Betterproto seems slower

pyproject.toml

@@ -40,6 +40,9 @@ dependencies = [
     "velodyne-decoder>=3.1.0",
     "open3d>=0.19.0",
     "nptyping>=2.5.0",
+    "py-to-proto>=0.6.0",
+    "grpcio-tools>=1.76.0",
+    "betterproto[compiler]>=1.2.5",
 ]
 
 [project.scripts]

trap/lidar_tracker.py

@@ -41,7 +41,7 @@ def read_live_data(ip, port, config, as_pcl_structs=False):
     
     while True:
         readable, _, _ = select.select([sock], [], [], 1.0)
-        latest_data = {}
+        latest_result = {}
 
         if sock in readable:
             # Drain all packets, keep only the last one, this prevents buffer build-up
@@ -52,11 +52,11 @@ def read_live_data(ip, port, config, as_pcl_structs=False):
                     recv_stamp = time.time()
                     result = decoder.decode(recv_stamp, data, as_pcl_structs)
                     if result is not None:
-                        latest_data[addr] = ResultTuple(*result)
+                        latest_result[addr] = ResultTuple(*result)
                 except BlockingIOError:
                     break  # No more packets in the queue
 
-            for addr, data in latest_data.items():
+            for addr, data in latest_result.items():
                 yield data
         else:
             logger.warning("No LiDAR data in the last second.")

trap/lines.py

@@ -20,29 +20,38 @@ import svgpathtools
 
 from noise import snoise2
 
+from trap import renderable_pb2
 from trap.utils import exponentialDecayRounded, inv_lerp
 
+from trap.protobuf import renderable
+
 
 """
 See [notebook](../test_path_transforms.ipynb) for examples
 """
 
-RenderablePosition = Tuple[float,float]
+@dataclass
+class RenderablePosition( renderable.RenderablePosition): # Tuple[float,float]
+    def to_tuple(self ):
+        return (self.x, self.y)
+
 Coordinate = Tuple[float, float]
 DeltaT = float # delta_t in seconds
 
-class CoordinateSpace(IntEnum):
+CoordinateSpace = renderable.CoordinateSpace
-    CAMERA = 1
+# class CoordinateSpace(renderable.CoordinateSpace):
-    UNDISTORTED_CAMERA = 2
+#     pass
-    WORLD = 3
+    # CAMERA = 1
-    LASER = 4
+    # UNDISTORTED_CAMERA = 2
+    # WORLD = 3
+    # LASER = 4
     
 @dataclass
-class SrgbaColor():
+class SrgbaColor(renderable.SrgbaColor):
-    red: float
+    # red: float
-    green: float
+    # green: float
-    blue: float
+    # blue: float
-    alpha: float
+    # alpha: float
 
     def with_alpha(self, alpha: float) -> SrgbaColor:
         return SrgbaColor(self.red, self.green, self.blue, alpha)
@@ -51,20 +60,28 @@ class SrgbaColor():
         return SrgbaColor(self.red, self.green, self.blue, self.alpha * alpha)
     
     def __eq__(self, other):
+        if not isinstance(other, SrgbaColor):
+            return False
         return math.isclose(self.red, other.red) and math.isclose(self.green, other.green) and math.isclose(self.blue, other.blue) and math.isclose(self.alpha, other.alpha)
         
 
 @dataclass
-class RenderablePoint():
+class RenderablePoint(renderable.RenderablePoint):
-    position: RenderablePosition
+    # position: RenderablePosition
-    color: SrgbaColor
+    # color: SrgbaColor
 
     def __post_init__(self):
         if type(self.position) is np.ndarray:
             # convert if wrong type, so it can be serialised
             # print('convert')
-            self.position = tuple(self.position.tolist())
+            self.position = RenderablePosition(*self.position.tolist())
+            # self.position = tuple(self.position.tolist())
             # self.position = (float(self.position[0]), float(self.position[0]))
+        if type(self.position) is tuple:
+            self.position = RenderablePosition(*self.position)
+
+
+        super().__post_init__()
         # pass
 
