def cap_loop(ver, rb, sleep_time):
global lock, STATE
key = KeyControl()
cap = ImgCap(ver)
if ver == 0:
key.first_run()
key.start()
while True:
if STATE == -1:
cap.create_dir()
print('clean save dir')
while key.get_key() != 10:
pass
# rb.start_simulation()
STATE = 10
if STATE == -2:
print('thread exit')
key.end()
sys.exit(0)
state = key.get_key()
if state is not None:
STATE = state
lock.acquire()
try:
cap.capture(rb.get_image(), STATE)
except Exception as e:
time.sleep(sleep_time)
continue
finally:
lock.release()
time.sleep(sleep_time)
def thread_loop():
global STATE
key = KeyControl()
key.start()
while True:
state = key.get_key()
if state is not None:
STATE = state
def only_control_loop(ver, rb, sleep_time):
global lock, STATE
key = KeyControl()
key.start()
while True:
state = key.get_key()
if state is not None:
STATE = state
time.sleep(0.2)
