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python calling different class methods by user input with terminating existing one

i'm trying to build personal assistant which is running by voice command.it is working perfectly with if: elif: blocks. but i want to create more elegance way and shorten code a bit.i try to create modular structure but i cant manage to terminate running function by calling middleman function with command=false parameter
i need some guiding please
main.py
from handler import middleman
while True:
message = input("> ")
if message != "":
middleman(message) #lets say command is "play1" than next command "play2"
Handler.py
from music import Class1
from music import Class2
def func1(context, command):
if command == True:
x = Class1(context)
x.run()
else:
x.stop() --> x not exist here gives error
def func2(context, command):
if command == True:
x = Class2(context)
x.run()
else:
x.stop()
def middleman(text):
command = True
if text == "stop":
command = False
function_name = globals()[text]
function_name(command)
music.py
import logging
import threading
import time
import pygame
class Player(threading.Thread):
def __init__(self, file_path, volume=1.0, start_time=0.0, master=None):
print("player started")
threading.Thread.__init__(self)
# 传入主窗口的指针，用于触发主窗口事件(若有)
self.master = master
self.file_path = file_path
# 音乐播放起点
self.start_time = start_time
# 用于控制音乐播放与停止
self.stop_state = False
# 用于控制音乐的暂停和恢复
self.pause_state = False
# 控制默认音量
self.volume = volume
# 初始化mixer
pygame.mixer.init() # 初始化音频
self.track = pygame.mixer.music
def set_volume(self, volume):
self.volume = volume
self.track.set_volume(self.volume)
def get_volume(self):
return self.volume
def run(self,stop):
print("stop word,stop")
try:
file = self.file_path
self.track.load(file) # 载入音乐文件
self.track.set_volume(self.volume) # 设置音量
self.track.play(start=self.start_time) # 开始播放
except Exception as e:
logging.warning(e)
if self.master:
self.master.event_generate("<<MusicError>>", when="tail")
while self.stop_state:
time.sleep(1)
# 若停止播放或播放结束，则结束这个线程
if self.stop_state:
self.track.stop() # 停止播放
return
elif not self.track.get_busy():
if self.master:
self.master.event_generate("<<CouldMusicStop>>", when="tail")
return
elif not self.stop_state and self.pause_state:
self.track.pause() # 暂停播放
elif not self.stop_state and not self.pause_state:
self.track.unpause() # 恢复播放
def stop(self):
self.stop_state=True
self.player = None

Updating label upon getting message from queue

I'm trying to update the label to display the numbers being counted down when it receives the number through the queue. I am able to see it being printed in the console but the label does not change. Any help or suggestion would be helpful!
Here is my code:
import tkinter as tk
import time
import threading
import queue
class GUIApp:
def __init__(self):
self.root = tk.Tk()
self.buttonCountDown = tk.Button(text='Count Down', command=self.countDownAction)
self.buttonCountDown.pack()
self.label = tk.Label(text='default')
self.label.pack()
self.queue = queue.Queue()
self.root.mainloop()
def countDown(self, seconds):
for i in range(seconds, 0, -1):
self.queue.put(i)
time.sleep(1)
def listenToQueue(self):
while True:
try:
if self.queue.empty() == False:
print(self.queue.get(0))
self.label['text'] = self.queue.get(0)
elif self.queue.empty() == True:
pass
except queue.Empty:
pass
def countDownAction(self):
listenThread = threading.Thread(target=self.listenToQueue)
listenThread.start()
thread = threading.Thread(target=self.countDown, args=(5,))
thread.start()
thread.join()
app = GUIApp()

The first thing you need to know is Queue.get() removes the item and returns it, similar to dict.pop(). So when you do print(self.queue.get(0)), the item is already removed from the queue. You have to assign it to a variable first if you want to both print and config it:
def listenToQueue(self):
while True:
try:
if self.queue.empty() == False:
s = self.queue.get(0)
print (s)
self.label['text'] = s
elif self.queue.empty() == True:
pass
except queue.Empty:
pass
Next, calling thread.join() will wait for the thread terminates. You don't need to call this method at all in your current setup.
def countDownAction(self):
listenThread = threading.Thread(target=self.listenToQueue)
listenThread.start()
thread = threading.Thread(target=self.countDown, args=(5,))
thread.start()
#thread.join() #not required

How can I properly call a method from its callback method within a class?

