quick changes to check multi user

app.py

@@ -1,130 +1,244 @@
+# import gradio as gr
+# from client import CobotController
+# from utils import get_credentials
+# import json
+
+# options = [
+# 	"query/angles", "query/coords", "query/gripper", "query/camera",
+# 	"control/angles", "control/coords", "control/gripper"
+# ]
+
+# with gr.Blocks() as app:
+# 	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
+
+# 	gr.Markdown("# MyCobot 280pi MQTT Control demo")
+# 	gr.Markdown("This is a public demo of the MyCobot 280pi...")
+
+# 	selected_command = gr.Dropdown(choices=options, label="Select command")
+
+# 	with gr.Group(visible=False) as query_angles_group:
+# 		pass
+
+# 	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"),
+# 			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, output_image,
+# 			output_text
+# 		]
+# 	)
+
+# 	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, output_image],
+# 		concurrency_id="single_user",
+# 		concurrency_limit=1
+# 	)
+
+# app.queue(default_concurrency_limit=1, max_size=100)
+# app.launch()
 import gradio as gr
-from PIL import Image
-from client import CobotController
-from utils import get_credentials
-import json
-import uuid
-
-
-
-options = [
-	"query/angles", "query/coords", "query/gripper", "query/camera",
-	"control/angles", "control/coords", "control/gripper"
-]
-
-with gr.Blocks() as app:
-	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
-
-	gr.Markdown("# MyCobot 280pi MQTT Control demo")
-	gr.Markdown("This is a public demo of the MyCobot 280pi...")
-
-	selected_command = gr.Dropdown(choices=options, label="Select command")
-
-	with gr.Group(visible=False) as query_angles_group:
-		pass
-
-	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"),
-			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, output_image,
-			output_text
-		]
-	)
-
-	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, output_image]
-	)
-
-app.launch()
+from collections import deque
+import threading
+import time
+
+SESSION_TIME = 30
+
+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
+                wait_time = (position - 1) * SESSION_TIME + max(0, SESSION_TIME - (time.time() - self.session_start_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
+
+queue_system = QueueSystem()
+
+def process_input(input_text, user_id):
+    update_queue()
+    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:  # User is currently being served
+        result = f"Processed: {input_text}"
+        remaining_time = wait_time
+        return result, f"Your turn! Time remaining: {remaining_time:.0f} seconds."
+    elif position is not None:
+        return None, f"You are in position {position}. Estimated wait time: {wait_time:.0f} seconds."
+    else:
+        return None, "Error: You are not in the queue."
+
+def update_queue():
+    if queue_system.end_session():
+        next_user = queue_system.dequeue_user()
+        if next_user:
+            queue_system.start_session(next_user)
+
+def gradio_function(input_text, user_id):
+    result, status = process_input(input_text, user_id)
+    return result, status
+
+def get_queue_status(user_id):
+    update_queue()
+    if not user_id:
+        return "Enter a User ID and submit to join the queue."
+    position, wait_time = queue_system.get_queue_info(user_id)
+    if position == 0:
+        return f"Your turn! Time remaining: {wait_time:.0f} seconds."
+    elif position is not None:
+        return f"You are in position {position}. Estimated wait time: {wait_time:.0f} seconds."
+    else:
+        return "You are not in the queue. Submit to join."
+
+with gr.Blocks() as demo:
+    input_text = gr.Textbox(label="Input")
+    user_id = gr.Textbox(label="User ID")
+    output_text = gr.Textbox(label="Output")
+    status_text = gr.Markdown("Enter a User ID and submit to join the queue.")
+    submit_btn = gr.Button("Submit")
+
+    submit_btn.click(
+        fn=gradio_function,
+        inputs=[input_text, user_id],
+        outputs=[output_text, status_text]
+    )
+
+    demo.load(
+        fn=get_queue_status,
+        inputs=user_id,
+        outputs=status_text,
+    )
+
+demo.queue(default_concurrency_limit=1, max_size=100)
+demo.launch()

client.py

@@ -1,181 +1,97 @@
-# 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
+from PIL import Image
 
-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,
-	)
+
+    def __init__(
+        self,
+        hive_mq_username: str,
+        hive_mq_password: str,
+        hive_mq_cloud: str,
+        port: int,
+        cobot_id: str,
+    ):
+        self.publish_endpoint = cobot_id
+        self.response_endpoint = cobot_id + "/response"
+        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)
+
+        response_queue = Queue()
+
+        def on_message(client, userdata, msg):
+            payload_dict = json.loads(msg.payload)
+            response_queue.put(payload_dict)
+
+        self.response_queue = response_queue
+
+        def on_connect(client, userdata, flags, rc, properties=None):
+            print("Connection recieved")
+
+        self.client.on_connect = on_connect
+        self.client.on_message = on_message
+        self.client.subscribe(self.response_endpoint, qos=2)
+        self.client.loop_start()
+
+    def handle_publish_and_response(self, payload):
+        self.client.publish(self.publish_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