Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

async_hooks: use typed array stack as fast path #17780

Closed
wants to merge 4 commits into from

Conversation

addaleax
Copy link
Member

  • Communicate the current async stack length through a
    typed array field rather than a native binding method
  • Add a new fixed-size async_ids_fast_stack typed array
    that contains the async ID stack up to a fixed limit.
    This increases performance noticeably, since most of the time
    the async ID stack will not be more than a handful of
    levels deep.
  • Make the JS pushAsyncIds() and popAsyncIds() functions
    do the same thing as the native ones if the fast path
    is applicable.

Benchmarks:

$ ./node benchmark/compare.js --new ./node --old ./node-master --runs 10 --filter next-tick process | Rscript benchmark/compare.R
[00:03:25|% 100| 6/6 files | 20/20 runs | 1/1 configs]: Done
                                               improvement confidence      p.value
 process/next-tick-breadth-args.js millions=4     19.72 %        *** 3.013913e-06
 process/next-tick-breadth.js millions=4          27.33 %        *** 5.847983e-11
 process/next-tick-depth-args.js millions=12      40.08 %        *** 1.237127e-13
 process/next-tick-depth.js millions=12           77.27 %        *** 1.413290e-11
 process/next-tick-exec-args.js millions=5        13.58 %        *** 1.245180e-07
 process/next-tick-exec.js millions=5             16.80 %        *** 2.961386e-07
Checklist
  • make -j4 test (UNIX), or vcbuild test (Windows) passes
  • tests and/or benchmarks are included
  • commit message follows commit guidelines
Affected core subsystem(s)

async_hooks

@nodejs-github-bot nodejs-github-bot added c++ Issues and PRs that require attention from people who are familiar with C++. lib / src Issues and PRs related to general changes in the lib or src directory. labels Dec 20, 2017
@addaleax addaleax added the async_hooks Issues and PRs related to the async hooks subsystem. label Dec 20, 2017
- Communicate the current async stack length through a
  typed array field rather than a native binding method
- Add a new fixed-size `async_ids_fast_stack` typed array
  that contains the async ID stack up to a fixed limit.
  This increases performance noticeably, since most of the time
  the async ID stack will not be more than a handful of
  levels deep.
- Make the JS `pushAsyncIds()` and `popAsyncIds()` functions
  do the same thing as the native ones if the fast path
  is applicable.

Benchmarks:

    $ ./node benchmark/compare.js --new ./node --old ./node-master --runs 10 --filter next-tick process | Rscript benchmark/compare.R
    [00:03:25|% 100| 6/6 files | 20/20 runs | 1/1 configs]: Done
                                                   improvement confidence      p.value
     process/next-tick-breadth-args.js millions=4     19.72 %        *** 3.013913e-06
     process/next-tick-breadth.js millions=4          27.33 %        *** 5.847983e-11
     process/next-tick-depth-args.js millions=12      40.08 %        *** 1.237127e-13
     process/next-tick-depth.js millions=12           77.27 %        *** 1.413290e-11
     process/next-tick-exec-args.js millions=5        13.58 %        *** 1.245180e-07
     process/next-tick-exec.js millions=5             16.80 %        *** 2.961386e-07
@addaleax addaleax added the performance Issues and PRs related to the performance of Node.js. label Dec 20, 2017
@AndreasMadsen
Copy link
Member

AndreasMadsen commented Dec 20, 2017

I think we should just remove the slow path. Having more than 32 nested before() emit seams absolutely ridiculous. If it turns out to be a problem we can consider alternatives.

@addaleax
Copy link
Member Author

@AndreasMadsen I know that @trevnorris made the switch from using only a typed array to a std::stack on purpose…

I agree that the slow path is not likely to be taken but I don’t see why we shouldn’t support it just because of that

@AndreasMadsen
Copy link
Member

I agree that the slow path is not likely to be taken but I don’t see why we shouldn’t support it just because of that

It is code complexity for an edge case that is unlikely to ever happen.

@bnoordhuis
Copy link
Member

Possibly naive question: can't you grow the typed array when it's full? Seems simpler than a separate data structure for the fallback case.

