From de83fafc0d8062d1bdd766219787e3af33c7163e Mon Sep 17 00:00:00 2001
From: vmaosmini <bot@flandre.net>
Date: Wed, 14 May 2025 13:50:09 +0800
Subject: [PATCH] debug

---
 flandre/launcher.py | 48 +++++++++++++++++++++++++++------------------
 1 file changed, 29 insertions(+), 19 deletions(-)

diff --git a/flandre/launcher.py b/flandre/launcher.py
index 6912c23..f0efc61 100644
--- a/flandre/launcher.py
+++ b/flandre/launcher.py
@@ -352,6 +352,12 @@ def robot_record(folder):
     p.mkdir(parents=True, exist_ok=True)
     robot.setup()
 
+    # last_ns = time.perf_counter_ns()
+    # while True:
+    #     ns = time.perf_counter_ns()
+    #     print(ns - last_ns)
+    #     last_ns = ns
+
     q = queue.Queue()
 
     def rtsi_thread():
@@ -359,31 +365,35 @@ def robot_record(folder):
             'actual_TCP_pose,actual_TCP_force', 250)  # 输出订阅,配方1
         robot.rt.start()  # rtsi 开始
         arr = []
+        last_ns = time.time_ns()
         while True:
             recv_out: DataObject = robot.rt.get_output_data()
             if recv_out is None:
                 continue
             if recv_out.recipe_id == output1.id:
-                ns = time.time_ns()
                 x, y, z, rx, ry, rz = recv_out.actual_TCP_pose
                 fx, fy, fz, frx, fry, frz = recv_out.actual_TCP_force
+                ns = time.time_ns()
+                print(ns - last_ns,x)
+                last_ns = ns
+           
                 d = dict(
-                    x=x,
-                    y=y,
-                    z=z,
-                    fx=fx,
-                    fy=fy,
-                    fz=fz,
-                    rx=rx,
-                    ry=ry,
-                    rz=rz,
-                    frx=frx,
-                    fry=fry,
-                    frz=frz,
-                    ns=ns
+                    # x=x,
+                    # y=y,
+                    # z=z,
+                    # fx=fx,
+                    # fy=fy,
+                    # fz=fz,
+                    # rx=rx,
+                    # ry=ry,
+                    # rz=rz,
+                    # frx=frx,
+                    # fry=fry,
+                    # frz=frz,
+                    # ns=ns
                 )
-                arr.append(d)
-                print(arr.__len__())
+                # arr.append(d)
+                # print(arr.__len__())
                 # if arr.__len__() == 100:
                 #     q.put(arr)
                 #     arr = []
@@ -393,11 +403,11 @@ def robot_record(folder):
             print(q.get()[0]['ns'])
 
     tr = threading.Thread(target=rtsi_thread)
-    tw = threading.Thread(target=write_thread)
+    # tw = threading.Thread(target=write_thread)
     tr.start()
-    tw.start()
+    # tw.start()
     tr.join()
-    tw.join()
+    # tw.join()
 
 
 if __name__ == '__main__':