debug opt

cmd_example.ipynb

@@ -11,11 +11,19 @@
   {
    "metadata": {},
    "cell_type": "code",
-   "source": "!flandre device upload fakename config/device/max-256-120,U=120,M=PWI,S=\\(256\\ 6002\\).txt",
+   "source": "!flandre device upload fakename \"config/device/mini-64-30,U=30,M=PWI,S=(64 1501).txt\"",
    "id": "ac406034e9609c90",
    "outputs": [],
    "execution_count": null
   },
+  {
+   "metadata": {},
+   "cell_type": "code",
+   "source": "!flandre device upload fakename \"config/device/max-256-120,U=120,M=PWI,S=(256 6002).txt\"",
+   "id": "71eae473ab305743",
+   "outputs": [],
+   "execution_count": null
+  },
   {
    "metadata": {},
    "cell_type": "code",

flandre/__init__.py

@@ -60,7 +60,7 @@ class SoftwareConfig:
     video_height: int = 1080
     video_width: int = 960
 
-    live_ip: str = '11.6.1.71'
+    live_ip: str = 'vmaosmax.as'
     live_push_port: int = 5555
     live_rep_port: int = 5556
     device_py_rep_port: int = 5558

flandre/launcher.py

@@ -238,7 +238,6 @@ def device_upload(name, file: TextIOWrapper):
     dd.set_name_and_file_only(name, file.read())
 
 
-
 @device.command('recvm')
 def device_recvmonitor():
     ctx = zmq.Context()
@@ -247,7 +246,8 @@ def device_recvmonitor():
     while True:
         b = pull.recv()
         seq, encoder, host_ts, device_ts_low, device_ts_high, buffer = b2t(b)
-        print(seq, encoder, host_ts, device_ts_low, device_ts_high)
+        print(f'S={seq} E={encoder} HT={host_ts} DTL={device_ts_low} BS={buffer.__len__()}')
+
 
 @device.command('recvplot')
 def device_recvplot():
@@ -271,6 +271,7 @@ def device_recvplot():
         last_ts = ts
         host_host_ts_last = host_host_ts
 
+
 @device.command('recvplot2')
 def device_recvplot2():
     ctx = zmq.Context()
@@ -284,11 +285,13 @@ def device_recvplot2():
         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()
@@ -302,10 +305,11 @@ def device_recvplot3():
             last_ts = ts
             first = False
             continue
-        print((ts - last_ts) / 10 ** 6,(host_host_ts - host_host_ts_last) / 10 ** 6, flush=True)
+        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()
@@ -382,7 +386,7 @@ def robot():
 def robot_monitor():
     robot.setup()
     output1 = robot.rt.output_subscribe(
-        'actual_TCP_pose,actual_TCP_force', 250)  # 输出订阅,配方1
+        'actual_TCP_pose,actual_TCP_force,timestamp', 250)  # 输出订阅,配方1
     robot.rt.start()  # rtsi 开始
     while True:
         recv_out: DataObject = robot.rt.get_output_data()
@@ -391,7 +395,7 @@ 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('fx', fx)
+            print('xts', x, recv_out.timestamp)
 
 
 @robot.command('record')
@@ -411,10 +415,11 @@ def robot_record(folder):
 
     def rtsi_thread():
         output1 = robot.rt.output_subscribe(
-            'actual_TCP_pose,actual_TCP_force', 250)  # 输出订阅,配方1
+            'actual_TCP_pose,actual_TCP_force,timestamp', 250)  # 输出订阅,配方1
         robot.rt.start()  # rtsi 开始
         arr = []
         last_ns = time.time_ns()
+        last_device_ts = 0
         while True:
             recv_out: DataObject = robot.rt.get_output_data()
             if recv_out is None:
@@ -423,8 +428,9 @@ def robot_record(folder):
                 x, y, z, rx, ry, rz = recv_out.actual_TCP_pose
                 fx, fy, fz, frx, fry, frz = recv_out.actual_TCP_force
                 ns = time.time_ns()
-                print(ns - last_ns,x)
+                print(ns - last_ns, recv_out.timestamp - last_device_ts, x)
                 last_ns = ns
+                last_device_ts = recv_out.timestamp
 
                 d = dict(
                     # x=x,

flandre/utils/RfFrame.py

@@ -52,6 +52,6 @@ def b2t(b: bytes):
     # 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 + 8 + 8 + 4:]
+    buffer = b[4 + 8 + 4 + 8 + 4 + 4:]
 
     return seq, encoder, host_ts, device_ts_low, device_ts_high, buffer