     @classmethod
@@ -79,14 +96,14 @@ class SimplifyMethod(Enum):
     VW = 2 #  Visvalingam-Whyatt 
 
 @dataclass
-class RenderableLine():
+class RenderableLine(renderable.RenderableLine):
-    points: List[RenderablePoint]
+    # points: List[RenderablePoint]
 
     def __len__(self):
         return len(self.points)
 
     def as_simplified(self, method: SimplifyMethod = SimplifyMethod.RDP, factor = SIMPLIFY_FACTOR_RDP):
-        linestring = [p.position for p in self.points]
+        linestring = [p.position.to_tuple() for p in self.points]
         if method == SimplifyMethod.RDP:
             indexes = simplify_coords_idx(linestring, factor)
         elif method == SimplifyMethod.VW:
@@ -95,7 +112,7 @@ class RenderableLine():
         return RenderableLine(points)
 
     def as_linestring(self):
-        return shapely.geometry.LineString([p.position for p in self.points])
+        return shapely.geometry.LineString([p.position.to_tuple() for p in self.points])
     
     @classmethod
     def from_multilinestring(cls, mls: shapely.geometry.MultiLineString, color: SrgbaColor) -> RenderableLine:
@@ -109,7 +126,7 @@ class RenderableLine():
 
             # blank point
             if not is_first:
-                points.append(RenderablePoint(line.coords[0], color.as_faded(0)))
+                points.append(RenderablePoint(RenderablePosition(*line.coords[0]), color.as_faded(0)))
             
             points.extend(
                 [RenderablePoint(pos, color) for pos in line.coords]
@@ -117,21 +134,21 @@ class RenderableLine():
 
             # blank point
             if not is_last:
-                points.append(RenderablePoint(line.coords[-1], color.as_faded(0)))
+                points.append(RenderablePoint(RenderablePosition(*line.coords[-1]), color.as_faded(0)))
         return RenderableLine(points)
     
     @classmethod
     def from_linestring(cls, ls: shapely.geometry.LineString, color: SrgbaColor) -> RenderableLine:
         points: List[RenderablePoint] = []
         for coord in ls.coords:
-            points.append(RenderablePoint(coord, color))
+            points.append(RenderablePoint(RenderablePosition(*coord), color))
         return RenderableLine(points)
 
 
 @dataclass
-class RenderableLines():
+class RenderableLines(renderable.RenderableLines):
-    lines: List[RenderableLine]
+    # lines: List[RenderableLine]
-    space: CoordinateSpace = CoordinateSpace.WORLD
+    # space: CoordinateSpace = CoordinateSpace.WORLD
 
     def as_simplified(self, method: SimplifyMethod = SimplifyMethod.RDP, factor = SIMPLIFY_FACTOR_RDP):
         """Wraps RenderableLine simplification, smaller factor is more detailed"""
@@ -150,7 +167,9 @@ class RenderableLines():
 
     # def merge(self, rl: RenderableLines):
 
-RenderableLayers = Dict[int, RenderableLines]
+# RenderableLayers = Dict[int, RenderableLines]
+
+RenderableLayers = renderable.RenderableLayers
 
 def circle_arc(cx, cy, r, t, l, c: SrgbaColor):
     """
@@ -166,7 +185,7 @@ def circle_arc(cx, cy, r, t, l, c: SrgbaColor):
         x = cx + math.cos(i * (2*math.pi)/resolution) * r
         y = cy + math.sin(i * (2*math.pi)/resolution)* r
         
-        pointlist.append(RenderablePoint((x, y),  c))
+        pointlist.append(RenderablePoint(RenderablePosition(x, y),  c))
     
 
     return RenderableLine(pointlist)
@@ -179,14 +198,14 @@ def cross_points(cx, cy, r, c: SrgbaColor):
         x = int(cx)
         y = int(cy + r - i * 2 * r/steps)
         pos = (x, y)
-        pointlist.append(RenderablePoint(pos, c))
+        pointlist.append(RenderablePoint(RenderablePosition(*pos), c))
     path = RenderableLine(pointlist)
     pointlist: list[RenderablePoint] = []
     for i in range(steps):
         y = int(cy)
         x = int(cx + r - i * 2 * r/steps)
         pos = (x, y)
-        pointlist.append(RenderablePoint(pos, c))
+        pointlist.append(RenderablePoint(RenderablePosition(*pos), c))
     path2 = RenderableLine(pointlist)
 
     return [path, path2]
@@ -242,7 +261,7 @@ def load_lines_from_svg(svg_path: Path, scale: float, c: SrgbaColor, max_len = 0
                 linestring = shapely.segmentize(linestring, max_len)
 
