Cozmo人工智能机器人SDK使用笔记（5）-时序部分async_sync
Cozmo首先寻找一个立方体。 找到立方体后，立方体的灯以循环方式绿色闪烁，然后等待轻敲立方体。
此时，程序分别为同步和异步两种类型，注意区分。
1. 同步
立方体闪烁同步示例
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import asyncio
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import sys
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import cozmo
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class BlinkyCube(cozmo.objects.LightCube):
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'''Subclass LightCube and add a light-chaser effect.'''
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def __init__(self, *a, **kw):
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super().__init__(*a, **kw)
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self._chaser = None
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def start_light_chaser(self):
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'''Cycles the lights around the cube with 1 corner lit up green,
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changing to the next corner every 0.1 seconds.
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'''
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if self._chaser:
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raise ValueError("Light chaser already running")
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async def _chaser():
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while True:
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for i in range(4):
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cols = [cozmo.lights.off_light] * 4
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cols[i] = cozmo.lights.green_light
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self.set_light_corners(*cols)
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await asyncio.sleep(0.1, loop=self._loop)
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self._chaser = asyncio.ensure_future(_chaser(), loop=self._loop)
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def stop_light_chaser(self):
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if self._chaser:
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self._chaser.cancel()
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self._chaser = None
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# Make sure World knows how to instantiate the subclass
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cozmo.world.World.light_cube_factory = BlinkyCube
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def cozmo_program(robot: cozmo.robot.Robot):
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cube = None
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look_around = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace)
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try:
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cube = robot.world.wait_for_observed_light_cube(timeout=60)
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except asyncio.TimeoutError:
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print("Didn't find a cube :-(")
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return
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finally:
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look_around.stop()
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cube.start_light_chaser()
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try:
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print("Waiting for cube to be tapped")
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cube.wait_for_tap(timeout=10)
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print("Cube tapped")
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except asyncio.TimeoutError:
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print("No-one tapped our cube :-(")
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finally:
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cube.stop_light_chaser()
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cube.set_lights_off()
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cozmo.run_program(cozmo_program)
2. 异步
立方体闪烁异步示例
注意注释（效果相似但实现过程有差异）：
The async equivalent of 01_cube_blinker_sync.
The usage of ``async def`` makes the cozmo_program method a coroutine.
Within a coroutine, ``await`` can be used. With ``await``, the statement
blocks until the request being waited for has completed. Meanwhile
the event loop continues in the background.For instance, the statement
``await robot.world.wait_for_observed_light_cube(timeout=60)``
blocks until Cozmo discovers a light cube or the 60 second timeout
elapses, whichever occurs first.Likewise, the statement ``await cube.wait_for_tap(timeout=10)``
blocks until the tap event is received or the 10 second timeout occurs,
whichever occurs first.For more information, see
https://docs.python.org/3/library/asyncio-task.html
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import asyncio
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import sys
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import cozmo
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class BlinkyCube(cozmo.objects.LightCube):
-
'''Subclass LightCube and add a light-chaser effect.'''
-
def __init__(self, *a, **kw):
-
super().__init__(*a, **kw)
-
self._chaser = None
-
-
def start_light_chaser(self):
-
'''Cycles the lights around the cube with 1 corner lit up green,
-
changing to the next corner every 0.1 seconds.
-
'''
-
if self._chaser:
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raise ValueError("Light chaser already running")
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async def _chaser():
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while True:
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for i in range(4):
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cols = [cozmo.lights.off_light] * 4
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cols[i] = cozmo.lights.green_light
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self.set_light_corners(*cols)
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await asyncio.sleep(0.1, loop=self._loop)
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self._chaser = asyncio.ensure_future(_chaser(), loop=self._loop)
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def stop_light_chaser(self):
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if self._chaser:
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self._chaser.cancel()
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self._chaser = None
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# Make sure World knows how to instantiate the subclass
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cozmo.world.World.light_cube_factory = BlinkyCube
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async def cozmo_program(robot: cozmo.robot.Robot):
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'''The async equivalent of 01_cube_blinker_sync.
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-
The usage of ``async def`` makes the cozmo_program method a coroutine.
-
Within a coroutine, ``await`` can be used. With ``await``, the statement
-
blocks until the request being waited for has completed. Meanwhile
-
the event loop continues in the background.
-
-
For instance, the statement
-
``await robot.world.wait_for_observed_light_cube(timeout=60)``
-
blocks until Cozmo discovers a light cube or the 60 second timeout
-
elapses, whichever occurs first.
-
-
Likewise, the statement ``await cube.wait_for_tap(timeout=10)``
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blocks until the tap event is received or the 10 second timeout occurs,
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whichever occurs first.
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For more information, see
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https://docs.python.org/3/library/asyncio-task.html
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'''
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cube = None
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look_around = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace)
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try:
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cube = await robot.world.wait_for_observed_light_cube(timeout=60)
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except asyncio.TimeoutError:
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print("Didn't find a cube :-(")
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return
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finally:
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look_around.stop()
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cube.start_light_chaser()
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try:
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print("Waiting for cube to be tapped")
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await cube.wait_for_tap(timeout=10)
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print("Cube tapped")
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except asyncio.TimeoutError:
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print("No-one tapped our cube :-(")
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finally:
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cube.stop_light_chaser()
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cube.set_lights_off()
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cozmo.run_program(cozmo_program)
Fin
文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。
原文链接：zhangrelay.blog.csdn.net/article/details/86672049
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