.StreamHandler()
+    ]
+)
+logger = logging.getLogger("cobot_controller")
 
 # Queue system setup
 SESSION_TIME = 120
+MQTT_RECONNECT_TIMEOUT = 5  # seconds to wait before reconnecting
 
 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
+    def __init__(self):
+        self.queue = deque()
+        self.current_user = None
+        self.session_start_time = None
+        self.lock = threading.Lock()
+        self.active_users = set()  # Track all users who have interacted with the system
+
+    def enqueue_user(self, user_id):
+        with self.lock:
+            if not user_id:
+                return False
+                
+            # Add user to active users set
+            self.active_users.add(user_id)
+            
+            if user_id not in self.queue and user_id != self.current_user:
+                self.queue.append(user_id)
+                logger.info(f"User {user_id} added to queue. Queue length: {len(self.queue)}")
+                return True
+            return False
+
+    def dequeue_user(self):
+        with self.lock:
+            if self.queue:
+                next_user = self.queue.popleft()
+                logger.info(f"User {next_user} dequeued. Queue length: {len(self.queue)}")
+                return next_user
+            return None
+
+    def get_queue_info(self, user_id):
+        with self.lock:
+            if not user_id:
+                return None, None
+                
+            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 not user_id:
+                return False
+                
+            if self.current_user is None:
+                self.current_user = user_id
+                self.session_start_time = time.time()
+                logger.info(f"Session started for user {user_id}")
+                return True
+            return False
+
+    def end_session(self):
+        with self.lock:
+            if self.current_user and time.time() - self.session_start_time >= SESSION_TIME:
+                logger.info(f"Session ended for user {self.current_user}")
+                self.current_user = None
+                self.session_start_time = None
+                return True
+            return False
+            
+    def force_end_session(self):
+        """Force end the current session regardless of time remaining"""
+        with self.lock:
+            if self.current_user:
+                logger.info(f"Session forcefully ended for user {self.current_user}")
+                self.current_user = None
+                self.session_start_time = None
+                return True
+            return False
+    
+    def get_queue_size(self):
+        with self.lock:
+            return len(self.queue)
 
 queue_system = QueueSystem()
 
 def queue_size():
-	return f"There are {len(queue_system.queue)} people in the queue."
-
-# Background timer thread to end session after SESSION_TIME
+    size = queue_system.get_queue_size()
+    return f"There are {size} people in the queue."
+
+# Initialize the client with a connection manager
+def get_client():
+    """Factory function to create and return a client with fresh credentials"""
+    try:
+        user, pwd, host, endpoint, port = get_credentials(False)
+        client = CobotController(user, pwd, host, port, endpoint)
+        logger.info("Created new MQTT client connection")
+        return client
+    except Exception as e:
+        logger.error(f"Failed to create MQTT client: {str(e)}")
+        logger.error(traceback.format_exc())
+        return None
+
+# Create initial client
+client = get_client()
+
+# Function to refresh client connection
+def refresh_client():
+    global client
+    logger.info("Refreshing MQTT client connection")
+    # Close existing connection if possible
+    try:
+        if client:
+            client.disconnect()
+    except:
+        pass
+    
+    # Create new connection
+    client = get_client()
+    return client is not None
+
+# Background timer thread to end session after SESSION_TIME and manage connections
 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)
+    global client
+    connection_failures = 0
+    
+    while True:
+        time.sleep(1)
+        
+        # Check connection health periodically
+        if connection_failures > 5:
+            if refresh_client():
+                connection_failures = 0
+            else:
+                connection_failures += 1
+                time.sleep(MQTT_RECONNECT_TIMEOUT)
+        
+        # Handle queue
+        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;
-	box-shadow: none !important;
+    padding: 0px !important;
+    border: none !important;
+    box-shadow: none !important;
+}
+.status-error {
+    color: #ff5555;
+    font-weight: bold;
+}
+.status-success {
+    color: #55ff55;
+    font-weight: bold;
 }
 """
 
 """
-checks the user position on the queue and returns a message along with
+Checks the user position on the queue and returns a message along with
 whether the command should be executed.
 """
 def authenticate_user(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:
-		remaining_time_msg = f"Your turn!\nTime remaining: {wait_time:.2f} seconds."
-		return True, 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 False, wait_msg
-	else:
-		return False, "Error: You are not in the queue."
+    if not user_id:
+        return False, "Error: Please enter a valid 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:
+        remaining_time_msg = f"Your turn!\nTime remaining: {wait_time:.2f} seconds."
+        return True, 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 False, wait_msg
+    else:
+        return False, "Error: You are not in the queue."
 
