diff --git a/test/legacy/avencode.py b/test/legacy/avencode.py
deleted file mode 100644
index 764a3a1..0000000
--- a/test/legacy/avencode.py
+++ /dev/null
@@ -1,182 +0,0 @@
-import fractions
-import logging
-from typing import cast
-
-import av
-import numpy as np
-from av import VideoCodecContext, VideoFrame
-
-# for e in av.codecs_available:
-#     print(e)
-logging.basicConfig(level=logging.DEBUG)
-logging.getLogger('libav').setLevel(logging.DEBUG)
-MAX_FRAME_RATE = 60
-
-
-def f0():
-    # input_ = av.open('asd','w')
-    # in_stream = input_.streams.video[0]
-    # libx264
-    codec: VideoCodecContext = av.CodecContext.create('libx264', "w")
-
-    codec.width = 640
-    codec.height = 480
-    codec.pix_fmt = 'yuv420p'  # 常用格式, 大部分解码器都支持
-
-    # codec.width = 100
-    # codec.height = 100
-    # codec.bit_rate = 100000
-    # codec.pix_fmt = "yuv420p"
-    # codec.framerate = fractions.Fraction(MAX_FRAME_RATE, 1)
-    # codec.time_base = fractions.Fraction(1, MAX_FRAME_RATE)
-    # codec.options = {
-    #     "profile": "baseline",
-    #     "level": "31",
-    #     "tune": "zerolatency",
-    # }
-    codec.open()
-    pts = 0
-    while True:
-        f = VideoFrame.from_ndarray(np.zeros((640, 480, 3), dtype=np.uint8))
-        pts += 1
-        f.pts = pts
-        r = codec.encode(f)
-        if r.__len__() > 0:
-            print(r[0].__buffer__(0).__len__())
-
-
-def f1():
-    import av
-
-    # 创建一个输出容器
-    output = av.open('output.mp4', 'w')
-
-    # 添加一个视频流
-    stream = output.add_stream('libx264', rate=24)
-    stream.width = 640
-    stream.height = 480
-    stream.pix_fmt = 'yuv420p'
-
-    # 编码循环
-    for i in range(100):
-        frame = av.VideoFrame(width=640, height=480, format='rgb24')
-        # ... 对帧进行处理 ...
-        for packet in stream.encode(frame):
-            output.mux(packet)
-
-    # 完成编码
-    for packet in stream.encode():
-        output.mux(packet)
-
-    # 关闭输出容器
-    output.close()
-
-
-def f2():
-    import av
-    from av import VideoFrame
-    from fractions import Fraction
-
-    # 1. 创建输出容器
-    output_path = 'output.mp4'
-    output = av.open(output_path, 'w')
-
-    # 2. 创建视频流（使用 libx264 编码器）
-    stream = output.add_stream('libx264', rate=24)  # 帧率
-
-    # 3. 设置编解码器上下文参数
-    stream.width = 640
-    stream.height = 480
-    stream.pix_fmt = 'yuv420p'  # 常用格式, 大部分解码器都支持
-    stream.codec_context.time_base = Fraction(1, 24)
-
-    # 4. 手动打开编解码器上下文 (可选, add_stream 已经完成了这一步)
-    stream.codec_context.open()
-
-    # 5. 编码循环
-    for i in range(100):  # 生成 100 帧
-        frame = av.VideoFrame(width=640, height=480, format='rgb24')
-
-        # 生成测试数据
-        # 在实际应用中，您需要从图像源获取数据
-        import numpy as np
-        import colorsys
-        cx = int(640 / 100 * i)
-        cy = int(480 / 100 * i)
-        rgb = (np.array(colorsys.hsv_to_rgb(i / 100.0, 1.0, 1.0)) * 255).astype(np.uint8)
-
-        data = np.zeros((frame.height, frame.width, 3), dtype=np.uint8)
-        data[cy - 10:cy + 10, cx - 10:cx + 10, :] = rgb
-        frame.planes[0].update(data)
-
-        for packet in stream.encode(frame):
-            output.mux(packet)
-
-    # 6. 刷新编码器
-    for packet in stream.encode():
-        output.mux(packet)
-
-    # 7. 关闭容器
-    output.close()
-
-
-def f3():
-    import av
-    from av import VideoFrame
-    from fractions import Fraction
-
-    # 1. 创建输出容器
-    output_path = 'output.mp4'
-    output = av.open(output_path, 'w')
-
-    # 2. 获取编码器codec
-    codec = av.Codec('libx264', "w")
-
-    # 3. 手动创建并配置编解码器上下文
-    ctx = av.CodecContext.create(codec, mode="w")
-    ctx.width = 640
-    ctx.height = 480
-    ctx.pix_fmt = 'yuv420p'  # 常用格式, 大部分解码器都支持
-    ctx.time_base = Fraction(1, 24)
-
-    # 4. 添加视频流 (使用创建好的编解码器上下文).
-    stream = output.add_stream('libx264', rate=24)  # 使用编码器名称
-    stream.codec_context = ctx  # 将之前创建好的 ctx 赋值给 stream
-    stream.width = ctx.width  # 宽度
-    stream.height = ctx.height
-    stream.pix_fmt = ctx.pix_fmt
-
-    # 5. 手动打开编解码器上下文 (在添加到 stream 后会自动打开)
-    ctx.open()
-
-    # 6. 编码循环
-    for i in range(100):  # 生成 100 帧
-        frame = av.VideoFrame(width=640, height=480, format='rgb24')
-
-        # 生成测试数据
-        # 在实际应用中，您需要从图像源获取数据
-        import numpy as np
-        import colorsys
-        cx = int(640 / 100 * i)
-        cy = int(480 / 100 * i)
-        rgb = (np.array(colorsys.hsv_to_rgb(i / 100.0, 1.0, 1.0)) * 255).astype(np.uint8)
-
-        data = np.zeros((frame.height, frame.width, 3), dtype=np.uint8)
-        data[cy - 10:cy + 10, cx - 10:cx + 10, :] = rgb
-        frame.planes[0].update(data)
-
-        for packet in stream.encode(frame):
-            output.mux(packet)
-
-    # 7. 刷新编码器
-    for packet in stream.encode(None):
-        output.mux(packet)
-
-    # 8. 关闭容器
-    output.close()
-
-    print(f"视频已保存到 {output_path}")
-
-
-if __name__ == '__main__':
-    f0()
diff --git a/test/legacy/driver_pull.py b/test/legacy/driver_pull.py
deleted file mode 100644
index 78df05c..0000000
--- a/test/legacy/driver_pull.py
+++ /dev/null
@@ -1,16 +0,0 @@
-import zmq
-
-from flandre 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
diff --git a/test/legacy/drivercmd.py b/test/legacy/drivercmd.py
deleted file mode 100644
index fd72463..0000000
--- a/test/legacy/drivercmd.py
+++ /dev/null
@@ -1,47 +0,0 @@
-import struct
-from pathlib import Path
-
-import zmq
-import time
-import sys
-
-
-def exit():
-    ctx = zmq.Context()
-    sock = ctx.socket(zmq.REQ)
-    sock.connect('tcp://11.6.1.66:5556')
-    # sock.send(b'file' + Path('/home/lambda/source/scarlet/flandre/config/64-1.txt').read_bytes())
-    sock.send(b'exit')
-
-
-def cmd(c: str):
-    ctx = zmq.Context()
-    sock = ctx.socket(zmq.REQ)
-    sock.connect('tcp://11.6.1.66:5556')
-    sock.send(c.encode())
-    print(sock.recv().decode())
-
-
-def file():
-    ctx = zmq.Context()
