Improving the performance of the read_message by not splitting the da… #90
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…ta into 1024 chunks and stitching them together as you go, instead receiving the entire message all at once.
LaurieCheers-unity
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Aug 26, 2021
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* Merge Dev to main for release 0.4.0 (#74) * Add logging dependency (#32) * Changing yamato host flavor to large (#33) * Amanda/read chunks (#36) * s.send to s.sendall * Increase default timeout * Timeout as argument on instantiation * Update version number (#38) * Laurie/topic list (#41) * Updating Contribution Content (#44) * Contributing guidelines * Issue templates * PR feedback * Updated per later changes (#45) * Adding PR template (#46) * One persistent connection for all messages sent to Unity * make UnityService accessible from ros_tcp_endpoint (#49) * Don't keep retrying on success (#50) * Resolve conflicts for merging dev to main * Queue module was renamed in Python 3 (#53) * Update package.xml (#54) * RosConnection 2.0 (#57) * Remove outdated handshake references * Fix sending response to unity service (#59) * add changelog (#60) * Forum links to README, config.yml (#61) * Send empty message on connection start (#58) * add test coverage for python scripts (#62) * fix the bug (#64) * Minor bug fixes (#65) * Add Tests and Linter (#63) * Add tests for tcp sender * Add linter and pre-commit hooks * Reformat with python black * Add tests * Add tests for server, client, publisher, subscriber, ros_service, unity_service, thread_pauser * Fix pre-commit-config file name; Add client tests * Add github workflow check * Formatting * Resolve conflicts (#66) * Fix bug (#68) * Fix bug * Temporarily remove publisher test Co-authored-by: Shuo Diao <[email protected]> * update version to 0.4.0 (#69) Co-authored-by: Devin Miller (Unity) <[email protected]> Co-authored-by: Amanda <[email protected]> Co-authored-by: LaurieCheers-unity <[email protected]> Co-authored-by: Hamid Younesy <[email protected]> Co-authored-by: peifeng-unity <[email protected]> * ROS2 support (#77) Co-authored-by: Tiffany Yau <[email protected]> * update changelog (#83) * Merge v0.5.0 (#84) * Merge main to dev (#85) * Stale issue handler (#87) * Initial commit: stale handler * Remove latest tag from yamato config * Updated dates, changelog * PR Feedback: cron schedule * Exposing publisher queue_size and latch (#88) * Working to improve the ROS TCP connector by adding queues and latching. * Exposing the latch parameter for ROS publishers. * Updating the CHANGELOG * Improving style for publish method definition. * Improving the performance of the read_message by not splitting the da… (#90) * Improving the performance of the read_message by not splitting the data into 1024 chunks and stitching them together as you go, instead receiving the entire message all at once. * Updating the changelog * Publisher signature * Publisher constructor * Don't mess around with packets, just read the whole message * source_destination_dict shatters into 4 separate tables * Update tests * 1 more test fix * Updated server, setup dir Co-authored-by: Shuo Diao <[email protected]> Co-authored-by: Devin Miller (Unity) <[email protected]> Co-authored-by: LaurieCheers-unity <[email protected]> Co-authored-by: Hamid Younesy <[email protected]> Co-authored-by: peifeng-unity <[email protected]> Co-authored-by: Tiffany Yau <[email protected]> Co-authored-by: Peter Smith <[email protected]>
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Improving the performance read_message, see #89
This is done by receiving the entire message all at once instead of reading 1024 byte chunks and stitching them together as you go.
Proposed change(s)
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Testing and Verification
Test machine: i7 9700k, 32Gb ddr4 2133MHz ram.
So before the change, it took between 3.5ms and 4.9ms to read a message of length 2764858 byes (24-bit 720p uncompressed image message)
After the change, it took between 0.5ms and 1.1ms.
Nice.
Test Configuration:
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