perf(hw_interface): write packet data directly into the message (auto…

…warefoundation#102) Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai>
knzo25 · Dec 5, 2023 · 9b239c6 · 9b239c6
1 parent a1a2290
commit 9b239c6
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Showing 2 changed files with 4 additions and 8 deletions.
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -178,11 +178,9 @@ void HesaiHwInterface::ReceiveCloudPacketCallback(const std::vector<uint8_t> & b
     PrintDebug("Invalid Packet: " + std::to_string(buffer.size()));
     return;
   }
-  uint32_t buffer_size = buffer.size();
-  std::array<uint8_t, MTU_SIZE> packet_data{};
-  std::copy_n(std::make_move_iterator(buffer.begin()), buffer_size, packet_data.begin());
+  const uint32_t buffer_size = buffer.size();
   pandar_msgs::msg::PandarPacket pandar_packet;
-  pandar_packet.data = packet_data;
+  std::copy_n(std::make_move_iterator(buffer.begin()), buffer_size, pandar_packet.data.begin());
   pandar_packet.size = buffer_size;
   auto now = std::chrono::system_clock::now();
   auto now_secs = std::chrono::duration_cast<std::chrono::seconds>(now.time_since_epoch()).count();

diff --git a/nebula_hw_interfaces/src/nebula_velodyne_hw_interfaces/velodyne_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_velodyne_hw_interfaces/velodyne_hw_interface.cpp
@@ -64,15 +64,13 @@ Status VelodyneHwInterface::RegisterScanCallback(
 void VelodyneHwInterface::ReceiveCloudPacketCallback(const std::vector<uint8_t> & buffer)
 {
   // Process current packet
-  uint32_t buffer_size = buffer.size();
-  std::array<uint8_t, 1206> packet_data{};
-  std::copy_n(std::make_move_iterator(buffer.begin()), buffer_size, packet_data.begin());
+  const uint32_t buffer_size = buffer.size();
   velodyne_msgs::msg::VelodynePacket velodyne_packet;
+  std::copy_n(std::make_move_iterator(buffer.begin()), buffer_size, velodyne_packet.data.begin());
   auto now = std::chrono::system_clock::now();
   auto now_secs = std::chrono::duration_cast<std::chrono::seconds>(now.time_since_epoch()).count();
   auto now_nanosecs =
     std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
-  velodyne_packet.data = packet_data;
   velodyne_packet.stamp.sec = static_cast<int>(now_secs);
   velodyne_packet.stamp.nanosec = static_cast<std::uint32_t>(now_nanosecs % 1'000'000'000);
   scan_cloud_ptr_->packets.emplace_back(velodyne_packet);