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add web rtsi

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This commit is contained in:
remilia 2025-05-06 23:13:28 +08:00
parent 06589d7f33
commit ee0b4889d2
2 changed files with 9 additions and 3 deletions
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10
flandre/nodes/Web.py
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@ -4,7 +4,7 @@ import logging
from threading import Thread from threading import Thread
from flandre.nodes.Node import Node from flandre.nodes.Node import Node
from flandre.utils.Msg import ImageArgMsg from flandre.utils.Msg import ImageArgMsg, RobotRtsiMsg
logger = logging.getLogger(__name__) logger = logging.getLogger(__name__)
@ -70,7 +70,7 @@ app = FastAPI()
class Web(Node): class Web(Node):
topics = [ImageArgMsg] topics = [ImageArgMsg, RobotRtsiMsg]
def __init__(self, level=logging.INFO): def __init__(self, level=logging.INFO):
super(Web, self).__init__(level=level) super(Web, self).__init__(level=level)
@ -95,6 +95,7 @@ class Web(Node):
t = dataclasses.replace(self.arg) t = dataclasses.replace(self.arg)
t.sender = data['sender'] t.sender = data['sender']
t.t_start = data['t_start'] t.t_start = data['t_start']
t.g8 = data['g8']
self.send(t) self.send(t)
except WebSocketDisconnect: except WebSocketDisconnect:
self.wss.remove(websocket) self.wss.remove(websocket)
@ -116,6 +117,11 @@ class Web(Node):
if msg.sender != 'frontend': if msg.sender != 'frontend':
self.arg = msg self.arg = msg
self.boardcast(msg.dict) self.boardcast(msg.dict)
elif isinstance(msg, RobotRtsiMsg):
try:
self.boardcast(msg.dict)
except Exception as e:
logger.warning(e)
if __name__ == '__main__': if __name__ == '__main__':

2
flandre/utils/RfSequence.py
View File

@ -31,7 +31,7 @@ class RfSequence:
meta = RfFrameMeta.from_name(zip_file.open(f'{i}.meta').read().decode()) meta = RfFrameMeta.from_name(zip_file.open(f'{i}.meta').read().decode())
arr.append(RfFrameFile(meta, seq=self, filename=f'{i}.zst')) arr.append(RfFrameFile(meta, seq=self, filename=f'{i}.zst'))
case 'dir': case 'dir':
for f in self.path.glob('*.bin'): for f in self.path.glob('*bin'):
meta = RfFrameMeta.from_name(f.stem) meta = RfFrameMeta.from_name(f.stem)
arr.append(RfFrameFile(meta, seq=self, filename=f.name)) arr.append(RfFrameFile(meta, seq=self, filename=f.name))
self._frames = arr self._frames = arr