排查影响时间复杂度的代码
This commit is contained in:
@@ -1,4 +1,5 @@
|
||||
from concurrent.futures import ThreadPoolExecutor, as_completed
|
||||
from os import stat_result
|
||||
from lib.alg.track_detection import TrackDetector
|
||||
from ctypes import set_errno
|
||||
from threading import Semaphore
|
||||
@@ -28,6 +29,10 @@ from lib.cfg.cfg import (
|
||||
RAIL_KEYS,
|
||||
TITLE2D_KEY,
|
||||
PERIOD,
|
||||
DURATION_DEBUG,
|
||||
OBSTACLE_DEBUG,
|
||||
FRONT_DEBUG,
|
||||
REAR_DEBUG,
|
||||
)
|
||||
|
||||
|
||||
@@ -120,12 +125,17 @@ class Presenter:
|
||||
# TODO: 避障模式相机采集和数据处理
|
||||
def obstacle_mode_data_handle(self):
|
||||
"""获取所有3D避障相机的数据并处理，直到所有处理完成再继续"""
|
||||
st = time.time()
|
||||
futures = []
|
||||
# 1. 发出CAPTURE命令
|
||||
for key in self.process3d_info.keys():
|
||||
if key.endswith("上轨"):
|
||||
continue
|
||||
self.process3d_info[key].in_q.put(CameraControl.CAPTURE)
|
||||
|
||||
et = time.time()
|
||||
dua = (et - st) * 1000
|
||||
print(f"[DEBUG]: 采图用时{dua:.2f}ms")
|
||||
with ThreadPoolExecutor(max_workers=4) as executor:
|
||||
# 2. 等待图像并提交处理任务
|
||||
while not self.fifo_3d.empty():
|
||||
@@ -133,38 +143,39 @@ class Presenter:
|
||||
future = executor.submit(self.handle_obstacle_data, img_data)
|
||||
futures.append(future)
|
||||
|
||||
# 3. 等待所有算法任务完成（阻塞）
|
||||
for future in as_completed(futures):
|
||||
result = future.result()
|
||||
# 更新历史状态（主线程写入更安全）
|
||||
self.hist_ok[MAPPING[result["title"]]].append(result["ok"])
|
||||
if not result["ok"]:
|
||||
self.last_d[MAPPING[result["title"]]] = result["distance"]
|
||||
# 3. 等待所有算法任务完成（阻塞）
|
||||
for future in as_completed(futures):
|
||||
result = future.result()
|
||||
# 更新历史状态（主线程写入更安全）
|
||||
self.hist_ok[MAPPING[result["title"]]].append(result["ok"])
|
||||
if not result["ok"]:
|
||||
self.last_d[MAPPING[result["title"]]] = result["distance"]
|
||||
|
||||
for key in OBSTACLE_KEYS:
|
||||
hist = self.hist_ok[key]
|
||||
last_dist = self.last_d[key]
|
||||
if len(hist) == 10 and all(hist):
|
||||
dist_str = "000"
|
||||
else:
|
||||
dist_str = "000" if last_dist is None else f"{last_dist:.2f}"
|
||||
# 4. 将信息放置在历史队列当中
|
||||
for key in OBSTACLE_KEYS:
|
||||
hist = self.hist_ok[key]
|
||||
last_dist = self.last_d[key]
|
||||
if len(hist) == 10 and all(hist):
|
||||
dist_str = "000"
|
||||
else:
|
||||
dist_str = "000" if last_dist is None else f"{last_dist:.2f}"
|
||||
|
||||
self.pkt[key + "_distance"] = dist_str
|
||||
|
||||
# 6. 总状态字段
|
||||
self.pkt["f_obstacle_status"] = (
|
||||
"OK"
|
||||
if self.pkt["f_l_obstacle_distance"] == "000"
|
||||
and self.pkt["f_r_obstacle_distance"] == "000"
|
||||
else "NG"
|
||||
)
|
||||
self.pkt["b_obstacle_status"] = (
|
||||
"OK"
|
||||
if self.pkt["b_l_obstacle_distance"] == "000"
|
||||
and self.pkt["b_r_obstacle_distance"] == "000"
|
||||
else "NG"
|
||||
)
|
||||
self.pkt[key + "_distance"] = dist_str
|
||||
|
||||
# 5. 总状态字段
|
||||
self.pkt["f_obstacle_status"] = (
|
||||
"OK"
|
||||
if self.pkt["f_l_obstacle_distance"] == "000"
|
||||
and self.pkt["f_r_obstacle_distance"] == "000"
|
||||
else "NG"
|
||||
)
|
||||
self.pkt["b_obstacle_status"] = (
|
||||
"OK"
|
||||
if self.pkt["b_l_obstacle_distance"] == "000"
|
||||
and self.pkt["b_r_obstacle_distance"] == "000"
|
||||
else "NG"
|
||||
)
|
||||
|
||||
def wait_rec_tcp_data(self):
|
||||
pass
|
||||
|
||||
@@ -197,13 +208,13 @@ class Presenter:
|
||||
def run(self):
|
||||
# TODO: 初始化TCP服务和收收数据缓存
|
||||
server = TcpServer(host=HOST, port=PORT)
|
||||
print("DEBUG:TCPServer init completed")
|
||||
print("[DEBUG]:TCPServer init completed")
|
||||
tcp_rec_buf = ""
|
||||
tcp_send_buf = ""
|
||||
try:
|
||||
server.accept_client()
|
||||
while True:
|
||||
start = time.time()
|
||||
start_time = time.time()
|
||||
# TODO: next_time 记录时钟控制帧率
|
||||
next_time = time.perf_counter() + PERIOD
|
||||
try:
|
||||
@@ -212,8 +223,10 @@ class Presenter:
|
||||
if tcp_rec_buf:
|
||||
self.rec_tcp_data_handle(tcp_rec_buf)
|
||||
except ConnectionResetError:
|
||||
print("Warring: clietn force disconnect!!! ")
|
||||
break
|
||||
print("[Warring]: clietn force disconnect!!! ")
|
||||
server.conn_close()
|
||||
print("[SERVER] Connection closed, waiting new client…")
|
||||
continue
|
||||
except socket.error as e:
|
||||
print(f"Net Error: {e}")
|
||||
break
|
||||
@@ -230,6 +243,11 @@ class Presenter:
|
||||
self.rear_mode_data_handle()
|
||||
elif self.mode == VisionMode.TRACK_INSPECTION:
|
||||
pass
|
||||
# TODO: DURATION DEBUG
|
||||
end_time = time.time()
|
||||
duration_ms = (end_time - start_time) * 1000
|
||||
if DURATION_DEBUG:
|
||||
print(f"[DEBUG]: 总共用时{duration_ms:.2f}ms")
|
||||
|
||||
# TODO: tcp发送数据
|
||||
try:
|
||||
@@ -239,13 +257,7 @@ 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()
|
||||
@@ -253,14 +265,18 @@ class Presenter:
|
||||
if wait > 0:
|
||||
time.sleep(wait)
|
||||
next_time += PERIOD
|
||||
|
||||
# TODO: DEBUG
|
||||
print(f"[DEBUG]:{self.pkt}")
|
||||
except KeyboardInterrupt:
|
||||
print("KeyboardInterrupt (Ctrl+C) shutting down")
|
||||
|
||||
finally:
|
||||
server.close()
|
||||
print("[SERVER]: Tcp Server close")
|
||||
for key in self.process3d_info.keys():
|
||||
self.process3d_info[key].in_q.put(0)
|
||||
for key in self.process2d_info.keys():
|
||||
self.process2d_info[key].in_q.put(0)
|
||||
ArenaCamera.shutdown()
|
||||
print("关闭连接")
|
||||
server.close()
|
||||
print("[CAMERA]: ALl Destory")
|
||||
|
||||
Reference in New Issue
Block a user