opt windows

flandre/launcher.py

@@ -121,7 +121,7 @@ def entrypoint(dev):
 
 @entrypoint.command()
 @click.option('--data_folder', default=None)
-@click.option('--generate_pyqt', default=True)
+@click.option('--generate_pyqt', default=False)
 @click.option('-p', '--path', type=str,
               default=platformdirs.user_config_path(
                   'Flandre', 'Scarlet') / 'launch.toml',
@@ -240,6 +240,7 @@ def device_end_capture():
 def device_upload(name, file: TextIOWrapper):
     dd.set_name_and_file_only(name, file.read())
 
+
 @device.command('recv_single')
 def device_recvmonitor():
     r = dd.get_data()
@@ -247,102 +248,16 @@ def device_recvmonitor():
     print(seq, encoder, host_ts, device_ts_low, device_ts_high)
     print((buffer.__len__()//2)/256)
 
-@device.command('recvm')
+
+@device.command('monitor')
 def device_recvmonitor():
     ctx = zmq.Context()
     pull = ctx.socket(zmq.PULL)
     pull.connect(C.live_push_socket)
-    last_device_ts_low = 0
-    last_host_ts = 0
     while True:
         b = pull.recv()
-        seq, encoder, host_ts, device_ts_low, device_ts_high, buffer = b2t(b)
+        seq, encoder, host_ts, device_ts, buffer = b2t(b)
-        print(
+        print(f'S={seq} E={encoder} HT={host_ts} DT={device_ts} BS={buffer.__len__()}')
-            f'S={seq} E={encoder} HT={host_ts} DTL={device_ts_low} HTDF={host_ts - last_host_ts} DTLDF={device_ts_low - last_device_ts_low} DTH={device_ts_high} BS={buffer.__len__()}')
-        last_device_ts_low = device_ts_low
-        last_host_ts = host_ts
-
-
-@device.command('recvplot')
-def device_recvplot():
-    ctx = zmq.Context()
-    pull = ctx.socket(zmq.PULL)
-    pull.connect(C.live_push_socket)
-    last_ts = 0
-    first = True
-    host_host_ts_last = time.time_ns()
-    while True:
-        b = pull.recv()
-        host_host_ts = time.time_ns()
-
-        seq, encoder, host_ts, device_ts_low, device_ts_high, buffer = b2t(b)
-        ts = host_ts
-        if first:
-            last_ts = ts
-            first = False
-            continue
-        print((ts - last_ts) / 10 ** 6, flush=True)
-        last_ts = ts
-        host_host_ts_last = host_host_ts
-
-
-@device.command('recvplot2')
-def device_recvplot2():
-    ctx = zmq.Context()
-    pull = ctx.socket(zmq.PULL)
-    pull.connect(C.live_push_socket)
-    host_host_ts_last = time.time_ns()
-    while True:
-        b = pull.recv()
-        host_host_ts = time.time_ns()
-        _ = b2t(b)
-        print((host_host_ts - host_host_ts_last) / 10 ** 6, flush=True)
-        host_host_ts_last = host_host_ts
-
-
-@device.command('recvplot3')
-def device_recvplot3():
-    ctx = zmq.Context()
-    pull = ctx.socket(zmq.PULL)
-    pull.connect(C.live_push_socket)
-    print(C.live_push_socket)
-    last_ts = 0
-    first = True
-    host_host_ts_last = time.time_ns()
-    while True:
-        b = pull.recv()
-        host_host_ts = time.time_ns()
-
-        seq, encoder, host_ts, device_ts_low, device_ts_high, buffer = b2t(b)
-        ts = host_ts
-        if first:
-            last_ts = ts
-            first = False
-            continue
-        print((ts - last_ts) / 10 ** 6, (host_host_ts - host_host_ts_last) / 10 ** 6, flush=True)
-        last_ts = ts
-        host_host_ts_last = host_host_ts
-
-
-@device.command('recvplotdiff')
-def device_recvplotdiff():
-    ctx = zmq.Context()
-    pull = ctx.socket(zmq.PULL)
-    pull.connect(C.live_push_socket)
-    last_ts = 0
-    max_interval = 0
-    first = True
-    while True:
-        b = pull.recv()
-
-        ts, sequence_id, encoder, buffer = b2t(b)
-        if first:
-            last_ts = ts
-            first = False
-            continue
-        max_interval = max(max_interval, ts - last_ts)
-        print(max_interval / 10 ** 6, flush=True)
-        last_ts = ts
 
