Update our usage of workerpools #2995
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In `SimulationRunner`, we initialize a worker pool but we never actually use it so it's pure overhead. In `ServerPrivate` we only use the worker pool if there are multiple simulation runners, so we can optimize for the most common use case of one runner. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
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@Mergifyio backport gz-sim9 gz-sim8 |
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In `SimulationRunner`, we initialize a worker pool but we never actually use it so it's pure overhead. In `ServerPrivate` we only use the worker pool if there are multiple simulation runners, so we can optimize for the most common use case of one runner. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> (cherry picked from commit 5ce62a8)
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In `SimulationRunner`, we initialize a worker pool but we never actually use it so it's pure overhead. In `ServerPrivate` we only use the worker pool if there are multiple simulation runners, so we can optimize for the most common use case of one runner. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> (cherry picked from commit 5ce62a8)
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In `SimulationRunner`, we initialize a worker pool but we never actually use it so it's pure overhead. In `ServerPrivate` we only use the worker pool if there are multiple simulation runners, so we can optimize for the most common use case of one runner. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
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In `SimulationRunner`, we initialize a worker pool but we never actually use it so it's pure overhead. In `ServerPrivate` we only use the worker pool if there are multiple simulation runners, so we can optimize for the most common use case of one runner. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> (cherry picked from commit 5ce62a8)
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In `SimulationRunner`, we initialize a worker pool but we never actually use it so it's pure overhead. In `ServerPrivate` we only use the worker pool if there are multiple simulation runners, so we can optimize for the most common use case of one runner. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> (cherry picked from commit 5ce62a8)
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In `SimulationRunner`, we initialize a worker pool but we never actually use it so it's pure overhead. In `ServerPrivate` we only use the worker pool if there are multiple simulation runners, so we can optimize for the most common use case of one runner. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> (cherry picked from commit 5ce62a8)
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In `SimulationRunner`, we initialize a worker pool but we never actually use it so it's pure overhead. In `ServerPrivate` we only use the worker pool if there are multiple simulation runners, so we can optimize for the most common use case of one runner. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> (cherry picked from commit 5ce62a8)
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* Refactor Transport service handlers This removes a lot of repetitive code where a service handler simply copies the message, creates and adds the associated command to a command queue. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Also refactor code for advertising services Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Add back missing function Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Update our usage of workerpools (#2995) In `SimulationRunner`, we initialize a worker pool but we never actually use it so it's pure overhead. In `ServerPrivate` we only use the worker pool if there are multiple simulation runners, so we can optimize for the most common use case of one runner. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Fix linter issues Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Fix typo Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Add missing constructor Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> --------- Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
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* Refactor Transport service handlers This removes a lot of repetitive code where a service handler simply copies the message, creates and adds the associated command to a command queue. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Also refactor code for advertising services Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Add back missing function Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Update our usage of workerpools (#2995) In `SimulationRunner`, we initialize a worker pool but we never actually use it so it's pure overhead. In `ServerPrivate` we only use the worker pool if there are multiple simulation runners, so we can optimize for the most common use case of one runner. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Fix linter issues Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Fix typo Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Add missing constructor Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> --------- Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> (cherry picked from commit bf68eae)
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* Refactor Transport service handlers This removes a lot of repetitive code where a service handler simply copies the message, creates and adds the associated command to a command queue. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Also refactor code for advertising services Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Add back missing function Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Update our usage of workerpools (#2995) In `SimulationRunner`, we initialize a worker pool but we never actually use it so it's pure overhead. In `ServerPrivate` we only use the worker pool if there are multiple simulation runners, so we can optimize for the most common use case of one runner. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Fix linter issues Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Fix typo Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Add missing constructor Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> --------- Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> (cherry picked from commit bf68eae) # Conflicts: # src/systems/user_commands/UserCommands.cc
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* Refactor Transport service handlers This removes a lot of repetitive code where a service handler simply copies the message, creates and adds the associated command to a command queue. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Also refactor code for advertising services Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Add back missing function Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Update our usage of workerpools (#2995) In `SimulationRunner`, we initialize a worker pool but we never actually use it so it's pure overhead. In `ServerPrivate` we only use the worker pool if there are multiple simulation runners, so we can optimize for the most common use case of one runner. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Fix linter issues Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Fix typo Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Add missing constructor Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> --------- Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
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* Refactor Transport service handlers This removes a lot of repetitive code where a service handler simply copies the message, creates and adds the associated command to a command queue. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Also refactor code for advertising services Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Add back missing function Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Update our usage of workerpools (#2995) In `SimulationRunner`, we initialize a worker pool but we never actually use it so it's pure overhead. In `ServerPrivate` we only use the worker pool if there are multiple simulation runners, so we can optimize for the most common use case of one runner. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Fix linter issues Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Fix typo Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Add missing constructor Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> --------- Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> (cherry picked from commit bf68eae)
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* Refactor Transport service handlers This removes a lot of repetitive code where a service handler simply copies the message, creates and adds the associated command to a command queue. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Also refactor code for advertising services Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Add back missing function Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Update our usage of workerpools (#2995) In `SimulationRunner`, we initialize a worker pool but we never actually use it so it's pure overhead. In `ServerPrivate` we only use the worker pool if there are multiple simulation runners, so we can optimize for the most common use case of one runner. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Fix linter issues Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Fix typo Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Add missing constructor Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> --------- Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
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🦟 Bug fix
Summary
In
SimulationRunner, we initialize a worker pool but we never actually use it so it's pure overhead. InServerPrivatewe only use the worker pool if there are multiple simulation runners, so we can optimize for the most common use case of one runner.Checklist
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