9cf4b97f1a
* 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>
99 lines
3.7 KiB
ReStructuredText
99 lines
3.7 KiB
ReStructuredText
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Copyright(c) 2006 to 2018 ADLINK Technology Limited and others
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This program and the accompanying materials are made available under the
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terms of the Eclipse Public License v. 2.0 which is available at
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http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
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v. 1.0 which is available at
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http://www.eclipse.org/org/documents/edl-v10.php.
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SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
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Throughput
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==========
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Description
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***********
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The Throughput example allows the measurement of data throughput when receiving samples from a publisher.
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Design
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******
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It consists of 2 units:
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- Publisher: sends samples at a specified size and rate.
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- Subscriber: Receives samples and outputs statistics about throughput
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Scenario
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********
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The **publisher** sends samples and allows you to specify a payload size in bytes as well as allowing you to specify whether
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to send data in bursts. The **publisher** will continue to send data forever unless a time-out is specified.
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Configurable:
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- payloadSize: the size of the payload in bytes
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- burstInterval: the time interval between each burst in ms
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- burstSize: the number of samples to send each burst
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- timeOut: the number of seconds the publisher should run for (0=infinite)
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- partitionName: the name of the partition
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The **subscriber** will receive data and output the total amount received and the data-rate in bytes-per-second. It will
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also indicate if any samples were received out-of-order. A maximum number of cycles can be specified and once this has
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been reached the subscriber will terminate and output totals and averages.
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The **subscriber** executable measures:
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- transferred: the total amount of data transferred in bytes.
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- outOfOrder: the number of samples that were received out of order.
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- transfer rate: the data transfer rate in bytes per second.
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- subscriber also calculates statistics on these values over a configurable number of cycles.
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Configurable:
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- maxCycles: the number of times to output statistics before terminating
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- pollingDelay
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- partitionName: the name of the partition
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Running the example
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*******************
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It is recommended that you run ping and pong in separate terminals to avoid mixing the output.
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- Open 2 terminals.
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- In the first terminal start Publisher by running publisher
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publisher usage (parameters must be supplied in order):
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``./publisher [payloadSize (bytes)] [burstInterval (ms)] [burstSize (samples)] [timeOut (seconds)] [partitionName]``
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defaults:
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``./publisher 8192 0 1 0 "Throughput example"``
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- In the second terminal start Ping by running subscriber
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subscriber usage (parameters must be supplied in order):
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``./subscriber [maxCycles (0=infinite)] [pollingDelay (ms, 0 = event based)] [partitionName]``
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defaults:
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``./subscriber 0 0 "Throughput example"``
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- To achieve optimal performance it is recommended to set the CPU affinity so that ping and pong run on separate CPU cores,
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and use real-time scheduling. In a Linux environment this can be achieved as follows:
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publisher usage:
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``taskset -c 0 chrt -f 80 ./publisher [payloadSize (bytes)] [burstInterval (ms)] [burstSize (samples)] [timeOut (seconds)] [partitionName]``
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subscriber usage:
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``taskset -c 1 chrt -f 80 ./subscriber [maxCycles (0 = infinite)] [pollingDelay (ms, 0 = event based)] [partitionName]``
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On Windows the CPU affinity and prioritized scheduling class can be set as follows:
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publisher usage:
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``START /affinity 1 /high cmd /k "publisher.exe" [payloadSize (bytes)] [burstInterval (ms)] [burstSize (samples)] [timeOut (seconds)] [partitionName]``
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subscriber usage:
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``START /affinity 2 /high cmd /k "subscriber.exe" [maxCycles (0 = infinite)] [pollingDelay (ms, 0 = event based)] [partitionName]``
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