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basic refactor

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Niklas Halle 2025-04-01 16:04:19 +02:00 • committed by Niklas Halle
parent a6df3fcc41
commit abf3496c78
21 changed files with 13752 additions and 13232 deletions
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74
.vscode/settings.json vendored Normal file
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{
"files.associations": {
"cctype": "cpp",
"clocale": "cpp",
"cmath": "cpp",
"csignal": "cpp",
"cstdarg": "cpp",
"cstddef": "cpp",
"cstdio": "cpp",
"cstdlib": "cpp",
"cstring": "cpp",
"ctime": "cpp",
"cwchar": "cpp",
"cwctype": "cpp",
"array": "cpp",
"atomic": "cpp",
"strstream": "cpp",
"bit": "cpp",
"*.tcc": "cpp",
"bitset": "cpp",
"chrono": "cpp",
"compare": "cpp",
"complex": "cpp",
"concepts": "cpp",
"condition_variable": "cpp",
"cstdint": "cpp",
"deque": "cpp",
"list": "cpp",
"map": "cpp",
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"unordered_map": "cpp",
"unordered_set": "cpp",
"vector": "cpp",
"exception": "cpp",
"algorithm": "cpp",
"functional": "cpp",
"iterator": "cpp",
"memory": "cpp",
"memory_resource": "cpp",
"numeric": "cpp",
"optional": "cpp",
"random": "cpp",
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"variant": "cpp"
}
}

125
README.md
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Experiment files for the RTIS ros_rt executor. Clone with submodules on, or add the executor to the src folder.
# Dynamic Priority Scheduling for ROS-EDF Executor
Run `ros2 run casestudy casestudy_example` then run the `analysis/analysis.ipynb` notebook.
This repository contains experiments for the ROS-EDF executor with priority-based and deadline-based scheduling capabilities.
## Usage
Clone with submodules enabled:
```
git clone --recurse-submodules https://github.com/user/ROS-Dynamic-Executor-Experiments.git
```
Make sure you have sourced your ROS 2 environment.
Run the example:
```
ros2 run casestudy casestudy_example
```
Then run the analysis notebook:
```
jupyter notebook analysis/analysis.ipynb
```
---
## Dynamically Adjusting Scheduler Approaches
The PriorityMemoryStrategy supports different scheduling policies for ROS callbacks. To extend it with dynamically adjusting scheduling that reacts to semantic events, there are several viable approaches:
### Approach A: Custom PriorityExecutableComparator
Replace the existing comparator with a custom implementation:
**Pros:**
- Direct control over scheduling logic
- Clean separation of concerns
- Can implement complex scheduling policies
- Doesn't require modifying deadline values
**Cons:**
- Requires understanding and maintaining the comparison logic
- May need to add new fields to PriorityExecutable to track dynamic priorities
- Could become complex if multiple factors affect priority
### Approach B: Dynamic Deadline Adjustment
Keep the EDF comparator but adjust deadlines based on priority logic:
**Pros:**
- Works within the existing EDF framework
- Conceptually simple - just manipulate deadline values
- Doesn't require changing the core sorting mechanism
- Easier to debug (you can log deadline changes)
**Cons:**
- Potentially confusing semantics (using deadlines to represent non-deadline priorities)
- May interfere with actual deadline-based requirements
- Could lead to instability if not carefully managed
### Approach C: Event-Driven Priority Field
Add a dynamic boost factor field to PriorityExecutable:
```cpp
int dynamic_priority_boost = 0;
```
Then modify the comparator to consider this value:
```cpp
if (p1->sched_type == DEADLINE) {
// First compare deadline as usual
// Then use dynamic_priority_boost as a tiebreaker
if (p1_deadline == p2_deadline) {
return p1->dynamic_priority_boost > p2->dynamic_priority_boost;
}
return p1_deadline < p2_deadline;
}
```
**Pros:**
- Clearer semantics than manipulating deadlines
- Keeps deadline scheduling intact for real-time guarantees
- Easy to adjust at runtime
**Cons:**
- Requires modifying both PriorityExecutable and comparison logic
### Approach D: Priority Multiplier System
Implement a system where chains can have priority multipliers applied:
```cpp
float priority_multiplier = 1.0f;
```
And then in the comparator:
```cpp
// For priority-based scheduling
int effective_p1 = p1->priority * p1->priority_multiplier;
int effective_p2 = p2->priority * p2->priority_multiplier;
return effective_p1 < effective_p2;
```
**Pros:**
- Scales existing priorities rather than replacing them
- Preserves relative importance within chains
- Intuitive model for temporary priority boosts
**Cons:**
- May need to handle overflow/boundary cases
- Requires careful tuning of multiplier ranges
## Recommendation
Approach C (Event-Driven Priority Field) offers the best balance of:
1. Clean semantics
2. Minimal interference with existing scheduling logic
3. Clear separation between baseline priorities and dynamic adjustments
4. Straightforward implementation
This approach maintains real-time guarantees while enabling dynamic behaviors based on semantic events.

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analysis/analysis.ipynb
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results/casestudy_example/cs_example_edf.json
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src/casestudy/CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(casestudy)
cmake_minimum_required(VERSION 3.8)
project(casestudy VERSION 0.1.0)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
# Set C++ standards
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# Compiler options
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
# Find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rclcpp REQUIRED)
find_package(priority_executor REQUIRED)
find_package(simple_timer REQUIRED)
find_package(rclcpp REQUIRED)
find_package(jsoncpp REQUIRED)
find_package(casestudy_tools REQUIRED)
# add_library(test_nodes src/test_nodes.cpp)
# target_include_directories(test_nodes PUBLIC
# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
# $<INSTALL_INTERFACE:include>
# )
# ament_target_dependencies(test_nodes
# rclcpp
# simple_timer
# casestudy_tools
# )
list(APPEND experiments
# Define experiment targets
set(EXPERIMENTS
casestudy_2023customfile_singlethread
casestudy_2024ours_latency
casestudy_2024ours_executor2executor
casestudy_example
)
# Function to create experiment targets
function(new_experiment experiment_name)
add_executable(${experiment_name} src/${experiment_name}.cpp)
target_include_directories(${experiment_name} PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Add dependencies with ament
ament_target_dependencies(${experiment_name}
rclcpp
priority_executor
simple_timer
casestudy_tools
rclcpp
priority_executor
)
endfunction()
foreach(experiment ${experiments})
# Create all experiment targets
foreach(experiment ${EXPERIMENTS})
new_experiment(${experiment})
endforeach()
target_link_libraries(casestudy_2023customfile_singlethread
jsoncpp
# Special handling for targets with additional dependencies
target_link_libraries(casestudy_2023customfile_singlethread jsoncpp)
# Installation
install(
TARGETS ${EXPERIMENTS}
RUNTIME DESTINATION lib/${PROJECT_NAME}
)
install(TARGETS
${experiments}
DESTINATION lib/${PROJECT_NAME}
)
install(
DIRECTORY include/
DESTINATION include
)
# Testing
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files
#set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo
#set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
# Export and package configuration
ament_export_include_directories(include)
ament_package()

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# We don't have content in this dir yet, but want it in git anyways
# So we add a non-empty .gitignore file, explicitly not ignoring itself
!.gitignore

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src/casestudy/package.xml
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>casestudy</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="vboxuser@todo.todo">vboxuser</maintainer>
<license>TODO: License declaration</license>
<version>0.1.0</version>
<description>
ROS 2 case study package for evaluating different executor implementations and timing behaviors
</description>
<maintainer email="kurt4wilson@gmail.com">kurt</maintainer>
<license>Apache License 2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<!-- Build Dependencies -->
<depend>rclcpp</depend>
<depend>priority_executor</depend>
<depend>simple_timer</depend>
<depend>casestudy_tools</depend>
<depend>jsoncpp</depend>
<!-- Test Dependencies -->
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>

