cyclonedds/src/examples/roundtrip/ping.c

#include "ddsc/dds.h"
#include "RoundTrip.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <signal.h>
#include <inttypes.h>

#define TIME_STATS_SIZE_INCREMENT 50000
#define MAX_SAMPLES 100
#define US_IN_ONE_SEC 1000000LL

/* Forward declaration */

static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_entity_t *readCond);
static void finalize_dds(dds_entity_t participant, dds_entity_t reader, dds_entity_t readCond);

typedef struct ExampleTimeStats
{
  dds_time_t * values;
  unsigned long valuesSize;
  unsigned long valuesMax;
  double average;
  dds_time_t min;
  dds_time_t max;
  unsigned long count;
} ExampleTimeStats;

static void exampleInitTimeStats (ExampleTimeStats *stats)
{
  stats->values = (dds_time_t*) malloc (TIME_STATS_SIZE_INCREMENT * sizeof (dds_time_t));
  stats->valuesSize = 0;
  stats->valuesMax = TIME_STATS_SIZE_INCREMENT;
  stats->average = 0;
  stats->min = 0;
  stats->max = 0;
  stats->count = 0;
}

static void exampleResetTimeStats (ExampleTimeStats *stats)
{
  memset (stats->values, 0, stats->valuesMax * sizeof (dds_time_t));
  stats->valuesSize = 0;
  stats->average = 0;
  stats->min = 0;
  stats->max = 0;
  stats->count = 0;
}

static void exampleDeleteTimeStats (ExampleTimeStats *stats)
{
  free (stats->values);
}

static ExampleTimeStats *exampleAddTimingToTimeStats
  (ExampleTimeStats *stats, dds_time_t timing)
{
  if (stats->valuesSize > stats->valuesMax)
  {
    dds_time_t * temp = (dds_time_t*) realloc (stats->values, (stats->valuesMax + TIME_STATS_SIZE_INCREMENT) * sizeof (dds_time_t));
    stats->values = temp;
    stats->valuesMax += TIME_STATS_SIZE_INCREMENT;
  }
  if (stats->values != NULL && stats->valuesSize < stats->valuesMax)
  {
    stats->values[stats->valuesSize++] = timing;
  }
  stats->average = (stats->count * stats->average + timing) / (stats->count + 1);
  stats->min = (stats->count == 0 || timing < stats->min) ? timing : stats->min;
  stats->max = (stats->count == 0 || timing > stats->max) ? timing : stats->max;
  stats->count++;

  return stats;
}

static int exampleCompareul (const void* a, const void* b)
{
  dds_time_t ul_a = *((dds_time_t*)a);
  dds_time_t ul_b = *((dds_time_t*)b);

  if (ul_a < ul_b) return -1;
  if (ul_a > ul_b) return 1;
  return 0;
}

static double exampleGetMedianFromTimeStats (ExampleTimeStats *stats)
{
  double median = 0.0;

  qsort (stats->values, stats->valuesSize, sizeof (dds_time_t), exampleCompareul);

  if (stats->valuesSize % 2 == 0)
  {
    median = (double)(stats->values[stats->valuesSize / 2 - 1] + stats->values[stats->valuesSize / 2]) / 2;
  }
  else
  {
    median = (double)stats->values[stats->valuesSize / 2];
  }

  return median;
}

static dds_entity_t waitSet;

#ifdef _WIN32
#include <Windows.h>
static bool CtrlHandler (DWORD fdwCtrlType)
{
  dds_waitset_set_trigger (waitSet, true);
  return true; //Don't let other handlers handle this key
}
#else
static void CtrlHandler (int fdwCtrlType)
{
  dds_waitset_set_trigger (waitSet, true);
}
#endif

int main (int argc, char *argv[])
{
  dds_entity_t writer;
  dds_entity_t reader;
  dds_entity_t participant;
  dds_entity_t readCond;

  ExampleTimeStats roundTrip;
  ExampleTimeStats writeAccess;
  ExampleTimeStats readAccess;
  ExampleTimeStats roundTripOverall;
  ExampleTimeStats writeAccessOverall;
  ExampleTimeStats readAccessOverall;

  unsigned long payloadSize = 0;
  unsigned long long numSamples = 0;
  bool invalidargs = false;
  dds_time_t timeOut = 0;
  dds_time_t startTime;
  dds_time_t time;
  dds_time_t preWriteTime;
  dds_time_t postWriteTime;
  dds_time_t preTakeTime;
  dds_time_t postTakeTime;
  dds_time_t difference = 0;
  dds_time_t elapsed = 0;

