pref: 新建线程初始化LLM接口

subtask.py

@@ -1162,7 +1162,14 @@ class move_area2():
             delay_time = 300 + (abs(self.delta_y) * 500)
         # 离开停车区域
         by_cmd.send_distance_y(-15, delay_time)
+
         time.sleep(delay_time / 400 * 1.5)
+        
+        for _ in range(3):
+            by_cmd.send_speed_x(0)
+            by_cmd.send_speed_y(0)
+            by_cmd.send_speed_omega(0)
+
         # FIXME 移动距离指令下发后未完成，再发送速度指令，将不会清除未完成的速度值
         # by_cmd.send_distance_y(-15, 300)
         pass

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,