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src/casestudy/src/casestudy_2023customfile_singlethread.cpp
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#include "priority_executor/priority_executor.hpp"
#include "priority_executor/priority_memory_strategy.hpp"
#include "casestudy_tools/test_nodes.hpp"
#include <string>
#include <fstream>
#include <unistd.h>
#include "std_msgs/msg/string.hpp"
#include "casestudy_tools/primes_workload.hpp"
#include <sys/prctl.h>
#include "casestudy_tools/primes_workload.hpp"
#include "casestudy_tools/experiment.hpp"
#include "jsoncpp/json/reader.h"
#include <string>
#include <fstream>
#include <unistd.h>
#include <sys/prctl.h>
// bool should_do_task = true;
std::atomic<bool> should_do_task(true);
void run_one_executor(std::function<void(std::atomic<bool> &)> exec_fun, int idx)
{
void run_one_executor(
std::function<void(std::atomic<bool>&)> const& exec_fun,
int const idx) {
(void)idx;
// set this process to highest priority
struct sched_param param;
param.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1;
int result = sched_setscheduler(0, SCHED_FIFO, &param);
if (result != 0)
{
std::cout << "ros_experiment: sched_setscheduler failed: " << result << ": " << strerror(errno) << std::endl;
int const result = sched_setscheduler(0, SCHED_FIFO, &param);
if (result != 0) {
std::cout << "ros_experiment: sched_setscheduler failed: " << result
<< ": " << strerror(errno) << std::endl;
}
// set process name
prctl(PR_SET_NAME, "ros_experiment", 0, 0, 0);
exec_fun(should_do_task);
}
int ros_experiment(int argc, char **arg, std::string file_name, ExperimentConfig config)
{
int ros_experiment(
int const argc,
char** const argv,
std::string const& file_name,
ExperimentConfig config) {
rclcpp::init(argc, argv);
rclcpp::init(argc, arg);
// we have to create a node to process any passed parameters
auto node = rclcpp::Node::make_shared("experiment_node");
auto const node = rclcpp::Node::make_shared("experiment_node");
node->declare_parameter("executor_type", "edf");
std::string executor_type;
node->get_parameter("executor_type", executor_type);
std::cout << "using executor type: " << executor_type << std::endl;
// TODO: move experiment configuration to main
config.executor_type = executor_type;
config.nodes.push_back(node);
Experiment experiment(config);
// std::string result_log = experiment.run(should_do_task);
std::vector<std::function<void(std::atomic<bool> &)>> exec_funs = experiment.getRunFunctions();
auto const exec_funs = experiment.getRunFunctions();
std::cout << "got " << exec_funs.size() << " executors" << std::endl;
std::vector<std::thread> exec_threads;
int i = 0;
experiment.resetTimers();
for (auto exec_fun : exec_funs)
{
exec_threads.push_back(std::thread(run_one_executor, exec_fun, i));
i++;
for (auto const& exec_fun : exec_funs) {
exec_threads.emplace_back(run_one_executor, exec_fun, i++);
}
for (auto &t : exec_threads)
{
for (auto& t : exec_threads) {
t.join();
}
experiment.writeLogsToFile(file_name, "2023customfile_singlethread");
return 0;
}
int main(int argc, char *argv[])
{
std::ifstream input_file("taskset.json"); // Replace with actual filename
int main(int argc, char* argv[]) {
std::ifstream input_file("taskset.json");
if (!input_file.is_open())
{
if (!input_file.is_open()) {
std::cerr << "Error opening file!" << std::endl;
return 1;
}
Json::Value root;
Json::Reader reader;
bool parsingSuccessful = reader.parse(input_file, root);
bool const parsingSuccessful = reader.parse(input_file, root);
if (!parsingSuccessful)
{
if (!parsingSuccessful) {
std::cerr << "Error parsing file!" << std::endl;
return 1;
}
@ -95,100 +91,74 @@ int main(int argc, char *argv[])
// set ourselves to the second highest priority
struct sched_param param;
param.sched_priority = sched_get_priority_max(SCHED_FIFO) - 2;
int result = sched_setscheduler(0, SCHED_FIFO, &param);
if (result != 0)
{
std::cout << "ros_experiment: sched_setscheduler failed: " << result << ": " << strerror(errno) << std::endl;
int const result = sched_setscheduler(0, SCHED_FIFO, &param);
if (result != 0) {
std::cout << "ros_experiment: sched_setscheduler failed: " << result
<< ": " << strerror(errno) << std::endl;
}
// calibrate the dummy load for the current system
calibrate_dummy_load();
ExperimentConfig config;
// config.chain_lengths = {4, 3, 4};
for (uint i = 0; i < root["chain_lengths"].size(); i++)
{
for (uint i = 0; i < root["chain_lengths"].size(); i++) {
config.chain_lengths.push_back(root["chain_lengths"][i].asUInt());
}
// config.node_ids = {{0, 1, 2, 3}, {4, 5, 6}, {7, 8, 9, 10}};
for (uint i = 0; i < root["node_ids"].size(); i++)
{
for (uint i = 0; i < root["node_ids"].size(); i++) {
std::vector<uint32_t> node_ids_row;
for (uint j = 0; j < root["node_ids"][i].size(); j++)
{
for (uint j = 0; j < root["node_ids"][i].size(); j++) {
node_ids_row.push_back(root["node_ids"][i][j].asUInt());
}
config.node_ids.push_back(node_ids_row);
config.node_ids.push_back(std::move(node_ids_row));
}
// config.node_priorities = {3, 2, 1, 0, 6, 5, 4, 10, 9, 8, 7}; // PICAS-style prioritiesA
for (uint i = 0; i < root["node_priorities"].size(); i++)
{
for (uint i = 0; i < root["node_priorities"].size(); i++) {
config.node_priorities.push_back(root["node_priorities"][i].asUInt());
}
// disabled for custom
config.num_groups = 0;
// config.group_memberships = {0, 0, 1, 2, 0, 0, 1, 0, 0, 1, 2};
// config.chain_timer_control = {0, 1, 2};
for (uint i = 0; i < root["chain_timer_control"].size(); i++)
{
for (uint i = 0; i < root["chain_timer_control"].size(); i++) {
config.chain_timer_control.push_back(root["chain_timer_control"][i].asInt());
}
// config.node_runtimes = {5, 5, 5, 5, // chain 1
// 10, 20, 5, // chain 2
// 10, 10, 15, 20}; // chain 3
for (uint i = 0; i < root["node_runtimes"].size(); i++)
{
for (uint i = 0; i < root["node_runtimes"].size(); i++) {
config.node_runtimes.push_back(root["node_runtimes"][i].asDouble());
}
// config.chain_periods = {50, 100, 110};
for (uint i = 0; i < root["chain_periods"].size(); i++)
{
for (uint i = 0; i < root["chain_periods"].size(); i++) {
config.chain_periods.push_back(root["chain_periods"][i].asInt());
}
// config.node_executor_assignments = {}; // empty - multicore mode
for (uint i = 0; i < root["node_executor_assignments"].size(); i++)
{
for (uint i = 0; i < root["node_executor_assignments"].size(); i++) {
config.node_executor_assignments.push_back(root["node_executor_assignments"][i].asUInt() - 1);
}
// single threaded mode - assign executors to cpu cores
for (uint i = 0; i < root["executor_to_cpu_core"].size(); i++)
{
for (uint i = 0; i < root["executor_to_cpu_core"].size(); i++) {
config.executor_to_cpu_assignments.push_back(root["executor_to_cpu_core"][i].asUInt() - 1);
}
config.parallel_mode = false;
config.cores = 4;
// sanity_check_config(config);
int const i = (100 - 35) / 5;
int const ros_budget = 35 + i * 5;
int const other_task_budget = 65 - i * 5;
std::cout << "ROS budget: " << ros_budget
<< " Other task budget: " << other_task_budget << std::endl;
// from 35/65 to 100/0 in increments of 5
// for (int i = 0; i <= (100 - 35) / 5; i++)
// {
// for now, run with 100% ros
int i = (100 - 35) / 5;
int ros_budget = 35 + i * 5;
int other_task_budget = 65 - i * 5;
std::cout << "ROS budget: " << ros_budget << " Other task budget: " << other_task_budget << std::endl;
// do other task in a separate thread
should_do_task.store(true);
double other_task_time = 80 * other_task_budget / 100.0;
double const other_task_time = 80 * other_task_budget / 100.0;
std::thread other_task(do_other_task, other_task_time, 80, std::ref(should_do_task));
// do ros task
std::string file_name = "ros_" + std::to_string(ros_budget);
// ros_experiment(argc, argv, file_name);
std::string const file_name = "ros_" + std::to_string(ros_budget);
std::thread ros_task(ros_experiment, argc, argv, file_name, config);
std::cout << "tasks started" << std::endl;
ros_task.join();
other_task.join();
std::cout << "tasks joined" << std::endl;
// // run once
// break;
// }
return 0;
}

