添加调试信息

lib/cfg/cfg.py

@@ -27,7 +27,7 @@ HOST = "0.0.0.0"
 PORT = 65444
 
 # TODO: 帧率控制配置
-PERIOD = 0.1
+PERIOD = 1
 
 
 class VisionMode(enum.Enum):

lib/presenter/presenter.py

@@ -10,7 +10,7 @@ from multiprocessing import Manager, set_start_method
 import json
 from lib.io.process3d import Process3D
 from lib.io.process2d import Process2D
-from collections import deque, OrderedDict
+from collections import deque, OrderedDict 
 import numpy as np
 import socket
 from lib.camera.ArenaCamera import ArenaCamera
@@ -203,6 +203,7 @@ class Presenter:
         try:
             server.accept_client()
             while True:
+                start = time.time() 
                 # TODO: next_time 记录时钟控制帧率
                 next_time = time.perf_counter() + PERIOD
                 try:
@@ -210,9 +211,6 @@ class Presenter:
                     tcp_rec_buf = server.recv_data()
                     if tcp_rec_buf:
                         self.rec_tcp_data_handle(tcp_rec_buf)
-                    elif not tcp_rec_buf:
-                        print("Client disconnected gracefully")
-                        continue
                 except ConnectionResetError:
                     print("Warring: clietn force disconnect!!! ")
                     break
@@ -241,7 +239,13 @@ class Presenter:
                 except TypeError as e:
                     print(f"JSON encode failed: {e}")
                     tcp_send_buf = b"{}"
+                
+                print(f"DEBUG:{self.pkt}")
+
                 server.send_data(tcp_send_buf)
+                end = time.time()
+                duration_ms = (end - start) * 1000
+                print(f"[INFO] 每帧耗时: {duration_ms:.2f} ms")
 
                 # TODO: 控制帧率
                 now = time.perf_counter()

lib/tcp/tcp_server.py

@@ -1,7 +1,5 @@
 import socket
 
-from open3d import re
-
 
 class TcpServer:
     def __init__(self, host="0.0.0.0", port=65444) -> None: