Merge pull request #1631 from JuliaRobotics/22Q3/comp/snooppre

adding SnoopPrecompile for faster load times

Author: dehann

NEWS.md

@@ -17,6 +17,7 @@ The list below highlights breaking changes according to normal semver workflow -
 - Added a few missing exports incl. `getTags`, `_update!, see #1626 #1628.
 - Refactoring to remove `FactorMetadata` (#1611) and `ConvPerThread` (#1615, #1625) objects, which is consolidated into `CalcFactor` and `CommonConvWrapper`.
 - Added JuliaFormatter, see #1620.
+- Add `SnoopPrecompile.jl` on a few basic solve features to start, see #1631.
 
 # Changes in v0.30
 

Project.toml

@@ -35,6 +35,7 @@ Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 RecursiveArrayTools = "731186ca-8d62-57ce-b412-fbd966d074cd"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
 Requires = "ae029012-a4dd-5104-9daa-d747884805df"
+SnoopPrecompile = "66db9d55-30c0-4569-8b51-7e840670fc0c"
 SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
@@ -68,11 +69,12 @@ ProgressMeter = "1"
 RecursiveArrayTools = "2.31.1"
 Reexport = "1"
 Requires = "1"
+SnoopPrecompile = "1"
 StaticArrays = "1"
 StatsBase = "0.32, 0.33"
 TensorCast = "0.3.3, 0.4"
 TimeZones = "1.3.1"
-julia = "1.6"
+julia = "1.8"
 
 [extras]
 DifferentialEquations = "0c46a032-eb83-5123-abaf-570d42b7fbaa"

src/IncrementalInference.jl

@@ -52,8 +52,8 @@ using ManifoldsBase
 
 # for BayesTree
 using MetaGraphs
-
 using Logging
+using SnoopPrecompile
 
 # bringing in BSD 3-clause ccolamd
 include("ccolamd.jl")
@@ -246,6 +246,15 @@ function __init__()
   end
 end
 
+@precompile_all_calls begin
+  # In here put "toy workloads" that exercise the code you want to precompile
+  fg = generateGraph_Kaess()
+  initAll!(fg)
+  solveGraph!(fg)
+  initParametricFrom!(fg, :default)
+  solveGraphParametric!(fg)
+end
+
 export setSerializationNamespace!, getSerializationModule, getSerializationModules
 
 end