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perf(ars548): remove mtqueue #275

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merged 4 commits into from
Mar 5, 2025
+4 −21
Merged

perf(ars548): remove mtqueue #275

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6f9a39f
chore(ars548): remove MtQueue and decoder thread
mojomex Feb 20, 2025
b2bf082
test(ars548): add now-passing smoke test
mojomex Feb 20, 2025
c7fc734
chore(ars548): remove unused mtqueue import
mojomex Feb 20, 2025
38e8bdf
Merge branch 'main' into perf/ars548-remove-mtqueue
knzo25 Mar 5, 2025
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2 changes: 1 addition & 1 deletion nebula_ros/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -228,7 +228,7 @@ if(BUILD_TESTING)

ament_lint_auto_find_test_dependencies()

foreach(MODEL Pandar40P Pandar64 PandarQT64 PandarQT128 Pandar128E4X PandarAT128 PandarXT16 PandarXT32 PandarXT32M)
foreach(MODEL Pandar40P Pandar64 PandarQT64 PandarQT128 Pandar128E4X PandarAT128 PandarXT16 PandarXT32 PandarXT32M ARS548)
string(TOLOWER ${MODEL}_smoke_test test_name)
add_ros_test(
test/smoke_test.py
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6 changes: 0 additions & 6 deletions nebula_ros/include/nebula_ros/continental/continental_ars548_ros_wrapper.hpp
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Expand Up @@ -14,7 +14,6 @@

#pragma once

#include "nebula_ros/common/mt_queue.hpp"
#include "nebula_ros/common/parameter_descriptors.hpp"
#include "nebula_ros/continental/continental_ars548_decoder_wrapper.hpp"
#include "nebula_ros/continental/continental_ars548_hw_interface_wrapper.hpp"
Expand Down Expand Up @@ -80,11 +79,6 @@ class ContinentalARS548RosWrapper final : public rclcpp::Node
std::shared_ptr<const drivers::continental_ars548::ContinentalARS548SensorConfiguration>
config_ptr_{};

/// @brief Stores received packets that have not been processed yet by the decoder thread
MtQueue<std::unique_ptr<nebula_msgs::msg::NebulaPacket>> packet_queue_;
/// @brief Thread to isolate decoding from receiving
std::thread decoder_thread_;

rclcpp::Subscription<nebula_msgs::msg::NebulaPackets>::SharedPtr packets_sub_{};

bool launch_hw_{};
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17 changes: 3 additions & 14 deletions nebula_ros/src/continental/continental_ars548_ros_wrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,10 +29,7 @@ namespace nebula::ros
ContinentalARS548RosWrapper::ContinentalARS548RosWrapper(const rclcpp::NodeOptions & options)
: rclcpp::Node(
"continental_ars548_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true)),
wrapper_status_(Status::NOT_INITIALIZED),
packet_queue_(3000),
hw_interface_wrapper_(),
decoder_wrapper_()
wrapper_status_(Status::NOT_INITIALIZED)
{
setvbuf(stdout, NULL, _IONBF, BUFSIZ);

Expand All @@ -54,12 +51,6 @@ ContinentalARS548RosWrapper::ContinentalARS548RosWrapper(const rclcpp::NodeOptio

RCLCPP_DEBUG(get_logger(), "Starting stream");

decoder_thread_ = std::thread([this]() {
while (true) {
decoder_wrapper_->process_packet(packet_queue_.pop());
}
});

if (launch_hw_) {
hw_interface_wrapper_->hw_interface()->register_packet_callback(std::bind(
&ContinentalARS548RosWrapper::receive_packet_callback, this, std::placeholders::_1));
Expand Down Expand Up @@ -155,7 +146,7 @@ void ContinentalARS548RosWrapper::receive_packets_callback(
nebula_packet_ptr->stamp = packet.stamp;
nebula_packet_ptr->data = std::move(packet.data);

packet_queue_.push(std::move(nebula_packet_ptr));
decoder_wrapper_->process_packet(std::move(nebula_packet_ptr));
}
}

Expand All @@ -166,9 +157,7 @@ void ContinentalARS548RosWrapper::receive_packet_callback(
return;
}

if (!packet_queue_.try_push(std::move(msg_ptr))) {
RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 500, "Packet(s) dropped");
}
decoder_wrapper_->process_packet(std::move(msg_ptr));
}

Status ContinentalARS548RosWrapper::get_status()
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