Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Support actions / Add communication benchmarks directory #137

Open
wants to merge 9 commits into
base: mauro/iron-events-executor
Choose a base branch
from
Open

Support actions / Add communication benchmarks directory #137

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
9 commits
Select commit Hold shift + click to select a range
24cf6b2
Remove option and always name threads
Apr 12, 2024
9def392
Remove irobot_events_executor dependency
Oct 15, 2024
0f646cf
Add option to create results directory
Apr 12, 2024
5d4e998
Show latency even if msg arrived late
Oct 16, 2024
2fdd9bc
warning if negative latency for multi-host benchmarks
Oct 15, 2024
e67baa4
Improve error handling in data parsing and file operations
Oct 15, 2024
d50eebd
Support Actions and add comms_benchmark dir
Apr 12, 2024
b95c2e4
Add latency over time computation
Dec 13, 2024
08f967b
Address PR comments
Nov 26, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion composition_benchmark/apps/base_publisher_main.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,7 @@ int main(int argc, char ** argv)
performance_test::SpinType::SPIN);

system->add_nodes(nodes);
system->spin(MAX_HOURS, false, false);
system->spin(MAX_HOURS, false);

rclcpp::shutdown();
}
2 changes: 1 addition & 1 deletion composition_benchmark/apps/base_subscriber_main.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@ int main(int argc, char ** argv)
performance_test::SpinType::SPIN);

system->add_nodes(nodes);
system->spin(MAX_HOURS, false, false);
system->spin(MAX_HOURS, false);

rclcpp::shutdown();
}
2 changes: 1 addition & 1 deletion composition_benchmark/apps/composable_pub_sub_main.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -74,7 +74,7 @@ int main(int argc, char ** argv)
spin_type);

system->add_nodes(nodes);
system->spin(MAX_HOURS, false, false);
system->spin(MAX_HOURS, false);

rclcpp::shutdown();
}
2 changes: 1 addition & 1 deletion composition_benchmark/apps/multi-producer-node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -71,7 +71,7 @@ int main(int argc, char ** argv)
performance_test::SpinType::SPIN);

system->add_node(nodes);
system->spin(std::chrono::seconds(20), false, false);
system->spin(std::chrono::seconds(20), false);

ru_logger.stop();

Expand Down
97 changes: 16 additions & 81 deletions irobot_benchmark/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,104 +12,39 @@ endif()

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(irobot_events_executor REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(performance_test REQUIRED)
find_package(performance_test_factory REQUIRED)

add_executable(irobot_benchmark src/irobot_benchmark.cpp)
ament_target_dependencies(irobot_benchmark rclcpp rclcpp_lifecycle performance_test performance_test_factory irobot_events_executor)
ament_target_dependencies(irobot_benchmark rclcpp rclcpp_lifecycle performance_test performance_test_factory)

install(TARGETS
irobot_benchmark
DESTINATION lib/${PROJECT_NAME}
)

set(FT topology/full_topologies)

set(TEST_TOPOLOGY_FILES
${FT}/cedar.json
${FT}/debug_mont_blanc_best_effort.json
${FT}/debug_mont_blanc_reliable.json
${FT}/debug_sierra_nevada_best_effort.json
${FT}/debug_sierra_nevada_fixed_size_best_effort.json
${FT}/debug_sierra_nevada_reliable.json
${FT}/debug_white_mountain_best_effort.json
${FT}/debug_white_mountain_fixed_size_best_effort.json
${FT}/mont_blanc.json
${FT}/sierra_nevada.json
${FT}/sierra_nevada_fixed_size.json
${FT}/sierra_nevada_fixed_size_loaned.json
${FT}/sierra_nevada_loaned.json
${FT}/white_mountain.json
${FT}/white_mountain_fixed_size.json
${FT}/white_mountain_fixed_size_loaned.json
${FT}/white_mountain_loaned.json
set(TOPOLOGY_FILES
topology/sierra_nevada.json
topology/cedar.json
topology/mont_blanc.json
topology/white_mountain.json
topology/debug_sierra_nevada_reliable.json
topology/debug_sierra_nevada_best_effort.json
topology/debug_mont_blanc_reliable.json
topology/debug_mont_blanc_best_effort.json
)

install(FILES
${TEST_TOPOLOGY_FILES}
DESTINATION lib/${PROJECT_NAME}/${FT})

set(SP topology/single_process)

set(TOPOLOGY_FILES_SINGLE_PROCESS
${SP}/pub_sub_loaned_10b.json
${SP}/pub_sub_loaned_100kb.json
${SP}/pub_sub_loaned_1mb.json
${SP}/pub_sub_loaned_4mb.json
${TOPOLOGY_FILES}
DESTINATION lib/${PROJECT_NAME}/topology)

${SP}/pub_sub_10b_ipc_on.json
${SP}/pub_sub_100kb_ipc_on.json
${SP}/pub_sub_1mb_ipc_on.json
${SP}/pub_sub_4mb_ipc_on.json