 
 def b2b(b):
@@ -381,10 +296,13 @@ def device_record(folder):
     ctx = zmq.Context()
     pull = ctx.socket(zmq.PULL)
     pull.connect(C.live_push_socket)
+    cnt = 0
     while True:
+        cnt += 1
         b = pull.recv()
-        seq, encoder, host_ts, device_ts_low, device_ts_high, buffer = b2t(b)
+        seq, encoder, host_ts, device_ts, buffer = b2t(b)
-        (p / f'{host_ts}.bin').write_bytes(b)
+        if cnt % 5 == 0:
+            (p / f'{host_ts}.bin').write_bytes(b)
 
 
 robot: Robot = None
@@ -409,7 +327,7 @@ def robot_monitor():
         if recv_out.recipe_id == output1.id:
             x, y, z, r, p, yy = recv_out.actual_TCP_pose
             fx, fy, fz, fr, fp, fyy = recv_out.actual_TCP_force
-            print('xts', x, recv_out.timestamp)
+            print(f'X={x}, DT={recv_out.timestamp}')
 
 
 @robot.command('record')
@@ -425,6 +343,7 @@ def robot_record(folder):
             'actual_TCP_pose,actual_TCP_force,timestamp', 250)  # 输出订阅,配方1
         robot.rt.start()  # rtsi 开始
         arr = []
+        last_device_ts = 0
         while True:
             recv_out: DataObject = robot.rt.get_output_data()
             if recv_out is None:
@@ -432,8 +351,10 @@ def robot_record(folder):
             if recv_out.recipe_id == output1.id:
                 x, y, z, rx, ry, rz = recv_out.actual_TCP_pose
                 fx, fy, fz, frx, fry, frz = recv_out.actual_TCP_force
-                local_ns = time.time_ns()
+                host_ts = time.time_ns()
-
+                device_ts = recv_out.timestamp
+                # print(device_ts - last_device_ts)
+                last_device_ts = device_ts
                 d = dict(
                     x=x,
                     y=y,
@@ -447,8 +368,8 @@ def robot_record(folder):
                     frx=frx,
                     fry=fry,
                     frz=frz,
-                    local_ns=local_ns,
+                    host_ts=host_ts,
-                    device_ts=recv_out.timestamp,
+                    device_ts=device_ts,
                 )
                 arr.append(d)
                 if arr.__len__() == 100:

flandre/utils/RfFrame.py

@@ -47,11 +47,11 @@ def b2t(b: bytes):
     # buffer = b[4 + 8 + 8 + 8 + 4:]
     # return seq, encoder, host_ts, driver_ts, buffer
 
-    magic, seq, encoder, host_ts, device_ts_low, device_ts_high = struct.unpack_from('iQiQII', b)
+    magic, seq, encoder, host_ts, device_ts = struct.unpack_from('iQiQQ', b)
     # bb = b[4 + 8 + 4 + 8:4 + 8 + 4 + 8 + 4]
     # device_ts_low = struct.unpack('<I', bb)
     # device_ts_low = b[4 + 8 + 4 + 8:4 + 8 + 4 + 8 + 4]
     # print(bin(device_ts_low[0]),bin(device_ts_low[1]),bin(device_ts_low[2]),bin(device_ts_low[3]))
-    buffer = b[4 + 8 + 4 + 8 + 4 + 4+4+4:]
+    buffer = b[4 + 8 + 4 + 8 + 4 + 4+8:]
 
-    return seq, encoder, host_ts, device_ts_low, device_ts_high, buffer
+    return seq, encoder, host_ts, device_ts, buffer

flandre/utils/rtsi/rtsi.py

@@ -3,6 +3,7 @@ import socket
 import select
 import sys
 import logging
+import platform
 
 import flandre.utils.rtsi.serialize as serialize
 
@@ -11,6 +12,9 @@ DEFAULT_TIMEOUT = 10.0
 LOGNAME = 'rtsi'
 _log = logging.getLogger(LOGNAME)
 
+TCP_BUFFER_SIZE = 4096
+if platform.system() == 'Windows':
+    TCP_BUFFER_SIZE = 3
 
 class Command:
     RTSI_REQUEST_PROTOCOL_VERSION = 86        # ascii V
@@ -270,7 +274,7 @@ class rtsi(object):
     def __recv_to_buffer(self, timeout):
         readable, _, xlist = select.select([self.__sock], [], [self.__sock], timeout)
         if len(readable):
-            more = self.__sock.recv(4096)
+            more = self.__sock.recv(TCP_BUFFER_SIZE)
             #When the controller stops while the script is running
             if len(more) == 0:
                 _log.error('received 0 bytes from Controller, probable cause: Controller has stopped')