From 721708cb3a1b30a12eee7efb48a9b7c74264cfea Mon Sep 17 00:00:00 2001
From: flandre <remilia@flandre.net>
Date: Mon, 9 Jun 2025 14:50:04 +0800
Subject: [PATCH] test sync time

---
 test/sync_time.py | 97 +++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 97 insertions(+)
 create mode 100644 test/sync_time.py

diff --git a/test/sync_time.py b/test/sync_time.py
new file mode 100644
index 0000000..63b8762
--- /dev/null
+++ b/test/sync_time.py
@@ -0,0 +1,97 @@
+import json
+from pathlib import Path
+import itertools
+
+from flandre.utils.RfFrame import b2t
+
+
+rec_folder = Path(
+    '/run/media/lambda/b86dccdc-f134-464b-a310-6575ee9ae85c/record/')
+
+robot_folder = rec_folder / 'robot'
+device_folder = rec_folder / 'device'
+camera_folder = rec_folder / 'camera'
+
+device_ts_map = {int(file.stem): file for file in device_folder.glob('*')}
+camera_ts_map = {int(file.stem): file for file in camera_folder.glob('*')}
+
+js = itertools.chain(*[json.loads(file.read_text())
+                     for file in robot_folder.glob('*')])
+robot_ts_map = {v['host_ts']: v for v in js}
+
+
+def func(a: int, b: list[int]):
+    """
+    Finds the largest number in list `b` that is less than or equal to `a`.
+
+    Args:
+      a: An integer.
+      b: A list of integers.
+
+    Returns:
+      The largest number in `b` <= `a`, or None if no such number exists.
+    """
+    # Create a new list containing only the numbers from b that are <= a
+    candidates = [num for num in b if num <= a]
+
+    # If the candidates list is not empty, return the largest number from it
+    if candidates:
+        return max(candidates)
+    else:
+        # If no number in b was less than or equal to a, return None
+        return None
+
+
+# print(device_ts_map.__len__())
+# print(robot_ts_map.__len__())
+
+ass = sorted(list(device_ts_map.keys()))[50:-100]
+a0 = ass[0]
+a1 = ass[-1]
+
+print((a1-a0)*10**-9)
+
+r0 = robot_ts_map[func(a0, list(robot_ts_map.keys()))]['device_ts']
+r1 = robot_ts_map[func(a1, list(robot_ts_map.keys()))]['device_ts']
+
+seq, encoder, host_ts, device_ts0, buffer = b2t(device_ts_map[a0].read_bytes())
+print(device_ts0)
+seq, encoder, host_ts, device_ts1, buffer = b2t(device_ts_map[a1].read_bytes())
+print(device_ts1)
+
+print(a1-a0, (device_ts1-device_ts0)*10**3, int((r1-r0)*10**9))
+print((a1-a0-(device_ts1-device_ts0)*10**3)*10**-9)
+print((a1-a0-int((r1-r0)*10**9))*10**-9)
+
+# for i, a in enumerate(ass):
+
+#     try:
+#         # a - func(a, list(robot_ts_map.keys()))
+#         print(i, a-func(a, list(robot_ts_map.keys())))
+#     except Exception:
+#         print(i,a)
+#         pass
+# a = 174945200000000000
+# print(func(a, list(robot_ts_map.keys())))
+
+# print(ass[1766-1:1766+2])
+# seq, encoder, host_ts, device_ts, buffer = b2t(device_ts_map[1749444627751252600].read_bytes())
+# print(seq)
+# seq, encoder, host_ts, device_ts, buffer = b2t(device_ts_map[1749442951214858600].read_bytes())
+# print(seq)
+# seq, encoder, host_ts, device_ts, buffer = b2t(device_ts_map[1749444583738329700].read_bytes())
+# print(seq)
+
+# 1766 1749442951214858600
+# 2271 1749442950915344400
+# 2272 1749442950944313600
+# 2273 1749442950961272400
+# 2274 1749442950993404700
+# 2275 1749442951056585700
+# 2276 1749442951061834900
+# 2277 1749442951119567900
+# 2278 1749442951139249100
+# 2279 1749442951144567800
+# 2280 1749442951149875300
+# 2281 1749442951169837900
+# 2282 1749442951197964400