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fix:降低cpu使用率

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This commit is contained in:
路淮
2026-04-21 16:09:40 +08:00
parent 04561d2697
commit 7a315074ed
22 changed files with 11985 additions and 5 deletions
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11
web.py
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@@ -293,6 +293,9 @@ class SerialWorker(threading.Thread):
buf.append(b)
if len(buf) == 10:
self._parse_rx_frame(bytes(buf))
print("[RX] active: {} radar: {} stopped: {} reverse: {}".format(
self._active_dirs, self._radar_dist, self._stopped, self._reverse))
buf.clear()
elif len(buf) > 10:
buf.clear()
@@ -317,7 +320,7 @@ class RemoteSignals(QObject):
exit_settings = pyqtSignal()
class RemoteWorker(threading.Thread):
def __init__(self, port="/dev/ttyS3", baudrate=115200):
def __init__(self, port="/dev/ttyS3", baudrate=9600):
super().__init__(daemon=True)
self.port = port
self.baudrate = baudrate
@@ -476,7 +479,7 @@ class BirdViewWorker(threading.Thread):
while self.running:
self.frame_idx += 1
if self.frame_idx % self.framestep != 0:
time.sleep(0.005)
time.sleep(0.033)
continue
frames = []
for name, model in zip(self.names, self.models):
@@ -490,7 +493,7 @@ class BirdViewWorker(threading.Thread):
print("[BIRD ERROR] {}".format(e))
break
if len(frames) != 4:
time.sleep(0.01)
time.sleep(0.033)
continue
try:
self.birdview.update_frames(frames)
@@ -670,7 +673,7 @@ class MultiCameraBirdView:
return
self.caps = []
self.which_cameras = {"front":0, "left":1, "back":2, "right":3}
self.which_cameras = {"front":2, "left":3, "back":0, "right":1}
for name in self.names:
cap_id = self.which_cameras.get(name, 0)
cap = cv2.VideoCapture(cap_id, cv2.CAP_V4L2)