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opt windows

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This commit is contained in:
scarlet 2025-06-08 20:31:53 -07:00
parent 67b0077d50
commit 2809f45604
3 changed files with 27 additions and 102 deletions
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115
flandre/launcher.py
View File

@ -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)
print(
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
seq, encoder, host_ts, device_ts, buffer = b2t(b)
print(f'S={seq} E={encoder} HT={host_ts} DT={device_ts} BS={buffer.__len__()}')
def b2b(b):
@ -381,9 +296,12 @@ 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)
if cnt % 5 == 0:
(p / f'{host_ts}.bin').write_bytes(b)
@ -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,
device_ts=recv_out.timestamp,
host_ts=host_ts,
device_ts=device_ts,
)
arr.append(d)
if arr.__len__() == 100:

6
flandre/utils/RfFrame.py
View File

@ -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

6
flandre/utils/rtsi/rtsi.py
View File

@ -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')