@addaleax
Copy link
Member Author

@bnoordhuis You mean, replace by a larger typed array? Yeah, I guess you could. :)

@AndreasMadsen Would you be okay with that approach?

@AndreasMadsen
Copy link
Member

@addaleax Yes. I was thinking the same.

@addaleax
Copy link
Member Author

@AndreasMadsen @bnoordhuis I’ve switched this to a resizable typed array … it doesn’t seem to affect the perf improvements here. :)

I’m totally fine with this approach, but I have to admit I don’t see a huge benefit over the previous code…

@addaleax
Copy link
Member Author

Copy link
Member

@bnoordhuis bnoordhuis left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Left some comments that you are welcome to ignore if I'm completely off-mark. :-)

src/env.h Outdated
// Stores the ids of the current execution context stack.
std::stack<async_context> async_ids_stack_;
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

You can remove the #include <stack> now, I think?

Copy link
Member Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

yup, done!

async_hook_fields[kStackLength]++;
async_id_fields[kExecutionAsyncId] = asyncId;
async_id_fields[kTriggerAsyncId] = triggerAsyncId;
}
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I'd take a slightly different approach here. Growing the stack can be done in JS: allocate a new typed array, copy over the elements, then call into C++ to update the AliasedBuffer's reference. That probably also obviates the need to overload operator=(AliasedBuffer&&).

If you wrote it this way because of how PromiseHook() calls env->async_hooks()->push_async_ids(), perhaps you can work around that by ensuring there are always a few free slots? I think that should work although admittedly I didn't look too closely.

Copy link
Member Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

@bnoordhuis It’s not just PromiseHook(), MakeCallback() also does that – I think for your suggestion to work in a generic fashion you’d have to call that growing function from C++, which kind of just moves the problem around

// This is the equivalent of the native push_async_ids() call.
function pushAsyncIds(asyncId, triggerAsyncId) {
const stackLength = async_hook_fields[kStackLength];
if (stackLength >= async_hook_fields[kStackCapacity])
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Is this needed? You can just check async_ids_stack.length, right?

Copy link
Member Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

… right, yes. :) Done!

@addaleax
Copy link
Member Author

@addaleax addaleax added the author ready PRs that have at least one approval, no pending requests for changes, and a CI started. label Dec 27, 2017
addaleax added a commit that referenced this pull request Dec 27, 2017
- Communicate the current async stack length through a
  typed array field rather than a native binding method
- Add a new fixed-size `async_ids_fast_stack` typed array
  that contains the async ID stack up to a fixed limit.
  This increases performance noticeably, since most of the time
  the async ID stack will not be more than a handful of
  levels deep.
- Make the JS `pushAsyncIds()` and `popAsyncIds()` functions
  do the same thing as the native ones if the fast path
  is applicable.

Benchmarks:

    $ ./node benchmark/compare.js --new ./node --old ./node-master --runs 10 --filter next-tick process | Rscript benchmark/compare.R
    [00:03:25|% 100| 6/6 files | 20/20 runs | 1/1 configs]: Done
                                                   improvement confidence      p.value
     process/next-tick-breadth-args.js millions=4     19.72 %        *** 3.013913e-06
     process/next-tick-breadth.js millions=4          27.33 %        *** 5.847983e-11
     process/next-tick-depth-args.js millions=12      40.08 %        *** 1.237127e-13
     process/next-tick-depth.js millions=12           77.27 %        *** 1.413290e-11
     process/next-tick-exec-args.js millions=5        13.58 %        *** 1.245180e-07
     process/next-tick-exec.js millions=5             16.80 %        *** 2.961386e-07

PR-URL: #17780
Reviewed-By: James M Snell <[email protected]>
@addaleax
Copy link
Member Author

Landed in 83e5215

@addaleax addaleax closed this Dec 27, 2017
@addaleax addaleax deleted the async-no-stack branch December 27, 2017 18:54
@addaleax addaleax removed the author ready PRs that have at least one approval, no pending requests for changes, and a CI started. label Dec 27, 2017
@MylesBorins
Copy link
Contributor

This does not land cleanly on v9.x, could someone please manually backport

@addaleax
Copy link
Member Author

This should apply cleanly or at least almost cleanly after #18079 lands

gibfahn pushed a commit to gibfahn/node that referenced this pull request Jan 17, 2018
- Communicate the current async stack length through a
  typed array field rather than a native binding method
- Add a new fixed-size `async_ids_fast_stack` typed array
  that contains the async ID stack up to a fixed limit.
  This increases performance noticeably, since most of the time
  the async ID stack will not be more than a handful of
  levels deep.
- Make the JS `pushAsyncIds()` and `popAsyncIds()` functions
  do the same thing as the native ones if the fast path
  is applicable.

Benchmarks:

    $ ./node benchmark/compare.js --new ./node --old ./node-master --runs 10 --filter next-tick process | Rscript benchmark/compare.R
    [00:03:25|% 100| 6/6 files | 20/20 runs | 1/1 configs]: Done
                                                   improvement confidence      p.value
     process/next-tick-breadth-args.js millions=4     19.72 %        *** 3.013913e-06
     process/next-tick-breadth.js millions=4          27.33 %        *** 5.847983e-11
     process/next-tick-depth-args.js millions=12      40.08 %        *** 1.237127e-13
     process/next-tick-depth.js millions=12           77.27 %        *** 1.413290e-11
     process/next-tick-exec-args.js millions=5        13.58 %        *** 1.245180e-07
     process/next-tick-exec.js millions=5             16.80 %        *** 2.961386e-07

PR-URL: nodejs#17780
Backport-PR-URL: nodejs#18179
Reviewed-By: James M Snell <[email protected]>
MylesBorins pushed a commit that referenced this pull request Jan 19, 2018
- Communicate the current async stack length through a
  typed array field rather than a native binding method
- Add a new fixed-size `async_ids_fast_stack` typed array
  that contains the async ID stack up to a fixed limit.
  This increases performance noticeably, since most of the time
  the async ID stack will not be more than a handful of
  levels deep.
- Make the JS `pushAsyncIds()` and `popAsyncIds()` functions
  do the same thing as the native ones if the fast path
  is applicable.

Benchmarks:

    $ ./node benchmark/compare.js --new ./node --old ./node-master --runs 10 --filter next-tick process | Rscript benchmark/compare.R
    [00:03:25|% 100| 6/6 files | 20/20 runs | 1/1 configs]: Done
                                                   improvement confidence      p.value
     process/next-tick-breadth-args.js millions=4     19.72 %        *** 3.013913e-06
     process/next-tick-breadth.js millions=4          27.33 %        *** 5.847983e-11
     process/next-tick-depth-args.js millions=12      40.08 %        *** 1.237127e-13
     process/next-tick-depth.js millions=12           77.27 %        *** 1.413290e-11
     process/next-tick-exec-args.js millions=5        13.58 %        *** 1.245180e-07
     process/next-tick-exec.js millions=5             16.80 %        *** 2.961386e-07

Backport-PR-URL: #18179
PR-URL: #17780
Reviewed-By: James M Snell <[email protected]>
@evanlucas
Copy link
Contributor

hm, it still isn't cherry-picking cleanly. Anyone have time to backport? Thanks!

addaleax added a commit to addaleax/node that referenced this pull request Jan 22, 2018
- Communicate the current async stack length through a
  typed array field rather than a native binding method
- Add a new fixed-size `async_ids_fast_stack` typed array
  that contains the async ID stack up to a fixed limit.
  This increases performance noticeably, since most of the time
  the async ID stack will not be more than a handful of
  levels deep.
- Make the JS `pushAsyncIds()` and `popAsyncIds()` functions
  do the same thing as the native ones if the fast path
  is applicable.

Benchmarks:

    $ ./node benchmark/compare.js --new ./node --old ./node-master --runs 10 --filter next-tick process | Rscript benchmark/compare.R
    [00:03:25|% 100| 6/6 files | 20/20 runs | 1/1 configs]: Done
                                                   improvement confidence      p.value
     process/next-tick-breadth-args.js millions=4     19.72 %        *** 3.013913e-06
     process/next-tick-breadth.js millions=4          27.33 %        *** 5.847983e-11
     process/next-tick-depth-args.js millions=12      40.08 %        *** 1.237127e-13
     process/next-tick-depth.js millions=12           77.27 %        *** 1.413290e-11
     process/next-tick-exec-args.js millions=5        13.58 %        *** 1.245180e-07
     process/next-tick-exec.js millions=5             16.80 %        *** 2.961386e-07

PR-URL: nodejs#17780
Reviewed-By: James M Snell <[email protected]>
evanlucas pushed a commit that referenced this pull request Jan 24, 2018
- Communicate the current async stack length through a
  typed array field rather than a native binding method
- Add a new fixed-size `async_ids_fast_stack` typed array
  that contains the async ID stack up to a fixed limit.
  This increases performance noticeably, since most of the time
  the async ID stack will not be more than a handful of
  levels deep.
- Make the JS `pushAsyncIds()` and `popAsyncIds()` functions
  do the same thing as the native ones if the fast path
  is applicable.

Benchmarks:

    $ ./node benchmark/compare.js --new ./node --old ./node-master --runs 10 --filter next-tick process | Rscript benchmark/compare.R
    [00:03:25|% 100| 6/6 files | 20/20 runs | 1/1 configs]: Done
                                                   improvement confidence      p.value
     process/next-tick-breadth-args.js millions=4     19.72 %        *** 3.013913e-06
     process/next-tick-breadth.js millions=4          27.33 %        *** 5.847983e-11
     process/next-tick-depth-args.js millions=12      40.08 %        *** 1.237127e-13
     process/next-tick-depth.js millions=12           77.27 %        *** 1.413290e-11
     process/next-tick-exec-args.js millions=5        13.58 %        *** 1.245180e-07
     process/next-tick-exec.js millions=5             16.80 %        *** 2.961386e-07

Backport-PR-URL: #18290
PR-URL: #17780
Reviewed-By: James M Snell <[email protected]>
gibfahn added a commit that referenced this pull request Mar 6, 2018
Notable changes:

* deps:
  * update V8 to 6.2.414.46 (Michaël Zasso) [#16413](#16413)
  * revert ABI breaking changes in V8 6.2 (Anna Henningsen) [#16413](#16413)
  * upgrade libuv to 1.19.1 (cjihrig) [#18260](#18260)
  * re land npm 5.6.0 (Myles Borins) [#18625](#18625)
  * ICU 60 bump (Steven R. Loomis) [#16876](#16876)
* crypto:
  * Support both OpenSSL 1.1.0 and 1.0.2 (David Benjamin) [#16130](#16130)
  * warn on invalid authentication tag length (Tobias Nießen) [#17566](#17566)
* async_hooks:
  * update defaultTriggerAsyncIdScope for perf (Anatoli Papirovski) [#18004](#18004)
  * use typed array stack as fast path (Anna Henningsen) [#17780](#17780)
  * use scope for defaultTriggerAsyncId (Andreas Madsen) [#17273](#17273)
  * separate missing from default context (Andreas Madsen) [#17273](#17273)
  * rename initTriggerId (Andreas Madsen) [#17273](#17273)
  * deprecate undocumented API (Andreas Madsen) [#16972](#16972)
  * add destroy event for gced AsyncResources (Sebastian Mayr) [#16998](#16998)
  * add trace events to async_hooks (Andreas Madsen) [#15538](#15538)
  * set HTTPParser trigger to socket (Andreas Madsen) [#18003](#18003)
  * add provider types for net server (Andreas Madsen) [#17157](#17157)
* n-api:
  * add helper for addons to get the event loop (Anna Henningsen) [#17109](#17109)
* cli:
  * add --stack-trace-limit to NODE_OPTIONS (Anna Henningsen) [#16495](#16495)
* console:
  * add support for console.debug (Benjamin Zaslavsky) [#17033](#17033)
* module:
  * add builtinModules (Jon Moss) [#16386](#16386)
  * replace default paths in require.resolve() (cjihrig) [#17113](#17113)
* src:
  * add helper for addons to get the event loop (Anna Henningsen) [#17109](#17109)
  * add process.ppid (cjihrig) [#16839](#16839)
* http:
  * support generic `Duplex` streams (Anna Henningsen) [#16267](#16267)
  * add rawPacket in err of `clientError` event (XadillaX) [#17672](#17672)
  * better support for IPv6 addresses (Mattias Holmlund) [#14772](#14772)
* net:
  * remove ADDRCONFIG DNS hint on Windows (Bartosz Sosnowski) [#17662](#17662)
* process:
  * fix reading zero-length env vars on win32 (Anna Henningsen) [#18463](#18463)
* tls:
  * unconsume stream on destroy (Anna Henningsen) [#17478](#17478)
* process:
  * improve unhandled rejection message (Madara Uchiha) [#17158](#17158)
* stream:
  * remove usage of *State.highWaterMark (Calvin Metcalf) [#12860](#12860)
* trace_events:
  * add executionAsyncId to init events (Andreas Madsen) [#17196](#17196)

