hex-zmq-servers 0.3.5__py3-none-any.whl → 0.3.7__py3-none-any.whl

hex_zmq_servers/cam/berxel/cam_berxel.py

@@ -12,7 +12,7 @@ import numpy as np
 from collections import deque
 
 from ..cam_base import HexCamBase
-from ...zmq_base import hex_zmq_ts_now
+from ...zmq_base import hex_ns_now, hex_zmq_ts_now
 from ...hex_launch import hex_log, HEX_LOG_LEVEL
 from berxel_py_wrapper import *
 
@@ -77,8 +77,21 @@ class HexCamBerxel(HexCamBase):
         depth_queue = hex_queues[1]
         stop_event = hex_queues[2]
 
+        # clean cache
+        clean_cnt = 0
+        while clean_cnt < 5:
+            hawk_rgb_frame = self.__device.readColorFrame(40)
+            hawk_depth_frame = self.__device.readDepthFrame(40)
+            if hawk_rgb_frame is not None:
+                self.__device.releaseFrame(hawk_rgb_frame)
+            if hawk_depth_frame is not None:
+                self.__device.releaseFrame(hawk_depth_frame)
+            clean_cnt += 1
+            time.sleep(0.01)
+
         rgb_count = 0
         depth_count = 0
+        bias_ns = hex_ns_now() - time.time_ns()
         while self._working.is_set() and not stop_event.is_set():
             # read frame
             hawk_rgb_frame = self.__device.readColorFrame(40)
@@ -86,13 +99,14 @@ class HexCamBerxel(HexCamBase):
 
             # collect rgb frame
             if hawk_rgb_frame is not None:
-                ts, frame = self.__unpack_frame(hawk_rgb_frame, False)
+                ts, frame = self.__unpack_frame(hawk_rgb_frame, False, bias_ns)
                 rgb_queue.append((ts, rgb_count, frame))
                 rgb_count = (rgb_count + 1) % self._max_seq_num
 
             # collect depth frame
             if hawk_depth_frame is not None:
-                ts, frame = self.__unpack_frame(hawk_depth_frame, True)
+                ts, frame = self.__unpack_frame(hawk_depth_frame, True,
+                                                bias_ns)
                 depth_queue.append((ts, depth_count, frame))
                 depth_count = (depth_count + 1) % self._max_seq_num
 
@@ -102,12 +116,17 @@ class HexCamBerxel(HexCamBase):
         # close
         self.close()
 
-    def __unpack_frame(self, hawk_frame: BerxelHawkFrame, depth: bool = False):
+    def __unpack_frame(
+        self,
+        hawk_frame: BerxelHawkFrame,
+        depth: bool = False,
+        bias_ns: int = 0,
+    ):
         # common variables
-        berxel_ts = hawk_frame.getTimeStamp()
+        berxel_ts_ns = bias_ns + int(hawk_frame.getTimeStamp() * 1_000)
         ts = {
-            "s": berxel_ts // 1_000_000,
-            "ns": berxel_ts % 1_000_000 * 1_000,
+            "s": berxel_ts_ns // 1_000_000_000,
+            "ns": berxel_ts_ns % 1_000_000_000,
         }
         width = hawk_frame.getWidth()
         height = hawk_frame.getHeight()
@@ -176,7 +195,8 @@ class HexCamBerxel(HexCamBase):
                     device_idx = idx
                     break
             if device_idx == -1:
-                print(f"can not find device with serial number: {serial_number}")
+                print(
+                    f"can not find device with serial number: {serial_number}")
                 print("available device serial numbers:")
                 for device in device_list:
                     print(f"{device.serialNumber}")
@@ -196,7 +216,9 @@ class HexCamBerxel(HexCamBase):
         self.__device.setColorExposureGain(self.__exposure, self.__gain)
         self.__device.setRegistrationEnable(True)
         self.__device.setFrameSync(True)
-        self.__device.setSystemClock()
+        while self.__device.setSystemClock() != 0:
+            print("set system clock failed")
+            time.sleep(0.1)
 
         intrinsic_params = self.__device.getDeviceIntriscParams()
         self.__intri[0] = intrinsic_params.colorIntrinsicParams.fx / 2

hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py

@@ -126,9 +126,6 @@ class HexMujocoArcherY6(HexMujocoBase):
         if not self.__headless:
             self.__viewer = viewer.launch_passive(self.__model, self.__data)
 
-        # time init
-        self.__bias_ns = hex_ns_now() - self.__data.time * 1_000_000_000
-
         # start work loop
         self._working.set()
 
