[PnP]Customize the period of a publisher to send a topic

This patch implements that tester can input the period of a publish which is used to send the topic when the test is launching. Fix #308
RobotWebTools · Apr 9, 2018 · 4943d66 · 4943d66
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commit 4943d66
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Showing 6 changed files with 101 additions and 80 deletions.
diff --git a/benchmark/rclcpp/publisher-endurance-test.cpp b/benchmark/rclcpp/publisher-endurance-test.cpp
@@ -34,19 +34,24 @@ int main(int argc, char* argv[]) {
   msg->effort = std::vector<double>{4.0, 5.0, 6.0};
 
   auto totalTimes = 0;
+  int ms = 0;
   printf("How many times do you want to run?\n");
   scanf("%d", &totalTimes);
+  printf("Please enter the period of publishing a topic in millisecond\n");
+  scanf("%d", &ms);
+
   printf(
-      "The publisher will publish a JointState topic %d times every 100ms\n",
-      totalTimes);
+      "The publisher will publish a JointState topic %d times every %dms\n",
+      totalTimes, ms);
   printf("Begin at %s\n", GetCurrentTime());
 
   auto node = rclcpp::Node::make_shared("endurance_publisher_rclcpp");
   auto publisher =
       node->create_publisher<sensor_msgs::msg::JointState>("endurance_topic");
   auto sentTimes = 0;
 
-  rclcpp::WallRate wall_rate(std::chrono::milliseconds(100));
+  auto period = std::chrono::milliseconds(ms);
+  rclcpp::WallRate wall_rate(period);
   while (rclcpp::ok()) {
     if (sentTimes > totalTimes) {
       rclcpp::shutdown();

diff --git a/benchmark/rclcpp/publisher-stress-test.cpp b/benchmark/rclcpp/publisher-stress-test.cpp
@@ -48,19 +48,23 @@ int main(int argc, char* argv[]) {
   msg->data = std::vector<uint8_t>(1024 * 1024 * 10, 255);
 
   auto totalTimes = 0;
+  int ms = 0;
   printf("How many times do you want to run?\n");
   scanf("%d", &totalTimes);
+  printf("Please enter the period of publishing a topic in millisecond\n");
+  scanf("%d", &ms);
   printf(
       "The publisher will publish a UInt8MultiArray topic(contains a size of "
-      "10MB array) %d times every 100ms.\n", totalTimes);
+      "10MB array) %d times every %dms.\n", totalTimes, ms);
   printf("Begin at %s\n", GetCurrentTime());
 
   auto node = rclcpp::Node::make_shared("stress_publisher_rclcpp");
   auto publisher =
       node->create_publisher<std_msgs::msg::UInt8MultiArray>("stress_topic");
   auto sentTimes = 0;
 
-  rclcpp::WallRate wall_rate(std::chrono::milliseconds(100));
+  auto period = std::chrono::milliseconds(ms);
+  rclcpp::WallRate wall_rate(period);
   while (rclcpp::ok()) {
     if (sentTimes > totalTimes) {
       rclcpp::shutdown();

diff --git a/benchmark/rclnodejs/publisher-endurance-test.js b/benchmark/rclnodejs/publisher-endurance-test.js
@@ -24,42 +24,45 @@ const rl = readline.createInterface({
 });
 
 rl.question('How many times do you want to run? ', (times) => {
-  rclnodejs.init().then(() => {
-    const JointState = 'sensor_msgs/msg/JointState';
-    const state = {
-      header: {
-        stamp: {
-          sec: 123456,
-          nanosec: 789,
+  rl.question('Please enter the period of publishing a topic in millisecond ', (ms) => {
+    rclnodejs.init().then(() => {
+      const JointState = 'sensor_msgs/msg/JointState';
+      const state = {
+        header: {
+          stamp: {
+            sec: 123456,
+            nanosec: 789,
+          },
+          frame_id: 'main_frame',
         },
-        frame_id: 'main_frame',
-      },
-      name: ['Tom', 'Jerry'],
-      position: [1, 2],
-      velocity: [2, 3],
-      effort: [4, 5, 6],
-    };
+        name: ['Tom', 'Jerry'],
+        position: [1, 2],
+        velocity: [2, 3],
+        effort: [4, 5, 6],
+      };
+      let period = parseInt(ms, 10);
 
-    console.log(`The publisher will publish a JointState topic ${times} times every 100ms.`);
-    console.log(`Begin at ${new Date().toString()}.`);
+      console.log(`The publisher will publish a JointState topic ${times} times every ${period}ms.`);
+      console.log(`Begin at ${new Date().toString()}.`);
 
-    let node = rclnodejs.createNode('endurance_publisher_rclnodejs');
-    let publisher = node.createPublisher(JointState, 'endurance_topic');
-    let sentTimes = 0;
-    let totalTimes = parseInt(times, 10);
+      let node = rclnodejs.createNode('endurance_publisher_rclnodejs');
+      let publisher = node.createPublisher(JointState, 'endurance_topic');
+      let sentTimes = 0;
+      let totalTimes = parseInt(times, 10);
 
-    let timer = setInterval(() => {
-      if (sentTimes++ > totalTimes) {
-        clearInterval(timer);
-        rclnodejs.shutdown();
-        console.log(`End at ${new Date().toString()}`);
-      } else {
-        publisher.publish(state);
-      }}, 100);
-    rclnodejs.spin(node);
-  }).catch((err) => {
-    console.log(err);
-  });
+      let timer = setInterval(() => {
+        if (sentTimes++ > totalTimes) {
+          clearInterval(timer);
+          rclnodejs.shutdown();
+          console.log(`End at ${new Date().toString()}`);
+        } else {
+          publisher.publish(state);
+        }}, period);
+      rclnodejs.spin(node);
+    }).catch((err) => {
+      console.log(err);
+    });
 
