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optimize timeout judgement according to different condition #187

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merged 3 commits into from
Feb 7, 2018

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jwang11
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@jwang11 jwang11 commented Jan 22, 2018

Under the condition that "hasToWait && wait_timeout", there is no need to re-calc hasData to judge timeout because predicate already include the logic. We only need do it if hasToWait && !wait_timeout. This commit optimize timeout judgement which slightly improve the performance in some conditions

Signed-off-by: jwang [email protected]

Under the condition that "hasToWait && wait_timeout", there is no need to re-calc hasData to judge timeout
because predicate already include the logic. We only need do it if hasToWait && !wait_timeout. This commit
optimize timeout judgement which slightly improve the performance in some conditions

Signed-off-by: jwang <[email protected]>
@dhood dhood added the in review Waiting for review (Kanban column) label Jan 23, 2018
n += std::chrono::nanoseconds(wait_timeout->nsec);
timeout = !conditionVariable->wait_for(lock, n, predicate);
} else {
if (hasToWait && !wait_timeout) {
conditionVariable->wait(lock);
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std::condition_variable::wait(...) is allowed to spuriously wake up. This could cause rmw_wait() to return with no data despite being told to wait forever. Would you mind including a fix for this by changing it to conditionVariable->wait(lock, predicate)?


if (hasToWait) {
if (!wait_timeout) {
if (hasToWait && wait_timeout) {
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@sloretz sloretz Jan 24, 2018

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I think this code will work fine. If I understand correctly in pseudo code it says

if (no data and timeout > 0)  // line 155
    wait until there is data with timeout
    return timeout error if still no data  // line 162
else  // line 163
    if (no data and timeout == NULL)  // line 164
        wait until there is data
    if (no data and timeout == 0)  // line 171
        return timeout error

What do you think about separating having data initially from the timeout logic?

if (no data)
    if (timeout == NULL)
        wait until there is data
    else if (timeout > 0)
        wait until there is data with timeout
        return timeout error if still no data
    else
        return timeout error

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jwang11 commented Jan 25, 2018

Ok, I'll replace conditionVariable->wait(lock) with conditionVariable->wait(lock, predicate) and update the timeout logic to make it more readable.

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sloretz commented Jan 26, 2018

@jwang11 Thanks! It looks good to me. I started some CI jobs.

Edit: Ooops passed wrong link for repos, restarted CI

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wjwwood commented Jan 30, 2018

Looks like there are failing tests related to this change (or it seems so).

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jwang11 commented Jan 31, 2018

I paste error test as below

21:39:15 32: [ RUN      ] WaitSetTestFixture__rmw_fastrtps_cpp.zero_timeout
21:39:15 32: /home/rosbuild/ci_scripts/ws/src/ros2/rcl/rcl/test/rcl/test_wait.cpp:160: Failure
21:39:15 32: Expected equality of these values:
21:39:15 32:   2
21:39:15 32:   ret
21:39:15 32:     Which is: 0
21:39:15 32: error not set
21:39:15 32: [  FAILED  ] WaitSetTestFixture__rmw_fastrtps_cpp.zero_timeout (1 ms)
21:39:15 32: [ RUN      ] WaitSetTestFixture__rmw_fastrtps_cpp.zero_timeout_triggered_guard_condition
21:39:15 32: [       OK ] WaitSetTestFixture__rmw_fastrtps_cpp.zero_timeout_triggered_guard_condition (0 ms)
21:39:15 32: [ RUN      ] WaitSetTestFixture__rmw_fastrtps_cpp.canceled_timer
21:39:15 32: [       OK ] WaitSetTestFixture__rmw_fastrtps_cpp.canceled_timer (10 ms)
21:39:15 32: [ RUN      ] WaitSetTestFixture__rmw_fastrtps_cpp.excess_capacity
21:39:15 32: [       OK ] WaitSetTestFixture__rmw_fastrtps_cpp.excess_capacity (1 ms)
21:39:15 32: [ RUN      ] WaitSetTestFixture__rmw_fastrtps_cpp.multi_wait_set_threaded
21:39:15 32: [       OK ] WaitSetTestFixture__rmw_fastrtps_cpp.multi_wait_set_threaded (24 ms)
21:39:15 32: [ RUN      ] WaitSetTestFixture__rmw_fastrtps_cpp.guard_condition
21:39:15 32: [       OK ] WaitSetTestFixture__rmw_fastrtps_cpp.guard_condition (10 ms)
21:39:15 32: [----------] 9 tests from WaitSetTestFixture__rmw_fastrtps_cpp (66 ms total)
21:39:15 32: 
21:39:15 32: [----------] Global test environment tear-down
21:39:15 32: [==========] 9 tests from 1 test case ran. (66 ms total)
21:39:15 32: [  PASSED  ] 8 tests.
21:39:15 32: [  FAILED  ] 1 test, listed below:
21:39:15 32: [  FAILED  ] WaitSetTestFixture__rmw_fastrtps_cpp.zero_timeout

