C＃程序消耗高内存和CPU使用率
问题描述：
嗨。
我写了一个C＃应用程序。
程序包含一个从UDP套接字协议接收一些数据的线程（每个5毫秒）并在四个c＃图表上绘制它们！
当这个线程启动时，程序开始消耗高内存和CPU使用不幸！
我尝试过：
如果我使用ConcurrentQueue类，问题是解决了？
你对这个问题的建议对我有帮助！
注意：
我很抱歉我的英语不合适！
编辑：
我有一个帖子从这里开始：
Hi.
I have written a C# application.
the program contains a thread that receive some data from UDP socket protocol (each 5 ms) and plot them on four c# charts!
when this thread starts, the program starts consuming high memory and cpu usage unfortunately!
What I have tried:
if i use "ConcurrentQueue" Class, Will the issue be solved?
your suggestion about this problem will help me!
Note:
I'm sorry for my inappropriate English!
I have a thread that starts here:
thRcv = new System.Threading.Thread(rcvDP);
thRcv.Start();
线程方法：
the method of thread:
internal void rcvDP()
{
while (!(RobotStat == 0 | RobotStat == 1))
{
while (k_udpServer.Available > 0)
{
byte[] data = k_udpServer.Receive(ref ep_Server);
if (!LogData_flag && SaveFileEnded_Log)
{
//recive_Data_Form(data);
rcv_data_Form_Static(data);
}
else
{
rcv_Log_Data(data);
}
}
}
}
和 rcv_data_Form_Static是：
and the "rcv_data_Form_Static" is:
public void rcv_data_Form_Static(byte[] rcv_byte)
{
if (myFrmController.is_new_Trajectory)
{
my_Gait_Table.Time_Trajectory_Points = myFrmController.mGaitTable.Time_Trajectory_Points;
my_Gait_Table.Trajectory_HL = myFrmController.mGaitTable.Trajectory_HL;
my_Gait_Table.Trajectory_HL_dot = myFrmController.mGaitTable.Trajectory_HL_dot;
my_Gait_Table.Trajectory_HR = myFrmController.mGaitTable.Trajectory_HR;
my_Gait_Table.Trajectory_HR_dot = myFrmController.mGaitTable.Trajectory_HR_dot;
my_Gait_Table.Trajectory_KL = myFrmController.mGaitTable.Trajectory_KL;
my_Gait_Table.Trajectory_KL_dot = myFrmController.mGaitTable.Trajectory_KL_dot;
my_Gait_Table.Trajectory_KR = myFrmController.mGaitTable.Trajectory_KR;
my_Gait_Table.Trajectory_KR_dot = myFrmController.mGaitTable.Trajectory_KR_dot;
myFrmController.is_new_Trajectory = false;
}
if (!firstDifinition)
{
#region new Definition
firstDifinition = true;
rcvMotorsEncoderData = new cMotorsEncoderData();
myPlot_HipLeft_Array = new Single[myDataArrayPlotNo + 1];
myPlot_KneeLeft_Array = new Single[myDataArrayPlotNo + 1];
myPlot_HipRight_Array = new Single[myDataArrayPlotNo + 1];
myPlot_KneeRight_Array = new Single[myDataArrayPlotNo + 1];
myPlot_HipLeft_Des_Array = new Single[myDataArrayPlotNo + 1];
myPlot_KneeLeft_Des_Array = new Single[myDataArrayPlotNo + 1];
myPlot_HipRight_Des_Array = new Single[myDataArrayPlotNo + 1];
myPlot_KneeRight_Des_Array = new Single[myDataArrayPlotNo + 1];
timeArray_Now = new float[myDataArrayPlotNo + 1];
timeArray = new float[myDataArrayPlotNo];
timeScale = 1000 / myDataArrayPlotNo;
