Topic Statistics: Add SubscriptionTopicStatistics class (#1050)
* Add SubscriberTopicStatistics class Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Add SubscriberTopicStatistics Test Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Address review comments Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Modify constructor to allow a node to create necessary components Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Fix docstring style Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Remove SetPublisherTimer method Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Change naming style to match rclcpp Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Address style issues Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Fix rebase issue Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Use rclcpp:Time Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Address review comments Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Remove unnecessary check for null publisher timer Move anonymous namespace function to private class method Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Update message dependency Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Revert constructor changes Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Address review comments Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
This commit is contained in:
Devin Bonnie
GitHub
parent
593b577294
commit
61e5075d06
4 changed files with 366 additions and 0 deletions
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@ -4,6 +4,7 @@ project(rclcpp)
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find_package(ament_cmake_ros REQUIRED)
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find_package(builtin_interfaces REQUIRED)
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find_package(libstatistics_collector REQUIRED)
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find_package(rcl REQUIRED)
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find_package(rcl_interfaces REQUIRED)
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find_package(rcl_yaml_param_parser REQUIRED)
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@ -14,6 +15,7 @@ find_package(rosgraph_msgs REQUIRED)
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find_package(rosidl_runtime_cpp REQUIRED)
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find_package(rosidl_typesupport_c REQUIRED)
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find_package(rosidl_typesupport_cpp REQUIRED)
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find_package(statistics_msgs REQUIRED)
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find_package(tracetools REQUIRED)
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# Default to C++14
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@ -116,6 +118,7 @@ add_library(${PROJECT_NAME}
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${${PROJECT_NAME}_SRCS})
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# specific order: dependents before dependencies
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ament_target_dependencies(${PROJECT_NAME}
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"libstatistics_collector"
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"rcl"
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"rcl_yaml_param_parser"
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"rcpputils"
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@ -124,6 +127,7 @@ ament_target_dependencies(${PROJECT_NAME}
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"rosgraph_msgs"
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"rosidl_typesupport_cpp"
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"rosidl_runtime_cpp"
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"statistics_msgs"
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"tracetools"
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)
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@ -143,6 +147,7 @@ install(
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ament_export_include_directories(include)
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ament_export_libraries(${PROJECT_NAME})
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ament_export_dependencies(libstatistics_collector)
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ament_export_dependencies(rcl)
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ament_export_dependencies(rcpputils)
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ament_export_dependencies(rcutils)
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@ -152,6 +157,7 @@ ament_export_dependencies(rosidl_typesupport_cpp)
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ament_export_dependencies(rosidl_typesupport_c)
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ament_export_dependencies(rosidl_runtime_cpp)
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ament_export_dependencies(rcl_yaml_param_parser)
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ament_export_dependencies(statistics_msgs)
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ament_export_dependencies(tracetools)
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if(BUILD_TESTING)
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@ -535,6 +541,20 @@ if(BUILD_TESTING)
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target_link_libraries(test_wait_set ${PROJECT_NAME})
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endif()
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ament_add_gtest(test_subscription_topic_statistics test/topic_statistics/test_subscription_topic_statistics.cpp)
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if(TARGET test_subscription_topic_statistics)
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ament_target_dependencies(test_subscription_topic_statistics
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"libstatistics_collector"
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"rcl_interfaces"
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"rcutils"
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"rmw"
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"rosidl_runtime_cpp"
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"rosidl_typesupport_cpp"
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"statistics_msgs"
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"test_msgs")
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target_link_libraries(test_subscription_topic_statistics ${PROJECT_NAME})
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endif()
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ament_add_gtest(test_subscription_options test/test_subscription_options.cpp)
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if(TARGET test_subscription_options)
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ament_target_dependencies(test_subscription_options "rcl")
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@ -0,0 +1,204 @@
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// Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP__TOPIC_STATISTICS__SUBSCRIPTION_TOPIC_STATISTICS_HPP_
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#define RCLCPP__TOPIC_STATISTICS__SUBSCRIPTION_TOPIC_STATISTICS_HPP_
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#include <memory>
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#include <string>
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#include <utility>
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#include <vector>
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#include "libstatistics_collector/collector/generate_statistics_message.hpp"
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#include "libstatistics_collector/moving_average_statistics/types.hpp"
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#include "libstatistics_collector/topic_statistics_collector/constants.hpp"
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#include "libstatistics_collector/topic_statistics_collector/received_message_period.hpp"
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#include "rcl/time.h"
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#include "rclcpp/time.hpp"
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#include "rclcpp/publisher.hpp"
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#include "rclcpp/timer.hpp"
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#include "statistics_msgs/msg/metrics_message.hpp"
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namespace rclcpp
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{
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namespace topic_statistics
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{
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constexpr const char kDefaultPublishTopicName[]{"/statistics"};
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constexpr const std::chrono::milliseconds kDefaultPublishingPeriod{std::chrono::seconds(1)};
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using libstatistics_collector::collector::GenerateStatisticMessage;
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using statistics_msgs::msg::MetricsMessage;
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using libstatistics_collector::moving_average_statistics::StatisticData;
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/**
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* Class used to collect, measure, and publish topic statistics data. Current statistics
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* supported for subscribers are received message age and received message period.