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wjwwood commented Jan 31, 2018

@jwang11 can you reproduce that locally? I'd expect that's related to your change and will require a change in the tests or in your changes.

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jwang11 commented Jan 31, 2018

@wjwwood I'll try this test case locally today, looks like caused by this change.

// Do this before detaching the listeners because the data gets cleared for guard conditions.
bool hasData = check_wait_set_for_data(subscriptions, guard_conditions, services, clients);
if (!hasData && wait_timeout && wait_timeout->sec == 0 && wait_timeout->nsec == 0) {
timeout = true;
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Removing this is what causes the tests to fail. If the timeout is reached (even if the timeout is 0) RMW_RET_TIMEOUT should be returned (or at least that's what the test expects)

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jwang11 commented Jan 31, 2018

Ok, I got the point. If wait_timeout->sec == 0 && wait_timeout->nsec == 0 and there is no data, it should return TIMEOUT. thanks @mikaelarguedas . IMHO, TIMEOUT is not good enough in such case, anyway it is better than return 0.

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jwang11 commented Jan 31, 2018

17: [==========] Running 9 tests from 1 test case.
17: [----------] Global test environment set-up.
17: [----------] 9 tests from WaitSetTestFixture__rmw_fastrtps_cpp
17: [ RUN ] WaitSetTestFixture__rmw_fastrtps_cpp.test_resize_to_zero
17: [ OK ] WaitSetTestFixture__rmw_fastrtps_cpp.test_resize_to_zero (0 ms)
17: [ RUN ] WaitSetTestFixture__rmw_fastrtps_cpp.finite_timeout
17: [ OK ] WaitSetTestFixture__rmw_fastrtps_cpp.finite_timeout (10 ms)
17: [ RUN ] WaitSetTestFixture__rmw_fastrtps_cpp.negative_timeout
17: [ OK ] WaitSetTestFixture__rmw_fastrtps_cpp.negative_timeout (10 ms)
17: [ RUN ] WaitSetTestFixture__rmw_fastrtps_cpp.zero_timeout
17: [ OK ] WaitSetTestFixture__rmw_fastrtps_cpp.zero_timeout (0 ms)
17: [ RUN ] WaitSetTestFixture__rmw_fastrtps_cpp.zero_timeout_triggered_guard_condition
17: [ OK ] WaitSetTestFixture__rmw_fastrtps_cpp.zero_timeout_triggered_guard_condition (0 ms)
17: [ RUN ] WaitSetTestFixture__rmw_fastrtps_cpp.canceled_timer
17: [ OK ] WaitSetTestFixture__rmw_fastrtps_cpp.canceled_timer (10 ms)
17: [ RUN ] WaitSetTestFixture__rmw_fastrtps_cpp.excess_capacity
17: [ OK ] WaitSetTestFixture__rmw_fastrtps_cpp.excess_capacity (1 ms)
17: [ RUN ] WaitSetTestFixture__rmw_fastrtps_cpp.multi_wait_set_threaded
17: [ OK ] WaitSetTestFixture__rmw_fastrtps_cpp.multi_wait_set_threaded (21 ms)
17: [ RUN ] WaitSetTestFixture__rmw_fastrtps_cpp.guard_condition
17: [ OK ] WaitSetTestFixture__rmw_fastrtps_cpp.guard_condition (10 ms)
17: [----------] 9 tests from WaitSetTestFixture__rmw_fastrtps_cpp (62 ms total)
17:
17: [----------] Global test environment tear-down
17: [==========] 9 tests from 1 test case ran. (62 ms total)
17: [ PASSED ] 9 tests.

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sloretz commented Jan 31, 2018

Started CI (testing 128309e, but github UI displays it after since the commit time stamp is 4 hours ahead of this comment).

