improve training speed and add speed constrain

communication/server.py

@@ -72,37 +72,37 @@ class Server:
         self.commit(msg)
         self.send()
 
-    def receive(self) -> None:
-        """
-        Receive the next message from the TCP/IP socket and updates world
-        """
+    def receive(self):
 
-        # Receive message length information
-        if (
-            self.__socket.recv_into(
-                self.__rcv_buffer, nbytes=4, flags=socket.MSG_WAITALL
+        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()
             )
-            != 4
-        ):
-            raise ConnectionResetError
 
-        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())
+            # 如果socket没有更多数据就退出
+            if len(select([self.__socket], [], [], 0.0)[0]) == 0:
+                break
 
     def commit_beam(self, pos2d: list, rotation: float) -> None:
         assert len(pos2d) == 2