Reorganize repository
* Move the project top-level CMakeLists.txt to the root of the project;
this allows building Cyclone as part of ROS2 without any special
tricks;
* Clean up the build options:
ENABLE_SSL: whether to check for and include OpenSSL support if a
library can be found (default = ON); this used to be
called DDSC_ENABLE_OPENSSL, the old name is deprecated
but still works
BUILD_DOCS: whether to build docs (default = OFF)
BUILD_TESTING: whether to build test (default = OFF)
* Collect all documentation into top-level "docs" directory;
* Move the examples to the top-level directory;
* Remove the unused and somewhat misleading pseudo-default
cyclonedds.xml;
* Remove unused cmake files
Signed-off-by: Erik Boasson <eb@ilities.com>
This commit is contained in:
Erik Boasson
eboasson
parent
4e80559763
commit
9cf4b97f1a
102 changed files with 627 additions and 1925 deletions
48
examples/perfscript/ethload
Executable file
48
examples/perfscript/ethload
Executable file
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@ -0,0 +1,48 @@
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#!/usr/bin/perl -w
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use strict;
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use bignum;
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use Time::HiRes qw (time);
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if (@ARGV != 2) {
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print STDERR "usage: $0 device {100|1000}\n";
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exit 1;
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}
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my $devname = $ARGV[0];
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my $speed = $ARGV[1] * 1e6;
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$| = 1;
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my ($lt, $t, $lrecv, $lxmit);
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while (1) {
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open FH, "< /proc/net/dev" or die "can't open /proc/net/dev";
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$t = time;
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my $info = undef;
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while (<FH>) {
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chomp;
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if (s/^\s+$devname\s*:\s*//) {
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$info = $_;
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last;
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}
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}
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close FH;
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die "can't locate info for $devname" unless defined $info;
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my @info = split ' ', $info;
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my $recv = $info[0] + 0;
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my $xmit = $info[8] + 0;
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if (defined $lt) {
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my $dr = $recv - $lrecv;
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my $dx = $xmit - $lxmit;
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my $dt = $t - $lt;
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my $ur = 100 * (8 * $dr) / ($dt * $speed);
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my $xr = 100 * (8 * $dx) / ($dt * $speed);
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printf "r %5.1f x %5.1f (%8d %8d)\n", $ur, $xr, $dr, $dx;
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}
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$lt = $t;
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$lrecv = $recv;
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$lxmit = $xmit;
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sleep 1;
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}
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30
examples/perfscript/quick-microbenchmark
Normal file
30
examples/perfscript/quick-microbenchmark
Normal file
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@ -0,0 +1,30 @@
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export CYCLONEDDS_URI='<Internal><MinimumSocketReceiveBufferSize>250kB</></><General><MaxMessageSize>65500B</><FragmentSize>65000B</>'
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set -x
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gen/ddsperf -D20 -L ping pon
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for x in 16 32 64 128 1024 4096 16384 ; do
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gen/ddsperf -D20 -TKS -z$x -L ping pong
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done
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gen/ddsperf -D20 -L pub sub
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for x in 16 32 64 128 1024 4096 16384 ; do
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gen/ddsperf -D20 -TKS -z$x -L pub sub
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done
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gen/ddsperf pong & pid=$!
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gen/ddsperf -D20 ping
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kill $pid
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wait
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gen/ddsperf -TKS pong & pid=$!
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for x in 16 32 64 128 1024 4096 16384 ; do
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gen/ddsperf -D20 -TKS -z$x ping
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done
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kill $pid
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wait
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gen/ddsperf sub & pid=$!
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gen/ddsperf -D20 pub
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kill $pid
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wait
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gen/ddsperf -TKS sub & pid=$!
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for x in 16 32 64 128 1024 4096 16384 ; do
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gen/ddsperf -D20 -TKS -z$x pub
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done
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kill $pid
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wait
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73
examples/perfscript/throughput-fanout-test
Normal file
73
examples/perfscript/throughput-fanout-test
Normal file
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@ -0,0 +1,73 @@
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#!/bin/bash
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usage () {
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cat >&2 <<EOF
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usage: $0 [OPTIONS] user@remote [user@remote...]
