提升小等待值（<10ms）下asyncio.sleep()的性能问题咨询

我用树莓派通过python-osc服务器控制步进电机，在异步进程里用await asyncio.sleep(wait_in_s)生成触发信号。测试发现频率高于100Hz时，非阻塞的asyncio.sleep()比阻塞的time.sleep()性能差很多，会出现离散步现象。

实测对比图 #

• asyncio.sleep()：指令等待时间与实测等待时间对比
  

• time.sleep()：指令等待时间与实测等待时间对比
  

核心疑问 #

有没有性能更优的异步协程可用？或者有没有办法以异步方式使用time.sleep()函数？

限制条件 #

因为需要计数脉冲以让步进电机停在特定角度，还要进行速度升降，所以无法使用硬件PWM控制器。

asyncio.sleep()测试代码 #

import time
import asyncio
import numpy as np

from matplotlib import pyplot as plt

async def main(frequency):
    time_last = time.time()
    x_end = 3
    sleep_meas = 0
    await asyncio.sleep(1 / (frequency))
    await asyncio.sleep(1 / (frequency))
    await asyncio.sleep(1 / (frequency))
    sleep_meas = time.time() - time_last
    print(f"{frequency}: {1/(sleep_meas/x_end)}")
    return 1/(sleep_meas/x_end)

f = np.geomspace(10, 5000, 1000)

f_meas = []
for freq in f:
    f_meas.append(asyncio.run(main(freq)))

fig, ax = plt.subplots()
ax.plot(f, f_meas)
ax.set_xlabel("commanded frequency")
ax.set_ylabel("measured frequency")

plt.savefig("test3.png")
plt.show()

内容的提问来源于stack exchange，提问作者flo42