Nacho/minor fixes tf2 cache #658

nachovizzo · 2024-03-12T22:50:12Z

Follow up on #636

This PR does not introduce any real change, it's just a selective refactor on some parts of the tf2 cache I did back then. It's mainly replacing raw loops with algorithms that one can read and understand what's the code trying to do faster

This also means I didn't embark on a refactoring journey of the entire system. It's just affecting the line of code I was evaluating last year, but I didn't want to avoid contributing to this.

Of course, it would be ideal to refactor more "globally" let's call it but won't have time anytime soon to do this, I'm happy to follow up more reviewing of the implementation in future PRs but for now this is what I can do :)

I tried to be very verbose on a committed level just to make the reviewing process easier

```cpp TimePoint TimeCache::getLatestTimestamp() { return storage_.front().stamp_; } ``` And std::list<T>::front() is(gcclib): ```cpp reference front() _GLIBCXX_NOEXCEPT { return *begin(); } ```

```cpp TimePoint TimeCache::getLatestTimestamp() { // empty list case // ... return storage_.front().stamp_; } ``` and std::list<T>::front(): ```cpp reference front() _GLIBCXX_NOEXCEPT { return *begin(); } ```

By now reading to this block I can tell that we are preventing to inserting a new element in the list, that has a timestamp that is actually older than the max_storage_time_ we allow for

The intent of the code is now more clear, instead of relying on raw loops, we "find if" there is any element in the list that has a stamp older than the incoming one. With this we find the position in the list where we should insert the current timestamp: `storage_it`

Remove if any element is older thant the max_storage_time_ allowed, relative to the latest(sooner) time seems clear npw

ahcorde

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fujitatomoya · 2024-03-21T19:41:19Z

@ahcorde is this ready to merge? can you confirm?

* Remove unused parameter * Make use of API function to improve redability ```cpp TimePoint TimeCache::getLatestTimestamp() { return storage_.front().stamp_; } ``` And std::list<T>::front() is(gcclib): ```cpp reference front() _GLIBCXX_NOEXCEPT { return *begin(); } ``` * Same argument as 321bd22 ```cpp TimePoint TimeCache::getLatestTimestamp() { // empty list case // ... return storage_.front().stamp_; } ``` and std::list<T>::front(): ```cpp reference front() _GLIBCXX_NOEXCEPT { return *begin(); } ``` * Improve readbility by relying on STL functions By now reading to this block I can tell that we are preventing to inserting a new element in the list, that has a timestamp that is actually older than the max_storage_time_ we allow for * Remove hardcoded algorithmg for STL one The intent of the code is now more clear, instead of relying on raw loops, we "find if" there is any element in the list that has a stamp older than the incoming one. With this we find the position in the list where we should insert the current timestamp: `storage_it` * Remove to better express what this pointer is represetngin * Replace raw loop for STL algorithm Remove if any element is older thant the max_storage_time_ allowed, relative to the latest(sooner) time seems clear npw

…kport #680) (#694) * Nacho/minor fixes tf2 cache (#658) * Remove unused parameter * Make use of API function to improve redability ```cpp TimePoint TimeCache::getLatestTimestamp() { return storage_.front().stamp_; } ``` And std::list<T>::front() is(gcclib): ```cpp reference front() _GLIBCXX_NOEXCEPT { return *begin(); } ``` * Same argument as 321bd22 ```cpp TimePoint TimeCache::getLatestTimestamp() { // empty list case // ... return storage_.front().stamp_; } ``` and std::list<T>::front(): ```cpp reference front() _GLIBCXX_NOEXCEPT { return *begin(); } ``` * Improve readbility by relying on STL functions By now reading to this block I can tell that we are preventing to inserting a new element in the list, that has a timestamp that is actually older than the max_storage_time_ we allow for * Remove hardcoded algorithmg for STL one The intent of the code is now more clear, instead of relying on raw loops, we "find if" there is any element in the list that has a stamp older than the incoming one. With this we find the position in the list where we should insert the current timestamp: `storage_it` * Remove to better express what this pointer is represetngin * Replace raw loop for STL algorithm Remove if any element is older thant the max_storage_time_ allowed, relative to the latest(sooner) time seems clear npw * [TimeCache] Improve performance for insertData() and pruneList() (#680) Signed-off-by: Eric Cousineau <eric.cousineau@tri.global> Co-authored-by: Chris Lalancette <clalancette@gmail.com> * Don't break ABI Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> --------- Signed-off-by: Eric Cousineau <eric.cousineau@tri.global> Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Ignacio Vizzo <ignacio@dexory.com> Co-authored-by: Eric Cousineau <eric.cousineau@tri.global> Co-authored-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

