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
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@ -1,513 +0,0 @@
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#include "dds/dds.h"
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#include "RoundTrip.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <signal.h>
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#include <inttypes.h>
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#define TIME_STATS_SIZE_INCREMENT 50000
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#define MAX_SAMPLES 100
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#define US_IN_ONE_SEC 1000000LL
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/* Forward declaration */
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static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_entity_t *readCond, dds_listener_t *listener);
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static void finalize_dds(dds_entity_t participant);
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typedef struct ExampleTimeStats
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{
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dds_time_t * values;
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unsigned long valuesSize;
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unsigned long valuesMax;
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double average;
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dds_time_t min;
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dds_time_t max;
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unsigned long count;
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} ExampleTimeStats;
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static void exampleInitTimeStats (ExampleTimeStats *stats)
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{
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stats->values = (dds_time_t*) malloc (TIME_STATS_SIZE_INCREMENT * sizeof (dds_time_t));
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stats->valuesSize = 0;
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stats->valuesMax = TIME_STATS_SIZE_INCREMENT;
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stats->average = 0;
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stats->min = 0;
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stats->max = 0;
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stats->count = 0;
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}
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static void exampleResetTimeStats (ExampleTimeStats *stats)
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{
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memset (stats->values, 0, stats->valuesMax * sizeof (dds_time_t));
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stats->valuesSize = 0;
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stats->average = 0;
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stats->min = 0;
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stats->max = 0;
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stats->count = 0;
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}
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static void exampleDeleteTimeStats (ExampleTimeStats *stats)
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{
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free (stats->values);
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}
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static ExampleTimeStats *exampleAddTimingToTimeStats
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(ExampleTimeStats *stats, dds_time_t timing)
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{
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if (stats->valuesSize > stats->valuesMax)
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{
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dds_time_t * temp = (dds_time_t*) realloc (stats->values, (stats->valuesMax + TIME_STATS_SIZE_INCREMENT) * sizeof (dds_time_t));
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stats->values = temp;
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stats->valuesMax += TIME_STATS_SIZE_INCREMENT;
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}
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if (stats->values != NULL && stats->valuesSize < stats->valuesMax)
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{
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stats->values[stats->valuesSize++] = timing;
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}
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stats->average = ((double)stats->count * stats->average + (double)timing) / (double)(stats->count + 1);
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stats->min = (stats->count == 0 || timing < stats->min) ? timing : stats->min;
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stats->max = (stats->count == 0 || timing > stats->max) ? timing : stats->max;
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stats->count++;
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return stats;
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}
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static int exampleCompareul (const void* a, const void* b)
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{
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dds_time_t ul_a = *((dds_time_t*)a);
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dds_time_t ul_b = *((dds_time_t*)b);
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if (ul_a < ul_b) return -1;
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if (ul_a > ul_b) return 1;
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return 0;
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}
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static double exampleGetMedianFromTimeStats (ExampleTimeStats *stats)
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{
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double median = 0.0;
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qsort (stats->values, stats->valuesSize, sizeof (dds_time_t), exampleCompareul);
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if (stats->valuesSize % 2 == 0)
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{
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median = (double)(stats->values[stats->valuesSize / 2 - 1] + stats->values[stats->valuesSize / 2]) / 2;
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}
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else
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{
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median = (double)stats->values[stats->valuesSize / 2];
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}
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return median;
