多线程spin解决卡顿问题

2025-09-15 12:58:58 +08:00 · 2021-04-28 17:31:23 +08:00 · 2021-04-28 17:31:23 +08:00 · 46311012d1
commit 46311012d1
parent cbdb98130f
6 changed files with 79 additions and 43 deletions
--- a/README.md
+++ b/README.md
@ -6,21 +6,23 @@

 - 注意！未经作者的许可，此代码仅用于学习，不能用于其他用途。

-
- 本仓库以分支的形式，长期维护各种有趣的ROS Qt项目，持续更新中.....
+- 本仓库以分支的形式，长期维护各种有趣的ROS 可视化项目，持续更新中.....

 - 欢迎在issues提交bug
+  
+[![image.png](https://i.postimg.cc/htDgpxDc/image.png)](https://postimg.cc/N5zW0K2z)

-## 菜单

- [安装教程](#安装教程)
- [分支](#分支)
- [使用说明](#使用说明)
- [功能介绍](#功能介绍)
- [开源协议](#开源协议)
- [相关教程及交流群](#相关教程及交流群)
+## 一，菜单

-## 安装教程
+- [安装教程](#二，安装教程)
+- [分支](#三，分支)
+- [使用说明](#四，使用说明)
+- [功能介绍](#五，功能介绍)
+- [开源协议](#六，开源协议)
+- [相关教程及交流群](#七，相关教程及交流群)
+
+## 二，安装教程

 #### 1，首先安装ros对qt pkg的支持（非必须）

@ -57,9 +59,9 @@ rosrun cyrobot_monitor cyrobot_monitor

 - 借助 ROS windows版本，编译后可在win10平板使用，安装教程[古月学院 如何实现Windows ROS人机交互软件](https://class.guyuehome.com/detail/p_5fc5ab97e4b04db7c091f475/6)

-## 分支
+## 三，分支

-#### 1. Qml版本分支（开发中）
+#### 1. Qml版本demo

 - ROS + QML + C++混合编程，使用qml自绘制地图，激光雷达点云等
 - [qml_hmi](https://github.com/chengyangkj/Ros_Qt5_Gui_App/tree/qml_hmi)
@ -87,19 +89,24 @@ rosrun cyrobot_monitor cyrobot_monitor

 #### 7，web版本分支 敬请期待

-## 使用说明
+## 四，使用说明

- 使用前需要在菜单->设置 中进行必要设置
+### 1，连接主节点
+- 使用前需要在连接界面连接rosore主节点

-![image.png](https://i.postimg.cc/9XYJ7s0m/image.png)
+[![024.png](https://i.postimg.cc/9QrgmF1y/024.png)](https://postimg.cc/Xr6kxWRv)

 - ROS_MASTER_URI: ROS多机通讯主节点地址，如果只是单机通讯填127.0.0.1即可
 - ROS_IP: 软件运行的机器的IP 如果是单机通讯填127.0.0.1即可
 - 勾选使用环境变量连接就不使用界面设置的ROS_IP与ROS_MASTER_URI,需要在环境变量文件（~/.bashrc）配置好多机通讯环境变量，否则会导致连接失败，配置多机通讯教程[csdn 博客](https://blog.csdn.net/qq_38441692/article/details/98205852)
 - 其他一些话题设置
 - 勾选自动连接会在打开软件时进行自动连接
- 注意！保存设置后需要重启软件生效
- 重启软件后点击连接按钮即可连接master
+- 点击检测IP会自动检测本机IP并填入ros ip与ros master ip 
+
+### 2,设置
+
+点击连接界面右下角，进行相关必要设置
+
 ## 功能介绍

