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Release 2.0.0
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,96 @@ | ||
| # Copyright 2017-present Proyectos y Sistemas de Mantenimiento SL (eProsima). | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
||
| cmake_minimum_required(VERSION 3.5) | ||
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| project(microxrcedds-profiling) | ||
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| ExternalProject_Add(clientlib | ||
| GIT_REPOSITORY | ||
| https://github.com/eProsima/Micro-XRCE-DDS-Client.git | ||
| GIT_TAG | ||
| ${_client_tag} | ||
| PREFIX | ||
| ${PROJECT_BINARY_DIR}/client | ||
| INSTALL_DIR | ||
| ${PROJECT_BINARY_DIR}/install | ||
| CMAKE_CACHE_ARGS | ||
| -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> | ||
| ) | ||
|
|
||
| ExternalProject_Add(agentlib | ||
| GIT_REPOSITORY | ||
| https://github.com/eProsima/Micro-XRCE-DDS-Agent.git | ||
| GIT_TAG | ||
| ${_agent_tag} | ||
| PREFIX | ||
| ${PROJECT_BINARY_DIR}/agent | ||
| INSTALL_DIR | ||
| ${PROJECT_BINARY_DIR}/install | ||
| CMAKE_CACHE_ARGS | ||
| -DBUILD_SHARED_LIBS:BOOL=FALSE | ||
| -DCMAKE_BUILD_TYPE:STRING=MinSizeRel | ||
| -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> | ||
| -DUAGENT_FAST_PROFILE:BOOL=FALSE | ||
| -DUAGENT_DISCOVERY_PROFILE:BOOL=FALSE | ||
| -DUAGENT_P2P_PROFILE:BOOL=FALSE | ||
| -DUAGENT_LOGGER_PROFILE:BOOL=FALSE | ||
| -DUAGENT_SERVER_BUFFER_SIZE:STRING=1024 | ||
| ) | ||
|
|
||
| ExternalProject_Add(publisher | ||
| SOURCE_DIR | ||
| ${CMAKE_CURRENT_LIST_DIR}/publisher | ||
| PREFIX | ||
| ${PROJECT_BINARY_DIR}/publisher | ||
| INSTALL_DIR | ||
| ${PROJECT_BINARY_DIR}/install | ||
| CMAKE_CACHE_ARGS | ||
| -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> | ||
| -DCMAKE_PREFIX_PATH:PATH=${PROJECT_BINARY_DIR}/install | ||
| DEPENDS | ||
| clientlib | ||
| ) | ||
|
|
||
| ExternalProject_Add(subscriber | ||
| SOURCE_DIR | ||
| ${CMAKE_CURRENT_LIST_DIR}/subscriber | ||
| PREFIX | ||
| ${PROJECT_BINARY_DIR}/subscriber | ||
| INSTALL_DIR | ||
| ${PROJECT_BINARY_DIR}/install | ||
| CMAKE_CACHE_ARGS | ||
| -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> | ||
| -DCMAKE_PREFIX_PATH:PATH=${PROJECT_BINARY_DIR}/install | ||
| DEPENDS | ||
| clientlib | ||
| ) | ||
|
|
||
| ExternalProject_Add(agent | ||
| SOURCE_DIR | ||
| ${CMAKE_CURRENT_LIST_DIR}/agent | ||
| PREFIX | ||
| ${PROJECT_BINARY_DIR}/agent | ||
| INSTALL_DIR | ||
| ${PROJECT_BINARY_DIR}/install | ||
| CMAKE_CACHE_ARGS | ||
| -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> | ||
| -DCMAKE_PREFIX_PATH:PATH=<INSTALL_DIR> | ||
| DEPENDS | ||
| agentlib | ||
| ) | ||
|
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||
| file(COPY ${CMAKE_CURRENT_LIST_DIR}/agent-profiling.py DESTINATION ${PROJECT_BINARY_DIR}) | ||
| file(COPY ${CMAKE_CURRENT_LIST_DIR}/publisher-profiling.py DESTINATION ${PROJECT_BINARY_DIR}) | ||
| file(COPY ${CMAKE_CURRENT_LIST_DIR}/subscriber-profiling.py DESTINATION ${PROJECT_BINARY_DIR}) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,24 @@ | ||
| # Profiling test | ||
|
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| Profiling test is composed of three components: | ||
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| * A minimal Agent with just `UAGENT_CED_PROFILE` enable. | ||
| * A publisher developed with the Client library. | ||
| * A subscriber developed with the Client library. | ||
|
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| ## Why? | ||
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| There are some scenarios where the Agent must run over low resource devices, so it is needed to characterize the minimum requirements of the Agent in terms of memory footprint. | ||
| In that sense, the Agent profiling with the lowest memory footprint is the one that only use the `CedMiddleware` implementation without logger, cli, and p2p. | ||
| Such configuration could be address disabling all the Agent's profiles except the `UAGENT_CED_PROFILE`. | ||
|
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| ## How? | ||
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| ```bash | ||
| cmake .. -DUXRCE_ENABLE_CLIENT=OFF -DUXRCE_ENABLE_AGENT=OFF -DUXRCE_BUILD_PROFILING=ON | ||
| cmake --build . | ||
| cd build/test/profiling | ||
| python3 agent-profiling.py | ||
| python3 publisher-profiling.py | ||
| python3 subscriber-profiling.py | ||
| ``` |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,70 @@ | ||
| import msparser | ||
| import os | ||
| import signal | ||
| import subprocess | ||
| import sys | ||
| import time | ||
| import matplotlib.pyplot as plt | ||
