优化线程池

lib/presenter/presenter.py

@@ -11,7 +11,7 @@ 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
@@ -69,6 +69,8 @@ class Presenter:
             self.process2d_info[cfg["title"]] = pro
             pro.start()
 
+        self.executor = ThreadPoolExecutor(max_workers=8)
+
         print("DEBUG:init completed")
 
         # NOTE: 障碍物状态历史队列
@@ -125,7 +127,6 @@ 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():
@@ -133,15 +134,15 @@ class Presenter:
                 continue
             self.process3d_info[key].in_q.put(CameraControl.CAPTURE)
 
+        st = time.time()
+        # 2. 等待图像并提交处理任务
+        while not self.fifo_3d.empty():
+            img_data = self.fifo_3d.get()
+            future = self.executor.submit(self.handle_obstacle_data, img_data)
+            futures.append(future)
         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():
-                img_data = self.fifo_3d.get()
-                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):
@@ -175,7 +176,7 @@ class Presenter:
             and self.pkt["b_r_obstacle_distance"] == "000"
             else "NG"
         )
-    
+
     def wait_rec_tcp_data(self):
         pass
 
@@ -214,7 +215,7 @@ class Presenter:
         try:
             server.accept_client()
             while True:
-                start_time = time.time() 
+                start_time = time.time()
                 # TODO: next_time 记录时钟控制帧率
                 next_time = time.perf_counter() + PERIOD
                 try:
@@ -265,7 +266,7 @@ class Presenter:
                 if wait > 0:
                     time.sleep(wait)
                 next_time += PERIOD
-                
+
                 # TODO: DEBUG
                 print(f"[DEBUG]:{self.pkt}")
         except KeyboardInterrupt: