[英]Python 3 Threaded websockets server
我正在 python 3 中构建一个 Websocket 服务器应用程序。我正在使用这个实现: https ://websockets.readthedocs.io/
基本上我想管理多个客户。 另外我想从 2 个不同的线程发送数据(一个用于 GPS + 一个用于 IMU)GPS 线程以 1Hz 刷新,而 IMU 线程以 25Hz 刷新
我的问题出在 MSGWorker.sendData 方法中:一旦我取消注释行 @asyncio.coroutine 并从 websocket.send('{"GPS": "%s"}' % data) 产生,整个方法什么都不做(不打印(“发送数据:foo”)在终端)
但是,通过这两行注释,我的代码可以按预期工作,只是我没有通过 websocket 发送任何内容。
但是,当然,我的目标是通过 websocket 发送数据,我只是不明白为什么它不起作用? 任何想法 ?
服务器.py
#!/usr/bin/env python3
import signal, sys
sys.path.append('.')
import time
import websockets
import asyncio
import threading
connected = set()
stopFlag = False
class GPSWorker (threading.Thread):
def __init__(self):
threading.Thread.__init__(self)
self.data = 0
self.lastData = 0
self.inc = 0
# Simulate GPS data
def run(self):
while not stopFlag:
self.data = self.inc
self.inc += 1
time.sleep(1)
def get(self):
if self.lastData is not self.data:
self.lastData = self.data
return self.data
class IMUWorker (threading.Thread):
def __init__(self):
threading.Thread.__init__(self)
self.data = 0
self.lastData = 0
self.inc = 0
# Simulate IMU data
def run(self):
while not stopFlag:
self.data = self.inc
self.inc += 1
time.sleep(0.04)
def get(self):
if self.lastData is not self.data:
self.lastData = self.data
return self.data
class MSGWorker (threading.Thread):
def __init__(self):
threading.Thread.__init__(self)
def run(self):
while not stopFlag:
data = gpsWorker.get()
if data:
self.sendData('{"GPS": "%s"}' % data)
data = imuWorker.get()
if data:
self.sendData('{"IMU": "%s"}' % data)
time.sleep(0.04)
#@asyncio.coroutine
def sendData(self, data):
for websocket in connected.copy():
print("Sending data: %s" % data)
#yield from websocket.send('{"GPS": "%s"}' % data)
@asyncio.coroutine
def handler(websocket, path):
global connected
connected.add(websocket)
#TODO: handle client disconnection
# i.e connected.remove(websocket)
if __name__ == "__main__":
print('aeroPi server')
gpsWorker = GPSWorker()
imuWorker = IMUWorker()
msgWorker = MSGWorker()
try:
gpsWorker.start()
imuWorker.start()
msgWorker.start()
start_server = websockets.serve(handler, 'localhost', 7700)
loop = asyncio.get_event_loop()
loop.run_until_complete(start_server)
loop.run_forever()
except KeyboardInterrupt:
stopFlag = True
loop.close()
print("Exiting program...")
客户端.html
<!doctype html>
<html>
<head>
<meta charset="UTF-8" />
</head>
<body>
</body>
</html>
<script type="text/javascript">
var ws = new WebSocket("ws://localhost:7700", 'json');
ws.onmessage = function (e) {
var data = JSON.parse(e.data);
console.log(data);
};
</script>
谢谢你的帮助
最后我得到了它 ! 它需要 Python 3.5.1(而我的发行版只提供 3.4.3)和来自 websockets 库的作者 Aymeric 的一些帮助(感谢他)。
#!/usr/bin/env python3
import signal, sys
sys.path.append('.')
import time
import websockets
import asyncio
import threading
stopFlag = False
class GPSWorker (threading.Thread):
def __init__(self):
threading.Thread.__init__(self)
self.data = 0
self.lastData = 0
self.inc = 0
# Simulate GPS data
def run(self):
while not stopFlag:
self.data = self.inc
self.inc += 1
time.sleep(1)
def get(self):
if self.lastData is not self.data:
self.lastData = self.data
return self.data
class IMUWorker (threading.Thread):
def __init__(self):
threading.Thread.__init__(self)
self.data = 0
self.lastData = 0
self.inc = 0
# Simulate IMU data
def run(self):
while not stopFlag:
self.data = self.inc
self.inc += 1
time.sleep(0.04)
def get(self):
if self.lastData is not self.data:
self.lastData = self.data
return self.data
class MSGWorker (threading.Thread):
def __init__(self):
threading.Thread.__init__(self)
self.connected = set()
def run(self):
while not stopFlag:
data = gpsWorker.get()
if data:
self.sendData('{"GPS": "%s"}' % data)
data = imuWorker.get()
if data:
self.sendData('{"IMU": "%s"}' % data)
time.sleep(0.04)
async def handler(self, websocket, path):
self.connected.add(websocket)
try:
await websocket.recv()
except websockets.exceptions.ConnectionClosed:
pass
finally:
self.connected.remove(websocket)
def sendData(self, data):
for websocket in self.connected.copy():
print("Sending data: %s" % data)
coro = websocket.send(data)
future = asyncio.run_coroutine_threadsafe(coro, loop)
if __name__ == "__main__":
print('aeroPi server')
gpsWorker = GPSWorker()
imuWorker = IMUWorker()
msgWorker = MSGWorker()
try:
gpsWorker.start()
imuWorker.start()
msgWorker.start()
ws_server = websockets.serve(msgWorker.handler, '0.0.0.0', 7700)
loop = asyncio.get_event_loop()
loop.run_until_complete(ws_server)
loop.run_forever()
except KeyboardInterrupt:
stopFlag = True
#TODO: close ws server and loop correctely
print("Exiting program...")
问候,克莱门特
我知道这是一个旧线程,但我正在尝试模仿该功能,并且我认为有人可能愿意伸出援手。
我有两条 CAN 总线,所以我想要一个线程。 稍后我将有更多线程用于 Web 套接字连接和可能的其他计算任务。
当我在 can0worker 上调用 run 时,代码卡在了无限的 while 循环中。 我对 python 多线程不够熟悉,不知道如何修复它。 我认为while循环,因为它在一个单独的线程上,是非阻塞的,但我的循环阻塞了我所做的测试。
class CANWorker (threading.Thread):
def __init__(self, channel_num):
threading.Thread.__init__(self)
self.msg = None
self.lastmsg = None
self.channel_num = channel_num
print("init", self.channel_num)
os.system(f'sudo ifconfig can{channel_num} down')
os.system(f'sudo ip link set can{channel_num} up type can bitrate 2000000 dbitrate 8000000 restart-ms 1000 berr-reporting on fd on')
os.system(f'sudo ifconfig can{channel_num} txqueuelen 65536')
self.can = can.interface.Bus(channel = f'can{channel_num}', bustype = 'socketcan', fd=True)
def run(self):
print("run", self.channel_num)
while not stopFlag:
self.msg = self.can.recv(0.01)
def get(self):
print("get", self.channel_num)
if self.lastmsg is not self.msg:
self.lastmsg = self.msg
return self.msg
在if __name__ == "__main__"
中调用它:
can0worker = CANWorker(0)
can1worker = CANWorker(1)
can0worker.run()
can1worker.run()
运行后的结果
init 0
init 1
run 0
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