dockerfile ready

Robot/UR/URModbusServer.py

@@ -58,9 +58,9 @@ class URModbusServer:
         Connects with the Modbus server to requests the angles of each joint, in radians
         :return: Readable angle values of each joint in radials
         """
-        if tries>10:
-            print("[Angles] Modbus Error: Failed")
-            return 0, 0, 0, 0, 0, 0
+        if tries>50:
+            raise Exception("[Angles] Modbus Error: Failed")
+            #return 0, 0, 0, 0, 0, 0
 
         packet = self.modbusTCP.read_holding_registers(270, quantity=6)
         time.sleep(0.001)
@@ -89,9 +89,9 @@ class URModbusServer:
         Connects with the Modbus server to requests the speed of each joint, in radians per second
         :return: Readable angle speeds of each joint in radians per second
         """
-        if tries>10:
+        if tries>50:
             print("[Speeds] Modbus Error: Failed")
-            return 0, 0, 0, 0, 0, 0
+            #raise Exception("[Speeds] Modbus Error: Failed")
 
         packet = self.modbusTCP.read_holding_registers(280, quantity=6)
 

URSentry.py

@@ -17,7 +17,7 @@ class URSentry:
         # Flags
         self.ESTOP = False
 
-        self.await_stop = False
+        self.await_stop = True
         self.await_stop_ticks = 0
 
         self.send_to_zero_on_stop = False
@@ -35,6 +35,7 @@ class URSentry:
         self.await_stop = True
         self.sentry_position()
         self.has_initialized = True
+        self.is_on_sentry_mode = True
 
     def get_joint_angles(self) -> "list[float]":
         """

UnifiWebsockets/Unifi.py

@@ -68,7 +68,10 @@ def find_coords(message: str) -> list[str]:
 def run(q: queue.Queue, passwrd : str | None = None) -> None:
     base_url = "https://172.22.114.176"  # Replace with your UniFi Protect base URL
     username = "engr-ugaif"  # Replace with your username
-    password = dotenv.get_key(dotenv.find_dotenv(), "UNIFI_PASSWORD") if passwrd is None else passwrd
+    if passwrd is None:
+        password = dotenv.get_key(dotenv.find_dotenv(), "UNIFI_PASSWORD")
+    else:
+        password = passwrd
     ws_url = "wss://172.22.114.176/proxy/protect/ws/liveDetectTrack?camera=668daa1e019ce603e4002d31"  # Replace with your WebSocket URL
 
     cookies = get_token(base_url, username, password)