fix recorder

flandre/launcher.py

@@ -20,6 +20,7 @@ from flandre.nodes.ImageFFMPEG import ImageFFMPEG
 from flandre.nodes.ImageQt import ImageQt
 from flandre.nodes.Midi import Midi
 from flandre.nodes.Mi import Mi
+from flandre.nodes.Recorder import Recorder
 from flandre.utils.Msg import KillMsg, NodeOnlineMsg, Msg1, Msg2
 from flandre.config import CONFIG_FOLDER
 
@@ -31,6 +32,7 @@ class LaunchComponent(Enum):
     Robot = Robot
     Loader = Loader
     Device = Device
+    Recorder = Recorder
     Beamformer = Beamformer
     ImageFFMPEG = ImageFFMPEG
     ImageQt = ImageQt

flandre/nodes/Beamformer.py

@@ -84,6 +84,8 @@ class Beamformer(Node):
                 arg_msg: ImageArgMsg = Msg.decode_msg(r[:id2])
                 rf_frame_msg: RfFrameMsg = Msg.decode_msg(r[id2:])
                 mat = RfMat.from_rf_frame(rf_frame_msg.rf_frame, 'gpu')
+                if mat is None:
+                    continue
                 if arg_msg.v2 != last_v2 or arg_msg.f_rows != last_f_rows:
                     last_v2 = arg_msg.v2
                     last_f_rows = arg_msg.f_rows

flandre/nodes/Muxer.py

@@ -29,6 +29,7 @@ class Muxer(Node):
         self.play_mode: str | None = None
         self.rep_socket: zmq.Socket = None
         self.req_driver_socket: zmq.Socket = None
+        self.driver_pull_socket: zmq.Socket = None
         self.playback_rf_msg: RfFrameMsg | None = None
         self.device_enabled = False
         self.driver_data_raw = b''
@@ -38,6 +39,8 @@ class Muxer(Node):
         self.rep_socket: zmq.Socket = self.c.ctx.socket(zmq.REP)
         self.rep_socket.bind(f'tcp://localhost:{C.muxer_rep_port}')
         self.req_driver_socket: zmq.Socket = self.c.ctx.socket(zmq.REQ)
+        # self.driver_pull_socket = self.c.ctx.socket(zmq.PULL)
+        # self.driver_pull_socket.connect(C.live_push_socket)
         # self.req_driver_socket.connect(C.driver_rep_socket)
         self.req_driver_socket.connect(C.live_rep_socket)
         self.c.poller.register(self.rep_socket, zmq.POLLIN)
@@ -45,6 +48,9 @@ class Muxer(Node):
     def p_thread(self):
         while self.run_p_thread:
             if self.play_mode == 'live':
+                # ii = self.driver_pull_socket.poll(timeout=1000)
+                # if ii > 0:
+                #     self.driver_data_raw = self.driver_pull_socket.recv()
                 self.req_driver_socket.send(struct.pack('i', Device.magic) + struct.pack('i', DeviceCmd.GetData.value))
                 self.driver_data_raw = self.req_driver_socket.recv()
             else:

flandre/nodes/Recorder.py

@@ -5,18 +5,17 @@ from pathlib import Path
 import numpy as np
 import zmq
 
-from flandre.config import LIVE_SOCKET,C
+from flandre.config import C
 from flandre.nodes.Node import Node
 from flandre.utils.Msg import ImageArgMsg, KillMsg, SetSeqMetaMsg, SetPlayMode, SetDeviceConfigMsg, SetRecordMsg, \
-    RfFrameWithMetaMsg, RequestRfFrameMsg, RecordFrameMsg, RobotRtsiMsg
-from flandre.utils.RfFile import RfSequenceMeta
-from flandre.utils.RfMeta import RfFrameMeta
+    RequestRfFrameMsg, RecordFrameMsg, RobotRtsiMsg, SeqMetaMsg
+from flandre.utils.RfMeta import RfFrameMeta, RfSequenceMeta
 
 logger = logging.getLogger(__name__)
 
 
 class Recorder(Node):
-    topics = [SetSeqMetaMsg, SetPlayMode, SetDeviceConfigMsg, SetRecordMsg, RfFrameWithMetaMsg, RequestRfFrameMsg,
+    topics = [SetSeqMetaMsg, SeqMetaMsg, SetPlayMode, SetDeviceConfigMsg, SetRecordMsg, RequestRfFrameMsg,
               ImageArgMsg, RobotRtsiMsg]
 
     def __init__(self, level=logging.INFO):
@@ -34,12 +33,13 @@ class Recorder(Node):
         )
         device_socket = self.context.socket(zmq.PULL)
         self.c.poller.register(device_socket, zmq.POLLIN)
+
         while True:
             socks = dict(self.c.poller.poll())
             for k in socks:
                 if k == device_socket:
                     buffer = device_socket.recv()
-                    _, sequence_id, encoder = struct.unpack_from('=iqi', buffer)
+                    _, sequence_id, encoder = struct.unpack_from('=IQi', buffer)
                     s = buffer[4 + 8 + 4:]
                     if self.seq_meta_live is not None and s.__len__() // 2 == np.prod(self.seq_meta_live.shape):
                         (self.record_path / RfFrameMeta(
@@ -64,7 +64,7 @@ class Recorder(Node):
                     if isinstance(msg, KillMsg):
                         if msg.name == '':
                             return
-                    elif isinstance(msg, SetSeqMetaMsg):
+                    elif isinstance(msg, SeqMetaMsg):
                         match msg.target:
                             case 'live':
                                 self.seq_meta_live = RfSequenceMeta.from_name(msg.name)

flandre/utils/RfMat.py

@@ -131,6 +131,8 @@ class RfMat:
             seq_meta = frame.seq_meta
         else:
             raise NotImplementedError()
+        if seq_meta.prod() != frame.__bytes__().__len__() // 2:
+            return None
         m = np.frombuffer(frame.__bytes__(), dtype=np.int16).reshape(seq_meta.shape).copy()
         if device == 'gpu':
             m = cp.asarray(m)