def rgbled(n=200, led=bled):
notif_exit = 4718
notif_replay = 2
notif_count = 3
x = 0
_thread.allowsuspend(True)
while True:
led.value(1)
time.sleep_ms(n)
led.value(0)
x = x + 1
t = 10
while t > 0:
notif = _thread.getnotification()
if notif == notif_exit:
_thread.sendmsg(_thread.getReplID(), "[%s] Exiting" % (_thread.getSelfName()))
return
elif notif == notif_replay:
_thread.sendmsg(_thread.getReplID(), "[%s] I've been notified" % (_thread.getSelfName()))
elif notif == notif_count:
_thread.sendmsg(_thread.getReplID(), "[%s] Run counter = %u" % (_thread.getSelfName(), x))
elif notif == 777:
_thread.sendmsg(_thread.getReplID(), "[%s] Forced EXCEPTION" % (_thread.getSelfName()))
time.sleep_ms(1000)
zz = 234 / 0
elif notif != 0:
_thread.sendmsg(_thread.getReplID(), "[%s] Got unknown notification: %u" % (_thread.getSelfName(), notif))
typ, sender, msg = _thread.getmsg()
if msg:
_thread.sendmsg(_thread.getReplID(), "[%s] Message from '%s'\n'%s'" % (_thread.getSelfName(), _thread.getThreadName(sender), msg))
time.sleep_ms(100)
t = t - 1
gc.collect()
def _serverProcess(self):
self._started = True
self._state = "Running"
while True:
try:
client, cliAddr = self._server.accepted()
if client == None:
if self.isThreaded:
notify = _thread.getnotification()
if notify == _thread.EXIT:
break
elif notify == _thread.SUSPEND:
self._state = "Suspended"
while _thread.wait() != _thread.RESUME:
pass
self._state = "Running"
# gc.collect()
time.sleep_ms(2)
continue
except Exception as e:
if not self.isThreaded:
print(e)
break
self._client(self, client, cliAddr)
self._started = False
self._state = "Stoped"
self.thID = None
def run_script_threaded(filename):
try:
thread.stack_size(5*1024)
thread.allowsuspend(True)
file = open(filename)
content = file.read()
file.close()
fix = '''while True:
ntf = thread.getnotification()
if ntf:
if ntf == thread.EXIT:
sys.exit()
elif ntf == thread.SUSPEND:
while thread.wait() != thread.RESUME:
pass'''
content = content.replace('while True:', fix)
content = content.replace('while 1:', fix)
exec(content)
while True:
ntf = thread.getnotification()
if ntf:
if ntf == thread.EXIT:
return
elif ntf == thread.SUSPEND:
while thread.wait() != thread.RESUME:
pass
except Exception as e:
print(red(thread.getSelfName() + str(e)))
return
def check_notify(nquit):
notif = _thread.getnotification()
if notif == nquit:
print("[ftpserver] Received QUIT notification, exiting")
elif notif != 0:
print("[ftpserver] Notification %u unknown" % (notif))
return notif
def check_notify_quit():
notif = _thread.getnotification()
if notif == _thread.EXIT:
print("[MicroFtpSrv] Received QUIT notification, exiting")
return True
elif notif != 0:
print("[MicroFtpSrv] Notification {} unknown".format(notif))
return False
def thrainbow():
pos = 0
np.brightness(25)
while True:
np.rainbow(pos, 3)
notif = _thread.getnotification()
if (notif > 0) and (notif <= 100):
np.brightness(math.trunc(notif * 2.55))
elif notif == 1000:
_thread.sendmsg(_thread.getReplID(), "[%s] Run counter = %u" % (_thread.getSelfName(), pos))
pos = pos + 1
def thrainbow_py():
pos = 0
bri = 0.02
while True:
for i in range(0, num_np):
dHue = 360.0/num_np * (pos+i);
hue = dHue % 360;
np.setHSB(i, hue, 1.0, bri, 1, False)
np.show()
notif = _thread.getnotification()
if (notif > 0) and (notif <= 100):
bri = notif / 100.0
elif notif == 1000:
_thread.sendmsg(_thread.getReplID(), "[%s] Run counter = %u" % (_thread.getSelfName(), pos))
pos = pos + 1
def mqtt_send_loop(self):
""" send mqtt loop """
# threading is different in lobo micropython
if sys.platform.startswith("esp32_LoBo"):
_thread.allowsuspend(True)
while True:
ntf = _thread.getnotification()
if ntf:
# some notification received
if ntf == _thread.EXIT:
return
self.send_one_message()
time.sleep(0.1)
else:
pass
def heartbeat(self, isReversed=False):
_thread.allowsuspend(True)
while True:
ntf = _thread.getnotification()
if ntf == _thread.EXIT:
# return from thread terminates the thread
#print("heartbeat: terminated")
return
elif ntf == _thread.SUSPEND:
while _thread.wait() != _thread.RESUME:
pass
else:
# default notification handling
pass
# regular application code
self._heartbeat(isReversed)
def _wsProcess(self, acceptCallback) :
self._socket.settimeout(3600)
self._closed = False
try :
acceptCallback(self, self._httpCli)
except Exception as ex :
print("MicroWebSocket : Error on accept callback (%s)." % str(ex))
while not self._closed :
if self.isThreaded:
notify = _thread.getnotification()
if notify == _thread.EXIT:
self.Close()
break
if not self._receiveFrame() :
self.Close()
if self.ClosedCallback :
try :
self.ClosedCallback(self)
except Exception as ex :
print("MicroWebSocket : Error on closed callback (%s)." % str(ex))
def bmerun(interval=60):
_thread.allowsuspend(True)
sendmsg = True
send_time = time.time() + interval
while True:
while time.time() < send_time:
notif = _thread.getnotification()
if notif == 10002:
_thread.sendmsg(_thread.getReplID(), bmevalues())
elif notif == 10004:
sendmsg = False
elif notif == 10006:
sendmsg = True
elif (notif <= 3600) and (notif >= 10):
interval = notif
send_time = time.time() + interval
_thread.sendmsg(_thread.getReplID(), "Interval set to {} seconds".format(interval))
time.sleep_ms(100)
send_time = send_time + interval
if sendmsg:
_thread.sendmsg(_thread.getReplID(), bmevalues())
def _spin(self):
while True:
# Check for notification signals
ntf = _thread.getnotification()
if ntf:
if ntf == _thread.EXIT:
# ...if received EXIT signal, clear screen to black and exit thread
self.tft.clear(self.tft.BLACK)
return
# Draw green and grey (following) arc
self.tft.arc(160, 120, 20, 5, self.green_arc[0], self.green_arc[1],
self.tft.GREEN, self.tft.GREEN)
self.tft.arc(160, 120, 20, 5, self.grey_arc[0], self.grey_arc[1],
self.tft.LIGHTGREY, self.tft.LIGHTGREY)
# Tiny delay before continuing to keep the animation at a reasonable speed.
time.sleep_ms(50)
# Step arc angles forward (accounting for going from 360 back to 0 degrees)
if (self.green_arc[0] + 45) <= 360:
self.green_arc[0] += 45
else:
self.green_arc[0] = 45 - (360 - self.green_arc[0])
if (self.green_arc[1] + 45) <= 360:
self.green_arc[1] += 45
else:
self.green_arc[1] = 45 - (360 - self.green_arc[1])
if (self.grey_arc[0] + 45) <= 360:
self.grey_arc[0] += 45
else:
self.grey_arc[0] = 45 - (360 - self.grey_arc[0])
if (self.grey_arc[1] + 45) <= 360:
self.grey_arc[1] += 45
else:
self.grey_arc[1] = 45 - (360 - self.grey_arc[1])
def main():
thread.allowsuspend(True)
gc_count = 0
if datebase is None:
pass
else:
ssid_text.update(datebase['wifi']['ssid'])
pwd_text.update(datebase['wifi']['pwd'])
del_name_list.updatelistdate(namelist)
while True:
if buttonA.wasPressed(callback=None):
window.event(1)
elif buttonB.wasPressed(callback=None):
window.event(2)
elif buttonC.wasPressed(callback=None):
window.event(3)
#temp = keyboard.read()
#if temp != b'\x00':
#window.event(temp)
#print(temp)
ntf = thread.getnotification()
if ntf:
if ntf == 1001: # 获取数据
# print(internet_date)
display()
gc_count += 1
# gc.collect()
# 将debug_date 数据显示到debug窗口
if len(debug_date) > 0:
de(debug_date[0])
del debug_date[0]
gc_count += 1
if gc_count > 20:
gc.collect()
gc_count = 0
def th_func(threads: dict):