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*
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* \tparam CallbackMessageT the subscribed message type
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*/
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template<typename CallbackMessageT>
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class SubscriptionTopicStatistics
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{
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using TopicStatsCollector =
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libstatistics_collector::topic_statistics_collector::TopicStatisticsCollector<
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CallbackMessageT>;
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using ReceivedMessagePeriod =
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libstatistics_collector::topic_statistics_collector::ReceivedMessagePeriodCollector<
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CallbackMessageT>;
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public:
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/// Construct a SubscriptionTopicStatistics object.
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/**
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* This object wraps utilities, defined in libstatistics_collector, to collect,
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* measure, and publish topic statistics data. This throws an invalid_argument
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* if the input publisher is null.
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*
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* \param node_name the name of the node, which created this instance, in order to denote
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* topic source
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* \param publisher instance constructed by the node in order to publish statistics data.
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* This class owns the publisher.
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*/
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SubscriptionTopicStatistics(
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const std::string & node_name,
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rclcpp::Publisher<statistics_msgs::msg::MetricsMessage>::SharedPtr publisher)
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: node_name_(node_name),
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publisher_(std::move(publisher))
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{
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// TODO(dbbonnie): ros-tooling/aws-roadmap/issues/226, received message age
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if (nullptr == publisher_) {
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throw std::invalid_argument("publisher pointer is nullptr");
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}
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bring_up();
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}
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virtual ~SubscriptionTopicStatistics()
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{
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tear_down();
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}
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/// Handle a message received by the subscription to collect statistics.
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/**
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* \param received_message the message received by the subscription
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* \param now_nanoseconds current time in nanoseconds
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*/
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virtual void handle_message(
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const CallbackMessageT & received_message,
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const rclcpp::Time now_nanoseconds) const
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{
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for (const auto & collector : subscriber_statistics_collectors_) {
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collector->OnMessageReceived(received_message, now_nanoseconds.nanoseconds());
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}
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}
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/// Set the timer used to publish statistics messages.
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/**
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* \param measurement_timer the timer to fire the publisher, created by the node
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*/
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void set_publisher_timer(rclcpp::TimerBase::SharedPtr publisher_timer)
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{
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publisher_timer_ = publisher_timer;
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}
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/// Publish a populated MetricsStatisticsMessage.
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virtual void publish_message()
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{
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rclcpp::Time window_end{get_current_nanoseconds_since_epoch()};
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for (auto & collector : subscriber_statistics_collectors_) {
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const auto collected_stats = collector->GetStatisticsResults();
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auto message = libstatistics_collector::collector::GenerateStatisticMessage(
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node_name_,
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collector->GetMetricName(),
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collector->GetMetricUnit(),
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window_start_,
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window_end,
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collected_stats);
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publisher_->publish(message);
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}
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window_start_ = window_end;
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}
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protected:
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/// Return a vector of all the currently collected data.
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/**
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* \return a vector of all the collected data
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*/
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std::vector<StatisticData> get_current_collector_data() const
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{
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std::vector<StatisticData> data;
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for (const auto & collector : subscriber_statistics_collectors_) {
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data.push_back(collector->GetStatisticsResults());
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}
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return data;
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}
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private:
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/// Construct and start all collectors and set window_start_.
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void bring_up()
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{
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auto received_message_period = std::make_unique<ReceivedMessagePeriod>();
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received_message_period->Start();
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subscriber_statistics_collectors_.emplace_back(std::move(received_message_period));
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window_start_ = rclcpp::Time(get_current_nanoseconds_since_epoch());
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}
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/// Stop all collectors, clear measurements, stop publishing timer, and reset publisher.
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void tear_down()
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{
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for (auto & collector : subscriber_statistics_collectors_) {
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collector->Stop();
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}
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subscriber_statistics_collectors_.clear();
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if (publisher_timer_) {
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publisher_timer_->cancel();
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publisher_timer_.reset();
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}
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publisher_.reset();
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}
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/// Return the current nanoseconds (count) since epoch.