45
src/casestudy/src/casestudy_2024ours_executor2executor.cpp
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@ -7,8 +7,9 @@
// bool should_do_task = true;
std::atomic<bool> should_do_task(true);
void run_one_executor(std::function<void(std::atomic<bool> &)> exec_fun,
int idx) {
void run_one_executor(
std::function<void(std::atomic<bool>&)> const& exec_fun,
int const idx) {
(void)idx;
// set this process to highest priority
// struct sched_param param;
@ -27,7 +28,8 @@ void run_one_executor(std::function<void(std::atomic<bool> &)> exec_fun,
rt_attr.sched_policy = SCHED_FIFO;
rt_attr.sched_runtime = 0;
rt_attr.sched_period = 0;
int result = sched_setattr(0, &rt_attr, 0);
int const result = sched_setattr(0, &rt_attr, 0);
if (result != 0) {
std::cout << "executor task: could not set scheduler: " << result << ": "
<< strerror(errno) << std::endl;
@ -35,11 +37,12 @@ void run_one_executor(std::function<void(std::atomic<bool> &)> exec_fun,
// set process name
prctl(PR_SET_NAME, "ros_experiment", 0, 0, 0);
exec_fun(should_do_task);
}
int ros_experiment(rclcpp::Node::SharedPtr node, std::string file_name,
int ros_experiment(
rclcpp::Node::SharedPtr const node,
std::string const& file_name,
ExperimentConfig config) {
std::string executor_type;
@ -56,24 +59,23 @@ int ros_experiment(rclcpp::Node::SharedPtr node, std::string file_name,
Experiment experiment(config);
// std::string result_log = experiment.run(should_do_task);
std::vector<std::function<void(std::atomic<bool> &)>> exec_funs =
experiment.getRunFunctions();
auto const exec_funs = experiment.getRunFunctions();
std::cout << "got " << exec_funs.size() << " executors" << std::endl;
std::vector<std::thread> exec_threads;
int i = 0;
experiment.resetTimers();
for (auto exec_fun : exec_funs) {
exec_threads.push_back(std::thread(run_one_executor, exec_fun, i));
i++;
for (auto const& exec_fun : exec_funs) {
exec_threads.emplace_back(run_one_executor, exec_fun, i++);
}
for (auto& t : exec_threads) {
t.join();
}
std::string outputname = "2024ours_executor2executor";
outputname +=
"_" + std::to_string(num_subscribers) + "_" + std::to_string(num_chains);
std::string outputname = "2024ours_executor2executor_" +
std::to_string(num_subscribers) + "_" +
std::to_string(num_chains);
experiment.writeLogsToFile(file_name, outputname);
return 0;
@ -82,7 +84,7 @@ int ros_experiment(rclcpp::Node::SharedPtr node, std::string file_name,
int main(int argc, char* argv[]) {
rclcpp::init(argc, argv);
// we have to create a node to process any passed parameters
auto node = rclcpp::Node::make_shared("experiment_node");
auto const node = rclcpp::Node::make_shared("experiment_node");
// auto node = rclcpp::Node::make_shared("experiment_node",
// rclcpp::NodeOptions().use_intra_process_comms(true));
node->declare_parameter("executor_type", "edf");
@ -106,7 +108,7 @@ int main(int argc, char *argv[]) {
rt_attr.sched_policy = SCHED_FIFO;
// rt_attr.sched_priority = sched_get_priority_max(SCHED_FIFO) - 2;
rt_attr.sched_priority = 99;
int result = sched_setattr(0, &rt_attr, 0);
int const result = sched_setattr(0, &rt_attr, 0);
if (result != 0) {
std::cout << "ros_experiment: sched_setscheduler failed: " << result << ": "
@ -141,12 +143,10 @@ int main(int argc, char *argv[]) {
}
for (int i = 0; i < num_s + 1; i++) {
config.node_priorities.push_back(i);
config.node_runtimes.push_back(runtime);
}
config.chain_lengths.push_back(num_s+1);
config.chain_periods.push_back(10);
for (int i = 0; i < num_s + 1; i++) {
config.node_runtimes.push_back(runtime);
}
config.chain_timer_control.push_back(c);
}
@ -174,16 +174,16 @@ int main(int argc, char *argv[]) {
// for (int i = 0; i <= (100 - 35) / 5; i++)
// {
// for now, run with 100% ros
int i = (100 - 35) / 5;
int ros_budget = 35 + i * 5;
int other_task_budget = 65 - i * 5;
int const i = (100 - 35) / 5;
int const ros_budget = 35 + i * 5;
int const other_task_budget = 65 - i * 5;
std::cout << "ROS budget: " << ros_budget
<< " Other task budget: " << other_task_budget << std::endl;
// do other task in a separate thread
should_do_task.store(true);
// do ros task
std::string file_name = "ros_" + std::to_string(ros_budget);
std::string const file_name = "ros_" + std::to_string(ros_budget);
// ros_experiment(argc, argv, file_name);
std::thread ros_task(ros_experiment, node, file_name, config);
std::cout << "tasks started" << std::endl;
@ -193,4 +193,5 @@ int main(int argc, char *argv[]) {
// // run once
// break;
// }
return 0;
}

31
src/casestudy/src/casestudy_2024ours_latency.cpp
View file

@ -7,9 +7,8 @@
// bool should_do_task = true;
std::atomic<bool> should_do_task(true);
void run_one_executor(std::function<void(std::atomic<bool> &)> exec_fun,
int idx) {
void run_one_executor(std::function<void(std::atomic<bool>&)> const& exec_fun,
int const idx) {
(void)idx;
// set this process to highest priority
// struct sched_param param;
@ -28,7 +27,7 @@ void run_one_executor(std::function<void(std::atomic<bool> &)> exec_fun,
rt_attr.sched_policy = SCHED_FIFO;
rt_attr.sched_runtime = 0;
rt_attr.sched_period = 0;
int result = sched_setattr(0, &rt_attr, 0);
int const result = sched_setattr(0, &rt_attr, 0);
if (result != 0) {
std::cout << "executor task: could not set scheduler: " << result << ": "
<< strerror(errno) << std::endl;
@ -40,9 +39,8 @@ void run_one_executor(std::function<void(std::atomic<bool> &)> exec_fun,
exec_fun(should_do_task);
}
int ros_experiment(rclcpp::Node::SharedPtr node, std::string file_name,
int ros_experiment(rclcpp::Node::SharedPtr const& node, std::string const& file_name,
ExperimentConfig config) {
std::string executor_type;
node->get_parameter("executor_type", executor_type);
int num_subscribers;
@ -63,7 +61,7 @@ int ros_experiment(rclcpp::Node::SharedPtr node, std::string file_name,
std::vector<std::thread> exec_threads;
int i = 0;
experiment.resetTimers();
for (auto exec_fun : exec_funs) {
for (auto const& exec_fun : exec_funs) {
exec_threads.push_back(std::thread(run_one_executor, exec_fun, i));
i++;
}
@ -72,9 +70,8 @@ int ros_experiment(rclcpp::Node::SharedPtr node, std::string file_name,
t.join();
}
std::string outputname = "2024ours_latency";
outputname +=
"_" + std::to_string(num_subscribers) + "_" + std::to_string(num_chains);
std::string const outputname = "2024ours_latency_" +
std::to_string(num_subscribers) + "_" + std::to_string(num_chains);
experiment.writeLogsToFile(file_name, outputname);
return 0;
@ -83,7 +80,7 @@ int ros_experiment(rclcpp::Node::SharedPtr node, std::string file_name,
int main(int argc, char* argv[]) {
rclcpp::init(argc, argv);
// we have to create a node to process any passed parameters
auto node = rclcpp::Node::make_shared("experiment_node");
auto const node = rclcpp::Node::make_shared("experiment_node");
// auto node = rclcpp::Node::make_shared("experiment_node",
// rclcpp::NodeOptions().use_intra_process_comms(true));
node->declare_parameter("executor_type", "edf");
@ -107,7 +104,7 @@ int main(int argc, char *argv[]) {
rt_attr.sched_policy = SCHED_FIFO;
// rt_attr.sched_priority = sched_get_priority_max(SCHED_FIFO) - 2;
rt_attr.sched_priority = 99;
int result = sched_setattr(0, &rt_attr, 0);
int const result = sched_setattr(0, &rt_attr, 0);
if (result != 0) {
std::cout << "ros_experiment: sched_setscheduler failed: " << result << ": "
@ -150,7 +147,6 @@ int main(int argc, char *argv[]) {
std::cout << std::endl;
}
config.num_groups = 0;
config.group_memberships = {}; // no groups
@ -166,16 +162,16 @@ int main(int argc, char *argv[]) {
// for (int i = 0; i <= (100 - 35) / 5; i++)
// {
// for now, run with 100% ros
int i = (100 - 35) / 5;
int ros_budget = 35 + i * 5;
int other_task_budget = 65 - i * 5;
int const i = (100 - 35) / 5;
int const ros_budget = 35 + i * 5;
int const other_task_budget = 65 - i * 5;
std::cout << "ROS budget: " << ros_budget
<< " Other task budget: " << other_task_budget << std::endl;
// do other task in a separate thread
should_do_task.store(true);
// do ros task
std::string file_name = "ros_" + std::to_string(ros_budget);
std::string const file_name = "ros_" + std::to_string(ros_budget);
// ros_experiment(argc, argv, file_name);
std::thread ros_task(ros_experiment, node, file_name, config);
std::cout << "tasks started" << std::endl;
@ -185,4 +181,5 @@ int main(int argc, char *argv[]) {
// // run once
// break;
// }
return 0;
}

68
src/casestudy/src/casestudy_example.cpp
View file

@ -3,13 +3,10 @@
#include <string>
#include <fstream>
#include <iostream>
#include <unistd.h>
#include <sys/prctl.h>
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>
#include "casestudy_tools/test_nodes.hpp"
#include "casestudy_tools/experiment.hpp"
#include "casestudy_tools/primes_workload.hpp"
@ -19,8 +16,9 @@
// bool should_do_task = true;
std::atomic<bool> should_do_task(true);
void run_one_executor(std::function<void(std::atomic<bool> &)> exec_fun, int idx)
{
void run_one_executor(
std::function<void(std::atomic<bool>&)> const& exec_fun,
int const idx) {
(void)idx;
// cpu_set_t cpuset;
// CPU_ZERO(&cpuset);
@ -38,32 +36,37 @@ void run_one_executor(std::function<void(std::atomic<bool> &)> exec_fun, int idx
// set this process to second highest priority
struct sched_param param;
param.sched_priority = sched_get_priority_max(SCHED_FIFO) - 2;
int result = sched_setscheduler(0, SCHED_FIFO, &param);
if (result != 0)
{
std::cerr << "ros_experiment: sched_setscheduler failed: " << result << ": " << strerror(errno) << std::endl;
std::cerr << "This operation requires root privileges. Please run the program with sufficient permissions." << std::endl;
int const result = sched_setscheduler(0, SCHED_FIFO, &param);
if (result != 0) {
std::cerr << "ros_experiment: sched_setscheduler failed: " << result
<< ": " << strerror(errno) << std::endl;
std::cerr << "This operation requires root privileges. Please run the program with sufficient permissions."
<< std::endl;
exit(EXIT_FAILURE);
}
// Set the process name to "ros_experiment" for easier identification during debugging or system monitoring.
prctl(PR_SET_NAME, "ros_experiment", 0, 0, 0);
exec_fun(should_do_task);
}
int ros_experiment(int argc, char **arg, std::string file_name, ExperimentConfig config)
{
int ros_experiment(
int const argc,
char** const argv,
std::string const& file_name,
ExperimentConfig config) {
rclcpp::init(argc, argv);
rclcpp::init(argc, arg);
// we have to create a node to process any passed parameters
auto node = rclcpp::Node::make_shared("experiment_parameters");
auto const node = rclcpp::Node::make_shared("experiment_parameters");
node->declare_parameter("executor_type", "edf");
std::string executor_type;
node->get_parameter("executor_type", executor_type);
std::cout << "using executor type: " << executor_type << std::endl;
// TODO: move experiment configuration to main
config.executor_type = executor_type;
// Enable parallel mode for the experiment configuration.
// When set to true, this allows multiple executors to run concurrently,
@ -73,29 +76,28 @@ int ros_experiment(int argc, char **arg, std::string file_name, ExperimentConfig
Experiment experiment(config);
// std::string result_log = experiment.run(should_do_task);
std::vector<std::function<void(std::atomic<bool> &)> > exec_funs = experiment.getRunFunctions();
auto const exec_funs = experiment.getRunFunctions();
std::cout << "got " << exec_funs.size() << " executors" << std::endl;
std::vector<std::thread> exec_threads;
int i = 0;
experiment.resetTimers();
for (auto exec_fun : exec_funs)
{
exec_threads.push_back(std::thread(run_one_executor, exec_fun, i));
i++;
for (auto const& exec_fun : exec_funs) {
exec_threads.emplace_back(run_one_executor, exec_fun, i++);
}
for (auto &t : exec_threads)
{
for (auto& t : exec_threads) {
t.join();
}
std::string outputname = "casestudy_example";
std::string const outputname = "casestudy_example";
experiment.writeLogsToFile(file_name, outputname);
return 0;
}
int main(int argc, char *argv[])
{
int main(int argc, char* argv[]) {
// calibrate the dummy load for the current system
calibrate_dummy_load();
@ -115,20 +117,18 @@ int main(int argc, char *argv[])
sanity_check_config(config);
std::thread ros_task([&]() {
try
{
try {
ros_experiment(argc, argv, "cs_example", config);
}
catch (const std::exception &e)
{
} catch (std::exception const& e) {
std::cerr << "Exception in ros_experiment: " << e.what() << std::endl;
}
catch (...)
{
} catch (...) {
std::cerr << "Unknown exception in ros_experiment." << std::endl;
}
});
std::cout << "tasks started" << std::endl;
ros_task.join();
std::cout << "tasks joined" << std::endl;
return 0;
}

49
src/casestudy_tools/CMakeLists.txt
View file

@ -1,38 +1,26 @@
cmake_minimum_required(VERSION 3.5)
project(casestudy_tools)
cmake_minimum_required(VERSION 3.8)
project(casestudy_tools VERSION 0.1.0)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
# Set C++ standards
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# Compiler options
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
# Find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(priority_executor REQUIRED)
find_package(simple_timer REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files
#set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo
#set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
add_library(primes_workload src/primes_workload.cpp)
# Library targets
add_library(primes_workload
src/primes_workload.cpp
)
target_include_directories(primes_workload PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
@ -41,7 +29,6 @@ ament_target_dependencies(primes_workload
simple_timer
rclcpp
priority_executor
)
add_library(test_nodes src/test_nodes.cpp)
@ -54,8 +41,9 @@ ament_target_dependencies(test_nodes
rclcpp
simple_timer
)
add_library(experiment_host src/experiment.cpp)
add_library(experiment_host
src/experiment.cpp
)
target_include_directories(experiment_host PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
@ -70,7 +58,13 @@ ament_target_dependencies(experiment_host
priority_executor
)
# Testing
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
# Installation
install(
DIRECTORY include/
DESTINATION include
@ -85,6 +79,7 @@ install(
INCLUDES DESTINATION include
)
# Export and package configuration
ament_export_include_directories(include)
# ament_export_libraries(primes_workload test_nodes experiment_host)
ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)

74
src/casestudy_tools/include/casestudy_tools/experiment.hpp
View file

@ -8,9 +8,7 @@
#include "casestudy_tools/test_nodes.hpp"
#include "simple_timer/rt-sched.hpp"
struct ExperimentConfig
{
struct ExperimentConfig {
std::vector<uint32_t> chain_lengths;
// TODO: rename to callback_ids
std::vector<std::vector<uint32_t>> node_ids;
@ -38,103 +36,101 @@ struct ExperimentConfig
bool parallel_mode = false;
size_t cores = 2;
// rclcpp::Node::SharedPtr node;
// nodes to host the callbacks. In parallel (one executor using multiple threads) mode, there is one node and one executor. The node is provided by the experiment provider
// in singlethread (each executor uses one thread), there is one node per executor. Additional nodes may be created by the experiment host
// nodes to host the callbacks. In parallel (one executor using multiple threads) mode,
// there is one node and one executor. The node is provided by the experiment provider.
// In singlethread (each executor uses one thread), there is one node per executor.
// Additional nodes may be created by the experiment host.
std::vector<rclcpp::Node::SharedPtr> nodes;
std::vector<std::string> special_cases = {};
std::vector<std::string> special_cases;
};
struct experiment_executor
{
std::shared_ptr<timed_executor::TimedExecutor> executor;
std::shared_ptr<PriorityMemoryStrategy<>> strat;
struct experiment_executor {
std::shared_ptr<priority_executor::TimedExecutor> executor;
std::shared_ptr<priority_executor::PriorityMemoryStrategy<>> strat;
std::shared_ptr<rclcpp::Executor> default_executor;
};
class Experiment
{
class Experiment {
public:
Experiment(ExperimentConfig config);
explicit Experiment(ExperimentConfig config);
/**
* @brief Run the experiment
* runs in the current thread
* @param should_do_task a flag that can be set to false to stop the experiment. The flag will be set to false when the experiment is complete.
* @brief Run the experiment in the current thread
* @param should_do_task a flag that can be set to false to stop the experiment.
* The flag will be set to false when the experiment is complete.
* @return std::string containing experiment results
*/
std::string run(std::atomic<bool>& should_do_task);
/**
* @brief Get the functions required to run the experiment
* returns a vector of functions. Each function will run a different executor. It's up to the caller to run these functions in different threads.
* @return vector of functions. Each function will run a different executor.
* It's up to the caller to run these functions in different threads.
* The caller may set the thread properties (e.g. priority) before running the function.
* Each function accepts a flag that can be set to false to stop the experiment. The flag will be set to false when the experiment is complete.
* Each function accepts a flag that can be set to false to stop the experiment.
* The flag will be set to false when the experiment is complete.
*/
std::vector<std::function<void(std::atomic<bool>&)>> getRunFunctions();
static size_t numExecutorsRequired(const ExperimentConfig &config);
static size_t numExecutorsRequired(ExperimentConfig const &config);
/**
* get the executor (and strategy) for a given executor index (0 by default)
* @brief Get the executor (and strategy) for a given executor index
* @param executor_idx The index of the executor (defaults to 0)
* @return experiment_executor
*/
experiment_executor getExecutor(int executor_idx = 0);
node_time_logger getInternalLogger();
/**
* collect logs from the executors. Also add any logs from passed in loggers
* @param optional array of loggers to add to the logs
* @brief Collect logs from the executors and optionally add logs from passed in loggers
* @param loggers Optional array of loggers to add to the logs
* @return std::string containing the combined logs
*/
std::string buildLogs(std::vector<node_time_logger> loggers = {});
void resetTimers();
void writeLogsToFile(std::string filename, std::string experiment_name);
void writeLogsToFile(std::string const &filename, std::string const &experiment_name);
private:
ExperimentConfig config;
std::vector<experiment_executor> executors;
// values to keep track of runtime values
// chain-indexed vector of deques of deadlines
// Chain-indexed vector of deques of deadlines
std::vector<std::deque<uint64_t>*> chain_deadlines_deque;
// maps node_id to node
// Maps node_id to node
std::map<uint32_t, std::shared_ptr<CaseStudyNode>> nodes;
// maps chain_id to timer
// Maps chain_id to timer
std::map<uint32_t, std::shared_ptr<rclcpp::TimerBase>> chain_timer_handles;
/**
* @brief Create the executors using the type and amount set in the config
*
*/
void createExecutors();
/**
* @brief Create a single executor using the type set in the config
*
* @param executor_num The executor number to create
* @return experiment_executor
*/
experiment_executor createSingleExecutor(uint executor_num = 0);
/**
* @brief Get the executor for a given node id
* @param node_id if the node_executor_assignments is empty, then this parameter is ignored, and the first executor is returned
* @param node_id If node_executor_assignments is empty, this parameter is ignored
* and the first executor is returned
* @return experiment_executor
*/
experiment_executor getExecutorForNode(int node_id = 0);
void createNodesAndAssignProperties();
void setInitialDeadlines();
node_time_logger _logger;
};
int do_other_task(double work_time, uint period, std::atomic<bool>& should_do_task);
void sanity_check_config(ExperimentConfig config);
void sanity_check_config(ExperimentConfig const &config);
#endif // RTIS_EXPERIMENT_HOST

