Dockerfile and slight robot adjustments

dockermain.py

@@ -0,0 +1,82 @@
+from UnifiWebsockets import Unifi
+from URSentry import URSentry
+import queue
+import time
+import threading
+import BBoxProcessor
+import os
+
+unifi_password = os.getenv('UNIFI_PASSWORD')
+if unifi_password == '':
+    print("Please set the 'UNIFI_PASSWORD' environment variable.")
+    exit(1)
+
+q = queue.Queue()
+
+x = threading.Thread(target=Unifi.run, args=(q,unifi_password))
+x.start()
+
+b = BBoxProcessor.BBoxProcessor()
+
+ur = URSentry("172.22.114.160")
+
+joystick_queue = queue.Queue()
+
+
+class CameraJoystick(threading.Thread):
+    def __init__(self, joystick_queue: queue.Queue[list[int]]):
+        threading.Thread.__init__(self)
+        self.joystick_queue = joystick_queue
+        self.keep_running = True
+
+    def run(self):
+        global current_joystick
+        while self.keep_running:
+            time.sleep(0.0001)
+            q_val = []
+            try:
+                q_val = q.get_nowait()
+            except queue.Empty:
+                pass
+            #print(bb)
+            current_joystick = b.get_joystick_position_from_new_set_of_bboxes(q_val)
+            #self.joystick_queue.put(bb)
+
+    def stop(self):
+        self.keep_running = False
+
+
+current_joystick = [0, 0]
+
+
+class JoystickScheduler(threading.Thread):
+    def __init__(self, joystick_queue: queue.Queue[list[int]]):
+        threading.Thread.__init__(self)
+        self.joystick_queue = joystick_queue
+        self.keep_running = True
+
+    def run(self):
+        while self.keep_running:
+            global current_joystick
+            current_joystick = self.joystick_queue.get()
+
+    def stop(self):
+        self.keep_running = False
+
+
+camera_joystick = CameraJoystick(joystick_queue)
+camera_joystick.start()
+# joystick_scheduler = JoystickScheduler(joystick_queue)
+# joystick_scheduler.start()
+
+ur.initialize_pose()
+
+while True:
+    try:
+        ur.control_robot(current_joystick)
+        #print("Setting robot base velocity to: ", current_joystick[0])
+        time.sleep(0.1)
+    except KeyboardInterrupt:
+        camera_joystick.stop()
+        # joystick_scheduler.stop()
+        break