Add topologies for testing

irobot-ros · Sep 11, 2023 · 2063fea · 2063fea
1 parent b65635b
commit 2063fea
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diff --git a/irobot_benchmark/CMakeLists.txt b/irobot_benchmark/CMakeLists.txt
@@ -33,12 +33,89 @@ set(TOPOLOGY_FILES
   topology/debug_sierra_nevada_best_effort.json
   topology/debug_mont_blanc_reliable.json
   topology/debug_mont_blanc_best_effort.json
+  topology/debug_white_mountain_best_effort.json
 )
 
 install(FILES
   ${TOPOLOGY_FILES}
   DESTINATION lib/${PROJECT_NAME}/topology)
 
+set(SP topology/tests/single_process)
+
+set(TOPOLOGY_FILES_SINGLE_PROCESS
+  ${SP}/pub_sub_loaned_10b.json
+  ${SP}/pub_sub_loaned_100kb.json
+  ${SP}/pub_sub_loaned_1mb.json
+  ${SP}/pub_sub_loaned_4mb.json
+
+  ${SP}/pub_sub_10b_ipc_on.json
+  ${SP}/pub_sub_100kb_ipc_on.json
+  ${SP}/pub_sub_1mb_ipc_on.json
+  ${SP}/pub_sub_4mb_ipc_on.json
+
+  ${SP}/pub_sub_10b_ipc_off.json
+  ${SP}/pub_sub_100kb_ipc_off.json
+  ${SP}/pub_sub_1mb_ipc_off.json
+  ${SP}/pub_sub_4mb_ipc_off.json
+)
+
+install(FILES
+  ${TOPOLOGY_FILES_SINGLE_PROCESS}
+  DESTINATION lib/${PROJECT_NAME}/${SP})
+
+set(MP topology/tests/multi_process)
+
+set(TOPOLOGY_FILES_MULTI_PROCESS
+  ${MP}/pub_ipc_off_10b.json
+  ${MP}/pub_ipc_off_100kb.json
+  ${MP}/pub_ipc_off_1mb.json
+  ${MP}/pub_ipc_off_4mb.json
+
+  ${MP}/sub_ipc_off_10b.json
+  ${MP}/sub_ipc_off_100kb.json
+  ${MP}/sub_ipc_off_1mb.json
+  ${MP}/sub_ipc_off_4mb.json
+
+  ${MP}/pub_loaned_10b.json
+  ${MP}/pub_loaned_100kb.json
+  ${MP}/pub_loaned_1mb.json
+  ${MP}/pub_loaned_4mb.json
+
+  ${MP}/sub_loaned_10b.json
+  ${MP}/sub_loaned_100kb.json
+  ${MP}/sub_loaned_1mb.json
+  ${MP}/sub_loaned_4mb.json
+)
+
+install(FILES
+  ${TOPOLOGY_FILES_MULTI_PROCESS}
+  DESTINATION lib/${PROJECT_NAME}/${MP})
+
+set(FT topology/tests/full_topologies)
+
+set(TEST_TOPOLOGY_FILES
+  ${FT}/sierra_nevada_fixed_size_debug.json
+  ${FT}/sierra_nevada_fixed_size.json
+  ${FT}/sierra_nevada_fixed_size_loaned.json
+  ${FT}/sierra_nevada_loaned.json
+  ${FT}/white_mountain_fixed_size_debug.json
+  ${FT}/white_mountain_fixed_size.json
+  ${FT}/white_mountain_fixed_size_loaned.json
+  ${FT}/white_mountain_loaned.json
+)
+
+install(FILES
+  ${TEST_TOPOLOGY_FILES}
+  DESTINATION lib/${PROJECT_NAME}/${FT})
+
+set(PROFILES
+  profiles/fastdds_settings_shm.xml
+  profiles/ignore_local_endpoints.xml)
+
+install(FILES
+  ${PROFILES}
+  DESTINATION lib/${PROJECT_NAME}/profiles)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

diff --git a/irobot_benchmark/profiles/fastdds_settings_shm.xml b/irobot_benchmark/profiles/fastdds_settings_shm.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+    <profiles>
+        <!-- SHM Transport profile -->
+        <transport_descriptors>
+            <transport_descriptor>
+                <transport_id>shm_transport</transport_id>
+                <type>SHM</type>
+            </transport_descriptor>
+        </transport_descriptors>
+
+        <!-- Domain Participant Profile -->
+        <participant profile_name="domainparticipant_profile_name" is_default_profile="true">
+            <rtps>
+                <!-- Use user defined UDPv4 transport -->
+                <userTransports>
+                    <transport_id>shm_transport</transport_id>
+                </userTransports>