${SP}/pub_sub_10b_ipc_off.json
${SP}/pub_sub_100kb_ipc_off.json
${SP}/pub_sub_1mb_ipc_off.json
${SP}/pub_sub_4mb_ipc_off.json
# Install the entire comms_benchmark directory, preserving file permissions
install(DIRECTORY comms_benchmark/
DESTINATION lib/${PROJECT_NAME}/comms_benchmark
USE_SOURCE_PERMISSIONS
)

install(FILES
${TOPOLOGY_FILES_SINGLE_PROCESS}
DESTINATION lib/${PROJECT_NAME}/${SP})

set(MP topology/multi_process)

set(TOPOLOGY_FILES_MULTI_PROCESS
${MP}/pub_ipc_off_10b.json
${MP}/pub_ipc_off_100kb.json
${MP}/pub_ipc_off_1mb.json
${MP}/pub_ipc_off_4mb.json

${MP}/sub_ipc_off_10b.json
${MP}/sub_ipc_off_100kb.json
${MP}/sub_ipc_off_1mb.json
${MP}/sub_ipc_off_4mb.json

${MP}/pub_loaned_10b.json
${MP}/pub_loaned_100kb.json
${MP}/pub_loaned_1mb.json
${MP}/pub_loaned_4mb.json

${MP}/sub_loaned_10b.json
${MP}/sub_loaned_100kb.json
${MP}/sub_loaned_1mb.json
${MP}/sub_loaned_4mb.json
)

install(FILES
${TOPOLOGY_FILES_MULTI_PROCESS}
DESTINATION lib/${PROJECT_NAME}/${MP})

set(PROFILES
profiles/ignore_local_endpoints.xml
profiles/shared_memory_fastdds_config.xml)

install(FILES
${PROFILES}
DESTINATION lib/${PROJECT_NAME}/profiles)

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
Expand Down
0 ...hmark/profiles/ignore_local_endpoints.xml → ...hmark/profiles/ignore_local_endpoints.xml
View file
Open in desktop
File renamed without changes.
36 changes: 36 additions & 0 deletions irobot_benchmark/comms_benchmark/profiles/roudi_config.toml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,36 @@
[general]
version = 1

[[segment]]

[[segment.mempool]]
size = 128
count = 10000

[[segment.mempool]]
size = 1024
count = 5000

[[segment.mempool]]
size = 16384
count = 1000

[[segment.mempool]]
size = 131072
count = 200

[[segment.mempool]]
size = 524288
count = 50

[[segment.mempool]]
size = 1048576
count = 30

[[segment.mempool]]
size = 4194304
count = 5

[[segment.mempool]]
size = 5242880
count = 5
9 changes: 9 additions & 0 deletions irobot_benchmark/comms_benchmark/profiles/shared_memory_cyclonedds.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@
<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/iceoryx/etc/cyclonedds.xsd">
<Domain id="any">
<SharedMemory>
<Enable>true</Enable>
<LogLevel>info</LogLevel>
</SharedMemory>
</Domain>
</CycloneDDS>
26 changes: 26 additions & 0 deletions irobot_benchmark/comms_benchmark/profiles/shared_memory_fastdds_dynamic_reusable.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,26 @@
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">

<!-- Default publisher profile -->
<data_writer profile_name="default publisher profile" is_default_profile="true">
<qos>
<publishMode>
<kind>ASYNCHRONOUS</kind>
</publishMode>
<data_sharing>
<kind>AUTOMATIC</kind>
</data_sharing>
</qos>
<historyMemoryPolicy>DYNAMIC_REUSABLE</historyMemoryPolicy>
</data_writer>

<data_reader profile_name="default subscription profile" is_default_profile="true">
<qos>
<data_sharing>
<kind>AUTOMATIC</kind>
</data_sharing>
</qos>
<historyMemoryPolicy>DYNAMIC_REUSABLE</historyMemoryPolicy>
</data_reader>

</profiles>
32 changes: 32 additions & 0 deletions irobot_benchmark/comms_benchmark/profiles/shared_memory_fastdds_extra_samples.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,32 @@
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">

<!-- Default publisher profile -->
<data_writer profile_name="default_publisher_profile" is_default_profile="true">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<publishMode>
<kind>ASYNCHRONOUS</kind>
</publishMode>
<data_sharing>
<kind>AUTO</kind>
</data_sharing>
</qos>
<topic>
<resourceLimitsQos>
<extra_samples>5</extra_samples>
</resourceLimitsQos>
</topic>
</data_writer>

<!-- Default subscriber profile -->
<data_reader profile_name="default_subscription_profile" is_default_profile="true">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<data_sharing>
<kind>AUTO</kind>
</data_sharing>
</qos>
</data_reader>

</profiles>
0 ...profiles/shared_memory_fastdds_config.xml → ...memory_fastdds_preallocated_w_realloc.xml
View file
Open in desktop
File renamed without changes.
26 changes: 26 additions & 0 deletions irobot_benchmark/comms_benchmark/profiles/shared_memory_fastdds_realloc.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,26 @@
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">

<!-- Default publisher profile -->
<data_writer profile_name="default publisher profile" is_default_profile="true">
<qos>
<publishMode>
<kind>ASYNCHRONOUS</kind>
</publishMode>
<data_sharing>
<kind>AUTOMATIC</kind>
</data_sharing>
</qos>
<historyMemoryPolicy>PREALLOCATED</historyMemoryPolicy>
</data_writer>

<data_reader profile_name="default subscription profile" is_default_profile="true">
<qos>
<data_sharing>
<kind>AUTOMATIC</kind>
</data_sharing>
</qos>
<historyMemoryPolicy>PREALLOCATED</historyMemoryPolicy>
</data_reader>

</profiles>
Loading
Loading