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simple record robot

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This commit is contained in:
scarlet 2025-06-08 20:35:42 -07:00
parent 2809f45604
commit 464925a621
1 changed files with 39 additions and 52 deletions
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19
flandre/launcher.py
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@ -336,9 +336,7 @@ def robot_record(folder):
p = Path(folder) p = Path(folder)
p.mkdir(parents=True, exist_ok=True) p.mkdir(parents=True, exist_ok=True)
robot.setup() robot.setup()
q = queue.Queue()
def rtsi_thread():
output1 = robot.rt.output_subscribe( output1 = robot.rt.output_subscribe(
'actual_TCP_pose,actual_TCP_force,timestamp', 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 robot.rt.start() # rtsi 开始
@ -373,22 +371,11 @@ def robot_record(folder):
) )
arr.append(d) arr.append(d)
if arr.__len__() == 100: if arr.__len__() == 100:
q.put(arr)
arr = []
def write_thread():
while True:
ns = time.time_ns() ns = time.time_ns()
# print(q.get()[0]['ns']) # print(q.get()[0]['ns'])
(p / f'{ns}.json').write_text(json.dumps(q.get())) # print('write')
(p / f'{ns}.json').write_text(json.dumps(arr))
tr = threading.Thread(target=rtsi_thread) arr = []
tw = threading.Thread(target=write_thread)
tr.start()
tw.start()
tr.join()
tw.join()
if __name__ == '__main__': if __name__ == '__main__':
entrypoint() entrypoint()