import time import numpy as np import multiprocessing as mp import compress_pickle try: from core.sensel_lib import sensel from core.sensel_lib.frame_data import FrameData from core.sensel_lib.frame_data import ContactData except: import sensel from frame_data import FrameData from frame_data import ContactData import _thread def compress_dump_to_file(data, filename): with open(filename, 'wb') as f: compress_pickle.dump(data, f) def save_frame(q_frames, q_insts, save_frame_filename): MAX_FRAME_SIZE = 1000 segment = 0 frames = [] save_frame_filename = f"{save_frame_filename.split(".gz")[0]}" current_dump_process = None try: while True: if not q_frames.empty(): frame = q_frames.get() frames.append(frame) if len(frames) >= MAX_FRAME_SIZE: to_save_frames = frames current_dump_process = mp.Process(target=compress_dump_to_file, args=(to_save_frames, f"{save_frame_filename}_{segment}.gz")).start() frames = [] segment += 1 if not q_insts.empty(): inst = q_insts.get() if inst == "flush": # save_frame_file.flush() pass if inst == "stop": to_save_frames = frames current_dump_process = mp.Process(target=compress_dump_to_file, args=(to_save_frames, f"{save_frame_filename}_{segment}.gz")).start() segment = 0 frames = [] if inst == "close": # save_frame_file.close() if current_dump_process: current_dump_process.join() break if inst == "change_filename": frames = [] segment = 0 new_filename = q_insts.get() save_frame_filename = new_filename.split(".gz")[0] time.sleep(0.001) except: if current_dump_process: current_dump_process.join() class Board(): MAX_X = 230.0 MAX_Y = 130.0 FPS = 50 def __init__(self, save_filename=None, if_run=True, print_fps=True): self.save_frame_filename = f"{save_filename}" if save_filename else None self.is_recording = False self.if_run = if_run self.print_fps = print_fps self.frame_id = 0 self.fps_cnt = 0 self.fps_start_time = time.time() self._openSensel() self._initFrame() self.q_frames = mp.Queue() if self.save_frame_filename else None self.q_insts = mp.Queue() if self.save_frame_filename else None if self.save_frame_filename: self.save_frame_p = mp.Process(target=save_frame, args=(self.q_frames, self.q_insts, self.save_frame_filename)) self.save_frame_p.start() def stop(self): self.flush() self.q_insts.put("close") if self.save_frame_filename: self.save_frame_p.join() self.is_running = False def start_record(self): self.is_recording = True def stop_record(self): self.q_insts.put("stop") self.is_recording = False def change_save_filename(self, save_filename): self.save_frame_filename = f"{save_filename}.gz" self.q_insts.put("change_filename") self.q_insts.put(self.save_frame_filename) def _openSensel(self): handle = None (error, device_list) = sensel.getDeviceList() if device_list.num_devices != 0: (error, handle) = sensel.openDeviceByID(device_list.devices[0].idx) self.handle = handle def _initFrame(self): (error, self.info) = sensel.getSensorInfo(self.handle) error = sensel.setFrameContent(self.handle, 0x0F) error = sensel.setContactsMask(self.handle, 0x0F) (error, frame) = sensel.allocateFrameData(self.handle) error = sensel.startScanning(self.handle) self._frame = frame self.frames = [] self.updated = False if self.if_run: try: _thread.start_new_thread(self._run, ()) except: print("Thread Error") def _closeSensel(self): self.is_running = False error = sensel.freeFrameData(self.handle, self._frame) error = sensel.stopScanning(self.handle) error = sensel.close(self.handle) def _sync(self): if len(self.frames) > 0: while ((int(time.time() * 1e6) - self.frames[-1].timestamp) * Board.FPS < 1): pass def _run(self): self.is_running = True while (self.is_running): error = sensel.readSensor(self.handle) (error, num_frames) = sensel.getNumAvailableFrames(self.handle) for i in range(num_frames): self._sync() timestamp = int(time.time() * 1e6) error = sensel.getFrame(self.handle, self._frame) R = self.info.num_rows C = self.info.num_cols force_array = np.zeros((R, C)) for r in range(R): force_array[r, :] = self._frame.force_array[r * C : (r + 1) * C] force_array *= 0.2 frame = FrameData(force_array, timestamp) for i in range(self._frame.n_contacts): c = self._frame.contacts[i] x = c.x_pos / Board.MAX_X y = c.y_pos / Board.MAX_Y contact = ContactData(c.id, c.state, x, y, c.area, c.total_force, c.major_axis, c.minor_axis, c.delta_x, c.delta_y, c.delta_force, c.delta_area, 0, self.frame_id) frame.append_contact(contact) if self.save_frame_filename and self.is_recording: self.q_frames.put(frame) self.flush() if self.print_fps: self._printFPS() self.frame_id += 1 self.fps_cnt += 1 self.updated = True self._closeSensel() def _printFPS(self, time_interval=1): if time.time() - self.fps_start_time > time_interval: print(f"Sensel FPS: {self.fps_cnt / (time.time() - self.fps_start_time)}") self.fps_start_time = time.time() self.fps_cnt = 0 def flush(self): self.q_insts.put("flush") def getFrame(self): while (len(self.frames) == 0): time.sleep(0.001) return self.frames.pop(0) def getNewFrame(self): while self.updated == False: time.sleep(0.001) self.updated = False return self.frames[-1] def getFrameTime(self): if len(self.frames) >= 2: return round(self.frames[-1].timestamp - self.frames[-2].timestamp, 5) return 0 def setScanDetail(self, detail): error = sensel.setScanDetail(self.handle, detail) def setMaxFrameRate(self, rate): error = sensel.setMaxFrameRate(self.handle, rate) def getScanDetail(self): return sensel.getScanDetail(self.handle) def getMaxFrameRate(self): return sensel.getMaxFrameRate(self.handle) if __name__ == "__main__": board = Board(if_run=True, save_filename="test") # chagne board settings # board.setScanDetail(1) # board.setMaxFrameRate(500) # print(board.getScanDetail()) # print(board.getMaxFrameRate()) start_time = time.time() cnt = 0 while time.time() - start_time < 10: time.sleep(0.1) print(time.time() - start_time) print("Done") board.stop() print("Stopped")