perf: add proxy cache to avoid the deserialize step (#140)

* perf: add proxy cache to avoid the deserialize step * feat(proxy_plugin): Dynamically register cache serialization types * feat: Optimize the traversal method for type list
AimRT · Dec 31, 2024 · 10bb03f · 10bb03f
1 parent aca86a2
commit 10bb03f
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diff --git a/...in/install/linux/bin/cfg/examples_plugins_record_playback_plugin_record_ros2_imd_cfg.yaml b/...in/install/linux/bin/cfg/examples_plugins_record_playback_plugin_record_ros2_imd_cfg.yaml
@@ -7,7 +7,7 @@ aimrt:
       - name: ros2_plugin
         path: ./libaimrt_ros2_plugin.so
         options:
-          node_name: example_ros2msg_echo_plugin
+          node_name: example_ros2msg_record_playback_plugin
           executor_type: MultiThreaded # SingleThreaded/StaticSingleThreaded/MultiThreaded
           executor_thread_num: 2
       - name: record_playback_plugin

diff --git a/...plugin/install/linux/bin/start_examples_plugins_record_playback_plugin_record_ros2_imd.sh b/...plugin/install/linux/bin/start_examples_plugins_record_playback_plugin_record_ros2_imd.sh
@@ -1,3 +1,5 @@
 #!/bin/bash
 
+source install/share/example_ros2/local_setup.bash
+
 ./aimrt_main --cfg_file_path=./cfg/examples_plugins_record_playback_plugin_record_ros2_imd_cfg.yaml
diff --git a/src/plugins/proxy_plugin/proxy_plugin.cc b/src/plugins/proxy_plugin/proxy_plugin.cc
@@ -209,6 +209,11 @@ void ProxyPlugin::RegisterSubChannel() {
               .pkg_path = type_support_wrapper.options.path,
               .module_name = "core",
               .msg_type_support_ref = type_support_wrapper.type_support_ref}};
+
+      for (const auto type_list = type_support_wrapper.type_support_ref.SerializationTypesSupportedListSpan(); const auto& type : type_list) {
+        subscribe_wrapper.require_cache_serialization_types.emplace(type.str);
+      }
+
       subscribe_wrapper.callback = [this, action_raw_ptr = proxy_action.get()](
                                        MsgWrapper& msg_wrapper, std::function<void()>&& release_callback) {
         if (msg_wrapper.msg_ptr == nullptr && msg_wrapper.serialization_cache.size() == 0) [[unlikely]] {