+                <!-- Disable builtin transports -->
+                <useBuiltinTransports>false</useBuiltinTransports>
+            </rtps>
+        </participant>
+    </profiles>
+</dds>
diff --git a/irobot_benchmark/profiles/ignore_local_endpoints.xml b/irobot_benchmark/profiles/ignore_local_endpoints.xml
@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
+    <library_settings>
+        <intraprocess_delivery>OFF</intraprocess_delivery>
+    </library_settings>
+    <profiles>
+        <transport_descriptors>
+            <transport_descriptor>
+                <transport_id>UDP</transport_id>
+                <type>UDPv4</type>
+            </transport_descriptor>
+        </transport_descriptors>
+        <participant profile_name="participant_profile" is_default_profile="true">
+            <rtps>
+                <userTransports>
+                    <transport_id>UDP</transport_id>
+                </userTransports>
+                <useBuiltinTransports>false</useBuiltinTransports>
+            </rtps>
+        </participant>
+        <data_writer profile_name="/number">
+            <propertiesPolicy>
+                <properties>
+                    <property>
+                        <name>fastdds.match_local_endpoints</name>
+                        <value>false</value>
+                        <propagate>false</propagate>
+                    </property>
+                </properties>
+            </propertiesPolicy>
+        </data_writer>
+        <data_reader profile_name="/number">
+            <propertiesPolicy>
+                <properties>
+                    <property>
+                        <name>fastdds.match_local_endpoints</name>
+                        <value>false</value>
+                        <propagate>false</propagate>
+                    </property>
+                </properties>
+            </propertiesPolicy>
+        </data_reader>
+    </profiles>
+</dds>
diff --git a/irobot_benchmark/topology/debug_white_mountain_best_effort.json b/irobot_benchmark/topology/debug_white_mountain_best_effort.json
@@ -0,0 +1,33 @@
+{
+  "nodes": [
+      {
+        "node_name": "debug_node",
+        "subscribers":[
+            {"topic_name":"amazon",   "msg_type":"stamped9_float32",  "qos_reliability":"best_effort"},
+            {"topic_name":"arkansas", "msg_type":"stamped4_int32",    "qos_reliability":"best_effort"},
+            {"topic_name":"brazos",   "msg_type":"stamped_vector",    "qos_reliability":"best_effort"},
+            {"topic_name":"chenab",   "msg_type":"stamped1kb",        "qos_reliability":"best_effort"},
+            {"topic_name":"colorado", "msg_type":"stamped4_int32",    "qos_reliability":"best_effort"},
+            {"topic_name":"columbia", "msg_type":"stamped600kb",      "qos_reliability":"best_effort"},
+            {"topic_name":"congo",    "msg_type":"stamped4_int32",    "qos_reliability":"best_effort"},
+            {"topic_name":"danube",   "msg_type":"stamped_int64",     "qos_reliability":"best_effort"},
+            {"topic_name":"ganges",   "msg_type":"stamped4_int32",    "qos_reliability":"best_effort"},
+            {"topic_name":"godavari", "msg_type":"stamped_vector",    "qos_reliability":"best_effort"},
+            {"topic_name":"lena",     "msg_type":"stamped_vector",    "qos_reliability":"best_effort"},