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}
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static dds_time_t exampleGet99PercentileFromTimeStats (ExampleTimeStats *stats)
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{
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qsort (stats->values, stats->valuesSize, sizeof (dds_time_t), exampleCompareul);
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return stats->values[stats->valuesSize - stats->valuesSize / 100];
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}
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static dds_entity_t waitSet;
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#ifdef _WIN32
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#include <Windows.h>
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static bool CtrlHandler (DWORD fdwCtrlType)
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{
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dds_waitset_set_trigger (waitSet, true);
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return true; //Don't let other handlers handle this key
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}
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#elif !DDSRT_WITH_FREERTOS
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static void CtrlHandler (int sig)
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{
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(void)sig;
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dds_waitset_set_trigger (waitSet, true);
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}
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#endif
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static dds_entity_t writer;
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static dds_entity_t reader;
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static dds_entity_t participant;
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static dds_entity_t readCond;
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static ExampleTimeStats roundTrip;
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static ExampleTimeStats writeAccess;
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static ExampleTimeStats readAccess;
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static ExampleTimeStats roundTripOverall;
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static ExampleTimeStats writeAccessOverall;
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static ExampleTimeStats readAccessOverall;
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static RoundTripModule_DataType pub_data;
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static RoundTripModule_DataType sub_data[MAX_SAMPLES];
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static void *samples[MAX_SAMPLES];
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static dds_sample_info_t info[MAX_SAMPLES];
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static dds_time_t startTime;
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static dds_time_t preWriteTime;
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static dds_time_t postWriteTime;
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static dds_time_t preTakeTime;
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static dds_time_t postTakeTime;
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static dds_time_t elapsed = 0;
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static bool warmUp = true;
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static void data_available(dds_entity_t rd, void *arg)
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{
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dds_time_t difference = 0;
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int status;
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(void)arg;
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/* Take sample and check that it is valid */
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preTakeTime = dds_time ();
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status = dds_take (rd, samples, info, MAX_SAMPLES, MAX_SAMPLES);
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if (status < 0)
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DDS_FATAL("dds_take: %s\n", dds_strretcode(-status));
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postTakeTime = dds_time ();
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/* Update stats */
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difference = (postWriteTime - preWriteTime)/DDS_NSECS_IN_USEC;
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writeAccess = *exampleAddTimingToTimeStats (&writeAccess, difference);
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writeAccessOverall = *exampleAddTimingToTimeStats (&writeAccessOverall, difference);
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difference = (postTakeTime - preTakeTime)/DDS_NSECS_IN_USEC;
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readAccess = *exampleAddTimingToTimeStats (&readAccess, difference);
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readAccessOverall = *exampleAddTimingToTimeStats (&readAccessOverall, difference);
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difference = (postTakeTime - info[0].source_timestamp)/DDS_NSECS_IN_USEC;
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roundTrip = *exampleAddTimingToTimeStats (&roundTrip, difference);
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roundTripOverall = *exampleAddTimingToTimeStats (&roundTripOverall, difference);
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if (!warmUp) {
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/* Print stats each second */
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difference = (postTakeTime - startTime)/DDS_NSECS_IN_USEC;
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if (difference > US_IN_ONE_SEC)
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{
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printf("%9" PRIi64 " %9lu %8.0f %8" PRIi64 " %8" PRIi64 " %8" PRIi64 " %10lu %8.0f %8" PRIi64 " %10lu %8.0f %8" PRIi64 "\n",
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elapsed + 1,
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roundTrip.count,
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exampleGetMedianFromTimeStats (&roundTrip) / 2,
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roundTrip.min / 2,
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exampleGet99PercentileFromTimeStats (&roundTrip) / 2,
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roundTrip.max / 2,
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writeAccess.count,
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exampleGetMedianFromTimeStats (&writeAccess),
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writeAccess.min,
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readAccess.count,
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exampleGetMedianFromTimeStats (&readAccess),
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readAccess.min);
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fflush (stdout);
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exampleResetTimeStats (&roundTrip);
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exampleResetTimeStats (&writeAccess);
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exampleResetTimeStats (&readAccess);
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startTime = dds_time ();
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elapsed++;
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}
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}
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preWriteTime = dds_time();
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status = dds_write_ts (writer, &pub_data, preWriteTime);
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if (status < 0)
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DDS_FATAL("dds_write_ts: %s\n", dds_strretcode(-status));
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postWriteTime = dds_time();
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}
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static void usage(void)
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{
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printf ("Usage (parameters must be supplied in order):\n"
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"./ping [-l] [payloadSize (bytes, 0 - 100M)] [numSamples (0 = infinite)] [timeOut (seconds, 0 = infinite)]\n"
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"./ping quit - ping sends a quit signal to pong.\n"
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"Defaults:\n"
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"./ping 0 0 0\n");
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exit(EXIT_FAILURE);
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}
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int main (int argc, char *argv[])
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{
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uint32_t payloadSize = 0;
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uint64_t numSamples = 0;
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bool invalidargs = false;
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dds_time_t timeOut = 0;
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dds_time_t time;
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dds_time_t difference = 0;
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dds_attach_t wsresults[1];
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size_t wsresultsize = 1U;
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dds_time_t waitTimeout = DDS_SECS (1);
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unsigned long i;
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int status;
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dds_listener_t *listener = NULL;
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bool use_listener = false;
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int argidx = 1;
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/* poor man's getopt works even on Windows */
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if (argc > argidx && strcmp(argv[argidx], "-l") == 0)
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{
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argidx++;
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use_listener = true;
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}
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/* Register handler for Ctrl-C */
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#ifdef _WIN32
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SetConsoleCtrlHandler ((PHANDLER_ROUTINE)CtrlHandler, TRUE);
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#elif !DDSRT_WITH_FREERTOS
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struct sigaction sat, oldAction;
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sat.sa_handler = CtrlHandler;
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sigemptyset (&sat.sa_mask);
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sat.sa_flags = 0;
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sigaction (SIGINT, &sat, &oldAction);
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#endif
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exampleInitTimeStats (&roundTrip);
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exampleInitTimeStats (&writeAccess);
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exampleInitTimeStats (&readAccess);
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exampleInitTimeStats (&roundTripOverall);
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exampleInitTimeStats (&writeAccessOverall);
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exampleInitTimeStats (&readAccessOverall);
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memset (&sub_data, 0, sizeof (sub_data));
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memset (&pub_data, 0, sizeof (pub_data));
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for (i = 0; i < MAX_SAMPLES; i++)
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{
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samples[i] = &sub_data[i];
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}
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participant = dds_create_participant (DDS_DOMAIN_DEFAULT, NULL, NULL);
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if (participant < 0)
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DDS_FATAL("dds_create_participant: %s\n", dds_strretcode(-participant));
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if (use_listener)
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{
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listener = dds_create_listener(NULL);
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dds_lset_data_available(listener, data_available);
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}
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prepare_dds(&writer, &reader, &readCond, listener);
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if (argc - argidx == 1 && strcmp (argv[argidx], "quit") == 0)
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{
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printf ("Sending termination request.\n");
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fflush (stdout);
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/* pong uses a waitset which is triggered by instance disposal, and
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quits when it fires. */
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dds_sleepfor (DDS_SECS (1));
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pub_data.payload._length = 0;