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@mikaelarguedas mikaelarguedas changed the title optimize timeout judgement according to different condition optimize timeoutwaf judgement according to different condition Feb 1, 2018
@mikaelarguedas mikaelarguedas changed the title optimize timeoutwaf judgement according to different condition optimize timeout judgement according to different condition Feb 1, 2018
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Thanks for the pull request!

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lgtm

@mikaelarguedas mikaelarguedas merged commit fe6a057 into ros2:master Feb 7, 2018
@mikaelarguedas mikaelarguedas removed the in review Waiting for review (Kanban column) label Feb 7, 2018
timonegk pushed a commit to timonegk/ros-rolling-rmw-fastrtps-cpp-release that referenced this pull request May 21, 2022
ros-rolling-rmw-fastrtps-cpp (6.2.1-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-cpp (6.1.2-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-cpp (6.0.0-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-cpp (5.2.1-1jammy) jammy; urgency=high
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  * Change links from index.ros.org -> docs.ros.org (#539 <ros2/rmw_fastrtps#539>)
  * Contributors: Chris Lalancette
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ros-rolling-rmw-fastrtps-cpp (5.2.0-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-cpp (5.1.0-1jammy) jammy; urgency=high
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  * Loan messages implementation (#523 <ros2/rmw_fastrtps#523>)
    * Added is_plain_ attribute to base TypeSupport.
    * Added new methods to base TypeSupport.
    * Implementation of rmw_borrow_loaned_message.
    * Implementation of rmw_return_loaned_message_from_publisher.
    * Enable loan messages on publishers of plain types.
    * Implementation for taking loaned messages.
    * Enable loan messages on subscriptions of plain types.
  * Contributors: Miguel Company
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ros-rolling-rmw-fastrtps-cpp (5.0.0-1jammy) jammy; urgency=high
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  * Refactor to use DDS standard API (#518 <ros2/rmw_fastrtps#518>)
  * Unique network flows (#502 <ros2/rmw_fastrtps#502>)
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ros-rolling-rmw-fastrtps-cpp (4.4.0-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-cpp (4.3.0-1jammy) jammy; urgency=high
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  * Set rmw_dds_common::GraphCache callback after init succeeds. (#496 <ros2/rmw_fastrtps#496>)
  * Handle typesupport errors on fetch. (#495 <ros2/rmw_fastrtps#495>)
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ros-rolling-rmw-fastrtps-cpp (4.1.0-1jammy) jammy; urgency=high
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  * New environment variable to change easily the publication mode (#470 <ros2/rmw_fastrtps#470>)
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ros-rolling-rmw-fastrtps-cpp (4.0.0-1jammy) jammy; urgency=high
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    * Workaround when the client is gone before server sends response
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  * Update the package.xml files with the latest Open Robotics maintainers (#459 <ros2/rmw_fastrtps#459>)
  * Update Quality Declarations and READMEs (#455 <ros2/rmw_fastrtps#455>)
    * Add QD links for dependencies to rmw_fastrtps_cpp QD
    * Provide external dependencies QD links
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  * Ensure rmw_destroy_node() completes despite run-time errors. (#458 <ros2/rmw_fastrtps#458>)
  * Update rmw_fastrtps_cpp and rmw_fastrtps_shared_cpp QDs to QL2. (#456 <ros2/rmw_fastrtps#456>)
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ros-rolling-rmw-fastrtps-cpp (1.0.1-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-cpp (1.0.0-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-cpp (0.9.1-1jammy) jammy; urgency=high
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  * Contributors: Alejandro Hernández Cordero, brawner
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ros-rolling-rmw-fastrtps-cpp (0.9.0-1jammy) jammy; urgency=high
