优化线程池

lib/presenter/presenter.py

@@ -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):