-    sock = ctx.socket(zmq.REQ)
-    sock.connect('tcp://11.6.1.66:5556')
-    sock.send(b'file' + Path('/home/lambda/source/scarlet/flandre/config/64-1.txt').read_bytes())
-
-
-def test():
-    ctx = zmq.Context()
-    sock = ctx.socket(zmq.PULL)
-    sock.connect('tcp://11.6.1.66:5555')
-    while True:
-        s = sock.recv()
-        print(struct.unpack_from('=iqi', s))
-        print(s[4 + 8 + 4:].__len__())
-        break
-
-
-if __name__ == '__main__':
-    if len(sys.argv) < 2:
-        test()
-    else:
-        globals()[sys.argv[1]](*sys.argv[2:])
diff --git a/test/legacy/kdemain.py b/test/legacy/kdemain.py
deleted file mode 100644
index 64b67c7..0000000
--- a/test/legacy/kdemain.py
+++ /dev/null
@@ -1,53 +0,0 @@
-import logging
-import multiprocessing
-
-from BusClient import BusClient
-from nodes.Beamformer import Beamformer
-from nodes.Broker import Broker
-from nodes.Device import Device
-from nodes.ImageCV import ImageCV
-from nodes.ImageFFMPEG import ImageFFMPEG
-from nodes.JoyStick import Joystick
-from nodes.Loader import Loader
-from nodes.Mi import Mi
-from nodes.Midi import Midi
-from nodes.Monitor import Monitor
-from nodes.Muxer import Muxer
-from nodes.Recorder import Recorder
-from nodes.Robot import Robot
-from qtonly import kde_pyqt6_mainui
-from utils.Msg import KillMsg
-
-if __name__ == '__main__':
-    logging.basicConfig(level=logging.INFO)
-    multiprocessing.set_start_method('spawn')
-    multiprocessing.Pool()
-    pps = []
-    ps = [
-        Broker(),
-        kde_pyqt6_mainui,
-        Device(),
-        ImageFFMPEG(),
-        ImageCV(level=logging.DEBUG),
-        Beamformer(level=logging.DEBUG),
-        Loader(),
-        Muxer(level=logging.DEBUG),
-        # Midi(),
-        Joystick(),
-        Robot(),
-        Recorder(),
-        # Monitor(),
-        Mi(),
-    ]
-    for p in ps:
-        pps.append(multiprocessing.Process(target=p))
-    for p in pps:
-        p.start()
-
-    c = BusClient(KillMsg)
-    while True:
-        x: KillMsg = c.recv()
-        if x.name == '':
-            break
-    for p in pps:
-        p.kill()
diff --git a/test/legacy/kill.py b/test/legacy/kill.py
deleted file mode 100644
index 54598c7..0000000
--- a/test/legacy/kill.py
+++ /dev/null
@@ -1,11 +0,0 @@
-import time
-
-
-from BusClient import BusClient
-from utils.Msg import KillMsg
-
-if __name__ == '__main__':
-    c = BusClient()
-    time.sleep(1)
-    for i in range(100):
-        c.send(KillMsg())
diff --git a/test/legacy/main.ipynb b/test/legacy/main.ipynb
deleted file mode 100644
index 9ec32fd..0000000
--- a/test/legacy/main.ipynb
+++ /dev/null
@@ -1,67 +0,0 @@
-{
- "cells": [
-  {
-   "cell_type": "code",
-   "id": "initial_id",
-   "metadata": {
-    "collapsed": true,
-    "ExecuteTime": {
-     "end_time": "2025-01-12T12:27:14.384233Z",
-     "start_time": "2025-01-12T12:27:13.172285Z"
-    }
-   },
-   "source": [
-    "from beamformer.process import pwi_process\n",
-    "from utils.RfFile import RfFile\n",
-    "from utils.ScanData import ScanData\n",
-    "\n",
-    "f = RfFile.from_path('/run/media/lambda/b86dccdc-f134-464b-a310-6575ee9ae85c/cap4/trim/R1,L=30,C=PAR/S=1063,E=4.bin')\n",
-    "s = ScanData.from_file(f)\n",
-    "pwi_process()"
-   ],
-   "outputs": [
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "/home/lambda/source/scarlet/flandre/.venv/lib/python3.12/site-packages/cupyx/jit/_interface.py:173: FutureWarning: cupyx.jit.rawkernel is experimental. The interface can change in the future.\n",
-      "  cupy._util.experimental('cupyx.jit.rawkernel')\n"
-     ]
-    },
-    {
-     "ename": "TypeError",
-     "evalue": "ScanData.from_file() missing 1 required positional argument: 'shape'",
-     "output_type": "error",
-     "traceback": [
-      "\u001B[0;31m---------------------------------------------------------------------------\u001B[0m",
-      "\u001B[0;31mTypeError\u001B[0m                                 Traceback (most recent call last)",
-      "Cell \u001B[0;32mIn[2], line 6\u001B[0m\n\u001B[1;32m      3\u001B[0m \u001B[38;5;28;01mfrom\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mutils\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mScanData\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;28;01mimport\u001B[39;00m ScanData\n\u001B[1;32m      5\u001B[0m f \u001B[38;5;241m=\u001B[39m RfFile\u001B[38;5;241m.\u001B[39mfrom_path(\u001B[38;5;124m'\u001B[39m\u001B[38;5;124m/run/media/lambda/b86dccdc-f134-464b-a310-6575ee9ae85c/cap4/trim/R1,L=30,C=PAR/S=1063,E=4.bin\u001B[39m\u001B[38;5;124m'\u001B[39m)\n\u001B[0;32m----> 6\u001B[0m s \u001B[38;5;241m=\u001B[39m \u001B[43mScanData\u001B[49m\u001B[38;5;241;43m.\u001B[39;49m\u001B[43mfrom_file\u001B[49m\u001B[43m(\u001B[49m\u001B[43mf\u001B[49m\u001B[43m)\u001B[49m\n\u001B[1;32m      7\u001B[0m pwi_process()\n",
-      "\u001B[0;31mTypeError\u001B[0m: ScanData.from_file() missing 1 required positional argument: 'shape'"
-     ]
-    }
-   ],
-   "execution_count": 2
-  }
- ],
- "metadata": {
-  "kernelspec": {
-   "display_name": "Python 3",
-   "language": "python",
-   "name": "python3"
-  },
-  "language_info": {
-   "codemirror_mode": {
-    "name": "ipython",
-    "version": 2
-   },
-   "file_extension": ".py",
-   "mimetype": "text/x-python",
-   "name": "python",
-   "nbconvert_exporter": "python",
-   "pygments_lexer": "ipython2",
-   "version": "2.7.6"
-  }
- },
- "nbformat": 4,
- "nbformat_minor": 5
-}
diff --git a/test/legacy/main.py b/test/legacy/main.py
deleted file mode 100644
index ec9c1df..0000000
--- a/test/legacy/main.py
+++ /dev/null
@@ -1,75 +0,0 @@
-import base64
-import threading
-import time
-from pathlib import Path
-
-import cv2
-import numpy as np
-from tqdm import tqdm
-
-import zmq
-
-if __name__ == '__main__':
-    # r1 = base64.b64encode(Path('/home/lambda/Pictures/drawing.png').read_bytes()).decode()
-    # r1 = base64.b64encode(Path('/home/lambda/Pictures/remilia3.png').read_bytes()).decode()
-    # requests.post('http://localhost:12345/sendpic/test', json=dict(value='data:image/png;base64, ' + r1))
-
-    # for p in tqdm(Path('/home/lambda/Videos/pngs/New Folder/').glob('*.png')):
-    #     r1 = base64.b64encode(p.read_bytes()).decode()
-    #     requests.post('http://localhost:12345/sendpic/test', json=dict(value='data:image/png;base64, ' + r1))
-
-    # arr = [cv2.imread(str(img)).tobytes() for img in Path('/home/lambda/Videos/pngs/New Folder/').glob('*.png')]
-    arr = []
-    for img in tqdm(list(Path('/home/lambda/Videos/pngs/New Folder/').glob('*.png'))):
-        img = cv2.imread(str(img))
-        # img = cv2.resize(img, (1920 // 2, 1080 // 2))
-
-        img = img.reshape(1080, 1920, 3)
-        z = np.zeros((1080, 1920, 4), dtype=np.uint8)
-        z[:, :, :3] = img
-        img = z
-        img = cv2.cvtColor(img, cv2.COLOR_BGRA2RGBA)
-
-        arr.append(img.tobytes())
-
-    # img = cv2.resize(img, (1920 // 4, 1080 // 4,))
-
-    # while True:
-    #     for p in Path('/home/lambda/Videos/pngs/New Folder/').glob('*.png'):
-    #         img = cv2.imread(str(p))
-    #         # print(img.shape)
-    #         input()
-    #         socket.send(img.tobytes())
-    # while True:
-    #     for b in arr:
-    #         input()
-    #         socket.send(b)
-    lii = [0, True]
-
-
-    def t(li):
-        context = zmq.Context()
-        socket = context.socket(zmq.PUSH)
-        socket.connect("tcp://localhost:5555")
-        while True:
-            for i, b in enumerate(arr):
-                while True:
-                    socket.send(arr[li[0]])
-                    time.sleep(1 / 120)
-                    if li[1]:
-                        li[0] = i
-                        break
-
-
-
-
-    threading.Thread(target=t, args=(lii,)).start()
-
-    # while True:
-    #     for i, b in enumerate(arr):
-    #         # input()
-    #         lii[0] = i
-    #         time.sleep(1 / 60)
-    while True:
-        input()
-        lii[1] = not lii[1]
diff --git a/test/legacy/process_b.py b/test/legacy/process_b.py
deleted file mode 100644
index d2f4249..0000000
--- a/test/legacy/process_b.py
+++ /dev/null
@@ -1,38 +0,0 @@
-import cupy as cp
-
-from flandre.beamformer.das import gen_pwi
-from flandre.beamformer.dist import direct_dist
-from flandre.utils.Config import DeviceConfig
-from flandre.utils.Msg import ImageArgMsg
-from flandre.utils.RfMat import RfMat
-from flandre.utils.RfSequence import RfSequence
-
-if __name__ == '__main__':
-    arg = ImageArgMsg(
-        sender='',
-        t_end=2900,
-        t_start=0,
-        v2=1524,
-        dct_center=1086,
-        dct_bandwidth=915,
-        f_rows=6002,
-        beta=40,
-        tgc=0,
-        g8=80
-    )
-
-    dc = DeviceConfig(v2=1540, rows=5999)
-    pwi, _, la = gen_pwi(direct_dist(dc, p=cp), dc)
-    seq = RfSequence('/run/media/lambda/b86dccdc-f134-464b-a310-6575ee9ae85c/us/baby789,S=(256 6002),M=PWI,U=120/')
-    for i, frame in enumerate(seq.frames):
-        data = RfMat.from_rf_frame(frame, device='gpu')
-        data = data.dct_center(arg.dct_center, arg.dct_bandwidth)
-        data = data.call(lambda m: m.astype(cp.int16))
-        data = data.call(pwi)
-        data = data.call(cp.asarray, order='C')
-        data = data.argrelextrema()
-        data = data.conv_guass(b=arg.beta * 0.01)
-        data = data.crop(arg.t_start, arg.t_end)
-        data = data.time_gain_compensation_global((1 - arg.g8 * (1.0 / 128)) ** 2)
-        data = data.rotate90()
-        data.png(f'/home/lambda/source/scarlet/flandre/@DS/test/{i}.png', pre=300)
diff --git a/test/legacy/process_leagacy.py b/test/legacy/process_leagacy.py
deleted file mode 100644
index f298ab2..0000000
--- a/test/legacy/process_leagacy.py
+++ /dev/null
@@ -1,191 +0,0 @@
-import hashlib
-import shutil
-from pathlib import Path
-
-from flandre.utils.RfMeta import RfFrameMeta, RfSequenceMeta
-from flandre.utils.RfSequence import RfSequence
-from flandre.utils.archive import to_zip
-
-
-def f1():
-    # rr = RfSequenceMeta
-    tempdst = Path('/mnt/16T/private_dataset/ustemp')
-    arr = []
-    for (i,
-         file) in enumerate(Path('/mnt/16T/private_dataset/New Folder/steel-top/').glob('*pwi.bin')):
-        file = Path(file)
-        x, y, _ = file.name.split('_')
-        r = RfFrameMeta(encoder=0, robot_x=int(x) * 100, robot_y=int(y) * 100)
-        arr.append((file, r))
-    arr.sort(key=lambda item: (item[1].robot_y, item[1].robot_x))
-
-    arg = []
-
-    for i, item in enumerate(arr):
-        file, meta = item
-        meta.sequence_id = i
-        print(file.name, meta.sequence_id, meta.robot_x, meta.robot_y)
-        pic = file.with_suffix('.png')
-        farr = []
-        if pic.exists():
-            farr.append((pic, '.png'))
-        arg.append((file, meta, farr))
-
-    to_zip(arg, tempdst, Path('/mnt/16T/private_dataset/us/steel-top,U=30,M=PWI,S=(256 1502).zip'))
-
-
-def f2():
-    tempdst = Path('/mnt/16T/private_dataset/ustemp')
-    src = Path('/mnt/16T/private_dataset/New Folder/T1,U=30,M=FMC,S=(256 256 1502)/')
-    arr = []
-    for (i,
-         file) in enumerate(Path('/mnt/16T/private_dataset/New Folder/steel-top/').glob('*pwi.bin')):
-        file = Path(file)
-        x, _ = file.name.split('_')
-        r = RfFrameMeta(encoder=0, robot_x=int(x) * 100, robot_y=int(y) * 100)
-        arr.append((file, r))
-    arr.sort(key=lambda item: (item[1].robot_y, item[1].robot_x))
-    print(arr)
-
-
-WRITE_TMP = Path('/run/media/lambda/040fb2b8-1584-4683-bac8-fec3b264167d/write_cache/')
-
-
-def proc(src: Path | str, dst: Path | str, fx, tmp=WRITE_TMP):
-    src = Path(src)
-    dst = Path(dst)
-    assert not dst.exists()
