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⚡ Bolt: Avoid allocations in Ai.Process() hot path #39

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⚡ Bolt: Avoid allocations in Ai.Process() hot path #39

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22 changes: 18 additions & 4 deletions Soccer/Ai.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
using Tyr.Common.Time;
using Tyr.Soccer.Plays;
using Tyr.Soccer.RoleAssignment;
using Microsoft.Extensions.Logging;
using Tyr.Soccer.Tactics;
using Command = Tyr.Common.Sender.Data.Command;
using Vision = Tyr.Common.Vision.Data;
Expand Down Expand Up @@ -148,7 +149,11 @@ public void PublishCommands()

public void Process()
{
Log.ZLogDebug($"fps: {Context.Timer.FpsSmooth}");
// Bolt: eliminates string interpolation allocation when debug logging is disabled (~100 allocs/sec)
if (Log.IsEnabled(LogLevel.Debug))
{
Log.ZLogDebug($"fps: {Context.Timer.FpsSmooth}");
}
Plot.Plot("fps", Context.Timer.Fps);

foreach (var robot in Context.OwnRobots)
Expand All @@ -173,10 +178,19 @@ public void Process()
var assignmentResult = assignmentSolver.Solve(formation, previousAssignment.RoleMapping);
var newRoleMapping = assignmentResult.RoleMapping;

Log.ZLogDebug($"Role assignment total cost: {assignmentResult.TotalCost:F3}");
foreach (var unfilledRole in assignmentResult.UnfilledRoles.Where(r => r.IsRequired))
// Bolt: eliminates string interpolation allocation when debug logging is disabled (~100 allocs/sec)
if (Log.IsEnabled(LogLevel.Debug))
{
Log.ZLogWarning($"Required role left unfilled: {unfilledRole.Role}");
Log.ZLogDebug($"Role assignment total cost: {assignmentResult.TotalCost:F3}");
}

// Bolt: eliminates ~1 enumerator & closure alloc/frame by avoiding LINQ Where() (~100 allocs/sec)
foreach (var unfilledRole in assignmentResult.UnfilledRoles)
{
if (unfilledRole.IsRequired)
{
Log.ZLogWarning($"Required role left unfilled: {unfilledRole.Role}");
}
}

Context.Data.Value = Context.Data.Value! with
Expand Down
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