Python 为什么不是';trollius让这个循环异步运行吗?
我试图在Pygazebo中编写一些简单的循环来控制对象,但遗憾的是,它只调用了一次该方法,然后循环似乎被阻塞了Python 为什么不是';trollius让这个循环异步运行吗?,python,python-2.7,loops,asynchronous,concurrency,Python,Python 2.7,Loops,Asynchronous,Concurrency,我试图在Pygazebo中编写一些简单的循环来控制对象,但遗憾的是,它只调用了一次该方法,然后循环似乎被阻塞了 # -*- coding: utf-8 -*- """ Created on Thu Jul 2 12:52:50 2015 @author: skylion """ import trollius #NOTE: Trollius requires protobuffer from Google from trollius import From import pygazebo
# -*- coding: utf-8 -*-
"""
Created on Thu Jul 2 12:52:50 2015
@author: skylion
"""
import trollius #NOTE: Trollius requires protobuffer from Google
from trollius import From
import pygazebo
import pygazebo.msg.joint_cmd_pb2
import time
def apply_joint_force(world_name, robot_name, joint_name, force, duration=-1):
@trollius.coroutine
def joint_force_loop():
manager = yield From(pygazebo.connect())
print("connected")
publisher = yield From(
manager.advertise('/gazebo/' + world_name + '/' + robot_name + '/joint_cmd',
'gazebo.msgs.JointCmd'))
message = pygazebo.msg.joint_cmd_pb2.JointCmd()
message.name = robot_name + '::' + joint_name #format should be: name_of_robot + '::name_of_joint'
message.force = force
#t_end = time.time() + duration # The time that you want the controller to stop
while True: #time.time() < t_end or duration == -1:
try:
yield From(publisher.publish(message))
yield From(trollius.sleep(1.0))
except:
pass
#Nothing
print("Connection closed")
wait_net_service('localhost',11345)
loop = trollius.new_event_loop()
loop.run_until_complete(joint_force_loop())
raise
def wait_net_service(server, port, timeout=None):
""" Wait for network service to appear
@param timeout: in seconds, if None or 0 wait forever
@return: True of False, if timeout is None may return only True or
throw unhandled network exception
"""
import socket
import errno
s = socket.socket()
if timeout:
from time import time as now
# time module is needed to calc timeout shared between two exceptions
end = now() + timeout
while True:
try:
if timeout:
next_timeout = end - now()
if next_timeout < 0:
return False
else:
s.settimeout(next_timeout)
s.connect((server, port))
time.sleep(1)
except socket.timeout, err:
# this exception occurs only if timeout is set
if timeout:
return False
except socket.error, err:
# catch timeout exception from underlying network library
# this one is different from socket.timeout
if type(err.args) != tuple or (err[0] != errno.ETIMEDOUT and err[0] != errno.ECONNREFUSED):
raise err
else:
s.close()
return True
你知道为什么它一直阻塞线程吗?我应该使用不同的方法来解决这个问题吗?任何帮助都将不胜感激因此,答案非常简单。在启动对象之前,您必须将要作为列表运行的多个Trollius.Tasks排队,并将其与Trollius.wait()组合以实现此目的。要确保线程是非阻塞的,请使用以下命令 以下是我目前的代码:
tasks = []
for joint_name in joint_names:
tasks.append(trollius.Task(joint_force_loop(world_name, robot_name, joint_name, force, duration))
loop = trollius.get_event_loop()
loop.run_until_complete(trollius.wait(tasks))
我认为您需要将
wait\u net\u服务('localhost',11345)
更改为yield from wait\u net\u服务('localhost',11345)
我甚至在添加该方法之前就遇到了这个问题。所以这不是问题所在。
tasks = []
for joint_name in joint_names:
tasks.append(trollius.Task(joint_force_loop(world_name, robot_name, joint_name, force, duration))
loop = trollius.get_event_loop()
loop.run_until_complete(trollius.wait(tasks))