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

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merged 3 commits into from
Dec 31, 2024
Merged

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

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4506993
perf: add proxy cache to avoid the deserialize step
yglsaltfish Dec 31, 2024
c8a6ee7
feat(proxy_plugin): Dynamically register cache serialization types
yglsaltfish Dec 31, 2024
640b8e5
feat: Optimize the traversal method for type list
yglsaltfish Dec 31, 2024
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perf: add proxy cache to avoid the deserialize step
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@yglsaltfish
yglsaltfish committed Dec 31, 2024
commit 4506993bf0caf731f2b37086dbcd110943cdb63a
2 changes: 1 addition & 1 deletion ...in/install/linux/bin/cfg/examples_plugins_record_playback_plugin_record_ros2_imd_cfg.yaml
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Expand Up @@ -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
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2 changes: 2 additions & 0 deletions ...plugin/install/linux/bin/start_examples_plugins_record_playback_plugin_record_ros2_imd.sh
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@@ -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
4 changes: 3 additions & 1 deletion src/plugins/proxy_plugin/proxy_plugin.cc
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Expand Up @@ -208,7 +208,9 @@ void ProxyPlugin::RegisterSubChannel() {
.topic_name = topic_meta.topic_name,
.pkg_path = type_support_wrapper.options.path,
.module_name = "core",
.msg_type_support_ref = type_support_wrapper.type_support_ref}};
.msg_type_support_ref = type_support_wrapper.type_support_ref},
.require_cache_serialization_types = {"pb", "ros2", "json", "yaml"}};

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]] {
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