added client and connected functions

app.py

@@ -1,15 +1,52 @@
 import gradio as gr
-import time
-import random
+from PIL import Image
+from client import CobotController
+from utils import get_credentials
+import json
+import uuid
 
-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()}"
+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/camera", "query/gripper",
+	"query/angles", "query/coords", "query/gripper", "query/camera",
 	"control/angles", "control/coords", "control/gripper"
 ]
 
@@ -61,26 +98,31 @@ with gr.Blocks() as app:
 			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=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
+			control_angles_group, control_coords_group, control_gripper_group, output_image,
+			output_text
 		]
 	)
 
-	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
+		outputs=[output_text, output_image]
 	)
 
 app.launch()

client.py

@@ -0,0 +1,181 @@
+# installed packages
+from PIL import Image
+import paho.mqtt.client as paho
+
+# base python packages
+import json, io, base64
+from queue import Queue
+from datetime import datetime
+import uuid
+
+def print_with_timestamp(message):
+    print(f"[{datetime.now().strftime('%b %d, %H:%M:%S')}] {message}")
+
+class CobotController:
+	user_id = str(uuid.uuid4())
+
+	def __init__(
+		self,
+		hive_mq_username: str,
+		hive_mq_password: str,
+		hive_mq_cloud: str,
+		port: int,
+		device_endpoint: str,
+		user_id: str = None
+	):
+		# setup client and response queues
+		self.client = paho.Client(client_id="", userdata=None, protocol=paho.MQTTv5)
+		self.client.tls_set()
+		self.client.username_pw_set(hive_mq_username, hive_mq_password)
+		self.client.connect(hive_mq_cloud, port)
+
+		self.response_queue = Queue()
+		def on_message(client, userdata, msg):
+			payload_dict = json.loads(msg.payload)
+			self.response_queue.put(payload_dict)
+
+		def on_connect(client, userdata, flags, rc, properties=None):
+			print_with_timestamp("Connected to HiveMQ broker...")
+
+		self.client.on_connect = on_connect
+		self.client.on_message = on_message
+		self.client.loop_start()
+		
+		# initialize user id and endpoints
+		if user_id is not None:
+			CobotController.user_id = user_id
+		self.user_id = CobotController.user_id
+
+		self.device_endpoint = device_endpoint
+		self.init_endpoint = self.device_endpoint + "/init"
+		self.publish_endpoint = self.device_endpoint + "/" + self.user_id
+		self.incoming_endpoint = self.publish_endpoint + "/response"
+		self.client.subscribe(self.incoming_endpoint, qos=2)
+
+		connected = self.check_connection_status()
+		if connected:
+			return
+
+		# send an init request
+		print_with_timestamp("Sending a connection request...")
+		pub_handle = self.client.publish(
+			self.init_endpoint,
+			payload=json.dumps({"id": self.user_id}),
+			qos=2
+		)
+		pub_handle.wait_for_publish()
+		
+		# get a response for the init message, if no response, have to wait for current users time to end
+		print_with_timestamp("Waiting for cobot access...")
+		prev_pos = None
+		while True:
+			try:
+				payload = self.response_queue.get(timeout=10)
+				if payload["status"] == "ready":
+					self.client.publish(
+						self.publish_endpoint, 
+						payload=json.dumps({"yeehaw": []}),
+						qos=2
+					)
+					print_with_timestamp("Connected to server successfully.")
+					break
+
+			except Exception as e:
+				resp = self.handle_publish_and_response(
+					payload=json.dumps({"id": self.user_id}),
+					custom_endpoint=self.device_endpoint + "/queuequery"
+				)
+				if "queue_pos" not in resp:
+					break
+				pos = resp["queue_pos"]
+				if prev_pos == None:
+					prev_pos = pos
+				elif prev_pos == pos:
+					continue
+				prev_pos = pos
+				print_with_timestamp(f"Waiting for cobot access. There are {pos - 1} users ahead of you...")
+
+	def check_connection_status(self):
+		self.client.publish(
+			self.publish_endpoint,
+			payload=json.dumps({"command":"query/angles", "args": {}}),
+			qos=2
+		)
+		try: # if we recieve any response, it means the server is currently servicing our requests
+			_ = self.response_queue.get(timeout=5)
+			return True
+		except Exception as _:
+			return False
+
+	def handle_publish_and_response(self, payload, custom_endpoint=None):
+		if custom_endpoint is None:
+			self.client.publish(self.publish_endpoint, payload=payload, qos=2)
+		else:
+			self.client.publish(custom_endpoint, payload=payload, qos=2)
+		return self.response_queue.get(block=True)
+
+	def send_angles(
+		self,
+		angle_list: list[float] = [0.0] * 6,
+		speed: int = 50
+	):
+		payload = json.dumps({"command": "control/angles",
+							 "args": {"angles": angle_list, "speed": speed}})
+		return self.handle_publish_and_response(payload)
+
+	def send_coords(
+		self,
+		coord_list: list[float] = [0.0] * 6,
+		speed: int = 50
+	):
+		payload = json.dumps({"command": "control/coords",
+							 "args": {"coords": coord_list, "speed": speed}})
+		return self.handle_publish_and_response(payload)
+
+	def send_gripper_value(
+		self,
+		value: int = 100,
+		speed: int = 50
+	):
+		payload = json.dumps({"command": "control/gripper",
+							 "args": {"gripper_value": value, "speed": speed}})
+		return self.handle_publish_and_response(payload)
+
+	def get_angles(self):
+		payload = json.dumps({"command": "query/angles", "args": {}})
+		return self.handle_publish_and_response(payload)
+
+	def get_coords(self):
+		payload = json.dumps({"command": "query/coords", "args": {}})
+		return self.handle_publish_and_response(payload)
+
+	def get_gripper_value(self):
+		payload = json.dumps({"command": "query/gripper", "args": {}})
+		return self.handle_publish_and_response(payload)
+
+	def get_camera(self, quality=100, save_path=None):
+		payload = json.dumps({"command": "query/camera", "args": {"quality": quality}})
+		response = self.handle_publish_and_response(payload)
+		if not response["success"]:
+			return response
+
+		b64_bytes = base64.b64decode(response["image"])
+		img_bytes = io.BytesIO(b64_bytes)
+		img = Image.open(img_bytes)
+
+		response["image"] = img
+		if save_path is not None:
+			img.save(save_path)
+
+		return response
+
+if __name__ == "__main__":
+	from my_secrets import *
+	
+	cobot = CobotController(
+		HIVEMQ_USERNAME,
+		HIVEMQ_PASSWORD,
+		HIVEMQ_HOST,
+		DEVICE_PORT,
+		DEVICE_ENDPOINT,
+	)