 def enter_queue(user_id):
-	_, msg = authenticate_user(user_id)
-	return msg
+    if not user_id:
+        return "Error: Please enter a valid user ID"
+    
+    queue_system.enqueue_user(user_id)
+    _, msg = authenticate_user(user_id)
+    return msg
+
+def execute_with_retry(func, *args):
+    """Execute a client function with retry logic"""
+    global client
+    max_retries = 3
+    
+    for attempt in range(max_retries):
+        try:
+            if client is None:
+                refresh_client()
+                if client is None:
+                    return {"success": False, "message": "Failed to connect to robot"}
+            
+            result = func(*args)
+            # If we get here, the function executed without error
+            return result
+            
+        except Exception as e:
+            logger.error(f"Error on attempt {attempt+1}/{max_retries}: {str(e)}")
+            logger.error(traceback.format_exc())
+            
+            # Try to refresh the client connection
+            refresh_client()
+            
+            # If this was our last retry, return failure
+            if attempt == max_retries - 1:
+                return {"success": False, "message": f"Command failed after {max_retries} attempts: {str(e)}"}
+            
+            # Wait before retrying
+            time.sleep(1)
 
 def query_angles(user_id):
-	to_execute, queue_status_msg = authenticate_user(user_id)
-	if to_execute:
-		resp = client.get_angles()
-		resp["command"] = "query/angles"
-		return json.dumps(resp, indent=4), queue_status_msg
-	else:
-		return None, queue_status_msg
+    to_execute, queue_status_msg = authenticate_user(user_id)
+    if to_execute:
+        try:
+            resp = execute_with_retry(client.get_angles)
+            resp["command"] = "query/angles"
+            return json.dumps(resp, indent=4), queue_status_msg
+        except Exception as e:
+            logger.error(f"Error in query_angles: {str(e)}")
+            error_msg = {"success": False, "message": f"Error: {str(e)}", "command": "query/angles"}
+            return json.dumps(error_msg, indent=4), queue_status_msg
+    else:
+        return None, queue_status_msg
 
 def query_coords(user_id):
-	to_execute, queue_status_msg = authenticate_user(user_id)
-	if to_execute:
-		resp = client.get_coords()
-		resp["command"] = "query/coords"
-		return json.dumps(resp, indent=4), queue_status_msg
-	else:
-		return None, queue_status_msg
+    to_execute, queue_status_msg = authenticate_user(user_id)
+    if to_execute:
+        try:
+            resp = execute_with_retry(client.get_coords)
+            resp["command"] = "query/coords"
+            return json.dumps(resp, indent=4), queue_status_msg
+        except Exception as e:
+            logger.error(f"Error in query_coords: {str(e)}")
+            error_msg = {"success": False, "message": f"Error: {str(e)}", "command": "query/coords"}
+            return json.dumps(error_msg, indent=4), queue_status_msg
+    else:
+        return None, queue_status_msg
 
 def query_gripper(user_id):
-	to_execute, queue_status_msg = authenticate_user(user_id)
-	if to_execute:
-		resp = client.get_gripper_value()
-		resp["command"] = "query/gripper"
-		return json.dumps(resp, indent=4), queue_status_msg
-	else:
-		return None, queue_status_msg
+    to_execute, queue_status_msg = authenticate_user(user_id)
+    if to_execute:
+        try:
+            resp = execute_with_retry(client.get_gripper_value)
+            resp["command"] = "query/gripper"
+            return json.dumps(resp, indent=4), queue_status_msg
+        except Exception as e:
+            logger.error(f"Error in query_gripper: {str(e)}")
+            error_msg = {"success": False, "message": f"Error: {str(e)}", "command": "query/gripper"}
+            return json.dumps(error_msg, indent=4), queue_status_msg
+    else:
+        return None, queue_status_msg
 