+            {"topic_name":"loire",    "msg_type":"stamped_vector",    "qos_reliability":"best_effort"},
+            {"topic_name":"mekong",   "msg_type":"stamped_vector",    "qos_reliability":"best_effort"},
+            {"topic_name":"missouri", "msg_type":"stamped_vector",    "qos_reliability":"best_effort"},
+            {"topic_name":"murray",   "msg_type":"stamped_vector",    "qos_reliability":"best_effort"},
+            {"topic_name":"nile",     "msg_type":"stamped4_int32",    "qos_reliability":"best_effort"},
+            {"topic_name":"ohio",     "msg_type":"stamped100b",       "qos_reliability":"best_effort"},
+            {"topic_name":"parana",   "msg_type":"stamped3_float32",  "qos_reliability":"best_effort"},
+            {"topic_name":"salween",  "msg_type":"stamped12_float32", "qos_reliability":"best_effort"},
+            {"topic_name":"tagus",    "msg_type":"stamped_vector",    "qos_reliability":"best_effort"},
+            {"topic_name":"tigris",   "msg_type":"stamped4_float32",  "qos_reliability":"best_effort"},
+            {"topic_name":"volga",    "msg_type":"stamped_int64",     "qos_reliability":"best_effort"},
+            {"topic_name":"yamuna",   "msg_type":"stamped4_int32",    "qos_reliability":"best_effort"},
+            {"topic_name":"yamuna",   "msg_type":"stamped4_int32",    "qos_reliability":"best_effort"}
+          ]
+      }
+    ]
+}
diff --git a/irobot_benchmark/topology/tests/full_topologies/sierra_nevada_fixed_size.json b/irobot_benchmark/topology/tests/full_topologies/sierra_nevada_fixed_size.json
@@ -0,0 +1,109 @@
+{
+  "nodes": [
+      {
+        "node_name": "montreal",
+        "publishers": [
+              {"topic_name": "amazon", "msg_type": "stamped9_float32", "period_ms": 10, "msg_pass_by":"shared_ptr"},
+              {"topic_name": "nile", "msg_type": "stamped4_int32", "period_ms": 10, "msg_pass_by":"shared_ptr"},
+              {"topic_name": "ganges", "msg_type": "stamped4_int32", "period_ms": 10, "msg_pass_by":"shared_ptr"},
+              {"topic_name": "danube", "msg_type": "stamped_int64", "period_ms": 10, "msg_pass_by":"shared_ptr"}
+            ]
+      },
+
+      {
+        "node_name": "lyon",
+        "subscribers":[
+            {"topic_name":"amazon", "msg_type":"stamped9_float32"}
+          ],
+        "publishers": [
+            {"topic_name": "tigris", "msg_type": "stamped4_float32", "period_ms": 10, "msg_pass_by":"shared_ptr"}
+          ]
+      },
+
+      {
+        "node_name": "hamburg",
+        "subscribers":[
+            {"topic_name":"nile", "msg_type":"stamped4_int32"},
+            {"topic_name":"tigris", "msg_type":"stamped4_float32"},
+            {"topic_name":"ganges", "msg_type":"stamped4_int32"},
+            {"topic_name":"danube", "msg_type":"stamped_int64"}
+          ],
+        "publishers": [
+            {"topic_name": "parana", "msg_type": "stamped3_float32", "period_ms": 10, "msg_pass_by":"shared_ptr"}
+          ]
+      },
+
+      {
+        "node_name": "osaka",
+        "subscribers":[
+            {"topic_name":"parana", "msg_type":"stamped3_float32"}
+          ],
+        "publishers": [
+            {"topic_name": "salween", "msg_type": "stamped12_float32", "period_ms": 100, "msg_pass_by":"shared_ptr"}
+          ]
+      },
+
+      {
+        "node_name": "mandalay",