 #### 1,速度仪表盘
--- a/include/cyrobot_monitor/qnode.hpp
+++ b/include/cyrobot_monitor/qnode.hpp
@ -133,6 +133,8 @@ private:
    QPolygon mapPonits;
    QPolygonF plannerPoints;
    QPolygonF laserPoints;
+    int m_threadNum=4;
+    int m_frameRate=40;
    //地图 0 0点坐标对应世界坐标系的坐标
    int m_mapOriginX;
    int m_mapOriginY;
--- a/src/loginwidget.cpp
+++ b/src/loginwidget.cpp
@ -106,7 +106,8 @@ void LoginWidget::slot_writeSettings(){
  main_setting.setValue("main/turn_thre",ui->lineEdit_turnLightThre->text());
  main_setting.setValue("main/show_mode",ui->radioButton_robot->isChecked()?"robot":"control");
  main_setting.setValue("main/robotpic",ui->lineEdit_robotPic->text());
-//    main_setting.setValue("odom_topic",ui->lineEdit_odom->text());
+  main_setting.setValue("main/thread_num",ui->spinBox_thread_num->value());
+  main_setting.setValue("main/framerate",ui->spinBox_frameRate->value());
  QStringList name_data;
  QStringList topic_data;
  QStringList format_data;
@ -225,6 +226,8 @@ void LoginWidget::readSettings(){
  ui->lineEdit_odm->setText(main_setting.value("topic/topic_odom","raw_odom").toString());
  ui->lineEdit_power->setText(main_setting.value("topic/topic_power","power").toString());
  ui->lineEdit_turnLightThre->setText(main_setting.value("main/turn_thre","0.2").toString());
+  ui->spinBox_frameRate->setValue(main_setting.value("main/framerate",40).toInt());
+  ui->spinBox_thread_num->setValue(main_setting.value("main/thread_num",6).toInt());
  QSettings connect_info("cyrobot_monitor","connect_info");
  ui->lineEditMasterIp->setText(connect_info.value("master_url",m_qMasterIp).toString());

--- a/src/main_window.cpp
+++ b/src/main_window.cpp
@ -39,23 +39,9 @@ MainWindow::MainWindow(int argc, char** argv, QWidget *parent)
    setWindowIcon(QIcon(":/images/robot.png"));
    setWindowFlags(Qt::CustomizeWindowHint);//去掉标题栏
    //QObject::connect(&qnode, SIGNAL(rosShutdown()), this, SLOT(close()));
-    QSettings windows_setting("cyrobot_monitor","windows");
-   int x = windows_setting.value("WindowGeometry/x").toInt();
-   int y = windows_setting.value("WindowGeometry/y").toInt();
-   int width = windows_setting.value("WindowGeometry/width").toInt();
-   int height = windows_setting.value("WindowGeometry/height").toInt();
-   QDesktopWidget* desktopWidget = QApplication::desktop();
-   QRect clientRect = desktopWidget->availableGeometry();
-   QRect targRect0 = QRect(clientRect.width()/4,clientRect.height()/4,clientRect.width()/2,clientRect.height()/2);
-   QRect targRect = QRect(x,y,width,height);
-   if(width == 0|| height == 0 || x<0 || x>clientRect.width() || y<0 || y>clientRect.height())//如果上一次关闭软件的时候，窗口位置不正常，则本次显示在显示器的正中央
-   {
-       targRect = targRect0;
-   }
-   this->setGeometry(targRect);//设置主窗口的大小
+
  ui.view_logging->setModel(qnode.loggingModel());
    connections();
-
 }
 //订阅video话题
 void MainWindow::initVideos()
@ -183,6 +169,21 @@ void MainWindow::initUis()
      ui.btn_control->hide();
      ui.settings_btn->hide();
      this->showFullScreen();
+    }else{
+        QSettings windows_setting("cyrobot_monitor","windows");
+       int x = windows_setting.value("WindowGeometry/x").toInt();
+       int y = windows_setting.value("WindowGeometry/y").toInt();
+       int width = windows_setting.value("WindowGeometry/width").toInt();
+       int height = windows_setting.value("WindowGeometry/height").toInt();
+       QDesktopWidget* desktopWidget = QApplication::desktop();
+       QRect clientRect = desktopWidget->availableGeometry();
+       QRect targRect0 = QRect(clientRect.width()/4,clientRect.height()/4,clientRect.width()/2,clientRect.height()/2);
+       QRect targRect = QRect(x,y,width,height);
+       if(width == 0|| height == 0 || x<0 || x>clientRect.width() || y<0 || y>clientRect.height())//如果上一次关闭软件的时候，窗口位置不正常，则本次显示在显示器的正中央
+       {
+           targRect = targRect0;
+       }
+       this->setGeometry(targRect);//设置主窗口的大小
    }
 }

