问如何使Raspberry Pis之间的多线程通信代码？

EN

import socket
import os
import time
os.system("sudo pigpiod")
time.sleep(1)
import pigpio
import RPi.GPIO as GPIO

pi = pigpio.pi()
ESC = 4
min_value = 1200
max_value = 2400
HOST = '' 
PORT = 65458
a = 0
c = 0
def control():
  data = conn.recv(1024)
  stringdata = data.decode('ascii')
  altan = int(stringdata)
  alta = altan + 1000
  print(alta)
  pi.set_servo_pulsewidth(ESC, alta)
def update():
  global a
  global c
  a = a + 5
  c = c + 3
def sendsensorvalues():
  b = 'd1' + str(a)
  conn.send(b.encode('ascii'))
  d = 'd2' + str(c)
  conn.send(d.encode('ascii'))
  update()
with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
  s.bind((HOST, PORT))
  s.listen()
  conn, addr = s.accept()
  with conn:
    print('CONNECTED BY', addr)
    while True:
        control()
        sendsensorvalues()

import socket
import serial
from time import sleep
HOST = '169.254.78.190'
PORT = 65458
def sendmotor():
  read = ser.readline()
  a = int(read)
  b = str(a)
  s.sendall(b.encode('ascii'))

def displayfirst():
  a = strdata[2:]
  print('First senso value is : ' + a)
def displaysecond():
  b = strdata[2:]
  print('Second sensor value is : ' + b)
def getsensorvalues():
  data = s.recv(1024)
  strdata = data.decode('ascii')
  if strdata[1] == '1':
    displayfirst()
  else:
    displaysecond()


with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
  s.connect((HOST, PORT))
  ser = serial.Serial("/dev/ttyUSB0", 57600)
  ser.baudrate = 57600
  while True:
    sendmotor()
    getsensorvalues()