zero copy cleanup

This commit is contained in:
J. Nick Koston 2025-07-20 19:01:41 -10:00
parent fc286c8bf4
commit 54bbde6183
No known key found for this signature in database
8 changed files with 87 additions and 62 deletions

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@ -731,7 +731,7 @@ message SubscribeLogsResponse {
option (no_delay) = false;
LogLevel level = 1;
bytes message = 3;
bytes message = 3 [(zero_copy) = true];
bool send_failed = 4;
}
@ -888,7 +888,7 @@ message CameraImageResponse {
option (ifdef) = "USE_CAMERA";
fixed32 key = 1;
bytes data = 2;
bytes data = 2 [(zero_copy) = true];
bool done = 3;
uint32 device_id = 4 [(field_ifdef) = "USE_DEVICES"];
}

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@ -225,22 +225,13 @@ void APIConnection::loop() {
if (this->image_reader_ && this->image_reader_->available() && this->helper_->can_write_without_blocking()) {
uint32_t to_send = std::min((size_t) MAX_BATCH_PACKET_SIZE, this->image_reader_->available());
bool done = this->image_reader_->available() == to_send;
uint32_t msg_size = 0;
ProtoSize::add_fixed_field<4>(msg_size, 1, true);
// partial message size calculated manually since its a special case
// 1 for the data field, varint for the data size, and the data itself
msg_size += 1 + ProtoSize::varint(to_send) + to_send;
ProtoSize::add_bool_field(msg_size, 1, done);
auto buffer = this->create_buffer(msg_size);
// fixed32 key = 1;
buffer.encode_fixed32(1, camera::Camera::instance()->get_object_id_hash());
// bytes data = 2;
buffer.encode_bytes(2, this->image_reader_->peek_data_buffer(), to_send);
// bool done = 3;
buffer.encode_bool(3, done);
CameraImageResponse msg;
msg.key = camera::Camera::instance()->get_object_id_hash();
msg.set_data(this->image_reader_->peek_data_buffer(), to_send);
msg.done = done;
bool success = this->send_buffer(buffer, CameraImageResponse::MESSAGE_TYPE);
bool success = this->send_message_(msg, CameraImageResponse::MESSAGE_TYPE);
if (success) {
this->image_reader_->consume_data(to_send);
@ -1350,26 +1341,12 @@ void APIConnection::update_command(const UpdateCommandRequest &msg) {
#endif
bool APIConnection::try_send_log_message(int level, const char *tag, const char *line, size_t message_len) {
// Pre-calculate message size to avoid reallocations
uint32_t msg_size = 0;
SubscribeLogsResponse msg;
msg.level = static_cast<enums::LogLevel>(level);
msg.set_message(reinterpret_cast<const uint8_t *>(line), message_len);
msg.send_failed = false;
// Add size for level field (field ID 1, varint type)
// 1 byte for field tag + size of the level varint
msg_size += 1 + api::ProtoSize::varint(static_cast<uint32_t>(level));
// Add size for string field (field ID 3, string type)
// 1 byte for field tag + size of length varint + string length
msg_size += 1 + api::ProtoSize::varint(static_cast<uint32_t>(message_len)) + message_len;
// Create a pre-sized buffer
auto buffer = this->create_buffer(msg_size);
// Encode the message (SubscribeLogsResponse)
buffer.encode_uint32(1, static_cast<uint32_t>(level)); // LogLevel level = 1
buffer.encode_string(3, line, message_len); // string message = 3
// SubscribeLogsResponse - 29
return this->send_buffer(buffer, SubscribeLogsResponse::MESSAGE_TYPE);
return this->send_message_(msg, SubscribeLogsResponse::MESSAGE_TYPE);
}
void APIConnection::complete_authentication_() {

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@ -27,4 +27,5 @@ extend google.protobuf.MessageOptions {
extend google.protobuf.FieldOptions {
optional string field_ifdef = 1042;
optional uint32 fixed_array_size = 50007;
optional bool zero_copy = 1043 [default=false];
}

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@ -818,12 +818,12 @@ bool SubscribeLogsRequest::decode_varint(uint32_t field_id, ProtoVarInt value) {
}
void SubscribeLogsResponse::encode(ProtoWriteBuffer buffer) const {
buffer.encode_uint32(1, static_cast<uint32_t>(this->level));
buffer.encode_bytes(3, reinterpret_cast<const uint8_t *>(this->message.data()), this->message.size());
buffer.encode_bytes(3, this->message_ptr_, this->message_len_);
buffer.encode_bool(4, this->send_failed);
}
void SubscribeLogsResponse::calculate_size(uint32_t &total_size) const {
ProtoSize::add_enum_field(total_size, 1, static_cast<uint32_t>(this->level));
ProtoSize::add_string_field(total_size, 1, this->message);
ProtoSize::add_bytes_field(total_size, 1, this->message_len_);
ProtoSize::add_bool_field(total_size, 1, this->send_failed);
}
#ifdef USE_API_NOISE
@ -1030,7 +1030,7 @@ void ListEntitiesCameraResponse::calculate_size(uint32_t &total_size) const {
}
void CameraImageResponse::encode(ProtoWriteBuffer buffer) const {
buffer.encode_fixed32(1, this->key);
buffer.encode_bytes(2, reinterpret_cast<const uint8_t *>(this->data.data()), this->data.size());
buffer.encode_bytes(2, this->data_ptr_, this->data_len_);
buffer.encode_bool(3, this->done);
#ifdef USE_DEVICES
buffer.encode_uint32(4, this->device_id);
@ -1038,7 +1038,7 @@ void CameraImageResponse::encode(ProtoWriteBuffer buffer) const {
}
void CameraImageResponse::calculate_size(uint32_t &total_size) const {
ProtoSize::add_fixed32_field(total_size, 1, this->key);
ProtoSize::add_string_field(total_size, 1, this->data);
ProtoSize::add_bytes_field(total_size, 1, this->data_len_);
ProtoSize::add_bool_field(total_size, 1, this->done);
#ifdef USE_DEVICES
ProtoSize::add_uint32_field(total_size, 1, this->device_id);

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@ -968,7 +968,12 @@ class SubscribeLogsResponse : public ProtoMessage {
const char *message_name() const override { return "subscribe_logs_response"; }
#endif
enums::LogLevel level{};
std::string message{};
const uint8_t *message_ptr_{nullptr};
size_t message_len_{0};
void set_message(const uint8_t *data, size_t len) {
this->message_ptr_ = data;
this->message_len_ = len;
}
bool send_failed{false};
void encode(ProtoWriteBuffer buffer) const override;
void calculate_size(uint32_t &total_size) const override;
@ -1226,7 +1231,12 @@ class CameraImageResponse : public StateResponseProtoMessage {
#ifdef HAS_PROTO_MESSAGE_DUMP
const char *message_name() const override { return "camera_image_response"; }
#endif
std::string data{};
const uint8_t *data_ptr_{nullptr};
size_t data_len_{0};
void set_data(const uint8_t *data, size_t len) {
this->data_ptr_ = data;
this->data_len_ = len;
}
bool done{false};
void encode(ProtoWriteBuffer buffer) const override;
void calculate_size(uint32_t &total_size) const override;

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@ -1666,7 +1666,7 @@ void SubscribeLogsResponse::dump_to(std::string &out) const {
out.append("\n");
out.append(" message: ");
out.append(format_hex_pretty(this->message));
out.append(format_hex_pretty(this->message_ptr_, this->message_len_));
out.append("\n");
out.append(" send_failed: ");
@ -1932,7 +1932,7 @@ void CameraImageResponse::dump_to(std::string &out) const {
out.append("\n");
out.append(" data: ");
out.append(format_hex_pretty(this->data));
out.append(format_hex_pretty(this->data_ptr_, this->data_len_));
out.append("\n");
out.append(" done: ");