…kport #680) (#693) * Nacho/minor fixes tf2 cache (#658) * Remove unused parameter * Make use of API function to improve redability ```cpp TimePoint TimeCache::getLatestTimestamp() { return storage_.front().stamp_; } ``` And std::list<T>::front() is(gcclib): ```cpp reference front() _GLIBCXX_NOEXCEPT { return *begin(); } ``` * Same argument as 321bd22 ```cpp TimePoint TimeCache::getLatestTimestamp() { // empty list case // ... return storage_.front().stamp_; } ``` and std::list<T>::front(): ```cpp reference front() _GLIBCXX_NOEXCEPT { return *begin(); } ``` * Improve readbility by relying on STL functions By now reading to this block I can tell that we are preventing to inserting a new element in the list, that has a timestamp that is actually older than the max_storage_time_ we allow for * Remove hardcoded algorithmg for STL one The intent of the code is now more clear, instead of relying on raw loops, we "find if" there is any element in the list that has a stamp older than the incoming one. With this we find the position in the list where we should insert the current timestamp: `storage_it` * Remove to better express what this pointer is represetngin * Replace raw loop for STL algorithm Remove if any element is older thant the max_storage_time_ allowed, relative to the latest(sooner) time seems clear npw * [TimeCache] Improve performance for insertData() and pruneList() (#680) Signed-off-by: Eric Cousineau <eric.cousineau@tri.global> Co-authored-by: Chris Lalancette <clalancette@gmail.com> * Don't break ABI Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> --------- Signed-off-by: Eric Cousineau <eric.cousineau@tri.global> Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Ignacio Vizzo <ignacio@dexory.com> Co-authored-by: Eric Cousineau <eric.cousineau@tri.global> Co-authored-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

nachovizzo added 7 commits March 12, 2024 22:10

Remove unused parameter

4e33d31

Make use of API function to improve redability

321bd22

```cpp TimePoint TimeCache::getLatestTimestamp() { return storage_.front().stamp_; } ``` And std::list<T>::front() is(gcclib): ```cpp reference front() _GLIBCXX_NOEXCEPT { return *begin(); } ```

Same argument as 321bd22

12f2d94

```cpp TimePoint TimeCache::getLatestTimestamp() { // empty list case // ... return storage_.front().stamp_; } ``` and std::list<T>::front(): ```cpp reference front() _GLIBCXX_NOEXCEPT { return *begin(); } ```

Improve readbility by relying on STL functions

5bc4c85

By now reading to this block I can tell that we are preventing to inserting a new element in the list, that has a timestamp that is actually older than the max_storage_time_ we allow for

Remove to better express what this pointer is represetngin

a3755da

Replace raw loop for STL algorithm

4559ea8

Remove if any element is older thant the max_storage_time_ allowed, relative to the latest(sooner) time seems clear npw

nachovizzo requested review from ahcorde and clalancette as code owners March 12, 2024 22:50

ahcorde approved these changes Mar 13, 2024

View reviewed changes

ahcorde merged commit 8752526 into ros2:rolling Mar 22, 2024
1 of 2 checks passed

This was referenced May 9, 2024

Performance regression due to #636 #676

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[TimeCache] Improve performance for insertData() and pruneList() #680

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Nacho/minor fixes tf2 cache #658

Nacho/minor fixes tf2 cache #658

nachovizzo commented Mar 12, 2024

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fujitatomoya commented Mar 21, 2024

Nacho/minor fixes tf2 cache #658

Nacho/minor fixes tf2 cache #658

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fujitatomoya commented Mar 21, 2024