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  * Add missing export of rmw_dds_common. (#374 <ros2/rmw_fastrtps#374>)
  * Rename rosidl_message_bounds_t. (#373 <ros2/rmw_fastrtps#373>)
  * Feature/services timestamps. (#369 <ros2/rmw_fastrtps#369>)
  * Add support for taking a sequence of messages. (#366 <ros2/rmw_fastrtps#366>)
  * security-context -> enclave. (#365 <ros2/rmw_fastrtps#365>)
  * Rename rosidl_generator_c namespace to rosidl_runtime_c. (#367 <ros2/rmw_fastrtps#367>)
  * Remove custom typesupport for rmw_dds_common interfaces. (#364 <ros2/rmw_fastrtps#364>)
  * Added rosidl_runtime c and cpp depencencies. (#351 <ros2/rmw_fastrtps#351>)
  * Switch to one Participant per Context. (#312 <ros2/rmw_fastrtps#312>)
  * Add rmw_*_event_init() functions. (#354 <ros2/rmw_fastrtps#354>)
  * Fixing type support C/CPP mix on rmw_fastrtps_dynamic_cpp. (#350 <ros2/rmw_fastrtps#350>)
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  * Code style only: wrap after open parenthesis if not in one line. (#347 <ros2/rmw_fastrtps#347>)
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  * Implement functions to get publisher and subcription informations like QoS policies from topic name. (#336 <ros2/rmw_fastrtps#336>)
  * Contributors: Alejandro Hernández Cordero, Dirk Thomas, Ingo Lütkebohle, Ivan Santiago Paunovic, Jaison Titus, Miaofei Mei, Michael Carroll, Miguel Company, Mikael Arguedas
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ros-rolling-rmw-fastrtps-cpp (0.8.1-1jammy) jammy; urgency=high
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  * use return_loaned_message_from (#334 <ros2/rmw_fastrtps#334>)
  * Restrict traffic to localhost only if env var is provided (#331 <ros2/rmw_fastrtps#331>)
  * Zero copy api (#322 <ros2/rmw_fastrtps#322>)
  * update signature for added pub/sub options (#329 <ros2/rmw_fastrtps#329>)
  * Contributors: Brian Marchi, Karsten Knese, William Woodall
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ros-rolling-rmw-fastrtps-cpp (0.8.0-1jammy) jammy; urgency=high
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  * Add function for getting clients by node (#293 <ros2/rmw_fastrtps#293>)
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  * Fix error message (#290 <ros2/rmw_fastrtps#290>)
  * Contributors: Jacob Perron, M. M
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ros-rolling-rmw-fastrtps-cpp (0.7.2-1jammy) jammy; urgency=high
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  * Contributors: Nick Burek
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  * Support arbitrary message namespaces  (#266 <ros2/rmw_fastrtps#266>)
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  * Contributors: Jacob Perron, Michael Carroll, Ross Desmond
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ros-rolling-rmw-fastrtps-cpp (0.7.0-1jammy) jammy; urgency=high
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  * Add function to get publisher actual qos settings (#267 <ros2/rmw_fastrtps#267>)
  * pass context to wait set and fini context (#252 <ros2/rmw_fastrtps#252>)
  * Improve service_is_available logic to protect that client is waiting forever (#238 <ros2/rmw_fastrtps#238>)
  * Merge pull request #250 <ros2/rmw_fastrtps#250> from ros2/support_static_lib
  * use namespace_prefix from shared package
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  * Add topic cache object for managing topic relations (#236 <ros2/rmw_fastrtps#236>)
  * Fastrtps 1.7.0 (#233 <ros2/rmw_fastrtps#233>)
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  * refactor to support init options and context (#237 <ros2/rmw_fastrtps#237>)
  * Methods to retrieve matched counts on pub/sub (#234 <ros2/rmw_fastrtps#234>)
  * use uint8_array (#240 <ros2/rmw_fastrtps#240>)
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ros-rolling-rmw-fastrtps-cpp (0.6.0-1jammy) jammy; urgency=high
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  * Add semicolons to all RCLCPP and RCUTILS macros. (#229 <ros2/rmw_fastrtps#229>)
  * Include node namespaces in get_node_names (#224 <ros2/rmw_fastrtps#224>)
  * add rmw_get_serialization_format (#215 <ros2/rmw_fastrtps#215>)
  * Merge pull request #218 <ros2/rmw_fastrtps#218> from ros2/pr203
  * Revert "fix template closing indentation (#214 <ros2/rmw_fastrtps#214>)"
  * fix template closing indentation (#214 <ros2/rmw_fastrtps#214>)
  * Contributors: Chris Lalancette, Dirk Thomas, Karsten Knese, Michael Carroll, Miguel Company, Mikael Arguedas
.
ros-rolling-rmw-fastrtps-cpp (0.5.1-1jammy) jammy; urgency=high
.
  * update maintainer
  * Contributors: Dirk Thomas
.
ros-rolling-rmw-fastrtps-cpp (0.5.0-1jammy) jammy; urgency=high
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  * Avoid allocations (#211 <ros2/rmw_fastrtps#211>)
  * Temporary buffer remove (#207 <ros2/rmw_fastrtps#207>)
  * Validate the buffer_ of CustomServiceRequest object before using it to (#210 <ros2/rmw_fastrtps#210>)
  * update usage of rcutils_join_path() (#208 <ros2/rmw_fastrtps#208>)
  * Expose raw CDR stream for publish and subscribe (#186 <ros2/rmw_fastrtps#186>)
  * Remove topic partitions (#192 <ros2/rmw_fastrtps#192>)
  * Fix leak if client reponse is never taken (#201 <ros2/rmw_fastrtps#201>)
  * Revert "Export rmw_fastrtps_cpp target" (#200 <ros2/rmw_fastrtps#200>)
  * Support access control  (#197 <ros2/rmw_fastrtps#197>)
  * Export rmw_fastrtps_cpp target (#198 <ros2/rmw_fastrtps#198>)
  * Fix deserialization segfault in bionic. (#199 <ros2/rmw_fastrtps#199>)
  * Fix namespaces (#196 <ros2/rmw_fastrtps#196>)
  * Merge pull request #182 <ros2/rmw_fastrtps#182> from ros2/node_name_in_user_data
  * add participant listener
  * add node name to user data
  * change export order for static linking (#190 <ros2/rmw_fastrtps#190>)
  * update style (#189 <ros2/rmw_fastrtps#189>)
  * optimize timeout judgement according to different condition (#187 <ros2/rmw_fastrtps#187>)
  * use existing check_wait_set_for_data to avoid duplicated code (#185 <ros2/rmw_fastrtps#185>)
  * Enable logging level manipulation from rmw_fastrtps (#156 <ros2/rmw_fastrtps#156>)
  * Small performance improvements (#183 <ros2/rmw_fastrtps#183>)
  * Segmentation error to dereference nullptr (#180 <ros2/rmw_fastrtps#180>)
  * Contributors: Dirk Thomas, Ethan Gao, Guillaume Autran, Karsten Knese, Michael Carroll, MiguelCompany, Mikael Arguedas, Minggang Wang, Rohit Salem, Shane Loretz, Sriram Raghunathan, William Woodall, jwang11
.
ros-rolling-rmw-fastrtps-cpp (0.4.0-1jammy) jammy; urgency=high
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  * Merge pull request #178 <ros2/rmw_fastrtps#178> from ros2/fix_wrong_count
  * Merge pull request #177 <ros2/rmw_fastrtps#177> from ros2/rename_group
  * Wait set two words (#175 <ros2/rmw_fastrtps#175>)
  * not exporting pthread manually (#174 <ros2/rmw_fastrtps#174>)
  * Merge pull request #169 <ros2/rmw_fastrtps#169> from ros2/rep149
  * Merge pull request #171 <ros2/rmw_fastrtps#171> from jwang11/master
  * rcutils_join_path returns a char * now. (#173 <ros2/rmw_fastrtps#173>)
  * memory leak issue (#172 <ros2/rmw_fastrtps#172>)
  * Unify and simplify de/serializeROSmessage processing
  * Avoid duplicated code in calculateMaxSerializedSize for array and normal member (#168 <ros2/rmw_fastrtps#168>)
  * Fix the issues to dereference to nullptr (#165 <ros2/rmw_fastrtps#165>)
  * Fix rmw_fastrtps dead code (#163 <ros2/rmw_fastrtps#163>)
  * Merge pull request #167 <ros2/rmw_fastrtps#167> from deng02/tune-count-pub-sub
  * Remove string allocation in the count of subscribers and publishers
  * use auto deduction and nullptr to keep coding style consistent (#162 <ros2/rmw_fastrtps#162>)
  * Merge pull request #164 <ros2/rmw_fastrtps#164> from dejanpan/master
  * Fix several parameter check issues in rmw_fastrtps_cpp apis
  * Remove unnecessary dependency on rosidl_generator_cpp (#161 <ros2/rmw_fastrtps#161>)
  * Move the hasData checks for non-blocking wait 'timeout' higher (#158 <ros2/rmw_fastrtps#158>)
  * Support loading default XML profile file (#153 <ros2/rmw_fastrtps#153>)
  * Drop duplicated rmw_init.cpp in rmw_fastrtps_cpp/CMakeLists.txt (#155 <ros2/rmw_fastrtps#155>)
  * Merge pull request #154 <ros2/rmw_fastrtps#154> from ros2/uncrustify_master
  * Removing magic numbers: old maximun lengths (#152 <ros2/rmw_fastrtps#152>)
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