4
src/casestudy_tools/include/casestudy_tools/primes_workload.hpp
View file

@ -22,7 +22,7 @@ namespace DummyLoadCalibration
{
inline std::atomic<int> calibration{1};
inline void setCalibration(int calib);
inline void setCalibration(int const calib);
inline int getCalibration();
}
@ -39,6 +39,6 @@ void calibrate_dummy_load();
* This function performs a busy wait for a specified duration.
* It is used to calibrate the dummy load for the current system.
*/
void dummy_load(int load_ms);
void dummy_load(int const load_ms);
#endif

21
src/casestudy_tools/include/casestudy_tools/test_nodes.hpp
View file

@ -1,21 +1,21 @@
#ifndef RTIS_TEST_NODES
#define RTIS_TEST_NODES
#include <string>
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include "std_msgs/msg/int32.hpp"
#include "simple_timer/rt-sched.hpp"
class CaseStudyNode
{
public: node_time_logger logger;
class CaseStudyNode {
public:
node_time_logger logger;
// inherit constructor
CaseStudyNode(std::string publish_topic, rclcpp::Node::SharedPtr node)
{
CaseStudyNode(std::string const &publish_topic, rclcpp::Node::SharedPtr const &node) {
this->name = publish_topic;
this->node = node;
// seed random number generator
srand(time(NULL));
srand(time(nullptr));
}
bool use_random_runtime = false;
@ -34,7 +34,9 @@ class CaseStudyNode
class PublisherNode : public CaseStudyNode {
public:
PublisherNode(std::string publish_topic, double runtime, int period, int chain, rclcpp::Node::SharedPtr node, rclcpp::CallbackGroup::SharedPtr callback_group = nullptr);
PublisherNode(std::string const &publish_topic, double runtime, int period, int chain,
rclcpp::Node::SharedPtr const &node,
rclcpp::CallbackGroup::SharedPtr const &callback_group = nullptr);
rclcpp::TimerBase::SharedPtr timer_;
int count_max_ = COUNT_MAX;
@ -47,7 +49,10 @@ class PublisherNode : public CaseStudyNode{
class WorkerNode : public CaseStudyNode {
public:
WorkerNode(std::string subscribe_topic, std::string publish_topic, double runtime, int period, int chain, rclcpp::Node::SharedPtr node, rclcpp::CallbackGroup::SharedPtr callback_group = nullptr);
WorkerNode(std::string const &subscribe_topic, std::string const &publish_topic,
double runtime, int period, int chain,
rclcpp::Node::SharedPtr const &node,
rclcpp::CallbackGroup::SharedPtr const &callback_group = nullptr);
rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr sub_;
int count_max_ = COUNT_MAX;

10
src/casestudy_tools/package.xml
View file

@ -2,10 +2,12 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>casestudy_tools</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="kurt4wilson@gmail.com">vboxuser</maintainer>
<license>TODO: License declaration</license>
<version>0.1.0</version>
<description>
ROS 2 package providing utility tools and common functionality for dynamic executor case studies
</description>
<maintainer email="kurt4wilson@gmail.com">kurt</maintainer>
<license>Apache License 2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>