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/**
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* \return the current nanoseconds (count) since epoch
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*/
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int64_t get_current_nanoseconds_since_epoch() const
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{
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const auto now = std::chrono::system_clock::now();
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return std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
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}
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/// Collection of statistics collectors
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std::vector<std::unique_ptr<TopicStatsCollector>> subscriber_statistics_collectors_{};
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/// Node name used to generate topic statistics messages to be published
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const std::string node_name_;
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/// Publisher, created by the node, used to publish topic statistics messages
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rclcpp::Publisher<statistics_msgs::msg::MetricsMessage>::SharedPtr publisher_;
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/// Timer which fires the publisher
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rclcpp::TimerBase::SharedPtr publisher_timer_;
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/// The start of the collection window, used in the published topic statistics message
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rclcpp::Time window_start_;
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};
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} // namespace topic_statistics
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} // namespace rclcpp
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#endif // RCLCPP__TOPIC_STATISTICS__SUBSCRIPTION_TOPIC_STATISTICS_HPP_
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@ -22,11 +22,13 @@
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<build_export_depend>rosidl_typesupport_c</build_export_depend>
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<build_export_depend>rosidl_typesupport_cpp</build_export_depend>
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<depend>libstatistics_collector</depend>
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<depend>rcl</depend>
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<depend>rcl_yaml_param_parser</depend>
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<depend>rcpputils</depend>
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<depend>rcutils</depend>
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<depend>rmw</depend>
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<depend>statistics_msgs</depend>
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<depend>tracetools</depend>
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<test_depend>ament_cmake_gmock</test_depend>
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@ -0,0 +1,140 @@
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// Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <gtest/gtest.h>
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#include <memory>
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#include <string>
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#include <vector>
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#include "libstatistics_collector/moving_average_statistics/types.hpp"
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#include "rclcpp/create_publisher.hpp"
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#include "rclcpp/node.hpp"
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#include "rclcpp/qos.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "rclcpp/topic_statistics/subscription_topic_statistics.hpp"
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#include "statistics_msgs/msg/metrics_message.hpp"
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#include "test_msgs/msg/empty.hpp"
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namespace
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{
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constexpr const char kTestNodeName[]{"test_sub_stats_node"};
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constexpr const char kTestSubStatsTopic[]{"/test_sub_stats_topic"};
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constexpr const char kTestTopicStatisticsTopic[]{"/test_topic_statistics_topic"};
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constexpr const uint64_t kNoSamples{0};
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} // namespace
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using test_msgs::msg::Empty;
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using statistics_msgs::msg::MetricsMessage;
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using rclcpp::topic_statistics::SubscriptionTopicStatistics;
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using libstatistics_collector::moving_average_statistics::StatisticData;
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template<typename CallbackMessageT>
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class TestSubscriptionTopicStatistics : public SubscriptionTopicStatistics<CallbackMessageT>
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{
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public:
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TestSubscriptionTopicStatistics(
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const std::string & node_name,
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rclcpp::Publisher<statistics_msgs::msg::MetricsMessage>::SharedPtr publisher)
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: SubscriptionTopicStatistics<CallbackMessageT>(node_name, publisher)
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{
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}
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virtual ~TestSubscriptionTopicStatistics() = default;
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/// Exposed for testing
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std::vector<StatisticData> get_current_collector_data() const
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{
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return SubscriptionTopicStatistics<CallbackMessageT>::get_current_collector_data();
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}
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};
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/**
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* Empty subscriber node: used to create subscriber topic statistics requirements
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*/
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class EmptySubscriber : public rclcpp::Node
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{
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public:
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EmptySubscriber(const std::string & name, const std::string & topic)
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: Node(name)
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{
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auto callback = [this](Empty::UniquePtr msg) {
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this->receive_message(*msg);
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};
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subscription_ = create_subscription<Empty,
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std::function<void(Empty::UniquePtr)>>(
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topic,
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rclcpp::QoS(rclcpp::KeepAll()),
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callback);
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}
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virtual ~EmptySubscriber() = default;
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private:
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void receive_message(const Empty &) const
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{
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}
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rclcpp::Subscription<Empty>::SharedPtr subscription_;
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};
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/**
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* Test fixture to bring up and teardown rclcpp
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*/
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class TestSubscriptionTopicStatisticsFixture : public ::testing::Test
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{
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protected:
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void SetUp()
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{
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rclcpp::init(0 /* argc */, nullptr /* argv */);
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empty_subscriber = std::make_shared<EmptySubscriber>(
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kTestNodeName,
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kTestSubStatsTopic);
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}
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void TearDown()
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{
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rclcpp::shutdown();
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empty_subscriber.reset();
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}
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std::shared_ptr<EmptySubscriber> empty_subscriber;
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};
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TEST_F(TestSubscriptionTopicStatisticsFixture, test_manual_construction)
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{
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// manually create publisher tied to the node
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auto topic_stats_publisher =
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empty_subscriber->create_publisher<MetricsMessage>(
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kTestTopicStatisticsTopic,
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10);
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// construct the instance
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auto sub_topic_stats = std::make_unique<TestSubscriptionTopicStatistics<Empty>>(
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empty_subscriber->get_name(),
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topic_stats_publisher);
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using libstatistics_collector::moving_average_statistics::StatisticData;
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// expect no data has been collected / no samples received
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for (const auto & data : sub_topic_stats->get_current_collector_data()) {
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EXPECT_TRUE(std::isnan(data.average));
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EXPECT_TRUE(std::isnan(data.min));
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EXPECT_TRUE(std::isnan(data.max));
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EXPECT_TRUE(std::isnan(data.standard_deviation));
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EXPECT_EQ(kNoSamples, data.sample_count);
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}
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}
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