Cozmo人工智能机器人SDK使用笔记（5）-时序部分async

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

import asyncio
import sysimport cozmoclass BlinkyCube(cozmo.objects.LightCube):'''Subclass LightCube and add a light-chaser effect.'''def __init__(self, *a, **kw):super().__init__(*a, **kw)self._chaser = Nonedef 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:raise ValueError("Light chaser already running")async def _chaser():while True:for i in range(4):cols = [cozmo.lights.off_light] * 4cols[i] = cozmo.lights.green_lightself.set_light_corners(*cols)await asyncio.sleep(0.1, loop=self._loop)self._chaser = asyncio.ensure_future(_chaser(), loop=self._loop)def stop_light_chaser(self):if self._chaser:self._chaser.cancel()self._chaser = None# Make sure World knows how to instantiate the subclass
cozmo.world.World.light_cube_factory = BlinkyCubedef cozmo_program(robot: cozmo.robot.Robot):cube = Nonelook_around = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace)try:cube = robot.world.wait_for_observed_light_cube(timeout=60)except asyncio.TimeoutError:print("Didn't find a cube :-(")returnfinally:look_around.stop()cube.start_light_chaser()try:print("Waiting for cube to be tapped")cube.wait_for_tap(timeout=10)print("Cube tapped")except asyncio.TimeoutError:print("No-one tapped our cube :-(")finally:cube.stop_light_chaser()cube.set_lights_off()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

import asyncio
import sysimport cozmoclass BlinkyCube(cozmo.objects.LightCube):'''Subclass LightCube and add a light-chaser effect.'''def __init__(self, *a, **kw):super().__init__(*a, **kw)self._chaser = Nonedef 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:raise ValueError("Light chaser already running")async def _chaser():while True:for i in range(4):cols = [cozmo.lights.off_light] * 4cols[i] = cozmo.lights.green_lightself.set_light_corners(*cols)await asyncio.sleep(0.1, loop=self._loop)self._chaser = asyncio.ensure_future(_chaser(), loop=self._loop)def stop_light_chaser(self):if self._chaser:self._chaser.cancel()self._chaser = None# Make sure World knows how to instantiate the subclass
cozmo.world.World.light_cube_factory = BlinkyCubeasync def cozmo_program(robot: cozmo.robot.Robot):'''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 statementblocks until the request being waited for has completed. Meanwhilethe 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 timeoutelapses, 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, seehttps://docs.python.org/3/library/asyncio-task.html'''cube = Nonelook_around = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace)try:cube = await robot.world.wait_for_observed_light_cube(timeout=60)except asyncio.TimeoutError:print("Didn't find a cube :-(")returnfinally:look_around.stop()cube.start_light_chaser()try:print("Waiting for cube to be tapped")await cube.wait_for_tap(timeout=10)print("Cube tapped")except asyncio.TimeoutError:print("No-one tapped our cube :-(")finally:cube.stop_light_chaser()cube.set_lights_off()cozmo.run_program(cozmo_program)

Fin

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