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Added optimization for copying arrays of simple types from python to C using buffer protocol (backport #129) #146

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merged 1 commit into from
Dec 10, 2021
Merged

Added optimization for copying arrays of simple types from python to C using buffer protocol (backport #129) #146

merged 1 commit into from
Dec 10, 2021

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hexonxons
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Backport #129 to foxy

Related to #135

@ksuszka @clalancette @hexonxons
Added optimization for copying arrays of simple types from python to …
3606053 
…C using buffer protocol (ros2#129)

* Added optimization for copying arrays of simple types from python to C

Signed-off-by: ksuszka <[email protected]>

* Apply suggestions from code review

Co-authored-by: Chris Lalancette <[email protected]>
Signed-off-by: Krzysztof Suszka <[email protected]>

* Remove setting error message twice

Signed-off-by: Krzysztof Suszka <[email protected]>

Co-authored-by: Chris Lalancette <[email protected]>
Signed-off-by: Aleksandr Rozhdestvenskii <[email protected]>
@hexonxons hexonxons force-pushed the foxy_copying_array_optimization branch from d7f90fe to 3606053 Compare October 18, 2021 11:35
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@clalancette @sloretz Hello
Is there any chance of this being merged and released to foxy along with messages packages?

@karl-schulz
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I want to add that we used this fix multiple months with foxy without issues on multiple machines. I think it would be good to have it in there for the large foxy userbase.

@sloretz sloretz mentioned this pull request Nov 23, 2021
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sloretz commented Nov 23, 2021

CI

  • Repos: https://gist.githubusercontent.com/sloretz/0ceeab3a1c8560ca5224fd213f672834/raw/345910333b79c1566f0bc5eb2cf99c2cb18f40e4/ros2.repos
  • build: --packages-above-and-dependencies rosidl_generator_py
  • test: --packages-above rosidl_generator_py

Jobs

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

sloretz
sloretz approved these changes Nov 23, 2021
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LGTM with green CI

@aprotyas aprotyas mentioned this pull request Dec 2, 2021
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aprotyas commented Dec 2, 2021 •
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The test failures look unrelated, but kicking off CI again:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

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aprotyas commented Dec 3, 2021

Looks like the failing sros2 tests have been ticketed in ros2/sros2#251.

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sloretz commented Dec 10, 2021

I'm not sure about some of the test failures on the Windows CI, so here's two more runs

  • Rerun Windows: Build Status
  • Foxy unchanged on Windows for comparison Build Status

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sloretz commented Dec 10, 2021 •
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Only Windows test failure in the rerun that's not in the pure-Foxy CI is:

https://ci.ros2.org/job/ci_windows/16014/testReport/junit/ros2doctor.test/test_cli/test_cli/

Taking a closer look now

================================== FAILURES ===================================
___________________________ launch tests: test_cli ____________________________

==================================================================================================
FAIL: TestROS2DoctorCLI.test_hello_single_host
--------------------------------------------------------------------------------------------------
Traceback (most recent call last):
  File "C:\ci\ws\src\ros2\ros2cli\ros2doctor\test\test_cli.py", line 68, in test_hello_single_host
    self.assertEqual(summary._pub, expected_summary._pub)
AssertionError: 0 != 1
---------------------------- Captured stdout call -----------------------------
[INFO] [launch]: All log files can be found below C:\Users\ContainerAdministrator\.ros\log\2021-12-10-21-32-37-740051-8abff966aab6-16164
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [daemon-stop-3]: process started with pid [28488]
[INFO] [daemon-stop-3]: process has finished cleanly [pid 28488]
---------------------------- Captured stderr call -----------------------------
test_hello_single_host (test_cli.TestROS2DoctorCLI)
Run HelloVerb for one emit period on a single host. ... FAIL

======================================================================
FAIL: test_hello_single_host (test_cli.TestROS2DoctorCLI)
Run HelloVerb for one emit period on a single host.
----------------------------------------------------------------------
Traceback (most recent call last):
  File "C:\ci\ws\src\ros2\ros2cli\ros2doctor\test\test_cli.py", line 68, in test_hello_single_host
    self.assertEqual(summary._pub, expected_summary._pub)
AssertionError: 0 != 1

----------------------------------------------------------------------
Ran 1 test in 0.203s

FAILED (failures=1)

----------------------------------------------------------------------
Ran 0 tests in 0.000s

OK
---------------------------- Captured stdout call -----------------------------
[INFO] [launch]: All log files can be found below C:\Users\ContainerAdministrator\.ros\log\2021-12-10-21-32-37-740051-8abff966aab6-16164
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [daemon-stop-4]: process started with pid [52532]
[INFO] [daemon-stop-4]: process has finished cleanly [pid 52532]
---------------------------- Captured stderr call -----------------------------
test_hello_single_host (test_cli.TestROS2DoctorCLI)
Run HelloVerb for one emit period on a single host. ... FAIL

======================================================================
FAIL: test_hello_single_host (test_cli.TestROS2DoctorCLI)
Run HelloVerb for one emit period on a single host.
----------------------------------------------------------------------
Traceback (most recent call last):
  File "C:\ci\ws\src\ros2\ros2cli\ros2doctor\test\test_cli.py", line 68, in test_hello_single_host
    self.assertEqual(summary._pub, expected_summary._pub)
AssertionError: 0 != 1

----------------------------------------------------------------------
Ran 1 test in 0.141s

FAILED (failures=1)

----------------------------------------------------------------------
Ran 0 tests in 0.000s

OK
---------------------------- Captured stdout call -----------------------------
[INFO] [launch]: All log files can be found below C:\Users\ContainerAdministrator\.ros\log\2021-12-10-21-32-37-740051-8abff966aab6-16164
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [daemon-stop-5]: process started with pid [52128]
[INFO] [daemon-stop-5]: process has finished cleanly [pid 52128]
---------------------------- Captured stderr call -----------------------------
test_hello_single_host (test_cli.TestROS2DoctorCLI)
Run HelloVerb for one emit period on a single host. ... FAIL

======================================================================
FAIL: test_hello_single_host (test_cli.TestROS2DoctorCLI)
Run HelloVerb for one emit period on a single host.
----------------------------------------------------------------------
Traceback (most recent call last):
  File "C:\ci\ws\src\ros2\ros2cli\ros2doctor\test\test_cli.py", line 68, in test_hello_single_host
    self.assertEqual(summary._pub, expected_summary._pub)
AssertionError: 0 != 1

----------------------------------------------------------------------
Ran 1 test in 0.152s

FAILED (failures=1)

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sloretz commented Dec 10, 2021

Looks like the ros2doctor test is known flaky, and was fixed in ros2/ros2cli#521 but not backported to Foxy

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sloretz commented Dec 10, 2021

CI LGTM Thanks for the PR!

@sloretz sloretz merged commit 31cb537 into ros2:foxy Dec 10, 2021
@jacobperron jacobperron mentioned this pull request Sep 6, 2022
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@hexonxons @karl-schulz @sloretz @aprotyas @ksuszka