1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
|
// Copyright (c) 2019 - 2020 by Robert Bosch GmbH. All rights reserved.
// Copyright (c) 2020 - 2021 by Apex.AI Inc. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// SPDX-License-Identifier: Apache-2.0
#include "iceperf_follower.hpp"
#include "iceoryx.hpp"
#include "iceoryx_c.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
#include "mq.hpp"
#include "topic_data.hpp"
#include "uds.hpp"
#include <iostream>
//! [use constants instead of magic values]
constexpr const char APP_NAME[]{"iceperf-bench-follower"};
constexpr const char PUBLISHER[]{"Follower"};
constexpr const char SUBSCRIBER[]{"Leader"};
//! [use constants instead of magic values]
//! [do the measurement for a single technology]
void IcePerfFollower::doMeasurement(IcePerfBase& ipcTechnology) noexcept
{
ipcTechnology.initFollower();
ipcTechnology.latencyPerfTestFollower();
ipcTechnology.shutdown();
}
//! [do the measurement for a single technology]
//! [get the settings for the performance measurement]
PerfSettings IcePerfFollower::getSettings(iox::popo::Subscriber<PerfSettings>& subscriber) noexcept
{
// wait for settings from leader application
constexpr bool WAIT_FOR_SETTINGS{true};
while (WAIT_FOR_SETTINGS)
{
static bool waitMessagePrinted{false};
if (!waitMessagePrinted)
{
std::cout << "Waiting for PerfSettings from leader application!" << std::endl;
waitMessagePrinted = true;
}
auto sample = subscriber.take();
if (sample)
{
return *(sample.value());
}
else
{
constexpr std::chrono::milliseconds POLLING_INTERVAL{100};
std::this_thread::sleep_for(POLLING_INTERVAL);
}
}
}
//! [get the settings for the performance measurement]
//! [run all technologies]
int IcePerfFollower::run() noexcept
{
iox::runtime::PoshRuntime::initRuntime(APP_NAME);
//! [get settings from leader]
iox::capro::ServiceDescription serviceDescription{"IcePerf", "Settings", "Generic"};
iox::popo::SubscriberOptions options;
options.historyRequest = 1U;
iox::popo::Subscriber<PerfSettings> settingsSubscriber{serviceDescription, options};
m_settings = getSettings(settingsSubscriber);
//! [get settings from leader]
//! [create an run technologies]
if (m_settings.technology == Technology::ALL || m_settings.technology == Technology::POSIX_MESSAGE_QUEUE)
{
#ifndef __APPLE__
std::cout << std::endl << "****** MESSAGE QUEUE ********" << std::endl;
MQ mq(PUBLISHER, SUBSCRIBER);
doMeasurement(mq);
#else
if (m_settings.technology == Technology::POSIX_MESSAGE_QUEUE)
{
std::cout << "The message queue is not supported on macOS and will be skipped!" << std::endl;
}
#endif
}
if (m_settings.technology == Technology::ALL || m_settings.technology == Technology::UNIX_DOMAIN_SOCKET)
{
std::cout << std::endl << "****** UNIX DOMAIN SOCKET ********" << std::endl;
UDS uds(PUBLISHER, SUBSCRIBER);
doMeasurement(uds);
}
if (m_settings.technology == Technology::ALL || m_settings.technology == Technology::ICEORYX_CPP_API)
{
std::cout << std::endl << "****** ICEORYX ********" << std::endl;
Iceoryx iceoryx(PUBLISHER, SUBSCRIBER);
doMeasurement(iceoryx);
}
if (m_settings.technology == Technology::ALL || m_settings.technology == Technology::ICEORYX_C_API)
{
std::cout << std::endl << "****** ICEORYX C API ********" << std::endl;
IceoryxC iceoryxc(PUBLISHER, SUBSCRIBER);
doMeasurement(iceoryxc);
}
//! [create an run technologies]
return EXIT_SUCCESS;
}
//! [run all technologies]
|
