fixed requirements, added queue length and enter queue button, added valid ranges for angles and coords

app.py

@@ -61,6 +61,9 @@ class QueueSystem:
 
 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
 def background_timer():
 	while True:
@@ -96,7 +99,9 @@ def handle_request(
 	command, gripper_value, gripper_speed, angle1, angle2, angle3, angle4,
 	angle5, angle6, angle_speed, xcoord, ycoord, zcoord, roll, pitch, yaw, coord_speed,
 ):
-	if command == "query/angles":
+	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), gr.Image(visible=False)
@@ -168,13 +173,15 @@ with gr.Blocks(css=CSS) as app:
 	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("Enter queue")
 		with gr.Column():
-			status_text = gr.Textbox(label="Queue status", value="", interactive=False, max_lines=2)
+			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")
@@ -183,6 +190,7 @@ with gr.Blocks(css=CSS) as app:
 		# 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")
@@ -191,30 +199,32 @@ with gr.Blocks(css=CSS) as app:
 		# 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.")
 			with gr.Row(elem_id="nogaprow"):
 				with gr.Column(elem_id="nogapcol"):
-					angle1 = gr.Number(value=0.0, label="Angle 1", step=5.0)
-					angle3 = gr.Number(value=0.0, label="Angle 3", step=5.0)
-					angle5 = gr.Number(value=0.0, label="Angle 5", step=5.0)
+					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.Number(value=0.0, label="Angle 2", step=5.0)
-					angle4 = gr.Number(value=0.0, label="Angle 4", step=5.0)
-					angle6 = gr.Number(value=0.0, label="Angle 6", step=5.0)
+					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).")
 			with gr.Row(elem_id="nogaprow"):
 				with gr.Column(elem_id="nogapcol"):
-					xcoord = gr.Number(value=0.0, label="X coordinate", step=5.0)
-					ycoord = gr.Number(value=0.0, label="Y coordinate", step=5.0)
-					zcoord = gr.Number(value=0.0, label="Z coordinate", step=5.0)
+					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.Number(value=0.0, label="Roll", step=5.0)
-					pitch = gr.Number(value=0.0, label="Pitch", step=5.0)
-					yaw = gr.Number(value=0.0, label="Yaw", step=5.0)
+					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")
 	
@@ -264,11 +274,22 @@ with gr.Blocks(css=CSS) as app:
 				  angle5, angle6, speed_angles, xcoord, ycoord, zcoord, roll, pitch, yaw, speed_coords],
 		outputs = [response, response_image, 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],
+		outputs = [response, response_image, 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()

requirements.txt

@@ -1,53 +1,4 @@
-aiofiles==23.2.1
-annotated-types==0.7.0
-anyio==4.6.2.post1
-certifi==2024.8.30
-charset-normalizer==3.4.0
-click==8.1.7
-fastapi==0.115.3
-ffmpy==0.4.0
-filelock==3.16.1
-fsspec==2024.10.0
 gradio==5.4.0
-gradio_client==1.4.2
-h11==0.14.0
-httpcore==1.0.6
-httpx==0.27.2
-huggingface-hub==0.26.1
-idna==3.10
-Jinja2==3.1.4
-markdown-it-py==3.0.0
-MarkupSafe==2.1.5
-mdurl==0.1.2
-numpy==2.1.2
-orjson==3.10.10
-packaging==24.1
 paho-mqtt==2.1.0
-pandas==2.2.3
 pillow==11.0.0
-pydantic==2.9.2
-pydantic_core==2.23.4
-pydub==0.25.1
-Pygments==2.18.0
-python-dateutil==2.9.0.post0
-python-multipart==0.0.12
-pytz==2024.2
-PyYAML==6.0.2
-requests==2.32.3
-rich==13.9.3
-ruff==0.7.1
-safehttpx==0.1.1
-semantic-version==2.10.0
-shellingham==1.5.4
-six==1.16.0
-sniffio==1.3.1
-starlette==0.41.0
-tomlkit==0.12.0
-tqdm==4.66.5
-typer==0.12.5
-typing_extensions==4.12.2
-tzdata==2024.2
-urllib3==2.2.3
-uvicorn==0.32.0
-websockets==12.0
 namesgenerator==0.3