add timestamp

flandre/nodes/Device.py

@@ -220,6 +220,7 @@ class Device(Node):
                     self.seq_meta = RfSequenceMeta.from_name(msg.name)
                     self.send(SeqMetaMsg('live', msg.name))
                 elif isinstance(msg, RequestRfFrameMsg):
+                    raise NotImplementedError()
                     if self.switch:
                         braw = self.get_data()
                         if braw == b'':

flandre/nodes/Muxer.py

@@ -11,7 +11,7 @@ from flandre.nodes.Device import Device, DeviceCmd
 from flandre.nodes.Node import Node
 from flandre.utils.Msg import ImageArgMsg, KillMsg, SetSeqMetaMsg, SetPlayMode, SetDeviceConfigMsg, \
     ImagingConfigNameListMsg, BeamformerMsg, RobotRtsiMsg, SeqMetaMsg, DeviceEnabledMsg, RfFrameMsg
-from flandre.utils.RfFrame import RfFrameMemory
+from flandre.utils.RfFrame import RfFrameMemory, b2t
 from flandre.utils.RfMeta import RfFrameMeta, RfSequenceMeta
 
 logger = logging.getLogger(__name__)
@@ -79,8 +79,8 @@ class Muxer(Node):
                     # todo fixit driver no empty
                     self.rep_socket.send(BeamformerMsg(b'nop').encode_msg())
                     return
-                _, sequence_id, encoder = struct.unpack_from('=IQi', self.driver_data_raw)
+                # _, sequence_id, encoder = struct.unpack_from('=IQi', self.driver_data_raw)
-                driver_data_body = self.driver_data_raw[4 + 8 + 4:]
+                ts, sequence_id, encoder, driver_data_body = b2t(self.driver_data_raw)
                 data_msg = RfFrameMsg(0, RfFrameMemory(
                     RfFrameMeta(
                         encoder=encoder,

flandre/nodes/Recorder.py

@@ -1,3 +1,4 @@
+import json
 import logging
 import struct
 from pathlib import Path
@@ -9,6 +10,7 @@ from flandre.config import C
 from flandre.nodes.Node import Node
 from flandre.utils.Msg import ImageArgMsg, KillMsg, SetSeqMetaMsg, SetPlayMode, SetDeviceConfigMsg, SetRecordMsg, \
     RequestRfFrameMsg, RecordFrameMsg, RobotRtsiMsg, SeqMetaMsg
+from flandre.utils.RfFrame import b2t
 from flandre.utils.RfMeta import RfFrameMeta, RfSequenceMeta
 
 logger = logging.getLogger(__name__)
@@ -25,6 +27,8 @@ class Recorder(Node):
         self.record_commit = None
         self.record_path: Path | None = None
         self.play_mode = None
+        self.arr: list[RobotRtsiMsg] = []
+        self.isrecord = False
 
     def loop(self):
         self.rtsi = RobotRtsiMsg(
@@ -39,8 +43,7 @@ class Recorder(Node):
             for k in socks:
                 if k == device_socket:
                     buffer = device_socket.recv()
-                    _, sequence_id, encoder = struct.unpack_from('=IQi', buffer)
+                    ts, sequence_id, encoder, s = b2t(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(
                             encoder=encoder,
@@ -57,7 +60,7 @@ class Recorder(Node):
                             robot_force_roll=self.rtsi.force[3],
                             robot_force_pitch=self.rtsi.force[4],
                             robot_force_yal=self.rtsi.force[5],
-                        ).filename).write_bytes(s)
+                        ).filename(ts)).write_bytes(s)
                         self.send(RecordFrameMsg(s.__len__(), sequence_id))
                 if k == self.c.sub:
                     msg = self.recv()
@@ -71,6 +74,8 @@ class Recorder(Node):
                     elif isinstance(msg, SetRecordMsg):
                         self.record_enable = msg.enable
                         if msg.enable:
+                            self.isrecord = True
+                            self.arr.clear()
                             seq_meta = self.seq_meta_live
                             self.record_commit = msg.commit
                             seq_meta.commit = msg.commit
@@ -79,6 +84,14 @@ class Recorder(Node):
                             self.record_path = p
                             device_socket.connect(C.live_push_socket)
                         else:
+                            self.isrecord = False
                             device_socket.disconnect(C.live_push_socket)
+                            arrj = []
+                            for msg in self.arr:
+                                arrj.append(msg.dict)
+                            (self.record_path / f'rtsi.{self.arr[0].ts}.json').write_text(json.dumps(arrj))
+
                     elif isinstance(msg, RobotRtsiMsg):
                         self.rtsi = msg
+                        if self.isrecord:
+                            self.arr.append(self.rtsi)

flandre/utils/Msg.py

@@ -1,6 +1,7 @@
 import dataclasses
 import json
 import struct
+import time
 from enum import auto, Enum
 from pathlib import Path
 
