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