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@joaoantoniocardoso joaoantoniocardoso commented Aug 9, 2025

This is a backport of #3362 into 1.4

Summary by Sourcery

Enhancements:

  • Dynamically set ThreadPoolExecutor max_workers in scan_ports based on CPU type and number of ports

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sourcery-ai bot commented Aug 9, 2025

Reviewer's guide (collapsed on small PRs)

Reviewer's Guide

scan_ports now dynamically assigns the ThreadPoolExecutor worker count based on CPU type (Pi3) and the number of ports to optimize CPU usage peaks

Class diagram for updated scan_ports worker assignment logic

classDiagram
    class Helper {
        <<static>> SKIP_PORTS
        <<static>> detect_service(port)
    }
    class CpuType {
        PI3
    }
    class main {
        scan_ports()
    }
    Helper <|-- main
    CpuType <|-- main
    main : scan_ports() uses get_cpu_type() and len(ports) to set max_workers
    main : scan_ports() uses ThreadPoolExecutor(max_workers)
    main : scan_ports() submits detect_service(port) for each port
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File-Level Changes

Change Details Files
Allocate thread pool size based on hardware and workload
  • Introduce get_cpu_type check for Pi3 devices
  • Set max_workers to 2 for Pi3 or when no ports remain, else to number of ports
  • Use max_workers variable in ThreadPoolExecutor instantiation
core/services/helper/main.py

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Hey @joaoantoniocardoso - I've reviewed your changes and they look great!

Prompt for AI Agents
Please address the comments from this code review:
## Individual Comments

### Comment 1
<location> `core/services/helper/main.py:435` </location>
<code_context>
+        if get_cpu_type() == CpuType.PI3 or len(ports) == 0:
+            max_workers = 2
+        else:
+            max_workers = len(ports)
+
+        with futures.ThreadPoolExecutor(max_workers=max_workers) as executor:
</code_context>

<issue_to_address>
Setting max_workers to len(ports) may cause excessive thread creation for large port lists.

Consider setting an upper limit for max_workers to prevent resource exhaustion and maintain system stability.
</issue_to_address>

<suggested_fix>
<<<<<<< SEARCH
        if get_cpu_type() == CpuType.PI3 or len(ports) == 0:
            max_workers = 2
        else:
            max_workers = len(ports)

        with futures.ThreadPoolExecutor(max_workers=max_workers) as executor:
=======
        MAX_WORKERS = 8  # Upper limit for thread pool size

        if get_cpu_type() == CpuType.PI3 or len(ports) == 0:
            max_workers = 2
        else:
            max_workers = min(len(ports), MAX_WORKERS)

        with futures.ThreadPoolExecutor(max_workers=max_workers) as executor:
>>>>>>> REPLACE

</suggested_fix>

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Comment on lines +432 to +437
if get_cpu_type() == CpuType.PI3 or len(ports) == 0:
max_workers = 2
else:
max_workers = len(ports)

with futures.ThreadPoolExecutor(max_workers=max_workers) as executor:
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suggestion (performance): Setting max_workers to len(ports) may cause excessive thread creation for large port lists.

Consider setting an upper limit for max_workers to prevent resource exhaustion and maintain system stability.

Suggested change
if get_cpu_type() == CpuType.PI3 or len(ports) == 0:
max_workers = 2
else:
max_workers = len(ports)
with futures.ThreadPoolExecutor(max_workers=max_workers) as executor:
MAX_WORKERS = 8 # Upper limit for thread pool size
if get_cpu_type() == CpuType.PI3 or len(ports) == 0:
max_workers = 2
else:
max_workers = min(len(ports), MAX_WORKERS)
with futures.ThreadPoolExecutor(max_workers=max_workers) as executor:


# The detect_services run several of requests sequentially, so we are capping the amount of executors to lower the peaks on the CPU usage
with futures.ThreadPoolExecutor(max_workers=2) as executor:
if get_cpu_type() == CpuType.PI3 or len(ports) == 0:
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suggestion (code-quality): Simplify sequence length comparison (simplify-len-comparison)

Suggested change
if get_cpu_type() == CpuType.PI3 or len(ports) == 0:
if get_cpu_type() == CpuType.PI3 or not ports:

… based on hardware

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
@patrickelectric patrickelectric merged commit 74a0d50 into bluerobotics:1.4 Aug 9, 2025
6 checks passed
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2 participants