Performance improvements

Author: TedSjoblom

docker-compose.point-rot-nup.yml

@@ -1,9 +1,10 @@
 version: '3'
 services:
 
-  point-rotation:
+  point-rotation-0:
     build: .
-    container_name: cw-point-rot-nup
+    container_name: cw-point-rot-nup-0
+    image: cw-point-rot-nup
     restart: unless-stopped
     network_mode: "host"
     environment:
@@ -15,4 +16,22 @@ services:
       - MQTT_TOPIC_IN_HEADING=CROWSNEST/SEAHORSE/GNSS/0/JSON
       - MQTT_TOPIC_OUT_RADAR_NORTHUP=CROWSNEST/SEAHORSE/RADAR/0/NUP
       - MQTT_TOPIC_OUT_LIDAR_NORTHUP=CROWSNEST/SEAHORSE/LIDAR/0/NUP
-      
+      - CORR_HEADING=-10
+
+  point-rotation-1:
+    depends_on:
+      - point-rotation-0
+    image: cw-point-rot-nup
+    container_name: cw-point-rot-nup-1
+    restart: unless-stopped
+    network_mode: "host"
+    environment:
+      - MQTT_CLIENT_ID=platfrom-dev-local
+      - MQTT_BROKER_HOST=localhost
+      - MQTT_BROKER_PORT=1883
+      - MQTT_TOPIC_IN_RADAR_SWEEP=CROWSNEST/SEAHORSE/RADAR/1/SWEEP
+      - MQTT_TOPIC_IN_LIDAR_SWEEP=CROWSNEST/SEAHORSE/LIDAR/1/POINTCLOUD
+      - MQTT_TOPIC_IN_HEADING=CROWSNEST/SEAHORSE/GNSS/0/JSON
+      - MQTT_TOPIC_OUT_RADAR_NORTHUP=CROWSNEST/SEAHORSE/RADAR/1/NUP
+      - MQTT_TOPIC_OUT_LIDAR_NORTHUP=CROWSNEST/SEAHORSE/LIDAR/1/NUP
+      - CORR_HEADING=-10

main.py

@@ -28,13 +28,14 @@
 MQTT_TOPIC_IN_RADAR_SWEEP: str = env("MQTT_TOPIC_IN_RADAR_SWEEP", "CROWSNEST/SEAHORSE/RADAR/0/SWEEP")
 MQTT_TOPIC_IN_LIDAR_SWEEP: str = env("MQTT_TOPIC_IN_LIDAR_SWEEP", "CROWSNEST/SEAHORSE/LIDAR/0/POINTCLOUD")
 MQTT_TOPIC_IN_HEADING: str = env("MQTT_TOPIC_IN_HEADING", "CROWSNEST/SEAHORSE/GNSS/0/JSON")
-CORR_HEADING: int = env("CORR_HEADING", 0)
+CORR_HEADING: int = env.int("CORR_HEADING", 0)
 MQTT_TOPIC_OUT_RADAR_NORTHUP: str = env("MQTT_TOPIC_OUT_RADAR_NORTHUP", "CROWSNEST/SEAHORSE/RADAR/0/NUP")
 MQTT_TOPIC_OUT_LIDAR_NORTHUP: str = env("MQTT_TOPIC_OUT_LIDAR_NORTHUP", "CROWSNEST/SEAHORSE/LIDAR/0/NUP")
 
 
 # Setup logger
-LOG_LEVEL = env.log_level("LOG_LEVEL", logging.WARNING)
+LOG_LEVEL = env.log_level("LOG_LEVEL", logging.INFO)
+# log_level = env.log_level("LOG_LEVEL")
 logging.basicConfig(level=LOG_LEVEL)
 logging.captureWarnings(True)
 warnings.filterwarnings("once")
@@ -93,13 +94,19 @@ def on_message(client, userdata, message):
     payload = json.loads(msg)
     topic = message.topic
 
-    LOGGER.info(message.topic)
+    LOGGER.debug(message.topic)
 
     if "message" in payload:
         msg = payload["message"]
 
         if topic == MQTT_TOPIC_IN_HEADING:
-            corrected_heading = CORR_HEADING + float(msg["heading"])
+            LOGGER.debug("Heading message: %s", msg["heading"])
+            LOGGER.debug("Heading tyep: %s", type(msg["heading"]))
+            LOGGER.debug("Heading CORR: %s", type(CORR_HEADING))
+            LOGGER.debug("Heading CORR: %s", CORR_HEADING)
+            
+            heading =  float(msg["heading"])
+            corrected_heading = CORR_HEADING + heading
 
             # Check that heading is within 0-360 after correction
             if corrected_heading < 360:
@@ -184,9 +191,15 @@ def rotate_points_azimuth(input_stream):
     source_heading = Stream()
 
     # MQTT publish stream
-    pipe_heading = source_heading.latest()
-    # combined = source.latest().zip(pipe_heading)
-    combined = source.latest().zip_latest(pipe_heading)
+    
+    # Original with latest() to slow 
+    # pipe_heading = source_heading.latest()
+    # combined = source.latest().zip_latest(pipe_heading)
+
+    # New version with only zip_latest looks to be managing it 
+    pipe_heading = source_heading
+    combined = source.zip_latest(pipe_heading)
+    
     combined.map(rotate_points_azimuth).map(to_brefv_raw).sink(to_mqtt)
 
     LOGGER.info("Connecting to MQTT broker...")