-    shutil.rmtree(tmp)
-    tmp.mkdir(parents=True)
-    arr = fx(src)
-    print(arr)
-    # to_zip(arr, tmp, dst)
-
-
-def f_ok(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]:
-    arr: list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]] = []
-    for p in src.glob('*'):
-        m = RfFrameMeta.from_name(p.stem)
-        arr.append((p, m, []))
-    arr.sort(key=lambda item: item[1].sequence_id)
-    return arr
-
-
-def f_x(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]:
-    arr: list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]] = []
-    for p in src.glob('*'):
-        m = RfFrameMeta.from_name(p.stem)
-        arr.append((p, m, []))
-    arr.sort(key=lambda item: item[1].robot_x)
-    for i, a in enumerate(arr):
-        a[1].sequence_id = i
-        a[1].encoder = 0
-    return arr
-
-
-def f_xy(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]:
-    arr: list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]] = []
-    for p in src.glob('*'):
-        m = RfFrameMeta.from_name(p.stem)
-        arr.append((p, m, []))
-    arr.sort(key=lambda item: (item[1].robot_y, item[1].robot_x))
-    for i, a in enumerate(arr):
-        a[1].sequence_id = i
-        a[1].encoder = 0
-    return arr
-
-
-def f_legacy4(src: Path, t, xx=100, yy=100) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]:
-    arr = []
-    for p in src.glob(f'*{t}.bin'):
-        x, y, _ = p.name.split('_')
-        r = RfFrameMeta(encoder=0, robot_x=int(x) * xx, robot_y=int(y) * yy)
-        arr.append((p, r))
-    arr.sort(key=lambda item: (item[1].robot_y, item[1].robot_x))
-
-    arg: list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]] = []
-
-    for i, item in enumerate(arr):
-        file, meta = item
-        meta.sequence_id = i
-        pic = file.with_suffix('.png')
-        farr = []
-        if pic.exists():
-            farr.append((pic, '.png'))
-        arg.append((file, meta, farr))
-    return arg
-
-
-def f_legacy4_pwi(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]:
-    return f_legacy4(src, 'pwi')
-
-
-def f_legacy4_tfm(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]:
-    return f_legacy4(src, 'fmc')
-
-
-def f_legacy4_pwi_y10(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]:
-    return f_legacy4(src, 'pwi', yy=10)
-
-
-def f_legacy4_tfm_y10(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]:
-    return f_legacy4(src, 'fmc', yy=10)
-
-
-def f_cap(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]:
-    arr = []
-    for p in src.glob(f'*parallel.bin'):
-        y, _ = p.name.split('_')
-        r = RfFrameMeta(encoder=0, robot_y=int(y) * 100)
-        arr.append((p, r))
-    arr.sort(key=lambda item: item[1].robot_y)
-
-    arg: list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]] = []
-
-    for i, item in enumerate(arr):
-        file, meta = item
-        meta.sequence_id = i
-        arg.append((file, meta, []))
-    return arg
-
-
-def f_legacy_unknown(src: Path, t) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]:
-    arr = []
-    for p in src.glob(f'*{t}.bin'):
-        x, y, _ = p.name.split('_')
-        r = RfFrameMeta(encoder=0, robot_x=int(x) * xx, robot_y=int(y) * yy)
-        arr.append((p, r))
-    arr.sort(key=lambda item: (item[1].robot_y, item[1].robot_x))
-
-    arg: list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]] = []
-
-    for i, item in enumerate(arr):
-        file, meta = item
-        meta.sequence_id = i
-        pic = file.with_suffix('.png')
-        farr = []
-        if pic.exists():
-            farr.append((pic, '.png'))
-        arg.append((file, meta, farr))
-    return arg
-
-
-if __name__ == '__main__':
-    b2b = hashlib.blake2b(
-        Path('/run/media/lambda/040fb2b8-1584-4683-bac8-fec3b264167d/c1/remilia/cap1/34_4040_fmc.bin').read_bytes(),
-        digest_size=4).hexdigest()
-    print(b2b)
-    print('--')
-    for f in Path('/mnt/16T/private_dataset/us/').glob('*.zip'):
-        m = RfSequenceMeta.from_path(f)
-        if m.mode == RfSequenceMeta.RfSequenceMode.TFM and m.us == 30:
-            for f in RfSequence(f).frames:
-                print(m.commit, f.meta.sequence_id, f.meta.encoder, f.meta.robot_x, f.meta.robot_y, f.meta.blake2b)
-
-    # RfSequence()
-
-    # proc(
-    #     '/run/media/lambda/040fb2b8-1584-4683-bac8-fec3b264167d/c2/Desktop/New folder/4d/cap1',
-    #     '/mnt/16T/private_dataset/us/cap1,U=30,M=PWI,S=(256 1502).zip',
-    #     f_legacy_unknown,
-    # )
diff --git a/test/legacy/qtonly.py b/test/legacy/qtonly.py
deleted file mode 100644
index 42954d7..0000000
--- a/test/legacy/qtonly.py
+++ /dev/null
@@ -1,23 +0,0 @@
-import logging
-import logging
-import os
-import subprocess
-
-from PyQt6 import QtWidgets
-
-from nodes.MainUI import MainUI
-
-
-def kde_pyqt6_mainui():
-    subprocess.run(['python', __file__],
-                   env=dict(XDG_CURRENT_DESKTOP="KDE",
-                            XDG_RUNTIME_DIR="/run/user/1000",
-                            XDG_SESSION_TYPE="wayland",
-                            PYTHONPATH=os.environ['PYTHONPATH'])
-                   )
-
-
-if __name__ == '__main__':
-    print(QtWidgets.QStyleFactory.keys())
-    logging.basicConfig(level=logging.INFO)
-    MainUI()()
diff --git a/test/legacy/qtstyles.py b/test/legacy/qtstyles.py
deleted file mode 100644
index fccd93a..0000000
--- a/test/legacy/qtstyles.py
+++ /dev/null
@@ -1,4 +0,0 @@
-import PyQt6.QtWidgets as QtWidgets
-
-if __name__ == '__main__':
-    print(QtWidgets.QStyleFactory.keys())
diff --git a/test/legacy/realtimeplot.py b/test/legacy/realtimeplot.py
deleted file mode 100644
index 68bac1b..0000000
--- a/test/legacy/realtimeplot.py
+++ /dev/null
@@ -1,44 +0,0 @@
-import struct
-from pathlib import Path
-
-import numpy as np
-import zmq
-import time
-import sys
-
