refactor for better gradio api interface

app.py

@@ -95,6 +95,98 @@ CSS = """
 }
 """
 
+"""
+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."
+
+def enter_queue(user_id):
+	_, msg = authenticate_user(user_id)
+	return msg
+
+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
+
+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
+
+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
+
+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
+
+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
+
+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
+
+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
+
 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
@@ -242,52 +334,44 @@ with gr.Blocks(css=CSS) as app:
 
 	# Queue-aware event handling
 	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, response_image],
-		outputs = [response, response_image, status_text]
+		query_angles,
+		inputs = [user_id],
+		outputs = [response, 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, response_image],
-		outputs = [response, response_image, status_text]
+		query_coords,
+		inputs = [user_id],
+		outputs = [response, 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, response_image],
-		outputs = [response, response_image, status_text]
+		query_gripper,
+		inputs = [user_id],
+		outputs = [response, 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, response_image],
+		query_camera,
+		inputs = [user_id],
 		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, response_image],
-		outputs = [response, response_image, status_text]
+		control_gripper,
+		inputs = [user_id, gripper_value, speed_gripper],
+		outputs = [response, 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, response_image],
-		outputs = [response, response_image, status_text]
+		control_angles,
+		inputs = [user_id, angle1, angle2, angle3, angle4, angle5, angle6, speed_angles],
+		outputs = [response, 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, response_image],
-		outputs = [response, response_image, status_text]
+		control_coords,
+		inputs = [user_id, xcoord, ycoord, zcoord, roll, pitch, yaw, speed_coords],
+		outputs = [response, 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, response_image],
-		outputs = [response, response_image, status_text]
+		enter_queue,
+		inputs = [user_id],
+		outputs = [status_text]
 	)
 
 	app.load(