Add a cache to ObjectStateMachine. #2079
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As it stands, this isn't going to catch cases where the states are updated externally to the state machine, such as action updates. I don't know that caching is the best solution unless the ObjectStateSpec singletons also map back to the parent ObjectStateMachine in order modify the dirty flag themselves. Even then, most of the updates use set_state_of_obj directly which doesn't hit either singleton class. For example:
None of these will be caught and the update() function is called in the simulation loop, so you're really only catching that "step" has been called since last query I think.
habitat-lab/habitat/sims/habitat_simulator/object_state_machine.py
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| if osm is not None: | ||
| return osm.get_snapshot_dict(sim) | ||
| else: | ||
| return {} |
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This cache is no longer necessary.
| new_state = not cur_state | ||
| set_state_of_obj(obj, self.name, new_state) | ||
| return new_state | ||
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@aclegg3 : This code is unused. Let me know if you have plans for it.
It's probably not the right abstraction because toggling may have different conditions depending on the current state, e.g. Clean -> Dirty, Empty -> Full, etc.
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| user_attr = obj.user_attributes | ||
| obj_state_config = user_attr.get_subconfig("object_states") | ||
| obj_state_config.set(state_name, state_val) | ||
| user_attr.save_subconfig("object_states", obj_state_config) | ||
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| if object_state_machine is not None: | ||
| object_state_machine.set_snapshot_dirty() |
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@aclegg3 : This is not ideal, but because set_state_of_obj() is used everywhere to change states, it does the job.
Motivation and Context
This adds a cache to
ObjectStateMachineso thatget_snapshot_dict()doesn't re-compute the same snapshot over and over.On a reference single-learn HITL application, this improves the framerate from
11.3to12.3FPS.How Has This Been Tested
Tested locally + unit tests.
Types of changes
Checklist