wipcontinued external observation framework. got some output already, but not correct yet (i think)
This commit is contained in:
Niklas Halle
parent
5c40743697
commit
3899d56cca
12 changed files with 38734 additions and 13177 deletions
3
.vscode/settings.json
vendored
3
.vscode/settings.json
vendored
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@ -69,7 +69,8 @@
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"cinttypes": "cpp",
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"typeindex": "cpp",
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"typeinfo": "cpp",
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"variant": "cpp"
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"variant": "cpp",
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"codecvt": "cpp"
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},
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"cmake.ignoreCMakeListsMissing": true,
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"python.autoComplete.extraPaths": [
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results/casestudy_wildfire_drone/cs_example_edf.json
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26261
results/casestudy_wildfire_drone/cs_example_edf.json
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43
results/existing_system_monitor/uas_edf.json
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43
results/existing_system_monitor/uas_edf.json
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@ -0,0 +1,43 @@
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[
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{"entry": {"operation": "start_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0}, "time": 18545986},
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{"entry": {"operation": "end_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0, "duration_us": 19}, "time": 18545986},
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{"entry": {"operation": "start_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0}, "time": 18546487},
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{"entry": {"operation": "end_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0, "duration_us": 91}, "time": 18546487},
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{"entry": {"operation": "start_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0}, "time": 18546987},
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{"entry": {"operation": "end_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0, "duration_us": 30}, "time": 18546987},
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{"entry": {"operation": "start_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0}, "time": 18547487},
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{"entry": {"operation": "end_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0, "duration_us": 76}, "time": 18547487},
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{"entry": {"operation": "start_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0}, "time": 18547986},
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{"entry": {"operation": "end_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0, "duration_us": 46}, "time": 18547986},
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{"entry": {"operation": "start_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0}, "time": 18548488},
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{"entry": {"operation": "end_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0, "duration_us": 61}, "time": 18548488},
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{"entry": {"operation": "start_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0}, "time": 18548986},
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{"entry": {"operation": "end_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0, "duration_us": 23}, "time": 18548986},
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{"entry": {"operation": "start_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0}, "time": 18549487},
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{"entry": {"operation": "end_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0, "duration_us": 73}, "time": 18549487},
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{"entry": {"operation": "start_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0}, "time": 18549987},
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{"entry": {"operation": "end_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0, "duration_us": 13}, "time": 18549987},
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{"entry": {"operation": "start_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0}, "time": 18550486},
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{"entry": {"operation": "end_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0, "duration_us": 141}, "time": 18550487},
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{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18545986},
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{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 255}, "time": 18545986},
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{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18546486},
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{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 459}, "time": 18546486},
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{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18546986},
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{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 264}, "time": 18546986},
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{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18547486},
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{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 338}, "time": 18547486},
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{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18547986},
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{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 153}, "time": 18547986},
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{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18548487},
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{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 227}, "time": 18548488},
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{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18548986},
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{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 78}, "time": 18548986},
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{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18549486},
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{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 294}, "time": 18549486},
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{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18549986},
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{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 260}, "time": 18549986},
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{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18550486},
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{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 183}, "time": 18550486},
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{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18550986},
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{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 395}, "time": 18550986}]
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@ -61,8 +61,8 @@ int ros_experiment(
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int const argc,
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char** const argv,
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std::string const& file_name,
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ExperimentConfig config) {
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ExperimentConfig config)
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{
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rclcpp::init(argc, argv);
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// we have to create a node to process any passed parameters
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@ -1,22 +1,23 @@
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cmake_minimum_required(VERSION 3.5)
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project(existing_system_monitor)
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project(existing_system_monitor VERSION 0.1.0)
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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# Set C++ standards
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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# Compiler options
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# Find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(casestudy_tools REQUIRED)
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find_package(simple_timer REQUIRED)
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include_directories(include)
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# Library targets
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add_library(${PROJECT_NAME} src/instrumented_node.cpp)
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target_include_directories(${PROJECT_NAME} PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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@ -27,44 +28,42 @@ ament_target_dependencies(${PROJECT_NAME}
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simple_timer
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)
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# Executable targets
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add_executable(uas src/uas.cpp)
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target_include_directories(uas PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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ament_target_dependencies(uas
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simple_timer
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casestudy_tools
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rclcpp
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)
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target_link_libraries(uas ${PROJECT_NAME})
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# Testing
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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# Installation
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install(
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DIRECTORY include/
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DESTINATION include
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)
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install(TARGETS
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${PROJECT_NAME}
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install(
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TARGETS ${PROJECT_NAME} uas
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EXPORT export_${PROJECT_NAME}
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LIBRARY DESTINATION lib
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ARCHIVE DESTINATION lib
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RUNTIME DESTINATION bin
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RUNTIME DESTINATION lib/${PROJECT_NAME}
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INCLUDES DESTINATION include
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)
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# add executable for uas.cpp
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add_library(uas src/uas.cpp src/instrumented_node.cpp)
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ament_target_dependencies(uas
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rclcpp
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casestudy_tools
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simple_timer
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)
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target_link_libraries(uas
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${PROJECT_NAME}
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)
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target_include_directories(uas PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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install(TARGETS
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uas
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EXPORT export_${PROJECT_NAME}
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RUNTIME DESTINATION bin
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)
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# Export and package configuration
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ament_export_include_directories(include)
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ament_export_libraries(${PROJECT_NAME})
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ament_export_targets(export_${PROJECT_NAME})
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ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
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ament_export_dependencies(rclcpp casestudy_tools simple_timer)
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ament_package()
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@ -29,11 +29,15 @@ public:
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template<typename... Args>
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void after_callback(Args&&... args);
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friend class MetricsCollector;
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protected:
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node_time_logger logger_;
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private:
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std::string node_name_;
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std::string callback_name_;
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int chain_id_;
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node_time_logger logger_;
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std::chrono::high_resolution_clock::time_point start_time_;
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};
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@ -98,14 +102,24 @@ public:
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// Class to hold metrics collection and analysis
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class MetricsCollector {
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public:
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struct Config {
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std::string executor_type = "default";
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};
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static MetricsCollector& get_instance();
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void register_callback(std::shared_ptr<InstrumentedCallback> callback);
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void write_logs_to_file(const std::string& file_name, const std::string& experiment_name);
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void set_config(Config config) { config_ = config; }
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private:
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MetricsCollector() = default;
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MetricsCollector() {
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logger_ = create_logger();
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}
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std::unordered_map<std::string, std::shared_ptr<InstrumentedCallback>> callbacks_;
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node_time_logger logger_;
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Config config_;
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std::string buildLogs(std::vector<node_time_logger> node_logs = {});
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};
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} // namespace existing_system_monitor
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@ -15,9 +15,14 @@ namespace existing_system_monitor {
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template <typename NodeT>
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class InstrumentedNode : public NodeT {
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public:
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struct NodeIdentifier {
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int chain_id;
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std::string node_name;
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};
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template <typename... Args>
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InstrumentedNode(int chain_id, Args&&... args)
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: NodeT(std::forward<Args>(args)...), chain_id_(chain_id) {
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InstrumentedNode(NodeIdentifier id, Args&&... args)
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: NodeT(std::forward<Args>(args)...), chain_id_(id.chain_id), node_name_(id.node_name) {
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}
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// Override subscription creation
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@ -26,20 +31,30 @@ public:
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const std::string& topic_name,
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const rclcpp::QoS& qos,
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CallbackT&& callback,
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const rclcpp::SubscriptionOptions& options = rclcpp::SubscriptionOptions()) {
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const rclcpp::SubscriptionOptions& options = rclcpp::SubscriptionOptions())
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{
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// Create a wrapper for the callback
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auto instrumented_callback = std::make_shared<InstrumentedSubscriptionCallback<MessageT>>(
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this->get_name(), topic_name, chain_id_,
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std::forward<CallbackT>(callback));
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auto instrumented_callback =
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std::make_shared<InstrumentedSubscriptionCallback<MessageT>>(
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this->get_name(),
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node_name_ + "-" + topic_name,
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chain_id_,
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std::forward<CallbackT>(callback)
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);
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// Register the callback with the MetricsCollector
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MetricsCollector::get_instance().register_callback(instrumented_callback);
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// Create the subscription with the instrumented callback
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auto subscription = NodeT::template create_subscription<MessageT>(
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topic_name, qos,
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auto subscription =
