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[Config](brpc) Add connection_type config for brpc and prevent the bug of brpc issue 2146 #47460

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[Config](brpc) Add connection_type config for brpc and prevent the bug of brpc issue 2146 #47460

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HappenLee
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What problem does this PR solve?

  1. add connection_type config for brpc connection
  2. fix brpc issue:2146

Release note

None

Check List (For Author)

  • Test

    • Regression test
    • Unit Test
    • Manual test (add detailed scripts or steps below)
    • No need to test or manual test. Explain why:
      • This is a refactor/code format and no logic has been changed.
      • Previous test can cover this change.
      • No code files have been changed.
      • Other reason

  • Behavior changed:

    • No.
    • Yes.

  • Does this need documentation?

    • No.
    • Yes.

Check List (For Reviewer who merge this PR)

  • Confirm the release note
  • Confirm test cases
  • Confirm document
  • Add branch pick label

@Thearas
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Thearas commented Jan 26, 2025

Thank you for your contribution to Apache Doris.
Don't know what should be done next? See How to process your PR.

Please clearly describe your PR:

  1. What problem was fixed (it's best to include specific error reporting information). How it was fixed.
  2. Which behaviors were modified. What was the previous behavior, what is it now, why was it modified, and what possible impacts might there be.
  3. What features were added. Why was this function added?
  4. Which code was refactored and why was this part of the code refactored?
  5. Which functions were optimized and what is the difference before and after the optimization?

@HappenLee
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run buildall

@doris-robot
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TPC-H: Total hot run time: 32533 ms 
machine: 'aliyun_ecs.c7a.8xlarge_32C64G'
scripts: https://github.com/apache/doris/tree/master/tools/tpch-tools
Tpch sf100 test result on commit a34dff28d24a44044980ce8c5e0a53efe4bc587f, data reload: false

------ Round 1 ----------------------------------
q1	17584	5642	5439	5439
q2	2056	318	169	169
q3	10478	1271	735	735
q4	10216	982	548	548
q5	7574	2357	2175	2175
q6	197	172	135	135
q7	925	758	608	608
q8	9241	1395	1199	1199
q9	5247	4905	4915	4905
q10	6855	2321	1898	1898
q11	497	293	261	261
q12	344	375	216	216
q13	17758	3698	3069	3069
q14	232	242	228	228
q15	520	472	462	462
q16	620	625	586	586
q17	580	881	353	353
q18	7187	6586	6465	6465
q19	2030	978	547	547
q20	311	329	185	185
q21	2867	2247	2043	2043
q22	375	361	307	307
Total cold run time: 103694 ms
Total hot run time: 32533 ms

----- Round 2, with runtime_filter_mode=off -----
q1	5608	5553	5552	5552
q2	240	324	226	226
q3	2300	2683	2341	2341
q4	1486	1876	1445	1445
q5	4377	4749	4770	4749
q6	177	170	127	127
q7	2072	1997	1861	1861
q8	2647	2834	2731	2731
q9	7271	7237	7449	7237
q10	3052	3293	2760	2760
q11	563	507	476	476
q12	648	762	625	625
q13	3504	3959	3304	3304
q14	294	298	281	281
q15	528	475	484	475
q16	653	680	652	652
q17	1274	1779	1279	1279
q18	7721	7644	7378	7378
q19	821	1239	1131	1131
q20	2029	2092	1933	1933
q21	5824	5165	5039	5039
q22	621	622	591	591
Total cold run time: 53710 ms
Total hot run time: 52193 ms

@doris-robot
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TPC-DS: Total hot run time: 191323 ms 
machine: 'aliyun_ecs.c7a.8xlarge_32C64G'
scripts: https://github.com/apache/doris/tree/master/tools/tpcds-tools
TPC-DS sf100 test result on commit a34dff28d24a44044980ce8c5e0a53efe4bc587f, data reload: false

