Python-сообщество

 import threading
import cv2
import requests
import numpy as np
import math
from pynput import keyboard
from threading import Thread
class Roboto:
    def __init__(self):
        self.u = 0
        self.d = 0
        self.l = 0
        self.r = 0
        self.rtsp = 'rtsp://192.168.1.118:554/ch0_1.h264'
        self.token = '******************************'
    def move(self, forward, side):
        response = requests.get(
            'http://blynk-cloud.com/' + self.token + '/update/V0?value=' + str(side) + '&value=' + str(forward))
    def on_press(self, key):
        k = format(key)
        if k == 'Key.up' and self.u == 0:
            self.move(10, 0)
            self.u = 1
        if k == 'Key.down' and self.d == 0:
            self.move(-10, 0)
            self.d = 1
        if k == 'Key.left' and self.l == 0:
            self.move(0, -5)
            self.l = 1
        if k == 'Key.right' and self.r == 0:
            self.move(0, 5)
            self.r = 1
    def on_release(self, key):
        k = format(key)
        if k == 'Key.down' or k == 'Key.up' or k == 'Key.left' or k == 'Key.right':
            self.move(0, 0)
            self.u = 0
            self.d = 0
            self.l = 0
            self.r = 0
        if key == keyboard.Key.esc:
            # Stop listener
            return False
    def camera(self):
        cam = cv2.VideoCapture(self.rtsp)
        cv2.namedWindow('cam')
        while True:
            ret, frame = cam.read()
            if ret:
                frame = frame[0:360, 0:640]
                frame = cv2.rotate(frame, cv2.ROTATE_90_CLOCKWISE)
                cv2.imshow('cam', frame)
            else:
                print("Cam not release")
                break
            k = cv2.waitKey(24) & 0xFF
            if k == 27:
                break
        cam.release()
        cv2.destroyAllWindows()
    def controll(self):
        with keyboard.Listener(
                on_press=self.on_press,
                on_release=self.on_release) as listener:
            listener.join()
def main():
    roboto = Roboto()
    thread1 = Thread(name='camera', target=roboto.camera)
    thread2 = Thread(name='controll', target=roboto.controll)
    thread1.start()
    thread2.start()
    thread1.join()
    thread2.join()
if __name__ == '__main__':
    main()

  def on_press(self, key):
        #k = format(key) - Убираем формтирование
#        if k == 'Key.up' and self.u == 0:
# Проверка строк это нехорошо сравнивать коды. Сначала проверять то что быстрее проверяется self.u == 0
        if self.u == 0 and k == code_up:
            self.move(10, 0)
            self.u = 1
# if k == 'Key.down' and self.d == 0:
# зачем все 4 варианта проверять?
 elif k == code_dn and self.d == 0:
            self.move(-10, 0)
            self.d = 1

 def on_release(self, key):
        if key == keyboard.Key.esc:
              return False
        else:
            self.move(0, 0)
            self.u = 0
            self.d = 0
            self.l = 0
            self.r = 0

   def controll(self):
        with keyboard.Listener(
                on_press=self.on_press,
                on_release=self.on_release) as listener:
            listener.join()