多线程python中的Gpio阻塞

Question

对于一个学校的项目，我需要做一辆车，用一个传感器连接到一个树莓派零瓦上的GPIO来检查颜色零售物价指数图书馆。同时我还想用gpiozero库用四个gpio引脚来驱动这辆车。运动的控制通过python套接字服务器发送到pi-zero。我把所有这些过程放在不同的线程中，但现在看来我不能开车了。好像Gpiozero被禁用了零售物价指数只起作用。在

颜色传感器代码

    import RPi.GPIO as GPIO
    import time

    S2 = 26 #select color / S2
    S3 = 21 #select color / S3
    wave = 20 #sine wave proportional to light frequency / OUT
    pulses = 1000 #pulses to check, more pulses increase accuracy but decreases speed

    def setup():
        GPIO.setmode(GPIO.BCM)
        GPIO.setup(wave, GPIO.IN, pull_up_down=GPIO.PUD_UP)
        GPIO.setup(S2, GPIO.OUT)
        GPIO.setup(S3, GPIO.OUT)

    def getFrequency(color):
        if (color == 'red'):
            GPIO.output(S2, GPIO.LOW)
            GPIO.output(S3, GPIO.LOW)
        if (color == 'green'):
            GPIO.output(S2, GPIO.HIGH)
            GPIO.output(S3, GPIO.HIGH)
        if (color == 'blue'):
            GPIO.output(S2, GPIO.LOW)
            GPIO.output(S3, GPIO.HIGH)
        if (color == 'clear'):
            GPIO.output(S2, GPIO.HIGH)
            GPIO.output(S3, GPIO.LOW)

        startTime = time.time()
        for pulseCount in range(pulses):
            GPIO.wait_for_edge(wave, GPIO.FALLING)
        duration = time.time() - startTime
        frequency = wave / duration
        return frequency

    def endProgram():
        GPIO.cleanup()

    setup()

移动代码 ^{pr2}$

在另一个文件中我有这些函数

    def listen():
        print("Listening to commands")
        while True:
            msg = socket.receive()
            print("received: " + msg)
            try:    
                if(msg == something):
                    movement.forward() #ect
            except:
                print(msg)

    listening = Thread(target=listen)
    listening.start()

我让颜色传感器的代码在主线程中运行

我希望一切都能正常工作，汽车向前行驶，颜色传感器读取正确的值