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Extra options for benchmark #7

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Extra options for benchmark #7

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11 changes: 8 additions & 3 deletions performances/benchmark/src/benchmark.cpp
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Expand Up @@ -36,6 +36,9 @@ int main(int argc, char** argv)
for(const auto& json : json_list) std::cout << json << std::endl;

std::cout << "Intra-process-communication: " << (options.ipc ? "on" : "off") << std::endl;
std::cout << "Parameter service: " << (options.parameter_service ? "on" : "off") << std::endl;
std::cout << "Wait participants discovery: " << (options.wait_pdp ? "on" : "off") << std::endl;
std::cout << "Wait end-points discovery: " << (options.wait_edp ? "on" : "off") << std::endl;
std::cout << "Run test for: " << options.duration_sec << " seconds" << std::endl;
std::cout << "Sampling resources every " << options.resources_sampling_per_ms << "ms" << std::endl;
std::cout << "Start test" << std::endl;
Expand Down Expand Up @@ -85,14 +88,16 @@ int main(int argc, char** argv)
ros2_system.enable_events_logger(events_output_path);

// Load topology from json file
performance_test::TemplateFactory factory = performance_test::TemplateFactory(options.ipc);
performance_test::TemplateFactory factory = performance_test::TemplateFactory(
options.ipc, options.parameter_service);

auto nodes_vec = factory.parse_topology_from_json(topology_json);
ros2_system.add_node(nodes_vec);

// now the system is complete and we can make it spin for the requested duration
bool wait_for_discovery = true;
ros2_system.spin(options.duration_sec, wait_for_discovery);
// bool wait_for_discovery = true;
// ros2_system.spin(options.duration_sec, wait_for_discovery);
ros2_system.spin(options.duration_sec, options.wait_pdp, options.wait_edp);

// terminate the experiment
ru_logger.stop();
Expand Down
31 changes: 31 additions & 0 deletions performances/performance_test/include/cli/options.hpp
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Expand Up @@ -24,6 +24,9 @@ class Options {
Options()
{
ipc = true;
parameter_service = true;
wait_pdp = true;
wait_edp = true;
duration_sec = 5;
resources_sampling_per_ms = 500;
tracking_options.late_percentage = 20;
Expand All @@ -44,6 +47,10 @@ class Options {
cxxopts::Options options(argv[0], "ROS2 performance benchmark");

std::string ipc_option;
std::string parameter_service_option;
std::string wait_pdp_option;
std::string wait_edp_option;

options.positional_help("FILE [FILE...]").show_positional_help();
options.parse_positional({"topology"});
options.add_options()
Expand All @@ -52,6 +59,12 @@ class Options {
cxxopts::value<std::vector<std::string>>(topology_json_list),"FILE [FILE...]")
("ipc", "intra-process-communication",
cxxopts::value<std::string>(ipc_option)->default_value(ipc ? "on" : "off"),"on/off")
("parameter-server", "Enable/disable creation of parameter server",
cxxopts::value<std::string>(parameter_service_option)->default_value(parameter_service ? "on" : "off"),"on/off")
("wait-pdp", "Enable disable waiting for participants discovery",
cxxopts::value<std::string>(wait_pdp_option)->default_value(parameter_service ? "on" : "off"),"on/off")
("wait-edp", "Enable disable waiting for end-points discovery",
cxxopts::value<std::string>(wait_edp_option)->default_value(parameter_service ? "on" : "off"),"on/off")
("t,time", "test duration", cxxopts::value<int>(duration_sec)->default_value(std::to_string(duration_sec)),"sec")
("s, sampling", "resources sampling period",
cxxopts::value<int>(resources_sampling_per_ms)->default_value(std::to_string(resources_sampling_per_ms)),"msec")
Expand Down Expand Up @@ -81,15 +94,33 @@ class Options {
throw cxxopts::argument_incorrect_type(ipc_option);
}

if (parameter_service_option != "off" && parameter_service_option != "on") {
throw cxxopts::argument_incorrect_type(parameter_service_option);
}

if (wait_pdp_option != "off" && wait_pdp_option != "on") {
throw cxxopts::argument_incorrect_type(wait_pdp_option);
}

if (wait_edp_option != "off" && wait_edp_option != "on") {
throw cxxopts::argument_incorrect_type(wait_edp_option);
}

