[Rock-dev] Questions Regarding Typelib
Janosch Machowinski
Janosch.Machowinski at dfki.de
Mon Jun 9 21:51:39 CEST 2014
On 09.06.2014 19:46, Alexander Duda wrote:
> Seriously, it is great that you are looking into it. But you are also
> asking other people to help you costing them quite a bit of their free
> time. Therefore, I think it is also fair for them to criticize
> specific steps which might have little impact on the overall replay speed.
>
> At the beginning, you were complaining about the replay speed and not
> about the loading and alignment which you are currently improving. And
> like Sylvain said. I also do not believe that the replay speed is so
> slow because of the current pocolog implementation. It is slow because
> of how rock-replay works (at least one callback per sample etc.).
Yep, the replay speed is still my main concern, but while fixing this, I
thought one could
catch the annoying index time on the way as well....
As removing streams from the replay increased the replay time (using
trace(false)) I am
pretty much suspecting the streamAligner... (and was right, see below)
And here is the point i criticize about the bashing from sylvain, he
didn't have a point
at all, and started bashing me for no reason. I have good reasons for
the things I do, and
I really hate it that I need to defend every step I make.
>
> Anyway, I am a bit puzzled why you have different number of samples
> for the same log files.
>
The log file is truncated, my implementation does not check for
truncates at the end of the stream atm.
Something in the pocolog implementation is the problem :
Using only polocog stream aligner to replay all samples
(I hacked the log implementation, to get the streamAligner directly,
and then called step on it in a while loop):
time ./test.rb ~/Arbeit/asguard/bundles/asguard/logs/current/
Replaying all samples
Orocos[WARN]: No ports are selected. Assuming that all ports shall be
replayed.
Orocos[WARN]: Connect port(s) or set their track flag to true to get rid
of this message.
pocolog.rb[INFO]: Got 79 streams with 263646 samples
pocolog.rb[INFO]: Stream Aligner index created
Done
real 0m56.849s
user 0m54.927s
sys 0m1.832s
Using the Cpp implementation including type unmashaling :
time ./multiIndexer ~/Arbeit/asguard/bundles/asguard/logs/current/*.log
Building multi file index
100% Done
Processed 263647 of 263647 samples
Replaying all samples
99% DoneCould not load sample data of sample 8211 of stream
/laser_filter_front.filtered_scans stream size 8212
First sample time 20140609-21:28:33:145982 last sample time
20140609-21:29:41:690300
Took 10.137.364 realtime 68.544.318
real 0m10.864s
user 0m9.189s
sys 0m1.660s
Typelib marshaling is not a big problem here, makes a difference of 2
seconds in user time.
Greetings
Janosch
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