feat(autoware_universe_utils): add LRU Cache #8456

yhisaki · 2024-08-13T11:58:58Z

Description

Implement LRU Cache in autoware_universe_utils. This will allow us to cache the input and output of the function.

We show the performance of Fibonacci, w and w/o lru_cache in example_lru_cache.cpp.

n       With Cache (μs) Without Cache (μs)
-------------------------------------------
30      2               852
31      0               1401
32      0               2212
33      1               3730
34      1               5743
35      1               10082
36      1               14685
37      1               26827
38      1               39542
39      1               70720
40      1               103842

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>

github-actions · 2024-08-13T11:59:14Z

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maxime-clem

Very nice ! Just today I wanted to use a cache and had to use boost::compute. I will switch to your implementation instead.

common/autoware_universe_utils/include/autoware/universe_utils/system/lru_cache.hpp

common/autoware_universe_utils/examples/example_lru_cache.cpp

Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>

codecov · 2024-08-13T13:56:27Z

Codecov Report

Attention: Patch coverage is 53.33333% with 7 lines in your changes missing coverage. Please review.

Project coverage is 23.88%. Comparing base (adfd354) to head (6de8284).
Report is 4 commits behind head on main.

Files	Patch %	Lines
...clude/autoware/universe_utils/system/lru_cache.hpp	53.33%	4 Missing and 3 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8456      +/-   ##
==========================================
+ Coverage   23.85%   23.88%   +0.02%     
==========================================
  Files        1379     1381       +2     
  Lines      101614   101672      +58     
  Branches    38644    38675      +31     
==========================================
+ Hits        24238    24282      +44     
- Misses      74918    74928      +10     
- Partials     2458     2462       +4

Flag	Coverage Δ		*Carryforward flag
differential	`25.83% <53.33%> (?)`
total	`23.85% <ø> (+<0.01%)`	⬆️	Carriedforward from adfd354

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Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>

Signed-off-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>

…performance of map_based_prediction (#1464) * fix(autoware_map_based_prediction): fix argument order (autowarefoundation#8031) fix(autoware_map_based_prediction): fix argument order in call `getFrenetPoint()` Signed-off-by: yucedagonurcan <onur@adastec.com> Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> * perf(map_based_prediction): remove unncessary withinRoadLanelet() (autowarefoundation#8403) Signed-off-by: Mamoru Sobue <hilo.soblin@gmail.com> * perf(map_based_prediction): create a fence LineString layer and use rtree query (autowarefoundation#8406) use fence layer Signed-off-by: Mamoru Sobue <hilo.soblin@gmail.com> * perf(map_based_prediction): apply lerp instead of spline (autowarefoundation#8416) perf: apply lerp interpolation instead of spline Signed-off-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> * perf(autoware_map_based_prediction): improve orientation calculation and resample converted path (autowarefoundation#8427) * refactor: improve orientation calculation and resample converted path with linear interpolation Simplify the calculation of the orientation for each pose in the convertPathType function by directly calculating the sine and cosine of half the yaw angle. This improves efficiency and readability. Also, improve the resampling of the converted path by using linear interpolation for better performance. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * Update perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> * Update perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> * perf(map_based_prediction): improve world to map transform calculation (autowarefoundation#8413) * perf(map_based_prediction): improve world to map transform calculation 1. remove unused transforms 2. make transform loading late as possible Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * perf(map_based_prediction): get transform only when it is necessary Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat(autoware_universe_utils): add LRU Cache (autowarefoundation#8456) Signed-off-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> * perf(autoware_map_based_prediction): speed up map based prediction by using lru cache in convertPathType (autowarefoundation#8461) feat(autoware_map_based_prediction): speed up map based prediction by using lru cache in convertPathType Signed-off-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> * fix(autoware_map_based_prediction): use surrounding_crosswalks instead of external_surrounding_crosswalks (autowarefoundation#8467) Signed-off-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> --------- Signed-off-by: Mamoru Sobue <hilo.soblin@gmail.com> Signed-off-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Signed-off-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Co-authored-by: Onur Can Yücedağ <onur@adastec.com> Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Co-authored-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>

Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> Signed-off-by: xtk8532704 <1041084556@qq.com>

dkoldaev · 2024-10-31T04:59:39Z

@yhisaki I just saw this PR, it is a pretty useful tool! Nice performance improvement in the map based prediction node (this is how I found this PR)
Just wanted to point your attention to the testing side. You tested the performance improvements and this is great, but what about some edge cases? I think the main would be to make sure that the cache does not overflow. Say, make cache of size 20 and try to put 25 elements. (P.S. I wrote this also because I remember you passion about testing 😄 )

yhisaki · 2024-10-31T06:17:18Z

Thank you for looking at the PR!
Indeed, the edge case testing is insufficient. I'll prepare a PR to enhance the tests as soon as possible!

feat(autoware_universe_utils): add LRU Cache

6c9416e

Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>

yhisaki requested review from soblin, TakaHoribe and takayuki5168 as code owners August 13, 2024 11:58

yhisaki enabled auto-merge (squash) August 13, 2024 11:59

github-actions bot added the component:common Common packages from the autoware-common repository. (auto-assigned) label Aug 13, 2024

yhisaki added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Aug 13, 2024

style(pre-commit): autofix

543b28b

soblin approved these changes Aug 13, 2024

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maxime-clem approved these changes Aug 13, 2024

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common/autoware_universe_utils/include/autoware/universe_utils/system/lru_cache.hpp Outdated Show resolved Hide resolved

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yhisaki added 2 commits August 13, 2024 21:19

use int64_t insted of long long

69d3648

Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>

Merge commit '543b28b5c49bec151afd764a5c0fa67f8b0d456e' into lru_cache

acd57af

yhisaki removed the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Aug 13, 2024

yhisaki added 2 commits August 13, 2024 21:34

use optional instead of exception

e136ae8

Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>

add test

6de8284

Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>

yhisaki added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Aug 13, 2024

yhisaki merged commit ca1d101 into autowarefoundation:main Aug 13, 2024
38 of 39 checks passed

yhisaki deleted the lru_cache branch August 14, 2024 01:57

technolojin pushed a commit to technolojin/autoware.universe that referenced this pull request Aug 15, 2024

feat(autoware_universe_utils): add LRU Cache (autowarefoundation#8456)

25ff1a8

Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>

technolojin mentioned this pull request Aug 15, 2024

perf(autoware_map_based_prediction autoware_universe_utils): improve performance of map_based_prediction tier4/autoware.universe#1464

Merged

technolojin pushed a commit to technolojin/autoware.universe that referenced this pull request Aug 15, 2024

feat(autoware_universe_utils): add LRU Cache (autowarefoundation#8456)

d28feb8

Signed-off-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>

xtk8532704 pushed a commit to tier4/autoware.universe that referenced this pull request Aug 15, 2024

feat(autoware_universe_utils): add LRU Cache (autowarefoundation#8456)

809d237

Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> Signed-off-by: xtk8532704 <1041084556@qq.com>

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feat(autoware_universe_utils): add LRU Cache #8456

feat(autoware_universe_utils): add LRU Cache #8456

yhisaki commented Aug 13, 2024

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feat(autoware_universe_utils): add LRU Cache #8456

feat(autoware_universe_utils): add LRU Cache #8456

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yhisaki commented Aug 13, 2024

Description

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Notes for reviewers

Interface changes

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