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pub_data.payload._buffer = NULL;
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pub_data.payload._release = true;
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pub_data.payload._maximum = 0;
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status = dds_writedispose (writer, &pub_data);
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if (status < 0)
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DDS_FATAL("dds_writedispose: %s\n", dds_strretcode(-status));
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dds_sleepfor (DDS_SECS (1));
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goto done;
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}
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if (argc - argidx == 0)
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{
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invalidargs = true;
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}
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if (argc - argidx >= 1)
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{
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payloadSize = (uint32_t) atol (argv[argidx]);
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if (payloadSize > 100 * 1048576)
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{
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invalidargs = true;
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}
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}
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if (argc - argidx >= 2)
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{
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numSamples = (uint64_t) atol (argv[argidx+1]);
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}
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if (argc - argidx >= 3)
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{
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timeOut = atol (argv[argidx+2]);
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}
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if (invalidargs || (argc - argidx == 1 && (strcmp (argv[argidx], "-h") == 0 || strcmp (argv[argidx], "--help") == 0)))
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usage();
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printf ("# payloadSize: %" PRIu32 " | numSamples: %" PRIu64 " | timeOut: %" PRIi64 "\n\n", payloadSize, numSamples, timeOut);
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fflush (stdout);
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pub_data.payload._length = payloadSize;
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pub_data.payload._buffer = payloadSize ? dds_alloc (payloadSize) : NULL;
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pub_data.payload._release = true;
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pub_data.payload._maximum = 0;
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for (i = 0; i < payloadSize; i++)
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{
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pub_data.payload._buffer[i] = 'a';
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}
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startTime = dds_time ();
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printf ("# Waiting for startup jitter to stabilise\n");
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fflush (stdout);
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/* Write a sample that pong can send back */
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while (!dds_triggered (waitSet) && difference < DDS_SECS(5))
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{
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status = dds_waitset_wait (waitSet, wsresults, wsresultsize, waitTimeout);
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if (status < 0)
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DDS_FATAL("dds_waitset_wait: %s\n", dds_strretcode(-status));
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if (status > 0 && listener == NULL) /* data */
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{
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status = dds_take (reader, samples, info, MAX_SAMPLES, MAX_SAMPLES);
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if (status < 0)
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DDS_FATAL("dds_take: %s\n", dds_strretcode(-status));
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}
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time = dds_time ();
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difference = time - startTime;
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}
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if (!dds_triggered (waitSet))
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{
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warmUp = false;
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printf("# Warm up complete.\n\n");
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printf("# Latency measurements (in us)\n");
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printf("# Latency [us] Write-access time [us] Read-access time [us]\n");
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printf("# Seconds Count median min 99%% max Count median min Count median min\n");
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fflush (stdout);
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}
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exampleResetTimeStats (&roundTrip);
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exampleResetTimeStats (&writeAccess);
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exampleResetTimeStats (&readAccess);
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startTime = dds_time ();
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/* Write a sample that pong can send back */
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preWriteTime = dds_time ();
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status = dds_write_ts (writer, &pub_data, preWriteTime);
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if (status < 0)
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DDS_FATAL("dds_write_ts: %s\n", dds_strretcode(-status));
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postWriteTime = dds_time ();
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for (i = 0; !dds_triggered (waitSet) && (!numSamples || i < numSamples) && !(timeOut && elapsed >= timeOut); i++)
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{
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status = dds_waitset_wait (waitSet, wsresults, wsresultsize, waitTimeout);
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if (status < 0)
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DDS_FATAL("dds_waitset_wait: %s\n", dds_strretcode(-status));
