Optimize render updates and use of thread mutexes in Sensors system (#…

…1938) This PR optimizes the threading and render updates in the sensors system by: * reducing the scope of the renderMutex lock in Sensors::Update function * changing a few bool variables to atomic, also to reduce the need to lock mutexes * performing scene tree updates only when necessary Signed-off-by: Ian Chen <[email protected]>
gazebosim · Apr 25, 2023 · 224a6ce · 224a6ce
1 parent df231cb
commit 224a6ce
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Showing 7 changed files with 554 additions and 104 deletions.
diff --git a/include/gz/sim/EventManager.hh b/include/gz/sim/EventManager.hh
@@ -118,6 +118,31 @@ namespace gz
                 }
               }
 
+      /// \brief Get connection count for a particular event
+      /// Connection count for the event
+      public: template <typename E>
+              unsigned int
+              ConnectionCount()
+              {
+                if (this->events.find(typeid(E)) == this->events.end())
+                {
+                  return 0u;
+                }
+
+                E *eventPtr = dynamic_cast<E *>(this->events[typeid(E)].get());
+                // All values in the map should be derived from Event,
+                // so this shouldn't be an issue, but it doesn't hurt to check.
+                if (eventPtr != nullptr)
+                {
+                  return eventPtr->ConnectionCount();
+                }
+                else
+                {
+                  gzerr << "Failed to get connection count for event: "
+                    << typeid(E).name() << std::endl;
+                  return 0u;
+                }
+              }
 
       /// \brief Convenience type for storing typeinfo references.
       private: using TypeInfoRef = std::reference_wrapper<const std::type_info>;

diff --git a/src/EventManager_TEST.cc b/src/EventManager_TEST.cc
@@ -29,12 +29,16 @@ TEST(EventManager, EmitConnectTest)
 {
   EventManager eventManager;
 
+  EXPECT_EQ(0u, eventManager.ConnectionCount<events::Pause>());
+
   bool paused1 = false;
   auto connection1 = eventManager.Connect<events::Pause>(
     [&paused1](bool _paused) {
       paused1 = _paused;
     });
 
+  EXPECT_EQ(1u, eventManager.ConnectionCount<events::Pause>());
+
   // Emitting events causes connection callbacks to be fired.
   eventManager.Emit<events::Pause>(true);
   EXPECT_EQ(true, paused1);
@@ -47,6 +51,8 @@ TEST(EventManager, EmitConnectTest)
       paused2 = _paused;
     });
 
+  EXPECT_EQ(2u, eventManager.ConnectionCount<events::Pause>());
+
   // Multiple connections should each be fired.
   eventManager.Emit<events::Pause>(true);
   EXPECT_EQ(true, paused1);
@@ -58,9 +64,12 @@ TEST(EventManager, EmitConnectTest)
 
   // Clearing the ConnectionPtr will cause it to no longer fire.
   connection1.reset();
+
   eventManager.Emit<events::Pause>(true);
   EXPECT_EQ(false, paused1);
   EXPECT_EQ(true, paused2);
+
+  EXPECT_EQ(1u, eventManager.ConnectionCount<events::Pause>());
 }
 
 /// Test that we are able to connect arbitrary events and signal them.