@@ -66,9 +67,24 @@ class BG(Enum):
 class Msg:
     MAGIC = 1919810
 
+    def __init__(self):
+        self.ts = time.time_ns()
+
     @classmethod
     def decode_base(cls, data: bytes) -> 'Msg':
-        return cls(**json.loads(data.decode()))
+        j = json.loads(data.decode())
+        j2 = j.copy()
+        if 'ts' in j:
+            del j2['ts']
+        c = cls(**j2)
+        if 'ts' in j:
+            c.ts = j['ts']
+        return c
+
+    def encode_ts(self):
+        if not hasattr(self, 'ts'):
+            self.ts = time.time_ns()
+        return struct.pack('Q', self.ts)
 
     def encode(self) -> bytes:
         return json.dumps(self.__dict__).encode()
@@ -79,10 +95,12 @@ class Msg:
 
     @classmethod
     def decode_msg(cls, msg: bytes):
-        magic, eid = struct.unpack('II', msg[:8])
+        magic, eid, ts = struct.unpack('IIQ', msg[:16])
         assert magic == cls.MAGIC
         class_: 'Msg' = globals()[BG(eid).name]
-        return class_.decode(msg[8:])
+        msg2 = class_.decode(msg[16:])
+        msg2.ts = ts
+        return msg2
 
     @classmethod
     def eid(cls):
@@ -93,7 +111,7 @@ class Msg:
         return struct.pack('I', cls.MAGIC)
 
     def encode_msg(self):
-        return self.magic() + self.eid() + self.encode()
+        return self.magic() + self.eid() + self.encode_ts() + self.encode()
 
     @property
     def dict(self):
@@ -154,18 +172,22 @@ class NodeOnlineMsg(Msg):
 class StrMsg(Msg):
     value: str = ''
 
+
 @dataclasses.dataclass
 class IntMsg(Msg):
     value: int = 0
 
+
 @dataclasses.dataclass
 class KeyPressMsg(StrMsg):
     pass
 
+
 @dataclasses.dataclass
 class InterruptMsg(StrMsg):
     pass
 
+
 @dataclasses.dataclass
 class BoolMsg(Msg):
     value: bool
@@ -197,9 +219,11 @@ class DeviceConnectedMsg(BoolMsg):
 class DeviceOnlineMsg(BoolMsg):
     pass
 
+
 class MaxMsg(IntMsg):
     pass
 
+
 @dataclasses.dataclass
 class SetRecordMsg(Msg):
     enable: bool
@@ -524,6 +548,17 @@ if __name__ == '__main__':
     # c2 = c.decode(c.encode())
     # print(c2.sender, c2.meta, c2.data, c2._header)
 
-    rfmat = RfMat(np.array([1, 2, 3]), RfFrameMeta(), RfSequenceMeta())
+    # rfmat = RfMat(np.array([1, 2, 3]), RfFrameMeta(), RfSequenceMeta())
-    e = RfMatMsg(rfmat).encode()
+    # e = RfMatMsg(rfmat).encode()
-    d = RfMatMsg.decode(e)
+    # d = RfMatMsg.decode(e)
+    r = RobotRtsiMsg([], [])
+    r2 = r.decode_msg(r.encode_msg())
+    r3 = r2.decode_msg(r2.encode_msg())
+    print(r.ts)
+    print(r2.ts)
+    print(r3.ts)
+
+    r = RobotRtsiMsg([], [])
+    r2 = r.decode_msg(r.encode_msg())
+    print(r.ts)
+    print(r2.ts)

flandre/utils/RfFrame.py

@@ -1,3 +1,4 @@
+import struct
 from pathlib import Path
 
 from flandre.utils.RfMeta import RfFrameMeta, RfSequenceMeta
@@ -37,3 +38,9 @@ class RfFrameMemory(RfFrame):
 
     def __bytes__(self):
         return self.data
+
+
+def b2t(b: bytes):
+    _, sequence_id, ts, encoder = struct.unpack_from('=IQQi', b)
+    buffer = b[4 + 8 + 8 + 4:]
+    return ts, sequence_id, encoder, buffer

flandre/utils/RfMeta.py

@@ -47,9 +47,8 @@ class RfMeta:
                 arr.append(f'{p2a[p]}={vs}')
         return ",".join(arr)
 
-    @property
+    def filename(self, ts=0):
-    def filename(self):
+        return self.name + f'.{ts}bin'
-        return self.name + '.bin'
 
     @classmethod
     def from_path(clz, path: Path | str):

test/testpy.py

@@ -2,6 +2,7 @@ import dataclasses
 import hashlib
 import inspect
 import sys
+import time
 from enum import Enum
 from pathlib import Path, PosixPath
 
@@ -64,6 +65,7 @@ class Decorator(object):
 class DC:
     def __init__(self):
         pass
+
     def f1(self, arg):
         print('f1', arg)
 
@@ -71,6 +73,10 @@ class DC:
         print('f2', arg)
 
 
+class E1:
+    a = 1
+
+
 if __name__ == '__main__':
     # print(sys.argv)
     # print(dir(ASD()))
@@ -97,6 +103,12 @@ if __name__ == '__main__':
     #         print(3)
     #     case _:
     #         print(2)
-    dc = DC()
+    # dc = DC()
-    dc.f1(11,cond=False)
+    # dc.f1(11,cond=False)
-    dc.f2(22)
+    # dc.f2(22)
+
+    a = E1()
+    b = E1()
+    a.a = 1413
+    print(b.a)
+    print()