PR-URL: #18336
gibfahn added a commit that referenced this pull request Mar 7, 2018
Notable changes:

* deps:
  * update V8 to 6.2.414.46 (Michaël Zasso) [#16413](#16413)
  * revert ABI breaking changes in V8 6.2 (Anna Henningsen) [#16413](#16413)
  * upgrade libuv to 1.19.1 (cjihrig) [#18260](#18260)
  * re land npm 5.6.0 (Myles Borins) [#18625](#18625)
  * ICU 60 bump (Steven R. Loomis) [#16876](#16876)
* crypto:
  * Support both OpenSSL 1.1.0 and 1.0.2 (David Benjamin) [#16130](#16130)
  * warn on invalid authentication tag length (Tobias Nießen) [#17566](#17566)
* async_hooks:
  * update defaultTriggerAsyncIdScope for perf (Anatoli Papirovski) [#18004](#18004)
  * use typed array stack as fast path (Anna Henningsen) [#17780](#17780)
  * use scope for defaultTriggerAsyncId (Andreas Madsen) [#17273](#17273)
  * separate missing from default context (Andreas Madsen) [#17273](#17273)
  * rename initTriggerId (Andreas Madsen) [#17273](#17273)
  * deprecate undocumented API (Andreas Madsen) [#16972](#16972)
  * add destroy event for gced AsyncResources (Sebastian Mayr) [#16998](#16998)
  * add trace events to async_hooks (Andreas Madsen) [#15538](#15538)
  * set HTTPParser trigger to socket (Andreas Madsen) [#18003](#18003)
  * add provider types for net server (Andreas Madsen) [#17157](#17157)
* n-api:
  * add helper for addons to get the event loop (Anna Henningsen) [#17109](#17109)
* cli:
  * add --stack-trace-limit to NODE_OPTIONS (Anna Henningsen) [#16495](#16495)
* console:
  * add support for console.debug (Benjamin Zaslavsky) [#17033](#17033)
* module:
  * add builtinModules (Jon Moss) [#16386](#16386)
  * replace default paths in require.resolve() (cjihrig) [#17113](#17113)
* src:
  * add helper for addons to get the event loop (Anna Henningsen) [#17109](#17109)
  * add process.ppid (cjihrig) [#16839](#16839)
* http:
  * support generic `Duplex` streams (Anna Henningsen) [#16267](#16267)
  * add rawPacket in err of `clientError` event (XadillaX) [#17672](#17672)
  * better support for IPv6 addresses (Mattias Holmlund) [#14772](#14772)
* net:
  * remove ADDRCONFIG DNS hint on Windows (Bartosz Sosnowski) [#17662](#17662)
* process:
  * fix reading zero-length env vars on win32 (Anna Henningsen) [#18463](#18463)
* tls:
  * unconsume stream on destroy (Anna Henningsen) [#17478](#17478)
* process:
  * improve unhandled rejection message (Madara Uchiha) [#17158](#17158)
* stream:
  * remove usage of *State.highWaterMark (Calvin Metcalf) [#12860](#12860)
* trace_events:
  * add executionAsyncId to init events (Andreas Madsen) [#17196](#17196)

PR-URL: #18336
MayaLekova pushed a commit to MayaLekova/node that referenced this pull request May 8, 2018
Notable changes:

* deps:
  * update V8 to 6.2.414.46 (Michaël Zasso) [nodejs#16413](nodejs#16413)
  * revert ABI breaking changes in V8 6.2 (Anna Henningsen) [nodejs#16413](nodejs#16413)
  * upgrade libuv to 1.19.1 (cjihrig) [nodejs#18260](nodejs#18260)
  * re land npm 5.6.0 (Myles Borins) [nodejs#18625](nodejs#18625)
  * ICU 60 bump (Steven R. Loomis) [nodejs#16876](nodejs#16876)
* crypto:
  * Support both OpenSSL 1.1.0 and 1.0.2 (David Benjamin) [nodejs#16130](nodejs#16130)
  * warn on invalid authentication tag length (Tobias Nießen) [nodejs#17566](nodejs#17566)
* async_hooks:
  * update defaultTriggerAsyncIdScope for perf (Anatoli Papirovski) [nodejs#18004](nodejs#18004)
  * use typed array stack as fast path (Anna Henningsen) [nodejs#17780](nodejs#17780)
  * use scope for defaultTriggerAsyncId (Andreas Madsen) [nodejs#17273](nodejs#17273)
  * separate missing from default context (Andreas Madsen) [nodejs#17273](nodejs#17273)
  * rename initTriggerId (Andreas Madsen) [nodejs#17273](nodejs#17273)
  * deprecate undocumented API (Andreas Madsen) [nodejs#16972](nodejs#16972)
  * add destroy event for gced AsyncResources (Sebastian Mayr) [nodejs#16998](nodejs#16998)
  * add trace events to async_hooks (Andreas Madsen) [nodejs#15538](nodejs#15538)
  * set HTTPParser trigger to socket (Andreas Madsen) [nodejs#18003](nodejs#18003)
  * add provider types for net server (Andreas Madsen) [nodejs#17157](nodejs#17157)
* n-api:
  * add helper for addons to get the event loop (Anna Henningsen) [nodejs#17109](nodejs#17109)
* cli:
  * add --stack-trace-limit to NODE_OPTIONS (Anna Henningsen) [nodejs#16495](nodejs#16495)
* console:
  * add support for console.debug (Benjamin Zaslavsky) [nodejs#17033](nodejs#17033)
* module:
  * add builtinModules (Jon Moss) [nodejs#16386](nodejs#16386)
  * replace default paths in require.resolve() (cjihrig) [nodejs#17113](nodejs#17113)
* src:
  * add helper for addons to get the event loop (Anna Henningsen) [nodejs#17109](nodejs#17109)
  * add process.ppid (cjihrig) [nodejs#16839](nodejs#16839)
* http:
  * support generic `Duplex` streams (Anna Henningsen) [nodejs#16267](nodejs#16267)
  * add rawPacket in err of `clientError` event (XadillaX) [nodejs#17672](nodejs#17672)
  * better support for IPv6 addresses (Mattias Holmlund) [nodejs#14772](nodejs#14772)
* net:
  * remove ADDRCONFIG DNS hint on Windows (Bartosz Sosnowski) [nodejs#17662](nodejs#17662)
* process:
  * fix reading zero-length env vars on win32 (Anna Henningsen) [nodejs#18463](nodejs#18463)
* tls:
  * unconsume stream on destroy (Anna Henningsen) [nodejs#17478](nodejs#17478)
* process:
  * improve unhandled rejection message (Madara Uchiha) [nodejs#17158](nodejs#17158)
* stream:
  * remove usage of *State.highWaterMark (Calvin Metcalf) [nodejs#12860](nodejs#12860)
* trace_events:
  * add executionAsyncId to init events (Andreas Madsen) [nodejs#17196](nodejs#17196)

PR-URL: nodejs#18336
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
async_hooks Issues and PRs related to the async hooks subsystem. c++ Issues and PRs that require attention from people who are familiar with C++. lib / src Issues and PRs related to general changes in the lib or src directory. performance Issues and PRs related to the performance of Node.js.
Projects
None yet
Development

Successfully merging this pull request may close these issues.

9 participants