timeArrayFilled = false;
PermitPlot = false;
addRemoveCounter = 0;
plotCounter = 0;
array_PLotSync[0] = 0;
array_PLotSync[1] = 0;
#endregion
for (int inn = 0; inn < 8; inn++)
{
pltSection[inn] = (int)(myDataArrayPlotNo * (inn + 1) / 8);
}
for (int m = 0; m < myDataArrayPlotNo; m++)
{
timeArray[m] = (int)(m * timeScale);
}
#region Plot Primary Trajectory
try
{
InvokeDelegate InvokeFuncion = () =>
{
try
{
for (int m = 0; m < myDataArrayPlotNo; m++)
{
timeArray[m] = (int)(m * timeScale);
}
}
catch (Exception ex)
{
MessageBox.Show("in Invoke Plot" + ex.ToString());
}
};
if (this.InvokeRequired)
{
BeginInvoke(InvokeFuncion);
}
else
{
Invoke(InvokeFuncion);
}
}
catch (Exception ex)
{
MessageBox.Show("in Plot" + ex.ToString());
}
#endregion
}
try
{
byte[] bytes_int = new byte[2];
byte[] bytes_single = new byte[4];
//Process codes
int count = rcv_byte.Length;
if (rcv_byte[0] == 0x0b && rcv_byte[count - 2] == 0x0c)
{
#region Data_receive
int i = 1;
//
int hh = Convert.ToInt16(rcv_byte[i]);
i++; //i=2
Int16 mm = Convert.ToInt16(rcv_byte[i]);
//DATA_minute = mm;
i++; //i=3
int ss = Convert.ToInt16(rcv_byte[i]);
i++;
//i=4
for (int j = 0; j < 2; j++)
{ bytes_int[j] = rcv_byte[i]; i++; } //i=5,i=6
int ms = BitConverter.ToInt16(bytes_int, 0);
//
#region FillMyClass_Rcv
for (int j = 0; j < 4; j++)
{ bytes_single[j] = rcv_byte[i]; i++; } //i=7,8,9,10
rcvMotorsEncoderData.LHip_pos = BitConverter.ToSingle(bytes_single, 0);
for (int j = 0; j < 4; j++)
{ bytes_single[j] = rcv_byte[i]; i++; }
rcvMotorsEncoderData.LKnee_pos = BitConverter.ToSingle(bytes_single, 0);
for (int j = 0; j < 4; j++)
{ bytes_single[j] = rcv_byte[i]; i++; }
rcvMotorsEncoderData.RHip_pos = BitConverter.ToSingle(bytes_single, 0);
for (int j = 0; j < 4; j++)
{ bytes_single[j] = rcv_byte[i]; i++; }
rcvMotorsEncoderData.RKnee_pos = BitConverter.ToSingle(bytes_single, 0);
//
for (int j = 0; j < 4; j++)
{ bytes_single[j] = rcv_byte[i]; i++; }
rcvMotorsEncoderData.LHip_speed = BitConverter.ToSingle(bytes_single, 0);
for (int j = 0; j < 4; j++)
{ bytes_single[j] = rcv_byte[i]; i++; }
rcvMotorsEncoderData.LKnee_speed = BitConverter.ToSingle(bytes_single, 0);
for (int j = 0; j < 4; j++)
{ bytes_single[j] = rcv_byte[i]; i++; }
rcvMotorsEncoderData.RHip_speed = BitConverter.ToSingle(bytes_single, 0);
for (int j = 0; j < 4; j++)
{ bytes_single[j] = rcv_byte[i]; i++; }
rcvMotorsEncoderData.RKnee_speed = BitConverter.ToSingle(bytes_single, 0);
for (int j = 0; j < 4; j++)
{ bytes_single[j] = rcv_byte[i]; i++; }
rcvMotorsEncoderData.LHip2_pos = BitConverter.ToSingle(bytes_single, 0);
for (int j = 0; j < 4; j++)
{ bytes_single[j] = rcv_byte[i]; i++; }
