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Optimize render updates and use of thread mutexes in Sensors system #1938

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merged 7 commits into from
Apr 25, 2023
Merged

Optimize render updates and use of thread mutexes in Sensors system #1938

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4f37276
profiling
iche033 Mar 18, 2023
0bc4f46
avoid locking during render updates
iche033 Mar 21, 2023
20112f3
remove printlns
iche033 Mar 21, 2023
4fdea33
fix next update time, add function to check for event connection coun…
iche033 Mar 22, 2023
f06656a
fixing reset test
iche033 Mar 22, 2023
8950f51
add integration test
iche033 Mar 23, 2023
220df1f
remove white space
iche033 Mar 23, 2023
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25 changes: 25 additions & 0 deletions include/gz/sim/EventManager.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -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>;
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9 changes: 9 additions & 0 deletions src/EventManager_TEST.cc
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Expand Up @@ -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);
Expand All @@ -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);
Expand All @@ -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.
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