代码结构优化 性能优化#4703
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仿真循环中新增关节控制代码
donghaiwang
approved these changes
Dec 27, 2025
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修改概述:
修改的详细描述
模块化拆分：将大函数拆分为小函数（如_init_joint_info、_setup_camera），单一职责原则
配置增强：使用field默认值工厂，支持更灵活的配置；新增supported_modes、max_fps等配置项
减少锁竞争：优化collect_plot_data，批量处理数据而非逐行操作
减少 IO 操作：状态打印改为批量输出，减少控制台 IO
优化随机数生成：随机模式下每 0.2 秒更新一次随机值，减少关节抖动
减少重绘：绘图更新仅在数据变化时执行，避免无效重绘
经过了什么样的测试?
运行效果
动图、视频、截图等