rcvMotorsEncoderData.LKnee2_pos = BitConverter.ToSingle(bytes_single, 0);
for (int j = 0; j < 4; j++)
{ bytes_single[j] = rcv_byte[i]; i++; }
rcvMotorsEncoderData.RHip2_pos = BitConverter.ToSingle(bytes_single, 0);
for (int j = 0; j < 4; j++)
{ bytes_single[j] = rcv_byte[i]; i++; }
rcvMotorsEncoderData.RKnee2_pos = BitConverter.ToSingle(bytes_single, 0);
//
for (int j = 0; j < 4; j++)
{ bytes_single[j] = rcv_byte[i]; i++; }
rcvMotorsEncoderData.LHip2_speed = BitConverter.ToSingle(bytes_single, 0);
for (int j = 0; j < 4; j++)
{ bytes_single[j] = rcv_byte[i]; i++; }
rcvMotorsEncoderData.LKnee2_speed = BitConverter.ToSingle(bytes_single, 0);
for (int j = 0; j < 4; j++)
{ bytes_single[j] = rcv_byte[i]; i++; }
rcvMotorsEncoderData.RHip2_speed = BitConverter.ToSingle(bytes_single, 0);
for (int j = 0; j < 4; j++)
{ bytes_single[j] = rcv_byte[i]; i++; }
rcvMotorsEncoderData.RKnee2_speed = BitConverter.ToSingle(bytes_single, 0);
//
for (int j = 0; j < 4; j++)
{ bytes_single[j] = rcv_byte[i]; i++; }
rcvMotorsEncoderData.LHip_Torque = BitConverter.ToSingle(bytes_single, 0);
for (int j = 0; j < 4; j++)
{ bytes_single[j] = rcv_byte[i]; i++; }
rcvMotorsEncoderData.LKnee_Torque = BitConverter.ToSingle(bytes_single, 0);
for (int j = 0; j < 4; j++)
{ bytes_single[j] = rcv_byte[i]; i++; }
rcvMotorsEncoderData.RHip_Torque = BitConverter.ToSingle(bytes_single, 0);
for (int j = 0; j < 4; j++)
{ bytes_single[j] = rcv_byte[i]; i++; }
rcvMotorsEncoderData.RKnee_Torque = BitConverter.ToSingle(bytes_single, 0);
//
for (int j = 0; j < 4; j++)
{ bytes_single[j] = rcv_byte[i]; i++; }
rcvMotorsEncoderData.Weight = BitConverter.ToSingle(bytes_single, 0);
if (rcvMotorsEncoderData.Weight != 1)
{
if (!Eme_stop_message_showed)
{
BeginInvoke((InvokeDelegate)(() =>
{
//this.Text = rcvMotorsEncoderData.Weight.ToString();
lbl_Error_Report.Text += "\nError Report: The Emergency stop is pressed! ";
}));
//MessageBox.Show("The Emergency stop is pressed!");
Eme_stop_message_showed = true;
}
}
#region MotionLockWatch
byte MotionLock = rcv_byte[i]; i++;
if (MotionLock != 1)
{
// TreadmillOn = false;
publicCounter = 999;
#region everyTime_Want to ResetProgram
try
{
try
{
InvokeDelegate InvokeFuncion = () =>
{
try
{
if (!micro_switch_message_showed)
{
//MessageBox.Show("The micro switch is locked!");
lbl_Error_Report.Text += "\nError Report: The micro switch is locked!";
micro_switch_message_showed = true;
}
int ib = dgMessages.Rows.Count + 1;
btnRunRobot.Text = "START";
//
chkGaitAnalysis.Enabled = true;
chkGaitAnalysis.Checked = false;
btnSaveAnalyze.Enabled = true;
cmd[0] = 0x06; // Header Byte
cmd[1] = 0; //servo off
cmd[2] = 0;
cmd[3] = 0;
cmd[4] = 6;
