perf: add proxy cache to avoid the deserialize step (AimRT#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
yglsaltfish · Jan 2, 2025 · 2177637 · 2177637
1 parent dc12c01
commit 2177637
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/src/plugins/proxy_plugin/proxy_plugin.cc b/src/plugins/proxy_plugin/proxy_plugin.cc
@@ -208,8 +208,11 @@ 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},
-          .require_cache_serialization_types = {"pb", "ros2", "json", "yaml"}};
+              .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) {