| from tabulate import tabulate | ||
|
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| n_pubsub = [1, 1 << 1, 1 << 2, 1 << 3, 1 << 4, 1 << 5] | ||
| topic_size = [1 << 8, 1 << 3] | ||
| stack_usage = [] | ||
| heap_usage = [] | ||
| total_usage = [] | ||
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| for t in topic_size: | ||
| stack = [t] | ||
| heap = [t] | ||
| total = [t] | ||
| for n in n_pubsub: | ||
| agent_sp = subprocess.Popen(("valgrind --tool=massif --stacks=yes --detailed-freq=1 --max-snapshots=300 --threshold=0.0 --massif-out-file=./massif-agent.out ./install/bin/agent-profiling").split(), shell=False) | ||
| time.sleep(1) | ||
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| client_key = 1 | ||
| sub_sps = [] | ||
| pub_sps = [] | ||
| for i in range(n): | ||
| sub_sps.append(subprocess.Popen(["./install/bin/subscriber-profiling {} topic_name_{}".format(client_key, i)], shell=True)) | ||
| client_key += 1 | ||
| pub_sps.append(subprocess.Popen(["./install/bin/publisher-profiling {} topic_name_{} {}".format(client_key, i, t)], shell=True)) | ||
| client_key += 1 | ||
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| time.sleep(5) | ||
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| for i in range(n): | ||
| pub_sps[i].terminate() | ||
| sub_sps[i].terminate() | ||
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| agent_sp.send_signal(signal.SIGINT) | ||
| time.sleep(1.0) | ||
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| data = msparser.parse_file('massif-agent.out') | ||
| peak_index = data['peak_snapshot_index'] | ||
| peak_snapshot = data['snapshots'][peak_index] | ||
| for c in peak_snapshot['heap_tree']['children']: | ||
| if c['details'] and c['details']['function'] == '???': | ||
| std_heap = c['nbytes'] | ||
|
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| stack.append(round((peak_snapshot['mem_stack'] / 1000), 2)) | ||
| heap.append(round((peak_snapshot['mem_heap'] / 1000), 2)) | ||
| total.append(round(((peak_snapshot['mem_stack'] + peak_snapshot['mem_heap'] + peak_snapshot['mem_heap_extra'] - std_heap) / 1000), 2)) | ||
|
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| stack_usage.append(stack) | ||
| heap_usage.append(heap) | ||
| total_usage.append(total) | ||
|
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| fig, ax = plt.subplots() | ||
| for i in range(len(topic_size)): | ||
| ax.scatter(n_pubsub, total_usage[i][1:], label="topic size = {} B".format(topic_size[i])) | ||
| ax.set_ylim(bottom=1) | ||
| ax.set_xlabel("Number of topics") | ||
| ax.set_ylabel("Memory usage (KB)") | ||
| ax.legend() | ||
| plt.show() | ||
|
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| table_header = ["topic size (B) / #topics"] | ||
| for n in n_pubsub: | ||
| table_header.append(n) | ||
|
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| print(tabulate(total_usage, headers=table_header)) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,34 @@ | ||
|
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| # Copyright 2017-present Proyectos y Sistemas de Mantenimiento SL (eProsima). | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
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| cmake_minimum_required(VERSION 3.5) | ||
|
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| project(agent-profiling) | ||
|
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| find_package(microxrcedds_agent) | ||
|
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| add_executable(${PROJECT_NAME} main.cpp) | ||
|
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| target_link_libraries(${PROJECT_NAME} | ||
| PRIVATE | ||
| microxrcedds_agent | ||
| ) | ||
|
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| install( | ||
| TARGETS | ||
| ${PROJECT_NAME} | ||
| RUNTIME DESTINATION | ||
| bin | ||
| ) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,27 @@ | ||
| // Copyright 2017-present Proyectos y Sistemas de Mantenimiento SL (eProsima). | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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| #include <uxr/agent/transport/udp/UDPv4AgentLinux.hpp> | ||
|
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| int main() | ||
| { | ||
| eprosima::uxr::UDPv4Agent agent(2020, eprosima::uxr::Middleware::Kind::CED); | ||
| agent.start(); | ||
|
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| while (true) { | ||
| std::this_thread::sleep_for(std::chrono::milliseconds(100)); | ||
| } | ||
|
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| return 0; | ||
| } |
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