SendCmdMainFrm(cmd);
System.Threading.Thread.Sleep(70);
if (RobotStat == 2)
{
thRcv.Abort();
k_udpServer.Close();
}
RobotStat = 0;
btnRunRobot.Enabled = false;
chkGaitAnalysis.Enabled = false;
btnSaveAnalyze.Enabled = false;
chkServoOn.Enabled = true;
btnSetZero.Enabled = false;
}
catch (Exception ex)
{
MessageBox.Show("in Invoke Run" + ex.ToString());
}
};
if (this.InvokeRequired)
{
BeginInvoke(InvokeFuncion);
}
else
{
Invoke(InvokeFuncion);
}
}
catch (Exception ex)
{
MessageBox.Show("Run" + ex.ToString());
}
}
catch (Exception en)
{
MessageBox.Show(en.ToString());
}
/*
this.Invoke((MethodInvoker)delegate
{
if (!micro_switch_message_showed)
{
MessageBox.Show("The micro switch is locked!");
micro_switch_message_showed = true;
}
});
*/
#endregion everyTime_Want to ResetProgram
}
#endregion MotionLockWatch
#endregion FillMyClass_Rcv
#endregion Data_recive
PermitPlot = true;
TimeSpan Now = new TimeSpan(0, hh, mm, ss, ms);
double Now_mod = Now.TotalSeconds % my_Gait_Table.Time_Trajectory_Points.Last();
safa_count = Convert.ToInt32(Now.TotalSeconds / my_Gait_Table.Time_Trajectory_Points.Last());
try
{
InvokeDelegate InvokeFuncion = () =>
{
try
{
Gait_Abs_Error += Math.Abs(rcvMotorsEncoderData.LKnee_pos - InterpolatedVal(Now.TotalSeconds, my_Gait_Table.Trajectory_KL)) +
+Math.Abs(rcvMotorsEncoderData.RKnee_pos - InterpolatedVal(Now.TotalSeconds, my_Gait_Table.Trajectory_KR)) +
+Math.Abs(rcvMotorsEncoderData.LHip_pos - InterpolatedVal(Now.TotalSeconds, my_Gait_Table.Trajectory_HL)) +
+Math.Abs(rcvMotorsEncoderData.RHip_pos - InterpolatedVal(Now.TotalSeconds, my_Gait_Table.Trajectory_HR));
chart1.Series["seri1"].Points.AddXY(Now.TotalSeconds, rcvMotorsEncoderData.LKnee_pos);
chart1.Series["seri1n"].Points.AddXY(Now.TotalSeconds, InterpolatedVal(Now.TotalSeconds, my_Gait_Table.Trajectory_KL));
chart2.Series["seri2"].Points.AddXY(Now.TotalSeconds, rcvMotorsEncoderData.RKnee_pos);
chart2.Series["seri2n"].Points.AddXY(Now.TotalSeconds, InterpolatedVal(Now.TotalSeconds, my_Gait_Table.Trajectory_KR));
chart3.Series["seri3"].Points.AddXY(Now.TotalSeconds, rcvMotorsEncoderData.LHip_pos);
chart3.Series["seri3n"].Points.AddXY(Now.TotalSeconds, InterpolatedVal(Now.TotalSeconds, my_Gait_Table.Trajectory_HL));
chart4.Series["seri4"].Points.AddXY(Now.TotalSeconds, rcvMotorsEncoderData.RHip_pos);
chart4.Series["seri4n"].Points.AddXY(Now.TotalSeconds, InterpolatedVal(Now.TotalSeconds, my_Gait_Table.Trajectory_HR));
/*
chart1.Series["seri1"].Points.AddXY(Now_mod, rcvMotorsEncoderData.LKnee_pos);
chart1.Series["seri1n"].Points.AddXY(Now_mod, InterpolatedVal(Now.TotalSeconds, Trajectory_KL));
chart2.Series["seri2"].Points.AddXY(Now_mod, rcvMotorsEncoderData.RKnee_pos);
