ser.open() #状态机定义 STATE_NORMALLY_RUNNING=1 STATE_COLLECTING_POINTS=2 STATE_MANUAL_CTRL=3 #实例化各模块 Ship = Comm.UASattitude() Route = Comm.Route() ValidShip = Comm.UASattitude() wirelessPort = Ctrl.WirelessUSART() RingBuff = Comm.ringBuff(100,baudrate,wirelessPort,ser) #创建多线程 tSynthesis = Comm.sysnthesisData(RingBuff,Ship,ValidShip,10,systemOnline) tUART = Comm.USARTinData(RingBuff,systemOnline) #创建线程池 THREADS = [tSynthesis,tUART] try: for sub_thread in THREADS: sub_thread.start() except: os.system('mplayer -really-quiet "/home/pi/RpiCentre/sound/subthreadserr.mp3"') os.system('mplayer -really-quiet "/home/pi/RpiCentre/sound/SEQUENCESTART.mp3"') time.sleep(0.5) #启动主任务 try: startFromMinDistance = 0 #选择载具是从第一个点开始前进0还是就近开始前进1 #读取路径轨迹