sync recent changes

additional_functions/snifflonger.py

@@ -0,0 +1,32 @@
+# snifflonger.py
+import csv, time, sys
+from sniff import LowCmdSniffer  # uses latest() -> ok, q, dq, kp, kd, tau
+
+IFACE = sys.argv[1] if len(sys.argv) > 1 else "en7"
+DT    = float(sys.argv[2]) if len(sys.argv) > 2 else 0.01  # seconds
+
+N = 35
+
+def header(prefix):
+    return [f"{prefix}{i}" for i in range(N)]
+
+def main():
+    sniffer = LowCmdSniffer(iface=IFACE)
+
+    with open("lowcmd_log.csv", "w", newline="") as f:
+        w = csv.writer(f)
+        w.writerow(["t"] + header("kp") + header("kd") + header("q") + header("dq") + header("tau"))
+        try:
+            while True:
+                ok, q, dq, kp, kd, tau = sniffer.latest()
+                if ok:
+                    t = time.time()
+                    # ensure lists (in case numpy arrays)
+                    w.writerow([t, *kp.tolist(), *kd.tolist(), *q.tolist(), *dq.tolist(), *tau.tolist()])
+                    f.flush()
+                time.sleep(DT)
+        except KeyboardInterrupt:
+            pass
+
+if __name__ == "__main__":
+    main()