-  rl.close();
+    rl.close();
+  });
 });
diff --git a/benchmark/rclnodejs/publisher-stress-test.js b/benchmark/rclnodejs/publisher-stress-test.js
@@ -24,40 +24,44 @@ const rl = readline.createInterface({
 });
 
 rl.question('How many times do you want to run? ', (times) => {
-  const message = {
-    layout: {
-      dim: [
-        {label: 'height',  size: 10, stride: 600},
-        {label: 'width',   size: 20, stride: 60},
-        {label: 'channel', size: 3,  stride: 4},
-      ],
-      data_offset: 0,
-    },
-    data: Uint8Array.from({length: 1024 * 1024 * 10}, (v, k) => k)
-  };
-
-  rclnodejs.init().then(() => {
-    console.log(
-      `The publisher will publish a UInt8MultiArray topic(contains a size of 10MB array) ${times} times every 100ms.`);
-    console.log(`Begin at ${new Date().toString()}.`);
-
-    let node = rclnodejs.createNode('stress_publisher_rclnodejs');
-    const publisher = node.createPublisher('std_msgs/msg/UInt8MultiArray', 'stress_topic');
-    let sentTimes = 0;
-    let totalTimes = parseInt(times, 10);
-
-    let timer = setInterval(() => {
-      if (sentTimes++ > totalTimes) {
-        clearInterval(timer);
-        rclnodejs.shutdown();
-        console.log(`End at ${new Date().toString()}`);
-      } else {
-        publisher.publish(message);
-      }}, 100);
-    rclnodejs.spin(node);
-  }).catch((err) => {
-    console.log(err);
-  });
+  rl.question('Please enter the period of publishing a topic in millisecond ', (ms) => {
+    const message = {
+      layout: {
+        dim: [
+          {label: 'height',  size: 10, stride: 600},
+          {label: 'width',   size: 20, stride: 60},
+          {label: 'channel', size: 3,  stride: 4},
+        ],
+        data_offset: 0,
+      },
+      data: Uint8Array.from({length: 1024 * 1024 * 10}, (v, k) => k)
+    };
+
+    rclnodejs.init().then(() => {
+      let period = parseInt(ms, 10);
+
+      console.log('The publisher will publish a UInt8MultiArray topic(contains a size of 10MB array)' +
+          `${times} times every ${period}ms.`);
+      console.log(`Begin at ${new Date().toString()}.`);
 
-  rl.close();
+      let node = rclnodejs.createNode('stress_publisher_rclnodejs');
+      const publisher = node.createPublisher('std_msgs/msg/UInt8MultiArray', 'stress_topic');
+      let sentTimes = 0;
+      let totalTimes = parseInt(times, 10);
+
+      let timer = setInterval(() => {
+        if (sentTimes++ > totalTimes) {
+          clearInterval(timer);
+          rclnodejs.shutdown();
+          console.log(`End at ${new Date().toString()}`);
+        } else {
+          publisher.publish(message);
+        }}, period);
+      rclnodejs.spin(node);
+    }).catch((err) => {
+      console.log(err);
+    });
+
+    rl.close();
+  });
 });
diff --git a/benchmark/rclpy/publisher-endurance-test.py b/benchmark/rclpy/publisher-endurance-test.py
@@ -24,8 +24,11 @@ def main():
   rclpy.init()
 
   times = input('How many times do you want to run? ')
-  print('The publisher will publish a JointState topic % times every 100ms.' % times)
-  print('Begin at ' + str(datetime.now())
+  ms = input('Please enter the period of publishing a topic in millisecond ')
+  period = int(ms) / 100
+  print('The publisher will publish a JointState topic %s times every %sms.' % (times, ms))
+  print('Begin at ' + str(datetime.now()))
+
   node = rclpy.create_node('endurance_publisher_rclpy')
   publisher = node.create_publisher(JointState, 'endurance_topic')
   time = Time()
@@ -56,10 +59,10 @@ def publish_topic():
     else:
       publisher.publish(msg)
       sentTimes += 1
-      timer = threading.Timer(0.1, publish_topic)
+      timer = threading.Timer(period, publish_topic)
       timer.start()
 
-  timer = threading.Timer(0.1, publish_topic)
+  timer = threading.Timer(period, publish_topic)
   timer.start()
 
 if __name__ == '__main__':

diff --git a/benchmark/rclpy/publisher-stress-test.py b/benchmark/rclpy/publisher-stress-test.py
@@ -46,7 +46,9 @@ def main():
   multiArray.data = [x & 0xff for x in range(1024 * 1024 * 10)]
 
   times = input('How many times do you want to run? ')
-  print('The publisher will publish a UInt8MultiArray topic(contains a size of 10MB array) %s times every 100ms.' % times)
+  ms = input('Please enter the period of publishing a topic in millisecond ')
+  period = int(ms) / 100
+  print('The publisher will publish a UInt8MultiArray topic(contains a size of 10MB array) %s times every %sms.' % (times, ms))
   print('Begin at ' + str(datetime.now()))
   node = rclpy.create_node('stress_publisher_rclpy')
   publisher = node.create_publisher(UInt8MultiArray, 'stress_topic')
@@ -66,10 +68,10 @@ def publish_topic():
     else:
       publisher.publish(multiArray)
       sentTimes += 1
-      timer = threading.Timer(0.1, publish_topic)
+      timer = threading.Timer(period, publish_topic)
       timer.start()
 
-  timer = threading.Timer(0.1, publish_topic)
+  timer = threading.Timer(period, publish_topic)
   timer.start()
 
 if __name__ == '__main__':