Record & Replay

from cyberwave.data import get_backend
from cyberwave.data.recording import record, replay

backend = get_backend()

# Record live samples
with record(backend, ["frames/default", "depth"], "/tmp/session1"):
    # ... samples flow through the backend while this block runs
    pass

# Replay recorded samples
result = replay(backend, "/tmp/session1", speed=1.0)
print(f"Replayed {result.samples_published} samples")

# Record with limits
session = record(
    backend,
    channels=["frames/default", "joint_states"],
    path="/data/recordings/session_001",
    max_samples=1000,       # stop after 1000 samples
    max_duration_s=60.0,    # or after 60 seconds
)
# ... later
manifest = session.stop()

from cyberwave.data.recording import replay

# Real-time replay
replay(backend, "/data/recordings/session_001", speed=1.0)

# 2x speed
replay(backend, "/data/recordings/session_001", speed=2.0)

# As fast as possible (no sleep between samples)
replay(backend, "/data/recordings/session_001", speed=0)

# Replay specific channels only
replay(backend, "/data/recordings/session_001", channels=["frames/default"])

# Loop continuously
replay(backend, "/data/recordings/session_001", loop=True)