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Added variable message length. Added script for reproduce tests made.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,2 +1,3 @@ | ||
| uint64 publisher_id | ||
| uint64 message_id | ||
| uint8[] data |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,154 @@ | ||
| #!/bin/bash | ||
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| TEST_FOLDERS=( | ||
| "test_intra_shared_10ms_n100_m10000_l100000" | ||
| "test_inter_shared_10ms_n100_m10000_l100000" | ||
| "test_intra_unique_10ms_n100_m10000_l100000" | ||
| "test_inter_unique_10ms_n100_m10000_l100000" | ||
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| "test_intra_shared_10ms_n10_m10000_l1000000" | ||
| "test_inter_shared_10ms_n10_m10000_l1000000" | ||
| "test_intra_unique_10ms_n10_m10000_l1000000" | ||
| "test_inter_unique_10ms_n10_m10000_l1000000" | ||
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| "test_intra_shared_10ms_n1_m10000_l10000000" | ||
| "test_inter_shared_10ms_n1_m10000_l10000000" | ||
| "test_intra_unique_10ms_n1_m10000_l10000000" | ||
| "test_inter_unique_10ms_n1_m10000_l10000000" | ||
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| # These tests below suffers of starvation | ||
| # "test_intra_shared_10ms_n5_m100_l10000000" | ||
| # "test_inter_shared_10ms_n5_m100_l10000000" | ||
| ) | ||
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| COMMAND_ARGUMENTS=( | ||
| "-p 10 -n 100 -m 10000 -l 100000 -intra" | ||
| "-p 10 -n 100 -m 10000 -l 100000" | ||
| "-p 10 -n 100 -m 10000 -l 100000 -intra -unique" | ||
| "-p 10 -n 100 -m 10000 -l 100000 -unique" | ||
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| "-p 10 -n 10 -m 10000 -l 1000000 -intra" | ||
| "-p 10 -n 10 -m 10000 -l 1000000" | ||
| "-p 10 -n 10 -m 10000 -l 1000000 -intra -unique" | ||
| "-p 10 -n 10 -m 10000 -l 1000000 -unique" | ||
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| "-p 10 -n 1 -m 10000 -l 10000000 -intra" | ||
| "-p 10 -n 1 -m 10000 -l 10000000" | ||
| "-p 10 -n 1 -m 10000 -l 10000000 -intra -unique" | ||
| "-p 10 -n 1 -m 10000 -l 10000000 -unique" | ||
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| # "-p 10 -n 5 -m 10000 -l 10000000 -intra" | ||
| # "-p 10 -n 5 -m 10000 -l 10000000" | ||
| ) | ||
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| DESCRIPTION=( | ||
| "Intraprocess, shared publish, 100 pubs/subs, 10000 messages, 100000 bytes length, 10ms period." | ||
| "Interprocess, shared publish, 100 pubs/subs, 10000 messages, 100000 bytes length, 10ms period." | ||
| "Intraprocess, unique publish, 100 pubs/subs, 10000 messages, 100000 bytes length, 10ms period." | ||
| "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." | ||
| "Interprocess, shared publish, 10 pubs/subs, 10000 messages, 1000000 bytes length, 10ms period." | ||
| "Intraprocess, unique publish, 10 pubs/subs, 10000 messages, 1000000 bytes length, 10ms period." | ||
| "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." | ||
| "Interprocess, shared publish, 1 pubs/subs, 10000 messages, 10000000 bytes length, 10ms period." | ||
| "Intraprocess, unique publish, 1 pubs/subs, 10000 messages, 10000000 bytes length, 10ms period." | ||
| "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." | ||
| # "Interprocess, shared publish, 5 pubs/subs, 10000 messages, 10000000 bytes length, 10ms period." | ||
| ) | ||
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||
| main() | ||
| { | ||
| set -e | ||
| parse_arguments "$@" | ||
| if [[ $skip -eq 0 ]]; then | ||
| run_tests | ||
| fi | ||
| show_results | ||
| } | ||
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| parse_arguments() | ||
| { | ||
| set -e | ||
| out_dir="logs" | ||
| skip=0 | ||
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| while [[ $# > 0 ]] | ||
| do | ||
| key="$1" | ||
| case $key in | ||
| -d|--dir) | ||
| out_dir="$2" | ||
| shift # past argument | ||
| ;; | ||
| -s|--skip) | ||
| skip=1 | ||
| ;; | ||
| -h|--help) | ||
| print_help | ||
| ;; | ||
| *) | ||
| print_help | ||
| ;; | ||
| esac | ||
| shift # past argument or value | ||
| done | ||
| } | ||
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| print_help() | ||
| { | ||
| echo "Usage: $0 -d OUTPUT_DIR [--skip]" | ||
| echo "The logs file will be generated inside OUTPUT_DIR" | ||
| echo "Options:" | ||
| echo -e "\t\t-s|--skip: Only posprocess and show results, skip running tests." | ||
| exit 0 | ||
| } | ||
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| run_tests() | ||
| { | ||
| set -e | ||
| mkdir -p $out_dir | ||
| pushd $out_dir > /dev/null | ||
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| i=0 | ||
| for folder in "${TEST_FOLDERS[@]}" | ||
| do | ||
| echo -e "\e[34mRunning performance test with the following configuration:\e[39m" | ||
| echo -e "\e[34m\t\t${COMMAND_ARGUMENTS[i]}\e[39m" | ||
| mkdir -p $folder | ||
| ros2 run rclcpp_performance communication_performance -d $folder ${COMMAND_ARGUMENTS[i]} | ||
| i=$i+1 | ||
| echo | ||
| done | ||
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| popd | ||
| } | ||
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| show_results() | ||
| { | ||
| set -e | ||
| pushd $out_dir > /dev/null | ||
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| echo -e "\e[34mThe generated data will be posprocessed an showed.\e[39m" | ||
| echo | ||
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| i=0 | ||
| for folder in "${TEST_FOLDERS[@]}" | ||
| do | ||
| echo "Next configuration to be posprocessed:" | ||
| echo -e "\t\t${COMMAND_ARGUMENTS[i]}" | ||
| read -p "Press enter to posprocess and plot the results." | ||
| echo | ||
| ros2 run rclcpp_performance posprocess_logging -d $folder | ||
| i=$i+1 | ||
| done | ||
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| popd | ||
| } | ||
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| main "$@" |
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