Update app.py

app.py

@@ -114,24 +114,33 @@ class ReachyController:
         self.running = True
         self.frame_thread = threading.Thread(target=self._recv_loop, daemon=True)
         self.frame_thread.start()
-    
+        
     def _recv_loop(self):
+        import time
+
         num_frames = 0
-        start_time = time.time()
+        last_log = time.time()
+        print("[ReachyController] _recv_loop started")
         while self.running:
-            frame = self.receiver.recv_frame()
+            try:
+                frame = self.receiver.recv_frame()
+            except Exception as e:
+                print(f"[ReachyController] Error in recv_frame: {e}")
+                continue
+
             if frame is not None:
                 num_frames += 1
-                # Resize frame from 640x640 to 1080x1080
+                # Resize frame to 1080x1080
                 resized_frame = cv2.resize(frame, (1080, 1080), interpolation=cv2.INTER_CUBIC)
                 self.current_frame = resized_frame
                 self.frame_received_event.set()
-                if num_frames % 100 == 0:
-                    end_time = time.time()
-                    fps = num_frames / (end_time - start_time)
-                    print(f"FPS: {fps}")
-                    start_time = end_time
-                    num_frames = 0
+
+            now = time.time()
+            if now - last_log > 5:
+                print(f"[ReachyController] FPS in last 5s: {num_frames/(now - last_log):.1f}")
+                num_frames = 0
+                last_log = now
+
     
     def stream_frames(self):
         while True: