mpuserver.py 文件源码

def serve(self):
        print('starting mpu server on port {}'.format(self.port))

        lastgc = lastsent = lastread = time.ticks_ms()

        while True:
            now = time.ticks_ms()
            write_dt = time.ticks_diff(now, lastsent)
            read_dt = time.ticks_diff(now, lastread)
            gc_dt = time.ticks_diff(now, lastgc)

            time.sleep_ms(max(0, 1-read_dt))

            if self.flag_reset_gyro:
                self.mpu.filter.reset_gyro()
                self.flag_reset_gyro = False

            values = self.mpu.read_position()
            lastread = now

            if write_dt >= self.write_interval:
                lastsent = time.ticks_ms()
                self.sock.sendto(tojson(values), ('192.168.4.2', 8000))

            if gc_dt >= self.gc_interval:
                gc.collect()