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NodeT::template create_subscription<MessageT>(
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topic_name,
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qos,
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[instrumented_callback](typename MessageT::SharedPtr msg) {
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instrumented_callback->callback(msg);
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},
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options);
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options
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);
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return subscription;
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}
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@ -49,26 +64,36 @@ public:
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rclcpp::TimerBase::SharedPtr create_wall_timer(
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DurationT period,
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CallbackT&& callback,
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rclcpp::CallbackGroup::SharedPtr group = nullptr) {
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rclcpp::CallbackGroup::SharedPtr group = nullptr)
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{
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// Create a wrapper for the callback
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auto instrumented_callback = std::make_shared<InstrumentedTimerCallback>(
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this->get_name(), "timer", chain_id_,
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std::forward<CallbackT>(callback));
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auto instrumented_callback =
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std::make_shared<InstrumentedTimerCallback>(
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this->get_name(),
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node_name_ + "-timer",
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chain_id_,
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std::forward<CallbackT>(callback)
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);
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// Register the callback with the MetricsCollector
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MetricsCollector::get_instance().register_callback(instrumented_callback);
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// Create the timer with the instrumented callback
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auto timer = NodeT::create_wall_timer(
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auto timer =
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NodeT::create_wall_timer(
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period,
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[instrumented_callback]() {
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instrumented_callback->callback();
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},
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group);
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group
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);
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return timer;
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}
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private:
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int chain_id_;
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std::string node_name_;
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};
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} // namespace existing_system_monitor
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|
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@ -4,7 +4,7 @@
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<name>existing_system_monitor</name>
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<version>0.1.0</version>
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<description>Tools for monitoring existing ROS2 systems</description>
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<maintainer email="user@todo.todo">user</maintainer>
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<maintainer email="niklas@niklashalle.net">niklas</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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@ -13,6 +13,9 @@
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<depend>casestudy_tools</depend>
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<depend>simple_timer</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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|
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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|
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@ -1,5 +1,6 @@
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#include <sstream>
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#include <fstream>
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#include <filesystem>
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#include "std_msgs/msg/string.hpp"
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@ -91,11 +92,68 @@ MetricsCollector& MetricsCollector::get_instance() {
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}
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void MetricsCollector::register_callback(std::shared_ptr<InstrumentedCallback> callback) {
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// To be implemented
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// Create a unique key for the callback using its node name and callback name
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std::string key = std::to_string(callback->chain_id_) + "_" +
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callback->node_name_ + "_" +
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callback->callback_name_;
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callbacks_[key] = callback;
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}
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std::string MetricsCollector::buildLogs(std::vector<node_time_logger> node_logs) {
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std::stringstream output_file;
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output_file << "[" << std::endl;
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// Add logs from MetricsCollector's logger
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for (auto const& log : *(logger_.recorded_times)) {
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output_file << "{\"entry\": " << log.first
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<< ", \"time\": " << log.second << "}," << std::endl;
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}
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// Add logs from registered callbacks
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for (auto const& [name, callback] : callbacks_) {
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for (auto const& log : *(callback->logger_.recorded_times)) {
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output_file << "{\"entry\": " << log.first
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<< ", \"time\": " << log.second << "}," << std::endl;
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}
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}
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// Add logs from additional node loggers passed in
|
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for (auto const& logger : node_logs) {
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for (auto const& log : *(logger.recorded_times)) {
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output_file << "{\"entry\": " << log.first
|
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<< ", \"time\": " << log.second << "}," << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
// Remove the last comma if there are entries
|
||||
if (!logger_.recorded_times->empty() || !callbacks_.empty() || !node_logs.empty()) {
|
||||
output_file.seekp(-2, std::ios_base::end);
|
||||
}
|
||||
output_file << "]" << std::endl;
|
||||
|
||||
return output_file.str();
|
||||
}
|
||||
|
||||
void MetricsCollector::write_logs_to_file(const std::string& file_name, const std::string& experiment_name) {
|
||||
// This would use similar code to the existing Experiment::writeLogsToFile method
|
||||
std::filesystem::path results_dir = "results";
|
||||
std::filesystem::path exp_dir = results_dir / experiment_name;
|
||||
|
||||
// Create directories if they don't exist
|
||||
try {
|
||||
std::filesystem::create_directories(exp_dir);
|
||||
} catch (std::filesystem::filesystem_error const &e) {
|
||||
std::cout << "Could not create results directory: " << e.what() << std::endl;
|
||||
return;
|
||||
}
|
||||
|
||||
std::filesystem::path output_path = exp_dir / (file_name + "_" + config_.executor_type + ".json");
|
||||
|
||||
std::ofstream output_file(output_path);
|
||||
output_file << buildLogs();
|
||||
output_file.close();
|
||||
|
||||
std::cout << "results written to " << output_path.string() << std::endl;
|
||||
}
|
||||
|
||||
template class InstrumentedSubscriptionCallback<std_msgs::msg::String>;
|
||||
|
|
|
|||
|
|
@ -20,7 +20,7 @@ constexpr char const* TOPIC_NAME = "wildfire_talk";
|
|||
class CustomTalkerNode : public existing_system_monitor::InstrumentedNode<rclcpp::Node> {
|
||||
public:
|
||||
// Pass chain_id to InstrumentedNode constructor
|
||||
CustomTalkerNode(int chain_id, const std::string& node_name) : InstrumentedNode(chain_id, node_name) {
|
||||
CustomTalkerNode(int chain_id, std::string const &node_name) : InstrumentedNode({chain_id, node_name}, node_name) {
|
||||
// The rest of the code stays the same!
|
||||
timer_ = create_wall_timer(
|
||||
std::chrono::milliseconds(100),
|
||||
|
|
@ -49,7 +49,7 @@ private:
|
|||
class CustomListenerNode : public existing_system_monitor::InstrumentedNode<rclcpp::Node> {
|
||||
public:
|
||||
// Pass chain_id to InstrumentedNode constructor
|
||||
CustomListenerNode(int chain_id, const std::string& node_name) : InstrumentedNode(chain_id, node_name) {
|
||||
CustomListenerNode(int chain_id, const std::string& node_name) : InstrumentedNode({chain_id, node_name}, node_name) {
|
||||
sub_ = this->create_subscription<std_msgs::msg::String>(
|
||||
TOPIC_NAME, 10, std::bind(&CustomListenerNode::topic_callback, this, std::placeholders::_1));
|
||||
}
|
||||
|
|
@ -67,6 +67,11 @@ int main(int argc, char* argv[]) {
|
|||
// calibrate the dummy load for the current system
|
||||
calibrate_dummy_load();
|
||||
|
||||
existing_system_monitor::MetricsCollector::Config config;
|
||||
config.executor_type = "edf";
|
||||
auto& collector = existing_system_monitor::MetricsCollector::get_instance();
|
||||
collector.set_config(config);
|
||||
|
||||
rclcpp::init(argc, argv);
|
||||
|
||||
// Create nodes for the experiment
|
||||
|
|
@ -88,21 +93,16 @@ int main(int argc, char* argv[]) {
|
|||
// must be set to post_execute can set new deadlines
|
||||
executor->prio_memory_strategy_ = strategy;
|
||||
|
||||
|
||||
// the new funcitons in PriorityMemoryStrategy accept the handle of the
|
||||
// timer/subscription as the first argument
|
||||
strategy->set_executable_deadline(talker->timer_->get_timer_handle(), 1000,
|
||||
priority_executor::ExecutableType::TIMER, 0);
|
||||
strategy->set_executable_deadline(talker->timer_->get_timer_handle(), 1000, priority_executor::ExecutableType::TIMER, 0);
|
||||
// you _must_ set the timer_handle for each chain
|
||||
strategy->get_priority_settings(talker->timer_->get_timer_handle())
|
||||
->timer_handle = talker->timer_;
|
||||
strategy->get_priority_settings(talker->timer_->get_timer_handle())->timer_handle = talker->timer_;
|
||||
// you _must_ mark the first executable in the chain
|
||||
strategy->set_first_in_chain(talker->timer_->get_timer_handle());
|
||||
// set the same period and chain_id for each callback in the chain
|
||||
strategy->set_executable_deadline(listener1->sub_->get_subscription_handle(),
|
||||
1000, priority_executor::ExecutableType::SUBSCRIPTION, 0);
|
||||
strategy->set_executable_deadline(listener2->sub_->get_subscription_handle(),
|
||||
1000, priority_executor::ExecutableType::SUBSCRIPTION, 0);
|
||||
strategy->set_executable_deadline(listener1->sub_->get_subscription_handle(), 1000, priority_executor::ExecutableType::SUBSCRIPTION, 0);
|
||||
strategy->set_executable_deadline(listener2->sub_->get_subscription_handle(), 1000, priority_executor::ExecutableType::SUBSCRIPTION, 0);
|
||||
// you _must_ mark the last executable in the chain (used to keep track of different instances of the same chain)
|
||||
strategy->set_last_in_chain(listener2->sub_->get_subscription_handle());
|
||||
// add all the nodes to the executor
|
||||
|
|
@ -111,22 +111,15 @@ int main(int argc, char* argv[]) {
|
|||
executor->add_node(listener2);
|
||||
|
||||
// if the executor behaves unexpectedly, you can print the priority settings to make sure they are correct
|
||||
std::cout << *strategy->get_priority_settings(
|
||||
talker->timer_->get_timer_handle())
|
||||
<< std::endl;
|
||||
std::cout << *strategy->get_priority_settings(
|
||||
listener1->sub_->get_subscription_handle())
|
||||
<< std::endl;
|
||||
std::cout << *strategy->get_priority_settings(
|
||||
listener2->sub_->get_subscription_handle())
|
||||
<< std::endl;
|
||||
std::cout << *strategy->get_priority_settings(talker->timer_->get_timer_handle()) << std::endl;
|
||||
std::cout << *strategy->get_priority_settings(listener1->sub_->get_subscription_handle()) << std::endl;
|
||||
std::cout << *strategy->get_priority_settings(listener2->sub_->get_subscription_handle()) << std::endl;
|
||||
executor->spin();
|
||||
|
||||
rclcpp::shutdown();
|
||||
|
||||
// Get all collected metrics and write them to a file
|
||||
auto& collector = existing_system_monitor::MetricsCollector::get_instance();
|
||||
collector.write_logs_to_file("my_system_analysis", "real_system_test");
|
||||
collector.write_logs_to_file("uas", "existing_system_monitor");
|
||||
|
||||
return 0;
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue