Minimizing voxl-camera-server CPU usage in SDK1.6

[Rowan Dempster]

@Alex-Kushleyev

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!

[Alex Kushleyev]

@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

[Rowan Dempster]

@Alex-Kushleyev Sounds good! I did not make any changes since the revisions you shared 5 days ago.

[Rowan Dempster]

@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

[Alex Kushleyev]

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

[Alex Kushleyev]

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-test

Now 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-tools using ./build.sh arm32-only

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.

Thanks for your patience!

Alex

[Rowan Dempster]

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

[Rowan Dempster]

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-server to use ION pipes (using DEN_ION_BUF and DEN_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-pipe gitlab tag with these changes in it!

Cheers,
Rowan

[Rowan Dempster]

Hi @Alex-Kushleyev ,

Has there been a tag created in https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe that contains these changes? Please let me know when that happens, would would like to get these CPU gains moved into production ASAP!

All the best,
Rowan

[Alex Kushleyev]

Hi @Rowan-Dempster ,

We just merged the changes to dev : https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe/-/merge_requests/39.

A new build of the libmodal-pipe library will be added after tonight's nightly build here : http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/ .

Any SDK releases after this will include this support.

Alex