niklas/ROS-Dynamic-Executor-Experiments
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added more flags to build and run script, clean up

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This commit is contained in:
Niklas Halle 2025-06-10 15:10:52 +02:00
parent 3f73f85c66
commit 5b60f1b821
4 changed files with 31 additions and 70 deletions
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37
build_run_copy.sh
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@ -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 ""