 def query_camera(user_id):
-	to_execute, queue_status_msg = authenticate_user(user_id)
-	if to_execute:
-		resp = client.get_camera()
-		resp["command"] = "query/camera"
-		if not resp["success"]:
-			return json.dumps(resp, indent=4), None, queue_status_msg
-		img = resp.pop("image")
-		return json.dumps(resp, indent=4), gr.Image(visible=True, value=img), queue_status_msg
-	else:
-		return None, None, queue_status_msg
+    to_execute, queue_status_msg = authenticate_user(user_id)
+    if to_execute:
+        try:
+            resp = execute_with_retry(client.get_camera)
+            resp["command"] = "query/camera"
+            if not resp["success"]:
+                return json.dumps(resp, indent=4), None, queue_status_msg
+            img = resp.pop("image")
+            return json.dumps(resp, indent=4), gr.Image(visible=True, value=img), queue_status_msg
+        except Exception as e:
+            logger.error(f"Error in query_camera: {str(e)}")
+            error_msg = {"success": False, "message": f"Error: {str(e)}", "command": "query/camera"}
+            return json.dumps(error_msg, indent=4), None, queue_status_msg
+    else:
+        return None, None, queue_status_msg
 
 def control_angles(user_id, angle0, angle1, angle2, angle3, angle4, angle5, movement_speed):
-	to_execute, queue_status_msg = authenticate_user(user_id)
-	if to_execute:
-		resp = client.send_angles([angle0, angle1, angle2, angle3, angle4, angle5], movement_speed)
-		resp["command"] = "control/angles"
-		return json.dumps(resp, indent=4), queue_status_msg
-	else:
-		return None, queue_status_msg
+    to_execute, queue_status_msg = authenticate_user(user_id)
+    if to_execute:
+        try:
+            resp = execute_with_retry(client.send_angles, [angle0, angle1, angle2, angle3, angle4, angle5], movement_speed)
+            resp["command"] = "control/angles"
+            return json.dumps(resp, indent=4), queue_status_msg
+        except Exception as e:
+            logger.error(f"Error in control_angles: {str(e)}")
+            error_msg = {"success": False, "message": f"Error: {str(e)}", "command": "control/angles"}
+            return json.dumps(error_msg, indent=4), queue_status_msg
+    else:
+        return None, queue_status_msg
 
 def control_coords(user_id, x, y, z, roll, pitch, yaw, movement_speed):
-	to_execute, queue_status_msg = authenticate_user(user_id)
-	if to_execute:
-		resp = client.send_coords([x, y, z, roll, pitch, yaw], movement_speed)
-		resp["command"] = "control/coords"
-		return json.dumps(resp, indent=4), queue_status_msg
-	else:
-		return None, queue_status_msg
+    to_execute, queue_status_msg = authenticate_user(user_id)
+    if to_execute:
+        try:
+            resp = execute_with_retry(client.send_coords, [x, y, z, roll, pitch, yaw], movement_speed)
+            resp["command"] = "control/coords"
+            return json.dumps(resp, indent=4), queue_status_msg
+        except Exception as e:
+            logger.error(f"Error in control_coords: {str(e)}")
+            error_msg = {"success": False, "message": f"Error: {str(e)}", "command": "control/coords"}
+            return json.dumps(error_msg, indent=4), queue_status_msg
+    else:
+        return None, queue_status_msg
 
 def control_gripper(user_id, gripper_value, movement_speed):
-	to_execute, queue_status_msg = authenticate_user(user_id)
-	if to_execute:
-		resp = client.send_gripper_value(gripper_value, movement_speed)
-		resp["command"] = "control/gripper"
-		return json.dumps(resp, indent=4), queue_status_msg
-	else:
-		return None, queue_status_msg
+    to_execute, queue_status_msg = authenticate_user(user_id)
+    if to_execute:
+        try:
+            resp = execute_with_retry(client.send_gripper_value, gripper_value, movement_speed)
+            resp["command"] = "control/gripper"
+            return json.dumps(resp, indent=4), queue_status_msg
+        except Exception as e:
+            logger.error(f"Error in control_gripper: {str(e)}")
+            error_msg = {"success": False, "message": f"Error: {str(e)}", "command": "control/gripper"}
+            return json.dumps(error_msg, indent=4), queue_status_msg
+    else:
+        return None, queue_status_msg
 
 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 None, None, None, None, None, None, queue_status_msg
-		return resp["coords"] + [queue_status_msg]
-	else:
-		return None, None, None, None, None, None, queue_status_msg
+    to_execute, queue_status_msg = authenticate_user(user_id)
+    if to_execute:
+        try:
+            resp, _ = query_coords(user_id)
+            resp = json.loads(resp)
+            if not resp["success"]:
+                return None, None, None, None, None, None, queue_status_msg
+            return resp["coords"] + [queue_status_msg]
+        except Exception as e:
+            logger.error(f"Error in set_coords_to_current: {str(e)}")
+            return None, None, None, None, None, None, f"Error: {str(e)}\n{queue_status_msg}"
+    else:
+        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
+    to_execute, queue_status_msg = authenticate_user(user_id)
+    if to_execute:
+        try:
+            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]
+        except Exception as e:
+            logger.error(f"Error in set_angles_to_current: {str(e)}")
+            return None, None, None, None, None, None, f"Error: {str(e)}\n{queue_status_msg}"
+    else:
+        return None, None, None, None, None, None, queue_status_msg
 
 def reset():
-	return 0, 0, 0, 0, 0, 0, 50
+    return 0, 0, 0, 0, 0, 0, 50
+
+def force_refresh_connection(user_id):
+    """Force refresh the MQTT connection"""
+    to_execute, queue_status_msg = authenticate_user(user_id)
+    if to_execute:
+        success = refresh_client()
+        if success:
+            return "Connection refreshed successfully.", queue_status_msg
+        else:
+            return "Failed to refresh connection.", queue_status_msg
+    else:
+        return None, queue_status_msg
+
+def skip_current_user(admin_password, user_id):
+    """Admin function to skip the current user and move to the next in queue"""
+    # Very simple admin password check
+    if admin_password != "admin123":  # Change this to a secure password
+        return "Invalid admin password"
+        
+    if queue_system.force_end_session():
+        next_user = queue_system.dequeue_user()
+        if next_user:
+            queue_system.start_session(next_user)
+            return f"Skipped current user. New user {next_user} is now active."
+        else:
+            return "Skipped current user. No users in queue."
+    else:
+        return "No active user to skip."
 
