Hi Philip,
I checked this on a VOXL 2.
- Adding a second subscriber to /run/mpa/mobilenet_tflite_data is a clean fan-out. The Modal Pipe Architecture creates a separate client connection for each subscriber, so the second subscriber does not consume or steal messages from voxl-tflite-server or from an existing subscriber. I tested this with an existing subscriber already running, then attached another subscriber to mobilenet_tflite_data. The system continued running normally and both consumed messages. See picture below.
Only caveat is normal concerns about load and that a slow subscriber can miss data but won't affect other subscribers/server.
- The qrb5165 emulator should support the MPA/libmodal-pipe itself. The pipe can still exist without the board. However, mobilenet_tflite_data will not appear in the arb5165 emulator without additional setup. That pipe is published by voxl-tflite-server, which itself consumes a camera input pipe. The emulator does not provider an emulation of the physical VOXL2 camera pipeline by default. For simulation, I would start by testing the subscriber against recorded or synthetic MPA data rather than trying to emulate the full camera pipeline.
Best,
Sean
