Makes reading from line sensor more robust, and updates the calibration procedure - #145
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hello-ola wants to merge 15 commits into
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Makes reading from line sensor more robust, and updates the calibration procedure #145hello-ola wants to merge 15 commits into
hello-ola wants to merge 15 commits into
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…and add a plot to visualzie raw data
…y_server, update calibration to add an inspect option
hello-ola
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hello-ola
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Works as expected! |
hello-robot-shehab
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$ stretch_line_sensor_hz_check
body server is not serving line_sensor_loop -- opening /dev/hello-pixart-j3 directly
[08/14/2026 19:40:42] [line_sensor_loop] [INFO]: Starting LineSensorLoop...
[08/14/2026 19:40:42] [line_sensor_loop] [INFO]: -------- Starting Line_sensor_loop with PID 17133 --------
[08/14/2026 19:40:43] [line_sensor_loop] [INFO]: Line sensor calibration: 6/6 sensors loaded
reading /dev/hello-pixart-j3 directly (no body server on the sensors)
settling ...
settled after 1.5s
measuring 6 sensors for 30s ...
[08/14/2026 19:41:14] [line_sensor_loop] [INFO]: Line_sensor_loop EXIT!
[08/14/2026 19:41:14] [line_sensor_loop] [INFO]: Exiting Line_sensor_loop Loop
sensor fresh Hz board Hz new frames skips max gap backwards
sensor_0 30.10 30.10 903 0 1 0
sensor_1 30.13 30.13 904 0 1 0
sensor_2 30.10 30.10 903 0 1 0
sensor_3 30.10 30.10 903 0 1 0
sensor_4 30.10 30.10 903 0 1 0
sensor_5 30.13 30.13 904 0 1 0
server-reported rate_hz: 27.2 decode_errors: 0
PASS: every sensor is streaming new (never repeated, never backwards) frames at >= 29Hz
hello-robot-shehab
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Aug 15, 2026
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Tested on 4024, calibration works and line sensors seem to work well from driving around.
| rs["timestamp"] = time.time() | ||
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| # Filter out raw line sensor arrays | ||
| if 'line_sensor_loop' in rs and isinstance(rs['line_sensor_loop'], dict): |
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Could this be just del rs['line_sensor_loop'] instead of this forloop?
hello-robot-shehab
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Aug 17, 2026
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This PR has the following updates
All line sensor tools go through line_sensor/connect.py: use the server if up, else open /dev/hello-pixart-j3 directly.
add a REx_line_sensor_migrate_tares if people want to migrate the older version.
stretch_system_check
Line sensor section now always reports the hz and passes if hz > 25.
Cleanup
To test:
0. test that the migration works. after installing the new version. make sure you dont have a tare folder in calibration_line_sensors. after restarting the server if you have linesensor loop enabled or after running stertch_line_sensor* script it should create a tare file from your old data.
stretch_line_sensor_ranges
stretch_line_sensor_z_band
stretch_line_sensor_hz_check
stretch_line_sensor_viz_3d
And system check reports correctly if line sensors are up or not.
stretch_system_checkif stretch_body_server doesnt enable line sensor, make sure line sensor dont fail they measure the hz directly and say that the loop is not enabled