线程#

介绍#

线程允许机器人在同一个程序中同时运行多个任务。它们支持多任务处理，让机器人可以同时执行独立的操作。

**注意：**您必须[首先定义一个函数]（Functions.md）才能将其与线程一起使用。

构造函数——创建并启动新线程。

  • 线程 – 启动一个新线程，与主程序并行运行指定的函数。

操作 – 控制正在运行的线程。

  • stop – 手动停止线程，有助于停止后台行为。

构造函数#

Thread#

Thread creates and starts a thread. When you create a thread, you can name it to manage it individually in your project.

用法：

my_thread = Thread(my_function)

参数

描述

my_thread

可选。新线程的名称。

my_function

先前定义的函数的名称。

注意：函数必须始终在*调用之前定义。

# Drive forward while blinking screen
def blink_screen():
    while True:
        brain.screen.clear_screen(Color.RED)
        wait(0.5, SECONDS)
        brain.screen.clear_screen()
        wait(0.5, SECONDS)

blink_screen_thread = Thread(blink_screen)
drivetrain.drive(FORWARD)


# Run multiple threads simultaneously
# Turn right, blink screen at once
def blink_screen():
    while True:
        brain.screen.clear_screen(Color.RED)
        wait(0.5, SECONDS)
        brain.screen.clear_screen()
        wait(0.5, SECONDS)

def turning():
    drivetrain.turn(RIGHT)

blink_screen_thread = Thread(blink_screen)
turning_thread = Thread(turning)

行动#

stop#

stop stops a thread manually, which is useful when a task is no longer needed or when a program needs to reset or reassign threads. Once a thread is stopped, it cannot be restarted. To run it again, you must create a new thread using Thread.

用法：

my_thread.stop()

参数

描述

my_thread

A previously started thread object. This is the name assigned when the thread was created using Thread.

 
"""
Run multiple threads simultaneously
Turn right, play a sound and display heading at once
Stop playing sounds after 2 seconds
"""
def sound():
    while True:
        brain.play_sound(SoundType.ALARM)
        wait(0.5, SECONDS)

def display_heading():
    while True:
        brain.screen.clear_row()
        brain.screen.set_cursor(1, 1)
        brain.screen.print("Heading: {}".format(brain_inertial.orientation(YAW)))
        wait(50, MSEC)

sound_thread = Thread(sound)     
display_heading_thread = Thread(display_heading)
drivetrain.turn(RIGHT)

wait(2, SECONDS)
sound_thread.stop()
On this page