As discussed in TIER IV INTERNAL LINK (analysis)
and TIER IV INTERNAL LINK (discussion),
the fetch_diag_from_sensor timer callback takes up to 36 ms in some cases (mean is around 17 ms for QT128).
While this does not affect pointcloud decode performance or latency (pointcloud decode is running in its own thread), this can become a problem in containers such as the ones used for Autoware's pointcloud_preprocessor. The long-running callback could block other callbacks from running, even though it is not actively computing, but rather just waiting for TCP comms to finish.
The proposed solution is to use an asynchronous approach instead.
As discussed in TIER IV INTERNAL LINK (analysis)
and TIER IV INTERNAL LINK (discussion),
the fetch_diag_from_sensor timer callback takes up to
36 msin some cases (mean is around17 msfor QT128).While this does not affect pointcloud decode performance or latency (pointcloud decode is running in its own thread), this can become a problem in containers such as the ones used for Autoware's pointcloud_preprocessor. The long-running callback could block other callbacks from running, even though it is not actively computing, but rather just waiting for TCP comms to finish.
The proposed solution is to use an asynchronous approach instead.