pref: 新建线程初始化LLM接口

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,