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Commit 8bd9fb9

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JanStaschulatJanStaschulat
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initial commit for package testbench. 1) General API for generation of test cases (src/configure_test.py) 2) API implementation for let_executor (src/let_exec_bm.c)
1 parent 1f7ddb3 commit 8bd9fb9

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Lines changed: 1151 additions & 12 deletions

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‎rcl_executor/CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -20,6 +20,15 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# for performance tracing
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# see https://gitlab.com/micro-ROS/ros_tracing/ros2_perf_analysis/tree/feature/simple-analysis/scripts
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add_compile_options(-finstrument-functions
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-fplugin=/home/jst3si/micro-ros/src/instrument-attribute-gcc-plugin/instrument_attribute.so
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-fplugin-arg-instrument_attribute-debug)
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set(CMAKE_VERBOSE_MAKEFILE ON)
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#################################################
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# package dependencies
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#################################################

‎rcl_executor/src/let_executor.c‎

Lines changed: 10 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -43,7 +43,7 @@ _rcle_print_handles(rcle_let_executor_t * executor)
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}
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}
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46-
rcl_ret_t
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rcl_ret_t __attribute__((instrument_function))
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rcle_let_executor_init(
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rcle_let_executor_t * e,
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rcl_context_t * context,
@@ -94,7 +94,7 @@ rcle_let_executor_init(
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return ret;
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}
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97-
rcl_ret_t
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rcl_ret_t __attribute__((instrument_function))
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rcle_let_executor_set_timeout(rcle_let_executor_t * executor, const uint64_t timeout_ns)
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{
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RCL_CHECK_FOR_NULL_WITH_MSG(
@@ -109,7 +109,7 @@ rcle_let_executor_set_timeout(rcle_let_executor_t * executor, const uint64_t tim
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return ret;
110110
}
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112-
rcl_ret_t
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rcl_ret_t __attribute__((instrument_function))
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rcle_let_executor_fini(rcle_let_executor_t * executor)
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{
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RCL_CHECK_FOR_NULL_WITH_MSG(
@@ -144,7 +144,7 @@ rcle_let_executor_fini(rcle_let_executor_t * executor)
144144
}
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146146

147-
rcl_ret_t
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rcl_ret_t __attribute__((instrument_function))
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rcle_let_executor_add_subscription(
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rcle_let_executor_t * executor,
150150
rcl_subscription_t * subscription,
@@ -184,7 +184,7 @@ rcle_let_executor_add_subscription(
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}
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186186

187-
rcl_ret_t
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rcl_ret_t __attribute__((instrument_function))
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rcle_let_executor_add_timer(
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rcle_let_executor_t * executor,
190190
rcl_timer_t * timer)
@@ -224,7 +224,7 @@ rcle_let_executor_add_timer(
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* - and sets executor->handles[i].data_available = true
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*/
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static
227-
rcl_ret_t
227+
rcl_ret_t __attribute__((instrument_function))
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_rcle_read_input_data(rcle_let_executor_t * executor, rcl_wait_set_t * wait_set, size_t i)
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{
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RCL_CHECK_ARGUMENT_FOR_NULL(executor, RCL_RET_INVALID_ARGUMENT);
@@ -289,7 +289,7 @@ _rcle_read_input_data(rcle_let_executor_t * executor, rcl_wait_set_t * wait_set,
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* - calls every callback of each object depending on its type
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*/
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static
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rcl_ret_t
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rcl_ret_t __attribute__((instrument_function))
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_rcle_execute(rcle_let_executor_t * executor, rcl_wait_set_t * wait_set, size_t i)
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{
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RCL_CHECK_ARGUMENT_FOR_NULL(executor, RCL_RET_INVALID_ARGUMENT);
@@ -374,7 +374,7 @@ _rcle_let_scheduling(rcle_let_executor_t * executor, rcl_wait_set_t * wait_set)
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return rc;
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}
376376

377-
rcl_ret_t
377+
rcl_ret_t __attribute__((instrument_function))
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rcle_let_executor_spin_some(rcle_let_executor_t * executor, const uint64_t timeout_ns)
379379
{
380380
rcl_ret_t rc = RCL_RET_OK;
@@ -458,11 +458,12 @@ rcle_let_executor_spin_some(rcle_let_executor_t * executor, const uint64_t timeo
458458
return rc;
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}
460460

