Minimizing voxl-camera-server CPU usage in SDK1.6
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@Alex-Kushleyev Okay sounds like we're almost there in terms of readiness for mainline then. Would you like me to take that on and put up a gitlab MR from my fork into modalai's libmodal-pipe repo? I can schedule an hour or two to polish that up and get it ready sometime in the next few days.
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@Rowan-Dempster , sure, that would be helpful. I don't see any issues with merging that in, since if we do it right, it will not affect 64 bit build at all and will only add limited support for 32 bit -- limited, meaning, for clients only, cannot allocate new buffers.
i will check with the team today to make sure we are all good, so perhaps you should wait for that.
Alex
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sure, that would be helpful.
i will check with the team today to make sure we are all good, so perhaps you should wait for that.
Will do!
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@Rowan-Dempster , we will go ahead and integrate the limited 32-bit ION buffer support into
libmodal-pipe. Did you make any changes to my latest branch from a few days ago? If so, I can take whatever changes you have and do the final integration. If you have not made any changes (and don't have any suggestions), I can just finish it up from here.Thanks again for your help!
Alex
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@Alex-Kushleyev Sounds good! I did not make any changes since the revisions you shared 5 days ago.
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@Alex-Kushleyev Hi Alex, Happy New Years
Is there an ETA on when the 32-bit ION buffer support in libmodal-pipe will be main-lined? For our internal time planning here at Cleo.
Thank you,
Rowan -
Hi @Rowan-Dempster,
Thanks for the reminder. I will try to get this in by early next week. Sorry for the delay!
Happy New Year!
Alex
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Hi @Rowan-Dempster ,
I updated both projects to be compatible with 32 and 64 bit builds.
https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe/-/tree/ion-32bit-test
https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/tree/ion-32bit-testNow you should be able to install the libmodal pipe package without breaking 64 bit build and it will enable the 32-bit ion buffer client support.
In order to support this on the 32-bit client application side, you need to have the following defines:
-DEN_ION_BUF-DEN_32BIT_ION_BUF
as seen here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/blob/ion-32bit-test/CMakeLists.txt#L22
Also, you can build just the 32-bit
voxl-mpa-toolsusing./build.sh arm32-onlyI did a quick test. Can you please test to make sure the updated libmodal pipe works with your 32 bit application and also does not break the main 64-bit functionality? Then i think we can merge it to dev.
Thanks for your patience!
Alex
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Hi @Alex-Kushleyev,
I did a quick test. Can you please test to make sure the updated libmodal pipe works with your 32 bit application and also does not break the main 64-bit functionality? Then i think we can merge it to dev.
Yes absolutely, I can get that done today.
Thanks for your patience!
Thank you for taking this on!
Rowan
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Hi @Alex-Kushleyev,
I confirmed that the https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe/-/tree/ion-32bit-test branch does indeed allow
voxl-qvio-serverto use ION pipes (usingDEN_ION_BUFandDEN_32BIT_ION_BUF). I have not detected any other breakages of the Cleo SDK or performance degradations, but that's something we will monitor as we test more.In CPU perf mode, average core util dropped from 31% to 22%, this is a huge help, thank you very much for your work.
We will be eagerly awaiting the release of a
libmodal-pipegitlab tag with these changes in it!Cheers,
Rowan