-from matplotlib import pyplot as plt
-
-def test():
-    ctx = zmq.Context()
-    sock = ctx.socket(zmq.PULL)
-    sock.bind('tcp://0.0.0.0:5555')
-
-    li = []
-    cnt = 0
-    while True:
-        s = sock.recv_pyobj()
-        cnt += 1
-        if cnt == 1:
-            cnt = 0
-            li.append(s)
-            if li.__len__() > 100:
-                li = li[1:]
-            # print(li.__len__())
-            aa = np.array(li)
-            plt.cla()
-            # plt.plot(aa[:,0])
-            # plt.plot(aa[:,1])
-            plt.plot(aa[:,2]*1000)
-            plt.plot(aa[:,3])
-            plt.pause(0.0001)
-
-        # plt.axis([0, 10, 0, 1])
-        # for i in range(10):
-        #     y = np.random.random()
-        #     plt.scatter(i, y)
-        #     plt.pause(0.05)
-
-
-
-if __name__ == '__main__':
-    test()
diff --git a/test/legacy/rtc.py b/test/legacy/rtc.py
deleted file mode 100644
index 248af81..0000000
--- a/test/legacy/rtc.py
+++ /dev/null
@@ -1,69 +0,0 @@
-import asyncio
-import json
-import logging
-import os
-
-import aiohttp_cors
-from aiohttp import web
-from aiortc import MediaStreamTrack, RTCPeerConnection, RTCSessionDescription, RTCConfiguration, RTCRtpCodecCapability
-from aiortc.contrib.media import MediaBlackhole, MediaPlayer, MediaRecorder, MediaRelay
-
-ROOT = os.path.dirname(__file__)
-
-web.WebSocketResponse()
-logger = logging.getLogger(__name__)
-
-pcs = set()
-
-
-async def offer(request):
-    params = await request.json_str()
-    offer = RTCSessionDescription(sdp=params["sdp"], type=params["type"])
-    pc = RTCPeerConnection(RTCConfiguration([]))
-    pcs.add(pc)
-    player = MediaPlayer(os.path.join(ROOT, "demo-instruct.wav"))
-    rc = pc.addTransceiver(player.video, 'sendonly')
-    rc.setCodecPreferences([RTCRtpCodecCapability(mimeType='video/H264',
-                                                  clockRate=90000,
-                                                  channels=None,
-                                                  parameters={
-                                                      'level-asymmetry-allowed': '1',
-                                                      'packetization-mode': '1',
-                                                      'profile-level-id': '42e01f'
-                                                  })])
-    await pc.setRemoteDescription(offer)
-    answer = await pc.createAnswer()
-    await pc.setLocalDescription(answer)
-    return web.Response(
-        content_type="application/json",
-        text=json.dumps(
-            {"sdp": pc.localDescription.sdp, "type": pc.localDescription.type}
-        ),
-    )
-
-
-async def on_shutdown(app):
-    # close peer connections
-    coros = [pc.close() for pc in pcs]
-    await asyncio.gather(*coros)
-    pcs.clear()
-
-
-if __name__ == '__main__':
-    app = web.Application()
-    app.on_shutdown.append(on_shutdown)
-    app.router.add_post("/offer", offer)
-
-    cors = aiohttp_cors.setup(app, defaults={
-        "*": aiohttp_cors.ResourceOptions(
-            allow_credentials=True,
-            expose_headers="*",
-            allow_headers="*"
-        )
-    })
-
-    for route in list(app.router.routes()):
-        cors.add(route)
-    web.run_app(
-        app, access_log=None, host='0.0.0.0', port=8081
-    )
diff --git a/test/legacy/so.py b/test/legacy/so.py
deleted file mode 100644
index 96b9042..0000000
--- a/test/legacy/so.py
+++ /dev/null
@@ -1,8 +0,0 @@
-import cupy as cp
-from ctypes import CDLL
-
-if __name__ == '__main__':
-    # libc = CDLL("libnvrtc.alt.so.12")
-    libc = CDLL("libnvrtc.so.12")
-    cp.zeros(1) + 1
-    # print(libc.__dir__())
diff --git a/test/legacy/tcp.py b/test/legacy/tcp.py
deleted file mode 100644
index e3fc840..0000000
--- a/test/legacy/tcp.py
+++ /dev/null
@@ -1,6 +0,0 @@
-import subprocess
-
-if __name__ == '__main__':
-    code = subprocess.run(['curl', '-m', '1', 'http://11.6.1.66:5556'], stderr=subprocess.DEVNULL,
-                          stdout=subprocess.DEVNULL).returncode
-    print(code)
diff --git a/test/legacy/test.py b/test/legacy/test.py
deleted file mode 100644
index 245fdf2..0000000
--- a/test/legacy/test.py
+++ /dev/null
@@ -1,4 +0,0 @@
-if __name__ == '__main__':
-    print(tuple(str((1, 2, 3))))
-    print([1,2,3][-1:1])
-    print([1,2,3][1:])
diff --git a/test/legacy/test.ui b/test/legacy/test.ui
deleted file mode 100644
index e29867c..0000000
--- a/test/legacy/test.ui
+++ /dev/null
@@ -1,45 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>MainWindow</class>
- <widget class="QMainWindow" name="MainWindow">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>800</width>
-    <height>600</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>MainWindow</string>
-  </property>
-  <widget class="QWidget" name="centralwidget">
-   <widget class="QPushButton" name="b_test">
-    <property name="geometry">
-     <rect>
-      <x>330</x>
-      <y>230</y>
-      <width>301</width>
-      <height>251</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>PushButton</string>
-    </property>
-   </widget>
-  </widget>
-  <widget class="QMenuBar" name="menubar">
-   <property name="geometry">
-    <rect>
-     <x>0</x>
-     <y>0</y>
-     <width>800</width>
-     <height>30</height>
-    </rect>
-   </property>
-  </widget>
-  <widget class="QStatusBar" name="statusbar"/>
- </widget>
- <resources/>
- <connections/>
-</ui>
diff --git a/test/legacy/test2.py b/test/legacy/test2.py
deleted file mode 100644
index 4237f44..0000000
--- a/test/legacy/test2.py
+++ /dev/null
@@ -1,36 +0,0 @@
-# Form implementation generated from reading ui file 'test.ui'
-#
-# Created by: PyQt6 UI code generator 6.8.0
-#
-# WARNING: Any manual changes made to this file will be lost when pyuic6 is
-# run again.  Do not edit this file unless you know what you are doing.