213
src/casestudy_tools/src/experiment.cpp
View file

@ -13,11 +13,12 @@
#include <sys/prctl.h>
#include <vector>
Experiment::Experiment(ExperimentConfig config) : config(config) {
Experiment::Experiment(ExperimentConfig config)
: config(std::move(config)) {
_logger = create_logger();
}
void sanity_check_config(ExperimentConfig config) {
void sanity_check_config(ExperimentConfig const &config) {
// make sure chain_lengths and node_ids are the same size
if (config.chain_lengths.size() != config.node_ids.size()) {
std::cout << "ros_experiment: chain_lengths.size()= "
@ -25,6 +26,7 @@ void sanity_check_config(ExperimentConfig config) {
<< " != node_ids.size()= " << config.node_ids.size() << std::endl;
exit(1);
}
// make sure each chain_lengths is the same size as the corresponding node_ids
for (uint32_t i = 0; i < config.chain_lengths.size(); i++) {
if (config.chain_lengths[i] != config.node_ids[i].size()) {
@ -34,6 +36,7 @@ void sanity_check_config(ExperimentConfig config) {
exit(1);
}
}
// make sure chain_timer_control is the same size as chain_lengths
if (config.chain_timer_control.size() != config.chain_lengths.size()) {
std::cout << "ros_experiment: chain_timer_control.size()= "
@ -42,12 +45,14 @@ void sanity_check_config(ExperimentConfig config) {
<< std::endl;
exit(1);
}
std::set<int> all_node_ids = std::set<int>();
for (uint32_t i = 0; i < config.node_ids.size(); i++) {
for (uint32_t j = 0; j < config.node_ids[i].size(); j++) {
all_node_ids.insert(config.node_ids[i][j]);
std::set<int> all_node_ids;
for (auto const &chain : config.node_ids) {
for (auto const &node_id : chain) {
all_node_ids.insert(node_id);
}
}
// make sure we have the right number of node_priorities and node_runtimes
if (all_node_ids.size() != config.node_priorities.size()) {
std::cout << "ros_experiment: all_node_ids.size()= " << all_node_ids.size()
@ -66,47 +71,43 @@ void sanity_check_config(ExperimentConfig config) {
std::string Experiment::run(std::atomic<bool>& should_do_task) {
// TODO: split into setup and run, so that run can be re-used in
// Experiment::getRunFunctions
if (config.node_executor_assignments.size() != 0 ||
numExecutorsRequired(config) != 1) {
std::cerr
<< "called Experiment::run with node_executor_assignments.size() != 0"
if (!config.node_executor_assignments.empty()
|| numExecutorsRequired(config) != 1) {
std::cerr << "called Experiment::run with non-empty node_executor_assignments"
<< std::endl;
return "";
}
createExecutors();
createNodesAndAssignProperties();
setInitialDeadlines();
// reset all timers
resetTimers();
// in this function (run), there is only one executor, so retrieve it now
// In this function (run), there is only one executor, so retrieve it now
experiment_executor executor = getExecutorForNode();
if (config.executor_type == "edf" || config.executor_type == "picas") {
executor.executor->spin();
} else if (config.executor_type == "default") {
executor.default_executor->spin();
}
std::cout << "spin done" << std::endl;
should_do_task.store(false);
return buildLogs();
}
std::vector<std::function<void(std::atomic<bool>&)>>
Experiment::getRunFunctions() {
// do pre-run setup
// Do pre-run setup
createExecutors();
createNodesAndAssignProperties();
// create a function for each executor
// Create a function for each executor
std::vector<std::function<void(std::atomic<bool>&)>> run_functions;
for (size_t i = 0; i < numExecutorsRequired(config); i++) {
// get the executor for this function
experiment_executor executor = executors[i];
run_functions.push_back([this,
executor](std::atomic<bool> &should_do_task) {
experiment_executor const executor = executors[i];
run_functions.emplace_back(
[this, executor](std::atomic<bool>& should_do_task) {
if (config.executor_type == "edf" || config.executor_type == "picas") {
executor.executor->spin();
} else if (config.executor_type == "default") {
@ -117,92 +118,90 @@ Experiment::getRunFunctions() {
});
}
// do these last, since they're time-sensitive
// Do these last since they're time-sensitive
setInitialDeadlines();
// resetTimers();
return run_functions;
}
size_t Experiment::numExecutorsRequired(const ExperimentConfig &config) {
// get the number of unique values in the node_executor_assignments
if (config.node_executor_assignments.size() == 0) {
size_t Experiment::numExecutorsRequired(ExperimentConfig const &config) {
if (config.node_executor_assignments.empty()) {
return 1;
}
std::set<int> unique_executors;
for (auto &assignment : config.node_executor_assignments) {
for (auto const &assignment : config.node_executor_assignments) {
unique_executors.insert(assignment);
}
return unique_executors.size();
}
experiment_executor Experiment::getExecutor(int executor_idx) {
experiment_executor Experiment::getExecutor(int const executor_idx) {
return executors[executor_idx];
}
void Experiment::createExecutors() {
if (config.node_executor_assignments.size() == 0) {
// create a single executor
if (config.node_executor_assignments.empty()) {
// Create a single executor
executors.push_back(createSingleExecutor(0));
return;
}
// Check configuration validity
// depending on config.executor_to_cpu_assignments and config.parallel_mode,
// we may need to create the host nodes
if (config.executor_to_cpu_assignments.size() != 0 && config.parallel_mode) {
if (!config.executor_to_cpu_assignments.empty() && config.parallel_mode) {
std::cerr << "executor_to_cpu_assignments not supported for parallel mode"
<< std::endl;
}
if (config.executor_to_cpu_assignments.size() != 0 &&
config.executor_to_cpu_assignments.size() !=
numExecutorsRequired(config)) {
std::cerr
<< "executor_to_cpu_assignments.size() != numExecutorsRequired(config)"
if (!config.executor_to_cpu_assignments.empty()
&& config.executor_to_cpu_assignments.size() != numExecutorsRequired(config)) {
std::cerr << "executor_to_cpu_assignments.size() != numExecutorsRequired(config)"
<< std::endl;
exit(1);
}
// create the required host nodes - re-use any existing nodes
// Create the required host nodes - re-use any existing nodes
for (uint i = config.nodes.size();
i < config.executor_to_cpu_assignments.size(); i++) {
// create a node for each executor
rclcpp::Node::SharedPtr node =
std::make_shared<rclcpp::Node>("node_" + std::to_string(i));
auto const node = std::make_shared<rclcpp::Node>(
"node_" + std::to_string(i));
config.nodes.push_back(node);
}
std::cout << "created " << config.nodes.size() << " nodes" << std::endl;
int num_executors = numExecutorsRequired(config);
int const num_executors = numExecutorsRequired(config);
std::cout << "creating " << num_executors << " executors" << std::endl;
for (int i = 0; i < num_executors; i++) {
executors.push_back(createSingleExecutor(i));
}
}
experiment_executor Experiment::createSingleExecutor(uint executor_num) {
experiment_executor Experiment::createSingleExecutor(uint const executor_num) {
experiment_executor executor = {nullptr, nullptr, nullptr};
if (config.executor_type == "edf" || config.executor_type == "picas") {
executor.strat = std::make_shared<PriorityMemoryStrategy<>>();
executor.strat = std::make_shared<priority_executor::PriorityMemoryStrategy<>>();
rclcpp::ExecutorOptions options;
options.memory_strategy = executor.strat;
if (config.parallel_mode) {
executor.executor =
std::make_shared<timed_executor::MultithreadTimedExecutor>(
executor.executor = std::make_shared<priority_executor::MultithreadTimedExecutor>(
options, "priority_executor", config.cores);
} else {
executor.executor =
std::make_shared<timed_executor::TimedExecutor>(options);
executor.executor = std::make_shared<priority_executor::TimedExecutor>(options);
}
executor.executor->prio_memory_strategy_ = executor.strat;
if (config.node_executor_assignments.size() == 0) {
// add all nodes to the executor
for (auto &node : config.nodes) {
if (config.node_executor_assignments.empty()) {
// Add all nodes to the executor
for (auto const &node : config.nodes) {
executor.executor->add_node(node);
}
} else {
// add only this executor's nodes
// Add only this executor's nodes
executor.executor->add_node(config.nodes[executor_num]);
}
} else if (config.executor_type == "default") {
@ -210,42 +209,40 @@ experiment_executor Experiment::createSingleExecutor(uint executor_num) {
// executor.default_executor =
// std::make_shared<ROSDefaultMultithreadedExecutor>(rclcpp::ExecutorOptions(),
// config.cores);
executor.default_executor =
std::make_shared<rclcpp::executors::MultiThreadedExecutor>(
executor.default_executor = std::make_shared<rclcpp::executors::MultiThreadedExecutor>(
rclcpp::ExecutorOptions(), config.cores);
} else {
executor.default_executor = std::make_shared<ROSDefaultExecutor>();
executor.default_executor = std::make_shared<priority_executor::ROSDefaultExecutor>();
}
if (config.node_executor_assignments.size() == 0) {
// add all nodes to the executor
for (auto &node : config.nodes) {
if (config.node_executor_assignments.empty()) {
// Add all nodes to the executor
for (auto const &node : config.nodes) {
executor.default_executor->add_node(node);
}
} else {
// add only this executor's nodes
// Add only this executor's nodes
executor.default_executor->add_node(config.nodes[executor_num]);
}
} else {
}
// RCLCPP_ERROR(node->get_logger(), "Unknown executor type: %s",
// executor_type.c_str());
return executor;
}
return executor;
experiment_executor Experiment::getExecutorForNode(int const node_id) {
if (config.node_executor_assignments.empty()) {
return executors[0];
}
experiment_executor Experiment::getExecutorForNode(int node_id) {
if (config.node_executor_assignments.size() == 0) {
return executors[0];
} else {
int executor_idx = config.node_executor_assignments[node_id];
int const executor_idx = config.node_executor_assignments[node_id];
std::cout << "node " << node_id << " assigned to executor " << executor_idx
<< std::endl;
return executors[executor_idx];
}
}
void Experiment::createNodesAndAssignProperties() {
// BEGIN SPECIAL CASES
std::vector<std::vector<std::shared_ptr<CaseStudyNode>>> all_nodes;
rclcpp::CallbackGroup::SharedPtr cb_group0;
@ -272,7 +269,7 @@ void Experiment::createNodesAndAssignProperties() {
std::vector<rclcpp::CallbackGroup::SharedPtr> cb_groups;
if (config.num_groups != 0 &&
config.executor_to_cpu_assignments.size() != 0) {
!config.executor_to_cpu_assignments.empty()) {
std::cout << "WARNING: num_groups and executor_to_cpu_assignments are both "
"set. This is not supported. Ignoring num_groups."
<< std::endl;
@ -290,7 +287,7 @@ void Experiment::createNodesAndAssignProperties() {
bool first_node = true;
for (uint32_t node_chain_idx = 0;
node_chain_idx < config.node_ids[chain_id].size(); node_chain_idx++) {
uint32_t node_id = config.node_ids[chain_id][node_chain_idx];
uint32_t const node_id = config.node_ids[chain_id][node_chain_idx];
// has this node been created yet?
if (nodes.find(node_id) != nodes.end()) {
// if it has, then this node exists in another chain
@ -299,7 +296,7 @@ void Experiment::createNodesAndAssignProperties() {
}
experiment_executor executor = getExecutorForNode(node_id);
std::shared_ptr<const void> handle;
ExecutableType type;
priority_executor::ExecutableType type;
// is this the first node in the chain?
if (node_chain_idx == 0) {
// create a timer node
@ -313,7 +310,7 @@ void Experiment::createNodesAndAssignProperties() {
cb_group = cb_groups[config.group_memberships[node_id] - 1];
}
std::shared_ptr<PublisherNode> node;
if (config.node_executor_assignments.size() == 0) {
if (config.node_executor_assignments.empty()) {
node = std::make_shared<PublisherNode>(
"node_" + std::to_string(node_id), config.node_runtimes[node_id],
config.chain_periods[chain_id], chain_id, config.nodes[0],
@ -327,7 +324,7 @@ void Experiment::createNodesAndAssignProperties() {
}
handle = node->timer_->get_timer_handle();
nodes[node_id] = node;
type = ExecutableType::TIMER;
type = priority_executor::ExecutableType::TIMER;
// this_chain_timer_handle = node->timer_;
std::cout << "chain timer handle set: " << chain_id << std::endl;
chain_timer_handles[chain_id] = node->timer_;
@ -335,7 +332,7 @@ void Experiment::createNodesAndAssignProperties() {
all_nodes[chain_id].push_back(node);
} else {
// create a subscriber node
int subscription_id = config.node_ids[chain_id][node_chain_idx - 1];
int const subscription_id = config.node_ids[chain_id][node_chain_idx - 1];
rclcpp::CallbackGroup::SharedPtr cb_group;
if (jiang2022_cb && ((chain_id == 1 && node_chain_idx == 1) ||
(chain_id == 2 && node_chain_idx == 1))) {
@ -352,13 +349,13 @@ void Experiment::createNodesAndAssignProperties() {
std::shared_ptr<WorkerNode> node;
if (ours2024_latency) {
uint32_t first_node_id = config.node_ids[chain_id][0];
uint32_t const first_node_id = config.node_ids[chain_id][0];
node = std::make_shared<WorkerNode>(
"node_" + std::to_string(first_node_id),
"node_" + std::to_string(node_id), config.node_runtimes[node_id],
config.chain_periods[chain_id], chain_id, config.nodes[0],
cb_group);
} else if (config.node_executor_assignments.size() == 0) {
} else if (config.node_executor_assignments.empty()) {
node = std::make_shared<WorkerNode>(
"node_" + std::to_string(subscription_id),
"node_" + std::to_string(node_id), config.node_runtimes[node_id],
@ -374,12 +371,12 @@ void Experiment::createNodesAndAssignProperties() {
}
handle = node->sub_->get_subscription_handle();
nodes[node_id] = node;
type = ExecutableType::SUBSCRIPTION;
type = priority_executor::ExecutableType::SUBSCRIPTION;
all_nodes[chain_id].push_back(node);
}
if (config.executor_type == "edf") {
std::string cb_name = "node_" + std::to_string(node_id) + "_cb";
std::string const cb_name = "node_" + std::to_string(node_id) + "_cb";
executor.strat->set_executable_deadline(
handle, config.chain_periods[chain_id], type, chain_id, cb_name);
// executor.executor->add_node(nodes[node_id]);
@ -406,7 +403,7 @@ void Experiment::createNodesAndAssignProperties() {
// executor.executor->add_node(nodes[node_id]);
executor.strat->set_executable_priority(
handle, config.node_priorities[node_id], type,
ExecutableScheduleType::CHAIN_AWARE_PRIORITY, chain_id);
priority_executor::ExecutableScheduleType::CHAIN_AWARE_PRIORITY, chain_id);
std::cout << "node " << node_id << " has priority "
<< config.node_priorities[node_id] << std::endl;
} else if (config.executor_type == "default") {
@ -422,29 +419,28 @@ std::string Experiment::buildLogs(std::vector<node_time_logger> node_logs) {
output_file << "[" << std::endl;
// for each node
for (auto node : nodes) {
for (auto const &node : nodes) {
// print the node's logs
node_time_logger logger = node.second->logger;
for (auto &log : *(logger.recorded_times)) {
node_time_logger const logger = node.second->logger;
for (auto const &log : *(logger.recorded_times)) {
output_file << "{\"entry\": " << log.first
<< ", \"time\": " << log.second << "}," << std::endl;
}
}
if (config.executor_type == "edf" || config.executor_type == "picas") {
for (auto &executor : executors) {
node_time_logger strat_log = executor.strat->logger_;
for (auto &log : *(strat_log.recorded_times)) {
for (auto const &executor : executors) {
node_time_logger const strat_log = executor.strat->logger_;
for (auto const &log : *(strat_log.recorded_times)) {
// std::cout << log.first << " " << log.second << std::endl;
output_file << "{\"entry\": " << log.first
<< ", \"time\": " << log.second << "}," << std::endl;
}
// executor may be a subclass of RTISTimed, so we can get its logger
if (dynamic_cast<RTISTimed *>(executor.executor.get())) {
node_time_logger executor_log =
dynamic_cast<RTISTimed *>(executor.executor.get())->logger_;
for (auto &log : *(executor_log.recorded_times)) {
if (auto const *timed_executor = dynamic_cast<priority_executor::RTISTimed*>(executor.executor.get())) {
node_time_logger const executor_log = timed_executor->logger_;
for (auto const &log : *(executor_log.recorded_times)) {
output_file << "{\"entry\": " << log.first
<< ", \"time\": " << log.second << "}," << std::endl;
}
@ -454,14 +450,13 @@ std::string Experiment::buildLogs(std::vector<node_time_logger> node_logs) {
}
} else {
// a default executor
for (auto &executor : executors) {
for (auto const &executor : executors) {
// experimental: executor.default_executor's type is rclcpp::Executor, but
// here it's guaranteed to inherit from RTISTimed we can get a logger from
// it. for safety, we check the type first
if (dynamic_cast<RTISTimed *>(executor.default_executor.get())) {
node_time_logger default_log =
dynamic_cast<RTISTimed *>(executor.default_executor.get())->logger_;
for (auto &log : *(default_log.recorded_times)) {
if (auto const* timed_executor = dynamic_cast<priority_executor::RTISTimed*>(executor.default_executor.get())) {
node_time_logger const default_log = timed_executor->logger_;
for (auto const &log : *(default_log.recorded_times)) {
output_file << "{\"entry\": " << log.first
<< ", \"time\": " << log.second << "}," << std::endl;
}
@ -473,14 +468,14 @@ std::string Experiment::buildLogs(std::vector<node_time_logger> node_logs) {
}
// add internal logs
for (auto &log_entry : *(_logger.recorded_times)) {
for (auto const &log_entry : *(_logger.recorded_times)) {
output_file << "{\"entry\": " << log_entry.first
<< ", \"time\": " << log_entry.second << "}," << std::endl;
}
// add logs from argument
for (auto &log : node_logs) {
for (auto &log_entry : *(log.recorded_times)) {
for (auto const &log : node_logs) {
for (auto const &log_entry : *(log.recorded_times)) {
output_file << "{\"entry\": " << log_entry.first
<< ", \"time\": " << log_entry.second << "}," << std::endl;
}
@ -495,7 +490,7 @@ std::string Experiment::buildLogs(std::vector<node_time_logger> node_logs) {
void Experiment::setInitialDeadlines() {
timespec current_time;
clock_gettime(CLOCK_MONOTONIC_RAW, &current_time);
uint64_t millis =
uint64_t const millis =
(current_time.tv_sec * 1000UL) + (current_time.tv_nsec / 1000000);
// we need a logger to record the first deadline, which is generated here
// TODO: generate the first deadline in the executor (or node) itself
@ -503,7 +498,7 @@ void Experiment::setInitialDeadlines() {
for (uint32_t chain_index = 0; chain_index < config.chain_lengths.size();
chain_index++) {
size_t executor_idx;
if (config.node_executor_assignments.size() == 0) {
if (config.node_executor_assignments.empty()) {
executor_idx = 0;
} else {
executor_idx = config.node_executor_assignments[chain_index];
@ -525,7 +520,7 @@ void Experiment::setInitialDeadlines() {
}
void Experiment::resetTimers() {
for (auto timer : chain_timer_handles) {
for (auto const &timer : chain_timer_handles) {
std::cout << "resetting timer " << timer.first << std::endl;
if (timer.second == nullptr) {
std::cout << "timer is null" << std::endl;
@ -542,14 +537,14 @@ void Experiment::resetTimers() {
// std::this_thread::sleep_for(std::chrono::seconds(1));
}
void Experiment::writeLogsToFile(std::string file_name,
std::string experiment_name) {
void Experiment::writeLogsToFile(std::string const &file_name,
std::string const &experiment_name) {
std::ofstream output_file;
std::string name = experiment_name;
std::string const name = experiment_name;
// make sure results directory exists. we don't have access to std::filesystem
// here :(
std::string command = "mkdir -p results/" + name;
int result = system(command.c_str());
std::string const command = "mkdir -p results/" + name;
int const result = system(command.c_str());
if (result != 0) {
std::cout << "could not create results directory: " << result << ": "
<< strerror(errno) << std::endl;
@ -563,7 +558,7 @@ void Experiment::writeLogsToFile(std::string file_name,
<< std::endl;
}
int do_other_task(double work_time, uint period,
int do_other_task(double const work_time, uint const period,
std::atomic<bool>& should_do_task) {
if (work_time == 0) {
std::cout << "other task: work time is 0, exiting" << std::endl;
@ -573,7 +568,7 @@ int do_other_task(double work_time, uint period,
cpu_set_t cpuset;
CPU_ZERO(&cpuset);
CPU_SET(0, &cpuset);
int result = sched_setaffinity(0, sizeof(cpu_set_t), &cpuset);
int const result = sched_setaffinity(0, sizeof(cpu_set_t), &cpuset);
if (result != 0) {
std::cout << "other task: could not set affinity: " << result << ": "
<< strerror(errno) << std::endl;
@ -593,7 +588,7 @@ int do_other_task(double work_time, uint period,
do {
timespec current_time;
clock_gettime(CLOCK_MONOTONIC_RAW, &current_time);
uint64_t millis_start = (current_time.tv_sec * (uint64_t)1000) +
uint64_t const millis_start = (current_time.tv_sec * (uint64_t)1000) +
(current_time.tv_nsec / 1000000);
// do work
@ -602,9 +597,9 @@ int do_other_task(double work_time, uint period,
// sleep until next period
clock_gettime(CLOCK_MONOTONIC_RAW, &current_time);
uint64_t millis_end = (current_time.tv_sec * (uint64_t)1000) +
uint64_t const millis_end = (current_time.tv_sec * (uint64_t)1000) +
(current_time.tv_nsec / 1000000);
uint64_t sleep_time = period - (millis_end - millis_start);
uint64_t const sleep_time = period - (millis_end - millis_start);
std::this_thread::sleep_for(std::chrono::milliseconds(sleep_time));
} while (should_do_task);
std::cout << "other task done" << std::endl;

