Merge pull request #5 from BluEye-Robotics/jp-pino/performance

Reduce copies when reading repeated values

examples/ipc/god.cpp

@@ -1,8 +1,8 @@
+#include <signal.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <signal.h>
-#include <unistd.h>
 #include <sys/wait.h>
+#include <unistd.h>
 
 #include <tyndall/ipc/ipc.h>
 #define debug_stdout stdout
@@ -11,59 +11,63 @@
 
 #define len(array) (int)(sizeof(array) / sizeof(array[0]))
 
-typedef struct
-{
-  const char * const name;
-  int respawn;  // respawn on error: -1 = infinite , 0 = never, 1 = once, 2 = twice, etc.
+typedef struct {
+  const char *const name;
+  int respawn; // respawn on error: -1 = infinite , 0 = never, 1 = once, 2 =
+               // twice, etc.
 
-// internal
+  // internal
   pid_t pid;
   int alive;
-  char* args[10]; // increase as needed
+  char *args[10]; // increase as needed
 
 } child;
 
 #pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wwrite-strings" // ref https://gcc.gnu.org/bugzilla/show_bug.cgi?id=94554
-
-child children[] =
-{
-//==================== FILL IN PROCESSES ====================
-  {
-    .name = "/usr/bin/tyndall_ex_ipc_writer",
-    .respawn = -1,
-  },
-  {
-    .name = "/usr/bin/tyndall_ex_ipc_reader",
-    .args = { "--my_option", "--my_other_option", },
-  },
-//===========================================================
+#pragma GCC diagnostic ignored                                                 \
+    "-Wwrite-strings" // ref https://gcc.gnu.org/bugzilla/show_bug.cgi?id=94554
+
+child children[] = {
+    //==================== FILL IN PROCESSES ====================
+    {
+        .name = "/usr/bin/tyndall_ex_ipc_writer",
+        .respawn = -1,
+    },
+    {
+        .name = "/usr/bin/tyndall_ex_ipc_reader",
+        .args =
+            {
+                "--my_option",
+                "--my_other_option",
+            },
+    },
+    //===========================================================
 };
 #define n_children len(children)
 
 #pragma GCC diagnostic pop
 
 //==================== STATUSES THAT BYPASS RESPAWN =========
-// Children that are configured to respawn will not be respawned if they return with these statuses:
-int respawn_bypass_statuses[] = { 0, SIGINT };
+// Children that are configured to respawn will not be respawned if they return
+// with these statuses:
+int respawn_bypass_statuses[] = {0, SIGINT};
 //===========================================================
 
-int fork_child(child *c)
-{
+int fork_child(child *c) {
   pid_t pid = fork();
 
   debug_assert(pid != -1, return 1);
 
-  if (pid == 0)
-  {
-    debug("child %u (%s) was spawned by parent %u\n", getpid(), c->name, getppid());
+  if (pid == 0) {
+    debug("child %u (%s) was spawned by parent %u\n", getpid(), c->name,
+          getppid());
 
     setpgid(0, 0); // switch process group so ctrl-c only interrupts god
 
-    char * child_argv[len(c->args) + 2];
-    child_argv[0] = (char*)(c->name);
-    for (int i=0; i < len(c->args); ++i)
-      child_argv[i+1] = c->args[i];
+    char *child_argv[len(c->args) + 2];
+    child_argv[0] = (char *)(c->name);
+    for (int i = 0; i < len(c->args); ++i)
+      child_argv[i + 1] = c->args[i];
     child_argv[len(c->args) + 1] = NULL;
 
     int rc = execv(c->name, child_argv);
@@ -77,16 +81,13 @@ int fork_child(child *c)
   return 0;
 }
 
-void exit_handler(int sig)
-{
+void exit_handler(int sig) {
   debug("got signal %d\n", sig);
 
