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Don't store duplicate ComponentTypeId in ECM #751

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Apr 24, 2021
Merged

Don't store duplicate ComponentTypeId in ECM #751

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274fe3d
Don't store duplicate ComponentTypeId in ECM
chapulina Apr 9, 2021
8d35373
fix compilation
chapulina Apr 9, 2021
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52 changes: 26 additions & 26 deletions src/EntityComponentManager.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -87,15 +87,15 @@ class ignition::gazebo::EntityComponentManagerPrivate
/// NOTE: Any modification of this data structure must be followed
/// by setting `entityComponentsDirty` to true.
public: std::unordered_map<Entity,
std::unordered_map<ComponentTypeId, ComponentKey>> entityComponents;
std::unordered_map<ComponentTypeId, ComponentId>> entityComponents;

/// \brief A vector of iterators to evenly distributed spots in the
/// `entityComponents` map. Threads in the `State` function use this
/// vector for easy access of their pre-allocated work. This vector
/// is recalculated if `entityComponents` is changed (when
/// `entityComponentsDirty` == true).
public: std::vector<std::unordered_map<Entity,
std::unordered_map<ComponentTypeId, ComponentKey>>::iterator>
std::unordered_map<ComponentTypeId, ComponentId>>::iterator>
entityComponentIterators;

/// \brief A mutex to protect newly created entityes.
Expand Down Expand Up @@ -272,8 +272,7 @@ void EntityComponentManager::ProcessRemoveEntityRequests()
{
for (const auto &key : entityIter->second)
{
this->dataPtr->components.at(key.second.first)->Remove(
key.second.second);
this->dataPtr->components.at(key.first)->Remove(key.second);
}

// Remove the entry in the entityComponent map
Expand Down Expand Up @@ -384,12 +383,14 @@ ComponentState EntityComponentManager::ComponentState(const Entity _entity,
if (typeKey == ecIter->second.end())
return result;

if (this->dataPtr->oneTimeChangedComponents.find(typeKey->second) !=
ComponentKey key{_typeId, typeKey->second};

if (this->dataPtr->oneTimeChangedComponents.find(key) !=
this->dataPtr->oneTimeChangedComponents.end())
{
result = ComponentState::OneTimeChange;
}
else if (this->dataPtr->periodicChangedComponents.find(typeKey->second) !=
else if (this->dataPtr->periodicChangedComponents.find(key) !=
this->dataPtr->periodicChangedComponents.end())
{
result = ComponentState::PeriodicChange;
Expand Down Expand Up @@ -496,7 +497,7 @@ ComponentKey EntityComponentManager::CreateComponentImplementation(
ComponentKey componentKey{_componentTypeId, componentIdPair.first};

this->dataPtr->entityComponents[_entity].insert(
{_componentTypeId, componentKey});
{_componentTypeId, componentIdPair.first});
this->dataPtr->oneTimeChangedComponents.insert(componentKey);
this->dataPtr->entityComponentsDirty = true;

Expand Down Expand Up @@ -541,7 +542,7 @@ ComponentId EntityComponentManager::EntityComponentIdFromType(

auto typeIter = ecIter->second.find(_type);
if (typeIter != ecIter->second.end())
return typeIter->second.second;
return typeIter->second;

return -1;
}
Expand All @@ -559,8 +560,8 @@ const components::BaseComponent

auto typeIter = ecIter->second.find(_type);
if (typeIter != ecIter->second.end())
return this->dataPtr->components.at(typeIter->second.first)->Component(
typeIter->second.second);
return this->dataPtr->components.at(_type)->Component(
typeIter->second);

return nullptr;
}
Expand All @@ -576,8 +577,7 @@ components::BaseComponent *EntityComponentManager::ComponentImplementation(

auto typeIter = ecIter->second.find(_type);
if (typeIter != ecIter->second.end())
return this->dataPtr->components.at(typeIter->second.first)->Component(
typeIter->second.second);
return this->dataPtr->components.at(_type)->Component(typeIter->second);

return nullptr;
}
Expand Down Expand Up @@ -768,16 +768,14 @@ void EntityComponentManager::AddEntityToMessage(msgs::SerializedState &_msg,
for (const ComponentTypeId type : types)
{
// If the entity does not have the component, continue
std::unordered_map<ComponentTypeId, ComponentKey>::iterator typeIter =
iter->second.find(type);
auto typeIter = iter->second.find(type);
if (typeIter == iter->second.end())
{
continue;
}
ComponentKey comp = (typeIter->second);

auto compMsg = entityMsg->add_components();
auto compBase = this->ComponentImplementation(_entity, comp.first);
auto compBase = this->ComponentImplementation(_entity, type);
compMsg->set_type(compBase->TypeId());

std::ostringstream ostr;
Expand Down Expand Up @@ -833,16 +831,16 @@ void EntityComponentManager::AddEntityToMessage(msgs::SerializedStateMap &_msg,
// Empty means all types
for (const ComponentTypeId type : types)
{
std::unordered_map<ComponentTypeId, ComponentKey>::iterator typeIter =
iter->second.find(type);
auto typeIter = iter->second.find(type);
if (typeIter == iter->second.end())
{
continue;
}

ComponentKey comp = typeIter->second;
const components::BaseComponent *compBase =
this->ComponentImplementation(_entity, comp.first);
this->ComponentImplementation(_entity, type);

ComponentKey comp = {type, typeIter->second};

// If not sending full state, skip unchanged components
if (!_full &&
Expand Down Expand Up @@ -1303,20 +1301,22 @@ void EntityComponentManager::SetChanged(
if (typeIter == ecIter->second.end())
return;

ComponentKey key{_type, typeIter->second};

if (_c == ComponentState::PeriodicChange)
{
this->dataPtr->periodicChangedComponents.insert(typeIter->second);
this->dataPtr->oneTimeChangedComponents.erase(typeIter->second);
this->dataPtr->periodicChangedComponents.insert(key);
this->dataPtr->oneTimeChangedComponents.erase(key);
}
else if (_c == ComponentState::OneTimeChange)
{
this->dataPtr->periodicChangedComponents.erase(typeIter->second);
this->dataPtr->oneTimeChangedComponents.insert(typeIter->second);
this->dataPtr->periodicChangedComponents.erase(key);
this->dataPtr->oneTimeChangedComponents.insert(key);
}
else
{
this->dataPtr->periodicChangedComponents.erase(typeIter->second);
this->dataPtr->oneTimeChangedComponents.erase(typeIter->second);
this->dataPtr->periodicChangedComponents.erase(key);
this->dataPtr->oneTimeChangedComponents.erase(key);
}
}

Expand Down
5 changes: 5 additions & 0 deletions src/EntityComponentManager_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -2158,6 +2158,11 @@ TEST_P(EntityComponentManagerFixture, SetEntityCreateOffset)
manager.SetEntityCreateOffset(1000);
Entity entity2 = manager.CreateEntity();
EXPECT_EQ(1001u, entity2);

// Apply a lower offset, prints warning but goes through.
manager.SetEntityCreateOffset(500);
Entity entity3 = manager.CreateEntity();
EXPECT_EQ(501u, entity3);
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}

// Run multiple times. We want to make sure that static globals don't cause
Expand Down