Create app.py

app.py

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+import gradio as gr
+import time
+import os
+import uuid
+from PIL import Image
+import numpy as np
+import cv2
+is_recording = False
+command_log = []
+
+# Placeholder image path or URL
+placeholder_image_path = 'images.png'
+try:
+    from jetbot import Robot, Camera, bgr8_to_jpeg
+    robot = Robot()
+    camera = Camera.instance()
+except ImportError as e:
+    print(f"Import error: {e}\nRunning in simulation mode.")
+    robot = None
+    camera = None
+
+def move_forward():
+    if robot:
+        robot.forward(0.3)
+        time.sleep(1)
+        robot.stop()
+
+def move_backward():
+    if robot:
+        robot.backward(0.3)
+        time.sleep(1)
+        robot.stop()
+
+def turn_left():
+    if robot:
+        robot.left(0.3)
+        time.sleep(1)
+        robot.stop()
+
+def turn_right():
+    if robot:
+        robot.right(0.3)
+        time.sleep(1)
+        robot.stop()
+def toggle_recording():
+    global is_recording
+    is_recording = not is_recording
+    if not is_recording:
+        return "Recording stopped. Ready to replay."
+    else:
+        command_log.clear()
+        return "Recording started. Please execute commands."
+
+def record_command(command, *params):
+    if is_recording:
+        command_log.append((command, params))
+
+def replay_commands():
+    if not command_log:
+        return "No commands recorded."
+    for func, params in command_log:
+        print(func,params)
+        func(*params)
+        time.sleep(1)  # delay between commands for clarity
+    return "Replay finished."
+def stop():
+    if robot:
+        robot.stop()
+
+def set_speed_left(speed):
+    if robot:
+        robot.left_motor.value = speed
+
+def set_speed_right(speed):
+    if robot:
+        robot.right_motor.value = speed
+
+def update_camera():
+    if camera:
+        # Assuming the camera.value is a numpy array in BGR format
+        # Convert from BGR to RGB
+        rgb_image = cv2.cvtColor(camera.value, cv2.COLOR_BGR2RGB)
+        # Convert numpy array to PIL Image
+        pil_image = Image.fromarray(rgb_image)
+        return pil_image
+    else:
+        # Load the placeholder image as a PIL Image
+        with open(placeholder_image_path, 'rb') as f:
+            pil_image = Image.open(f)
+            pil_image.load()  # This might be necessary depending on how PIL handles lazy loading
+        return pil_image
+
+
+def move_robot(direction, duration=1.0):
+    if robot:
+        getattr(robot, direction)(0.3)
+        robot.sleep(duration)
+        robot.stop()
+    record_command(move_robot, direction, duration)
+
+def save_snapshot():
+    if camera:
+        image_path = f"snapshots/{uuid.uuid4()}.jpeg"
+        with open(image_path, 'wb') as f:
+            f.write(update_camera())
+        return image_path
+    else:
+        return placeholder_image_path
+
+# Ensure snapshot directory exists
+os.makedirs('snapshots', exist_ok=True)
+
+with gr.Blocks() as demo:
+    gr.Markdown("# JetBot Control Panel")
+    gr.Markdown("Use the controls below to operate the JetBot. Ensure the area is clear before sending commands to avoid collisions.")
+    with gr.Row():
+        record_button = gr.Button("🔴 Start/⏹️ Stop Recording")
+        replay_button = gr.Button("🔁Replay Commands")
+        record_status = gr.Textbox(label="Recording Status", value="Recording not started.")
+    
+    record_button.click(toggle_recording, outputs=record_status)
+    replay_button.click(replay_commands, outputs=record_status)
+
+    with gr.Row():
+        left_speed = gr.Slider(-1.0, 1.0, step=0.1, label="Left Motor Speed", value=0.0)
+        right_speed = gr.Slider(-1.0, 1.0, step=0.1, label="Right Motor Speed", value=0.0)
+        
+    with gr.Row():
+        directions = ['⬆️ Forward', '⬅️ Left', '🛑 Stop', '➡️ Right', '⬇️ Backward']
+        for direction in directions:
+            gr.Button(direction.title(), elem_id=f"{direction}_button").click(
+                fn=lambda x=direction: move_robot(x), inputs=[], outputs=[])
+
+    left_speed.change(set_speed_left, inputs=[left_speed], outputs=[])
+    right_speed.change(set_speed_right, inputs=[right_speed], outputs=[])
+
+    with gr.Row():
+        live_feed = gr.Image(streaming=True,value=update_camera)
+        snapshot_result = gr.Image(width=300, height=300, label="Last Snapshot")
+    snapshot_button = gr.Button("📸 Take Snapshot", elem_id="snapshot_button").click(save_snapshot, outputs=snapshot_result)
+        
+    gr.Markdown("### Instructions")
+    gr.Markdown("1. **Move the Sliders**: Adjust the sliders to change the speed of the left and right motors.")
+    gr.Markdown("2. **Press the Buttons**: Use the directional buttons to move the JetBot. Press 'Stop' to halt any movement.")
+    gr.Markdown("3. **Camera and Snapshot**: View the live feed and take snapshots using the button.")
+
+demo.launch()