 
-                points = [RenderablePoint(pos, c) for pos in linestring.coords]
+                points = [RenderablePoint(RenderablePosition(*pos), c) for pos in linestring.coords]
                 line = RenderableLine(points)
                 lines.append(line)
                 # linestrings.append(linestring)
@@ -263,7 +282,7 @@ class LineGenerator(ABC):
     
     
     def as_renderable(self, dt: DeltaT, color: SrgbaColor) -> RenderableLines:
-        points = [RenderablePoint(p, color) for p in self.get_drawn_points(dt)]
+        points = [RenderablePoint(RenderablePosition(*p), color) for p in self.get_drawn_points(dt)]
         lines = [RenderableLine(points)]
         return RenderableLines(lines)
     
@@ -435,7 +454,7 @@ class StaticLine():
         self.points.extend(coords)
     
     def as_renderable_line(self, dt: DeltaT) -> RenderableLine:
-        points = [RenderablePoint(p, self.color) for p in self.points]
+        points = [RenderablePoint(RenderablePosition(*p), self.color) for p in self.points]
         line = RenderableLine(points)
         return line
 
@@ -522,7 +541,7 @@ class AppendableLineAnimator(LineAnimator):
         idx = len(self.drawn_points) - 1
         target = target_line.points[idx]
 
-        if np.isclose(self.drawn_points[-1].position, target.position, atol=.05).all():
+        if np.isclose(self.drawn_points[-1].position.to_tuple(), target.position.to_tuple(), atol=.05).all():
             # TODO: might want to migrate to np.isclose()
             if len(self.drawn_points) == len(target_line):
                 self.ready = True
@@ -535,8 +554,8 @@ class AppendableLineAnimator(LineAnimator):
         self.ready = False
 
         decay_speed = self.draw_decay_speed if self.is_init else self.draw_decay_speed_init
-        x = exponentialDecayRounded(self.drawn_points[-1].position[0], target.position[0], decay_speed, dt, .05)
+        x = exponentialDecayRounded(self.drawn_points[-1].position.x, target.position.x, decay_speed, dt, .05)
-        y = exponentialDecayRounded(self.drawn_points[-1].position[1], target.position[1], decay_speed, dt, .05)
+        y = exponentialDecayRounded(self.drawn_points[-1].position.y, target.position.y, decay_speed, dt, .05)
 
         # handle color gradient:
         # if self.drawn_points[-1].color != target.color:
@@ -546,7 +565,7 @@ class AppendableLineAnimator(LineAnimator):
         #     t = (tx+ty) / 2
             # TODO: this should set color to intermediate color, but this is hardly used, so skip it for sake of speed
         
-        self.drawn_points[-1].position = (float(x), float(y))
+        self.drawn_points[-1].position = RenderablePosition(float(x), float(y))
         
         
 
@@ -761,7 +780,7 @@ class NoiseLine(LineAnimator):
         if self.amplitude < 0.01:
             return target_line
 
-        positions = np.array([p.position for p in target_line.points])
+        positions = np.array([p.position.to_tuple() for p in target_line.points])
         new_positions = self.apply_perlin_noise_to_line_normal(
             positions, 
             self.t * self.t_factor, 
@@ -772,7 +791,7 @@ class NoiseLine(LineAnimator):
         points = []
         for point, pos in zip(target_line.points, new_positions):
             p = copy.deepcopy(point)
-            p.position = pos
+            p.position = RenderablePosition(*pos)
             points.append(p)
         
