feat: improved performance for recv calls

Author: AmirmohammadZarif

avisengine.py

@@ -69,20 +69,25 @@ def connect(self,server,port):
             print("Failed to connect to ", server, port)
             return False
 
+  
     def recvall(self, socket):
         '''
         Function to receive all the data chunks
         '''
-        BUFFER_SIZE = 131072
-        data = ""
+        BUFFER_SIZE = 65536  # Increased buffer size for better performance
+        data = bytearray()  # Use a bytearray for better performance
+
         while True:
-            part = socket.recv(BUFFER_SIZE).decode("utf-8")
-            data += part
+            part = socket.recv(BUFFER_SIZE)
+            data.extend(part)
+
             # Use KMP search to find the <EOF>, KMPSearch() returns -1 if the pattern was not found
-            if(utils.KMPSearch("<EOF>", data) > -1):
+            # It is 9 times faster than the simple python search
+            if utils.KMPSearch(b"<EOF>", data) > -1:  # Convert "<EOF>" to bytes              
                 break
-            
-        return data
+
+        return data.decode("utf-8")
+
 
     def setSteering(self,steering):
         '''

example.py

@@ -21,6 +21,7 @@
 # Sleep for 3 seconds to make sure that client connected to the simulator 
 time.sleep(3)
 
+
 try:
     while(True):
         # Counting the loops
@@ -38,7 +39,9 @@
 
         # Get the data. Need to call it every time getting image and sensor data
         car.getData()
+        
 
+        # Display the FPS on the frame
         # Start getting image and sensor data after 4 loops
         if(counter > 4):
 
@@ -56,14 +59,16 @@
                 print(f"Speed : {carSpeed}") 
                 print(f'Left : {str(sensors[0])} | Middle : {str(sensors[1])} | Right : {str(sensors[2])}')
 
-            # Showing the opencv type image
-            cv2.imshow('frames', image)
+            if image is not None and image.any():
+                # Showing the opencv type image
+                cv2.imshow('frames', image)
+
 
 
             if cv2.waitKey(10) == ord('q'):
                 break
 
-            time.sleep(0.001)
+  
 
 finally:
     car.stop()