Python threading.Timer返回值

Question

我正在Python中使用threading.Timer()来集成陀螺仪值。Turn 函数是从 leftTurn() 调用的。现在我想在达到最大角度时向 leftTurn() 返回 True。我的问题是turn()内部的递归。是否可以以某种方式让 leftTurn() 知道转弯何时完成？

class navigation():

    def __init__(self):
        self.mpu = mpu6050(0x68)

    def getOffset(self):
        gyro_data = self.mpu.get_gyro_data()
        offset = abs(gyro_data['z'])
        return offset

    def turn(self, angle,offset,maxAngle):
        gyro_data = self.mpu.get_gyro_data()    
        gyroZ = abs(gyro_data['z'])
        angle = abs(angle + (gyroZ-offset)*0.01)

        if angle < maxAngle:        
            threading.Timer(0.001, self.turn, [angle,offset,maxAngle]).start()
        else:
            motor().stop()
            return True





class motor():

    ...

    def leftTurn(self, maxAngle):
        self.left()
        offset = navigation().getOffset()
        navigation().turn(0,offset,maxAngle)

Answer 1

class navigation():

def __init__(self):
    self.mpu = mpu6050(0x68)

def getOffset(self):
    gyro_data = self.mpu.get_gyro_data()
    offset = abs(gyro_data['z'])
    return offset

def turn(self, angle,offset,maxAngle):
    gyro_data = self.mpu.get_gyro_data()    
    gyroZ = abs(gyro_data['z'])
    angle = abs(angle + (gyroZ-offset)*0.01)

    if angle < maxAngle:        
        thread = threading.Timer(0.001, self.turn, [angle,offset,maxAngle])
        thread.start()  # Start the thread
        thread.join()  # >ait for the thread to end
        return True
    else:
        motor().stop()
        return True

因为您不需要 turn 的返回值，而您只想知道线程是否已结束，所以可以使用 Thread.join()等待线程结束。

Timer is a subclass of Thread