Use ref-counting in Switchboard (patch memory leak) #32
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charmoniumQ
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mhuzai
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Nov 14, 2020
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Couldn't go through the whole thing in detail, but left a few comments. One high level feedback that I have is that this PR should update all of the switchboard and plugin documentation (writing a new plugin, etc.).
Thread safety looks good (only skimmed through it). However, I do miss the "proof of thread safety" comment blocks that you used to have.
Didn't get a chance to review memory safety though, so that's something other reviewers should focus on.
One high level question about the thread structure: as many threads as synchronous topics, right?
e3m3
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Dec 1, 2020
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- New 'plugin_id_t' type definition - Fixed Switchboard logging - Added pre-sleep feature for debugging with gdb
- Updated inheritance in 'common/data_format.hpp' - Updated signatures in 'common/plugin.hpp' - Moved 'configs/ci.yaml' plugin order to match 'configs/native.yaml' - New preintegration handler in 'gtsam_integrator/plugin.cpp' - Reformatted 'gtsam_integrator/plugin.cpp' - Changed assertion to RAC in 'runtime/sqlite_record_logger.hpp' - Updated branch and symlinks in 'scripts/install_gtsam.sh'
… variable, debugging flags
- Removed '-fsanitize' from 'common/common.mk' - Fixed nullptr check in 'offload_data/plugin.cpp' - Added 'maybe_unused' to constexpr in 'runtime/main.cpp' - Fixed compilation for 'zed/src/main.cpp' Co-authored by Samuel Grayson <sam@samgrayson.me>
- Added comments to 'zed/CMakeLists.txxt' - Changed most topic `put` calls to use in-place calls to `allocate` - Removed 'get' alias for 'get_ro' in 'common/switchboard.hpp' - Updated 'put' example in 'common/switchboard.hpp' - Fixed version tags in 'configs/*' - Added back 'groud_truth_slam' to 'configs/native.yaml' - Added/moved 'fast_pose_sample_time' in 'gldemo/plugin.cpp' - Added back '_m_first_time' to 'gldemo.plugin.cpp' - Added in-line construction for PimObject in 'gtsam_integrator/plugin.cpp' - Added comment/todo for each integrator's 'last_imu_offset' - Removed '_m_imu_integrator' from 'offline_imu_cam/plugin.cpp' - Fixed '_m_ground_truth_offset' usage in 'pose_lookup/plugin.cpp' - Removed member names from allocations in 'pose_prediction/plugin.cpp' - Removed '_m_imu_integrator' from 'realsense/plugin.cpp' - Updated calls to 'put' in 'realsense/plugin.cpp' - Added pre-sleep usage comment in 'runtime/main.cpp' - Added back '_p_should_skip' in 'timewarp_gl/plugin.cpp'
- Added missing 'kimera_path' to 'configs/headless.yaml' - Updated versions/integration for 'configs/monada.yaml' - Updated 'time_type' usage in 'gldemo/plugin.cpp' - Fixed calls to 'abort' in 'pose_lookup' - Removed named arguments in 'pose_lookup/plugin.cpp' - Removed unused 'frame' in 'timewarp_gl/plugin.cpp'
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mhuzai
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Apr 19, 2021
| @@ -17,7 +19,7 @@ SET(EXECUTABLE_OUTPUT_PATH ".") | |||
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| find_package(ZED 3 REQUIRED) | |||
| find_package(OpenCV REQUIRED) | |||
| find_package(CUDA ${ZED_CUDA_VERSION} EXACT REQUIRED) | |||
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We're in a gray area here. I'm willing to let this be if CUDA 11.2 has been properly tested with ZED 3.4.2 (which complains during install if you don't have the exact version).
common/switchboard.hpp
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| * Thread-safe | ||
| * - Caveat: | ||
| * | ||
| * This (circular) queue based solution may race if >= N writers attempt |
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Doesn't have to be N writers. Just N writes.
- Typo: 'destructible' in 'common/switchboard.hpp' - Updated description of 'event' in 'common/switchboard.hpp' - Removed unused '_m_imu_cam' in 'rk4_integrator/plugin.cpp' - Removed unneeded assertion in 'timewarp_gl/plugin.cpp'
mhuzai
approved these changes
Apr 20, 2021
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common/tests/test_switchboard.hppfor verification).Don't require events to inherit fromswitchboard::event.