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优化线程池

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CHAMPION923
2025-06-04 14:15:22 +08:00
parent 7123a1836f
commit c839bc923e
1 changed files with 12 additions and 11 deletions
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13
lib/presenter/presenter.py
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@@ -69,6 +69,8 @@ class Presenter:
self.process2d_info[cfg["title"]] = pro self.process2d_info[cfg["title"]] = pro
pro.start() pro.start()
self.executor = ThreadPoolExecutor(max_workers=8)
print("DEBUG:init completed") print("DEBUG:init completed")
# NOTE: 障碍物状态历史队列 # 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 # TODO: 避障模式相机采集和数据处理
def obstacle_mode_data_handle(self): 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""" """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 = [] futures = []
# 1. 发出CAPTURE命令 # 1. 发出CAPTURE命令
for key in self.process3d_info.keys(): for key in self.process3d_info.keys():
@@ -133,15 +134,15 @@ class Presenter:
continue continue
self.process3d_info[key].in_q.put(CameraControl.CAPTURE) self.process3d_info[key].in_q.put(CameraControl.CAPTURE)
et = time.time() st = 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 # 2. 等待图像并提交处理任务
while not self.fifo_3d.empty(): while not self.fifo_3d.empty():
img_data = self.fifo_3d.get() img_data = self.fifo_3d.get()
future = executor.submit(self.handle_obstacle_data, img_data) future = self.executor.submit(self.handle_obstacle_data, img_data)
futures.append(future) futures.append(future)
et = time.time()
dua = (et - st) * 1000
print(f"[DEBUG]: 采图用时{dua:.2f}ms")
# 3. 等待所有算法任务完成（阻塞） # 3. 等待所有算法任务完成（阻塞）
for future in as_completed(futures): for future in as_completed(futures):