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OPTIONS
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-i IF use network interface IF (default: eth0)
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-b 100|1000 network bandwidth (100Mbps/1000Gbps) for calculating load
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% given load in bytes/second (default: 1000)
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-d DIR use DIR on remote (default: PWD)
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-p provision required binaries in DIR (default: false)
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first ssh's in to try mkdir -p DIR, then follows up with scp
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-t DUR run for DUR seconds per size (default 20)
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-a ASYNCLIST run for delivery async settings ASYNCLIST (default: "0 1")
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-m MODELIST run with subscriber mode settings MODELIST (default: "-1 0 1")
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-s SIZELIST run for sizes in SIZELIST (default: "0 16 32 64 128 256")
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-l LOOPBACK enable multicast loopback (true/false, default: true)
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-o DIR store results in dir.N where N is number of nodes
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Runs throughput-test with the specified options for each prefix of remote nodes.
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EOF
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exit 1
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}
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export nwif=eth0
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bandwidth=1000
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remotedir="$PWD"
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provision=false
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asynclist="0 1"
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modelist="-1 0 1"
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sizelist="0 16 32 64 128 256"
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timeout=20
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loopback=true
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resultdir="throughput-result"
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while getopts "i:b:d:pa:m:s:t:o:l:" opt ; do
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case $opt in
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i) nwif="$OPTARG" ;;
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b) bandwidth="$OPTARG" ;;
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d) remotedir="$OPTARG" ;;
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p) provision=true ;;
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a) asynclist="$OPTARG" ;;
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m) modelist="$OPTARG" ;;
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s) sizelist="$OPTARG" ;;
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l) loopback="OPTARG" ;;
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t) timeout="$OPTARG" ;;
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o) resultdir="$OPTARG" ;;
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h) usage ;;
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esac
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done
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shift $((OPTIND-1))
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if [ $# -lt 1 ] ; then usage ; fi
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pubremote=$1
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shift
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popt=
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$provision && popt=-p
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n=0
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while [[ $n -le $# ]] ; do
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out=$resultdir.$(( $n + 1 ))
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mkdir $out
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otherhosts=""
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j=1
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while [[ $j -le $n ]] ; do
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hostJ=`eval echo "\\$$j"`
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otherhosts="$otherhosts $hostJ"
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j=$(( $j + 1 ))
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done
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`dirname $0`/throughput-test -i "$nwif" -b "$bandwidth" -d "$remotedir" $popt -a "$asynclist" -m "$modelist" -s "$sizelist" -t "$timeout" -o $out $pubremote $otherhosts
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n=$(( $n + 1 ))
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done
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159
examples/perfscript/throughput-test
Normal file
159
examples/perfscript/throughput-test
Normal file
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@ -0,0 +1,159 @@
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#!/bin/bash
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usage () {
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cat >&2 <<EOF
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usage: $0 [OPTIONS] user@remote [user@remote...]
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OPTIONS
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-i IF use network interface IF (default: eth0)
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-b 100|1000 network bandwidth (100Mbps/1000Gbps) for calculating load
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% given load in bytes/second (default: 1000)
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-d DIR use DIR on remote (default: PWD)
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-p provision required binaries in DIR (default: false)
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first ssh's in to try mkdir -p DIR, then follows up with scp
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-t DUR run for DUR seconds per size (default 20)
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-a ASYNCLIST run for delivery async settings ASYNCLIST (default: "0 1")
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-m MODELIST run with subscriber mode settings MODELIST (default: "-1 0 1")
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-s SIZELIST run for sizes in SIZELIST (default: "0 16 32 64 128 256")
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-l LOOPBACK enable/disable multicast loopback (true/false, default: true)
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-o DIR store results in dir (default: throughput-result)
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Local host runs ThroughputSubscriber, first remote runs ThroughputPublisher,
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further remotes also run ThroughputSubscriber. It assumes these are
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available in DIR/bin. It also assumes that ssh user@remote works without
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requiring a password.
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EOF
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exit 1
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}
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export nwif=eth0
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bandwidth=1000
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remotedir="$PWD"
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provision=false
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asynclist="0 1"
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modelist="-1 0 1"
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sizelist="0 16 32 64 128 256"
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timeout=20
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loopback=true
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resultdir="throughput-result"
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while getopts "i:b:d:pa:m:s:t:o:l:" opt ; do
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case $opt in
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i) nwif="$OPTARG" ;;
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b) bandwidth="$OPTARG" ;;
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d) remotedir="$OPTARG" ;;
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p) provision=true ;;
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a) asynclist="$OPTARG" ;;
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m) modelist="$OPTARG" ;;
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s) sizelist="$OPTARG" ;;
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l) loopback="OPTARG" ;;
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t) timeout="$OPTARG" ;;
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o) resultdir="$OPTARG" ;;
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h) usage ;;
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esac
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done
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shift $((OPTIND-1))
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if [ $# -lt 1 ] ; then usage ; fi
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ethload=`dirname $0`/ethload
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pubremote=$1
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shift
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cfg=cdds-simple.xml
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cat >$cfg <<EOF
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<CycloneDDS>
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<Domain>
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<Id>17</Id>
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</Domain>
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<DDSI2E>
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<General>
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<NetworkInterfaceAddress>$nwif</NetworkInterfaceAddress>
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<EnableMulticastLoopback>$loopback</EnableMulticastLoopback>
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</General>
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<Internal>
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<Watermarks>
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<WhcHigh>500kB</WhcHigh>
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</Watermarks>
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<SynchronousDeliveryPriorityThreshold>${async:-0}</SynchronousDeliveryPriorityThreshold>
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<LeaseDuration>3s</LeaseDuration>
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</Internal>
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</DDSI2E>
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</CycloneDDS>
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EOF
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if [ ! -x bin/ThroughputPublisher -o ! -x bin/ThroughputSubscriber -o ! -x $ethload ] ; then
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echo "some check for existence of a file failed on the local machine" >&2
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exit 1
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fi
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[ -d $resultdir ] || { echo "output directory $resultdir doesn't exist" >&2 ; exit 1 ; }
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if $provision ; then
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echo "provisioning ..."
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for r in $pubremote "$@" ; do
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ssh $r mkdir -p $remotedir $remotedir/bin $remotedir/lib
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scp lib/libddsc.so.0 $r:$remotedir/lib
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scp bin/ThroughputPublisher bin/ThroughputSubscriber $r:$remotedir/bin
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done
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fi
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export CYCLONEDDS_URI=file://$PWD/$cfg
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for r in $pubremote "$@" ; do
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scp $cfg $r:$remotedir || { echo "failed to copy $cfg to $remote:$PWD" >&2 ; exit 1 ; }
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done
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for async in $asynclist ; do
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export async
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for mode in $modelist ; do
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echo "======== ASYNC $async MODE $mode ========="
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cat > run-publisher.tmp <<EOF
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export CYCLONEDDS_URI=file://$remotedir/$cfg
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export async=$async
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cd $remotedir
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rm -f pub-top.log
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for size in $sizelist ; do
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echo "size \$size"
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bin/ThroughputPublisher \$size > pub.log & ppid=\$!
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top -b -d1 -p \$ppid >> pub-top.log & tpid=\$!
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sleep $timeout
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kill \$tpid
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kill -2 \$ppid
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wait \$ppid
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sleep 5
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done
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wait
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EOF
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scp run-publisher.tmp $pubremote:$remotedir || { echo "failed to copy $cfg to $remote:$PWD" >&2 ; exit 2 ; }
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killremotesubs=""
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if [ $# -gt 0 ] ; then
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cat > run-subscriber.tmp <<EOF
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export CYCLONEDDS_URI=file://$remotedir/$cfg
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export async=$async
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cd $remotedir
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nohup bin/ThroughputSubscriber 0 $mode > /dev/null &
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echo \$!
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EOF
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for r in "$@" ; do
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scp run-subscriber.tmp $r:$remotedir
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rsubpid=`ssh $r ". $remotedir/run-subscriber.tmp"`
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killremotesubs="$killremotesubs ssh $r kill -9 $rsubpid &"
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done
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fi
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outdir=$resultdir/data-async$async-mode$mode
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mkdir $outdir
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rm -f sub-top.log
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$ethload $nwif $bandwidth > $outdir/sub-ethload.log & lpid=$!
