def producer(control_bus, delay_s):
control = Controller()
motor = motor_commands.MotorCommands()
while 1:
get_val = control_bus.read()
angle = control.main_control(get_val, motor)
time.sleep(delay_s)
def consumer_producer(control_bus, delay_s):
control = Controller()
motor = motor_commands.MotorCommands()
while (1):
get_val = control_bus.read()
angle = control.main_control(get_val, motor)
control_bus.write(angle)
time.sleep(delay_s)
#!/usr/bin/env python3
import motor_commands
import interpretor
import sensor_commands
import controller
import bus
from sensor_commands import producer as sensor_function
from interpretor import consumer_producer as interpreter_function
from controller import consumer_producer as controller_function
import concurrent.futures
from readerwriterlock import rwlock
motor = motor_commands.MotorCommands()
inter = interpretor.Interpretor()
contr = controller.Controller()
sens = sensor_commands.SensorCommands()
sensor_values_bus = bus.Bus()
interpreter_bus = bus.Bus()
controller_bus = bus.Bus()
sensor_delay = 1
interpreter_delay = 1
controller_delay = 1
with concurrent.futures.ThreadPoolExecutor(max_workers=2) as executor:
eSensor = executor.submit(sensor_function, sensor_values_bus, sensor_delay)
eInterpreter = executor.submit(interpreter_function, sensor_values_bus,
interpreter_bus, interpreter_delay)