} catch (const cxxopts::OptionException& e) {
std::cout << "Error parsing options. " << e.what() << std::endl;
exit(1);
}

ipc = (ipc_option == "on" ? true : false);
parameter_service = (parameter_service_option == "on" ? true : false);
wait_pdp = (wait_pdp_option == "on" ? true : false);
wait_edp = (wait_edp_option == "on" ? true : false);
}

bool ipc;
bool parameter_service;
bool wait_pdp;
bool wait_edp;
int duration_sec;
int resources_sampling_per_ms;
std::vector<std::string> topology_json_list;
Expand Down
4 changes: 2 additions & 2 deletions performances/performance_test/include/performance_test/ros2/node.hpp
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Expand Up @@ -41,8 +41,8 @@ friend class System;

public:

Node(const std::string& name, const std::string& ros2_namespace = "", bool ipc = true)
: rclcpp::Node(name, ros2_namespace, rclcpp::NodeOptions().use_intra_process_comms(ipc))
Node(const std::string& name, const std::string& ros2_namespace = "", bool ipc = true, bool parameter_service = true)
: rclcpp::Node(name, ros2_namespace, rclcpp::NodeOptions().use_intra_process_comms(ipc).start_parameter_services(parameter_service))
{
RCLCPP_INFO(this->get_logger(), "Node %s created", name.c_str());
}
Expand Down
4 changes: 2 additions & 2 deletions performances/performance_test/include/performance_test/ros2/system.hpp
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Expand Up @@ -27,7 +27,7 @@ class System

void add_node(std::shared_ptr<Node> node);

void spin(int duration_sec, bool wait_for_discovery = true);
void spin(int duration_sec, bool wait_pdp_discovery = true, bool wait_edp_discovery = true);

void enable_events_logger(std::string events_logger_path);

Expand All @@ -40,7 +40,7 @@ class System

private:

void wait_discovery();
void wait_discovery(bool wait_pdp = true, bool wait_edp = true);

void wait_pdp_discovery(
std::chrono::milliseconds period = std::chrono::milliseconds(20),
Expand Down
22 changes: 15 additions & 7 deletions performances/performance_test/src/ros2/system.cpp
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Expand Up @@ -51,7 +51,7 @@ void performance_test::System::add_node(std::shared_ptr<Node> node)
}


void performance_test::System::spin(int duration_sec, bool wait_for_discovery)
void performance_test::System::spin(int duration_sec, bool wait_pdp_discovery, bool wait_edp_discovery)
{
_experiment_duration_sec = duration_sec;
// Store the instant when the experiment started
Expand All @@ -66,10 +66,12 @@ void performance_test::System::spin(int duration_sec, bool wait_for_discovery)
_events_logger->set_start_time(_start_time);
}

if (wait_for_discovery){
// wait until PDP and EDP are finished before starting
// Wait for discovery if needed.
if (wait_pdp_discovery || wait_edp_discovery)
{
// Wait until PDP, EDP, or both are finished before starting
// log events when each is completed
this->wait_discovery();
this->wait_discovery(wait_pdp_discovery, wait_edp_discovery);
}

if (_executor != nullptr){
Expand Down Expand Up @@ -110,16 +112,22 @@ void performance_test::System::spin(int duration_sec, bool wait_for_discovery)
}


void performance_test::System::wait_discovery()
void performance_test::System::wait_discovery(bool wait_pdp, bool wait_edp)
{
// period at which PDP and EDP are checked
std::chrono::milliseconds period = 30ms;
// maximum discovery time, after which the experiment is shut down
std::chrono::milliseconds max_discovery_time = 30s;

wait_pdp_discovery(period, max_discovery_time);
if (wait_pdp)
{
wait_pdp_discovery(period, max_discovery_time);
}

wait_edp_discovery(period, max_discovery_time);
if (wait_edp)
{
wait_edp_discovery(period, max_discovery_time);
}
}