@@ -163,6 +160,7 @@ class HexMujocoArcherY6(HexMujocoBase):
         rate = HexRate(self.__sim_rate)
         states_trig_count = 0
         img_trig_count = 0
+        self.__bias_ns = hex_ns_now() - self.__data.time * 1_000_000_000
         init_ts = self.__mujoco_ts() if self.__sens_ts else hex_zmq_ts_now()
         rgb_queue.append((init_ts, 0,
                        np.zeros((self.__height, self.__width, 3),

hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py

@@ -148,9 +148,6 @@ class HexMujocoE3Desktop(HexMujocoBase):
         if not self.__headless:
             self.__viewer = viewer.launch_passive(self.__model, self.__data)
 
-        # time init
-        self.__bias_ns = hex_ns_now() - self.__data.time * 1_000_000_000
-
         # start work loop
         self._working.set()
 
@@ -198,6 +195,7 @@ class HexMujocoE3Desktop(HexMujocoBase):
         rate = HexRate(self.__sim_rate)
         states_trig_count = 0
         img_trig_count = 0
+        self.__bias_ns = hex_ns_now() - self.__data.time * 1_000_000_000
         init_ts = self.__mujoco_ts() if self.__sens_ts else hex_zmq_ts_now()
         head_rgb_queue.append((init_ts, 0,
                             np.zeros((self.__height, self.__width, 3),

hex_zmq_servers/zmq_base.py

@@ -99,7 +99,7 @@ def hex_zmq_ts_delta_ms(curr_ts, hdr_ts) -> float:
 
 class HexRate:
 
-    def __init__(self, hz: float, spin_threshold_ns: int = 1_000_000):
+    def __init__(self, hz: float, spin_threshold_ns: int = 10_000):
         if hz <= 0:
             raise ValueError("hz must be greater than 0")
         if spin_threshold_ns < 0:

{hex_zmq_servers-0.3.5.dist-info → hex_zmq_servers-0.3.7.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: hex_zmq_servers
-Version: 0.3.5
+Version: 0.3.7
 Summary: HEXFELLOW ZMQ Servers
 Author-email: Dong Zhaorui <joray.dong@hexfellow.com>
 Maintainer-email: jecjune <zejun.chen@hexfellow.com>, Dong Zhaorui <joray.dong@hexfellow.com>

