ANNOUNCEMENT: 1.0 beta about ros_type_introspection

[facontidavide]

UPDATE: Shaving even more performance out of the benchmark.

Version 0.8 (master): 560 ms
Version 1.0 beta (dev): 220 ms

[ibtaylor]

I dropped some comments on commits here (should see with little message box) https://github.com/facontidavide/ros_type_introspection/commits/dev

[ibtaylor]

fyi, in dev, tests fail

[ibtaylor]

these methods should probably be const methods as in void method() => void method() const since they do not/should not mutate object state

ros_type_introspection/include/ros_type_introspection/ros_introspection.hpp

Line 101 in 418cc40

const ROSMessageInfo* getMessageInfo(const std::string& msg_identifier);

ros_type_introspection/include/ros_type_introspection/ros_introspection.hpp

Line 110 in 418cc40

const ROSMessage *getMessageByType(const ROSType& type, const ROSMessageInfo &info);

ros_type_introspection/include/ros_type_introspection/ros_introspection.hpp

Lines 132 to 135 in 418cc40

	void deserializeIntoFlatContainer(const std::string& msg_identifier,
	const nonstd::VectorView<uint8_t>& buffer,
	ROSTypeFlat* flat_container_output,
	const uint32_t max_array_size );

ros_type_introspection/include/ros_type_introspection/ros_introspection.hpp

Lines 175 to 177 in 418cc40

	void applyVisitorToBuffer(const std::string& msg_identifier, const ROSType &monitored_type,
	nonstd::VectorViewMutable<uint8_t> &buffer,
	VisitingCallback callback);

this can be made const

ros_type_introspection/include/ros_type_introspection/ros_introspection.hpp

Lines 157 to 159 in 418cc40

	void applyNameTransform(const std::string& msg_identifier,
	const ROSTypeFlat& container,
	RenamedValues* renamed_value );

if

ros_type_introspection/src/ros_introspection.cpp

Line 469 in 418cc40

const std::vector<RulesCache>& rules_cache = _registered_rules[msg_identifier];

is changed from operator[] which will do an insertion (unwanted probably) with .at()

[ibtaylor]

helper_funtions.hpp => helper_functions.hpp

[facontidavide]

thank you for the valuable remarks, I completely missed the typos and the const.

Test is not failing on my most up to date version. If it still fails on your PC, send me the error message.

[ibtaylor]

ran tests on commit c77c728

[==========] Running 16 tests from 5 test cases.
[----------] Global test environment set-up.
[----------] 5 tests from RosType
[ RUN      ] RosType.builtin_int32
[       OK ] RosType.builtin_int32 (0 ms)
[ RUN      ] RosType.builtin_string
[       OK ] RosType.builtin_string (0 ms)
[ RUN      ] RosType.builtin_fixedlen_array
/data2/ws_gcc/ws_ros_lunar/src/ros_type_introspection/src/tests/parser_test.cpp:51: Failure
      Expected: f.arraySize()
      Which is: 0
To be equal to: 32
[  FAILED  ] RosType.builtin_fixedlen_array (0 ms)
[ RUN      ] RosType.builtin_dynamic_array
[       OK ] RosType.builtin_dynamic_array (0 ms)
[ RUN      ] RosType.no_builtin_array
[       OK ] RosType.no_builtin_array (0 ms)
[----------] 5 tests from RosType (1 ms total)

[----------] 4 tests from ROSMessageFields
[ RUN      ] ROSMessageFields.ParseComments
[       OK ] ROSMessageFields.ParseComments (0 ms)
[ RUN      ] ROSMessageFields.constant_uint8
[       OK ] ROSMessageFields.constant_uint8 (0 ms)
[ RUN      ] ROSMessageFields.ConstantNavstatus
[       OK ] ROSMessageFields.ConstantNavstatus (1 ms)
[ RUN      ] ROSMessageFields.ConstantComments
[       OK ] ROSMessageFields.ConstantComments (1 ms)
[----------] 4 tests from ROSMessageFields (2 ms total)

[----------] 2 tests from BuildROSTypeMapFromDefinition
[ RUN      ] BuildROSTypeMapFromDefinition.IMUparsing
/data2/ws_gcc/ws_ros_lunar/src/ros_type_introspection/src/tests/parser_test.cpp:255: Failure
      Expected: msg->field(2).arraySize()
      Which is: 5
To be equal to: 9
/data2/ws_gcc/ws_ros_lunar/src/ros_type_introspection/src/tests/parser_test.cpp:262: Failure
      Expected: msg->field(4).arraySize()
      Which is: 5
To be equal to: 9
/data2/ws_gcc/ws_ros_lunar/src/ros_type_introspection/src/tests/parser_test.cpp:269: Failure
      Expected: msg->field(6).arraySize()
      Which is: 0
To be equal to: 9
[  FAILED  ] BuildROSTypeMapFromDefinition.IMUparsing (3 ms)
[ RUN      ] BuildROSTypeMapFromDefinition.Int16MultiArrayParsing
[       OK ] BuildROSTypeMapFromDefinition.Int16MultiArrayParsing (1 ms)
[----------] 2 tests from BuildROSTypeMapFromDefinition (4 ms total)

[----------] 4 tests from Deserialize
[ RUN      ] Deserialize.JointState
[       OK ] Deserialize.JointState (2 ms)
[ RUN      ] Deserialize.NavSatStatus
[       OK ] Deserialize.NavSatStatus (1 ms)
[ RUN      ] Deserialize.DeserializeIMU
unknown file: Failure
C++ exception with description "buildRosFlatType: There was an error parsing the buffer" thrown in the test body.
[  FAILED  ] Deserialize.DeserializeIMU (2 ms)
[ RUN      ] Deserialize.Int16MultiArrayDeserialize
[       OK ] Deserialize.Int16MultiArrayDeserialize (1 ms)
[----------] 4 tests from Deserialize (6 ms total)

[----------] 1 test from Renamer2
[ RUN      ] Renamer2.DeserializeJointStateAndRename
[       OK ] Renamer2.DeserializeJointStateAndRename (2 ms)
[----------] 1 test from Renamer2 (2 ms total)

[----------] Global test environment tear-down
[==========] 16 tests from 5 test cases ran. (15 ms total)
[  PASSED  ] 13 tests.
[  FAILED  ] 3 tests, listed below:
[  FAILED  ] RosType.builtin_fixedlen_array
[  FAILED  ] BuildROSTypeMapFromDefinition.IMUparsing
[  FAILED  ] Deserialize.DeserializeIMU

 3 FAILED TESTS

[facontidavide]

I do not have this problem. Which compiler are you using?

Which Boost version?

[ibtaylor]

I'm using ros lunar. Compiler gcc version 5.4.0 20160609 (Ubuntu 5.4.0-6ubuntu1~16.04.4)

[facontidavide]

:( I will try to install a version of lunar and see why this is happening. It is super weird.
Could it be a problem with atoi? Can you debug it on your computer and check the value of these lines for the failing tests?

  std::string size(what[3].first, what[3].second);
  _array_size = size.empty() ? -1 : atoi(size.c_str());

[ibtaylor]

okay, I found that problem. assigning to type after the match will corrupt the results.
doing

std::string type_tmp = type;
if (regex_search(type_tmp, what, array_regex))

works fine

[facontidavide]

Awesome! Just pushed the fix

[facontidavide]

I am about to close this and merge dev into master (and release it on ROS Indigo, Kinetic and Lunar).

The refactoring is not 3X faster than the original code and looking at the results of Callgrind I can not see any low hanging fruit for further optimization.

[facontidavide]

pushed