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// 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_leader.hpp"
#include "iceoryx.hpp"
#include "iceoryx_c.hpp"
#include "iceoryx_hoofs/cxx/convert.hpp"
#include "iceoryx_posh/popo/publisher.hpp"
#include "iceoryx_posh/popo/subscriber.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
#include "mq.hpp"
#include "topic_data.hpp"
#include "uds.hpp"
#include <iomanip>
#include <iostream>
#include <vector>
//! [use constants instead of magic values]
constexpr const char APP_NAME[]{"iceperf-bench-leader"};
constexpr const char PUBLISHER[]{"Leader"};
constexpr const char SUBSCRIBER[]{"Follower"};
//! [use constants instead of magic values]
IcePerfLeader::IcePerfLeader(const PerfSettings settings) noexcept
: m_settings(settings)
{
//! [cleanup outdated resources]
#ifndef __APPLE__
MQ::cleanupOutdatedResources(PUBLISHER, SUBSCRIBER);
#endif
UDS::cleanupOutdatedResources(PUBLISHER, SUBSCRIBER);
//! [cleanup outdated resources]
}
//! [do the measurement for a single technology]
void IcePerfLeader::doMeasurement(IcePerfBase& ipcTechnology) noexcept
{
ipcTechnology.initLeader();
std::vector<std::tuple<uint32_t, iox::units::Duration>> latencyMeasurements;
const std::vector<uint32_t> payloadSizesInKB{1, 2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, 2048, 4096};
std::cout << "Measurement for:";
const char* separator = " ";
for (const auto payloadSizeInKB : payloadSizesInKB)
{
std::cout << separator << payloadSizeInKB << " kB" << std::flush;
separator = ", ";
auto payloadSizeInBytes = payloadSizeInKB * IcePerfBase::ONE_KILOBYTE;
ipcTechnology.preLatencyPerfTestLeader(payloadSizeInBytes);
auto latency = ipcTechnology.latencyPerfTestLeader(m_settings.numberOfSamples);
latencyMeasurements.push_back(std::make_tuple(payloadSizeInKB, latency));
ipcTechnology.postLatencyPerfTestLeader();
}
std::cout << std::endl;
ipcTechnology.releaseFollower();
ipcTechnology.shutdown();
std::cout << std::endl;
std::cout << "#### Measurement Result ####" << std::endl;
std::cout << m_settings.numberOfSamples << " round trips for each payload." << std::endl;
std::cout << std::endl;
std::cout << "| Payload Size [kB] | Average Latency [µs] |" << std::endl;
std::cout << "|------------------:|---------------------:|" << std::endl;
for (const auto& latencyMeasuement : latencyMeasurements)
{
auto payloadSizeInKB = std::get<0>(latencyMeasuement);
auto latencyInMicroseconds = static_cast<double>(std::get<1>(latencyMeasuement).toNanoseconds()) / 1000.0;
std::cout << "| " << std::setw(17) << payloadSizeInKB << " | " << std::setw(20) << std::setprecision(2)
<< latencyInMicroseconds << " |" << std::endl;
}
std::cout << std::endl;
std::cout << "Finished!" << std::endl;
}
//! [do the measurement for a single technology]
//! [run all technologies]
int IcePerfLeader::run() noexcept
{
iox::runtime::PoshRuntime::initRuntime(APP_NAME);
//! [send setting to follower application]
iox::capro::ServiceDescription serviceDescription{"IcePerf", "Settings", "Generic"};
iox::popo::PublisherOptions options;
options.historyCapacity = 1U;
iox::popo::Publisher<PerfSettings> settingsPublisher{serviceDescription, options};
if (!settingsPublisher.publishCopyOf(m_settings))
{
std::cerr << "Could not send settings to follower!" << std::endl;
return EXIT_FAILURE;
}
//! [send setting to follower application]
//! [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]
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