-
-
-from PyQt6 import QtCore, QtGui, QtWidgets
-
-
-class Ui_MainWindow(object):
-    def setupUi(self, MainWindow):
-        MainWindow.setObjectName("MainWindow")
-        MainWindow.resize(800, 600)
-        self.centralwidget = QtWidgets.QWidget(parent=MainWindow)
-        self.centralwidget.setObjectName("centralwidget")
-        self.b_test = QtWidgets.QPushButton(parent=self.centralwidget)
-        self.b_test.setGeometry(QtCore.QRect(330, 230, 301, 251))
-        self.b_test.setObjectName("b_test")
-        MainWindow.setCentralWidget(self.centralwidget)
-        self.menubar = QtWidgets.QMenuBar(parent=MainWindow)
-        self.menubar.setGeometry(QtCore.QRect(0, 0, 800, 30))
-        self.menubar.setObjectName("menubar")
-        MainWindow.setMenuBar(self.menubar)
-        self.statusbar = QtWidgets.QStatusBar(parent=MainWindow)
-        self.statusbar.setObjectName("statusbar")
-        MainWindow.setStatusBar(self.statusbar)
-
-        self.retranslateUi(MainWindow)
-        QtCore.QMetaObject.connectSlotsByName(MainWindow)
-
-    def retranslateUi(self, MainWindow):
-        _translate = QtCore.QCoreApplication.translate
-        MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))
-        self.b_test.setText(_translate("MainWindow", "PushButton"))
diff --git a/test/legacy/test2ui.py b/test/legacy/test2ui.py
deleted file mode 100644
index 0cb79a2..0000000
--- a/test/legacy/test2ui.py
+++ /dev/null
@@ -1,24 +0,0 @@
-import sys
-
-from PyQt6.QtCore import pyqtSlot
-from PyQt6.QtWidgets import QApplication, QMainWindow
-
-from test2 import Ui_MainWindow
-
-
-class Adv(QMainWindow, Ui_MainWindow):
-    def __init__(self, parent=None):
-        super(Adv, self).__init__(parent)
-        self.setupUi(self)
-
-    @pyqtSlot(bool)
-    def on_b_test_clicked(self,a):
-        print('on_b_test',a)
-
-
-if __name__ == '__main__':
-    app = QApplication(sys.argv)
-    app.setDesktopFileName('TestTest')
-    MainWindow = Adv()
-    MainWindow.show()
-    app.exec()
diff --git a/test/legacy/testDevice.py b/test/legacy/testDevice.py
deleted file mode 100644
index b6cc20a..0000000
--- a/test/legacy/testDevice.py
+++ /dev/null
@@ -1,32 +0,0 @@
-import time
-from pathlib import Path
-
-from nodes.Device import Device
-
-
-def test1():
-    d = Device()
-    d.setup()
-    d.connect()
-    d.enable()
-    print(d.setfile(
-        Path('/home/lambda/source/scarlet/flandre/config/device/AA256,U=30,M=PWI,S=(256 1502).txt').read_text()))
-    d.disable()
-    d.disconnect()
-
-
-def test2():
-    d = Device()
-    d.setup()
-    # d.connect()
-    # d.enable()
-    # d.setfile(Path('/home/lambda/source/scarlet/flandre/config/device/AA256,U=30,M=PWI,S=(256 1502).txt').read_text())
-    # time.sleep(2)
-    r = d.get_data()
-    print(r.__len__())
-    # d.disable()
-    # d.disconnect()
-
-
-if __name__ == '__main__':
-    test2()
diff --git a/test/legacy/test_ffmpeg_stdout.py b/test/legacy/test_ffmpeg_stdout.py
deleted file mode 100644
index d84a3c0..0000000
--- a/test/legacy/test_ffmpeg_stdout.py
+++ /dev/null
@@ -1,27 +0,0 @@
-import subprocess
-
-import cv2
-import numpy as np
-
-cv2.namedWindow('video', cv2.WINDOW_AUTOSIZE)
-
-
-def f1():
-    p = subprocess.Popen([
-        'ffmpeg',
-        '-loglevel', 'quiet',
-        '-flags', 'low_delay',
-        '-fflags', 'nobuffer',
-        '-i', 'rtsp://admin:ab12ab12@11.6.2.4:554/h264/ch1/main/av_stream',
-        '-pix_fmt', 'rgb24',
-        '-f', 'rawvideo',
-        '-'
-    ], stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
-    while True:
-        b = p.stdout.read(1920 * 1080 * 3)
-        cv2.imshow('video', np.frombuffer(b, dtype=np.uint8).reshape((1080, 1920, 3)))
-        cv2.waitKey(1)
-
-
-if __name__ == '__main__':
-    f1()
diff --git a/test/legacy/test_process_cupy.py b/test/legacy/test_process_cupy.py
deleted file mode 100644
index 37fe711..0000000
--- a/test/legacy/test_process_cupy.py
+++ /dev/null
@@ -1,31 +0,0 @@
-import multiprocessing
-from multiprocessing import Process
-from threading import Thread
-
-import cupy as cp
-
-class TestProcessCupy:
-    def __init__(self):
-        pass
-    def t1(self):
-        print(cp.zeros((10, 10, 10)))
-    def __call__(self, *args, **kwargs):
-        print(cp.zeros((10, 10, 10)))
-
-def p1():
-    # import cupy as cp
-    print(cp.zeros((10, 10, 10)))
-    # print(cp.asarray(z))
-if __name__ == '__main__':
-    def ff():
-        print(cp.zeros((10, 10, 10)))
-    tpc = TestProcessCupy()
-
-
-    p2 = p1
-    z = cp.zeros((10, 10, 10))
-    multiprocessing.set_start_method('spawn')
-    # p = Process(target=p2)
-    p = Process(target=tpc)
-    p.start()
-    p.join()
diff --git a/test/legacy/test_zmq_req_clientr.py b/test/legacy/test_zmq_req_clientr.py
deleted file mode 100644
index b4fcc8e..0000000
--- a/test/legacy/test_zmq_req_clientr.py
+++ /dev/null
@@ -1,34 +0,0 @@
-import zmq
-import time
-
-
-class MyReqClient:
-    def __init__(self, s, context=None, timeout=4000):
-        if context is None:
-            context = zmq.Context()
-        self.context = context
-        self.timeout = timeout
-        self.socket = context.socket(zmq.REQ)
-        self.socket.connect(s)
-        self.s = s
-
-    def recv(self):
-        r = self.socket.poll(self.timeout)
-        print(r)
-        if r == 1:
-            return self.socket.recv()
-        self.socket.close()
-        self.socket = self.context.socket(zmq.REQ)
-        self.socket.connect(self.s)
-
-    def send(self, data):
-        self.socket.send(data)
-
-    def request(self, data: bytes):
-        self.socket.send(data)
-        return self.recv()
-
-
-c = MyReqClient(f"tcp://127.0.0.1:5555")
-while True:
-    print(c.request(b'asd'))
diff --git a/test/legacy/test_zmq_req_server.py b/test/legacy/test_zmq_req_server.py
deleted file mode 100644
index bcfa7ea..0000000
--- a/test/legacy/test_zmq_req_server.py
+++ /dev/null
@@ -1,17 +0,0 @@
-import time
-
-import zmq
-
-c = zmq.Context()
-s = c.socket(zmq.REP)
-# s.setsockopt(zmq.HEARTBEAT_IVL, 1000)
-# s.setsockopt(zmq.HEARTBEAT_TTL, 1000)
-# s.setsockopt(zmq.HEARTBEAT_TIMEOUT, 1000)
-s.bind('tcp://127.0.0.1:5555')
-while True:
-    s.recv()
-    print('recv')
-    time.sleep(2)
-    print('send')
-    s.send(b'hello')
-    # break
diff --git a/test/legacy/testcupy.py b/test/legacy/testcupy.py
deleted file mode 100644
index 0f12e81..0000000
--- a/test/legacy/testcupy.py
+++ /dev/null
@@ -1,14 +0,0 @@
-import json
-
-import cupy as cp
-
-import numpy as np
-
