Merge branch 'main' of hf.co:spaces/AccelerationConsortium/cobot280pi

.gitignore

@@ -0,0 +1,2 @@
+__pycache__/
+runner.py

app.py

@@ -1,181 +1,89 @@
 import streamlit as st
-import paho.mqtt.client as mqtt
-import queue, json, base64, io, os
-from PIL import Image
-
-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
-
-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")
+from utils import *
+from client import CobotController
 
 st.title("MyCobot280 Pi control demo")
 
 st.markdown("""
-    This app is a public demo of ...
+	This app is a public demo of remote control of the MyCobot280 Pi through the MQTT Communication Protocol.
 """)
 
-use_own_creds = st.checkbox("Use custom broker", value=False)
+cobot_stream_url = "https://youtube.com/live/w7zn-Sk3pG0?feature=share"
+st.video(
+	cobot_stream_url
+	# Optionally enable autoplay which requires muting as browsers don't allow autoplay of unmuted video
+	# muted=True,
+	# autoplay=True
+)
 
-if use_own_creds:
-    HIVEMQ_USERNAME = st.text_input("HIVEMQ Username", type="password")
-    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, 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", 8883))
+render_log_window()
 
-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
+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"
+	"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
-elif st.session_state.selected_command == "query/coords":
-    pass
-elif st.session_state.selected_command == "query/gripper":
-    pass
-elif st.session_state.selected_command == "query/camera":
-    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", step=5.0)
-        angle_4 = st.number_input("Angle 4", format="%.2f", step=5.0)
-    with col2:
-        angle_2 = st.number_input("Angle 2", format="%.2f", step=5.0)
-        angle_5 = st.number_input("Angle 5", format="%.2f", step=5.0)
-    with col3:
-        angle_3 = st.number_input("Angle 3", format="%.2f", step=5.0)
-        angle_6 = st.number_input("Angle 6", format="%.2f", step=5.0)
-    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", step=5.0)
-        rx = st.number_input("rx (Rotation x)", format="%.2f", step=5.0)
-    with col2:
-        y = st.number_input("y", format="%.2f", step=5.0)
-        ry = st.number_input("ry (Rotation y)", format="%.2f", step=5.0)
-    with col3:
-        z = st.number_input("z", format="%.2f", step=5.0)
-        rz = st.number_input("rz (Rotation z)", format="%.2f", step=5.0)
-    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}
-
+command = None
 with st.form("mqtt_form"):
-    submitted = st.form_submit_button("Send Command")
-    if submitted:
-        if st.session_state['client'] is not None:
-            credentials_changed = (
-                st.session_state.get('HIVEMQ_USERNAME') != HIVEMQ_USERNAME or
-                st.session_state.get('HIVEMQ_PASSWORD') != HIVEMQ_PASSWORD or
-                st.session_state.get('HIVEMQ_HOST') != HIVEMQ_HOST or
-                st.session_state.get('DEVICE_ID') != DEVICE_ID or
-                st.session_state.get('PORT') != PORT
-            )
-            if credentials_changed:
-                st.session_state['client'].disconnect()
-                st.session_state['client'] = None
-
-        if st.session_state['client'] is None:
-            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.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
-
-        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?")
-
-cobot_stream_url = "https://youtube.com/live/fF4zEp6LSkg?feature=share"
-
-st.video(
-    cobot_stream_url
-    # Optionally enable autoplay which requires muting as browsers don't allow autoplay of unmuted video
-    # muted=True,
-    # autoplay=True
-)
+	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?")

client.py

@@ -0,0 +1,170 @@
+# 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
+
+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

requirements.txt

@@ -1,4 +1,5 @@
 paho-mqtt==2.1.0
 pillow==10.4.0
 setuptools==75.1.0
-wheel==0.44.0
+wheel==0.44.0
+streamlit-js-eval==0.1.7

utils.py

@@ -0,0 +1,43 @@
+import streamlit as st
+from streamlit_js_eval import streamlit_js_eval
+import uuid, io, sys, os
+
+def get_user_id():
+	if "user_id" not in st.session_state:
+		query_params = st.query_params
+		user_id = query_params.get("user_id", None)
+		if not user_id:
+			user_id = str(uuid.uuid4())
+			st.query_params["user_id"] = user_id
+		st.session_state.user_id = user_id
+	return st.session_state.user_id
+
+def get_credentials(use_own_creds: bool):
+	if use_own_creds:
+		HIVEMQ_USERNAME = st.text_input("HIVEMQ Username", type="password")
+		HIVEMQ_PASSWORD = st.text_input("HIVEMQ Password", type="password")
+		HIVEMQ_HOST = st.text_input("HIVEMQ Host", type="password")
+		DEVICE_ENDPOINT = st.text_input("Device ID", type="password")
+		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_ENDPOINT = os.environ.get("DEVICE_ID")
+		PORT = int(os.environ.get("PORT", 8883))
+	return HIVEMQ_USERNAME, HIVEMQ_PASSWORD, HIVEMQ_HOST, DEVICE_ENDPOINT, PORT
+
+def render_log_window():
+	class StreamlitRedirector:
+		def write(self, message):
+			if message.strip():
+				st.write(message)
+
+	sys.stdout = StreamlitRedirector()
+
+def refresh_once():
+	has_refreshed = st.query_params.get("has_refreshed", None)
+	if not has_refreshed:
+		st.query_params["has_refreshed"] = True
+		sys.stdout = sys.__stdout__
+		streamlit_js_eval(js_expressions="parent.window.location.reload()")