81 lines
2.6 KiB
Python
81 lines
2.6 KiB
Python
import time
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import asyncio
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class Rate:
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def __init__(self, hz):
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self.interval = 1.0 / hz
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self.last_time = time.monotonic()
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self.start_time = self.last_time
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def sleep(self,print_duration=False):
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now = time.monotonic()
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sleep_duration = self.interval - (now - self.last_time)
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if sleep_duration > 0:
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if print_duration:
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print(f"睡眠时间: {sleep_duration:.4f} 秒")
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time.sleep(sleep_duration)
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self.last_time = time.monotonic()
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def precise_sleep(self):
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# 计算距离下一次休眠的剩余时间
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now = time.perf_counter()
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elapsed = now - self.last_time
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sleep_duration = self.interval - elapsed
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# 分成多个小的睡眠周期
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while sleep_duration > 0:
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# 最大睡眠时间限制在 1ms 以内，避免过多的误差
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sleep_time = min(sleep_duration, 0.001) # 最大休眠1ms
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time.sleep(sleep_time)
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now = time.perf_counter()
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elapsed = now - self.last_time
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sleep_duration = self.interval - elapsed
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self.last_time = time.perf_counter()
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async def async_sleep(self):
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now = time.monotonic()
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sleep_duration = self.interval - (now - self.last_time)
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if sleep_duration > 0:
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# print(f"睡眠时间: {sleep_duration:.4f} 秒")
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await asyncio.sleep(sleep_duration)
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self.last_time = time.monotonic()
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def remaining(self):
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now = time.monotonic()
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remaining_time = self.interval - (now - self.last_time)
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return max(0.0, remaining_time)
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def cycle_time(self):
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now = time.monotonic()
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cycle_duration = now - self.start_time
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self.start_time = now
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return cycle_duration
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def to_sec(self):
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return self.interval
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if __name__ == "__main__":
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# 示例用法：同步代码
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def main_sync():
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rate = Rate(2) # 2 赫兹的循环频率（每次迭代0.5秒）
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for i in range(10):
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print(f"同步迭代 {i}")
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print(f"剩余时间: {rate.remaining():.4f} 秒")
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print(f"上一个循环周期时间: {rate.cycle_time():.4f} 秒")
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rate.sleep()
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# 示例用法：异步代码
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async def main_async():
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rate = Rate(2) # 2 赫兹的循环频率（每次迭代0.5秒）
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for i in range(10):
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print(f"异步迭代 {i}")
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print(f"剩余时间: {rate.remaining():.4f} 秒")
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print(f"上一个循环周期时间: {rate.cycle_time():.4f} 秒")
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await rate.async_sleep()
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main_sync()
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asyncio.run(main_async())
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