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Backport sensors system threading optimization changes #2058

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Jul 31, 2023
Merged

Backport sensors system threading optimization changes #2058

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9ca7d75
backport sensor threading changes, #1938 and #2025
iche033 Jul 27, 2023
0dc3a9d
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iche033 Jul 28, 2023
1d762d9
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iche033 Jul 28, 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 ignition
}
}

/// \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
{
ignerr << "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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10 changes: 10 additions & 0 deletions src/EventManager_TEST.cc
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Expand Up @@ -29,12 +29,17 @@ 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 +52,8 @@ 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 +65,12 @@ 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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