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This commit is contained in:
remilia 2025-05-10 19:30:36 +08:00
parent ee0b4889d2
commit 464b2ac93c
2 changed files with 21 additions and 17 deletions
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22
flandre/nodes/Recorder.py
View File

@ -37,30 +37,18 @@ class Recorder(Node):
)
device_socket = self.context.socket(zmq.PULL)
self.c.poller.register(device_socket, zmq.POLLIN)
last_ts = 0
while True:
socks = dict(self.c.poller.poll())
for k in socks:
if k == device_socket:
buffer = device_socket.recv()
ts, sequence_id, encoder, s = b2t(buffer)
if last_ts == ts:
logger.warning(f"Record {ts}")
last_ts = ts
if self.seq_meta_live is not None and s.__len__() // 2 == np.prod(self.seq_meta_live.shape):
(self.record_path / RfFrameMeta(
encoder=encoder,
sequence_id=sequence_id,
robot_x=self.rtsi.pos[0],
robot_y=self.rtsi.pos[1],
robot_z=self.rtsi.pos[2],
robot_roll=self.rtsi.pos[3],
robot_pitch=self.rtsi.pos[4],
robot_yal=self.rtsi.pos[5],
robot_force_x=self.rtsi.force[0],
robot_force_y=self.rtsi.force[1],
robot_force_z=self.rtsi.force[2],
robot_force_roll=self.rtsi.force[3],
robot_force_pitch=self.rtsi.force[4],
robot_force_yal=self.rtsi.force[5],
).filename(ts)).write_bytes(s)
(self.record_path / f'{ts}.bin').write_bytes(s)
self.send(RecordFrameMsg(s.__len__(), sequence_id))
if k == self.c.sub:
msg = self.recv()

16
test/driver_pull.py Normal file
View File

@ -0,0 +1,16 @@
import zmq
from flandre.config import C
from flandre.utils.RfFrame import b2t
if __name__ == '__main__':
context = zmq.Context()
device_socket = context.socket(zmq.PULL)
device_socket.connect(C.live_push_socket)
last_ts = 0
while True:
buffer = device_socket.recv()
ts, sequence_id, encoder, s = b2t(buffer)
if last_ts == ts:
print(ts)
last_ts = ts