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Remove string allocation in the count of subscribers and publishers #167

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Oct 27, 2017
Merged

Remove string allocation in the count of subscribers and publishers #167

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56 changes: 12 additions & 44 deletions rmw_fastrtps_cpp/src/rmw_count.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,37 +48,21 @@ rmw_count_publishers(

CustomParticipantInfo * impl = static_cast<CustomParticipantInfo *>(node->data);

std::map<std::string, std::vector<std::string>> unfiltered_topics;
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I think you need to set *count to 0 here (like you do in rmw_count_subscribers), no?

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Yes, I'll fix this.

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PR Updated

WriterInfo * slave_target = impl->secondaryPubListener;
slave_target->mapmutex.lock();
*count = 0;
for (auto it : slave_target->topicNtypes) {
for (auto & itt : it.second) {
// truncate the ROS specific prefix
auto topic_fqdn = _demangle_if_ros_topic(it.first);
unfiltered_topics[topic_fqdn].push_back(itt);
auto topic_fqdn = _demangle_if_ros_topic(it.first);
if (topic_fqdn == topic_name) {
*count += it.second.size();
}
}
slave_target->mapmutex.unlock();

// get count
auto it = unfiltered_topics.find(topic_name);
if (it == unfiltered_topics.end()) {
*count = 0;
} else {
*count = it->second.size();
}

RCUTILS_LOG_DEBUG_NAMED(
"rmw_fastrtps_cpp",
"looking for subscriber topic: %s", topic_name)
for (auto it : unfiltered_topics) {
RCUTILS_LOG_DEBUG_NAMED(
"rmw_fastrtps_cpp",
"available topic: %s", it.first.c_str())
}
RCUTILS_LOG_DEBUG_NAMED(
"rmw_fastrtps_cpp",
"number of matches: %zu", *count)
"looking for subscriber topic: %s, number of matches: %zu",
topic_name, *count)

return RMW_RET_OK;
}
Expand All @@ -103,37 +87,21 @@ rmw_count_subscribers(

CustomParticipantInfo * impl = static_cast<CustomParticipantInfo *>(node->data);

std::map<std::string, std::vector<std::string>> unfiltered_topics;
ReaderInfo * slave_target = impl->secondarySubListener;
*count = 0;
slave_target->mapmutex.lock();
for (auto it : slave_target->topicNtypes) {
for (auto & itt : it.second) {
// truncate the ROS specific prefix
auto topic_fqdn = _demangle_if_ros_topic(it.first);
unfiltered_topics[topic_fqdn].push_back(itt);
auto topic_fqdn = _demangle_if_ros_topic(it.first);
if (topic_fqdn == topic_name) {
*count += it.second.size();
}
}
slave_target->mapmutex.unlock();

// get_count
auto it = unfiltered_topics.find(topic_name);
if (it == unfiltered_topics.end()) {
*count = 0;
} else {
*count = it->second.size();
}

RCUTILS_LOG_DEBUG_NAMED(
"rmw_fastrtps_cpp",
"looking for subscriber topic: %s", topic_name)
for (auto it : unfiltered_topics) {
RCUTILS_LOG_DEBUG_NAMED(
"rmw_fastrtps_cpp",
"available topic: %s", it.first.c_str())
}
RCUTILS_LOG_DEBUG_NAMED(
"rmw_fastrtps_cpp",
"number of matches: %zu", *count)
"looking for subscriber topic: %s, number of matches: %zu",
topic_name, *count)

return RMW_RET_OK;
}
Expand Down