  RoundTripModule_DataType pub_data;
  RoundTripModule_DataType sub_data[MAX_SAMPLES];
  void *samples[MAX_SAMPLES];
  dds_sample_info_t info[MAX_SAMPLES];

  dds_attach_t wsresults[1];
  size_t wsresultsize = 1U;
  dds_time_t waitTimeout = DDS_SECS (1);
  unsigned long i;
  int status;
  bool warmUp = true;

  /* Register handler for Ctrl-C */
#ifdef _WIN32
  SetConsoleCtrlHandler ((PHANDLER_ROUTINE)CtrlHandler, TRUE);
#else
  struct sigaction sat, oldAction;
  sat.sa_handler = CtrlHandler;
  sigemptyset (&sat.sa_mask);
  sat.sa_flags = 0;
  sigaction (SIGINT, &sat, &oldAction);
#endif

  exampleInitTimeStats (&roundTrip);
  exampleInitTimeStats (&writeAccess);
  exampleInitTimeStats (&readAccess);
  exampleInitTimeStats (&roundTripOverall);
  exampleInitTimeStats (&writeAccessOverall);
  exampleInitTimeStats (&readAccessOverall);

  memset (&sub_data, 0, sizeof (sub_data));
  memset (&pub_data, 0, sizeof (pub_data));

  for (i = 0; i < MAX_SAMPLES; i++)
  {
    samples[i] = &sub_data[i];
  }

  participant = prepare_dds(&writer, &reader, &readCond);

  setvbuf(stdout, NULL, _IONBF, 0);

  if (argc == 2 && strcmp (argv[1], "quit") == 0)
  {
    printf ("Sending termination request.\n");
    /* pong uses a waitset which is triggered by instance disposal, and
      quits when it fires. */
    dds_sleepfor (DDS_SECS (1));
    pub_data.payload._length = 0;
    pub_data.payload._buffer = NULL;
    pub_data.payload._release = true;
    pub_data.payload._maximum = 0;
    status = dds_writedispose (writer, &pub_data);
    DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
    dds_sleepfor (DDS_SECS (1));
    goto done;
  }

  if (argc == 1)
  {
    invalidargs = true;
  }
  if (argc >= 2)
  {
    payloadSize = atol (argv[1]);

    if (payloadSize > 65536)
    {
      invalidargs = true;
    }
  }
  if (argc >= 3)
  {
    numSamples = atol (argv[2]);
  }
  if (argc >= 4)
  {
    timeOut = atol (argv[3]);
  }
  if (invalidargs || (argc == 2 && (strcmp (argv[1], "-h") == 0 || strcmp (argv[1], "--help") == 0)))
  {
    printf ("Usage (parameters must be supplied in order):\n"
            "./ping [payloadSize (bytes, 0 - 65536)] [numSamples (0 = infinite)] [timeOut (seconds, 0 = infinite)]\n"
            "./ping quit - ping sends a quit signal to pong.\n"
            "Defaults:\n"
            "./ping 0 0 0\n");
    return EXIT_FAILURE;
  }
  printf ("# payloadSize: %lu | numSamples: %llu | timeOut: %" PRIi64 "\n\n", payloadSize, numSamples, timeOut);

  pub_data.payload._length = payloadSize;
  pub_data.payload._buffer = payloadSize ? dds_alloc (payloadSize) : NULL;
  pub_data.payload._release = true;
  pub_data.payload._maximum = 0;
  for (i = 0; i < payloadSize; i++)
  {
    pub_data.payload._buffer[i] = 'a';
  }

  startTime = dds_time ();
  printf ("# Waiting for startup jitter to stabilise\n");
  while (!dds_triggered (waitSet) && difference < DDS_SECS(5))
  {
    status = dds_write (writer, &pub_data);
    DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
    status = dds_waitset_wait (waitSet, wsresults, wsresultsize, waitTimeout);
    DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
    if (status > 0) /* data */
    {
      status = dds_take (reader, samples, info, MAX_SAMPLES, MAX_SAMPLES);
      DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
    }

    time = dds_time ();
    difference = time - startTime;
  }
  if (!dds_triggered (waitSet))
  {
    warmUp = false;
    printf("# Warm up complete.\n\n");

    printf("# Round trip measurements (in us)\n");
    printf("#             Round trip time [us]         Write-access time [us]       Read-access time [us]\n");
    printf("# Seconds     Count   median      min      Count   median      min      Count   median      min\n");