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@ -527,25 +527,6 @@ class ProtoSize {
total_size += field_id_size + 1;
}
/**
* @brief Calculates and adds the size of a fixed field to the total message size
*
* Fixed fields always take exactly N bytes (4 for fixed32/float, 8 for fixed64/double).
*
* @tparam NumBytes The number of bytes for this fixed field (4 or 8)
* @param is_nonzero Whether the value is non-zero
*/
template<uint32_t NumBytes>
static inline void add_fixed_field(uint32_t &total_size, uint32_t field_id_size, bool is_nonzero) {
// Skip calculation if value is zero
if (!is_nonzero) {
return; // No need to update total_size
}
// Fixed fields always take exactly NumBytes
total_size += field_id_size + NumBytes;
}
/**
* @brief Calculates and adds the size of a float field to the total message size
*/
@ -704,6 +685,19 @@ class ProtoSize {
total_size += field_id_size + varint(str_size) + str_size;
}
/**
* @brief Calculates and adds the size of a bytes field to the total message size
*/
static inline void add_bytes_field(uint32_t &total_size, uint32_t field_id_size, size_t len) {
// Skip calculation if bytes is empty
if (len == 0) {
return; // No need to update total_size
}
// Field ID + length varint + data bytes
total_size += field_id_size + varint(static_cast<uint32_t>(len)) + static_cast<uint32_t>(len);
}
/**
* @brief Calculates and adds the size of a nested message field to the total message size
*

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@ -325,6 +325,10 @@ def create_field_type_info(field: descriptor.FieldDescriptorProto) -> TypeInfo:
):
return FixedArrayBytesType(field, fixed_size)
# Check for zero_copy option on bytes fields
if field.type == 12 and get_field_opt(field, pb.zero_copy, default=False):
return ZeroCopyBytesType(field)
validate_field_type(field.type, field.name)
return TYPE_INFO[field.type](field)
@ -608,6 +612,45 @@ class BytesType(TypeInfo):
return self.calculate_field_id_size() + 8 # field ID + 8 bytes typical bytes
class ZeroCopyBytesType(TypeInfo):
"""Special type for zero-copy bytes fields that only accepts const uint8_t* data."""
cpp_type = "std::string" # Still store as string for compatibility
default_value = ""
reference_type = "std::string &"
const_reference_type = "const std::string &"
encode_func = "encode_bytes"
wire_type = WireType.LENGTH_DELIMITED
decode_length = "value.as_string()"
@property
def public_content(self) -> list[str]:
# Store both pointer and length for zero-copy encoding, plus setter method
return [
f"const uint8_t* {self.field_name}_ptr_{{nullptr}};",
f"size_t {self.field_name}_len_{{0}};",
f"void set_{self.field_name}(const uint8_t* data, size_t len) {{",
f" this->{self.field_name}_ptr_ = data;",
f" this->{self.field_name}_len_ = len;",
"}",
]
@property
def encode_content(self) -> str:
# Encode directly from pointer without nullptr check (like original)
return f"buffer.encode_bytes({self.number}, this->{self.field_name}_ptr_, this->{self.field_name}_len_);"
def dump(self, name: str) -> str:
return f"out.append(format_hex_pretty(this->{self.field_name}_ptr_, this->{self.field_name}_len_));"
def get_size_calculation(self, name: str, force: bool = False) -> str:
# Use the new add_bytes_field helper
return f"ProtoSize::add_bytes_field(total_size, {self.calculate_field_id_size()}, this->{self.field_name}_len_);"
def get_estimated_size(self) -> int:
return self.calculate_field_id_size() + 8 # field ID + 8 bytes typical bytes
class FixedArrayBytesType(TypeInfo):
"""Special type for fixed-size byte arrays."""