[英]Python 3 Threaded websockets server
我正在 python 3 中構建一個 Websocket 服務器應用程序。我正在使用這個實現: https ://websockets.readthedocs.io/
基本上我想管理多個客戶。 另外我想從 2 個不同的線程發送數據(一個用於 GPS + 一個用於 IMU)GPS 線程以 1Hz 刷新,而 IMU 線程以 25Hz 刷新
我的問題出在 MSGWorker.sendData 方法中:一旦我取消注釋行 @asyncio.coroutine 並從 websocket.send('{"GPS": "%s"}' % data) 產生,整個方法什么都不做(不打印(“發送數據:foo”)在終端)
但是,通過這兩行注釋,我的代碼可以按預期工作,只是我沒有通過 websocket 發送任何內容。
但是,當然,我的目標是通過 websocket 發送數據,我只是不明白為什么它不起作用? 任何想法 ?
服務器.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...")
客戶端.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>
謝謝你的幫助
最后我得到了它 ! 它需要 Python 3.5.1(而我的發行版只提供 3.4.3)和來自 websockets 庫的作者 Aymeric 的一些幫助(感謝他)。
#!/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...")
問候,克萊門特
我知道這是一個舊線程,但我正在嘗試模仿該功能,並且我認為有人可能願意伸出援手。
我有兩條 CAN 總線,所以我想要一個線程。 稍后我將有更多線程用於 Web 套接字連接和可能的其他計算任務。
當我在 can0worker 上調用 run 時,代碼卡在了無限的 while 循環中。 我對 python 多線程不夠熟悉,不知道如何修復它。 我認為while循環,因為它在一個單獨的線程上,是非阻塞的,但我的循環阻塞了我所做的測試。
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__"
中調用它:
can0worker = CANWorker(0)
can1worker = CANWorker(1)
can0worker.run()
can1worker.run()
運行后的結果
init 0
init 1
run 0
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