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perf(velodyne): remove mtqueue #276

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perf(velodyne): remove mtqueue #276

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4d3dc40
perf(velodyne): remove MtQueue and decoder thread
mojomex Feb 20, 2025
3b7f29d
test(velodyne): add now-passing smoke tests
mojomex Feb 20, 2025
e35fd2c
chore(velodyne): remove unused mtqueue import
mojomex Feb 20, 2025
2b367c2
Merge branch 'main' into perf/velodyne-remove-mtqueue
mojomex Mar 10, 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 ARS548)
foreach(MODEL Pandar40P Pandar64 PandarQT64 PandarQT128 Pandar128E4X PandarAT128 PandarXT16 PandarXT32 PandarXT32M ARS548 VLP16 VLP32 VLS128)
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/velodyne/velodyne_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/velodyne/decoder_wrapper.hpp"
#include "nebula_ros/velodyne/hw_interface_wrapper.hpp"
Expand Down Expand Up @@ -82,11 +81,6 @@ class VelodyneRosWrapper final : public rclcpp::Node

std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration> sensor_cfg_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<velodyne_msgs::msg::VelodyneScan>::SharedPtr packets_sub_{};

bool launch_hw_;
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18 changes: 3 additions & 15 deletions nebula_ros/src/velodyne/velodyne_ros_wrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,11 +18,7 @@ namespace nebula::ros
VelodyneRosWrapper::VelodyneRosWrapper(const rclcpp::NodeOptions & options)
: rclcpp::Node("velodyne_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true)),
wrapper_status_(Status::NOT_INITIALIZED),
sensor_cfg_ptr_(nullptr),
packet_queue_(3000),
hw_interface_wrapper_(),
hw_monitor_wrapper_(),
decoder_wrapper_()
sensor_cfg_ptr_(nullptr)
{
setvbuf(stdout, NULL, _IONBF, BUFSIZ);

Expand Down Expand Up @@ -56,12 +52,6 @@ VelodyneRosWrapper::VelodyneRosWrapper(const rclcpp::NodeOptions & options)

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

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

if (launch_hw_) {
hw_interface_wrapper_->hw_interface()->register_scan_callback(
std::bind(&VelodyneRosWrapper::receive_cloud_packet_callback, this, std::placeholders::_1));
Expand Down Expand Up @@ -172,7 +162,7 @@ void VelodyneRosWrapper::receive_scan_message_callback(
nebula_pkt_ptr->stamp = pkt.stamp;
std::copy(pkt.data.begin(), pkt.data.end(), std::back_inserter(nebula_pkt_ptr->data));

packet_queue_.push(std::move(nebula_pkt_ptr));
decoder_wrapper_->process_cloud_packet(std::move(nebula_pkt_ptr));
}
}

Expand Down Expand Up @@ -263,9 +253,7 @@ void VelodyneRosWrapper::receive_cloud_packet_callback(std::vector<uint8_t> & pa
msg_ptr->stamp.nanosec = static_cast<int>(timestamp_ns % 1'000'000'000);
msg_ptr->data.swap(packet);

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

RCLCPP_COMPONENTS_REGISTER_NODE(VelodyneRosWrapper)
Expand Down
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