14
src/casestudy_tools/src/primes_workload.cpp
View file

@ -6,7 +6,7 @@
#include "casestudy_tools/primes_workload.hpp"
void DummyLoadCalibration::setCalibration(int calib) {
void DummyLoadCalibration::setCalibration(int const calib) {
calibration.store(calib, std::memory_order_relaxed);
}
@ -20,12 +20,12 @@ void calibrate_dummy_load()
for (int iteration = 0; iteration < MAX_ITERATIONS; ++iteration)
{
// Measure the time taken for the dummy load
auto start_time = std::chrono::high_resolution_clock::now();
auto const start_time = std::chrono::high_resolution_clock::now();
dummy_load(TARGET_DURATION_MS); // intended workload
auto end_time = std::chrono::high_resolution_clock::now();
auto const end_time = std::chrono::high_resolution_clock::now();
// Calculate duration in microseconds
auto duration_us =
auto const duration_us =
std::chrono::duration_cast<std::chrono::microseconds>(end_time - start_time).count();
std::cout << "[Calibration] Iteration: " << iteration
@ -51,12 +51,12 @@ void calibrate_dummy_load()
}
}
void dummy_load(int load_ms)
void dummy_load(int const load_ms)
{
const int calib_factor = DummyLoadCalibration::getCalibration();
int const calib_factor = DummyLoadCalibration::getCalibration();
// calibration factor corresponds to 100ms load, scale it
const int scaled_factor = calib_factor * load_ms / 100;
int const scaled_factor = calib_factor * load_ms / 100;
volatile int dummy_var = 0;
constexpr int DUMMY_LOAD_ITER = 100'000;

