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| import streamlit as st | |
| from utils import * | |
| from client import CobotController | |
| st.title("MyCobot280 Pi control demo") | |
| st.markdown(""" | |
| This app is a public demo of remote control of the MyCobot280 Pi through the MQTT Communication Protocol. | |
| """) | |
| cobot_stream_url = "https://www.youtube.com/live/fF4zEp6LSkg?si=wS0yuA-7dlhLk9ZD" | |
| st.video( | |
| cobot_stream_url | |
| # Optionally enable autoplay which requires muting as browsers don't allow autoplay of unmuted video | |
| # muted=True, | |
| # autoplay=True | |
| ) | |
| render_log_window() | |
| user_id = get_user_id() | |
| user, passwd, host, endpoint, port = get_credentials(False) | |
| client = CobotController(user, passwd, host, port, endpoint, user_id) | |
| # refresh_once() | |
| st.markdown("## Commands") | |
| commands = [ | |
| "query/angles", | |
| "query/coords", | |
| "query/gripper", | |
| "query/camera", | |
| "control/angles", | |
| "control/coords", | |
| "control/gripper" | |
| ] | |
| selected = st.selectbox("Select command: ", commands, key="selected_command", disabled=False) | |
| args = {} | |
| command = None | |
| with st.form("mqtt_form"): | |
| if st.session_state.selected_command == "query/angles": | |
| command = client.get_angles | |
| elif st.session_state.selected_command == "query/coords": | |
| command = client.get_coords | |
| elif st.session_state.selected_command == "query/gripper": | |
| command = client.get_gripper_value | |
| elif st.session_state.selected_command == "query/camera": | |
| quality = st.slider("Image quality", 1, 100, 100) | |
| command = client.get_camera | |
| args = {"quality": quality} | |
| elif st.session_state.selected_command == "control/angles": | |
| angle_1 = st.number_input("Angle 1", format="%.2f", step=5.0) | |
| angle_2 = st.number_input("Angle 2", format="%.2f", step=5.0) | |
| angle_3 = st.number_input("Angle 3", format="%.2f", step=5.0) | |
| angle_4 = st.number_input("Angle 4", format="%.2f", step=5.0) | |
| angle_5 = st.number_input("Angle 5", format="%.2f", step=5.0) | |
| angle_6 = st.number_input("Angle 6", format="%.2f", step=5.0) | |
| speed = st.slider("Speed", 1, 100, 50) | |
| command = client.send_angles | |
| args = {"angle_list": [angle_1, angle_2, angle_3, angle_4, angle_5, angle_6], "speed": speed} | |
| elif st.session_state.selected_command == "control/coords": | |
| x = st.number_input("x", format="%.2f", step=5.0) | |
| y = st.number_input("y", format="%.2f", step=5.0) | |
| z = st.number_input("z", format="%.2f", step=5.0) | |
| rx = st.number_input("rx (Rotation x)", format="%.2f", step=5.0) | |
| ry = st.number_input("ry (Rotation y)", format="%.2f", step=5.0) | |
| rz = st.number_input("rz (Rotation z)", format="%.2f", step=5.0) | |
| speed = st.slider("Speed", 1, 100, 50) | |
| command = client.send_coords | |
| args = {"coord_list": [x, y, z, rx, ry, rz], "speed": speed} | |
| elif st.session_state.selected_command == "control/gripper": | |
| gripper_value = st.slider("Gripper value", 1, 100, 50) | |
| speed = st.slider("Speed", 1, 100, 50) | |
| command = client.send_gripper_value | |
| args = {"value": gripper_value, "speed": speed} | |
| submitted = st.form_submit_button("Send Command") | |
| if submitted: | |
| response = command(**args) | |
| st.markdown("### Response") | |
| if response is not None: | |
| if "image" in response: | |
| image = response.pop("image") | |
| st.write(response) | |
| st.image(image, caption="Cobot camera view") | |
| else: | |
| st.write(response) | |
| else: | |
| st.write("Timed out waiting for response. Is the on-device server running?") | |