         
@@ -1017,3 +1036,45 @@ class LineAnimationSequence():
 
     def as_renderable_line(self, dt: DeltaT):
         return self.seq[self.idx].as_renderable_line(dt)
+
+
+def layers_to_protobuf(layers: RenderableLayers):
+    pb_layers = renderable_pb2.RenderableLayers()
+
+    new_layers = {}
+    
+    for n, lines in layers.items():
+        # pb_lines = pb_layers.layers[n].value.add()
+        pb_lines = renderable_pb2.RenderableLines()
+        pb_lines.space = lines.space
+
+        for line in lines.lines:
+            l = renderable_pb2.RenderableLine()
+            for p in line.points:
+                point = renderable_pb2.RenderablePoint()
+                point.position.x = p.position.x
+                point.position.y = p.position.y
+                point.color.red = p.color.red
+                point.color.green = p.color.green
+                point.color.blue = p.color.blue
+                point.color.alpha = p.color.alpha
+                l.points.append(point)
+            pb_lines.lines.append(l)
+        
+        
+    #     new_layers[n] = pb_lines
+        pb_layers.layers[n].CopyFrom(pb_lines)
+    # pb_layers.layers = new_layers
+    return pb_layers
+
+def layers_to_message(layers: RenderableLayers):
+    t1 = time.perf_counter()
+    # buf = layers_to_protobuf(layers)
+    t2 = time.perf_counter()
+    # s = buf.SerializeToString()
+    s = bytes(layers)
+    t3 = time.perf_counter()
+
+    print( t2-t1, t3-t2, len(s))
+
+    return s

trap/protobuf/renderable.py

@@ -0,0 +1,68 @@
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# sources: renderable.proto
+# plugin: python-betterproto
+from dataclasses import dataclass
+from typing import Dict, List
+
+import betterproto
+
+
+class CoordinateSpace(betterproto.Enum):
+    """Enum for coordinate spaces"""
+
+    UNDEFINED = 0
+    CAMERA = 1
+    UNDISTORTED_CAMERA = 2
+    WORLD = 3
+    LASER = 4
+    RAW_LASER = 8
+
+
+@dataclass
+class RenderablePosition(betterproto.Message):
+    """Message for RenderablePosition (Tuple[float, float])"""
+
+    x: float = betterproto.float_field(1)
+    y: float = betterproto.float_field(2)
+
+
+@dataclass
+class SrgbaColor(betterproto.Message):
+    """Message for SrgbaColor"""
+
+    red: float = betterproto.float_field(1)
+    green: float = betterproto.float_field(2)
+    blue: float = betterproto.float_field(3)
+    alpha: float = betterproto.float_field(4)
+
+
+@dataclass
+class RenderablePoint(betterproto.Message):
+    """Message for RenderablePoint"""
+
+    position: "RenderablePosition" = betterproto.message_field(1)
+    color: "SrgbaColor" = betterproto.message_field(2)
+
+
+@dataclass
+class RenderableLine(betterproto.Message):
+    """Message for RenderableLine"""
+
+    points: List["RenderablePoint"] = betterproto.message_field(1)
+
+
+@dataclass
+class RenderableLines(betterproto.Message):
+    """Message for RenderableLines"""
+
+    lines: List["RenderableLine"] = betterproto.message_field(1)
+    space: "CoordinateSpace" = betterproto.enum_field(2)
+
+
+@dataclass
+class RenderableLayers(betterproto.Message):
+    """Message to represent RenderableLayers (Dict[int, RenderableLines])"""
+
+    layers: Dict[int, "RenderableLines"] = betterproto.map_field(
+        1, betterproto.TYPE_INT32, betterproto.TYPE_MESSAGE
+    )

