GR00T-WholeBodyControl / external_dependencies /unitree_sdk2_python /unitree_sdk2py /utils /hz_sample.py
| import time | |
| from threading import Lock | |
| from .thread import RecurrentThread | |
| class HZSample: | |
| def __init__(self, interval: float = 1.0): | |
| self.__count = 0 | |
| self.__inter = interval if interval > 0.0 else 1.0 | |
| self.__lock = Lock() | |
| self.__thread = RecurrentThread(self.__inter, target=self.TimerFunc) | |
| def Start(self): | |
| self.__thread.Start() | |
| def Sample(self): | |
| with self.__lock: | |
| self.__count += 1 | |
| def TimerFunc(self): | |
| count = 0 | |
| with self.__lock: | |
| count = self.__count | |
| self.__count = 0 | |
| print("HZ: {}".format(count/self.__inter)) | |