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if (status != 0 && listener == NULL) {
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data_available(reader, NULL);
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}
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}
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if (!warmUp)
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{
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printf
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(
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"\n%9s %9lu %8.0f %8" PRIi64 " %8" PRIi64 " %8" PRIi64 " %10lu %8.0f %8" PRIi64 " %10lu %8.0f %8" PRIi64 "\n",
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"# Overall",
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roundTripOverall.count,
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exampleGetMedianFromTimeStats (&roundTripOverall) / 2,
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roundTripOverall.min / 2,
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exampleGet99PercentileFromTimeStats (&roundTripOverall) / 2,
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roundTripOverall.max / 2,
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writeAccessOverall.count,
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exampleGetMedianFromTimeStats (&writeAccessOverall),
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writeAccessOverall.min,
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readAccessOverall.count,
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exampleGetMedianFromTimeStats (&readAccessOverall),
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readAccessOverall.min
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);
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fflush (stdout);
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}
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||||
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done:
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|
||||
#ifdef _WIN32
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SetConsoleCtrlHandler (0, FALSE);
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#elif !DDSRT_WITH_FREERTOS
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sigaction (SIGINT, &oldAction, 0);
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#endif
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finalize_dds(participant);
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|
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/* Clean up */
|
||||
exampleDeleteTimeStats (&roundTrip);
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||||
exampleDeleteTimeStats (&writeAccess);
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||||
exampleDeleteTimeStats (&readAccess);
|
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exampleDeleteTimeStats (&roundTripOverall);
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||||
exampleDeleteTimeStats (&writeAccessOverall);
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exampleDeleteTimeStats (&readAccessOverall);
|
||||
|
||||
for (i = 0; i < MAX_SAMPLES; i++)
|
||||
{
|
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RoundTripModule_DataType_free (&sub_data[i], DDS_FREE_CONTENTS);
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}
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RoundTripModule_DataType_free (&pub_data, DDS_FREE_CONTENTS);
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|
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return EXIT_SUCCESS;
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}
|
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|
||||
static dds_entity_t prepare_dds(dds_entity_t *wr, dds_entity_t *rd, dds_entity_t *rdcond, dds_listener_t *listener)
|
||||
{
|
||||
dds_return_t status;
|
||||
dds_entity_t topic;
|
||||
dds_entity_t publisher;
|
||||
dds_entity_t subscriber;
|
||||
|
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const char *pubPartitions[] = { "ping" };
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const char *subPartitions[] = { "pong" };
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dds_qos_t *pubQos;
|
||||
dds_qos_t *dwQos;
|
||||
dds_qos_t *drQos;
|
||||
dds_qos_t *subQos;
|
||||
|
||||
/* A DDS_Topic is created for our sample type on the domain participant. */
|
||||
topic = dds_create_topic (participant, &RoundTripModule_DataType_desc, "RoundTrip", NULL, NULL);
|
||||
if (topic < 0)
|
||||
DDS_FATAL("dds_create_topic: %s\n", dds_strretcode(-topic));
|
||||
|
||||
/* A DDS_Publisher is created on the domain participant. */
|
||||
pubQos = dds_create_qos ();
|
||||
dds_qset_partition (pubQos, 1, pubPartitions);
|
||||
|
||||
publisher = dds_create_publisher (participant, pubQos, NULL);
|
||||
if (publisher < 0)
|
||||
DDS_FATAL("dds_create_publisher: %s\n", dds_strretcode(-publisher));
|
||||
dds_delete_qos (pubQos);
|
||||
|
||||
/* A DDS_DataWriter is created on the Publisher & Topic with a modified Qos. */
|
||||
dwQos = dds_create_qos ();
|
||||
dds_qset_reliability (dwQos, DDS_RELIABILITY_RELIABLE, DDS_SECS (10));
|
||||
dds_qset_writer_data_lifecycle (dwQos, false);
|
||||
*wr = dds_create_writer (publisher, topic, dwQos, NULL);
|
||||
if (*wr < 0)
|
||||
DDS_FATAL("dds_create_writer: %s\n", dds_strretcode(-*wr));
|
||||
dds_delete_qos (dwQos);
|
||||
|
||||
/* A DDS_Subscriber is created on the domain participant. */
|
||||
subQos = dds_create_qos ();
|
||||
|
||||
dds_qset_partition (subQos, 1, subPartitions);
|
||||
|
||||
subscriber = dds_create_subscriber (participant, subQos, NULL);
|
||||
if (subscriber < 0)
|
||||
DDS_FATAL("dds_create_subscriber: %s\n", dds_strretcode(-subscriber));
|
||||
dds_delete_qos (subQos);
|
||||
/* A DDS_DataReader is created on the Subscriber & Topic with a modified QoS. */
|
||||
drQos = dds_create_qos ();
|
||||
dds_qset_reliability (drQos, DDS_RELIABILITY_RELIABLE, DDS_SECS(10));
|
||||
*rd = dds_create_reader (subscriber, topic, drQos, listener);
|
||||
if (*rd < 0)
|
||||
DDS_FATAL("dds_create_reader: %s\n", dds_strretcode(-*rd));
|
||||
dds_delete_qos (drQos);
|
||||
|
||||
waitSet = dds_create_waitset (participant);
|
||||
if (listener == NULL) {
|
||||
*rdcond = dds_create_readcondition (*rd, DDS_ANY_STATE);
|
||||
status = dds_waitset_attach (waitSet, *rdcond, *rd);
|
||||
if (status < 0)
|
||||
DDS_FATAL("dds_waitset_attach: %s\n", dds_strretcode(-status));
|
||||
} else {
|
||||
*rdcond = 0;
|
||||
}
|
||||
status = dds_waitset_attach (waitSet, waitSet, waitSet);
|
||||
if (status < 0)
|
||||
DDS_FATAL("dds_waitset_attach: %s\n", dds_strretcode(-status));
|
||||
|
||||
return participant;
|
||||
}
|
||||
|
||||
static void finalize_dds(dds_entity_t ppant)
|
||||
{
|
||||
dds_return_t status;
|
||||
status = dds_delete (ppant);
|
||||
if (status < 0)
|
||||
DDS_FATAL("dds_delete: %s\n", dds_strretcode(-status));
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue