Merge pull request #22 from NVIDIA-ISAAC-ROS/release-dp3.1

Isaac ROS 0.31.0 (DP3.1)

README.md

@@ -35,7 +35,7 @@ The NVIDIA implementation of type adaption and negotiation are called NITROS (NV
 
 ## Latest Update
 
-Update 2023-04-05: Update to be compatible with JetPack 5.1.1
+Update 2023-05-25: CPU usage optimizations.
 
 ## Supported Platforms
 
@@ -201,6 +201,7 @@ Please visit the link below for an example graph that consists of NITROS-acceler
 
 | Date       | Changes                                    |
 | ---------- | ------------------------------------------ |
+| 2023-05-25 | CPU usage optimizations                    |
 | 2023-04-05 | Update to be compatible with JetPack 5.1.1 |
 | 2022-10-19 | Minor updates and bugfixes                 |
 | 2022-08-31 | Update to be compatible with JetPack 5.0.2 |

isaac_ros_gxf/cmake/modules/FindGXF.cmake

@@ -35,6 +35,7 @@ list(APPEND _GXF_EXTENSIONS
     cuda
     isaac_messages
     isaac_ros_messages
+    message_compositor
     multimedia
     gxf_optimizer
     serialization

isaac_ros_gxf/gxf/core/include/common/endian.hpp

@@ -28,6 +28,7 @@
 namespace nvidia {
 
 /// Returns true if the machine stores multi-byte integers in little-endian format
+/// FIXME: Use std::memcpy if reinterpret_cast has to be removed
 inline bool IsLittleEndian() {
   const uint16_t test = 0x0102;
   return *reinterpret_cast<const uint8_t*>(&test) == 0x02;
@@ -62,6 +63,7 @@ template <> inline uint16_t DecodeLittleEndian<uint16_t>(uint16_t value) { retur
 template <> inline uint8_t  DecodeLittleEndian<uint8_t> (uint8_t  value) { return value; }
 
 /// Returns true if the machine stores multi-byte integers in big-endian format
+/// FIXME: Use std::memcpy if reinterpret_cast has to be removed
 inline bool IsBigEndian() {
   const uint16_t test = 0x0102;
   return *reinterpret_cast<const uint8_t*>(&test) == 0x01;

isaac_ros_gxf/gxf/core/include/gxf/core/component.hpp

@@ -71,6 +71,7 @@ class Component {
 
   // The entity which owns this component
   Entity entity() const noexcept {
+    // FIXME(v1) check that value exists
     return Entity::Shared(context(), eid()).value();
   }
 

isaac_ros_gxf/gxf/core/include/gxf/core/entity.hpp

@@ -31,6 +31,7 @@ namespace gxf {
 
 // All GXF objects are entities. An entity owns multiple components which define the functionality
 // of the entity. Entities themselves are nothing more than a unique identifier.
+// FIXME This type is a bit strange as it looks like and entity, but is in face just a handle.
 class Entity {
  public:
   // Creates a new entity
@@ -74,6 +75,7 @@ class Entity {
     eid_ = other.eid();
     context_ = other.context();
     if (eid_ != kNullUid) {
+      // FIXME(dweikersdorf) How do we deal with failure?
       GxfEntityRefCountInc(context_, eid_);
     }
   }
@@ -96,6 +98,7 @@ class Entity {
     context_ = other.context();
     eid_ = other.eid();
     if (eid_ != kNullUid) {
+      // FIXME(dweikersdorf) How do we deal with failure?
       GxfEntityRefCountInc(context_, eid_);
     }
     return *this;
@@ -293,7 +296,8 @@ class Entity {
 
  private:
   void release() {
-    GxfEntityRefCountDec(context_, eid_);
+    GxfEntityRefCountDec(context_, eid_);  // TODO(v2) We should use the error code, but we can't
+                                           //          do anything about it..
     eid_ = kNullUid;
   }
 

isaac_ros_gxf/gxf/core/include/gxf/core/parameter.hpp

@@ -69,14 +69,15 @@ class ParameterBackendBase {
   // Returns true if it is possible to change this parameter
   bool isImmutable() const {
     if (isConstant()) {
-      const bool is_active = false;
+      const bool is_active = false;  // FIXME(v1) Check that component is not active.
       if (is_active) {
         return true;
       }
     }
     return false;
   }
 
