feat(devkit): 每帧打印接收数据，持续输出到CSV文件

devkit/sensor_server.py

@@ -231,31 +231,55 @@ def _append_analysis_log(source_csv: str, stats: dict):
 class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
     """接收实时传感器帧（streaming）"""
 
+    _csv_path = None  # 类变量，记录当前 CSV 路径
+
     def __init__(self):
         self.frame_count = 0
         self.last_report_time = time.time()
         self.last_angle = None
+        self._csv_file = None
+        self._csv_writer = None
+
+    def _open_csv(self):
+        """打开一个新的 CSV 文件用于持续写入"""
+        ts = time.strftime("%Y%m%d_%H%M%S")
+        SensorPushServicer._csv_path = os.path.join(os.getcwd(), f"sensor_log_{ts}.csv")
+        self._csv_file = open(SensorPushServicer._csv_path, "w", newline="", encoding="utf-8-sig")
+        self._csv_writer = csv.writer(self._csv_file)
+        header = ["seq", "timestamp_ms", "dts_ms", "angle", "magnitude", "state", "resultant_force"] + [f"ch{i}" for i in range(SENSOR_ROWS * SENSOR_COLS)]
+        self._csv_writer.writerow(header)
+        self._csv_file.flush()
+        print(f"[SensorPush] CSV logging to: {SensorPushServicer._csv_path}")
+
+    def _close_csv(self):
+        """关闭 CSV 文件"""
+        if self._csv_file:
+            self._csv_file.close()
+            print(f"[SensorPush] CSV saved: {SensorPushServicer._csv_path}")
+            self._csv_file = None
+            self._csv_writer = None
 
     def Upload(self, request_iterator, context):
         print("[SensorPush] Client connected, waiting for frames...")
         reset_baseline()
         self.last_angle = None
+        self.frame_count = 0
+        self._open_csv()
 
         for frame in request_iterator:
             self.frame_count += 1
             angle = 0.0
+            magnitude = 0.0
+            state = 0
             ok = True
             message = "OK"
             if len(frame.matrix) == SENSOR_ROWS * SENSOR_COLS:
                 try:
                     angle, magnitude, state = get_pzt_angle(frame.matrix)
                     self.last_angle = angle
-                    if self.frame_count <= 10 or self.frame_count % 30 == 0:
-                        print(
-                            f"[SensorPush] PZT angle frame #{frame.seq} "
-                            f"dts={frame.dts_ms} angle={angle:.2f} "
-                            f"mag={magnitude:.3f} state={state}"
-                        )
+                    # 打印接收到的数据
+                    print(f"[Recv #{frame.seq}] seq={frame.seq} ts={frame.timestamp_ms} dts={frame.dts_ms} "
+                          f"data={list(frame.matrix)}")
                 except Exception as e:
                     ok = False
                     message = str(e)
@@ -263,6 +287,16 @@ class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
             else:
                 ok = False
                 message = f"Invalid matrix length: {len(frame.matrix)}"
+                print(f"[Recv #{frame.seq}] INVALID len={len(frame.matrix)}")
+
+            # 持续写入 CSV
+            if self._csv_writer:
+                row = [frame.seq, frame.timestamp_ms, frame.dts_ms,
+                       f"{angle:.4f}", f"{magnitude:.4f}", state, frame.resultant_force]
+                row += list(frame.matrix)
+                self._csv_writer.writerow(row)
+                if self.frame_count % 10 == 0:
+                    self._csv_file.flush()
 
             yield sensor_stream_pb2.PztAngleResponse(
                 seq=frame.seq,
@@ -291,6 +325,7 @@ class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
                     f"total={self.frame_count} | ~{fps:.1f} fps"
                 )
 
+        self._close_csv()
         print(f"[SensorPush] Stream ended. Total: {self.frame_count}")