Recording Data

pip install wuji-sdk
# add this to parse mcap locally
pip install mcap

QualitySummary(total_frames=8308, dropped=0, drop_rate=0.0000, sync_rate=0.8571)

stop_task = asyncio.ensure_future(handle.stop())
try:
    summary = await asyncio.shield(stop_task)
except asyncio.CancelledError:
    summary = await stop_task

import asyncio
import os
from datetime import datetime
from wuji_sdk import SdkManager, DeviceType, TopicRecorder

async def main():
    manager = SdkManager.instance()

    # 1. Discover devices and filter by type
    devices = [d for d in manager.scan() if d.device_type == DeviceType.WujiGlove]

    # 2. Connect. With several devices around, name an sn instead of iterating
    glove = manager.connect(sn=devices[0].sn, device_name="glove_0")
    print(f"Connected: {glove.serial_number}")

    # 3. Create the recorder and pick a compression mode
    recorder = TopicRecorder(compression="zstd")

    # 4. Register channels. Each subscribe() feeds one stream into the recorder
    recorder.record(glove.tactile().subscribe())
    recorder.record(glove.emf_poses().subscribe())
    recorder.record(glove.hand_skeleton().subscribe())

    # Global streams record too, without a serial-number prefix in the file
    recorder.record(manager.tf().subscribe())

    # 5. Start recording
    os.makedirs("./data", exist_ok=True)
    path = f"./data/{datetime.now().strftime('%Y%m%d_%H%M%S')}.mcap"
    handle = await recorder.start(path)

    try:
        await asyncio.sleep(10)
    finally:
        # 6. Guard the stop, or the file index may end up incomplete
        stop_task = asyncio.ensure_future(handle.stop())
        try:
            summary = await asyncio.shield(stop_task)
        except asyncio.CancelledError:
            summary = await stop_task

    q = summary.quality
    print(f"{summary.total_frames} frames, "
          f"{summary.file_size / 1024 / 1024:.2f} MB, {summary.duration_s:.1f}s")
    print(f"dropped {q.dropped_frames} ({q.frame_drop_rate:.4f}), "
          f"sync rate {q.sync_rate:.3f}, avg offset {q.avg_sync_offset_ms:.2f} ms")

    manager.disconnect_all()

asyncio.run(main())

python examples/python/wuji_glove/2.recording.py

  SN=WG1KA00XXXXXXXXX, Type=DeviceType.WujiGlove, Address=192.168.1.100:50001
Connected: WG1KA00XXXXXXXXX
Recording to ./data/<date>_<time>.mcap ...
Done — 3939 frames, 3.43 MB, 10.0s

mcap info ./data/<date>_<time>.mcap

from mcap.reader import make_reader

with open("./data/<date>_<time>.mcap", "rb") as fp:
    reader = make_reader(fp)
    summary = reader.get_summary()
    for cid, channel in summary.channels.items():
        n = summary.statistics.channel_message_counts.get(cid, 0)
        print(f"{channel.topic}: {n} messages")

    for schema, channel, message in reader.iter_messages(topics=["/WG1KA00XXXXXXXXX/tactile"]):
        print(message.log_time, len(message.data))