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Performance: Eliminate atomic reference-counting overhead in EventsExecutor collection updates #3193

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Performance: Eliminate atomic reference-counting overhead in EventsExecutor collection updates #3193

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20 changes: 10 additions & 10 deletions rclcpp/src/rclcpp/experimental/executors/events_executor/events_executor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -452,35 +452,35 @@ EventsExecutor::refresh_current_collection(

current_entities_collection_->timers.update(
new_collection.timers,
[this](rclcpp::TimerBase::SharedPtr timer) {timers_manager_->add_timer(timer);},
[this](rclcpp::TimerBase::SharedPtr timer) {timers_manager_->remove_timer(timer);});
[this](const rclcpp::TimerBase::SharedPtr & timer) {timers_manager_->add_timer(timer);},
[this](const rclcpp::TimerBase::SharedPtr & timer) {timers_manager_->remove_timer(timer);});
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current_entities_collection_->subscriptions.update(
new_collection.subscriptions,
[this](auto subscription) {
[this](const auto & subscription) {
subscription->set_on_new_message_callback(
this->create_entity_callback(
subscription->get_subscription_handle().get(), ExecutorEventType::SUBSCRIPTION_EVENT));
},
[](auto subscription) {subscription->clear_on_new_message_callback();});
[](const auto & subscription) {subscription->clear_on_new_message_callback();});

current_entities_collection_->clients.update(
new_collection.clients,
[this](auto client) {
[this](const auto & client) {
client->set_on_new_response_callback(
this->create_entity_callback(
client->get_client_handle().get(), ExecutorEventType::CLIENT_EVENT));
},
[](auto client) {client->clear_on_new_response_callback();});
[](const auto & client) {client->clear_on_new_response_callback();});

current_entities_collection_->services.update(
new_collection.services,
[this](auto service) {
[this](const auto & service) {
service->set_on_new_request_callback(
this->create_entity_callback(
service->get_service_handle().get(), ExecutorEventType::SERVICE_EVENT));
},
[](auto service) {service->clear_on_new_request_callback();});
[](const auto & service) {service->clear_on_new_request_callback();});

// DO WE NEED THIS? WE ARE NOT DOING ANYTHING WITH GUARD CONDITIONS
/*
Expand All @@ -491,11 +491,11 @@ EventsExecutor::refresh_current_collection(

current_entities_collection_->waitables.update(
new_collection.waitables,
[this](auto waitable) {
[this](const auto & waitable) {
waitable->set_on_ready_callback(
this->create_waitable_callback(waitable.get()));
},
[](auto waitable) {waitable->clear_on_ready_callback();});
[](const auto & waitable) {waitable->clear_on_ready_callback();});
}

std::function<void(size_t)>
Expand Down