#!/usr/bin/env bash set -e # ----------- CONFIGURABLES ----------- REMOTE_USER="niklas" REMOTE_HOST="192.168.162.249" REMOTE_PATH="/home/niklas/dataflow-analysis/traces" TRACING_BASE="analysis/tracing" LOCAL_PROJECT_DIR="/home/niklas/ROS-Dynamic-Executor-Experiments" # -------------------------------------- usage() { echo "Usage: $0 [time_in_seconds]" exit 1 } if [[ $# -lt 3 ]]; then usage fi SCHEDULER_TYPE="$1" THREADING_TYPE="$2" FUSION_TYPE="$3" TRACE_LENGTH="${4:-10}" # Determine defines based on parameters CMAKE_ARGS=() [[ "$SCHEDULER_TYPE" == "ros" ]] && CMAKE_ARGS+=("-DROS_DEFAULT_EXECUTOR=ON") [[ "$SCHEDULER_TYPE" == "edf" ]] && CMAKE_ARGS+=("-DEDF_PRIORITY_EXECUTOR=ON") [[ "$SCHEDULER_TYPE" == "sem" ]] && CMAKE_ARGS+=("-DSEMANTIC_EXECUTOR=ON") [[ "$THREADING_TYPE" == "multi" ]] && CMAKE_ARGS+=("-DMULTI_THREADED=ON") [[ "$FUSION_TYPE" == "timed" ]] && CMAKE_ARGS+=("-DUSE_TIMER_IN_FUSION_NODES=ON") TRACE_NAME="${SCHEDULER_TYPE}_${THREADING_TYPE}_${FUSION_TYPE}_${TRACE_LENGTH}" cd "$LOCAL_PROJECT_DIR" colcon build --packages-select full_topology --cmake-args "${CMAKE_ARGS[@]}" source install/setup.bash TRACE_ID=$(taskset -c 2,3 ros2 launch full_topology trace_full_topology.launch.py "length:=${TRACE_LENGTH}" | \ grep -oP '(?<=Writing tracing session to: /home/niklas/ROS-Dynamic-Executor-Experiments/analysis/tracing/)[^\s]+') if [[ -z "$TRACE_ID" ]]; then echo "[ERROR] Failed to get tracing session directory. Aborting." exit 2 fi TIMESTAMP_SUFFIX="${TRACE_ID#trace_full_topology}" NEW_TRACE_ID="${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" if [[ -e "$TRACE_NEW_PATH" ]]; then rm -rf "$TRACE_NEW_PATH" fi mv "$TRACE_ORIG_PATH" "$TRACE_NEW_PATH" scp -r "$TRACE_NEW_PATH/" "$REMOTE_USER@$REMOTE_HOST:$REMOTE_PATH/" echo "[SUCCESS] Trace analysis '$NEW_TRACE_ID' complete and copied to remote server."