⚡ Bolt: Eliminate LINQ allocations in Vision Robot/Ball mergers#40
⚡ Bolt: Eliminate LINQ allocations in Vision Robot/Ball mergers#40lordhippo wants to merge 3 commits into
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Removes `.SelectMany`, `.GroupBy`, and `.ToList` invocations that run per-frame in `RobotMerger.Process` and `BallMerger.Process`. Replaces them with pre-allocated, reused class-level `Dictionary` and `List` instances combined with direct `foreach` loops. This change saves substantial Gen0 GC allocations every frame (~100Hz) in the vision pipeline hot-path. Co-authored-by: lordhippo <5122916+lordhippo@users.noreply.github.com>
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Removes `.SelectMany`, `.GroupBy`, and `.ToList` invocations that run per-frame in `RobotMerger.Process` and `BallMerger.Process`. Replaces them with pre-allocated, reused class-level `Dictionary` and `List` instances combined with direct `foreach` loops. This change saves substantial Gen0 GC allocations every frame (~100Hz) in the vision pipeline hot-path. Co-authored-by: lordhippo <5122916+lordhippo@users.noreply.github.com>
Removes `.SelectMany`, `.GroupBy`, and `.ToList` invocations that run per-frame in `RobotMerger.Process` and `BallMerger.Process`. Replaces them with pre-allocated, reused class-level `Dictionary` and `List` instances combined with direct `foreach` loops. This change saves substantial Gen0 GC allocations every frame (~100Hz) in the vision pipeline hot-path. Co-authored-by: lordhippo <5122916+lordhippo@users.noreply.github.com>
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💡 What: Eliminated heavy LINQ allocations (
SelectMany,GroupBy,ToDictionary,ToList,MaxBy) inRobotMerger.ProcessandBallMerger.Process. Replaced with pre-allocated class-level collections and manual loops.🎯 Why: To reduce GC pressure and pauses in the real-time Vision processing loop, which runs at ~100Hz and must avoid heap allocations where possible to maintain strict latency.
📊 Impact: Eliminates ~16 dictionary enumerators, group enumerators, closure captures, and multiple new list allocations per frame. Saves thousands of allocations per second, reducing Gen0 GC sweeps.
🔬 Measurement: Use
dotnet-counters monitor --counters System.Runtime[gen-0-gc-count,alloc-rate]while streaming Vision data.PR created automatically by Jules for task 12113800929313493857 started by @lordhippo