Systems and methods for implementing robotics frameworks
Systems, methods, and non-transitory computer-readable media can receive a message transmitted over a robotics framework implemented on a vehicle. A determination can be made that the message satisfies criteria for multi-threaded hashing. The message can be divided into two or more message segments. A hash can be independently computed for each message segment of the two or more message segments to generate two or more message segment hashes. A message hash can be determined for the message based on the two or more message segment hashes.
1. A computer-implemented method comprising:
receiving, by a computing system, a message transmitted over a robotics framework implemented on a vehicle;
determining, by the computing system, that the message satisfies criteria for multi-threaded hashing;
determining a number of threads to be utilized for multi-threaded hashing of the message according to at least a message size of the message and by maximizing the number of threads while satisfying a minimum message segment size threshold;
dividing, by the computing system, the message into two or more message segments;
independently computing, by the computing system, a hash for each message segment of the two or more message segments to generate two or more message segment hashes; and
determining, by the computing system, a message hash for the message based on the two or more message segment hashes.
2. The computer-implemented method of claim 1 , wherein the criteria for multi-threaded hashing comprises a message size threshold.
3. The computer-implemented method of claim 1 , wherein the number of threads to be utilized is determined based on how many CPU cores are available for multi-threaded hashing of the message.
4. The computer-implemented method of claim 3 , wherein the number of threads to be utilized is determined further based on a message size of the message and a minimum message segment size threshold.
5. The computer-implemented method of claim 3 , wherein a number of message segments in the two or more message segments is equal to the number of threads.
6. The computer-implemented method of claim 1 , wherein each message segment of the two or more message segments is assigned to a respective CPU core of a plurality of CPU cores and hashes are computed for the two or more message segments in parallel.
7. The computer-implemented method of claim 1 , wherein each message segment hash is computed using a rolling hash algorithm.
8. The computer-implemented method of claim 7 , wherein each message segment hash is computed using a polynomial hash algorithm.
9. A system comprising:
at least one processor; and
a memory storing instructions that, when executed by the at least one processor, cause the system to perform:
receiving a message transmitted over a robotics framework implemented on a vehicle;
determining that the message satisfies criteria for multi-threaded hashing;
determining a number of threads to be utilized for multi-threaded hashing of the message according to at least a message size of the message and by maximizing the number of threads while satisfying a minimum message segment size threshold;
dividing the message into two or more message segments;
independently computing a hash for each message segment of the two or more message segments to generate two or more message segment hashes; and
determining a message hash for the message based on the two or more message segment hashes.
10. The system of claim 9 , wherein the criteria for multi-threaded hashing comprises a message size threshold.
11. The system of claim 10 , wherein the number of threads to be utilized is determined based on how many CPU cores are available for multi-threaded hashing of the message.
12. The system of claim 11 , wherein the number of threads to be utilized is determined further based on a minimum message segment size threshold.
13. A non-transitory computer-readable storage medium including instructions that, when executed by at least one processor of a computing system, cause the computing system to perform a method comprising:
receiving a message transmitted over a robotics framework implemented on a vehicle;
determining that the message satisfies criteria for multi-threaded hashing;
determining a number of threads to be utilized for multi-threaded hashing of the message according to at least a message size of the message and by maximizing the number of threads while satisfying a minimum message segment size threshold;
dividing the message into two or more message segments;
independently computing a hash for each message segment of the two or more message segments to generate two or more message segment hashes; and
determining a message hash for the message based on the two or more message segment hashes.
14. The non-transitory computer-readable storage medium of claim 13 , wherein the criteria for multi-threaded hashing comprises a message size threshold.
15. The non-transitory computer-readable storage medium of claim 6 , wherein the number of threads to be utilized is determined based on how many CPU cores are available for multi-threaded hashing of the message.
16. The non-transitory computer-readable storage medium of claim 15 , wherein the number of threads to be utilized is determined further based on a minimum message segment size threshold.