461-
rcl_ret_t
461+
rcl_ret_t __attribute__((instrument_function))
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rcle_let_executor_spin(rcle_let_executor_t * executor)
463463
{
464464
RCL_CHECK_ARGUMENT_FOR_NULL(executor, RCL_RET_INVALID_ARGUMENT);
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rcl_ret_t ret = RCL_RET_OK;
466+
printf("INFO: rcl_wait timeout %ld ms\n", ((executor->timeout_ns / 1000) / 1000));
466467
while (rcl_context_is_valid(executor->context) ) {
467468
ret = rcle_let_executor_spin_some(executor, executor->timeout_ns);
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if (!((ret == RCL_RET_OK) || (ret == RCL_RET_TIMEOUT))) {

‎rcl_executor_examples/CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -10,6 +10,14 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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13+
# for performance tracing
14+
# see https://gitlab.com/micro-ROS/ros_tracing/ros2_perf_analysis/tree/feature/simple-analysis/scripts
15+
add_compile_options(-finstrument-functions
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-fplugin=/home/jst3si/micro-ros/src/instrument-attribute-gcc-plugin/instrument_attribute.so
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-fplugin-arg-instrument_attribute-debug)
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set(CMAKE_VERBOSE_MAKEFILE ON)
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(std_msgs REQUIRED)

‎rcl_executor_examples/example_executor.c‎

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@@ -25,7 +25,8 @@
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2727
// callback for topic "cmd_hello"
28-
void cmd_hello_callback(const void * msgin)
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void __attribute__((instrument_function))
29+
cmd_hello_callback(const void * msgin)
2930
{
3031
const std_msgs__msg__String * msg = (const std_msgs__msg__String *)msgin;
3132

@@ -43,7 +44,8 @@ void cmd_hello_callback(const void * msgin)
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4445
// callback for topic "cmd_vel"
4546
int numberMsgCmdVel = 0;
46-
void cmd_vel_callback(const void * msgin) // TwistConstPtr
47+
void __attribute__((instrument_function))
48+
cmd_vel_callback(const void * msgin) // TwistConstPtr
4749
{
4850
const geometry_msgs__msg__Twist * twist = (const geometry_msgs__msg__Twist *)msgin;
4951
numberMsgCmdVel++;
@@ -64,7 +66,8 @@ void cmd_vel_callback(const void * msgin) // TwistConstPtr
6466
}
6567

6668
// timer callback
67-
void my_timer_callback(rcl_timer_t * timer, int64_t last_call_time)
69+
void __attribute__((instrument_function))
70+
my_timer_callback(rcl_timer_t * timer, int64_t last_call_time)
6871
{
6972
// Do timer work...
7073
// Optionally reconfigure, cancel, or reset the timer...

‎rcl_executor_testbench/CHANGELOG.rst‎

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@@ -0,0 +1,6 @@
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package rcl_executor_testbench
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.1.0 (2019-10-17)
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------------------
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* Initial version of rcl_executor_testbench.

‎rcl_executor_testbench/CMakeLists.txt‎

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@@ -0,0 +1,57 @@
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cmake_minimum_required(VERSION 3.5)
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project(rcl_executor_testbench)
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#################################################
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# compiler settings
6+
#################################################
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8+
# Default to C11
9+
if(NOT CMAKE_C_STANDARD)
10+
set(CMAKE_C_STANDARD 11)
11+
endif()
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13+
# Default to C++14
14+
if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
16+
endif()
17+
18+
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
19+
add_compile_options(-Wall -Wextra -Wpedantic)
20+
endif()
21+
22+
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# for performance tracing
24+
# see https://gitlab.com/micro-ROS/ros_tracing/ros2_perf_analysis/tree/feature/simple-analysis/scripts
25+
add_compile_options(-finstrument-functions
26+
-fplugin=/home/jst3si/micro-ros/src/instrument-attribute-gcc-plugin/instrument_attribute.so
27+
-fplugin-arg-instrument_attribute-debug)
28+
29+
set(CMAKE_VERBOSE_MAKEFILE ON)
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31+
#################################################
32+
# package dependencies
33+
#################################################
34+
35+
find_package(ament_cmake_ros REQUIRED)
36+
find_package(rcl REQUIRED)
37+
find_package(std_msgs REQUIRED)
38+
find_package(rcl_executor REQUIRED)
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#################################################
41+
# include directories
42+
#################################################
43+
include_directories(include)
44+
45+
#################################################
46+
# targets
47+
#################################################
48+
49+
add_executable(rcl_executor_testbench src/let_exec_bm.c)
50+
ament_target_dependencies(rcl_executor_testbench rcl rcl_executor std_msgs)
51+
52+
install(TARGETS
53+
rcl_executor_testbench
54+
DESTINATION lib/${PROJECT_NAME}
55+
)
56+
57+
ament_package()

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