odrive liveplotter 报错 “set_wakeup_fd only works in main thread of the main interpreter”

odrive liveplotter 报错 “set_wakeup_fd only works in main thread of the main interpreter”

最近在弄FOC，电脑装的是odrive 0.5.1。在进行实时画图的时候需要运行下面的代码

start_liveplotter(lambda:[odrv0.axis0.encoder.pos_estimate, odrv0.axis0.controller.pos_setpoint])

但是，在运行这行代码的时候爆出如下错误，

In [1]: start_liveplotter(lambda:[odrv0.axis0.encoder.pos_estimate, odrv0.axis0.controller.pos_setpoint])

Out[1]: <fibre.utils.Event at 0x1d511e5fa00>



Installed qt6 event loop hook.

C:\Users\ruiga\.conda\envs\py39\lib\site-packages\odrive\utils.py:154: UserWarning: Starting a Matplotlib GUI outside o.

  fig = plt.figure()

Exception in thread Thread-4:

Traceback (most recent call last):

  File "C:\Users\ruiga\.conda\envs\py39\lib\threading.py", line 980, in _bootstrap_inner

    self.run()

  File "C:\Users\ruiga\.conda\envs\py39\lib\threading.py", line 917, in run

    self._target(*self._args, **self._kwargs)

  File "C:\Users\ruiga\.conda\envs\py39\lib\site-packages\odrive\utils.py", line 162, in plot_data

    fig.canvas.start_event_loop(1/plot_rate)

  File "C:\Users\ruiga\.conda\envs\py39\lib\site-packages\matplotlib\backends\backend_qt.py", line 412, in start_event_p

    with _maybe_allow_interrupt(event_loop):

  File "C:\Users\ruiga\.conda\envs\py39\lib\contextlib.py", line 119, in __enter__

    return next(self.gen)

  File "C:\Users\ruiga\.conda\envs\py39\lib\site-packages\matplotlib\backends\qt_compat.py", line 199, in _maybe_allow_t

    old_wakeup_fd = signal.set_wakeup_fd(wsock.fileno())

ValueError: set_wakeup_fd only works in main thread of the main interpreter

其实解决的方法很简单，只需要先运行

odrivetool

然后在接下来的命令行运行下列命令

In [1]: import matplotlib
In [2]: matplotlib.use('TkAgg')

然后再运行

start_liveplotter(lambda:[odrv0.axis0.encoder.pos_estimate, odrv0.axis0.controller.pos_setpoint])

就可以画图了。ez问题