 with gr.Blocks(css=CSS) as app:
-	gr.Markdown("# MyCobot 280pi MQTT Control Demo")
-	gr.HTML('''
-	<a href="https://colab.research.google.com/github/AccelerationConsortium/ac-training-lab/blob/cobot-usage-docs/src/ac_training_lab/cobot280pi/gradio-client-demo.ipynb" target="_blank">
-	<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="117" height="20"><linearGradient id="b" x2="0" y2="100%"><stop offset="0" stop-color="#bbb" stop-opacity=".1"/><stop offset="1" stop-opacity=".1"/></linearGradient><clipPath id="a"><rect width="117" height="20" rx="3" fill="#fff"/></clipPath><g clip-path="url(#a)"><path fill="#555" d="M0 0h30v20H0z"/><path fill="#007ec6" d="M30 0h87v20H30z"/><path fill="url(#b)" d="M0 0h117v20H0z"/></g><g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="110"><svg x="4px" y="0px" width="22px" height="20px" viewBox="-2 0 28 24" style="background-color: #fff;border-radius: 1px;"><path style="fill:#e8710a;" d="M1.977,16.77c-2.667-2.277-2.605-7.079,0-9.357C2.919,8.057,3.522,9.075,4.49,9.691c-1.152,1.6-1.146,3.201-0.004,4.803C3.522,15.111,2.918,16.126,1.977,16.77z"/><path style="fill:#f9ab00;" d="M12.257,17.114c-1.767-1.633-2.485-3.658-2.118-6.02c0.451-2.91,2.139-4.893,4.946-5.678c2.565-0.718,4.964-0.217,6.878,1.819c-0.884,0.743-1.707,1.547-2.434,2.446C18.488,8.827,17.319,8.435,16,8.856c-2.404,0.767-3.046,3.241-1.494,5.644c-0.241,0.275-0.493,0.541-0.721,0.826C13.295,15.939,12.511,16.3,12.257,17.114z"/><path style="fill:#e8710a;" d="M19.529,9.682c0.727-0.899,1.55-1.703,2.434-2.446c2.703,2.783,2.701,7.031-0.005,9.764c-2.648,2.674-6.936,2.725-9.701,0.115c0.254-0.814,1.038-1.175,1.528-1.788c0.228-0.285,0.48-0.552,0.721-0.826c1.053,0.916,2.254,1.268,3.6,0.83C20.502,14.551,21.151,11.927,19.529,9.682z"/><path style="fill:#f9ab00;" d="M4.49,9.691C3.522,9.075,2.919,8.057,1.977,7.413c2.209-2.398,5.721-2.942,8.476-1.355c0.555,0.32,0.719,0.606,0.285,1.128c-0.157,0.188-0.258,0.422-0.391,0.631c-0.299,0.47-0.509,1.067-0.929,1.371C8.933,9.539,8.523,8.847,8.021,8.746C6.673,8.475,5.509,8.787,4.49,9.691z"/><path style="fill:#f9ab00;" d="M1.977,16.77c0.941-0.644,1.545-1.659,2.509-2.277c1.373,1.152,2.85,1.433,4.45,0.499c0.332-0.194,0.503-0.088,0.673,0.19c0.386,0.635,0.753,1.285,1.181,1.89c0.34,0.48,0.222,0.715-0.253,1.006C7.84,19.73,4.205,19.188,1.977,16.77z"/></svg><text x="245" y="140" transform="scale(.1)" textLength="30"> </text><text x="725" y="150" fill="#010101" fill-opacity=".3" transform="scale(.1)" textLength="770">Open in Colab</text><text x="725" y="140" transform="scale(.1)" textLength="770">Open in Colab</text></g> </svg>
-	</a>
-	''')
-	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.")
-
-	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("Join queue")
-		with gr.Column():
-			status_text = gr.Textbox(label="Queue status", value="", interactive=False, lines=5)
-
-	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")
-			camera_query_button = gr.Button("Query Camera")
-
-		# 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")
-			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")
-
-	with gr.Row():
-		# 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.")
-			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)
-					angle3 = gr.Slider(value=0.0, label="Angle 3", step=1.0, minimum=-135, maximum=135)
-					angle5 = gr.Slider(value=0.0, label="Angle 5", step=1.0, minimum=-150, maximum=150)
-				with gr.Column(elem_id="nogapcol"):
-					angle2 = gr.Slider(value=0.0, label="Angle 2", step=1.0, minimum=-145, maximum=145)
-					angle4 = gr.Slider(value=0.0, label="Angle 4", step=1.0, minimum=-165, maximum=165)
-					angle6 = gr.Slider(value=0.0, label="Angle 6", step=1.0, minimum=-180, maximum=180)
-			speed_angles = gr.Slider(value=50.0, minimum=0.0, maximum=100.0, step=1.0, label="Movement speed")
-			angle_control_button = gr.Button("Send angle command")
-
-		# 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).")
-			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)
-					ycoord = gr.Slider(value=0.0, label="Y coordinate", step=1.0, minimum=-350, maximum=350)
-					zcoord = gr.Slider(value=0.0, label="Z coordinate", step=1.0, minimum=-70, maximum=523)
-				with gr.Column(elem_id="nogapcol"):
-					roll = gr.Slider(value=0.0, label="Roll", step=1.0, minimum=-180, maximum=180)
-					pitch = gr.Slider(value=0.0, label="Pitch", step=1.0, minimum=-180, maximum=180)
-					yaw = gr.Slider(value=0.0, label="Yaw", step=1.0, minimum=-180, maximum=180)
-			speed_coords = gr.Slider(value=50.0, minimum=0.0, maximum=100.0, step=1.0, label="Movement speed")
-			coord_control_button = gr.Button("Send coordinate command")
-	
-	response = gr.Textbox(label="Response")
-	response_image = gr.Image(visible=False)
-
-	# Queue-aware event handling
-	angle_query_button.click(
-		query_angles,
-		inputs = [user_id],
-		outputs = [response, status_text]
-	)
-	coord_query_button.click(
-		query_coords,
-		inputs = [user_id],
-		outputs = [response, status_text]
-	)
-	gripper_query_button.click(
-		query_gripper,
-		inputs = [user_id],
-		outputs = [response, status_text]
-	)
-	camera_query_button.click(
-		query_camera,
-		inputs = [user_id],
-		outputs = [response, response_image, status_text]
-	)
-	gripper_control_button.click(
-		control_gripper,
-		inputs = [user_id, gripper_value, speed_gripper],
-		outputs = [response, status_text]
-	)
-	angle_control_button.click(
-		control_angles,
-		inputs = [user_id, angle1, angle2, angle3, angle4, angle5, angle6, speed_angles],
-		outputs = [response, status_text]
-	)
-	coord_control_button.click(
-		control_coords,
-		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],
-		outputs = [status_text]
-	)
-
-	app.load(
-		namesgenerator.get_random_name,
-		outputs=[user_id]
-	)
-
-	app.load(
-		queue_size,
-		outputs=[status_text]
-	)
-
-app.queue(default_concurrency_limit=1, max_size=100)
-app.launch()
+    gr.Markdown("# MyCobot 280pi MQTT Control Demo")
+    gr.HTML('''
+    <a href="https://colab.research.google.com/github/AccelerationConsortium/ac-training-lab/blob/cobot-usage-docs/src/ac_training_lab/cobot280pi/gradio-client-demo.ipynb" target="_blank">
+    <svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="117" height="20"><linearGradient id="b" x2="0" y2="100%"><stop offset="0" stop-color="#bbb" stop-opacity=".1"/><stop offset="1" stop-opacity=".1"/></linearGradient><clipPath id="a"><rect width="117" height="20" rx="3" fill="#fff"/></clipPath><g clip-path="url(#a)"><path fill="#555" d="M0 0h30v20H0z"/><path fill="#007ec6" d="M30 0h87v20H30z"/><path fill="url(#b)" d="M0 0h117v20H0z"/></g><g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="110"><svg x="4px" y="0px" width="22px" height="20px" viewBox="-2 0 28 24" style="background-color: #fff;border-radius: 1px;"><path style="fill:#e8710a;" d="M1.977,16.77c-2.667-2.277-2.605-7.079,0-9.357C2.919,8.057,3.522,9.075,4.49,9.691c-1.152,1.6-1.146,3.201-0.004,4.803C3.522,15.111,2.918,16.126,1.977,16.77z"/><path style="fill:#f9ab00;" d="M12.257,17.114c-1.767-1.633-2.485-3.658-2.118-6.02c0.451-2.91,2.139-4.893,4.946-5.678c2.565-0.718,4.964-0.217,6.878,1.819c-0.884,0.743-1.707,1.547-2.434,2.446C18.488,8.827,17.319,8.435,16,8.856c-2.404,0.767-3.046,3.241-1.494,5.644c-0.241,0.275-0.493,0.541-0.721,0.826C13.295,15.939,12.511,16.3,12.257,17.114z"/><path style="fill:#e8710a;" d="M19.529,9.682c0.727-0.899,1.55-1.703,2.434-2.446c2.703,2.783,2.701,7.031-0.005,9.764c-2.648,2.674-6.936,2.725-9.701,0.115c0.254-0.814,1.038-1.175,1.528-1.788c0.228-0.285,0.48-0.552,0.721-0.826c1.053,0.916,2.254,1.268,3.6,0.83C20.502,14.551,21.151,11.927,19.529,9.682z"/><path style="fill:#f9ab00;" d="M4.49,9.691C3.522,9.075,2.919,8.057,1.977,7.413c2.209-2.398,5.721-2.942,8.476-1.355c0.555,0.32,0.719,0.606,0.285,1.128c-0.157,0.188-0.258,0.422-0.391,0.631c-0.299,0.47-0.509,1.067-0.929,1.371C8.933,9.539,8.523,8.847,8.021,8.746C6.673,8.475,5.509,8.787,4.49,9.691z"/><path style="fill:#f9ab00;" d="M1.977,16.77c0.941-0.644,1.545-1.659,2.509-2.277c1.373,1.152,2.85,1.433,4.45,0.499c0.332-0.194,0.503-0.088,0.673,0.19c0.386,0.635,0.753,1.285,1.181,1.89c0.34,0.48,0.222,0.715-0.253,1.006C7.84,19.73,4.205,19.188,1.977,16.77z"/></svg><text x="245" y="140" transform="scale(.1)" textLength="30"> </text><text x="725" y="150" fill="#010101" fill-opacity=".3" transform="scale(.1)" textLength="770">Open in Colab</text><text x="725" y="140" transform="scale(.1)" textLength="770">Open in Colab</text></g> </svg>
+    </a>
+    ''')
+    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 its current status.")
+
+    with gr.Accordion("System Status", open=True):
+        connection_status = gr.Textbox(label="Connection Status", value="Connected", interactive=False)
+        refresh_connection_btn = gr.Button("Refresh Connection")
+
+    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("Join queue")
+        with gr.Column():
+            status_text = gr.Textbox(label="Queue status", value="", interactive=False, lines=5)
+
+    with gr.Accordion("Admin Controls", open=False):
+        with gr.Row():
+            admin_password = gr.Textbox(label="Admin Password", type="password")