   // kill the children manually, since they're in a different group
   signal(SIGCHLD, SIG_IGN);
-  for (int i=0; i < n_children; ++i)
-  {
-    if (children[i].alive)
-    {
+  for (int i = 0; i < n_children; ++i) {
+    if (children[i].alive) {
       debug("killing %u (%s)\n", children[i].pid, children[i].name);
       debug_assert(kill(children[i].pid, sig) == 0);
     }
@@ -99,8 +100,7 @@ void exit_handler(int sig)
   exit(sig);
 }
 
-void child_handler(int sig)
-{
+void child_handler(int sig) {
   pid_t pid = -1;
   int status;
 
@@ -118,17 +118,15 @@ void child_handler(int sig)
   c->alive = 0;
   debug("child %u (%s) exited with status %d\n", c->pid, c->name, status);
 
-  if ((c->respawn != 0))
-  {
+  if ((c->respawn != 0)) {
     int bypass_statuses = 0;
-    for (int i=0; i < len(respawn_bypass_statuses); ++i)
+    for (int i = 0; i < len(respawn_bypass_statuses); ++i)
       if (status == respawn_bypass_statuses[i])
         ++bypass_statuses;
 
     if (bypass_statuses)
       debug("respawn bypassed\n");
-    else
-    {
+    else {
       debug("respawning child\n");
       fork_child(c);
 
@@ -137,19 +135,18 @@ void child_handler(int sig)
   }
 }
 
-int main()
-{
+int main() {
   debug("starting %u (god process)\n", getpid());
 
-  for (int i=0; i < n_children; ++i)
+  for (int i = 0; i < n_children; ++i)
     fork_child(children + i);
 
   debug("%u (god process) finished spawning threads\n", getpid());
 
   signal(SIGINT, exit_handler);
   signal(SIGCHLD, child_handler);
 
-  while(1)
+  while (1)
     pause();
 
   return 0;

examples/ipc/my_struct.h

@@ -18,7 +18,8 @@ typedef struct
   } data[50];
 } my_struct;
 
-#define my_struct_print(print, s, ...) print("%d\t%d\t%d" __VA_ARGS__ , s.data[0].ii, s.data[0].iii, s.data[0].iiii)
+#define my_struct_print(print, s, ...) print("%d\t%d\t%d" __VA_ARGS__ ,
+s.data[0].ii, s.data[0].iii, s.data[0].iiii)
 
 #define my_struct_inc(entry)    \
     do{                         \
@@ -31,16 +32,15 @@ typedef struct
     }while(0)
 */
 
-typedef struct
-{
+typedef struct {
   unsigned char i;
   float j;
 } my_struct;
 
-#define my_struct_print(print, s, ...) print("%u %f" __VA_ARGS__ , s.i, s.j)
+#define my_struct_print(print, s, ...) print("%u %f" __VA_ARGS__, s.i, s.j)
 
-#define my_struct_inc(entry)    \
-    do{                         \
-      ++(entry.i);   \
-      ++(entry.j);   \
-    }while(0)
+#define my_struct_inc(entry)                                                   \
+  do {                                                                         \
+    ++(entry.i);                                                               \
+    ++(entry.j);                                                               \
+  } while (0)

examples/ipc/reader.cpp

@@ -9,27 +9,18 @@
 
 int run = 1;
 
-void sig_handler(int sig)
-{
-  run = 0;
-}
-
+void sig_handler(int sig) { run = 0; }
 
-int main()
-{
+int main() {
   signal(SIGINT, sig_handler);
 
-
-  while (run)
-  {
+  while (run) {
     my_struct entry;
 
-    if (ipc_read(entry, "/my/topic") == 0)
-    {
+    if (ipc_read(entry, "/my/topic") == 0) {
       debug("new entry:\t");
       my_struct_print(debug_plain, entry, "\n");
-    }
-    else
+    } else
       debug_error("no entry\n");
 
     usleep(3 * 1000);

examples/ipc/writer.cpp

@@ -9,20 +9,14 @@
 
 int run = 1;
 
