From 605d218b15aab0b62c0f3329fcedd1fcf6b10967 Mon Sep 17 00:00:00 2001
From: bmy <2583236812@qq.com>
Date: Sun, 30 Jun 2024 21:57:01 +0800
Subject: [PATCH] =?UTF-8?q?pref:=20=E6=96=B0=E5=BB=BA=E7=BA=BF=E7=A8=8B?=
 =?UTF-8?q?=E5=88=9D=E5=A7=8B=E5=8C=96LLM=E6=8E=A5=E5=8F=A3?=
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---
 utils.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/utils.py b/utils.py
index bf6e2fc..c3e84d2 100644
--- a/utils.py
+++ b/utils.py
@@ -4,6 +4,7 @@ import numpy as np
 import erniebot
 from simple_pid import PID
 from loguru import logger
+import threading
 
 # 巡线误差
 lane_error = 0
@@ -243,6 +244,7 @@ class label_filter:
 
 class LLM:
     def __init__(self):
+        self.init_done_flag = False
         erniebot.api_type = "qianfan"
         erniebot.ak = "jReawMtWhPu0wrxN9Rp1MzZX"
         erniebot.sk = "eowS1BqsNgD2i0C9xNnHUVOSNuAzVTh6"
@@ -273,6 +275,8 @@ class LLM:
     def make_message(self,content):
         return {'role': 'user', 'content': content}
     def get_command_json(self,chat):
+        while self.init_done_flag == False: # 等待初始化 (要是等到调用还没初始化，那就是真寄了)
+            pass
         self.messages.append(self.make_message(chat))
         self.resp = erniebot.ChatCompletion.create(
                         model=self.model,