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add macOS support for RecurrentThread #139

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32 changes: 30 additions & 2 deletions unitree_sdk2py/utils/thread.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,10 +3,19 @@
import errno
import ctypes
import struct
import time
import platform
import threading

from .future import Future
from .timerfd import *

_HAS_TIMERFD = False
if platform.system() == "Linux":
try:
from .timerfd import *
_HAS_TIMERFD = True
except (AttributeError, OSError):
pass

class Thread(Future):
def __init__(self, target = None, name = None, args = (), kwargs = None):
Expand Down Expand Up @@ -52,6 +61,12 @@ def Wait(self, timeout: float = None):
super().Wait(timeout)

def __LoopFunc(self):
if _HAS_TIMERFD:
self.__LoopFunc_timerfd()
else:
self.__LoopFunc_sleep()

def __LoopFunc_timerfd(self):
# clock type CLOCK_MONOTONIC = 1
tfd = timerfd_create(1, 0)
spec = itimerspec.from_seconds(self.__inter, self.__inter)
Expand All @@ -66,12 +81,25 @@ def __LoopFunc(self):

try:
buf = os.read(tfd, 8)
# print(struct.unpack("Q", buf)[0])
except OSError as e:
if e.errno != errno.EAGAIN:
raise e

os.close(tfd)

def __LoopFunc_sleep(self):
while not self.__quit:
step_start = time.perf_counter()
try:
self.__loopTarget(*self.__loopArgs, **self.__loopKwargs)
except:
info = sys.exc_info()
print(f"[RecurrentThread] target func raise exception: name={info[0].__name__}, args={str(info[1].args)}")

elapsed = time.perf_counter() - step_start
remaining = self.__inter - elapsed
if remaining > 0:
time.sleep(remaining)

def __LoopFunc_0(self):
while not self.__quit:
Expand Down