-if __name__ == '__main__':
-    arr = np.array([
-        [1, 2, 3],
-        [1, 2, 3],
-    ])
-    print(type(arr.shape))
-    print(np.frombuffer(arr.tobytes(), dtype=np.dtype(str(arr.dtype))).reshape(arr.shape))
-
diff --git a/test/legacy/testdevicegui.py b/test/legacy/testdevicegui.py
deleted file mode 100644
index 43a0585..0000000
--- a/test/legacy/testdevicegui.py
+++ /dev/null
@@ -1,39 +0,0 @@
-import struct
-import time
-
-import cv2
-import numpy as np
-import zmq
-
-from flandre import C
-from flandre.nodes.Device import Device, DeviceCmd
-from flandre.nodes.Mi import Mi
-
-def t1():
-    context = zmq.Context()
-    req_driver_socket = context.socket(zmq.REQ)
-    req_driver_socket.connect(C.live_rep_socket)
-    magic = 7355608
-    cmd = DeviceCmd.GetData
-    cv2.namedWindow("test", cv2.WINDOW_AUTOSIZE)
-    while True:
-        req_driver_socket.send(struct.pack('i', magic) + struct.pack('i', cmd.value))
-        b = req_driver_socket.recv()
-        print(b[4:12])
-        print(struct.unpack('<I', b[8:12]))
-        offset = 4 + 8 + 4
-        # offset = 0
-        arr = np.frombuffer(b, dtype=np.int16, offset=offset).reshape((256, 5002))
-        cv2.imshow('test', arr)
-        cv2.waitKey(1)
-    # print(b.__len__())
-if __name__ == '__main__':
-    context = zmq.Context()
-    req_driver_socket = context.socket(zmq.REQ)
-    req_driver_socket.connect(C.live_rep_socket)
-    magic = 7355608
-    cmd = DeviceCmd.GetEncoder
-    while True:
-        req_driver_socket.send(struct.pack('i', magic) + struct.pack('i', cmd.value))
-        print(req_driver_socket.recv())
-        time.sleep(0.2)
\ No newline at end of file
diff --git a/test/legacy/testdevicerecv.py b/test/legacy/testdevicerecv.py
deleted file mode 100644
index 21ce1b3..0000000
--- a/test/legacy/testdevicerecv.py
+++ /dev/null
@@ -1,36 +0,0 @@
-import struct
-import time
-
-import cv2
-import numpy as np
-import zmq
-
-from flandre import C
-from flandre.nodes.Device import Device, DeviceCmd
-from flandre.nodes.Mi import Mi
-
-
-def t1():
-    context = zmq.Context()
-    req_driver_socket = context.socket(zmq.REQ)
-    req_driver_socket.connect(C.live_rep_socket)
-    while True:
-        req_driver_socket.send(struct.pack('i', magic) + struct.pack('i', cmd.value))
-        b = req_driver_socket.recv()
-        print(b[4:12])
-        print(struct.unpack('<I', b[8:12]))
-        offset = 4 + 8 + 4
-        # offset = 0
-        arr = np.frombuffer(b, dtype=np.int16, offset=offset).reshape((256, 5002))
-        cv2.imshow('test', arr)
-        cv2.waitKey(1)
-    # print(b.__len__())
-
-
-if __name__ == '__main__':
-    context = zmq.Context()
-    req_driver_socket = context.socket(zmq.REQ)
-    req_driver_socket.connect(C.live_rep_socket)
-    req_driver_socket.send(b'')
-    r = struct.unpack_from('=IQi', req_driver_socket.recv())
-    print(r)
diff --git a/test/legacy/testmiio.py b/test/legacy/testmiio.py
deleted file mode 100644
index 459a4bb..0000000
--- a/test/legacy/testmiio.py
+++ /dev/null
@@ -1,36 +0,0 @@
-from miio.miioprotocol import MiIOProtocol
-from config import SWITCH1_IP, SWITCH1_TOKEN, SWITCH2_IP, SWITCH2_TOKEN
-from miio import Device
-
-# from utils.mi import c1_disconnect, c1_connect, c2_connect
-#
-# if __name__ == '__main__':
-#     # m = MiIOProtocol(
-#     #     SWITCH1_IP, SWITCH1_TOKEN,
-#     # )
-#     # r = m.send('get_properties', [{'did': 'MYDID', 'siid': 2, 'piid': 1}])
-#     # print(r[0]['value'])
-#     c1_connect()
-#     c2_connect()
-
-import click
-
-
-@click.group()
-def cli():
-    pass
-
-@cli.command()
-@click.option('--count', default=1, help='Number of greetings.')
-@click.option('--name', prompt='Your name',
-              help='The person to greet.')
-def con(count, name):
-    """Simple program that greets NAME for a total of COUNT times."""
-    for x in range(count):
-        click.echo(f"Hello {name}!")
-
-@cli.command()
-def disconnect():
-    click.echo('Dropped the database')
-if __name__ == '__main__':
-    cli()
diff --git a/test/legacy/testpy.py b/test/legacy/testpy.py
deleted file mode 100644
index 8e23c4a..0000000
--- a/test/legacy/testpy.py
+++ /dev/null
@@ -1,114 +0,0 @@
-import dataclasses
-import hashlib
-import inspect
-import sys
-import time
-from enum import Enum
-from pathlib import Path, PosixPath
-
-
-@dataclasses.dataclass
-class ASD:
-    aaa: int = 1
-    bbb: int = 1
-    ccc: int = 1
-
-    @property
-    def b(self):
-        return self.aaa
-
-
-class EE(Enum):
-    asd = ASD
-    x = 1
-
-
-def skip1(f):
-    def wrapper(self, *args, **kwargs):
-        if 'cond' not in kwargs:
-            return f(self, *args, **kwargs)
-        if kwargs['cond']:
-            del kwargs['cond']
-            return f(self, *args, **kwargs)
-        else:
-            return self
-
-    return wrapper
-
-
-def skip(original_class):
-    def f2(self, x):
-        print(x)
-
-    for name, f in inspect.getmembers(original_class, inspect.isfunction):
-        print(name, f)
-        setattr(original_class, name, skip1(f))
-    return original_class
-
-
-class Decorator(object):
-    def __init__(self, arg):
-        self.arg = arg
-
-    def __call__(self, cls):
-        pass
-        # def wrappedClass(*args):
-        #     return cls(*args)
-        #
-        # return type("TestClass", (cls,), dict(newMethod=self.newMethod, classattr=self.arg))
-
-    def newMethod(self, value):
-        return value * 2
-
-
-@skip
-class DC:
-    def __init__(self):
-        pass
-
-    def f1(self, arg):
-        print('f1', arg)
-
-    def f2(self, arg):
-        print('f2', arg)
-
-
-class E1:
-    a = 1
-
-
-if __name__ == '__main__':
-    # print(sys.argv)
-    # print(dir(ASD()))
-    # print(ASD.__dict__)
-    # print(inspect.getmembers(ASD))
-    # print(inspect.getmembers(ASD))
-    # for f in dataclasses.fields(ASD):
-    #     print(f.name, f.type)
-    # p = Path('asd')
-    # pt = type(p)
-    # print(pt)
-    # print(pt.__name__)
-    # print(type(type(p)))
-    # match pt:
-    #     case _x if isinstance(_x, PosixPath):
-    #         print(-2)
-    #     case type(__name__='PosixPath'):
-    #         print(-1)
-    #     case type():
-    #         print(0)
-    #     case Path():
-    #         print(1)
-    #     case PosixPath():
-    #         print(3)
-    #     case _:
-    #         print(2)
-    # dc = DC()
-    # dc.f1(11,cond=False)
-    # dc.f2(22)
-
-    a = E1()
-    b = E1()
-    a.a = 1413
-    print(b.a)
-    print()
