simple record robot

flandre/launcher.py

@@ -336,9 +336,7 @@ 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
@@ -373,22 +371,11 @@ def robot_record(folder):
             )
             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()
-
+                # print('write')
+                (p / f'{ns}.json').write_text(json.dumps(arr))
+                arr = []
 
 if __name__ == '__main__':
     entrypoint()