-void sig_handler(int sig)
-{
-  run = 0;
-}
-
+void sig_handler(int sig) { run = 0; }
 
-int main()
-{
+int main() {
   signal(SIGINT, sig_handler);
 
   my_struct entry = {};
 
-  while (run)
-  {
+  while (run) {
     ipc_write(entry, "/my/topic");
 
     my_struct_inc(entry);

examples/log/C.c

@@ -1,27 +1,23 @@
 #define LOG_PRINTF
-//#define LOG_FMT
+// #define LOG_FMT
 #include <tyndall/log/log.h>
 
-#include <unistd.h>
 #include <signal.h>
+#include <unistd.h>
 
 sig_atomic_t run = 1;
 
-void cb_sig(int sig)
-{
+void cb_sig(int sig) {
   log_info("got signal %d\n", sig);
   run = 0;
 }
 
-int main()
-{
+int main() {
   log_debug("hei %d\n", 3);
 
   signal(SIGINT, cb_sig);
 
-
-  while(run)
-  {
+  while (run) {
     log_debug("loopityloop\n");
 
     log_once_error("loopityloop\n");

examples/meta.cpp

@@ -1,39 +1,38 @@
+#include <cstdio>
 #include <tyndall/meta/iterate.h>
 #include <tyndall/meta/strval.h>
 #include <tyndall/meta/typevals.h>
-#include <cstdio>
 #include <typeinfo>
 
-template<typename T>
-struct tstruct
-{
+template <typename T> struct tstruct {
   using Type = T;
   T a;
 };
 
-int main()
-{
+int main() {
   constexpr auto sv = "hei"_strval;
   printf("strval: %s\n", sv.c_str());
   printf("strval from type: %s\n", decltype(sv)::c_str());
   printf("strval length: %d\n", (""_strval).length());
   printf("strval sum: %s\n", ("hei"_strval + "du"_strval).c_str());
   printf("occurrences: %d\n", ("hei din sei"_strval).occurrences('i'));
   printf("replace: %s\n", ("hei din sei"_strval).replace<'i', 'y'>().c_str());
-  printf("remove_leading: %s\n", ("///hei din sei"_strval).remove_leading<'/'>().c_str());
+  printf("remove_leading: %s\n",
+         ("///hei din sei"_strval).remove_leading<'/'>().c_str());
   printf("to_strval: %s\n", to_strval<42>::c_str());
 
   {
     printf("typevals:\n");
     {
-      struct A{int a; float b;};
-      struct B{int a; float b;};
-      static constexpr auto col =
-      typevals{}
-      + 5
-      + A{4,2}
-      + B{3,9}
-      ;
+      struct A {
+        int a;
+        float b;
+      };
+      struct B {
+        int a;
+        float b;
+      };
+      static constexpr auto col = typevals{} + 5 + A{4, 2} + B{3, 9};
       printf("col size: %d\n", col.size());
 
       constexpr auto res = col.get<2>();
@@ -43,26 +42,18 @@ int main()
     }
 
     {
-      static constexpr auto c =
-      typevals{}
-      + tstruct<int>{5}
-      ;
+      static constexpr auto c = typevals{} + tstruct<int>{5};
       constexpr auto res = c.get<0>();
       printf("c res: %s\n", typeid(res).name());
       decltype(res)::Type t;
       (void)sizeof(t);
     }
 
     {
-      static constexpr auto c =
-      typevals{}
-      + tstruct<int>{-5}
-      + tstruct<float>{3}
-      + tstruct<unsigned>{8}
-      ;
+      static constexpr auto c = typevals{} + tstruct<int>{-5} +
+                                tstruct<float>{3} + tstruct<unsigned>{8};
 
-      iterate<c.size()>
-      ([](auto index){
+      iterate<c.size()>([](auto index) {
         printf("iteration %d: %s\n", index(), typeid(index).name());
       });
     }