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ivanpaunoivanpauno
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Added variable message length. Added script for reproduce tests made.
Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
1 parent 2bdf933 commit 841e206

4 files changed

Lines changed: 170 additions & 2 deletions

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‎rclcpp_performance/CMakeLists.txt‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -39,7 +39,7 @@ ament_export_dependencies(rosidl_default_runtime)
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ament_package()
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install(
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PROGRAMS scripts/posprocess_logging
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PROGRAMS scripts/posprocess_logging scripts/performance_test
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DESTINATION lib/${PROJECT_NAME}
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)
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‎rclcpp_performance/msg/MatchingPublisher.msg‎

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Original file line numberDiff line numberDiff line change
@@ -1,2 +1,3 @@
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uint64 publisher_id
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uint64 message_id
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uint8[] data

‎rclcpp_performance/scripts/performance_test‎

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,154 @@
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#!/bin/bash
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TEST_FOLDERS=(
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"test_intra_shared_10ms_n100_m10000_l100000"
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"test_inter_shared_10ms_n100_m10000_l100000"
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"test_intra_unique_10ms_n100_m10000_l100000"
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"test_inter_unique_10ms_n100_m10000_l100000"
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"test_intra_shared_10ms_n10_m10000_l1000000"
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"test_inter_shared_10ms_n10_m10000_l1000000"
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"test_intra_unique_10ms_n10_m10000_l1000000"
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"test_inter_unique_10ms_n10_m10000_l1000000"
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"test_intra_shared_10ms_n1_m10000_l10000000"
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"test_inter_shared_10ms_n1_m10000_l10000000"
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"test_intra_unique_10ms_n1_m10000_l10000000"
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"test_inter_unique_10ms_n1_m10000_l10000000"
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# These tests below suffers of starvation
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# "test_intra_shared_10ms_n5_m100_l10000000"
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# "test_inter_shared_10ms_n5_m100_l10000000"
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)
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COMMAND_ARGUMENTS=(
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"-p 10 -n 100 -m 10000 -l 100000 -intra"
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"-p 10 -n 100 -m 10000 -l 100000"
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"-p 10 -n 100 -m 10000 -l 100000 -intra -unique"
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"-p 10 -n 100 -m 10000 -l 100000 -unique"
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"-p 10 -n 10 -m 10000 -l 1000000 -intra"
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"-p 10 -n 10 -m 10000 -l 1000000"
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"-p 10 -n 10 -m 10000 -l 1000000 -intra -unique"
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"-p 10 -n 10 -m 10000 -l 1000000 -unique"
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"-p 10 -n 1 -m 10000 -l 10000000 -intra"
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"-p 10 -n 1 -m 10000 -l 10000000"
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"-p 10 -n 1 -m 10000 -l 10000000 -intra -unique"
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"-p 10 -n 1 -m 10000 -l 10000000 -unique"
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# "-p 10 -n 5 -m 10000 -l 10000000 -intra"
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# "-p 10 -n 5 -m 10000 -l 10000000"
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)
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DESCRIPTION=(
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"Intraprocess, shared publish, 100 pubs/subs, 10000 messages, 100000 bytes length, 10ms period."
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"Interprocess, shared publish, 100 pubs/subs, 10000 messages, 100000 bytes length, 10ms period."
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"Intraprocess, unique publish, 100 pubs/subs, 10000 messages, 100000 bytes length, 10ms period."
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"Interprocess, unique publish, 100 pubs/subs, 10000 messages, 100000 bytes length, 10ms period."
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"Intraprocess, shared publish, 10 pubs/subs, 10000 messages, 1000000 bytes length, 10ms period."
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"Interprocess, shared publish, 10 pubs/subs, 10000 messages, 1000000 bytes length, 10ms period."
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"Intraprocess, unique publish, 10 pubs/subs, 10000 messages, 1000000 bytes length, 10ms period."
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"Interprocess, unique publish, 10 pubs/subs, 10000 messages, 1000000 bytes length, 10ms period."
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"Intraprocess, shared publish, 1 pubs/subs, 10000 messages, 10000000 bytes length, 10ms period."
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"Interprocess, shared publish, 1 pubs/subs, 10000 messages, 10000000 bytes length, 10ms period."
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"Intraprocess, unique publish, 1 pubs/subs, 10000 messages, 10000000 bytes length, 10ms period."
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"Interprocess, unique publish, 1 pubs/subs, 10000 messages, 10000000 bytes length, 10ms period."
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# "Intraprocess, shared publish, 5 pubs/subs, 10000 messages, 10000000 bytes length, 10ms period."
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# "Interprocess, shared publish, 5 pubs/subs, 10000 messages, 10000000 bytes length, 10ms period."
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)
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main()
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{
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set -e
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parse_arguments "$@"
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if [[ $skip -eq 0 ]]; then
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run_tests
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fi
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show_results
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}
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parse_arguments()
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{
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set -e
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out_dir="logs"
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skip=0
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while [[ $# > 0 ]]
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do
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key="$1"
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case $key in
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-d|--dir)
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out_dir="$2"
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shift # past argument
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;;
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-s|--skip)
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skip=1
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;;
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-h|--help)
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print_help
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;;
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*)
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print_help
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;;
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esac
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shift # past argument or value
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done
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}
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print_help()
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{
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echo "Usage: $0 -d OUTPUT_DIR [--skip]"
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echo "The logs file will be generated inside OUTPUT_DIR"
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echo "Options:"
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echo -e "\t\t-s|--skip: Only posprocess and show results, skip running tests."
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exit 0
110+
}
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run_tests()
113+
{
114+
set -e
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mkdir -p $out_dir
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pushd $out_dir > /dev/null
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i=0
119+
for folder in "${TEST_FOLDERS[@]}"
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do
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echo -e "\e[34mRunning performance test with the following configuration:\e[39m"
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echo -e "\e[34m\t\t${COMMAND_ARGUMENTS[i]}\e[39m"
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mkdir -p $folder
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ros2 run rclcpp_performance communication_performance -d $folder ${COMMAND_ARGUMENTS[i]}
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i=$i+1
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echo
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done
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popd
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}
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show_results()
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{
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set -e
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pushd $out_dir > /dev/null
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echo -e "\e[34mThe generated data will be posprocessed an showed.\e[39m"
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echo
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i=0
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for folder in "${TEST_FOLDERS[@]}"
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do
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echo "Next configuration to be posprocessed:"
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echo -e "\t\t${COMMAND_ARGUMENTS[i]}"
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read -p "Press enter to posprocess and plot the results."
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echo
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ros2 run rclcpp_performance posprocess_logging -d $folder
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i=$i+1
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done
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popd
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}
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main "$@"

‎rclcpp_performance/src/communication_performance.cpp‎

Lines changed: 14 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -36,6 +36,7 @@ class PublisherConstantRate
3636
uint64_t publisher_id,
3737
std::string base_dir,
3838
uint64_t number_of_messages_to_send,
39+
uint64_t message_length,
3940
PeriodT period,
4041
bool use_unique_message,
4142
rmw_qos_profile_t qos_profile = rmw_qos_profile_default) :
@@ -44,6 +45,7 @@ class PublisherConstantRate
4445
// Note(ivanpauno): msg type could be changed, to try the different publish methods.
4546
shared_msg_ = std::make_shared<rclcpp_performance::msg::MatchingPublisher>();
4647
shared_msg_->publisher_id = publisher_id;
48+
shared_msg_->data.resize(message_length);
4749
shared_msg_->message_id = 0;
4850

4951
std::stringstream ss;
@@ -76,7 +78,7 @@ class PublisherConstantRate
7678
};
7779
timer_ = node->create_wall_timer(period, callback);
7880
} else {
79-
auto callback = [this]() -> void
81+
auto callback = [this, message_length]() -> void
8082
{
8183
if (this->number_of_messages_to_send_) {
8284
// First create a shared message and copy the data.
@@ -85,6 +87,7 @@ class PublisherConstantRate
8587
std::make_unique<rclcpp_performance::msg::MatchingPublisher>();
8688
unique_msg->publisher_id = this->shared_msg_->publisher_id;
8789
unique_msg->message_id = this->shared_msg_->message_id;
90+
unique_msg->data.resize(message_length);
8891
this->logging_file_ << unique_msg->message_id << ", "
8992
<< std::chrono::duration_cast<TimestampT>(
9093
std::chrono::system_clock::now().time_since_epoch()).count()
@@ -194,6 +197,7 @@ class PerformanceTestNode : public rclcpp::Node
194197
std::string base_dir,
195198
uint64_t number_of_pub_sub,
196199
uint64_t number_of_messages,
200+
uint64_t message_length,
197201
PeriodT publish_period,
198202
bool use_unique_message) :
199203
Node(node_name, node_options)
@@ -216,6 +220,7 @@ class PerformanceTestNode : public rclcpp::Node
216220
i,
217221
base_dir,
218222
number_of_messages,
223+
message_length,
219224
publish_period,
220225
use_unique_message);
221226
publishers_.push_back(pub);
@@ -234,6 +239,7 @@ int main(int argc, char ** argv)
234239
PeriodT period = PeriodT(100);
235240
uint64_t number_of_messages = 1000;
236241
uint64_t number_of_publishers = 100;
242+
uint64_t message_length = 100;
237243
rclcpp::NodeOptions node_options;
238244
bool use_unique_message = false;
239245

@@ -265,6 +271,12 @@ int main(int argc, char ** argv)
265271
iss >> number_of_publishers;
266272
}
267273

274+
cli_option = rcutils_cli_get_option(argv, argv + argc, "-l");
275+
if (nullptr != cli_option) {
276+
std::istringstream iss(cli_option);
277+
iss >> message_length;
278+
}
279+
268280
bool option = rcutils_cli_option_exist(argv, argv + argc, "-intra");
269281
if (option) {
270282
node_options.use_intra_process_comms(true);
@@ -283,6 +295,7 @@ int main(int argc, char ** argv)
283295
base_dir,
284296
number_of_publishers, //number of publishers/subscriptions
285297
number_of_messages, // number of messages to be send
298+
message_length, // message length in bytes
286299
period, // Publish period
287300
use_unique_message); //use unique message or shared
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