From 95c862c69e177d2f453b338a66fd49002e69f2a9 Mon Sep 17 00:00:00 2001
From: "google-labs-jules[bot]"
 <161369871+google-labs-jules[bot]@users.noreply.github.com>
Date: Sat, 4 Jul 2026 02:04:31 +0000
Subject: [PATCH] =?UTF-8?q?=E2=9A=A1=20Bolt:=20Avoid=20allocations=20in=20?=
 =?UTF-8?q?Ai.Process()=20hot=20path?=
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💡 What:
- Gated `Log.ZLogDebug` calls behind `if (Log.IsEnabled(LogLevel.Debug))` to avoid string interpolation.
- Replaced `.Where()` LINQ call with explicit `foreach` + `if` when evaluating unfilled roles.

🎯 Why:
- `Ai.Process()` runs at ~100Hz on every frame. String interpolation evaluates regardless of logging level, causing strings to be allocated. LINQ `.Where()` causes enumerator and closure allocations.

📊 Impact:
- Eliminates 3 allocs/frame (2 string interpolations, 1 LINQ enumerator). At 100Hz, this is ~300 allocs/sec avoided.

🔬 Measurement:
- `dotnet-counters monitor --counters System.Runtime[gen-0-gc-count,alloc-rate]`

Co-authored-by: lordhippo <5122916+lordhippo@users.noreply.github.com>
---
 Soccer/Ai.cs | 22 ++++++++++++++++++----
 1 file changed, 18 insertions(+), 4 deletions(-)

diff --git a/Soccer/Ai.cs b/Soccer/Ai.cs
index 5ab045b..e5c4a59 100644
--- a/Soccer/Ai.cs
+++ b/Soccer/Ai.cs
@@ -10,6 +10,7 @@
 using Tyr.Common.Time;
 using Tyr.Soccer.Plays;
 using Tyr.Soccer.RoleAssignment;
+using Microsoft.Extensions.Logging;
 using Tyr.Soccer.Tactics;
 using Command = Tyr.Common.Sender.Data.Command;
 using Vision = Tyr.Common.Vision.Data;
@@ -148,7 +149,11 @@ public void PublishCommands()
 
     public void Process()
     {
-        Log.ZLogDebug($"fps: {Context.Timer.FpsSmooth}");
+        // Bolt: eliminates string interpolation allocation when debug logging is disabled (~100 allocs/sec)
+        if (Log.IsEnabled(LogLevel.Debug))
+        {
+            Log.ZLogDebug($"fps: {Context.Timer.FpsSmooth}");
+        }
         Plot.Plot("fps", Context.Timer.Fps);
 
         foreach (var robot in Context.OwnRobots)
@@ -173,10 +178,19 @@ public void Process()
         var assignmentResult = assignmentSolver.Solve(formation, previousAssignment.RoleMapping);
         var newRoleMapping = assignmentResult.RoleMapping;
 
-        Log.ZLogDebug($"Role assignment total cost: {assignmentResult.TotalCost:F3}");
-        foreach (var unfilledRole in assignmentResult.UnfilledRoles.Where(r => r.IsRequired))
+        // Bolt: eliminates string interpolation allocation when debug logging is disabled (~100 allocs/sec)
+        if (Log.IsEnabled(LogLevel.Debug))
         {
-            Log.ZLogWarning($"Required role left unfilled: {unfilledRole.Role}");
+            Log.ZLogDebug($"Role assignment total cost: {assignmentResult.TotalCost:F3}");
+        }
+
+        // Bolt: eliminates ~1 enumerator & closure alloc/frame by avoiding LINQ Where() (~100 allocs/sec)
+        foreach (var unfilledRole in assignmentResult.UnfilledRoles)
+        {
+            if (unfilledRole.IsRequired)
+            {
+                Log.ZLogWarning($"Required role left unfilled: {unfilledRole.Role}");
+            }
         }
 
         Context.Data.Value = Context.Data.Value! with