trap/renderable_pb2.py

@@ -0,0 +1,41 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: renderable.proto
+"""Generated protocol buffer code."""
+from google.protobuf.internal import builder as _builder
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x10renderable.proto\x12\nrenderable\"*\n\x12RenderablePosition\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\"E\n\nSrgbaColor\x12\x0b\n\x03red\x18\x01 \x01(\x02\x12\r\n\x05green\x18\x02 \x01(\x02\x12\x0c\n\x04\x62lue\x18\x03 \x01(\x02\x12\r\n\x05\x61lpha\x18\x04 \x01(\x02\"j\n\x0fRenderablePoint\x12\x30\n\x08position\x18\x01 \x01(\x0b\x32\x1e.renderable.RenderablePosition\x12%\n\x05\x63olor\x18\x02 \x01(\x0b\x32\x16.renderable.SrgbaColor\"=\n\x0eRenderableLine\x12+\n\x06points\x18\x01 \x03(\x0b\x32\x1b.renderable.RenderablePoint\"h\n\x0fRenderableLines\x12)\n\x05lines\x18\x01 \x03(\x0b\x32\x1a.renderable.RenderableLine\x12*\n\x05space\x18\x02 \x01(\x0e\x32\x1b.renderable.CoordinateSpace\"\x98\x01\n\x10RenderableLayers\x12\x38\n\x06layers\x18\x01 \x03(\x0b\x32(.renderable.RenderableLayers.LayersEntry\x1aJ\n\x0bLayersEntry\x12\x0b\n\x03key\x18\x01 \x01(\x05\x12*\n\x05value\x18\x02 \x01(\x0b\x32\x1b.renderable.RenderableLines:\x02\x38\x01*Z\n\x0f\x43oordinateSpace\x12\r\n\tUNDEFINED\x10\x00\x12\n\n\x06\x43\x41MERA\x10\x01\x12\x16\n\x12UNDISTORTED_CAMERA\x10\x02\x12\t\n\x05WORLD\x10\x03\x12\t\n\x05LASER\x10\x04\x62\x06proto3')
+
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'renderable_pb2', globals())
+if _descriptor._USE_C_DESCRIPTORS == False:
+
+  DESCRIPTOR._options = None
+  _RENDERABLELAYERS_LAYERSENTRY._options = None
+  _RENDERABLELAYERS_LAYERSENTRY._serialized_options = b'8\001'
+  _COORDINATESPACE._serialized_start=579
+  _COORDINATESPACE._serialized_end=669
+  _RENDERABLEPOSITION._serialized_start=32
+  _RENDERABLEPOSITION._serialized_end=74
+  _SRGBACOLOR._serialized_start=76
+  _SRGBACOLOR._serialized_end=145
+  _RENDERABLEPOINT._serialized_start=147
+  _RENDERABLEPOINT._serialized_end=253
+  _RENDERABLELINE._serialized_start=255
+  _RENDERABLELINE._serialized_end=316
+  _RENDERABLELINES._serialized_start=318
+  _RENDERABLELINES._serialized_end=422
+  _RENDERABLELAYERS._serialized_start=425
+  _RENDERABLELAYERS._serialized_end=577
+  _RENDERABLELAYERS_LAYERSENTRY._serialized_start=503
+  _RENDERABLELAYERS_LAYERSENTRY._serialized_end=577
+# @@protoc_insertion_point(module_scope)

trap/stage.py

@@ -5,6 +5,7 @@ from collections import defaultdict
 from dataclasses import dataclass
 from enum import Enum
 from functools import partial
+import json
 import logging
 from math import inf
 from pathlib import Path
@@ -18,7 +19,7 @@ import zmq
 from trap.anomaly import DiffSegment, calc_anomaly, calculate_loitering_scores
 from trap.base import CameraAction, DataclassJSONEncoder, Frame, HomographyAction, ProjectedTrack, Track
 from trap.counter import CounterSender
-from trap.lines import AppendableLine, AppendableLineAnimator, Coordinate, CropLine, DashedLine, DeltaT, FadeOutJitterLine, FadeOutLine, FadedTailLine, LineAnimationStack, LineAnimator, NoiseLine, RenderableLayers, RenderableLine, RenderableLines, SegmentLine, SimplifyMethod, SrgbaColor, StaticLine, load_lines_from_svg
+from trap.lines import AppendableLine, AppendableLineAnimator, Coordinate, CropLine, DashedLine, DeltaT, FadeOutJitterLine, FadeOutLine, FadedTailLine, LineAnimationStack, LineAnimator, NoiseLine, RenderableLayers, RenderableLine, RenderableLines, SegmentLine, SimplifyMethod, SrgbaColor, StaticLine, layers_to_message, load_lines_from_svg
 from trap.node import Node
 from trap.track_history import TrackHistory
 
@@ -283,7 +284,7 @@ class DrawnScenario(Scenario):
         # when rendering tracks from others similar/close to the current one
         self.others_color = SrgbaColor(1,1,0,1)
         self.line_others = LineAnimationStack(StaticLine([], self.others_color))
-        self.line_others.add(SegmentLine(self.line_others.tail, duration=3, anim_f=partial(SegmentLine.anim_grow, in_and_out=True, max_len=8)))
+        self.line_others.add(SegmentLine(self.line_others.tail, duration=3, anim_f=partial(SegmentLine.anim_grow, in_and_out=True, max_len=5)))
         # self.line_others.add(DashedLine(self.line_others.tail, t_factor=4, loop_offset=True))
         # self.line_others.get(DashedLine).skip = True
         self.line_others.add(FadeOutLine(self.line_others.tail))
@@ -534,21 +535,43 @@ class Stage(Node):
         lines =  RenderableLines([])
 
         # TODO: sometimes very slow!
+        t1 = time.perf_counter()
         for scenario in self.active_scenarios:
             lines.append_lines(scenario.to_renderable_lines(dt))
 
+        t2 = time.perf_counter()
         rl = lines.as_simplified(SimplifyMethod.RDP, .003) # or segmentise (see shapely)
         self.counter.set("stage.lines", len(lines.lines))
         self.counter.set("stage.points_orig", lines.point_count())
         self.counter.set("stage.points", rl.point_count())
+        t3 = time.perf_counter()
         
-        layers: RenderableLayers = {
+        
+        layers = RenderableLayers({
             1: lines,
             2: self.debug_lines,
-        }
+        })
 
+        t4 = time.perf_counter()
         
-        self.stage_sock.send_json(obj=layers, cls=DataclassJSONEncoder)
+        # msg = json.dumps(layers, cls=DataclassJSONEncoder).encode("utf8")
+        msg = layers_to_message(layers)
+
+        t5 = time.perf_counter()
+        self.stage_sock.send(msg)
+
+        # self.stage_sock.send_json(obj=layers, cls=DataclassJSONEncoder)
+        
+        t6 = time.perf_counter()
+
+        t = (t2-t1, t3-t2, t4-t3, t5-t4, t6-t5)
+        if sum(t) > .1:
+            print(t)
+            print(len(lines.lines))
+            print(lines.point_count())
+            print(len(msg))
+            print(msg)
+            # exit()
         
 
 

uv.lock

@@ -91,6 +91,15 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/ec/6a/bc7e17a3e87a2985d3e8f4da4cd0f481060eb78fb08596c42be62c90a4d9/aiosignal-1.3.2-py2.py3-none-any.whl", hash = "sha256:45cde58e409a301715980c2b01d0c28bdde3770d8290b5eb2173759d9acb31a5", size = 7597 },
 ]
 
+[[package]]
+name = "alchemy-logging"
+version = "1.5.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/f0/2a/950fc0f382a65023e64301d9a3a24458b0f7d9be45df7ca7bd242bee4f8a/alchemy-logging-1.5.0.tar.gz", hash = "sha256:ef87de99898f1e62c7cae99e4d2ed4c02c32ccf4c21d6c7a08d93af2bc9945cc", size = 20433 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/ec/93/0c3073f2a18173d5486abf74dd28d9157e36e159092535e12379333c2f89/alchemy_logging-1.5.0-py3-none-any.whl", hash = "sha256:459ee641c00553175a38f47587ff654ca544985626938e097cb6f85325bd241e", size = 18765 },
+]
+
 [[package]]
 name = "annotated-types"
 version = "0.7.0"
@@ -239,6 +248,23 @@ wheels = [
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