diff --git a/test/legacy/testrobotremotecontrol.py b/test/legacy/testrobotremotecontrol.py
deleted file mode 100644
index cca2b3d..0000000
--- a/test/legacy/testrobotremotecontrol.py
+++ /dev/null
@@ -1,15 +0,0 @@
-import socket
-
-def send_message(message: str, host='11.6.1.53', port=29999):
-    client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-    client_socket.connect((host, port))
-    try:
-        client_socket.sendall(message.encode())
-        print(f"Sent: {message}")
-    finally:
-        client_socket.close()
-
-
-if __name__ == "__main__":
-    # send_message('remoteControl -on\nplay\nremoteControl -off\n')
-    send_message('remoteControl -on\nstop\nremoteControl -off\n')
diff --git a/test/legacy/winmain.py b/test/legacy/winmain.py
deleted file mode 100644
index 1077859..0000000
--- a/test/legacy/winmain.py
+++ /dev/null
@@ -1,52 +0,0 @@
-import os
-import platform
-
-if platform.system() == 'Windows':
-    os.add_dll_directory(r'C:\Users\lambda\source\scarlet\ffmpeg-n7.0.1-221-g0ab20b5788-win64-gpl-shared-7.0\bin')
-import logging
-import multiprocessing
-from BusClient import BusClient
-
-from nodes.WebRTC import WebRTC
-
-from nodes.Beamformer import Beamformer
-from nodes.Loader import Loader
-from nodes.Broker import Broker
-from nodes.Device import Device
-from nodes.ImageCV import ImageCV
-from nodes.MainUI import MainUI
-from nodes.Robot import Robot
-from utils.Msg import KillMsg
-
-
-def main():
-    logging.basicConfig(level=logging.INFO)
-    multiprocessing.set_start_method('spawn')
-    multiprocessing.Pool()
-    pps = []
-    ps = [
-        Broker(),
-        WebRTC(),
-        MainUI(level=logging.DEBUG),
-        Device(level=logging.DEBUG),
-        ImageCV(),
-        Beamformer(level=logging.DEBUG),
-        Loader(level=logging.DEBUG),
-        Robot(),
-    ]
-    for p in ps:
-        pps.append(multiprocessing.Process(target=p))
-    for p in pps:
-        p.start()
-
-    c = BusClient(KillMsg)
-    while True:
-        x: KillMsg = c.recv()
-        if x.name == '':
-            break
-    for p in pps:
-        p.kill()
-
-
-if __name__ == '__main__':
-    main()
diff --git a/test/legacy/zmqlargetest.py b/test/legacy/zmqlargetest.py
deleted file mode 100644
index b43c0bc..0000000
--- a/test/legacy/zmqlargetest.py
+++ /dev/null
@@ -1,34 +0,0 @@
-import multiprocessing
-import threading
-import time
-
-import zmq
-
-from nodes.Broker import Broker
-
-
-def thread2():
-    c = zmq.Context()
-    pull = c.socket(zmq.PULL)
-    pull.setsockopt(zmq.CONFLATE, 1)
-    pull.connect('tcp://127.0.0.1:5555')
-    while True:
-        print(pull.recv())
-        time.sleep(1)
-
-
-if __name__ == '__main__':
-    c = zmq.Context()
-    push = c.socket(zmq.PUSH)
-    push.bind('tcp://*:5555')
-    cnt = 0
-    t = threading.Thread(target=thread2)
-    t.start()
-    for i in range(30):
-        cnt += 1
-        push.send(str(cnt).encode())
-        time.sleep(0.4)
-
-
-
-
diff --git a/test/legacy/zmqmyclasstest.py b/test/legacy/zmqmyclasstest.py
deleted file mode 100644
index f211e25..0000000
--- a/test/legacy/zmqmyclasstest.py
+++ /dev/null
@@ -1,136 +0,0 @@
-import logging
-import multiprocessing
-import time
-from pathlib import Path
-
-import cv2
-import numpy as np
-from tqdm import tqdm
-
-from nodes.Beamformer import Beamformer
-from nodes.Broker import Broker
-from nodes.ImageCV import ImageCV
-from nodes.Loader import Loader
-from nodes.MainUI import MainUI
-from nodes.Node import Node
-from BusClient import BusClient
-from utils.Msg import Msg1, Msg2, BMMsg, TickMsg, StrMsg, KillMsg
-from nodes.WebRTC import WebRTC
-
-
-class M1(Node):
-    def loop(self):
-        cnt = 0
-        while True:
-            cnt += 1
-            self.send(str(cnt).encode())
-            time.sleep(1)
-
-
-class M2(Node):
-    def loop(self):
-        while True:
-            print(self.recv())
-
-
-class M3(Node):
-    topics = [StrMsg]
-    def loop(self):
-        arr = []
-        for img in tqdm(list(Path('/home/lambda/Videos/pngs/New Folder/').glob('*.png'))):
-            img = cv2.imread(str(img))
-            # img = cv2.resize(img, (1920 // 2, 1080 // 2))
-            img = img.reshape(1080, 1920, 3)
-
-            z = np.zeros((1080, 1920, 4), dtype=np.uint8)
-            z[:, :, :3] = img
-            img = z
-            img = cv2.cvtColor(img, cv2.COLOR_BGRA2RGBA)
-            arr.append(img.tobytes())
-
-        # while self.isalive:
-        #     for b in arr:
-        #         self.send(BMMsg(0, b))
-        #         # self.pub_socket.send(b)
-        #         # self.send(b)
-        #         r = self.c.poller.poll(int(1000 / 60))
-        #         # print(r)
-        #         if r and Msg.decode_msg(r[0][0].recv()).name == '':
-        #             self.isalive = False
-        #             break
-        #         # time.sleep(1 / 60)
-        while self.isalive:
-            for b in arr:
-                msg = self.recv()
-                if isinstance(msg, KillMsg):
-                    if msg.name == '':
-                        self.isalive = False
-                        break
-                self.send(BMMsg(0, b))
-
-        # if r and Msg.decode_msg(r[0][0].recv()).name == '':
-
-
-class M4(Node):
-    def loop(self):
-        while True:
-            self.send(Msg1())
-            time.sleep(1)
-
-
-class MTIME(Node):
-    def loop(self):
-        while True:
-            t = time.time()
-            self.send(TickMsg(t))
-            time.sleep(10)
-            # print(t)
-
-
-class MLISTEN(Node):
-    topics = [StrMsg]
-
-    def loop(self):
-        while self.isalive:
-            r = self.recv()
-            print(r)
-            if isinstance(r, KillMsg) and r.name == '':
-                self.isalive = False
-                break
-            self.send(TickMsg(time.time()))
-
-
-class M6(Node):
-    topics = [Msg2.eid()]
-
-    def loop(self):
-        while True:
-            print(self.recv())
-
-
-if __name__ == '__main__':
-    logging.basicConfig(level=logging.INFO)
-    multiprocessing.set_start_method('spawn')
-    pps = []
-    ps = [
-        Broker(),
-        WebRTC(),
-        # M3(),
-        MainUI(),
-        ImageCV(),
-        MLISTEN(),
-        Beamformer(),
-        Loader(),
-    ]
-    for p in ps:
-        pps.append(multiprocessing.Process(target=p))
-    for p in pps:
-        p.start()
-
-    c = BusClient(KillMsg)
-    while True:
-        x: KillMsg = c.recv()
-        if x.name == '':
-            break
-    for p in pps:
-        p.kill()