chart2.Series["seri2n"].Points.AddXY(Now_mod, InterpolatedVal(Now.TotalSeconds, Trajectory_KR));
chart3.Series["seri3"].Points.AddXY(Now_mod, rcvMotorsEncoderData.LHip_pos);
chart3.Series["seri3n"].Points.AddXY(Now_mod, InterpolatedVal(Now.TotalSeconds, Trajectory_HL));
chart4.Series["seri4"].Points.AddXY(Now_mod, rcvMotorsEncoderData.RHip_pos);
chart4.Series["seri4n"].Points.AddXY(Now_mod, InterpolatedVal(Now.TotalSeconds, Trajectory_HR));
*/
if (safa_count != safa_count_1/*chart3.Series[0].Points.Count == 500*/)
{
safa_count_1 = safa_count;
chart1.Series["seri1"].Points.Clear();
chart2.Series["seri2"].Points.Clear();
chart3.Series["seri3"].Points.Clear();
chart4.Series["seri4"].Points.Clear();
chart1.Series["seri1n"].Points.Clear();
chart2.Series["seri2n"].Points.Clear();
chart3.Series["seri3n"].Points.Clear();
chart4.Series["seri4n"].Points.Clear();
chart1.ChartAreas[0].AxisX.Minimum = Now.TotalSeconds;
chart1.ChartAreas[0].AxisX.Maximum = Now.TotalSeconds + my_Gait_Table.Time_Trajectory_Points.Last();
chart2.ChartAreas[0].AxisX.Minimum = Now.TotalSeconds;
chart2.ChartAreas[0].AxisX.Maximum = Now.TotalSeconds + my_Gait_Table.Time_Trajectory_Points.Last();
chart3.ChartAreas[0].AxisX.Minimum = Now.TotalSeconds;
chart3.ChartAreas[0].AxisX.Maximum = Now.TotalSeconds + my_Gait_Table.Time_Trajectory_Points.Last();
chart4.ChartAreas[0].AxisX.Minimum = Now.TotalSeconds;
chart4.ChartAreas[0].AxisX.Maximum = Now.TotalSeconds + my_Gait_Table.Time_Trajectory_Points.Last();
/*
chart1.ChartAreas[0].AxisX.Minimum = 0;
chart1.ChartAreas[0].AxisX.Maximum = 0 + my_Gait_Table.Time_Trajectory_Points.Last();
chart2.ChartAreas[0].AxisX.Minimum = 0;
chart2.ChartAreas[0].AxisX.Maximum = 0 + my_Gait_Table.Time_Trajectory_Points.Last();
chart3.ChartAreas[0].AxisX.Minimum = 0;
chart3.ChartAreas[0].AxisX.Maximum = 0 + my_Gait_Table.Time_Trajectory_Points.Last();
chart4.ChartAreas[0].AxisX.Minimum = 0;
chart4.ChartAreas[0].AxisX.Maximum = 0 + my_Gait_Table.Time_Trajectory_Points.Last();
*/
chart1.ChartAreas[0].AxisX.Interval = 1;
chart2.ChartAreas[0].AxisX.Interval = 1;
chart3.ChartAreas[0].AxisX.Interval = 1;
chart4.ChartAreas[0].AxisX.Interval = 1;
this.Text = Gait_Abs_Error.ToString();
if (Mogre_is_Running)
{
if (Gait_Abs_Error - Gait_Abs_Error_1 < -1.5)
RuningMogre.quality_index_1 += 25;
else if (Gait_Abs_Error - Gait_Abs_Error_1 > 1.5)
RuningMogre.quality_index_1 -= 25;
}
Gait_Abs_Error_1 = Gait_Abs_Error;
Gait_Abs_Error = 0;
}
}
catch (Exception ex)
{
MessageBox.Show("in Invoke Plot" + ex.ToString());
}
};
if (this.InvokeRequired)
{
BeginInvoke(InvokeFuncion);
}
else
{
Invoke(InvokeFuncion);
}
