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fix: migrate SharedTopicClient to raw topic API - #1

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codex/sharedtopicclient-raw-topic-20260630
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fix: migrate SharedTopicClient to raw topic API#1
Jiu-xiao wants to merge 1 commit into
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codex/sharedtopicclient-raw-topic-20260630

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@Jiu-xiao Jiu-xiao commented Jun 30, 2026 •
edited by sourcery-ai Bot
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Summary

  • migrate SharedTopicClient to the new libxr raw topic callback and Topic::PackRaw(...) API
  • replace removed LockFreeQueue / LockFreePool usage with MPMCQueue
  • use public Topic(topic).PayloadSize() instead of old internal topic block fields
  • keep runtime arbitrary-topic forwarding by storing the TopicHandle in callback context
  • update README to describe the current queue and raw packet path

Dependency

Requires libxr master at or after 5728458 (feat(message): add raw topic callback and packet API).

Validation

  • Ubuntu24 /tmp/libxr_raw_topic_sharedtopic_smoke2_20260630T010357Z: patched libxr + patched SharedTopicClient constructor/publish smoke passed
  • Ubuntu24 /tmp/libxr_raw_topic_module_smoke2_20260630T010424Z/smoke_raw_topic_20260630T010430Z: dependency-closure smoke result 48 PASS / 8 FAIL; xrobot-org/SharedTopicClient passed

Summary by Sourcery

Align SharedTopicClient with the latest libxr raw topic and queue APIs while preserving multi-topic UART forwarding behavior.

Bug Fixes:

  • Migrate SharedTopicClient to libxr raw topic callback and PackRaw APIs for topic forwarding.

Enhancements:

  • Replace deprecated lock-free queue/pool structures with MPMCQueue-based slot and packet management.
  • Use public Topic payload size and handle-based packing to support arbitrary topics at runtime.

Documentation:

  • Update README to reflect MPMCQueue usage, raw packet path, and updated timestamp packing API.

@sourcery-ai

sourcery-ai Bot commented Jun 30, 2026 •
edited
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Reviewer's Guide

Migrates SharedTopicClient to libxr’s new raw topic callback and MPMCQueue-based packet buffering, updating topic packing to use Topic::PackRaw and modern Topic APIs while aligning the README with the new queueing and raw packet path behavior.

Sequence diagram for raw topic callback and MPMCQueue-based forwarding

sequenceDiagram
    actor TopicPublisher
    participant LibXR_Topic
    participant SharedTopicClient
    participant MPMCQueue_ready as MPMCQueue_ready_packets
    participant UART_WritePort

    TopicPublisher->>LibXR_Topic: Publish
    LibXR_Topic->>SharedTopicClient: raw_topic_callback(timestamp, ConstRawData)
    SharedTopicClient->>SharedTopicClient: OnTopic(in_isr, CallbackInfo, timestamp, ConstRawData)
    SharedTopicClient->>LibXR_Topic: Topic(info.topic).PackRaw(ConstRawData, PacketSlot.buffer, timestamp)

    alt [PackRaw == ErrorCode::OK]
        SharedTopicClient->>MPMCQueue_ready: Push(ReadyPacket)
        alt [Push == ErrorCode::OK]
            SharedTopicClient->>SharedTopicClient: TxService(in_isr)
            SharedTopicClient->>MPMCQueue_ready: Pop(ReadyPacket)
            alt [Pop == ErrorCode::OK]
                SharedTopicClient->>UART_WritePort: [enqueue packet to WritePort]
            else [Pop != ErrorCode::OK]
                SharedTopicClient->>SharedTopicClient: ReturnFreeSlot(slot_index)
            end
        else [Push != ErrorCode::OK]
            SharedTopicClient->>SharedTopicClient: ReturnFreeSlot(slot_index)
        end
    else [PackRaw != ErrorCode::OK]
        SharedTopicClient->>SharedTopicClient: ReturnFreeSlot(slot_index)
    end
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File-Level Changes

Change Details Files
Switch SharedTopicClient from legacy topic internals and lock-free queues to the new raw topic callback API and MPMCQueue-based buffering.
  • Replace LockFreeQueue/LockFreePool usage with MPMCQueue<uint32_t> and MPMCQueue, adjusting constructor initialization and queue operations from Get/Put to Pop/Push.
  • Update callback wiring to use LibXR::Topic::Callback::Create with a CallbackInfo that stores a TopicHandle instead of a CRC, and adjust callback signatures to pass ConstRawData by const reference.
  • Replace direct access to topic internal fields and Topic::PackData with Topic(topic_handle).PayloadSize() and Topic(topic_handle).PackRaw(...) for computing packet size and packing raw data, including error checking.
 SharedTopicClient.hpp
Align SharedTopicClient documentation with the new queue implementation and raw packet packing path.
  • Document the use of MPMCQueue for free-slot and ready-packet management, including capacity constraints and FIFO behavior.
  • Update the description of TxService failure handling to reflect that packets are dropped and slots freed instead of re-queued in a pool.
  • Update timestamp handling documentation to reference Topic(topic_handle).PackRaw(...) instead of Topic::PackData(...) for serial packet writing.
 README.md
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sourcery-ai[bot]
sourcery-ai Bot reviewed Jun 30, 2026
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