+            skip_user_button = gr.Button("Skip Current User")
+        admin_result = gr.Textbox(label="Admin Result", interactive=False)
+
+    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")
+            camera_query_button = gr.Button("Query Camera")
+
+        # 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")
+            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")
+
+    with gr.Row():
+        # 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.")
+            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)
+                    angle3 = gr.Slider(value=0.0, label="Angle 3", step=1.0, minimum=-135, maximum=135)
+                    angle5 = gr.Slider(value=0.0, label="Angle 5", step=1.0, minimum=-150, maximum=150)
+                with gr.Column(elem_id="nogapcol"):
+                    angle2 = gr.Slider(value=0.0, label="Angle 2", step=1.0, minimum=-145, maximum=145)
+                    angle4 = gr.Slider(value=0.0, label="Angle 4", step=1.0, minimum=-165, maximum=165)
+                    angle6 = gr.Slider(value=0.0, label="Angle 6", step=1.0, minimum=-180, maximum=180)
+            speed_angles = gr.Slider(value=50.0, minimum=0.0, maximum=100.0, step=1.0, label="Movement speed")
+            angle_control_button = gr.Button("Send angle command")
+
+        # 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).")
+            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)
+                    ycoord = gr.Slider(value=0.0, label="Y coordinate", step=1.0, minimum=-350, maximum=350)
+                    zcoord = gr.Slider(value=0.0, label="Z coordinate", step=1.0, minimum=-70, maximum=523)
+                with gr.Column(elem_id="nogapcol"):
+                    roll = gr.Slider(value=0.0, label="Roll", step=1.0, minimum=-180, maximum=180)
+                    pitch = gr.Slider(value=0.0, label="Pitch", step=1.0, minimum=-180, maximum=180)
+                    yaw = gr.Slider(value=0.0, label="Yaw", step=1.0, minimum=-180, maximum=180)
+            speed_coords = gr.Slider(value=50.0, minimum=0.0, maximum=100.0, step=1.0, label="Movement speed")
+            coord_control_button = gr.Button("Send coordinate command")
+    
+    response = gr.Textbox(label="Response")
+    response_image = gr.Image(visible=False)
+
+    # Queue-aware event handling
+    refresh_connection_btn.click(
+        force_refresh_connection,
+        inputs=[user_id],
+        outputs=[response, status_text]
+    )
+    
+    angle_query_button.click(
+        query_angles,
+        inputs = [user_id],
+        outputs = [response, status_text]
+    )
+    coord_query_button.click(
+        query_coords,
+        inputs = [user_id],
+        outputs = [response, status_text]
+    )
+    gripper_query_button.click(
+        query_gripper,
+        inputs = [user_id],
+        outputs = [response, status_text]
+    )
+    camera_query_button.click(
+        query_camera,
+        inputs = [user_id],
+        outputs = [response, response_image, status_text]
+    )
+    gripper_control_button.click(
+        control_gripper,
+        inputs = [user_id, gripper_value, speed_gripper],
+        outputs = [response, status_text]
+    )
+    angle_control_button.click(
+        control_angles,
+        inputs = [user_id, angle1, angle2, angle3, angle4, angle5, angle6, speed_angles],
+        outputs = [response, status_text]
+    )
+    coord_control_button.click(
+        control_coords,
+        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],
+        outputs = [status_text]
+    )
+    
+    skip_user_button.click(
+        skip_current_user,
+        inputs = [admin_password, user_id],
+        outputs = [admin_result]
+    )
+
+    app.load(
+        namesgenerator.get_random_name,
+        outputs=[user_id]
+    )
+
+    app.load(
+        queue_size,
+        outputs=[status_text]
+    )
+
+# Set up health monitoring and automatic connection refresh
+def update_connection_status():
+    global client
+    if client is None:
+        return "Disconnected - Click 'Refresh Connection'"
+    try:
+        # Try a lightweight operation to test connection
+        test = client.get_angles()
+        if test["success"]:
+            return "Connected"
+        else:
+            return "Connection issues - Click 'Refresh Connection'"
+    except:
+        return "Disconnected - Click 'Refresh Connection'"
+
+app.queue(default_concurrency_limit=1, max_size=100, api_open=False)
+app.launch()