From 464925a62148ff6b9bf9d1ebf77213532688140f Mon Sep 17 00:00:00 2001
From: scarlet <scarlet@flandre.net>
Date: Sun, 8 Jun 2025 20:35:42 -0700
Subject: [PATCH] simple record robot

---
 flandre/launcher.py | 91 +++++++++++++++++++--------------------------
 1 file changed, 39 insertions(+), 52 deletions(-)

diff --git a/flandre/launcher.py b/flandre/launcher.py
index b177205..91e9617 100644
--- a/flandre/launcher.py
+++ b/flandre/launcher.py
@@ -336,59 +336,46 @@ def robot_record(folder):
     p = Path(folder)
     p.mkdir(parents=True, exist_ok=True)
     robot.setup()
-    q = queue.Queue()
-
-    def rtsi_thread():
-        output1 = robot.rt.output_subscribe(
-            '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:
-                continue
-            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
-                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,
-                    z=z,
-                    fx=fx,
-                    fy=fy,
-                    fz=fz,
-                    rx=rx,
-                    ry=ry,
-                    rz=rz,
-                    frx=frx,
-                    fry=fry,
-                    frz=frz,
-                    host_ts=host_ts,
-                    device_ts=device_ts,
-                )
-                arr.append(d)
-                if arr.__len__() == 100:
-                    q.put(arr)
-                    arr = []
-
-    def write_thread():
-        while True:
-            ns = time.time_ns()
-            # print(q.get()[0]['ns'])
-            (p / f'{ns}.json').write_text(json.dumps(q.get()))
-
-    tr = threading.Thread(target=rtsi_thread)
-    tw = threading.Thread(target=write_thread)
-    tr.start()
-    tw.start()
-    tr.join()
-    tw.join()
 
+    output1 = robot.rt.output_subscribe(
+        '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:
+            continue
+        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
+            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,
+                z=z,
+                fx=fx,
+                fy=fy,
+                fz=fz,
+                rx=rx,
+                ry=ry,
+                rz=rz,
+                frx=frx,
+                fry=fry,
+                frz=frz,
+                host_ts=host_ts,
+                device_ts=device_ts,
+            )
+            arr.append(d)
+            if arr.__len__() == 100:
+                ns = time.time_ns()
+                # print(q.get()[0]['ns'])
+                # print('write')
+                (p / f'{ns}.json').write_text(json.dumps(arr))
+                arr = []
 
 if __name__ == '__main__':
     entrypoint()