query1	1297	962	920	920
query2	6119	2045	2016	2016
query3	11009	4587	4545	4545
query4	61651	28901	23069	23069
query5	5393	591	440	440
query6	433	210	187	187
query7	5482	513	302	302
query8	340	242	231	231
query9	8310	2620	2615	2615
query10	449	314	254	254
query11	17185	15542	15341	15341
query12	167	110	105	105
query13	1431	543	430	430
query14	11004	6355	6319	6319
query15	220	211	184	184
query16	7239	651	511	511
query17	1095	747	582	582
query18	1882	417	322	322
query19	202	186	164	164
query20	116	117	114	114
query21	218	126	108	108
query22	4450	4743	4449	4449
query23	34439	33648	33309	33309
query24	5584	2357	2300	2300
query25	468	466	442	442
query26	648	260	162	162
query27	1782	467	339	339
query28	3895	2500	2455	2455
query29	538	547	429	429
query30	209	191	157	157
query31	937	869	869	869
query32	71	63	57	57
query33	466	355	303	303
query34	737	873	510	510
query35	814	837	768	768
query36	985	1062	958	958
query37	126	95	105	95
query38	4446	4275	4265	4265
query39	1480	1455	1474	1455
query40	210	117	101	101
query41	51	53	47	47
query42	120	108	99	99
query43	516	554	486	486
query44	1338	845	852	845
query45	182	177	172	172
query46	870	1056	659	659
query47	1948	1935	1900	1900
query48	399	396	315	315
query49	714	498	402	402
query50	636	681	404	404
query51	4267	4320	4307	4307
query52	108	111	97	97
query53	245	261	191	191
query54	502	496	449	449
query55	95	82	79	79
query56	253	260	255	255
query57	1222	1248	1186	1186
query58	246	253	233	233
query59	3046	3312	3113	3113
query60	292	277	253	253
query61	122	120	113	113
query62	745	742	673	673
query63	229	189	186	186
query64	1303	1041	698	698
query65	3234	3128	3136	3128
query66	724	401	303	303
query67	15982	15572	15509	15509
query68	5068	829	517	517
query69	481	296	260	260
query70	1194	1110	1138	1110
query71	427	283	257	257
query72	6060	4034	3774	3774
query73	801	758	365	365
query74	9967	9120	8771	8771
query75	3205	3149	2693	2693
query76	3788	1176	766	766
query77	489	362	270	270
query78	10117	10122	9350	9350
query79	2310	841	608	608
query80	703	536	431	431
query81	499	282	233	233
query82	338	148	124	124
query83	227	168	144	144
query84	289	92	76	76
query85	741	375	310	310
query86	339	315	306	306
query87	4485	4375	4431	4375
query88	3132	2164	2121	2121
query89	393	329	295	295
query90	1613	187	255	187
query91	137	141	114	114
query92	60	57	52	52
query93	1955	883	534	534
query94	653	402	295	295
query95	340	266	259	259
query96	490	610	290	290
query97	2830	2946	2715	2715
query98	232	197	194	194
query99	1288	1378	1243	1243
Total cold run time: 307567 ms
Total hot run time: 191323 ms

@doris-robot
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ClickBench: Total hot run time: 31.1 s 
machine: 'aliyun_ecs.c7a.8xlarge_32C64G'
scripts: https://github.com/apache/doris/tree/master/tools/clickbench-tools
ClickBench test result on commit a34dff28d24a44044980ce8c5e0a53efe4bc587f, data reload: false

query1	0.03	0.03	0.03
query2	0.08	0.03	0.03
query3	0.24	0.08	0.07
query4	1.62	0.10	0.11
query5	0.41	0.43	0.41
query6	1.16	0.66	0.65
query7	0.03	0.02	0.02
query8	0.04	0.03	0.02
query9	0.59	0.50	0.50
query10	0.56	0.56	0.55
query11	0.14	0.10	0.11
query12	0.15	0.11	0.11
query13	0.62	0.59	0.58
query14	2.74	2.68	2.78
query15	0.91	0.81	0.83
query16	0.39	0.39	0.39
query17	0.98	1.07	1.06
query18	0.23	0.20	0.20
query19	1.97	1.82	2.05
query20	0.01	0.01	0.01
query21	15.38	0.91	0.59
query22	0.77	0.75	0.74
query23	15.24	1.46	0.52
query24	3.02	1.77	1.40
query25	0.12	0.18	0.12
query26	0.28	0.15	0.14
query27	0.05	0.05	0.05
query28	14.01	0.98	0.44
query29	12.55	3.97	3.21
query30	0.25	0.09	0.07
query31	2.84	0.57	0.39
query32	3.22	0.54	0.45
query33	3.00	2.96	3.05
query34	16.34	5.15	4.51
query35	4.50	4.56	4.57
query36	0.66	0.49	0.53
query37	0.09	0.06	0.06
query38	0.05	0.04	0.04
query39	0.03	0.02	0.03
query40	0.17	0.13	0.13
query41	0.08	0.02	0.02
query42	0.03	0.02	0.02
query43	0.03	0.03	0.03
Total cold run time: 105.61 s
Total hot run time: 31.1 s

@doris-robot
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TeamCity be ut coverage result:
Function Coverage: 42.06% (10969/26082)
Line Coverage: 32.32% (92701/286789)
Region Coverage: 31.48% (47549/151023)
Branch Coverage: 27.52% (24078/87488)
Coverage Report: http://coverage.selectdb-in.cc/coverage/a34dff28d24a44044980ce8c5e0a53efe4bc587f_a34dff28d24a44044980ce8c5e0a53efe4bc587f/report/index.html

@HappenLee
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Contributor Author

run buildall

@doris-robot
Copy link

TPC-H: Total hot run time: 32075 ms 
machine: 'aliyun_ecs.c7a.8xlarge_32C64G'
scripts: https://github.com/apache/doris/tree/master/tools/tpch-tools
Tpch sf100 test result on commit 69e99df039b6e2a3d734b0a6868c402e6c6dfba3, data reload: false

------ Round 1 ----------------------------------
q1	17599	5769	5416	5416
q2	2079	321	172	172
q3	11033	1243	749	749
q4	10209	962	525	525
q5	7545	2382	2131	2131
q6	186	166	135	135
q7	892	775	601	601
q8	9226	1344	1124	1124
q9	5276	4874	4893	4874
q10	6861	2306	1904	1904
q11	464	273	250	250
q12	339	359	210	210
q13	17775	3724	3117	3117
q14	237	236	205	205
q15	515	460	472	460
q16	616	611	591	591
q17	571	857	328	328
q18	6925	6457	6335	6335
q19	2293	958	539	539
q20	303	314	188	188
q21	2839	2215	1915	1915
q22	358	337	306	306
Total cold run time: 104141 ms
Total hot run time: 32075 ms

----- Round 2, with runtime_filter_mode=off -----
q1	5584	5507	5477	5477
q2	238	325	236	236
q3	2259	2716	2279	2279
q4	1425	1857	1387	1387
q5	4324	4715	4661	4661
q6	168	167	130	130
q7	2082	2005	1795	1795
q8	2608	2789	2736	2736
q9	7311	7294	7411	7294
q10	3051	3333	2804	2804
q11	558	511	495	495
q12	624	739	613	613
q13	3532	3900	3341	3341
q14	281	313	293	293
q15	513	475	480	475
q16	651	683	650	650
q17	1237	1741	1293	1293
q18	7643	7588	7396	7396
q19	817	1018	1134	1018
q20	2007	2103	1903	1903
q21	5835	5171	5030	5030
q22	621	619	582	582
Total cold run time: 53369 ms
Total hot run time: 51888 ms

@doris-robot
Copy link

TeamCity be ut coverage result:
Function Coverage: 42.05% (10968/26082)
Line Coverage: 32.32% (92688/286788)
Region Coverage: 31.48% (47537/151023)
Branch Coverage: 27.52% (24075/87488)
Coverage Report: http://coverage.selectdb-in.cc/coverage/69e99df039b6e2a3d734b0a6868c402e6c6dfba3_69e99df039b6e2a3d734b0a6868c402e6c6dfba3/report/index.html

@doris-robot
Copy link

TPC-DS: Total hot run time: 191981 ms 
machine: 'aliyun_ecs.c7a.8xlarge_32C64G'
scripts: https://github.com/apache/doris/tree/master/tools/tpcds-tools
TPC-DS sf100 test result on commit 69e99df039b6e2a3d734b0a6868c402e6c6dfba3, data reload: false

query1	1309	977	909	909
query2	6278	2095	2073	2073
query3	11105	4602	4527	4527
query4	62076	28424	23029	23029
query5	5494	602	456	456
query6	439	194	187	187
query7	5474	507	312	312
query8	326	249	228	228
query9	7969	2637	2631	2631
query10	442	305	248	248
query11	17262	15192	15686	15192
query12	161	108	108	108
query13	1402	519	424	424
query14	10399	7083	7076	7076
query15	201	219	202	202
query16	7138	651	494	494
query17	1206	779	587	587
query18	1773	401	326	326
query19	214	192	164	164
query20	118	112	124	112
query21	210	130	104	104
query22	4469	4835	4315	4315
query23	34041	33356	33515	33356
query24	5511	2330	2403	2330
query25	492	502	428	428
query26	655	318	154	154
query27	1712	480	337	337
query28	4036	2543	2480	2480
query29	552	553	414	414
query30	246	188	153	153
query31	944	904	816	816
query32	68	62	56	56
query33	428	357	308	308
query34	738	863	521	521
query35	816	852	774	774
query36	1032	1034	975	975
query37	127	121	85	85
query38	4389	4414	4236	4236
query39	1532	1453	1611	1453
query40	208	116	101	101
query41	55	53	50	50
query42	132	113	102	102
query43	514	520	498	498
query44	1303	826	818	818
query45	187	174	169	169
query46	891	1067	668	668
query47	1954	1955	1862	1862
query48	388	402	333	333
query49	707	485	406	406
query50	683	665	414	414
query51	4309	4314	4281	4281
query52	99	106	96	96
query53	241	268	192	192
query54	488	503	423	423
query55	82	80	79	79
query56	264	254	246	246
query57	1223	1233	1136	1136
query58	250	264	226	226
query59	3132	3323	3009	3009
query60	292	283	267	267
query61	118	119	115	115
query62	762	759	677	677
query63	230	199	190	190
query64	1286	1040	686	686
query65	3426	3227	3163	3163
query66	725	401	297	297
query67	16156	15891	15482	15482
query68	4971	840	537	537
query69	468	303	257	257
query70	1207	1142	1148	1142
query71	405	285	256	256
query72	6396	3975	3831	3831
query73	804	761	348	348
query74	9970	8996	8841	8841
query75	3213	3138	2683	2683
query76	3807	1196	785	785
query77	508	377	277	277
query78	10176	10206	9478	9478
query79	3004	827	600	600
query80	1686	521	471	471
query81	547	279	233	233
query82	348	152	125	125
query83	265	180	152	152
query84	287	103	86	86
query85	823	351	303	303
query86	476	321	303	303
query87	4401	4469	4417	4417
query88	3711	2130	2115	2115
query89	401	328	296	296
query90	1641	188	186	186
query91	129	139	107	107
query92	63	57	53	53
query93	2759	854	525	525
query94	764	422	293	293
query95	341	266	258	258
query96	503	615	273	273
query97	2804	2841	2742	2742
query98	237	204	203	203
query99	1307	1374	1239	1239
Total cold run time: 311311 ms
Total hot run time: 191981 ms

@doris-robot
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ClickBench: Total hot run time: 31.14 s 
machine: 'aliyun_ecs.c7a.8xlarge_32C64G'
scripts: https://github.com/apache/doris/tree/master/tools/clickbench-tools
ClickBench test result on commit 69e99df039b6e2a3d734b0a6868c402e6c6dfba3, data reload: false

query1	0.04	0.03	0.03
query2	0.09	0.03	0.03
query3	0.24	0.08	0.07
query4	1.62	0.10	0.10
query5	0.42	0.41	0.42
query6	1.15	0.66	0.69
query7	0.02	0.02	0.02
query8	0.04	0.03	0.03
query9	0.59	0.52	0.51
query10	0.56	0.57	0.55
query11	0.14	0.11	0.11
query12	0.14	0.10	0.11
query13	0.61	0.60	0.59
query14	2.74	2.71	2.71
query15	0.90	0.82	0.85
query16	0.38	0.37	0.39
query17	1.00	1.01	1.03
query18	0.23	0.21	0.22
query19	1.99	1.87	2.01
query20	0.01	0.01	0.01
query21	15.35	0.88	0.57
query22	0.75	0.85	0.61
query23	15.34	1.47	0.54
query24	2.78	1.72	1.37
query25	0.18	0.24	0.05
query26	0.24	0.15	0.14
query27	0.05	0.04	0.05
query28	14.27	1.05	0.44
query29	12.55	4.00	3.32
query30	0.26	0.09	0.06
query31	2.82	0.63	0.39
query32	3.23	0.55	0.46
query33	3.01	3.11	3.03
query34	16.60	5.16	4.56
query35	4.56	4.54	4.54
query36	0.63	0.49	0.49
query37	0.10	0.06	0.06
query38	0.05	0.04	0.04
query39	0.03	0.02	0.02
query40	0.17	0.13	0.13
query41	0.08	0.03	0.02
query42	0.04	0.02	0.02
query43	0.03	0.03	0.03
Total cold run time: 106.03 s
Total hot run time: 31.14 s

@HappenLee
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Contributor Author

run buildall

@doris-robot
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TPC-H: Total hot run time: 32212 ms 
machine: 'aliyun_ecs.c7a.8xlarge_32C64G'
scripts: https://github.com/apache/doris/tree/master/tools/tpch-tools
Tpch sf100 test result on commit f0eaa2c31cd4c37f8c5aef19fb2180361dcfcd77, data reload: false

------ Round 1 ----------------------------------
q1	17583	5463	5345	5345
q2	2042	294	165	165
q3	10441	1218	751	751
q4	10212	962	526	526
q5	7649	2348	2136	2136
q6	192	168	137	137
q7	909	781	594	594
q8	9237	1328	1128	1128
q9	5317	4850	4950	4850
q10	6876	2327	1901	1901
q11	492	281	274	274
q12	373	353	214	214
q13	17792	3718	3158	3158
q14	231	232	212	212
q15	521	466	466	466
q16	614	615	587	587
q17	552	869	329	329
q18	6905	6444	6422	6422
q19	2031	968	552	552
q20	305	313	184	184
q21	2788	2111	1976	1976
q22	355	337	305	305
Total cold run time: 103417 ms
Total hot run time: 32212 ms

----- Round 2, with runtime_filter_mode=off -----
q1	5575	5474	5491	5474
q2	233	322	228	228
q3	2207	2685	2298	2298
q4	1366	1786	1359	1359
q5	4291	4725	4608	4608
q6	169	157	126	126
q7	2039	1975	1808	1808
q8	2631	2801	2699	2699
q9	7340	7241	7252	7241
q10	3035	3306	2763	2763
q11	577	521	504	504
q12	684	738	597	597
q13	3482	3874	3341	3341
q14	287	306	277	277
q15	516	476	467	467
q16	625	705	649	649
q17	1216	1731	1286	1286
q18	7781	7558	7431	7431
q19	768	1167	1043	1043
q20	2005	2049	1909	1909
q21	5614	5298	4925	4925
q22	615	590	591	590
Total cold run time: 53056 ms
Total hot run time: 51623 ms

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TPC-DS: Total hot run time: 194233 ms 
machine: 'aliyun_ecs.c7a.8xlarge_32C64G'
scripts: https://github.com/apache/doris/tree/master/tools/tpcds-tools
TPC-DS sf100 test result on commit f0eaa2c31cd4c37f8c5aef19fb2180361dcfcd77, data reload: false

query1	1308	981	939	939
query2	6132	2040	2047	2040
query3	10987	4387	4472	4387
query4	60973	28977	25896	25896
query5	5534	601	468	468
query6	432	188	184	184
query7	5565	519	308	308
query8	333	244	229	229
query9	8229	2759	2705	2705
query10	449	323	256	256
query11	17344	15067	15519	15067
query12	164	114	111	111
query13	1437	564	452	452
query14	10557	7725	6897	6897
query15	204	204	192	192
query16	7347	671	471	471
query17	1125	746	600	600
query18	1925	421	339	339
query19	213	192	169	169
query20	121	120	117	117
query21	207	124	116	116
query22	4596	4508	4635	4508
query23	34085	33746	33224	33224
query24	5553	2367	2324	2324
query25	482	462	433	433
query26	652	276	162	162
query27	1850	509	341	341
query28	4123	2571	2550	2550
query29	570	586	426	426
query30	231	194	155	155
query31	892	878	831	831
query32	71	59	56	56
query33	423	367	298	298
query34	777	886	523	523
query35	816	840	753	753
query36	1048	1048	963	963
query37	123	109	79	79
query38	4284	4288	4311	4288
query39	1484	1500	1440	1440
query40	227	124	104	104
query41	50	53	52	52
query42	131	109	102	102
query43	502	528	503	503
query44	1439	876	858	858
query45	182	175	170	170
query46	905	1165	649	649
query47	1895	1926	1817	1817
query48	383	414	346	346
query49	722	495	401	401
query50	695	714	399	399
query51	4353	4325	4309	4309
query52	110	110	93	93
query53	247	272	192	192
query54	501	502	435	435
query55	87	97	81	81
query56	267	268	260	260
query57	1184	1207	1150	1150
query58	235	238	256	238
query59	3119	3177	2951	2951
query60	286	279	259	259
query61	119	115	114	114
query62	705	724	638	638
query63	225	195	189	189
query64	1359	1002	672	672
query65	3301	3126	3118	3118
query66	657	395	343	343
query67	16060	15618	15346	15346
query68	5562	865	578	578
query69	492	305	254	254
query70	1241	1145	1111	1111
query71	427	290	258	258
query72	5359	3873	3827	3827
query73	798	755	368	368
query74	10050	8905	8729	8729
query75	3281	3163	2664	2664
query76	3768	1168	771	771
query77	493	377	285	285
query78	10055	10006	9245	9245
query79	3144	849	621	621
query80	684	543	453	453
query81	508	276	235	235
query82	654	151	130	130
query83	219	179	152	152
query84	289	95	73	73
query85	764	355	300	300
query86	388	315	294	294
query87	4470	4508	4380	4380
query88	4435	2204	2166	2166
query89	399	334	292	292
query90	1620	193	192	192
query91	137	139	111	111
query92	67	58	55	55
query93	2809	894	581	581
query94	730	473	306	306
query95	336	266	261	261
query96	493	624	284	284
query97	2824	2866	2730	2730
query98	236	198	192	192
query99	1300	1384	1249	1249
Total cold run time: 310624 ms
Total hot run time: 194233 ms

@doris-robot
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TeamCity be ut coverage result:
Function Coverage: 42.06% (10969/26082)
Line Coverage: 32.33% (92723/286789)
Region Coverage: 31.48% (47542/151023)
Branch Coverage: 27.51% (24071/87488)
Coverage Report: http://coverage.selectdb-in.cc/coverage/f0eaa2c31cd4c37f8c5aef19fb2180361dcfcd77_f0eaa2c31cd4c37f8c5aef19fb2180361dcfcd77/report/index.html

@doris-robot
Copy link

ClickBench: Total hot run time: 30.75 s 
machine: 'aliyun_ecs.c7a.8xlarge_32C64G'
scripts: https://github.com/apache/doris/tree/master/tools/clickbench-tools
ClickBench test result on commit f0eaa2c31cd4c37f8c5aef19fb2180361dcfcd77, data reload: false

query1	0.04	0.03	0.04
query2	0.07	0.03	0.04
query3	0.24	0.07	0.07
query4	1.64	0.10	0.10
query5	0.43	0.42	0.42
query6	1.15	0.67	0.65
query7	0.02	0.02	0.01
query8	0.04	0.03	0.03
query9	0.60	0.50	0.49
query10	0.55	0.57	0.55
query11	0.15	0.10	0.11
query12	0.14	0.11	0.11
query13	0.61	0.59	0.59
query14	2.84	2.73	2.80
query15	0.90	0.83	0.83
query16	0.39	0.39	0.40
query17	1.09	1.01	1.07
query18	0.23	0.21	0.21
query19	1.88	1.88	2.04
query20	0.01	0.01	0.02
query21	15.37	0.96	0.59
query22	0.76	0.96	0.93
query23	14.89	1.40	0.52
query24	3.01	0.87	1.14
query25	0.25	0.11	0.07
query26	0.27	0.16	0.14
query27	0.05	0.05	0.05
query28	13.87	1.06	0.42
query29	12.64	3.92	3.22
query30	0.24	0.08	0.06
query31	2.84	0.61	0.39
query32	3.22	0.54	0.47
query33	3.00	3.03	3.06
query34	16.58	5.11	4.43
query35	4.47	4.54	4.52
query36	0.66	0.49	0.49
query37	0.10	0.06	0.06
query38	0.04	0.04	0.04
query39	0.04	0.03	0.02
query40	0.16	0.12	0.12
query41	0.08	0.03	0.02
query42	0.04	0.02	0.02
query43	0.03	0.03	0.03
Total cold run time: 105.63 s
Total hot run time: 30.75 s

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3 participants
@HappenLee @Thearas @doris-robot