Expand Down
2 changes: 1 addition & 1 deletion performances/performance_test_factory/examples/client_nodes_main.cpp
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Expand Up @@ -95,7 +95,7 @@ int main(int argc, char ** argv)

rclcpp::init(argc, argv);

performance_test::TemplateFactory factory(use_ipc, verbose, ros_namespace);
performance_test::TemplateFactory factory(use_ipc, true, verbose, ros_namespace);
performance_test::System ros2_system(executors);
ros2_system.enable_events_logger(events_file_path);

Expand Down
2 changes: 1 addition & 1 deletion performances/performance_test_factory/examples/publisher_nodes_main.cpp
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Expand Up @@ -98,7 +98,7 @@ int main(int argc, char ** argv)

rclcpp::init(argc, argv);

performance_test::TemplateFactory factory(use_ipc, verbose, ros_namespace);
performance_test::TemplateFactory factory(use_ipc, true, verbose, ros_namespace);
performance_test::System ros2_system(executors);
ros2_system.enable_events_logger(events_file_path);

Expand Down
2 changes: 1 addition & 1 deletion performances/performance_test_factory/examples/server_nodes_main.cpp
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Expand Up @@ -95,7 +95,7 @@ int main(int argc, char ** argv)

rclcpp::init(argc, argv);

performance_test::TemplateFactory factory(use_ipc, verbose, ros_namespace);
performance_test::TemplateFactory factory(use_ipc, true, verbose, ros_namespace);
performance_test::System ros2_system(executors);
ros2_system.enable_events_logger(events_file_path);

Expand Down
2 changes: 1 addition & 1 deletion performances/performance_test_factory/examples/simple_client_service_main.cpp
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Expand Up @@ -95,7 +95,7 @@ int main(int argc, char ** argv)

rclcpp::init(argc, argv);

performance_test::TemplateFactory factory(use_ipc, verbose, ros_namespace);
performance_test::TemplateFactory factory(use_ipc, true, verbose, ros_namespace);
performance_test::System ros2_system(executors);
ros2_system.enable_events_logger(events_file_path);

Expand Down
2 changes: 1 addition & 1 deletion performances/performance_test_factory/examples/simple_pub_sub_main.cpp
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Expand Up @@ -98,7 +98,7 @@ int main(int argc, char ** argv)

rclcpp::init(argc, argv);

performance_test::TemplateFactory factory(use_ipc, verbose, ros_namespace);
performance_test::TemplateFactory factory(use_ipc, true, verbose, ros_namespace);
performance_test::System ros2_system(executors);
ros2_system.enable_events_logger(events_file_path);

Expand Down
2 changes: 1 addition & 1 deletion performances/performance_test_factory/examples/subscriber_nodes_main.cpp
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Expand Up @@ -98,7 +98,7 @@ int main(int argc, char ** argv)

rclcpp::init(argc, argv);

performance_test::TemplateFactory factory(use_ipc, verbose, ros_namespace);
performance_test::TemplateFactory factory(use_ipc, true, verbose, ros_namespace);
performance_test::System ros2_system(executors);
ros2_system.enable_events_logger(events_file_path);

Expand Down
5 changes: 4 additions & 1 deletion performances/performance_test_factory/include/performance_test_factory/factory.hpp
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Expand Up @@ -22,8 +22,9 @@ class TemplateFactory {

public:

TemplateFactory(bool use_ipc = true, bool verbose_mode = false, std::string ros2_namespace = "") :
TemplateFactory(bool use_ipc = true, bool use_parameter_service = true, bool verbose_mode = false, std::string ros2_namespace = "") :
_use_ipc(use_ipc),
_use_parameter_service(use_parameter_service),
_verbose_mode(verbose_mode),
_ros2_namespace(ros2_namespace)
{}
Expand All @@ -38,6 +39,7 @@ class TemplateFactory {
std::shared_ptr<Node> create_node(
std::string name,
bool use_ipc = true,
bool use_parameter_service = true,
bool verbose = false,
std::string ros2_namespace = "");