  }

  startTime = dds_time ();
  for (i = 0; !dds_triggered (waitSet) && (!numSamples || i < numSamples); i++)
  {
    /* Write a sample that pong can send back */
    preWriteTime = dds_time ();
    status = dds_write (writer, &pub_data);
    DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
    postWriteTime = dds_time ();

    /* Wait for response from pong */
    status = dds_waitset_wait (waitSet, wsresults, wsresultsize, waitTimeout);
    DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
    if (status != 0)
    {
      /* Take sample and check that it is valid */
      preTakeTime = dds_time ();
      status = dds_take (reader, samples, info, MAX_SAMPLES, MAX_SAMPLES);
      DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
      postTakeTime = dds_time ();

      if (!dds_triggered (waitSet))
      {
        if (status != 1)
        {
          fprintf (stdout, "%s%d%s", "ERROR: Ping received ", status,
                  " samples but was expecting 1. Are multiple pong applications running?\n");

          goto done;
        }
        else if (!info[0].valid_data)
        {
          printf ("ERROR: Ping received an invalid sample. Has pong terminated already?\n");
          goto done;
        }
      }

      /* Update stats */
      difference = (postWriteTime - preWriteTime)/DDS_NSECS_IN_USEC;
      writeAccess = *exampleAddTimingToTimeStats (&writeAccess, difference);
      writeAccessOverall = *exampleAddTimingToTimeStats (&writeAccessOverall, difference);

      difference = (postTakeTime - preTakeTime)/DDS_NSECS_IN_USEC;
      readAccess = *exampleAddTimingToTimeStats (&readAccess, difference);
      readAccessOverall = *exampleAddTimingToTimeStats (&readAccessOverall, difference);

      difference = (postTakeTime - preWriteTime)/DDS_NSECS_IN_USEC;
      roundTrip = *exampleAddTimingToTimeStats (&roundTrip, difference);
      roundTripOverall = *exampleAddTimingToTimeStats (&roundTripOverall, difference);

      /* Print stats each second */
      difference = (postTakeTime - startTime)/DDS_NSECS_IN_USEC;
      if (difference > US_IN_ONE_SEC || (i && i == numSamples))
      {
        printf
        (
          "%9" PRIi64 " %9lu %8.0f %8" PRIi64 " %10lu %8.0f %8" PRIi64 " %10lu %8.0f %8" PRIi64 "\n",
          elapsed + 1,
          roundTrip.count,
          exampleGetMedianFromTimeStats (&roundTrip),
          roundTrip.min,
          writeAccess.count,
          exampleGetMedianFromTimeStats (&writeAccess),
          writeAccess.min,
          readAccess.count,
          exampleGetMedianFromTimeStats (&readAccess),
          readAccess.min
        );

        exampleResetTimeStats (&roundTrip);
        exampleResetTimeStats (&writeAccess);
        exampleResetTimeStats (&readAccess);
        startTime = dds_time ();
        elapsed++;
      }
    }
    else
    {
      elapsed += waitTimeout / DDS_NSECS_IN_SEC;
    }
    if (timeOut && elapsed == timeOut)
    {
      dds_waitset_set_trigger (waitSet, true);
    }
  }

  if (!warmUp)
  {
    printf
    (
      "\n%9s %9lu %8.0f %8" PRIi64 " %10lu %8.0f %8" PRIi64 " %10lu %8.0f %8" PRIi64 "\n",
      "# Overall",
      roundTripOverall.count,
      exampleGetMedianFromTimeStats (&roundTripOverall),
      roundTripOverall.min,
      writeAccessOverall.count,
      exampleGetMedianFromTimeStats (&writeAccessOverall),
      writeAccessOverall.min,
      readAccessOverall.count,
      exampleGetMedianFromTimeStats (&readAccessOverall),
      readAccessOverall.min
    );
  }

done:

#ifdef _WIN32
  SetConsoleCtrlHandler (0, FALSE);
#else
  sigaction (SIGINT, &oldAction, 0);
#endif

  finalize_dds(participant, reader, readCond);

  /* Clean up */
  exampleDeleteTimeStats (&roundTrip);
  exampleDeleteTimeStats (&writeAccess);
  exampleDeleteTimeStats (&readAccess);
  exampleDeleteTimeStats (&roundTripOverall);
  exampleDeleteTimeStats (&writeAccessOverall);
  exampleDeleteTimeStats (&readAccessOverall);

  for (i = 0; i < MAX_SAMPLES; i++)
  {
    RoundTripModule_DataType_free (&sub_data[i], DDS_FREE_CONTENTS);
  }
  RoundTripModule_DataType_free (&pub_data, DDS_FREE_CONTENTS);

  return EXIT_SUCCESS;
}

static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_entity_t *readCond)
{
  dds_return_t status;
  dds_entity_t topic;
  dds_entity_t publisher;
  dds_entity_t subscriber;

  const char *pubPartitions[] = { "ping" };
  const char *subPartitions[] = { "pong" };
  dds_qos_t *pubQos;
  dds_qos_t *dwQos;
  dds_qos_t *drQos;
  dds_qos_t *subQos;

  dds_entity_t participant = dds_create_participant (DDS_DOMAIN_DEFAULT, NULL, NULL);
  DDS_ERR_CHECK (participant, DDS_CHECK_REPORT | DDS_CHECK_EXIT);

  /* A DDS_Topic is created for our sample type on the domain participant. */
  topic = dds_create_topic (participant, &RoundTripModule_DataType_desc, "RoundTrip", NULL, NULL);
  DDS_ERR_CHECK (topic, DDS_CHECK_REPORT | DDS_CHECK_EXIT);

  /* A DDS_Publisher is created on the domain participant. */
  pubQos = dds_qos_create ();
  dds_qset_partition (pubQos, 1, pubPartitions);

  publisher = dds_create_publisher (participant, pubQos, NULL);
  DDS_ERR_CHECK (publisher, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
  dds_qos_delete (pubQos);

  /* A DDS_DataWriter is created on the Publisher & Topic with a modified Qos. */
  dwQos = dds_qos_create ();
  dds_qset_reliability (dwQos, DDS_RELIABILITY_RELIABLE, DDS_SECS (10));
  dds_qset_writer_data_lifecycle (dwQos, false);
  *writer = dds_create_writer (publisher, topic, dwQos, NULL);
  DDS_ERR_CHECK (*writer, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
  dds_qos_delete (dwQos);

  /* A DDS_Subscriber is created on the domain participant. */
  subQos = dds_qos_create ();

  dds_qset_partition (subQos, 1, subPartitions);

  subscriber = dds_create_subscriber (participant, subQos, NULL);
  DDS_ERR_CHECK (subscriber, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
  dds_qos_delete (subQos);
  /* A DDS_DataReader is created on the Subscriber & Topic with a modified QoS. */
  drQos = dds_qos_create ();
  dds_qset_reliability (drQos, DDS_RELIABILITY_RELIABLE, DDS_SECS(10));
  *reader = dds_create_reader (subscriber, topic, drQos, NULL);
  DDS_ERR_CHECK (*reader, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
  dds_qos_delete (drQos);

  waitSet = dds_create_waitset (participant);
  *readCond = dds_create_readcondition (*reader, DDS_ANY_STATE);

  status = dds_waitset_attach (waitSet, *readCond, *reader);
  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
  status = dds_waitset_attach (waitSet, waitSet, waitSet);
  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);

  return participant;
}

static void finalize_dds(dds_entity_t participant, dds_entity_t reader, dds_entity_t readCond)
{
  dds_return_t status;

  /* Disable callbacks */
  dds_set_enabled_status (reader, 0);

  status = dds_waitset_detach (waitSet, readCond);
  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
  status = dds_waitset_detach (waitSet, waitSet);
  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
  status = dds_delete (readCond);
  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
  status = dds_delete (waitSet);
  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
  status = dds_delete (participant);
  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
}