Add some caching, formatting optimization

openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/action.hpp

@@ -42,6 +42,8 @@ struct Action : public Scope, public ComplexType, public StoryboardElement
 {
   bool overridden = false;
 
+  std::string type_name;
+
   explicit Action(const pugi::xml_node &, Scope &);
 
   using StoryboardElement::evaluate;

openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/condition.hpp

@@ -57,6 +57,8 @@ struct Condition : public ComplexType, private SimulatorCore::ConditionEvaluatio
 
   bool current_value;
 
+  std::string type_name;
+
 private:
   struct History
   {

openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/simulation_time_condition.hpp

@@ -43,6 +43,8 @@ struct SimulationTimeCondition : private SimulatorCore::ConditionEvaluation
 
   Double result;
 
+  std::string description_condition_part;
+
   auto description() const -> String;
 
   auto evaluate() -> Object;

openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp

@@ -286,6 +286,7 @@ auto Interpreter::on_shutdown(const rclcpp_lifecycle::State &) -> Result
 auto Interpreter::publishCurrentContext() const -> void
 {
   auto start = std::chrono::steady_clock::now();
+  static size_t string_size = 0;
   Context context;
   {
     boost::json::monotonic_resource mr;
@@ -294,7 +295,15 @@ auto Interpreter::publishCurrentContext() const -> void
     if (publish_empty_context) {
       context.data = "";
     } else {
-      context.data = boost::json::serialize(json << *script);
+      json << *script;
+
+      std::ostringstream os(context.data);
+
+      os << json;
+      context.data = os.str();
+
+      string_size = context.data.size();
+
       auto end = std::chrono::steady_clock::now();
       RCLCPP_INFO_STREAM(
         get_logger(),

openscenario/openscenario_interpreter/src/syntax/action.cpp

@@ -30,6 +30,7 @@ Action::Action(const pugi::xml_node & node, Scope & scope)
       std::make_pair(    "PrivateAction", [this](auto && node) { return make<    PrivateAction>(node, local()); })))
 // clang-format on
 {
+  type_name = apply<std::string>([](auto && action) { return makeTypename(action.type()); }, *this);
 }
 
 auto Action::accomplished() const -> bool { return ComplexType::accomplished(); }
@@ -64,8 +65,7 @@ auto operator<<(boost::json::object & json, const Action & datum) -> boost::json
 
   json["currentState"] = boost::lexical_cast<std::string>(datum.state());
 
-  json["type"] =
-    apply<std::string>([](auto && action) { return makeTypename(action.type()); }, datum);
+  json["type"] = datum.type_name;
 
   return json;
 }

openscenario/openscenario_interpreter/src/syntax/condition.cpp

@@ -43,6 +43,17 @@ Condition::Condition(const pugi::xml_node & node, Scope & scope)
   current_value(false)
 // clang-format on
 {
+  // clang-format off
+  static const std::unordered_map<
+    std::type_index,
+    std::function<std::string(const Condition &)>> table
+  {
+    { typeid(ByEntityCondition), [&](const Condition & condition) { return makeTypename(condition.as<ByEntityCondition>().type()); } },
+    { typeid( ByValueCondition), [&](const Condition & condition) { return makeTypename(condition.as< ByValueCondition>().type()); } },
+  };
+  // clang-format on
+
+  type_name = table.at(type())(*this);
 }
 
 auto Condition::evaluate() -> Object
@@ -76,17 +87,7 @@ auto operator<<(boost::json::object & json, const Condition & datum) -> boost::j
 
   json["name"] = datum.name;
 
-  // clang-format off
-  static const std::unordered_map<
-    std::type_index,
-    std::function<std::string(const Condition &)>> table
-  {
-    { typeid(ByEntityCondition), [&](const Condition & condition) { return makeTypename(condition.as<ByEntityCondition>().type()); } },
-    { typeid( ByValueCondition), [&](const Condition & condition) { return makeTypename(condition.as< ByValueCondition>().type()); } },
-  };
-  // clang-format on
-
-  json["type"] = table.at(datum.type())(datum);
+  json["type"] = datum.type_name;
 
   return json;
 }

openscenario/openscenario_interpreter/src/syntax/simulation_time_condition.cpp

@@ -12,6 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#define FMT_HEADER_ONLY
+
+#include <fmt/format.h>
+
 #include <iomanip>
 #include <openscenario_interpreter/reader/attribute.hpp>
 #include <openscenario_interpreter/syntax/simulation_time_condition.hpp>
@@ -24,16 +28,16 @@ SimulationTimeCondition::SimulationTimeCondition(const pugi::xml_node & node, Sc
 : value(readAttribute<Double>("value", node, scope)),
   compare(readAttribute<Rule>("rule", node, scope))
 {
+  std::stringstream os;
+  os << "is " << compare << " " << value << "?";
+  description_condition_part = os.str();
 }
 
 auto SimulationTimeCondition::description() const -> String
 {
-  std::stringstream description;
-
-  description << "Is the simulation time (= " << std::fixed << std::setprecision(6) << result
-              << ") is " << compare << " " << value << "?";
-
-  return description.str();
+  return fmt::format(
+    "Is the simulation time (= {:.30f}) {}", static_cast<double>(result),
+    description_condition_part);
 }
 
 auto SimulationTimeCondition::evaluate() -> Object

openscenario/openscenario_interpreter/src/syntax/trigger.cpp

@@ -65,7 +65,7 @@ auto Trigger::activeConditionGroupDescription() const
 
 auto operator<<(boost::json::object & json, const Trigger & datum) -> boost::json::object &
 {
-  json["currentValue"] = boost::lexical_cast<std::string>(Boolean(datum.current_value));
+  json.emplace("currentValue", boost::lexical_cast<std::string>(Boolean(datum.current_value)));
 
   auto & condition_groups = json["ConditionGroup"].emplace_array();