}
catch (Exception ex)
{
MessageBox.Show("in Plot" + ex.ToString());
}
#region Update thermometer parameter
myFrmFlat_1.Abs_Error_KL = 0;
myFrmFlat_1.Abs_Error_KR = 0;
myFrmFlat_1.Abs_Error_HL = 0;
myFrmFlat_1.Abs_Error_HR = 0;
////for (int ma = 0; ma < (int)mypltSection.eight; ma++)
////{
//// myFrmFlat_1.Abs_Error_KL += Math.Abs(myPlot_KneeLeft_Array[ma] - Trajectory_KL[ma]);
//// myFrmFlat_1.Abs_Error_KR += Math.Abs(myPlot_KneeRight_Array[ma] - Trajectory_KR[ma]);
//// myFrmFlat_1.Abs_Error_HL += Math.Abs(myPlot_HipLeft_Array[ma] - Trajectory_HL[ma]);
//// myFrmFlat_1.Abs_Error_HR += Math.Abs(myPlot_HipRight_Array[ma] - Trajectory_HR[ma]);
///}
// To know more about this next section go to "Main_Comments" region in frmFlat
myFrmFlat_1.Abs_Error_KL_Final = myFrmFlat_1.Abs_Error_KL * 1.25;
myFrmFlat_1.Abs_Error_HL_Final = myFrmFlat_1.Abs_Error_HL * 2.00;
myFrmFlat_1.Abs_Error_KR_Final = myFrmFlat_1.Abs_Error_KR * 1.25;
myFrmFlat_1.Abs_Error_HR_Final = myFrmFlat_1.Abs_Error_HR * 2.00;
#endregion Update thermometer parameter
#region Update_Mogre_Angles
if (Mogre_is_Running == true)
{
RuningMogre.Mog_Hip_L = rcvMotorsEncoderData.LHip_pos;
RuningMogre.Mog_Hip_R = rcvMotorsEncoderData.RHip_pos;
RuningMogre.Mog_Knee_L = rcvMotorsEncoderData.LKnee_pos;
RuningMogre.Mog_Knee_R = rcvMotorsEncoderData.RKnee_pos;
}
#endregion Update_Mogre_Angles
#region Update_Flat_Form_Figure
myFrmFlat.Required_data_left[0] = rcvMotorsEncoderData.LHip_pos;
myFrmFlat.Required_data_left[1] = rcvMotorsEncoderData.LKnee_pos;
myFrmFlat.Required_data_left[2] = InterpolatedVal(Now.TotalSeconds, my_Gait_Table.Trajectory_HL);// Trajectory_HL[plotCounter];
myFrmFlat.Required_data_left[3] = InterpolatedVal(Now.TotalSeconds, my_Gait_Table.Trajectory_KL);// Trajectory_KL[plotCounter];
myFrmFlat.Required_data_right[0] = rcvMotorsEncoderData.RHip_pos;
myFrmFlat.Required_data_right[1] = rcvMotorsEncoderData.RKnee_pos;
myFrmFlat.Required_data_right[2] = InterpolatedVal(Now.TotalSeconds, my_Gait_Table.Trajectory_HR);// Trajectory_HR[plotCounter];
myFrmFlat.Required_data_right[3] = InterpolatedVal(Now.TotalSeconds, my_Gait_Table.Trajectory_KR);// Trajectory_KR[plotCounter];
#endregion Update_Flat_Form_Figure
plotCounter++;
publicCounter = plotCounter;
}
}
catch (Exception exc)
{
MessageBox.Show(exc.ToString() + "plotCounter = " + plotCounter.ToString());
}
}
答
使用2个主题：
一个用于捕获数据;
另一个用于绘图读取捕获数据（来自数组或列表）。 />
更容易设计，构建和测试（独立）。
使用计时器绘图; 100ms是响应。
Use 2 threads:
One for "capturing" the data;
another for "plotting" that reads the "captured" data (from an array or list).
Easier to design, build and test (independently).
Use a timer to plot; 100ms is "responsive".