quickfix

app.py

@@ -5,93 +5,85 @@ 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.
+	This app is a public demo of remote control of the MyCobot280 Pi through the MQTT Communication Protocol.
 """)
 
 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
+	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)
+# 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 = {}
 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, 50)
-        command = client.get_camera
-        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)
-        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":
-        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)
-        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}
+	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?")
+	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?")