@ -867,10 +868,10 @@ void MainWindow::slot_minWindows(){
    this->showMinimized();
 }
 void MainWindow::slot_maxWindows(){
-  if(this->isMaximized()){
+  if(this->isFullScreen()){
    this->showNormal();
  }else{
-    this->showMaximized();
+    this->showFullScreen();
  }

 }
--- a/src/qnode.cpp
+++ b/src/qnode.cpp
@ -38,6 +38,8 @@ QNode::QNode(int argc, char** argv ) :
    laser_topic=topic_setting.value("topic/topic_laser","scan").toString();
    pose_topic=topic_setting.value("topic/topic_amcl","amcl_pose").toString();
    show_mode=topic_setting.value("main/show_mode","control").toString();
+    m_frameRate=topic_setting.value("main/framerate",40).toInt();
+    m_threadNum=topic_setting.value("main/thread_num",6).toInt();
     qRegisterMetaType<sensor_msgs::BatteryState>("sensor_msgs::BatteryState");
    }

@ -50,7 +52,6 @@ QNode::~QNode() {
 }

 bool QNode::init() {
-
  ros::init(init_argc,init_argv,"cyrobot_monitor_"+show_mode.toStdString());
 	if ( ! ros::master::check() ) {
 		return false;
@ -66,7 +67,7 @@ bool QNode::init(const std::string &master_url, const std::string &host_url) {
  std::map<std::string,std::string> remappings;
  remappings["__master"] = master_url;
  remappings["__hostname"] = host_url;
-  ros::init(remappings,"cyrobot_monitor");
+  ros::init(remappings,"cyrobot_monitor_"+show_mode.toStdString());
  if ( ! ros::master::check() ) {
    return false;
  }
@ -92,7 +93,6 @@ void QNode::SubAndPubTopic(){
   cmd_pub = n.advertise<geometry_msgs::Twist>("cmd_vel", 1000);
   //激光雷达点云话题订阅
   m_laserSub=n.subscribe(laser_topic.toStdString(),1000,&QNode::laserScanCallback,this);
-   //m_rosTimer=n.createTimer(ros::Duration(1.0),boost::bind(&QNode::transformPoint,boost::ref(m_tfListener)));
   //全局规划Path
   m_plannerPathSub=n.subscribe("/move_base/NavfnROS/plan",1000,&QNode::plannerPathCallback,this);
   image_transport::ImageTransport it(n);
@ -279,12 +279,11 @@ void QNode::speedCallback(const nav_msgs::Odometry::ConstPtr& msg)
    emit speed_y(msg->twist.twist.linear.y);
 }
 void QNode::run() {
-        ros::Rate loop_rate(20);
+        ros::Rate loop_rate(m_frameRate);
+        ros::AsyncSpinner spinner(m_threadNum);
+        spinner.start();
        //当当前节点没有关闭时
        while ( ros::ok() ) {
-            //调用消息处理回调函数
-            ros::spinOnce();
-
            loop_rate.sleep();
        }
        //如果当前节点关闭
--- a/ui/loginwidget.ui
+++ b/ui/loginwidget.ui
@ -1245,7 +1245,7 @@ background-color:none</string>
             </rect>
            </property>
            <attribute name="label">
-             <string>显示设置</string>
+             <string>通用设置</string>
            </attribute>
            <layout class="QVBoxLayout" name="verticalLayout_16">
             <item>
@ -1337,6 +1337,30 @@ background-color:none</string>
               </item>
              </layout>
             </item>
+             <item>
+              <layout class="QHBoxLayout" name="horizontalLayout_32">
+               <item>
+                <widget class="QLabel" name="label_12">
+                 <property name="text">
+                  <string>话题订阅线程数:</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QSpinBox" name="spinBox_thread_num"/>
+               </item>
+               <item>
+                <widget class="QLabel" name="label_13">
+                 <property name="text">
+                  <string>FrameRate:</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QSpinBox" name="spinBox_frameRate"/>
+               </item>
+              </layout>
+             </item>
             <item>
              <widget class="QLabel" name="label_msg">
               <property name="maximumSize">