added more flags to build and run script, clean up

build_run_copy.sh

@@ -11,11 +11,19 @@ LOCAL_PROJECT_DIR="/home/niklas/ROS-Dynamic-Executor-Experiments"
 # --------------------------------------
 
 usage() {
-    echo "Usage: $0 <ros|edf|sem> <single|multi> <timed|direct> [time_in_seconds]"
+    echo "Usage: $0 <ros|edf|sem> <single|multi> <timed|direct> [time_in_seconds] [no_rebuild]"
+    echo "Example: $0 ros multi timed 10"
+    echo "This script builds the full_topology package, runs a trace, and copies the results to a remote server."
+    echo "Parameters:"
+    echo "  <ros|edf|sem>     : Scheduler type (ros, edf, sem)"
+    echo "  <single|multi>    : Threading type (single, multi)"
+    echo "  <timed|direct>    : Fusion type (timed, direct)"
+    echo "  <time_in_seconds> : Length of the trace (default: 10)"
+    echo "  [no_rebuild]      : Optional flag to skip rebuilding the package (true/false, default: false)"
     exit 1
 }
 
-if [[ $# -lt 3 ]]; then
+if [[ $# -lt 4 ]]; then
     usage
 fi
 
@@ -23,6 +31,7 @@ SCHEDULER_TYPE="$1"
 THREADING_TYPE="$2"
 FUSION_TYPE="$3"
 TRACE_LENGTH="${4:-10}"
+NO_REBUILD="${5:-false}"
 
 # Determine defines based on parameters
 CMAKE_ARGS=()
@@ -37,13 +46,18 @@ TRACE_NAME="${SCHEDULER_TYPE}_${THREADING_TYPE}_${FUSION_TYPE}_${TRACE_LENGTH}"
 
 cd "$LOCAL_PROJECT_DIR"
 
-echo colcon build --packages-select full_topology --cmake-clean-cache --cmake-clean-first --cmake-args "${CMAKE_ARGS[@]}"
-colcon build --packages-select full_topology --cmake-clean-cache --cmake-clean-first --cmake-args "${CMAKE_ARGS[@]}"
+if [[ "$NO_REBUILD" != "true" ]]; then
+    echo "[INFO] Rebuilding full_topology package with CMake arguments: ${CMAKE_ARGS[*]}"
+    colcon build --packages-select full_topology --cmake-clean-cache --cmake-clean-first --cmake-args "${CMAKE_ARGS[@]}"
+else
+    echo "[INFO] Skipping rebuild of full_topology package."
+fi
 
 source install/setup.bash
 
+echo "[INFO] Launching full_topology with trace length: ${TRACE_LENGTH} seconds"
 OUTPUT=$(taskset -c 2,3 ros2 launch full_topology trace_full_topology.launch.py "length:=${TRACE_LENGTH}")
-#echo ${OUTPUT}
+echo "[INFO] Done running full_topology."
 TRACE_ID=$(echo ${OUTPUT} | \
   grep -oP '(?<=Writing tracing session to: /home/niklas/ROS-Dynamic-Executor-Experiments/analysis/tracing/)[^\s]+')
 
@@ -57,13 +71,22 @@ NEW_TRACE_ID="${TRACE_NAME}${TIMESTAMP_SUFFIX}"
 TRACE_ORIG_PATH="${TRACING_BASE}/${TRACE_ID}"
 TRACE_NEW_PATH="${TRACING_BASE}/${NEW_TRACE_ID}"
 
-ros2 trace-analysis convert "${TRACE_ORIG_PATH}/ust"
+echo "[INFO] Converting trace"
+ros2 trace-analysis convert "${TRACE_ORIG_PATH}/ust" 2>&1 \
+    | grep -v "UserWarning: " \
+    | grep -v "return extension.main" \
+    | grep -v "converting trace directory" \
+    | grep -v "output written to"
 
 if [[ -e "$TRACE_NEW_PATH" ]]; then
     rm -rf "$TRACE_NEW_PATH"
 fi
+echo "[INFO] Renaming trace from '$TRACE_ORIG_PATH' to '$TRACE_NEW_PATH'"
 mv "$TRACE_ORIG_PATH" "$TRACE_NEW_PATH"
 
-scp -r "$TRACE_NEW_PATH/" "$REMOTE_USER@$REMOTE_HOST:$REMOTE_PATH/"
+scp -qr "$TRACE_NEW_PATH/" "$REMOTE_USER@$REMOTE_HOST:$REMOTE_PATH/"
+
+echo "$NEW_TRACE_ID" >> ./trace_ids.txt
 
 echo "[SUCCESS] Trace analysis '$NEW_TRACE_ID' complete and copied to remote server."
+echo ""

src/full_topology/src/Untitled-1

@@ -1,51 +0,0 @@
-// A generic single-input processing node with a fixed delay +/- jitter
-#define DEFINE_MULTI_PROCESSING_NODE_CLASS(NAME)                         \
-class NAME : public rclcpp::Node\
-{\
-public:\
-  NAME(std::string const &name,\
-        std::vector<std::string> const &input_topics,\
-        std::string const &output_topic,\
-        int delay_ms,\
-        double jitter_ms = 0.0)                                          \
-      : Node(name)\
-  {\
-    for (auto &topic : input_topics)\
-    {\
-      auto sub = create_subscription<std_msgs::msg::String>(\
-          topic, 10,\
-          [this, name, delay_ms, jitter_ms](std_msgs::msg::String::SharedPtr msg) \
-          {\
-            /* simple fusion: log each arrival */\
-            if (DEBUG)\
-            {\
-              RCLCPP_INFO(get_logger(), "%s fusing input: %s", name.c_str(), msg->data.c_str());\
-            }\
-#ifndef USE_TIMER_IN_FUSION_NODES\
-            // Simulate processing delay
-            std::this_thread::sleep_for(std::chrono::milliseconds(delay_ms));
-            auto out = std_msgs::msg::String();
-            out.data = msg->data + " -> " + name + std::string(" fused");
-            if (DEBUG) {
-              RCLCPP_INFO(get_logger(), "%s publishes fused message", name.c_str());
-            }
-            publisher_->publish(out);
-#endif
-          });
-      subscriptions_.emplace_back(sub);
-    }
-    publisher_ = create_publisher<std_msgs::msg::String>(output_topic, 10);
-
-#ifdef USE_TIMER_IN_FUSION_NODES
-    // Also publish fused result periodically
-    timer_ = create_wall_timer(50ms, [this, name, delay_ms]()
-                               {
-      std::this_thread::sleep_for(std::chrono::milliseconds(delay_ms));
-      auto out = std_msgs::msg::String();
-      out.data = name + std::string(" fused");
-      if (DEBUG) {
-        RCLCPP_INFO(get_logger(), "%s publishes fused message", name.c_str());
-      }
-      publisher_->publish(out); });
-#endif
-  }

src/full_topology/src/full_topology.cpp

@@ -1,12 +1,10 @@
-// full_topology.cpp
-
 #include <chrono>
 #include <memory>
 #include <random>
 #include <string>
 #include <thread>
 #include <vector>
-// the order here matters
+
 #include "tracetools/utils.hpp"
 
 #include "rclcpp/rclcpp.hpp"

src/full_topology/src/test.cpp

@@ -1,9 +0,0 @@
-#include "tracetools/utils.hpp"
-#include <rclcpp/rclcpp.hpp>
-
-int main(int argc, char** argv) {
-  rclcpp::init(argc, argv);
-  auto node = std::make_shared<rclcpp::Node>("test_node");
-  rclcpp::shutdown();
-  return 0;
-}