问题描述
限时送ChatGPT账号..我有一个程序,它应该通过串行连接向 arduino 发送一些数据点,该程序将控制一些电机移动.我可以单独发送控制信号,也可以通过 txt 文件发送控制信号,该文件将重复运行,直到文件完成.在运行 txt 文件时,我希望能够像暂停或停止按钮一样退出循环.我认为最好的方法是通过我可以关闭的线程.我以前从未做过任何线程处理,我的初步尝试也没有奏效.这里是发送文件数据的函数.
I have a program that is supposed to send a few data points over a serial connection to an arduino which will control some motors to move. I can send the control signals individually as well as by txt file which will run repeatedly until the file is complete. While running a txt file, I want to be able to exit the loop like a pause or stop button. I think the best way to do that is via a thread that I can close. I have never done any threading before and my rudimentary attempts have not worked. Here is the function that sends the file data.
def send_file():
# Global vars
global moto1pos
global motor2pos
# Set Ready value
global isready
# Get File location
program_file_name = file_list.get('active')
file_path = "/home/evan/Documents/bar_text_files/"
program_file = Path(file_path + program_file_name)
file = open(program_file)
pos1 = []
pos2 = []
speed1 = []
speed2 = []
accel1 = []
accel2 = []
for each in file:
vals = each.split()
pos1.append(int(vals[0]))
pos2.append(int(vals[1]))
speed1.append(int(vals[2]))
speed2.append(int(vals[3]))
accel1.append(int(vals[4]))
accel2.append(int(vals[5]))
# Send file values
try:
while isready == 1:
for i in range(len(pos1)):
print("Step: " + str(i+1))
data = struct.pack("!llhhhh", pos1[i], pos2[i], speed1[i], speed2[i], accel1[i], accel2[i])
ser.write(data)
try:
pos1time = abs(pos1[i]/speed1[i])
except:
pos1time = 0
try:
pos2time = abs(pos2[i]/speed2[i])
except:
pos2time = 0
time_array = (pos1time, pos2time)
time.sleep(max(time_array))
motor1pos = ser.readline()
motor2pos = ser.readline()
if i < (len(pos1)-1):
isready = ord(ser.read(1))
else:
isready = 0
except:
print("Error: data not sent. Check serial port is open")
这是我希望使用 sendfile 命令工作的线程命令.
Here is the threading command which I want the sendfile command to work from.
def thread():
try:
global isready
isready = 1
t = threading.Thread(name='sending_data', target=command)
t.start()
except:
print("Threading Error: you don't know what you are doing")
这是我希望线程被杀死的停止函数:
And here is the stop function I want the thread to be killed by:
def stop():
try:
global isready
isready = 0
t.kill()
except:
print("Error: thread wasn't killed")
我知道你不应该杀死一个线程,但数据并不是很重要.更重要的是在发生故障之前停止电机.
I know you aren't supposed to kill a thread but the data isn't very important. Whats more important is to stop the motors before something breaks.
tkinter 中的按钮是:
The button in tkinter is:
run_file_butt = tk.Button(master = file_frame, text = "Run File", command = thread)
当我单击按钮时,程序会运行,但停止功能不会停止运动.
When I click the button, the program runs but the stop function does nothing to stop the motion.
推荐答案
由于我对线程的简单理解以及我使用线程的独特环境,我的答案很简单.我没有以我希望的方式终止线程,而是在 send_file 函数的发送行中添加了另一个条件语句.
The answer I have gone with is simple due to my simple understanding of threading and unique circumstances with which I am using the threading. Instead of terminating the thread in a way I was hoping, I added another conditional statement to the sending line of the send_file function.
while isready == 1:
for i in range(len(pos1)):
if motorstop == False:
print("Step: " + str(i+1))
#data = struct.pack('!llllhhhhhhhh', pos1[i], pos2[i], pos3[i], pos4[i], speed1[i], speed2[i], speed3[i], speed[4], accel1[i], accel2[i], accel3[i], accel4[i])
data = struct.pack("!llhhhh", pos1[i], pos2[i], speed1[i], speed2[i], accel1[i], accel2[i])
ser.write(data)
else:
isready = 0
break
并且我已将我的 stop() 函数更新为以下内容:
and I have updated my stop() func to the following:
def stop():
try:
global motorstop
global t
motorstop = True
t.join()
except:
print("Error: thread wasn't killed")
我不确定它是如何工作的,但它比@stovefl 提到的要简单得多.
I'm not exactly sure how it works but it is much simpler than what was mentioned by @stovefl.
使用这段代码,由于函数大部分只是休眠,它可以运行但不会发送任何新信息,然后在下一次迭代后将 .join() .
With this code, since the function is mostly just sleeping, it can run but it won't send any new information and then will .join() after the next iteration.
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