Expand Down Expand Up @@ -135,6 +137,7 @@ class TemplateFactory {
msg_pass_by_t get_msg_pass_by_from_json(const nlohmann::json entity_json, msg_pass_by_t default_value);

bool _use_ipc;
bool _use_parameter_service;
bool _verbose_mode;
std::string _ros2_namespace;

Expand Down
13 changes: 7 additions & 6 deletions performances/performance_test_factory/src/factory.cpp
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Expand Up @@ -24,11 +24,12 @@ using json = nlohmann::json;
std::shared_ptr<performance_test::Node> performance_test::TemplateFactory::create_node(
std::string name,
bool use_ipc,
bool use_parameter_service,
bool verbose,
std::string ros2_namespace)
{

auto node = std::make_shared<performance_test::Node>(name, ros2_namespace, use_ipc);
auto node = std::make_shared<performance_test::Node>(name, ros2_namespace, use_ipc, use_parameter_service);

if (verbose){
auto ret = rcutils_logging_set_logger_level(node->get_logger().get_name(), RCUTILS_LOG_SEVERITY_DEBUG);
Expand All @@ -53,7 +54,7 @@ std::vector<std::shared_ptr<performance_test::Node>> performance_test::TemplateF
for (int node_id = start_id; node_id < end_id; node_id ++){

std::string node_name = id_to_node_name(node_id);
auto node = this->create_node(node_name, _use_ipc, _verbose_mode, _ros2_namespace);
auto node = this->create_node(node_name, _use_ipc, _use_parameter_service, _verbose_mode, _ros2_namespace);

// TODO: pass publisher list instead of n_publishers, to select the IDs (
// default is a list from 0 to n_pubs or directly from n_subs to n_pubs)
Expand Down Expand Up @@ -86,7 +87,7 @@ std::vector<std::shared_ptr<performance_test::Node>> performance_test::TemplateF
for (int node_id = start_id; node_id < end_id; node_id++){

std::string node_name = id_to_node_name(node_id);
auto node = this->create_node(node_name, _use_ipc, _verbose_mode, _ros2_namespace);
auto node = this->create_node(node_name, _use_ipc, _use_parameter_service, _verbose_mode, _ros2_namespace);

int topic_id = node_id;
std::string topic_name = id_to_topic_name(topic_id);
Expand Down Expand Up @@ -116,7 +117,7 @@ std::vector<std::shared_ptr<performance_test::Node>> performance_test::TemplateF
for (int node_id = start_id; node_id < end_id; node_id++){

std::string node_name = id_to_node_name(node_id);
auto node = this->create_node(node_name, _use_ipc, _verbose_mode, _ros2_namespace);
auto node = this->create_node(node_name, _use_ipc, _use_parameter_service, _verbose_mode, _ros2_namespace);

int period = (1000/frequency);
std::chrono::milliseconds period_ms = std::chrono::milliseconds(period);
Expand Down Expand Up @@ -149,7 +150,7 @@ std::vector<std::shared_ptr<performance_test::Node>> performance_test::TemplateF
for (int node_id = start_id; node_id < end_id; node_id++){

std::string node_name = id_to_node_name(node_id);
auto node = this->create_node(node_name, _use_ipc, _verbose_mode, _ros2_namespace);
auto node = this->create_node(node_name, _use_ipc, _use_parameter_service, _verbose_mode, _ros2_namespace);

int service_id = node_id;
std::string service_name = id_to_service_name(service_id);
Expand Down Expand Up @@ -329,7 +330,7 @@ std::shared_ptr<performance_test::Node> performance_test::TemplateFactory::creat
{

auto node_name = std::string(node_json["node_name"]) + suffix;
auto node = this->create_node(node_name, _use_ipc, _verbose_mode, _ros2_namespace);
auto node = this->create_node(node_name, _use_ipc, _use_parameter_service, _verbose_mode, _ros2_namespace);

return node;
}
Expand Down