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perf(robosense): remove mtqueue #277

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perf(robosense): remove mtqueue #277

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6b839f7
perf(robosense): remove MtQueue and decoder thread
mojomex Feb 20, 2025
69fcb20
chore(smoke_test): wait for trigger string that applies to _all_ sensors
mojomex Feb 20, 2025
c8a29b6
test(robosense): add now-passing smoke test
mojomex Feb 20, 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 Helios Bpearl)
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/robosense/robosense_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/robosense/decoder_wrapper.hpp"
#include "nebula_ros/robosense/hw_interface_wrapper.hpp"
#include "nebula_ros/robosense/hw_monitor_wrapper.hpp"
Expand Down Expand Up @@ -84,11 +83,6 @@ class RobosenseRosWrapper final : public rclcpp::Node

std::shared_ptr<const nebula::drivers::RobosenseSensorConfiguration> 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::Publisher<robosense_msgs::msg::RobosenseInfoPacket>::SharedPtr info_packets_pub_;

rclcpp::Subscription<robosense_msgs::msg::RobosenseScan>::SharedPtr packets_sub_;
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20 changes: 7 additions & 13 deletions nebula_ros/src/robosense/robosense_ros_wrapper.cpp
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Expand Up @@ -24,8 +24,7 @@
RobosenseRosWrapper::RobosenseRosWrapper(const rclcpp::NodeOptions & options)
: rclcpp::Node("robosense_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true)),
wrapper_status_(Status::NOT_INITIALIZED),
sensor_cfg_ptr_(nullptr),
packet_queue_(3000)
sensor_cfg_ptr_(nullptr)
{
setvbuf(stdout, NULL, _IONBF, BUFSIZ);

Expand All @@ -48,13 +47,6 @@

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

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

if (launch_hw_) {
info_packets_pub_ =
create_publisher<robosense_msgs::msg::RobosenseInfoPacket>("robosense_info_packets", 10);
Expand Down Expand Up @@ -158,12 +150,16 @@
return;
}

if (!decoder_wrapper_ || decoder_wrapper_->status() != Status::OK) {
return;

Check warning on line 154 in nebula_ros/src/robosense/robosense_ros_wrapper.cpp

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nebula_ros/src/robosense/robosense_ros_wrapper.cpp#L154 

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}

for (auto & pkt : scan_msg->packets) {
auto nebula_pkt_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();
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 @@ -312,9 +308,7 @@
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(RobosenseRosWrapper)
Expand Down
2 changes: 1 addition & 1 deletion nebula_ros/test/smoke_test.py
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Expand Up @@ -37,7 +37,7 @@ def generate_test_description():
class TestCorrectStartup(unittest.TestCase):
def test_wait_for_startup_then_shutdown(self):
self.proc_output: launch_testing.ActiveIoHandler
self.proc_output.assertWaitFor("Wrapper=OK", timeout=2)
self.proc_output.assertWaitFor("Hardware connection disabled", timeout=2)


@launch_testing.post_shutdown_test()
Expand Down