Support actions / Add communication benchmarks directory#137
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mauropasse wants to merge 9 commits into
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Support actions / Add communication benchmarks directory#137mauropasse wants to merge 9 commits into
mauropasse wants to merge 9 commits into
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added 7 commits
April 29, 2024 11:16
mauropasse
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alsora
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Nov 18, 2024
alsora
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Nov 18, 2024
alsora
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Nov 18, 2024
alsora
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Nov 18, 2024
| topology_basename.substr(0, topology_basename.length() - 5) + "_log"; | ||
| std::string result_dir_name; | ||
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| if (result_dir != "") { |
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Suggested change
| if (result_dir != "") { | |
| if (!result_dir.empty()) { |
alsora
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Nov 18, 2024
| // Client blocking call does not work with timers | ||
| // Use a lock variable to avoid calling when you are already waiting | ||
| std::atomic<bool> m_client_lock {false}; | ||
| std::atomic<bool> m_action_client_lock {false}; |
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if i recall correctly, this assumes that you are only doing 1 request from each node.
i think that each client should have their own "lock", rather than 1 per node
alsora
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Nov 18, 2024
| // trackers. | ||
| std::map<std::string, ClientsTuple> m_clients; | ||
| std::map<std::string, ActionClientsTuple> m_action_clients; | ||
| std::map<std::string, ActionServersTuple> m_action_servers; |
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minor: these could probably be unordered maps
alsora
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Nov 18, 2024
| auto client = std::static_pointer_cast<rclcpp_action::Client<Action>>(std::get<0>(client_tuple)); | ||
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| // Wait for action server to become available | ||
| if (!client->wait_for_action_server(std::chrono::seconds(1))) { |
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this will block the whole node (e.g. maybe there are pubs-subs also that should be running).
I wonder if we should wait 0 here and just skip the request if not discovered.
then the test validation should check how many goals were sent.
maybe the same comment applies also to services
alsora
reviewed
Nov 18, 2024
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| size_t non_sep_pos = split_right.find_first_not_of(sep); | ||
| if (non_sep_pos == std::string::npos) { | ||
| std::cerr << "Non-separator character not found after separator in line: " << line << std::endl; |
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what can cause this?
should we assert?
alsora
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Nov 18, 2024
| } else if (action_client_json.find("period_ms") != action_client_json.end()) { | ||
| period_ms = action_client_json["period_ms"]; | ||
| } else { | ||
| std::cout << "Error! Action Clients must set period_ms or freq_hz in json file" << std::endl; |
alsora
reviewed
Nov 18, 2024
| ], | ||
| "publishers": [ | ||
| {"topic_name": "salween", "msg_type": "stamped12_float32", "period_ms": 100, "msg_pass_by":"loaned_msg"} | ||
| {"topic_name": "salween", "msg_type": "stamped12_float32", "period_ms": 100, "msg_pass_by":"shared_ptr"} |
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Commits:
d50eebd Support Actions and add comms_benchmark dir
comms_benchmarkdirectory contains scripts to run benchmarks plus topologies:10B/100KB/1MB/4MBirobot_benchmark/comms_benchmark/scripts/run_all_benchmarks.shis the script to run all tests.irobot_benchmark/comms_benchmark/scripts/parse-resultscontains scripts to parse the results.jsontopology files.e67baa4 Improve error handling in data parsing and file operations
2fdd9bc warning if negative latency for multi-host benchmarks
5d4e998 Show latency even if msg arrived late
0f646cf Add option to create results directory
9def392 Remove irobot_events_executor dependency
24cf6b2 Remove option and always name threads