rclpy
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ros2
(NumberOfEntities) improve performance
The MultiThreadedExecutor has very bad performance, see https://github.com/ros2/rclpy/issues/1223. Refactoring it, not easy task. So first fixing some low hanging fruit. By improving performance.
These changes are not compatible for classes inheriting from this class. But the repr wasn't compatible either. I don't see any class inheriting from this class any time.
@MatthijsBurgh thanks for creating PR.
Could you add description here? like which issue are you trying to address and background information?
@fujitatomoya done
Can you please explain why this change helps the situation?
@clalancette please check the following performance example.
class NumberOfEntities:
__slots__ = [
"num_subscriptions",
"num_guard_conditions",
"num_timers",
"num_clients",
"num_services",
"num_events",
]
def __init__(
self,
num_subs=0,
num_gcs=0,
num_timers=0,
num_clients=0,
num_services=0,
num_events=0,
):
self.num_subscriptions = num_subs
self.num_guard_conditions = num_gcs
self.num_timers = num_timers
self.num_clients = num_clients
self.num_services = num_services
self.num_events = num_events
def __add__(self, other):
result = self.__class__()
for attr in result.__slots__:
left = getattr(self, attr)
right = getattr(other, attr)
setattr(result, attr, left + right)
return result
def __iadd__(self, other):
for attr in self.__slots__:
left = getattr(self, attr)
right = getattr(other, attr)
setattr(self, attr, left + right)
return self
def __repr__(self):
return "<{0}({1}, {2}, {3}, {4}, {5}, {6})>".format(
self.__class__.__name__,
self.num_subscriptions,
self.num_guard_conditions,
self.num_timers,
self.num_clients,
self.num_services,
self.num_events,
)
class NumberOfEntities2:
__slots__ = [
"num_subscriptions",
"num_guard_conditions",
"num_timers",
"num_clients",
"num_services",
"num_events",
]
def __init__(
self,
num_subs=0,
num_gcs=0,
num_timers=0,
num_clients=0,
num_services=0,
num_events=0,
):
self.num_subscriptions = num_subs
self.num_guard_conditions = num_gcs
self.num_timers = num_timers
self.num_clients = num_clients
self.num_services = num_services
self.num_events = num_events
def __add__(self, other):
result = self.__class__()
result.num_subscriptions = self.num_subscriptions + other.num_subscriptions
result.num_guard_conditions = self.num_guard_conditions + other.num_guard_conditions
result.num_timers = self.num_timers + other.num_timers
result.num_clients = self.num_clients + other.num_clients
result.num_services = self.num_services + other.num_services
result.num_events = self.num_events + other.num_events
return result
def __iadd__(self, other):
self.num_subscriptions += other.num_subscriptions
self.num_guard_conditions += other.num_guard_conditions
self.num_timers += other.num_timers
self.num_clients += other.num_clients
self.num_services += other.num_services
self.num_events += other.num_events
return self
def __repr__(self):
return "<{0}({1}, {2}, {3}, {4}, {5}, {6})>".format(
self.__class__.__name__,
self.num_subscriptions,
self.num_guard_conditions,
self.num_timers,
self.num_clients,
self.num_services,
self.num_events,
)
bla1 = NumberOfEntities(1, 2, 3, 4, 5, 6)
bla2 = NumberOfEntities(1, 2, 3, 4, 5, 6)
bla3 = NumberOfEntities2(1, 2, 3, 4, 5, 6)
bla4 = NumberOfEntities2(1, 2, 3, 4, 5, 6)
for _ in range(1000000):
bla1 + bla2
real 0m0.753s
user 0m0.748s
sys 0m0.005s
for _ in range(1000000):
bla1 += bla2
real 0m0.602s
user 0m0.601s
sys 0m0.000s
for _ in range(1000000):
bla3 + bla4
real 0m0.398s
user 0m0.393s
sys 0m0.004s
for _ in range(1000000):
bla3 += bla4
real 0m0.337s
user 0m0.333s
sys 0m0.005s
@clalancette @sloretz what do you think?
Yep, I think this is entirely reasonable to get a bit more performance out of this.