added all

.gitignore

@@ -0,0 +1,2 @@
+__pycache__/
+runner.py

app.py

@@ -1,282 +1,86 @@
 import gradio as gr
-import paho.mqtt.client as mqtt
-import queue, json, base64, io, os
-from PIL import Image
+import time
+import random
 
-def create_paho_client(tls=True):
-    client = mqtt.Client(client_id="", userdata=None, protocol=mqtt.MQTTv5)
-    if tls:
-        client.tls_set(tls_version=mqtt.ssl.PROTOCOL_TLS_CLIENT)
-    return client
+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()}"
 
-def setup_paho_client(client, username, password, cloud, port, device_id, response_queue):
-    def on_message(client, userdata, msg):
-        payload_dict = json.loads(msg.payload)
-        response_queue.put(payload_dict)
-    
-    client.username_pw_set(username, password)
-    client.connect(cloud, port)
-    client.subscribe(device_id + "/response")
-    client.on_message = on_message
-    client.loop_start()
+options = [
+	"query/angles", "query/coords", "query/camera", "query/gripper",
+	"control/angles", "control/coords", "control/gripper"
+]
 
-def publish_and_wait(client, device_id, payload, response_queue):
-    client.publish(device_id, payload=json.dumps(payload), qos=2)
-    try:
-        response = response_queue.get(block=True, timeout=10)
-    except queue.Empty:
-        response = None
-    return response
+with gr.Blocks() as app:
+	gr.Markdown("# MyCobot 280pi MQTT Control demo")
+	gr.Markdown("This is a public demo of the MyCobot 280pi...")
 
-def handle_image_display(image):
-    b64_bytes = base64.b64decode(image)
-    img_bytes = io.BytesIO(b64_bytes)
-    img = Image.open(img_bytes)
-    return img
+	selected_command = gr.Dropdown(choices=options, label="Select command")
 