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bin/ThroughputSubscriber 0 $mode > $outdir/sub.log & spid=$!
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top -b -d1 -p $spid >> $outdir/sub-top.log & tpid=$!
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tail -f $outdir/sub.log & xpid=$!
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ssh $pubremote ". $remotedir/run-publisher.tmp"
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kill $tpid
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kill -2 $spid
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eval $killremotesubs
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sleep 1
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kill $lpid $xpid
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wait
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scp $pubremote:$remotedir/{pub-top.log,pub.log} $outdir
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done
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done
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59
examples/perfscript/throughput-test-extract
Executable file
59
examples/perfscript/throughput-test-extract
Executable file
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@ -0,0 +1,59 @@
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#!/usr/bin/perl -w
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use strict;
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my @dirs = ("async0-mode-1", "async0-mode0", "async0-mode1",
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"async1-mode-1", "async1-mode0", "async1-mode1");
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my $dataset = 0;
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my $basedir = "throughput-result";
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$basedir = $ARGV[0] if @ARGV== 1;
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my $load_threshold = 20;
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for my $dir (@dirs) {
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my @loads = ();
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{
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open LH, "< $basedir/data-$dir/sub-ethload.log" or next; # die "can't open $basedir/data-$dir/sub-ethload.log";
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my @curload = ();
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while (<LH>) {
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next unless /^r +([0-9.]+).*\( *(\d+)/;
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push @curload, $2 if $1 > $load_threshold;
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if (@curload && $1 < $load_threshold) {
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push @loads, median (@curload);
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@curload = ();
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}
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}
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push @loads, median (@curload) if @curload;
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close LH;
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}
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open FH, "< $basedir/data-$dir/sub.log" or next; # die "can't open $basedir/data-$dir/sub.log";
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print "\n\n" if $dataset++;
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print "# mode $dir\n";
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print "# payloadsize rate[samples/s] appl.bandwidth[Mb/s] raw.bandwidth[Mb/s]\n";
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my $psz;
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my @rate = ();
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while (<FH>) {
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next unless /Payload size: ([0-9]+).*Transfer rate: ([0-9.]+)/;
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my $psz_cur = $1; my $rate_cur = $2;
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$psz = $psz_cur unless defined $psz;
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if ($psz != $psz_cur) {
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my $load = shift @loads;
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my $rate = median (@rate);
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printf "%d %f %f %f\n", $psz, $rate, $rate * (8 + $psz) / 125e3, $load / 125e3;
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@rate = ();
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}
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$psz = $psz_cur;
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push @rate, ($rate_cur + 0.0);
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}
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my $load = shift @loads;
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my $rate = median (@rate);
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printf "%d %f %f %f\n", $psz, $rate, $rate * (8 + $psz) / 125e3, $load / 125e3;
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close FH;
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}
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sub median {
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my @xs = sort { $a <=> $b } @_;
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return (@xs % 2) ? $xs[(@xs - 1) / 2] : ($xs[@xs/2 - 1] + $xs[@xs/2]) / 2;
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}
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14
examples/perfscript/throughput-test-plot
Executable file
14
examples/perfscript/throughput-test-plot
Executable file
|
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@ -0,0 +1,14 @@
|
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#!/bin/bash
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|
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`dirname $0`/throughput-test-extract > data.txt
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gnuplot <<\EOF
|
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set term png size 1024,768
|
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set output "throughput-polling.png"
|
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set st d l
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set title "Throughput (polling with 1ms sleeps)"
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set ylabel "M sample/s"
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set y2label "Mbps"
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set y2tics
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set xlabel "payload size [bytes]"
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p "data.txt" i 5 u 1:($2/1e6) ti "rate [M sample/s]", "" i 5 u 1:3 axes x1y2 ti "app bandwidth [Mbps]", "" i 5 u 1:4 axes x1y2 ti "GbE bandwidth [Mbps]"
|
||||
EOF
|
||||
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