[wip] Add cache for topic filter to avoid performance burden on discovery #1486
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Rationale: When rosbag2 discovery enabled we are continuously doing a lot of checks in the TopicFilter::take_topic(..) which could be avoided by using cache Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
MichaelOrlov
requested review from
emersonknapp,
james-rms and
fujitatomoya
and removed request for
a team
|
One test is unexpectedly failing. Movin to the WIP until further investigation. |
| filtered_topics.insert(std::make_pair(topic_name, topic_types[0])); | ||
| take_topics_cache_[topic_name] = true; | ||
| } else { | ||
| take_topics_cache_[topic_name] = false; |
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1st discovery, lets say if the topic is bound with unknown type, and the register here with false. after 2nd discovery, even if the topic is rebound to the appropriate type, it cannot be taken since it does not reconsider the topic type every time. how about using already_warned_unknown_types_ to check if we already know that is unknown type or not to deny the topic instead?
MichaelOrlov
changed the title
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Rationale:
When rosbag2 discovery is enabled we are periodically doing a lot of checks in the TopicFilter::take_topic(..) which could be avoided by using cache.