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 = time.perf_counter()
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)
frame.append_contact(contact)
self.frames.append(frame)
self.updated = True
self._closeSensel()
def scanFrames(frame, info):
error = sensel.readSensor(handle)
(error, num_frames) = sensel.getNumAvailableFrames(handle)
for i in range(num_frames):
#print(num_frames)
error = sensel.getFrame(handle, frame)
printFrame(frame, info)
def scan_frames(handle, frame, info):
error = sensel.readSensor(handle)
error, num_frames = sensel.getNumAvailableFrames(handle)
# print('Available num frames:', num_frames)
f_image = np.zeros((info.num_rows, info.num_cols))
for i in range(num_frames):
error = sensel.getFrame(handle, frame)
# print('Content bit mask: ', frame.content_bit_mask)
f_image = print_frame(frame, info)
return f_image
def scan_frames(frame, info):
error = sensel.readSensor(handle)
error, num_frames = sensel.getNumAvailableFrames(handle)
for i in range(num_frames):
error = sensel.getFrame(handle, frame)
do_frame(frame, info)
def get_frame(self):
logger.debug('getting frame into {} on handle {}'.format(
self.frame, self.handle))
self.close_on_error(sensel.getFrame(self.handle, self.frame))
return self.frame