I Have a code with two functions. Function 'send_thread' and Function 'receive_thread' which is the callback of 'send_thread'. What I want to do is to run 'send_thread', this activates 'receive_thread' and once it's over repeat it all again. To do so, I have come up with the code below. This is not giving the desired results, since the 'send_thread' gets called again but doesn't activate the callback anymore. Thank you in advance for your help.
I have noticed, that the function gets called at the end of the receive_thread and runs for the amount of time that I wait in the send_thread (rospy.sleep()). I does never activate the callback again after the first try though.
import rospy
import pepper_2d_simulator
import threading
class TROS(object):
def __init__(self):
self.cmd_vel_pub = rospy.Publisher('cmd_vel',Twist)
self.event = threading.Event()
def send_thread(self):
#send commmand
self.event.set()
sequence = [[1,0,0.05],[0,0,0],[0,0,0.1292]]
for cmd in sequence:
rospy.Rate(0.5).sleep()
msg = Twist()
msg.linear.x = cmd[0]
msg.linear.y = cmd[1]
msg.angular.z = cmd[2]
t = rospy.get_rostime()
self.cmd_vel_pub.publish(msg)
self.event.clear()
rospy.sleep(1)
def receive_thread(self,msg):
#if something is being send, listen to this
if self.event.isSet():
frame_id = msg.header.frame_id
self.x_odom = msg.pose.pose.position.x
self.y_odom = msg.pose.pose.position.y
self.z_odom = msg.pose.pose.position.z
self.pos_odom = [self.x_odom,self.y_odom,self.z_odom,1]
self.ang_odom = msg.pose.pose.orientation.z
self.time = msg.header.stamp.secs + msg.header.stamp.nsecs
#some transformations here to get self.trans...
else:
#after self.event() is cleared, rename and run again
self.x_odom = self.trans_br_x
self.y_odom = self.trans_br_y
self.ang_odom = self.rot_br_ang
self.send_thread()
def init_node(self):
rospy.init_node('pepper_cmd_evaluator',anonymous = True)
rospy.Subscriber('odom',Odometry,self.receive_thread)
if __name__ == '__main__':
thinking = Thinking()
thinking.init_node()
thinking.send_thread()
The expected result is that I am able to loop this two function so that I call send_thread, this activates receive thread. Then send_thread stops, receive_thread stops and activates the send_thread again. I want to do this 10 times.

I have now figured out how to this. I will post my solution in case anyone else runs into a similar problem. The working solution I came up with is pretty simple. I created a self.flag variable and alternatively set it to True and False in the send_thread and callback respectively. The code:
import rospy
import pepper_2d_simulator
import threading
class TROS(object):
def __init__(self):
self.cmd_vel_pub = rospy.Publisher('cmd_vel',Twist)
self.event = threading.Event()
self.count = 0
self.flag = True
def send_thread(self):
while self.count < 10:
if self.flag:
self.count = self.count + 1
#send commmand
self.event.set()
sequence = [[1,0,0.05],[0,0,0],[0,0,0.1292]]
for cmd in sequence:
rospy.Rate(0.5).sleep()
msg = Twist()
msg.linear.x = cmd[0]
msg.linear.y = cmd[1]
msg.angular.z = cmd[2]
t = rospy.get_rostime()
self.cmd_vel_pub.publish(msg)
self.event.clear()
rospy.sleep(0.3)
self.flag = False
rospy.signal_shutdown('Command finished')
def receive_thread(self,msg):
#if something is being send, listen to this
if self.event.isSet():
frame_id = msg.header.frame_id
self.x_odom = msg.pose.pose.position.x
self.y_odom = msg.pose.pose.position.y
self.z_odom = msg.pose.pose.position.z
self.pos_odom = [self.x_odom,self.y_odom,self.z_odom,1]
self.ang_odom = msg.pose.pose.orientation.z
self.time = msg.header.stamp.secs + msg.header.stamp.nsecs
#some transformations here to get self.trans...
else:
#after self.event() is cleared, rename and run again
self.x_odom = self.trans_br_x
self.y_odom = self.trans_br_y
self.ang_odom = self.rot_br_ang
self.flag = True
def init_node(self):
rospy.init_node('pepper_cmd_evaluator',anonymous = True)
rospy.Subscriber('odom',Odometry,self.receive_thread)
if __name__ == '__main__':
thinking = Thinking()
thinking.init_node()
thinking.send_thread()

Why doesn't SIGVTALRM trigger inside time.sleep()?

I'm trying to use SIGVTALRM to snapshot profile my Python code, but it doesn't seem to be firing inside blocking operations like time.sleep() and socket operations.
Why is that? And is there any way to address that, so I can collect samples while I'm inside blocking operations?
I've also tried using ITIMER_PROF/SIGPROF and ITIMER_REAL/SIGALRM and both seem to produce similar results.
The code I'm testing with follows, and the output is something like:
$ python profiler-test.py
<module>(__main__:1);test_sampling_profiler(__main__:53): 1
<module>(__main__:1);test_sampling_profiler(__main__:53);busyloop(__main__:48): 1509
Note that the timesleep function isn't shown at all.
Test code:
import time
import signal
import collections
class SamplingProfiler(object):
def __init__(self, interval=0.001, logger=None):
self.interval = interval
self.running = False
self.counter = collections.Counter()
def _sample(self, signum, frame):
if not self.running:
return
stack = []
while frame is not None:
formatted_frame = "%s(%s:%s)" %(
frame.f_code.co_name,
frame.f_globals.get('__name__'),
frame.f_code.co_firstlineno,
)
stack.append(formatted_frame)
frame = frame.f_back
formatted_stack = ';'.join(reversed(stack))
self.counter[formatted_stack] += 1
signal.setitimer(signal.ITIMER_VIRTUAL, self.interval, 0)
def start(self):
if self.running:
return
signal.signal(signal.SIGVTALRM, self._sample)
signal.setitimer(signal.ITIMER_VIRTUAL, self.interval, 0)
self.running = True
def stop(self):
if not self.running:
return
self.running = False
signal.signal(signal.SIGVTALRM, signal.SIG_IGN)
def flush(self):
res = self.counter
self.counter = collections.Counter()
return res
def busyloop():
start = time.time()
while time.time() - start < 5:
pass
def timesleep():
time.sleep(5)
def test_sampling_profiler():
p = SamplingProfiler()
p.start()
busyloop()
timesleep()
p.stop()
print "\n".join("%s: %s" %x for x in sorted(p.flush().items()))
if __name__ == "__main__":
test_sampling_profiler()

Not sure about why time.sleep works that way (could it be using SIGALRM for itself to know when to resume?) but Popen.wait does not block signals so worst case you can call out to OS sleep.

Another approach is to use a separate thread to trigger the sampling:
import sys
import threading
import time
import collections
class SamplingProfiler(object):
def __init__(self, interval=0.001):
self.interval = interval
self.running = False
self.counter = collections.Counter()
self.thread = threading.Thread(target=self._sample)
def _sample(self):
while self.running:
next_wakeup_time = time.time() + self.interval
for thread_id, frame in sys._current_frames().items():
if thread_id == self.thread.ident:
continue
stack = []
while frame is not None:
formatted_frame = "%s(%s:%s)" % (
frame.f_code.co_name,
frame.f_globals.get('__name__'),
frame.f_code.co_firstlineno,
)
stack.append(formatted_frame)
frame = frame.f_back
formatted_stack = ';'.join(reversed(stack))
self.counter[formatted_stack] += 1
sleep_time = next_wakeup_time - time.time()
if sleep_time > 0:
time.sleep(sleep_time)
def start(self):
if self.running:
return
self.running = True
self.thread.start()
def stop(self):
if not self.running:
return
self.running = False
def flush(self):
res = self.counter
self.counter = collections.Counter()
return res
def busyloop():
start = time.time()
while time.time() - start < 5:
pass
def timesleep():
time.sleep(5)
def test_sampling_profiler():
p = SamplingProfiler()
p.start()
busyloop()
timesleep()
p.stop()
print "\n".join("%s: %s" %x for x in sorted(p.flush().items()))
if __name__ == "__main__":
test_sampling_profiler()
When doing it this way the result is:
$ python profiler-test.py
<module>(__main__:1);test_sampling_profiler(__main__:62);busyloop(__main__:54): 2875
<module>(__main__:1);test_sampling_profiler(__main__:62);start(__main__:37);start(threading:717);wait(threading:597);wait(threading:309): 1
<module>(__main__:1);test_sampling_profiler(__main__:62);timesleep(__main__:59): 4280
Still not totally fair, but better than no samples at all during sleep.

The absence of SIGVTALRM during a sleep() doesn't surprise me, since ITIMER_VIRTUAL "runs only when the process is executing."
(As an aside, CPython on non-Windows platforms implements time.sleep() in terms of select().)
With a plain SIGALRM, however, I expect a signal interruption and indeed I observe one:
<module>(__main__:1);test_sampling_profiler(__main__:62);busyloop(__main__:54): 4914
<module>(__main__:1);test_sampling_profiler(__main__:62);timesleep(__main__:59): 1
I changed the code somewhat, but you get the idea:
class SamplingProfiler(object):
TimerSigs = {
signal.ITIMER_PROF : signal.SIGPROF,
signal.ITIMER_REAL : signal.SIGALRM,
signal.ITIMER_VIRTUAL : signal.SIGVTALRM,
}
def __init__(self, interval=0.001, timer = signal.ITIMER_REAL): # CHANGE
self.interval = interval
self.running = False
self.counter = collections.Counter()
self.timer = timer # CHANGE
self.signal = self.TimerSigs[timer] # CHANGE
....

Why can I launch a thread (with the python threading module) only once?

I have simple script for watchdog on network device. Script monitors response from PING command. If there is no answer then second thread executes and first thread is stopped. If second thread is finished then first thread is resumed (checking ping). If there is no answer then following message appears:
RuntimeError: threads can only be started once
Here is my code:
#!/usr/bin/python
import os
import time
import sqlite3
from ablib import Pin
import threading
led=Pin('W9','OUTPUT')
class threadout1(threading.Thread):
def run(self):
while True:
conn = sqlite3.connect('database/database.db')
cur = conn.cursor()
cur.execute("SELECT * FROM watchdog")
rows_output = cur.fetchall()
time.sleep(1)
if rows_output[0][1] == "ping":
response = os.system("ping -c 1 " + rows_output[0][2])
if response != 0:
print "bad"
rest.start()
rest.join()
class restart(threading.Thread):
def run(self):
led.on()
time.sleep(15)
led.off()
thr = threadout1()
rest = restart()
thr.start()

You can either create the restart thread every time you need it
if response != 0:
print "bad"
restart_thread = restart()
restart_thread.start()
restart_thread.join()
or use Events
class restart_thread(threading.Thread):
def __init__(self, evt):
self.evt = evt
def run(self):
self.evt.wait()
# do stuff
self.evt.clear()
class threadout(threading.Thread):
def __init__(self, evt):
self.evt = evt
def run(self):
if #other thread needs to run once
self.evt.set()
evt = threading.Event()
restart_thread = restart(evt)
restart_thread.start()
pinging_thread = threadout(evt)
pinging_thread.start()
To make the pinging_thread wait for the restart_thread to finish, you could use another Event.