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DATA-723 Set Max Message Size for SLAM to 32 MB (RDK) #1658

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4 commits merged into from Dec 12, 2022
Merged

DATA-723 Set Max Message Size for SLAM to 32 MB (RDK) #1658

4 commits merged into from Dec 12, 2022

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@ghost ghost commented Dec 9, 2022 •
edited by ghost
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gRPC limits the max size of bytes that can be sent to 4MB by default. The limit in most of RDK is 32MB however as slam spawns a separate grpc connection, this increase to the limit must be added here as well as to the SLAM service grpc system.

JIRA Ticket: DATA-723
Associated PR: #117

@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Dec 9, 2022
@ghost ghost mentioned this pull request Dec 9, 2022
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@ghost ghost changed the title DATA-723 Set Max Message Size for SLAM to 32 MB DATA-723 Set Max Message Size for SLAM to 32 MB (RDK) Dec 9, 2022
@ghost ghost marked this pull request as ready for review December 9, 2022 23:27
@ghost ghost requested review from kkufieta and JohnN193 December 9, 2022 23:27
kkufieta
kkufieta approved these changes Dec 12, 2022
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LGTM

services/slam/builtin/builtin.go Outdated
Comment on lines 373 to 374
maxMsgSize := 32 * 1024 * 1024
maxMsgSizeOption := grpc.WithDefaultCallOptions(grpc.MaxCallRecvMsgSize(maxMsgSize))
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[opt] I'd put 32 * 1024 * 1024 directly into the function call and remove the maxMsgSize variable, but I'd also add a comment saying why we're increasing the message size from 4MB to 32MB (see slam repo for an example).

@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Dec 12, 2022
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Code Coverage

Package Line Rate Delta Health
go.viam.com/rdk/components/arm 61% 0.00% ➖
go.viam.com/rdk/components/arm/universalrobots 13% 0.00% ❌
go.viam.com/rdk/components/arm/xarm 2% 0.00% ❌
go.viam.com/rdk/components/arm/yahboom 7% 0.00% ❌
go.viam.com/rdk/components/audioinput 55% +0.34% ➖
go.viam.com/rdk/components/base 67% 0.00% ➖
go.viam.com/rdk/components/base/agilex 62% 0.00% ➖
go.viam.com/rdk/components/base/boat 41% 0.00% ❌
go.viam.com/rdk/components/base/wheeled 76% 0.00% ✅
go.viam.com/rdk/components/board 68% 0.00% ➖
go.viam.com/rdk/components/board/arduino 10% 0.00% ❌
go.viam.com/rdk/components/board/commonsysfs 47% 0.00% ❌
go.viam.com/rdk/components/board/fake 38% 0.00% ❌
go.viam.com/rdk/components/board/numato 19% 0.00% ❌
go.viam.com/rdk/components/board/pi 50% 0.00% ➖
go.viam.com/rdk/components/camera 65% -0.26% ➖
go.viam.com/rdk/components/camera/fake 67% 0.00% ➖
go.viam.com/rdk/components/camera/ffmpeg 76% -1.43% ✅
go.viam.com/rdk/components/camera/transformpipeline 78% +0.66% ✅
go.viam.com/rdk/components/camera/videosource 56% +0.51% ➖
go.viam.com/rdk/components/encoder/fake 77% 0.00% ✅
go.viam.com/rdk/components/gantry 68% 0.00% ➖
go.viam.com/rdk/components/gantry/multiaxis 84% 0.00% ✅
go.viam.com/rdk/components/gantry/oneaxis 86% 0.00% ✅
go.viam.com/rdk/components/generic 83% 0.00% ✅
go.viam.com/rdk/components/gripper 80% 0.00% ✅
go.viam.com/rdk/components/input 87% 0.00% ✅
go.viam.com/rdk/components/input/gpio 84% 0.00% ✅
go.viam.com/rdk/components/motor 81% 0.00% ✅
go.viam.com/rdk/components/motor/dimensionengineering 63% 0.00% ➖
go.viam.com/rdk/components/motor/dmc4000 69% 0.00% ➖
go.viam.com/rdk/components/motor/fake 57% 0.00% ➖
go.viam.com/rdk/components/motor/gpio 64% 0.00% ➖
go.viam.com/rdk/components/motor/gpiostepper 56% -0.59% ➖
go.viam.com/rdk/components/motor/tmcstepper 62% 0.00% ➖
go.viam.com/rdk/components/movementsensor 75% 0.00% ✅
go.viam.com/rdk/components/movementsensor/cameramono 40% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsnmea 37% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsrtk 28% 0.00% ❌
go.viam.com/rdk/components/posetracker 86% 0.00% ✅
go.viam.com/rdk/components/sensor 86% 0.00% ✅
go.viam.com/rdk/components/sensor/ultrasonic 34% 0.00% ❌
go.viam.com/rdk/components/servo 78% 0.00% ✅
go.viam.com/rdk/components/servo/gpio 71% 0.00% ✅
go.viam.com/rdk/config 77% -0.07% ✅
go.viam.com/rdk/control 57% 0.00% ➖
go.viam.com/rdk/data 77% 0.00% ✅
go.viam.com/rdk/grpc 25% 0.00% ❌
go.viam.com/rdk/ml 67% 0.00% ➖
go.viam.com/rdk/ml/inference 70% 0.00% ✅
go.viam.com/rdk/motionplan 59% -8.77% ➖
go.viam.com/rdk/octree 93% 0.00% ✅
go.viam.com/rdk/operation 82% 0.00% ✅
go.viam.com/rdk/pointcloud 71% +0.09% ✅
go.viam.com/rdk/protoutils 59% 0.00% ➖
go.viam.com/rdk/referenceframe 71% 0.00% ✅
go.viam.com/rdk/registry 90% 0.00% ✅
go.viam.com/rdk/resource 83% 0.00% ✅
go.viam.com/rdk/rimage 78% 0.00% ✅
go.viam.com/rdk/rimage/depthadapter 94% 0.00% ✅
go.viam.com/rdk/rimage/transform 73% 0.00% ✅
go.viam.com/rdk/rimage/transform/cmd/extrinsic_calibration 67% 0.00% ➖
go.viam.com/rdk/robot 85% 0.00% ✅
go.viam.com/rdk/robot/client 82% 0.00% ✅
go.viam.com/rdk/robot/framesystem 68% 0.00% ➖
go.viam.com/rdk/robot/impl 81% 0.00% ✅
go.viam.com/rdk/robot/server 57% +0.69% ➖
go.viam.com/rdk/robot/web 60% 0.00% ➖
go.viam.com/rdk/robot/web/stream 87% 0.00% ✅
go.viam.com/rdk/services/armremotecontrol 71% 0.00% ✅
go.viam.com/rdk/services/armremotecontrol/builtin 52% 0.00% ➖
go.viam.com/rdk/services/baseremotecontrol 71% 0.00% ✅
go.viam.com/rdk/services/baseremotecontrol/builtin 79% 0.00% ✅
go.viam.com/rdk/services/datamanager 65% 0.00% ➖
go.viam.com/rdk/services/datamanager/builtin 80% 0.00% ✅
go.viam.com/rdk/services/datamanager/datacapture 21% 0.00% ❌
go.viam.com/rdk/services/datamanager/datasync 72% 0.00% ✅
go.viam.com/rdk/services/motion 63% 0.00% ➖
go.viam.com/rdk/services/motion/builtin 88% 0.00% ✅
go.viam.com/rdk/services/navigation 54% 0.00% ➖
go.viam.com/rdk/services/sensors 77% 0.00% ✅
go.viam.com/rdk/services/sensors/builtin 97% 0.00% ✅
go.viam.com/rdk/services/shell 14% 0.00% ❌
go.viam.com/rdk/services/slam 84% 0.00% ✅
go.viam.com/rdk/services/slam/builtin 72% +0.05% ✅
go.viam.com/rdk/services/vision 80% 0.00% ✅
go.viam.com/rdk/services/vision/builtin 74% 0.00% ✅
go.viam.com/rdk/session 97% 0.00% ✅
go.viam.com/rdk/spatialmath 85% 0.00% ✅
go.viam.com/rdk/subtype 96% 0.00% ✅
go.viam.com/rdk/utils 72% 0.00% ✅
go.viam.com/rdk/vision 26% 0.00% ❌
go.viam.com/rdk/vision/chess 80% 0.00% ✅
go.viam.com/rdk/vision/delaunay 87% 0.00% ✅
go.viam.com/rdk/vision/keypoints 92% 0.00% ✅
go.viam.com/rdk/vision/objectdetection 82% +6.94% ✅
go.viam.com/rdk/vision/odometry 60% 0.00% ➖
go.viam.com/rdk/vision/odometry/cmd 0% 0.00% ❌
go.viam.com/rdk/vision/segmentation 49% 0.00% ❌
go.viam.com/rdk/web/server 26% 0.00% ❌
Summary 66% (20212 / 30646) -0.49% ➖

@ghost ghost merged commit 2fbba1b into viamrobotics:main Dec 12, 2022
@ghost ghost deleted the DATA-723_MaxMsgSizeSLAM branch December 29, 2022 20:33
@bazile-clyde bazile-clyde mentioned this pull request Feb 7, 2023
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3 participants
@kkufieta @JohnN193 @viambot