# ------------------------------------------------------------
# Allow suspending this thread from other threads using
# _thread.suspend(th_id) / _thread.resume(th_id) functions.
# If not set, the thread connot be suspended.
# Still, "soft" suspend handling via notifications can be used
# ------------------------------------------------------------
_thread.allowsuspend(True)
cur_name = _thread.getSelfName()
cur_id = threads[cur_name]
print("{}: started with id {}".format(cur_name.upper(), cur_id))
# ---------------------------------------------
# Thread function usually runs in infinite loop
# ---------------------------------------------
while True:
# ================================================
# It is recommended to handle thread notifications
# ================================================
ntf = _thread.getnotification()
if ntf:
# some notification received
if ntf == _thread.EXIT:
# -------------------------------------------------
# Return from thread function terminates the thread
# -------------------------------------------------
print("{}: terminated".format(cur_name.upper()))
return
elif ntf == _thread.SUSPEND:
# -------------------------------------------------------------------
# The thread can be suspended using _thread.suspend(th_id) function,
# but sometimes it is more convenient to implement the "soft" suspend
# -------------------------------------------------------------------
print("{}: suspended".format(cur_name.upper()))
# wait for RESUME notification indefinitely, some other thread must
# send the resume notification: _thread.notify(th_id, _thread.RESUME)
while _thread.wait() != _thread.RESUME:
pass
print("{}: resumed".format(cur_name.upper()))
# ---------------------------------------------
# Handle the application specific notifications
# ---------------------------------------------
elif ntf == 1234:
# Your notification handling code
pass
else:
# -----------------------------
# Default notification handling
# -----------------------------
pass
# ----------------------------------
# Put your thread function code here
# ----------------------------------
# ---------------------------------------------------------------------------
# Thread function execution can be suspended until a notification is received
# Without argument '_thread.wait' will wait for notification indefinitely
# If the timeout argument is given, the function will return even if
# no notification is received after the timeout expires with result 'None'
# ---------------------------------------------------------------------------
# ntf = _thread.wait(30000)
# if ntf:
# # --------------------------------------------
# # Check if terminate notification was received
# # --------------------------------------------
# if ntf == _thread.EXIT:
# return
# #print("TH_FUNC: Notification received: ", ntf)
#
# # ---------------------------------------------
# # Execute some code based on notification value
# # ---------------------------------------------
# if ntf == 77:
# print("Notification 77 received")
# elif ntf == 8888:
# myvar += 100
# else:
# # ---------------------------------
# # Execute some code on wait timeout
# # ---------------------------------
# print("TH_FUNC: Wait notification timeout")
# ---------------------------------------------------------------
# - Using sleep in thread function -
# ---------------------------------------------------------------
# 'utime.sleep(sec, True)' & 'utime.sleep_ms(ms, True)' functions returns the
# actual ellapsed sleep time. The sleep will be interrupted if
# a notification is received and the returned value will be less
# than the requested one
# ---------------------------------------------------------------
# Example:
# print("TH_FUNC: Loop started")
# for i in range(0, 5):
# print("TH_FUNC: Loop no:", i)
# sleep_time = utime.sleep_ms(10000, True)
# if sleep_time < 10000:
# # Notification received while sleeping
# print("TH_FUNC: Notification while sleeping", st)
# # Sleep for the remaining interval if needed
# utime.sleep_ms(10000 - sleep_time)
# print("TH_FUNC: Loop ended")
# ===================================================================================
# Handle inter thread message
# Sender thread ID, message type (string or integer) and message itself are available
# ===================================================================================
typ, sender, msg = _thread.getmsg()
if msg:
# -------------------------------------
# message received from 'sender' thread
# -------------------------------------
if typ == 1 and msg == thr_msg.HEARTBEAT:
# Reply to sender, we can analyze the message first
_thread.sendmsg(sender, thr_msg.HEARTBEAT)
else:
# We can inform the main MicroPython thread (REPL) about received message
_thread.sendmsg(
threads["log"], "[%s] Received message from '%s'\n'%s'" %
(_thread.getSelfName(), _thread.getThreadName(sender),
msg))
def th_cam_to_motor(threads: dict, thctm_values: dict, m, config: dict):
_thread.allowsuspend(True)
cur_name = _thread.getSelfName()
cur_id = threads[cur_name]
print("{}: started with id {}".format(cur_name.upper(), cur_id))
while True:
"""Notification Handling"""
ntf = _thread.getnotification()
if ntf:
if ntf == _thread.EXIT:
print("{}: terminated".format(cur_name.upper()))
return
elif ntf == _thread.SUSPEND:
print("{}: suspended".format(cur_name.upper()))
m.stop()
# wait for RESUME notification indefinitely, some other thread must
# send the resume notification: _thread.notify(th_id, _thread.RESUME)
while _thread.wait() != _thread.RESUME:
pass
print("{}: resumed".format(cur_name.upper()))
else:
# Default notification handling
pass
# ---------------------------------------------------------------
# - Using sleep in thread function -
# ---------------------------------------------------------------
# 'utime.sleep(sec, True)' & 'utime.sleep_ms(ms, True)' functions returns the
# actual ellapsed sleep time. The sleep will be interrupted if
# a notification is received and the returned value will be less
# than the requested one
# ---------------------------------------------------------------
# Example:
# print("TH_FUNC: Loop started")
# for i in range(0, 5):
# print("TH_FUNC: Loop no:", i)
# sleep_time = utime.sleep_ms(10000, True)
# if sleep_time < 10000:
# # Notification received while sleeping
# print("TH_FUNC: Notification while sleeping", st)
# # Sleep for the remaining interval if needed
# utime.sleep_ms(10000 - sleep_time)
# print("TH_FUNC: Loop ended")
# ===================================================================================
# Handle inter thread message
# Sender thread ID, message type (string or integer) and message itself are available
# ===================================================================================
""
# <MAIN CODE>
"""Line Parsing and Motor controlling"""
line_angle = thctm_values["line"][1]
line_type = thctm_values["line"][0]
l_value = r_value = config["drive_speed"]
if line_type == CUART.ltype_straight:
x = line_angle
# l_value = constrain(maprange([-90, 0], [0, config["drive_speed"]], line_angle), 0, config["drive_speed"])
# r_value = constrain(maprange([0, 90], [config["drive_speed"], 0], line_angle), 0, config["drive_speed"])
l_value = int(0.0006911 * x * x * x - 0.011111 * x * x +
0.044657 * x + 20)
r_value = int(-0.0006911 * x * x * x - 0.011111 * x * x -
0.044657 * x + 20)
# print(l_value, r_value)
m.move(l_value, r_value)
# </MAIN CODE>
"""Message handling"""
typ, sender, msg = _thread.getmsg()
if msg:
if typ == 1 and msg == thr_msg.HEARTBEAT:
_thread.sendmsg(sender, thr_msg.HEARTBEAT)
# else:
# _thread.sendmsg(threads["log"], "[%s] Received message from '%s'\n'%s'" % (
# _thread.getSelfName(), _thread.getThreadName(sender), msg))
utime.sleep_ms(10) # Weird bug (was 10 before, trying to minimize)
def _serverProcess(self):
try:
self._started = True
self._state = "Running"
notify = -1
while True:
try:
client, cliAddr = self._server.accepted()
if client == None:
if self.isThreaded:
notify = _thread.getnotification()
if notify == _thread.EXIT:
if self._debug:
print("[{}] [SERVER] Stop request".format(
time.ticks_ms()))
try:
self._server.close()
except Exception as err:
sys.print_exception(err)
break
elif notify == _thread.SUSPEND:
self._state = "Suspended"
while _thread.wait() != _thread.RESUME:
pass
self._state = "Running"
else:
if not self._started:
break
# gc.collect()
# time.sleep_ms(2)
continue
except Exception as err:
print("[{}] [SERVER]: Main loop exception".format(
time.ticks_ms()))
sys.print_exception(err)
try:
self._server.close()
except Exception as err:
sys.print_exception(err)
break
if self._debug:
print("[{}] [SERVER] Accepted from {}; socket {}".format(
time.ticks_ms(), cliAddr, client.getFD()))
client.settimeout(0.4)
self._client(self, client, cliAddr)
if self._debug:
print("[{}] [SERVER] Client finished".format(
time.ticks_ms()))
if self._debug:
print("[{}] [SERVER] Exit".format(time.ticks_ms()))
self._started = False
self._state = "Stopped"
self.thID = None
except Exception as err:
print("[{}] [SERVER]: Server process xxception".format(
time.ticks_ms()))
sys.print_exception(err)
finally:
try:
self._server.close()
except Exception as err:
sys.print_exception(err)
self._server = None
self._started = False
self._state = "Stopped"
self.thID = None
gc.collect()
def __threadfunc(self): while(True): self.running = False self.joints.clear() thread.wait() ntf = thread.getnotification() if(ntf == thread.STOP): return sync = self.syncMode if(sync): top = -1 synctime = None for j in self.joints: r = abs(j.curPos - j.newPos) if(r > top): top = r synctime = r / j.speed jdata = [] for j in self.joints: posdiff = abs(j.curPos - j.newPos) if(posdiff == 0): continue if(sync): step = _DELAY * (posdiff / synctime) else: step = _DELAY * j.speed steps = int(posdiff / step) step *= 1 if j.curPos < j.newPos else -1 jdata.append([j.curPos, steps, step, j.servo.setRaw, j.newPos]) j.curPos = j.newPos jdata.sort(key = lambda x: x[1], reverse = True) jlen = len(jdata) pos = jlen while(jlen): while(pos): pos -= 1 j = jdata[pos] j[1] -= 1 # steps - 1 j[0] += j[2] # curPos + step if(j[1] <= 0): # steps == 0 j[3](round(j[4])) # j.setRaw(j.newPos) jlen -= 1 else: j[3](round(j[0])) # j.setRaw(j.curPos) pos = jlen sleep_ms(_TDELAY)
