Dockerfile

@@ -1,14 +1,11 @@
 FROM python:3.9
 
-ADD requirements.txt requirements.txt
+ADD dual_ursim_control requirements.txt /dual_ursim_control/
-RUN pip3 install -r requirements.txt
-
-ADD dual_ursim_control /dual_ursim_control/
 WORKDIR /dual_ursim_control/
 
+RUN pip3 install -r requirements.txt
+
 ARG RELEASE_ID
 ENV RELEASE_ID ${RELEASE_ID:-""}
 
-EXPOSE 8888/tcp
-
 CMD ["python3", "main.py"]

dual_ursim_control/main.py

@@ -13,9 +13,7 @@ import openpyxl
 import json
 import logging
 import logging.config
-from xmlrpc.server import SimpleXMLRPCServer
 from configparser import ConfigParser
-
 #from pynput.keyboard import Listener, Key
 
 SCRIPT_DIR = os.path.dirname(__file__)
@@ -40,11 +38,7 @@ j_acc = 0
 l_speed = 0
 l_acc = 0
 
-# jogging_wait = {"Master": False, "Slave": False}
+jogging_wait = {"Master": False, "Slave": False}
-jogging_event = {
-    'Master': threading.Event(),
-    'Slave': threading.Event()
-}
 
 path_master = {}
 path_slave = {}
@@ -258,56 +252,50 @@ def read_path_waypoints_from_file():
     return path_master, path_slave
 
 
-# def on_press(key):
+def on_press(key):
-#     try:
+    try:
-#         # logging.debug("Key pressed: {0}".format(key))
+        # logging.debug("Key pressed: {0}".format(key))
-#
+
-#         if hasattr(key, 'char'):
+        if hasattr(key, 'char'):
-#             if key.char == 'f':
+            if key.char == 'f':
-#                 jogging_wait['Master'] = True
+                jogging_wait['Master'] = True
-#
+
-#             elif key.char == 'e':
+            elif key.char == 'e':
-#                 jogging_wait['Slave'] = True
+                jogging_wait['Slave'] = True
-#
+
-#     except AttributeError:
+    except AttributeError:
-#         logging.debug("Special key pressed: {0}".format(key))
+        logging.debug("Special key pressed: {0}".format(key))
-#
+
-#
+
-# def on_release(key):
+def on_release(key):
-#     try:
+    try:
-#         # logging.debug("Key released: {0}".format(key))
+        # logging.debug("Key released: {0}".format(key))
-#
+
-#         if hasattr(key, 'char'):
+        if hasattr(key, 'char'):
-#             if key.char == 'f':
+            if key.char == 'f':
-#                 jogging_wait['Master'] = False
+                jogging_wait['Master'] = False
-#
+
-#             elif key.char == 'e':
+            elif key.char == 'e':
-#                 jogging_wait['Slave'] = False
+                jogging_wait['Slave'] = False
-#
+
-#     except AttributeError:
+    except AttributeError:
-#         logging.debug("Special key pressed: {0}".format(key))
+        logging.debug("Special key pressed: {0}".format(key))
 
 
 def master_jogging_wait():
     if config.getboolean('JOGGING_ENABLE'):
         logging.debug("Master-Fred: Press 'f' to continue")
 
-        # while not jogging_wait['Master']:
+        while not jogging_wait['Master']:
-        #     pass
+            pass
-        # jogging_wait['Master'] = False
-        jogging_event['Master'].clear()
-        jogging_event['Master'].wait()
 
 
 def slave_jogging_wait():
     if config.getboolean('JOGGING_ENABLE'):
         logging.debug("Slave-Erik: Press 'e' to continue")
 
-        # while not jogging_wait['Slave']:
+        while not jogging_wait['Slave']:
-        #     pass
+            pass
-        # jogging_wait['Slave'] = False
-        jogging_event['Slave'].clear()
-        jogging_event['Slave'].wait()
 
 
 def master_operate_gripper(target_width):
@@ -829,29 +817,6 @@ def slave_thread(sync_event, path):
     logging.info('Done')
 
 
-class RemoteFuncs:
-    def signalMaster(self):
-        # jogging_wait['Master'] = True
-        jogging_event['Master'].set()
-        return 0
-
-    def signalSlave(self):
-        # jogging_wait['Slave'] = True
-        jogging_event['Slave'].set()
-        return 0
-
-
-class ServerThread(threading.Thread):
-    def __init__(self):
-        threading.Thread.__init__(self)
-        self.daemon = True
-        self.localServer = SimpleXMLRPCServer(('0.0.0.0', 8888))
-        self.localServer.register_instance(RemoteFuncs())
-
-    def run(self):
-        self.localServer.serve_forever()
-
-
 if __name__ == '__main__':
 
     logging.config.fileConfig(os.path.join(SCRIPT_DIR, 'log_config.ini'))
@@ -890,9 +855,7 @@ if __name__ == '__main__':
         'Slave': threading.Event()
     }
 
-    logging.info('Spawning XMLRPC listener thread')
+    logging.info('Starting keyboard listener')
-    xmlrpcServer = ServerThread()
-    xmlrpcServer.start()
 
     #listener = Listener(on_press=on_press, on_release=on_release)
     #listener.start()
@@ -916,3 +879,4 @@ if __name__ == '__main__':
     logging.info("Done")
 
 # TODO: export from ursimulator: root@xu:/var/snap/docker/common/var-lib-docker/volumes/dockursim/_data/programs.UR3#
+

signalMaster.py

@@ -1,8 +0,0 @@
-import xmlrpc.client
-
-if __name__ == '__main__':
-    IP = '127.0.0.1'
-    PORT = '8888'
-
-    s = xmlrpc.client.ServerProxy("http://{0}:{1}".format(IP, PORT))
-    print(s.signalMaster())

signalSlave.py

@@ -1,8 +0,0 @@
-import xmlrpc.client
-
-if __name__ == '__main__':
-    IP = '127.0.0.1'
-    PORT = '8888'
-
-    s = xmlrpc.client.ServerProxy("http://{0}:{1}".format(IP, PORT))
-    print(s.signalSlave())