{hex_zmq_servers-0.3.5.dist-info → hex_zmq_servers-0.3.7.dist-info}/RECORD

@@ -1,11 +1,11 @@
 hex_zmq_servers/__init__.py,sha256=1dnB9YTRq5uAFHo_3dMp1t1UxS4ZrcuZ_7CzBwqAfEM,5426
 hex_zmq_servers/device_base.py,sha256=dABpeUg84Au-vtbVzvnv1Tmn_898CNOkIvH2UDUnV3I,1191
 hex_zmq_servers/hex_launch.py,sha256=x-xCBhpjgK6yWHGk5o5kYsb5ef2GsdeLr8rX59EJR-0,17700
-hex_zmq_servers/zmq_base.py,sha256=RFRvl95oci6d-urP5n-qGDh5090pZ5q7Oy8_vNPqJxI,16380
+hex_zmq_servers/zmq_base.py,sha256=lFMcPqmUEZnFxuUHlcHlZp3NgU1AVMyNksoviQanYMo,16377
 hex_zmq_servers/cam/__init__.py,sha256=hZ4NTEaO9uxcBua-nyJTpXxmk_GiIAcK2uWz3QQbwvE,1408
 hex_zmq_servers/cam/cam_base.py,sha256=3INQUYzzue4B0EiLEuo8IZDfLTifjmqXpXIkPaNA7dY,5134
 hex_zmq_servers/cam/berxel/__init__.py,sha256=3fK06RWAS_q8a_3z-RxFTv32e99og-4dMZTxH08TOcY,508
-hex_zmq_servers/cam/berxel/cam_berxel.py,sha256=l7SGnMUsM4D8HqHrJM9_QSyvLeNSRSDb37-_tSNHF-c,9035
+hex_zmq_servers/cam/berxel/cam_berxel.py,sha256=yC1-eBZHrwVjyinZyg3AWKmpE7WqNSAbeP10sTWZP24,9820
 hex_zmq_servers/cam/berxel/cam_berxel_cli.py,sha256=ZbtZ4fjO0MCjqstfCxJwH1sMAtHKFKFIg9QI1zxplMQ,811
 hex_zmq_servers/cam/berxel/cam_berxel_srv.py,sha256=8QPhPpRsYnbbIFTQAT3sZA1nRTq1XpKg-GmD6ERUu9w,2311
 hex_zmq_servers/cam/dummy/__init__.py,sha256=EziQ8H8d9Vm1AYw4YryIumTXpx-lwEnlfzTl7VAnKHM,499
@@ -33,7 +33,7 @@ hex_zmq_servers/config/zmq_dummy.json,sha256=T6vCG9__Gos9M5seK7w43xbqttAI6P1iyjc
 hex_zmq_servers/mujoco/__init__.py,sha256=OKG7aJ2BACpob_DuAvikLiRo4M_3DO9Ffapwen87k_0,870
 hex_zmq_servers/mujoco/mujoco_base.py,sha256=e3QkZfxlE8MHPse1nKgTlCHvV-mNYfMMuZ7PtmyVVsA,11752
 hex_zmq_servers/mujoco/archer_y6/__init__.py,sha256=v1vApZ-qBLEcqFjDN0eff5kvkzO3s8QHBO4AitBODfc,559
-hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py,sha256=viZI_bVbnWbhow86mKQ10Sb8PAfsriw5uNFhRgGwR4U,12073
+hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6.py,sha256=O4s-RXDsbu0yxiuvbIVbqBZ7GsSVmj-NCkisAmVium4,12052
 hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_cli.py,sha256=xNn_tF1U49ECjYvhy3xq1KizXZ5qJyqCNdPtBEVJyTU,2074
 hex_zmq_servers/mujoco/archer_y6/mujoco_archer_y6_srv.py,sha256=Pn51_bXLAa40cTMKpCvqU7aT1jpR_r9pMrW2subLHAs,4987
 hex_zmq_servers/mujoco/archer_y6/model/robot.xml,sha256=U6Rrpfb0jhd8UMuZzY6YmmZVF6QFrU4vVJqQ7MoRsgI,8172
@@ -56,7 +56,7 @@ hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_right_link_1.STL,sha256=fj
 hex_zmq_servers/mujoco/archer_y6/model/assets/gripper_right_link_2.STL,sha256=ucyn656VxBpRx3sshxLxMPJIUZfNfEQ90P-9b8sR0xg,80284
 hex_zmq_servers/mujoco/archer_y6/model/assets/table_link.STL,sha256=dqFXHRqjZSDyvYHCaJkbmYFsKngZRk1xjg_Zl2_jDc4,684
 hex_zmq_servers/mujoco/e3_desktop/__init__.py,sha256=pMLKpJGBHgc9IU142NcM7ubwdXq9E422k6Giui1A8i4,565
-hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py,sha256=kLHb7HIevv7j4S-gwFJJ1G0XWN6eIa6rq8tXYHI7IzE,17918
+hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop.py,sha256=0Z9DhYbFk3zaSiLHmJeuy0XEjuEHvfa0lgvLxyszGuQ,17897
 hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop_cli.py,sha256=AHmsX3cZx4iZX7q8itFVqvCGeiy_JQ4AsTzdyXLCR9E,7790
 hex_zmq_servers/mujoco/e3_desktop/mujoco_e3_desktop_srv.py,sha256=dFGGmwHihrMDzAD1uptL91O9W1l7mKZRUlEWLkAZ7xU,8953
 hex_zmq_servers/mujoco/e3_desktop/model/robot.xml,sha256=hLp385sG037rw2bAPu6tKoa5XYQLwWb4YawijYr7Ebs,17030
@@ -103,8 +103,8 @@ hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100.urdf,sha256=i8vpARxlQpYskLmTZ7
 hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_handle.urdf,sha256=Tpii1Wk26jRtMqLWI2knrqBTIh7hCjpgGySlrBgdvpA,7458
 hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050.urdf,sha256=6Zzc_PXDwtxw9xQEXQOH0hu_moaiQzeMC22hUqAQS9s,7459
 hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050_handle.urdf,sha256=HNa7wweNYUj8YtSUfx87ASeNEIPIjB-gZ4O7RyHng6g,7456
-hex_zmq_servers-0.3.5.dist-info/licenses/LICENSE,sha256=QwcOLU5TJoTeUhuIXzhdCEEDDvorGiC6-3YTOl4TecE,11356
-hex_zmq_servers-0.3.5.dist-info/METADATA,sha256=pWHyhtxeT55koaopjmfwVYepxshDRCZl_O25MAalIUs,4750
-hex_zmq_servers-0.3.5.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
-hex_zmq_servers-0.3.5.dist-info/top_level.txt,sha256=lPH1DfgMrQOe0Grh8zSZopf6LmnLvb_aStVmZ41PyAg,16
-hex_zmq_servers-0.3.5.dist-info/RECORD,,
+hex_zmq_servers-0.3.7.dist-info/licenses/LICENSE,sha256=QwcOLU5TJoTeUhuIXzhdCEEDDvorGiC6-3YTOl4TecE,11356
+hex_zmq_servers-0.3.7.dist-info/METADATA,sha256=Nccgrs01lDSnIYMflp3x3icFqz1Z4HDglInfmg3kHVI,4750
+hex_zmq_servers-0.3.7.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+hex_zmq_servers-0.3.7.dist-info/top_level.txt,sha256=lPH1DfgMrQOe0Grh8zSZopf6LmnLvb_aStVmZ41PyAg,16
+hex_zmq_servers-0.3.7.dist-info/RECORD,,