perf(ars548): remove mtqueue

[mojomex]

PR Type

• Improvement
• Bug fix

Related Links

• perf(hesai): remove decoder thread and MtQueue, make everything single-threaded #226 -- Hesai for reference
• test(nebula_ros): add smoke tests #240 -- smoke tests for reference

Description

Does what the title says.

Reasons for this change:

• The multithreaded queue is not needed (receive buffers in the network stack take care of arriving data while decoding).
• The decoder thread had no mechanism for gracefully stopping, thus causing an exception on exit
• The above excption caused our smoke tests to fail

Review Procedure

• Compare to the linked Hesai reference PR perf(hesai): remove decoder thread and MtQueue, make everything single-threaded #226
• Test with launch_hw:=false and a rosbag
• Test with launch_hw:=true and a real sensor or pcap

Pre-Review Checklist for the PR Author

PR Author should check the checkboxes below when creating the PR.

• Assign PR to reviewer

Checklist for the PR Reviewer

Reviewers should check the checkboxes below before approval.

• Commits are properly organized and messages are according to the guideline
• (Optional) Unit tests have been written for new behavior
• PR title describes the changes

Post-Review Checklist for the PR Author

PR Author should check the checkboxes below before merging.

• All open points are addressed and tracked via issues or tickets

CI Checks

• Build and test for PR: Required to pass before the merge.

[codecov]

Codecov Report

Attention: Patch coverage is 33.33333% with 2 lines in your changes missing coverage. Please review.

Project coverage is 27.44%. Comparing base (1242696) to head (38e8bdf).
Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #275      +/-   ##
==========================================
- Coverage   29.38%   27.44%   -1.95%     
==========================================
  Files         112      112              
  Lines        9699     9486     -213     
  Branches     3251     2392     -859     
==========================================
- Hits         2850     2603     -247     
- Misses       6325     6443     +118     
+ Partials      524      440      -84     

Flag	Coverage Δ
differential	27.44% <33.33%> (?)
total	?

Flags with carried forward coverage won't be shown. Click here to find out more.

Components	Coverage Δ
Common	18.37% <ø> (-31.87%)	⬇️
Hesai	29.69% <ø> (-0.72%)	⬇️
Velodyne	37.76% <ø> (+0.10%)	⬆️
Continental	28.06% <33.33%> (+3.00%)	⬆️
Robosense	0.00% <ø> (ø)

[knzo25]

Note: scheduled the bench for next friday (there was no other slot sooner)

[knzo25]

Note, confirmed on the bench. Now need to check with rosbags

[knzo25]

LGTM