153
src/casestudy_tools/src/test_nodes.cpp
View file

@ -6,71 +6,68 @@
#include <ctime>
#include <rclcpp/logger.hpp>
std::string CaseStudyNode::get_name() { return name; }
std::string CaseStudyNode::get_name() {
return name;
}
#define BUFFER_LENGTH 0
rclcpp::QoS get_qos()
{
if (BUFFER_LENGTH == 0)
{
rclcpp::QoS get_qos() {
if (BUFFER_LENGTH == 0) {
return rclcpp::QoS(rclcpp::KeepAll());
}
else
{
return rclcpp::QoS(rclcpp::KeepLast(BUFFER_LENGTH));
}
}
void timespec_diff(timespec *start, timespec *end, timespec *result)
{
if ((end->tv_nsec - start->tv_nsec) < 0)
{
void timespec_diff(timespec const* start, timespec const* end, timespec* result) {
if ((end->tv_nsec - start->tv_nsec) < 0) {
result->tv_sec = end->tv_sec - start->tv_sec - 1;
result->tv_nsec = 1000000000 + end->tv_nsec - start->tv_nsec;
}
else
{
} else {
result->tv_sec = end->tv_sec - start->tv_sec;
result->tv_nsec = end->tv_nsec - start->tv_nsec;
}
}
PublisherNode::PublisherNode(std::string publish_topic, double runtime,
int period, int chain,
rclcpp::Node::SharedPtr node,
rclcpp::CallbackGroup::SharedPtr callback_group)
: CaseStudyNode(publish_topic, node), runtime_(runtime), period_(period),
chain_(chain)
{
PublisherNode::PublisherNode(
std::string const &publish_topic,
double const runtime,
int const period,
int const chain,
rclcpp::Node::SharedPtr const &node,
rclcpp::CallbackGroup::SharedPtr const &callback_group)
: CaseStudyNode(publish_topic, node)
, runtime_(runtime)
, period_(period)
, chain_(chain) {
logger = create_logger();
pub_ = node->create_publisher<std_msgs::msg::Int32>(publish_topic, get_qos());
auto timer_callback = [this]() -> void
{
auto const timer_callback = [this]() -> void {
std::ostringstream ss;
ss << "{\"operation\": \"start_work\", \"chain\": " << chain_
<< ", \"node\": \"" << get_name() << "\", \"count\": " << count_max_;
std::chrono::nanoseconds time_until_trigger = timer_->time_until_trigger();
std::chrono::microseconds time_until_trigger_us =
std::chrono::duration_cast<std::chrono::microseconds>(
time_until_trigger);
std::chrono::nanoseconds const time_until_trigger = timer_->time_until_trigger();
std::chrono::microseconds const time_until_trigger_us =
std::chrono::duration_cast<std::chrono::microseconds>(time_until_trigger);
ss << ", \"next_release_us\": " << time_until_trigger_us.count() << "}";
log_entry(logger, ss.str());
// nth_prime_silly(runtime_);
double used_runtime = runtime_;
if (use_random_runtime)
{
if (rand() % 100 < runtime_over_chance * 100)
{
if (use_random_runtime) {
if (rand() % 100 < runtime_over_chance * 100) {
used_runtime *= over_runtime_scale;
}
else
{
} else {
used_runtime *= normal_runtime_scale;
}
}
// RCLCPP_INFO(rclcpp::get_logger(get_name()), "running %s with runtime %f",
// get_name().c_str(), used_runtime);
struct timespec start_time;
clock_gettime(CLOCK_MONOTONIC, &start_time);
@ -81,14 +78,15 @@ PublisherNode::PublisherNode(std::string publish_topic, double runtime,
pub_->publish(msg);
// TEST: can we take more than one msg from DDS?
// pub_->publish(msg);
ss.str("");
ss << "{\"operation\": \"end_work\", \"chain\": " << chain_
<< ", \"node\": \"" << get_name() << "\", \"count\": " << count_max_ << ", \"target_runtime\": " << runtime_
<< "}";
<< ", \"node\": \"" << get_name() << "\", \"count\": " << count_max_
<< ", \"target_runtime\": " << runtime_ << "}";
log_entry(logger, ss.str());
count_max_--;
if (count_max_ == 0)
{
if (count_max_ == 0) {
rclcpp::shutdown();
}
/* struct timespec end_time;
@ -100,29 +98,36 @@ PublisherNode::PublisherNode(std::string publish_topic, double runtime,
RCLCPP_INFO(rclcpp::get_logger(get_name()), "done running %s, took %lu ms",
get_name().c_str(), diff_ms); */
};
if (callback_group != nullptr)
{
if (callback_group != nullptr) {
callback_group_ = callback_group;
}
else
{
callback_group_ =
node->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
}
timer_ = node->create_wall_timer(std::chrono::milliseconds(period),
timer_callback, callback_group_);
} else {
callback_group_ = node->create_callback_group(
rclcpp::CallbackGroupType::Reentrant);
}
WorkerNode::WorkerNode(std::string subscribe_topic, std::string publish_topic,
double runtime, int period, int chain,
rclcpp::Node::SharedPtr node,
rclcpp::CallbackGroup::SharedPtr callback_group)
: CaseStudyNode(publish_topic, node), runtime_(runtime), period_(period),
chain_(chain)
{
timer_ = node->create_wall_timer(
std::chrono::milliseconds(period),
timer_callback,
callback_group_);
}
WorkerNode::WorkerNode(
std::string const &subscribe_topic,
std::string const &publish_topic,
double const runtime,
int const period,
int const chain,
rclcpp::Node::SharedPtr const &node,
rclcpp::CallbackGroup::SharedPtr const &callback_group)
: CaseStudyNode(publish_topic, node)
, runtime_(runtime)
, period_(period)
, chain_(chain) {
logger = create_logger();
auto callback = [this](const std_msgs::msg::Int32::SharedPtr msg) -> void
{
auto const callback = [this](std_msgs::msg::Int32::SharedPtr const msg) -> void {
// prevent unused variable warning
(void)msg;
@ -133,42 +138,42 @@ WorkerNode::WorkerNode(std::string subscribe_topic, std::string publish_topic,
log_entry(logger, ss.str());
// RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
// nth_prime_silly(runtime_);
double used_runtime = runtime_;
if (use_random_runtime)
{
if (rand() % 100 < runtime_over_chance * 100)
{
if (use_random_runtime) {
if (rand() % 100 < runtime_over_chance * 100) {
used_runtime *= over_runtime_scale;
}
else
{
} else {
used_runtime *= normal_runtime_scale;
}
}
dummy_load(used_runtime);
// RCLCPP_INFO(this->get_logger(), "Result: %d", result);
auto new_msg = std_msgs::msg::Int32();
new_msg.data = msg->data;
pub_->publish(new_msg);
ss.str("");
ss << "{\"operation\": \"end_work\", \"chain\": " << chain_
<< ", \"node\": \"" << get_name() << "\", \"count\": " << msg->data
<< "}";
log_entry(logger, ss.str());
};
rclcpp::SubscriptionOptions sub_options;
if (callback_group)
{
if (callback_group) {
callback_group_ = callback_group;
}
else
{
callback_group_ =
node->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
} else {
callback_group_ = node->create_callback_group(
rclcpp::CallbackGroupType::Reentrant);
}
sub_options.callback_group = callback_group_;
sub_ = node->create_subscription<std_msgs::msg::Int32>(
subscribe_topic, get_qos(), callback, sub_options);
subscribe_topic,
get_qos(),
callback,
sub_options);
pub_ = node->create_publisher<std_msgs::msg::Int32>(publish_topic, get_qos());
}

2
src/ros_edf

@ -1 +1 @@
Subproject commit a2741afc9a204758ec047cb25c6a85c92b3298a6
Subproject commit 91c2a42d6bc0130cec32447373a0fec0def34a26