-with gr.Blocks() as demo:
-    gr.Markdown("# MyCobot280 Pi Control Demo")
-    
-    gr.Markdown("""
-        This app is a public demo of ...
-    """)
-    
-    use_own_creds = gr.Checkbox(label="Use custom broker", value=False)
-    
-    # Placeholders for credentials inputs
-    HIVEMQ_USERNAME = gr.Textbox(label="HIVEMQ Username", type="password", visible=False)
-    HIVEMQ_PASSWORD = gr.Textbox(label="HIVEMQ Password", type="password", visible=False)
-    HIVEMQ_HOST = gr.Textbox(label="HIVEMQ Host", visible=False)
-    DEVICE_ID = gr.Textbox(label="Device ID", visible=False)
-    PORT = gr.Number(label="Port", value=8883, visible=False)
-    
-    # Define function to update visibility of credential inputs
-    def toggle_credentials(use_own_creds):
-        visible = use_own_creds
-        return {
-            HIVEMQ_USERNAME: gr.update(visible=visible),
-            HIVEMQ_PASSWORD: gr.update(visible=visible),
-            HIVEMQ_HOST: gr.update(visible=visible),
-            DEVICE_ID: gr.update(visible=visible),
-            PORT: gr.update(visible=visible)
-        }
-    
-    use_own_creds.change(fn=toggle_credentials, inputs=use_own_creds, outputs=[HIVEMQ_USERNAME, HIVEMQ_PASSWORD, HIVEMQ_HOST, DEVICE_ID, PORT])
-    
-    # Commands
-    gr.Markdown("## Commands")
-    commands = [
-        "query/angles", 
-        "query/coords", 
-        "query/gripper",
-        "query/camera",
-        "control/angles",
-        "control/coords",
-        "control/gripper"
-    ]
-    selected_command = gr.Dropdown(choices=commands, label="Select command")
-    
-    # Placeholder for command arguments
-    # We'll need to conditionally display inputs based on the selected command
-    
-    # Create a dictionary to store argument inputs for each command
-    command_args = {}
-    # For each command, define the inputs required
-    with gr.Column(visible=False) as query_camera_args:
-        quality = gr.Slider(label="Image quality", minimum=1, maximum=100, value=50)
-    command_args["query/camera"] = [quality]
-    
-    # Similarly for other commands
-    with gr.Column(visible=False) as control_angles_args:
-        angle_1 = gr.Number(label="Angle 1", value=0.0)
-        angle_2 = gr.Number(label="Angle 2", value=0.0)
-        angle_3 = gr.Number(label="Angle 3", value=0.0)
-        angle_4 = gr.Number(label="Angle 4", value=0.0)
-        angle_5 = gr.Number(label="Angle 5", value=0.0)
-        angle_6 = gr.Number(label="Angle 6", value=0.0)
-        speed_angles = gr.Slider(label="Speed", minimum=1, maximum=100, value=50)
-    command_args["control/angles"] = [angle_1, angle_2, angle_3, angle_4, angle_5, angle_6, speed_angles]
-    
-    with gr.Column(visible=False) as control_coords_args:
-        x = gr.Number(label="x", value=0.0)
-        y = gr.Number(label="y", value=0.0)
-        z = gr.Number(label="z", value=0.0)
-        rx = gr.Number(label="rx (Rotation x)", value=0.0)
-        ry = gr.Number(label="ry (Rotation y)", value=0.0)
-        rz = gr.Number(label="rz (Rotation z)", value=0.0)
-        speed_coords = gr.Slider(label="Speed", minimum=1, maximum=100, value=50)
-    command_args["control/coords"] = [x, y, z, rx, ry, rz, speed_coords]
-    
-    with gr.Column(visible=False) as control_gripper_args:
-        gripper_value = gr.Slider(label="Gripper value", minimum=1, maximum=100, value=50)
-        speed_gripper = gr.Slider(label="Speed", minimum=1, maximum=100, value=50)
-    command_args["control/gripper"] = [gripper_value, speed_gripper]
-    
-    # Define function to update visibility of argument inputs based on selected command
-    def update_args(selected_command):
-        # First, set all arg groups to be hidden
-        updates = {
-            query_camera_args: gr.update(visible=False),
-            control_angles_args: gr.update(visible=False),
-            control_coords_args: gr.update(visible=False),
-            control_gripper_args: gr.update(visible=False)
-        }
-        if selected_command == "query/camera":
-            updates[query_camera_args] = gr.update(visible=True)
-        elif selected_command == "control/angles":
-            updates[control_angles_args] = gr.update(visible=True)
-        elif selected_command == "control/coords":
-            updates[control_coords_args] = gr.update(visible=True)
-        elif selected_command == "control/gripper":
-            updates[control_gripper_args] = gr.update(visible=True)
-        return [updates[query_camera_args], updates[control_angles_args], updates[control_coords_args], updates[control_gripper_args]]
-    
-    selected_command.change(fn=update_args, inputs=selected_command, outputs=[query_camera_args, control_angles_args, control_coords_args, control_gripper_args])
-    
-    # Now, define a "Send Command" button
-    send_command_button = gr.Button("Send Command")
-    
-    # Placeholder for displaying payload and response
-    payload_display = gr.Markdown()
-    response_display = gr.Markdown()
-    image_display = gr.Image()
-    
-    # Define state variables
-    client_state = gr.State(None)
-    response_queue_state = gr.State(None)
-    previous_credentials_state = gr.State({"username": None, "password": None, "host": None, "device_id": None, "port": None})
-    
-    # Define function to handle send command
-    def send_command(use_own_creds, username, password, host, device_id, port, selected_command, 
-                     quality, angle_1, angle_2, angle_3, angle_4, angle_5, angle_6, speed_angles, 
-                     x, y, z, rx, ry, rz, speed_coords, gripper_value, speed_gripper,
-                     client_state, response_queue_state, previous_credentials_state):
-        # Prepare args based on selected_command
-        args = {}
-        if selected_command == "query/angles":
-            pass
-        elif selected_command == "query/coords":
-            pass
-        elif selected_command == "query/gripper":
-            pass
-        elif selected_command == "query/camera":
-            args = {"quality": quality}
-        elif selected_command == "control/angles":
-            args = {"angles": [angle_1, angle_2, angle_3, angle_4, angle_5, angle_6], "speed": speed_angles}
-        elif selected_command == "control/coords":
-            args = {"coords": [x, y, z, rx, ry, rz], "speed": speed_coords}
-        elif selected_command == "control/gripper":
-            args = {"gripper_value": gripper_value, "speed": speed_gripper}
-        else:
-            pass  # Handle invalid command
-        
-        # Get credentials
-        if use_own_creds:
-            HIVEMQ_USERNAME = username
-            HIVEMQ_PASSWORD = password
-            HIVEMQ_HOST = host
-            DEVICE_ID = device_id
-            PORT = port
-        else:
-            HIVEMQ_USERNAME = os.environ.get("HIVEMQ_USERNAME")
-            HIVEMQ_PASSWORD = os.environ.get("HIVEMQ_PASSWORD")
-            HIVEMQ_HOST = os.environ.get("HIVEMQ_HOST")
-            DEVICE_ID = os.environ.get("DEVICE_ID")
-            PORT = int(os.environ.get("PORT", 8883))
-        
-        # Check if client is already connected and credentials haven't changed
-        if client_state is not None:
-            credentials_changed = (
-                previous_credentials_state['username'] != HIVEMQ_USERNAME or
-                previous_credentials_state['password'] != HIVEMQ_PASSWORD or
-                previous_credentials_state['host'] != HIVEMQ_HOST or
-                previous_credentials_state['device_id'] != DEVICE_ID or
-                previous_credentials_state['port'] != PORT
-            )
-            if credentials_changed:
-                client_state.disconnect()
-                client_state = None
-        
-        if client_state is None:
-            response_queue = queue.Queue()
-            client = create_paho_client()
-            try:
-                setup_paho_client(
-                    client,
-                    HIVEMQ_USERNAME,
-                    HIVEMQ_PASSWORD,
-                    HIVEMQ_HOST,
-                    PORT,
-                    DEVICE_ID,
-                    response_queue
-                )
-            except Exception as e:
-                payload_md = ""
-                response_md = f"### Error\nFailed to connect to broker: {e}"
-                return payload_md, response_md, None, client_state, response_queue_state, previous_credentials_state
-    
-            client_state = client
-            response_queue_state = response_queue
-            previous_credentials_state = {
-                'username': HIVEMQ_USERNAME,
-                'password': HIVEMQ_PASSWORD,
-                'host': HIVEMQ_HOST,
-                'device_id': DEVICE_ID,
-                'port': PORT
-            }
-        else:
-            client = client_state
-            response_queue = response_queue_state
-        
-        # Prepare payload
-        payload = {"command": selected_command, "args": args}
-        payload_md = f"### Payload\n```json\n{json.dumps(payload, indent=2)}\n```"
-        
-        # Publish and wait for response
-        response = publish_and_wait(
-            client,
-            DEVICE_ID,
-            payload,
-            response_queue
-        )
-        
-        # Prepare response display
-        if response is not None:
-            if "image" in response:
-                image_b64 = response.pop("image")
-                img = handle_image_display(image_b64)
-                response_md = f"### Response\n```json\n{json.dumps(response, indent=2)}\n```"
-                return payload_md, response_md, img, client_state, response_queue_state, previous_credentials_state
-            else:
-                response_md = f"### Response\n```json\n{json.dumps(response, indent=2)}\n```"
-                return payload_md, response_md, None, client_state, response_queue_state, previous_credentials_state
-        else:
-            response_md = "### Response\nTimed out waiting for response. Is the on-device server running?"
-            return payload_md, response_md, None, client_state, response_queue_state, previous_credentials_state
-        
-    # Now, set up the function to be called when the "Send Command" button is clicked
-    send_command_button.click(
-        fn=send_command,
-        inputs=[
-            use_own_creds,
-            HIVEMQ_USERNAME,
-            HIVEMQ_PASSWORD,
-            HIVEMQ_HOST,
-            DEVICE_ID,
-            PORT,
-            selected_command,
-            quality,
-            angle_1, angle_2, angle_3, angle_4, angle_5, angle_6, speed_angles,
-            x, y, z, rx, ry, rz, speed_coords,
-            gripper_value, speed_gripper,
-            client_state, response_queue_state, previous_credentials_state
-        ],
-        outputs=[
-            payload_display,
-            response_display,
-            image_display,
-            client_state, response_queue_state, previous_credentials_state
-        ]
-    )
+	with gr.Group(visible=False) as query_angles_group:
+		pass
 
-demo.launch()
+	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)

utils.py

@@ -0,0 +1,31 @@
+import io, sys, os
+import gradio as gr
+import time
+import sys
+import io
+
+def display_log_window():
+    def display_stdout():
+        while True:
+            yield stdout_buffer.getvalue()
+            time.sleep(1)
+
+    with gr.Blocks() as demo:
+        with gr.Row():
+            with gr.Column(visible=True) as sidebar:
+                output = gr.Textbox(interactive=False, lines=10, max_lines=20, show_label=False, elem_classes="log-window")
+                demo.load(display_stdout, outputs=output)
+
+    demo.queue().launch(server_port=9000)
+
+    stdout_buffer = io.StringIO()
+    sys.stdout = stdout_buffer
+
+
+def get_credentials(use_own_creds: bool):
+	HIVEMQ_USERNAME = os.environ.get("HIVEMQ_USERNAME")
+	HIVEMQ_PASSWORD = os.environ.get("HIVEMQ_PASSWORD")
+	HIVEMQ_HOST = os.environ.get("HIVEMQ_HOST")
+	DEVICE_ENDPOINT = os.environ.get("DEVICE_ID")
+	PORT = int(os.environ.get("PORT", 8883))
+	return HIVEMQ_USERNAME, HIVEMQ_PASSWORD, HIVEMQ_HOST, DEVICE_ENDPOINT, PORT