Revert "improve training speed and add speed constrain"

This reverts commit 648cf32e9c.

communication/server.py

@@ -72,37 +72,37 @@ class Server:
         self.commit(msg)
         self.send()
 
-    def receive(self):
+    def receive(self) -> None:
+        """
+        Receive the next message from the TCP/IP socket and updates world
+        """
 
-        while True:
-
-            if (
-                    self.__socket.recv_into(
-                        self.__rcv_buffer, nbytes=4, flags=socket.MSG_WAITALL
-                    ) != 4
-            ):
-                raise ConnectionResetError
-
-            msg_size = int.from_bytes(self.__rcv_buffer[:4], byteorder="big", signed=False)
-
-            if msg_size > self.__rcv_buffer_size:
-                self.__rcv_buffer_size = msg_size
-                self.__rcv_buffer = bytearray(self.__rcv_buffer_size)
-
-            if (
-                    self.__socket.recv_into(
-                        self.__rcv_buffer, nbytes=msg_size, flags=socket.MSG_WAITALL
-                    ) != msg_size
-            ):
-                raise ConnectionResetError
-
-            self.world_parser.parse(
-                message=self.__rcv_buffer[:msg_size].decode()
+        # Receive message length information
+        if (
+            self.__socket.recv_into(
+                self.__rcv_buffer, nbytes=4, flags=socket.MSG_WAITALL
             )
+            != 4
+        ):
+            raise ConnectionResetError
 
-            # 如果socket没有更多数据就退出
-            if len(select([self.__socket], [], [], 0.0)[0]) == 0:
-                break
+        msg_size = int.from_bytes(self.__rcv_buffer[:4], byteorder="big", signed=False)
+
+        # Ensure receive buffer is large enough to hold the message
+        if msg_size > self.__rcv_buffer_size:
+            self.__rcv_buffer_size = msg_size
+            self.__rcv_buffer = bytearray(self.__rcv_buffer_size)
+
+        # Receive message with the specified length
+        if (
+            self.__socket.recv_into(
+                self.__rcv_buffer, nbytes=msg_size, flags=socket.MSG_WAITALL
+            )
+            != msg_size
+        ):
+            raise ConnectionResetError
+
+        self.world_parser.parse(message=self.__rcv_buffer[:msg_size].decode())
 
     def commit_beam(self, pos2d: list, rotation: float) -> None:
         assert len(pos2d) == 2