+  // FIXME(v1) make private
   gxf_context_t context_;
   gxf_uid_t uid_;
   gxf_parameter_flags_t flags_;
@@ -118,6 +119,7 @@ class ParameterBackend : public ParameterBackendBase {
   // Gets the current value of the parameter.
   const Expected<T>& try_get() const { return value_; }
 
+  // FIXME(v1) make private
   nvidia::gxf::Parameter<T>* frontend_ = nullptr;
   std::function<bool(const T&)> validator_;
   Expected<T> value_ = Unexpected{GXF_PARAMETER_NOT_INITIALIZED};
@@ -192,6 +194,7 @@ class ParameterBackend<Handle<T>> : public HandleParameterBackend {
     return value_;
   }
 
+  // FIXME(v1) make private
   const Expected<Handle<T>> unspecified_handle_ = Unexpected{GXF_PARAMETER_NOT_INITIALIZED};
   nvidia::gxf::Parameter<Handle<T>>* frontend_ = nullptr;
   Expected<Handle<T>> value_ = Unexpected{GXF_PARAMETER_NOT_INITIALIZED};

isaac_ros_gxf/gxf/core/include/gxf/std/default_extension.hpp

@@ -146,7 +146,7 @@ class DefaultExtension : public Extension {
   std::string description_;
   std::string author_;
   std::string extension_version_;
-  std::string gxf_core_version_{kGxfCoreVersion};
+  std::string gxf_core_version_{kGxfCoreVersion};  // FIXME: Use setInfo() api to set this post 2.3
   std::string license_;
   std::string display_name_;
   std::string category_;

isaac_ros_gxf/gxf/core/include/gxf/std/gems/staging_queue/staging_queue.hpp

@@ -303,7 +303,9 @@ bool StagingQueue<T>::push(T item) {
         break;
       case OverflowBehavior::kFault:
         return false;
+        // FIXME "Added an item to a full queue while using the 'Fault' overflow behavior."
       default:
+        // FIXME "Invalid parameter"
         return false;
     }
   } else {
@@ -342,7 +344,9 @@ bool StagingQueue<T>::sync() {
         break;
       case OverflowBehavior::kFault:
         return false;
+        // FIXME "Added items to a full queue while using the 'Fault' overflow behavior.";
       default:
+        // FIXME "Invalid parameter"
         return false;
     }
   }

isaac_ros_gxf/gxf/core/include/gxf/std/parameter_parser.hpp

@@ -137,6 +137,7 @@ struct ParameterParser<FixedString<N>> {
 
 // Specialization of ParameterParser for FixedVector with stack allocation.
 // Substitutes std::array for safety-critical components.
+// TODO(ayusmans): parsing support for FixedVector with heap allocation
 template <typename T, size_t N>
 struct ParameterParser<FixedVector<T, N>> {
   static Expected<FixedVector<T, N>> Parse(gxf_context_t context, gxf_uid_t component_uid,

isaac_ros_gxf/gxf/core/include/gxf/std/parameter_registrar.hpp

@@ -227,6 +227,7 @@ class ParameterRegistrar {
       template <typename... Args>
       storage_impl(Args&&... args) : value(std::forward<Args>(args)...) {}
 
+      // FIXME: return c_str() directly for string types to avoid reinterpret_cast
       const void* get() const override { return &value; }
 
       std::unique_ptr<storage_base> clone() const override {

isaac_ros_gxf/gxf/core/include/gxf/std/parameter_storage.hpp

@@ -19,6 +19,7 @@
 
 #include <map>
 #include <memory>
+#include <mutex>
 #include <shared_mutex>  // NOLINT
 #include <string>
 #include <utility>
@@ -67,6 +68,7 @@ class ParameterStorage {
     backend->headline_ = headline;
     backend->description_ = description;
     backend->frontend_ = frontend;
+    // FIXME(v1) validator
 
     frontend->connect(backend.get());
 
@@ -117,7 +119,7 @@ class ParameterStorage {
     const auto code = ptr->set(std::move(value));
     if (!code) { return ForwardError(code); }
 
-    ptr->writeToFrontend();
+    ptr->writeToFrontend();  // FIXME(v1) Special treatment for codelet parameters
     return Success;
   }
 

isaac_ros_gxf/gxf/core/include/gxf/std/tensor.hpp

@@ -182,7 +182,7 @@ class Tensor {
   Tensor() = default;
 
   ~Tensor() {
-    memory_buffer_.freeBuffer();
+    memory_buffer_.freeBuffer();  // FIXME(V2) error code?
     element_count_ = 0;
     shape_ = Shape();
   }