+        "subscribers":[
+            {"topic_name":"salween", "msg_type":"stamped12_float32"},
+            {"topic_name":"danube", "msg_type":"stamped_int64"}
+          ],
+        "publishers": [
+            {"topic_name": "missouri", "msg_type": "stamped10kb", "period_ms": 100, "msg_pass_by":"shared_ptr"}
+          ]
+      },
+
+      {
+        "node_name": "ponce",
+        "subscribers":[
+            {"topic_name":"missouri", "msg_type":"stamped10kb"},
+            {"topic_name":"danube", "msg_type":"stamped_int64"},
+            {"topic_name":"volga", "msg_type":"stamped_int64"}
+          ],
+        "publishers": [
+            {"topic_name": "mekong", "msg_type": "stamped100b", "period_ms": 500, "msg_pass_by":"shared_ptr"},
+            {"topic_name": "congo", "msg_type": "stamped4_int32", "period_ms": 100, "msg_pass_by":"shared_ptr"}
+          ]
+      },
+
+      {
+        "node_name": "barcelona",
+        "subscribers":[
+            {"topic_name":"mekong", "msg_type":"stamped100b"}
+          ],
+        "publishers": [
+            {"topic_name": "lena", "msg_type": "stamped50b", "period_ms": 100, "msg_pass_by":"shared_ptr"}
+          ]
+      },
+
+      {
+        "node_name": "georgetown",
+        "subscribers":[
+            {"topic_name":"lena", "msg_type":"stamped50b"}
+          ],
+        "publishers": [
+            {"topic_name": "volga", "msg_type": "stamped_int64", "period_ms": 500, "msg_pass_by":"shared_ptr"}
+          ]
+      },
+
+      {
+        "node_name": "geneva",
+        "subscribers":[
+            {"topic_name":"congo", "msg_type":"stamped4_int32"},
+            {"topic_name":"danube", "msg_type":"stamped_int64"},
+            {"topic_name":"parana", "msg_type":"stamped3_float32"}
+          ],
+        "publishers": [
+            {"topic_name": "arkansas", "msg_type": "stamped4_int32", "period_ms": 100, "msg_pass_by":"shared_ptr"}
+          ]
+      },
+
+      {
+        "node_name": "arequipa",
+        "subscribers":[
+            {"topic_name":"arkansas", "msg_type":"stamped4_int32"}
+          ]
+      }
+    ]
+}
diff --git a/irobot_benchmark/topology/tests/full_topologies/sierra_nevada_fixed_size_debug.json b/irobot_benchmark/topology/tests/full_topologies/sierra_nevada_fixed_size_debug.json
@@ -0,0 +1,22 @@
+{
+  "nodes": [
+      {
+        "node_name": "debug_node",
+        "subscribers":[
+            {"topic_name":"amazon",   "msg_type":"stamped9_float32"},
+            {"topic_name":"arkansas", "msg_type":"stamped4_int32"},
+            {"topic_name":"congo",    "msg_type":"stamped4_int32"},
+            {"topic_name":"danube",   "msg_type":"stamped_int64"},
+            {"topic_name":"ganges",   "msg_type":"stamped4_int32"},
+            {"topic_name":"lena",     "msg_type":"stamped50b"},
+            {"topic_name":"mekong",   "msg_type":"stamped100b"},
+            {"topic_name":"missouri", "msg_type":"stamped10kb"},
+            {"topic_name":"nile",     "msg_type":"stamped4_int32"},
+            {"topic_name":"parana",   "msg_type":"stamped3_float32"},
+            {"topic_name":"salween",  "msg_type":"stamped12_float32"},
+            {"topic_name":"tigris",   "msg_type":"stamped4_float32"},
+            {"topic_name":"volga",    "msg_type":"stamped_int64"}
+          ]
+      }
+    ]
+}