maybe

app.py

@@ -5,45 +5,40 @@ from PIL import Image
 
 @st.cache_resource
 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
-
-response_queue = queue.Queue()
-
-def setup_paho_client(client, username, password, cloud, port, device_id):
-	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()
-
-	while not client.is_connected():
-		pass
-
-def publish_and_wait(client, device_id, payload):
-	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
+    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 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()
+
+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
 
 def handle_image_display(image):
-	b64_bytes = base64.b64decode(image)
-	img_bytes = io.BytesIO(b64_bytes)
-	img = Image.open(img_bytes)
-	st.image(img, caption="Cobot camera view")
+    b64_bytes = base64.b64decode(image)
+    img_bytes = io.BytesIO(b64_bytes)
+    img = Image.open(img_bytes)
+    st.image(img, caption="Cobot camera view")
 
 st.title("MyCobot280 Pi control demo")
 
 st.markdown("""
-	This app is a public demo of ...
+    This app is a public demo of ...
 """)
 
 use_own_creds = st.checkbox("Use your own credentials", value=False)
@@ -53,91 +48,122 @@ if use_own_creds:
     HIVEMQ_PASSWORD = st.text_input("HIVEMQ Password", type="password")
     HIVEMQ_HOST = st.text_input("HIVEMQ Host", type="password")
     DEVICE_ID = st.text_input("Device ID", type="password")
-    PORT = st.number_input("Port", min_value=1, step=1)
+    PORT = st.number_input("Port", min_value=1, step=1, value=8883)
 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"))
+    PORT = int(os.environ.get("PORT", 8883))
+
+# Initialize or update the MQTT client and response queue in session state
+if 'client' not in st.session_state:
+    st.session_state['client'] = None
+    st.session_state['response_queue'] = None
+    st.session_state['HIVEMQ_USERNAME'] = None
+    st.session_state['HIVEMQ_PASSWORD'] = None
+    st.session_state['HIVEMQ_HOST'] = None
+    st.session_state['DEVICE_ID'] = None
+    st.session_state['PORT'] = None
+
+credentials_changed = (
+    st.session_state['HIVEMQ_USERNAME'] != HIVEMQ_USERNAME or
+    st.session_state['HIVEMQ_PASSWORD'] != HIVEMQ_PASSWORD or
+    st.session_state['HIVEMQ_HOST'] != HIVEMQ_HOST or
+    st.session_state['DEVICE_ID'] != DEVICE_ID or
+    st.session_state['PORT'] != PORT
+)
+
+if st.session_state['client'] is None or credentials_changed:
+    st.session_state['HIVEMQ_USERNAME'] = HIVEMQ_USERNAME
+    st.session_state['HIVEMQ_PASSWORD'] = HIVEMQ_PASSWORD
+    st.session_state['HIVEMQ_HOST'] = HIVEMQ_HOST
+    st.session_state['DEVICE_ID'] = DEVICE_ID
+    st.session_state['PORT'] = PORT
+    st.session_state['response_queue'] = queue.Queue()
+    st.session_state['client'] = create_paho_client()
+    setup_paho_client(
+        st.session_state['client'],
+        HIVEMQ_USERNAME,
+        HIVEMQ_PASSWORD,
+        HIVEMQ_HOST,
+        PORT,
+        DEVICE_ID,
+        st.session_state['response_queue']
+    )
 
 st.markdown("## Commands")
 commands = [
-	"query/angles", 
-	"query/coords", 
-	"query/gripper",
-	"query/camera",
-	"control/angles",
-	"control/coords",
-	"control/gripper"
+    "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 = {}
 if st.session_state.selected_command == "query/angles":
-	pass
+    pass
 elif st.session_state.selected_command == "query/coords":
-	pass
+    pass
 elif st.session_state.selected_command == "query/gripper":
-	pass
+    pass
 elif st.session_state.selected_command == "query/camera":
-	quality = st.slider("Image quality", 1, 100, 50)
-	args = {"quality": quality}
+    quality = st.slider("Image quality", 1, 100, 50)
+    args = {"quality": quality}
 elif st.session_state.selected_command == "control/angles":
-	col1, col2, col3 = st.columns(3)
-	with col1:
-		angle_1 = st.number_input("Angle 1", format="%.2f")
-		angle_4 = st.number_input("Angle 4", format="%.2f")
-	with col2:
-		angle_2 = st.number_input("Angle 2", format="%.2f")
-		angle_5 = st.number_input("Angle 5", format="%.2f")
-	with col3:
-		angle_3 = st.number_input("Angle 3", format="%.2f")
-		angle_6 = st.number_input("Angle 6", format="%.2f")
-	speed = st.slider("Speed", 1, 100, 50)
-	args = {"angles": [angle_1, angle_2, angle_3, angle_4, angle_5, angle_6], "speed": speed}
+    col1, col2, col3 = st.columns(3)
+    with col1:
+        angle_1 = st.number_input("Angle 1", format="%.2f")
+        angle_4 = st.number_input("Angle 4", format="%.2f")
+    with col2:
+        angle_2 = st.number_input("Angle 2", format="%.2f")
+        angle_5 = st.number_input("Angle 5", format="%.2f")
+    with col3:
+        angle_3 = st.number_input("Angle 3", format="%.2f")
+        angle_6 = st.number_input("Angle 6", format="%.2f")
+    speed = st.slider("Speed", 1, 100, 50)
+    args = {"angles": [angle_1, angle_2, angle_3, angle_4, angle_5, angle_6], "speed": speed}
 elif st.session_state.selected_command == "control/coords":
-	col1, col2, col3 = st.columns(3)
-	with col1:
-		x = st.number_input("x", format="%.2f")
-		rx = st.number_input("rx (Rotation x)", format="%.2f")
-	with col2:
-		y = st.number_input("y", format="%.2f")
-		ry = st.number_input("ry (Rotation y)", format="%.2f")
-	with col3:
-		z = st.number_input("z", format="%.2f")
-		rz = st.number_input("rz (Rotation z)", format="%.2f")
-	speed = st.slider("Speed", 1, 100, 50)
-	args = {"coords": [x, y, z, rx, ry, rz], "speed": speed}
+    col1, col2, col3 = st.columns(3)
+    with col1:
+        x = st.number_input("x", format="%.2f")
+        rx = st.number_input("rx (Rotation x)", format="%.2f")
+    with col2:
+        y = st.number_input("y", format="%.2f")
+        ry = st.number_input("ry (Rotation y)", format="%.2f")
+    with col3:
+        z = st.number_input("z", format="%.2f")
+        rz = st.number_input("rz (Rotation z)", format="%.2f")
+    speed = st.slider("Speed", 1, 100, 50)
+    args = {"coords": [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)
-	args = {"gripper_value": gripper_value, "speed": speed}
+    gripper_value = st.slider("Gripper value", 1, 100, 50)
+    speed = st.slider("Speed", 1, 100, 50)
+    args = {"gripper_value": gripper_value, "speed": speed}
 
 with st.form("mqtt_form"):
-	if st.form_submit_button("Send Command"):
-		client = create_paho_client()
-		setup_paho_client(
-			client,
-			HIVEMQ_USERNAME,
-			HIVEMQ_PASSWORD,
-			HIVEMQ_HOST,
-			PORT,
-			DEVICE_ID
-		)
-
-		payload = {"command": st.session_state.selected_command, "args": args}
-		st.markdown("### Payload")
-		st.write(payload)
-
-		response = publish_and_wait(client, DEVICE_ID, payload)
-		st.markdown("### Response")
-		if response is not None:
-			if "image" in response:
-				image = response.pop("image")
-				st.write(response)
-				handle_image_display(image)
-			else:
-				st.write(response)
-		else:
-			st.write("Timed out waiting for response. Is the on-device server running?")
+    if st.form_submit_button("Send Command"):
+        payload = {"command": st.session_state.selected_command, "args": args}
+        st.markdown("### Payload")
+        st.write(payload)
+
+        response = publish_and_wait(
+            st.session_state['client'],
+            DEVICE_ID,
+            payload,
+            st.session_state['response_queue']
+        )
+        st.markdown("### Response")
+        if response is not None:
+            if "image" in response:
+                image = response.pop("image")
+                st.write(response)
+                handle_image_display(image)
+            else:
+                st.write(response)
+        else:
+            st.write("Timed out waiting for response. Is the on-device server running?")