Merge pull request #15495 from lykling/master

merge new features

cyber/benchmark/BUILD

@@ -0,0 +1,46 @@
+load("//tools:cpplint.bzl", "cpplint")
+load("//tools/proto:proto.bzl", "proto_library")
+load("//tools:apollo_package.bzl", "apollo_package", "apollo_cc_binary")
+
+package(default_visibility = ["//visibility:public"])
+
+
+apollo_cc_binary(
+    name = "cyber_benchmark_reader",
+    srcs = [
+        "cyber_benchmark_reader.cc",
+    ],
+    linkopts = [
+        "-pthread",
+        "-lprofiler",
+        "-ltcmalloc",
+    ],
+    deps = [
+        "//cyber",
+        ":benchmark_msg_proto",
+    ],
+)
+
+apollo_cc_binary(
+    name = "cyber_benchmark_writer",
+    srcs = [
+        "cyber_benchmark_writer.cc",
+    ],
+    linkopts = [
+        "-pthread",
+        "-lprofiler",
+        "-ltcmalloc",
+    ],
+    deps = [
+        "//cyber",
+        ":benchmark_msg_proto",
+    ],
+)
+
+proto_library(
+    name = "benchmark_msg_proto",
+    srcs = ["benchmark_msg.proto"],
+)
+
+apollo_package()
+cpplint()

cyber/benchmark/benchmark_msg.proto

@@ -0,0 +1,8 @@
+syntax = "proto2";
+
+package apollo.cyber.benchmark;
+
+message BenchmarkMsg {
+  repeated uint32 data = 1;
+  optional bytes data_bytes = 2;
+}

cyber/benchmark/cyber_benchmark_reader.cc

@@ -0,0 +1,176 @@
+/******************************************************************************
+ * Copyright 2024 The Apollo Authors. 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.
+ *****************************************************************************/
+
+#include <getopt.h>
+#include <libgen.h>
+#include <string>
+#include <vector>
+
+#include "cyber/cyber.h"
+#include "cyber/benchmark/benchmark_msg.pb.h"
+
+#if __has_include("gperftools/profiler.h")
+#include "gperftools/profiler.h"
+#include "gperftools/heap-profiler.h"
+#include "gperftools/malloc_extension.h"
+#endif
+
+using apollo::cyber::benchmark::BenchmarkMsg;
+
+std::string BINARY_NAME = "cyber_benchmark_reader"; // NOLINT
+
+int nums_of_reader = 1;
+bool enable_cpuprofile = false;
+bool enable_heapprofile = false;
+std::string profile_filename = "cyber_benchmark_reader_cpu.prof"; // NOLINT
+std::string heapprofile_filename = "cyber_benchmark_reader_mem.prof"; // NOLINT
+
+void DisplayUsage() {
+  AINFO << "Usage: \n    " << BINARY_NAME << " [OPTION]...\n"
+        << "Description: \n"
+        << "    -h, --help: help information \n"
+        << "    -n, --nums_of_reader=nums_of_reader: numbers of reader, "
+           "default value is 1\n"
+        << "    -c, --cpuprofile: enable gperftools cpu profile\n"
+        << "    -o, --profile_filename=filename: the filename to dump the "
+            "profile to, default value is cyber_benchmark_writer_cpu.prof.  "
+            "Only work with -c option\n"
+        << "    -H, --heapprofile: enable gperftools heap profile\n"
+        << "    -O, --heapprofile_filename=filename: the filename "
+            " to dump the profile to, default value is "
+            "cyber_benchmark_writer_mem.prof. Only work with -H option\n"
+        << "Example:\n"
+        << "    " << BINARY_NAME << " -h\n"
+        << "    " << BINARY_NAME << " -n 1\n"
+        << "    " << BINARY_NAME << " -n 10 -c -H ";
+}
+
+void GetOptions(const int argc, char* const argv[]) {
+  opterr = 0;  // extern int opterr
+  int long_index = 0;
+  const std::string short_opts = "hn:co:HO:";
+  static const struct option long_opts[] = {
+      {"help", no_argument, nullptr, 'h'},
+      {"nums_of_reader", required_argument, nullptr, 'n'},
+      {"cpuprofile", no_argument, nullptr, 'c'},
+      {"profile_filename", required_argument, nullptr, 'o'},
+      {"heapprofile", no_argument, nullptr, 'H'},
+      {"heapprofile_filename", required_argument, nullptr, 'O'},
+      {NULL, no_argument, nullptr, 0}};
+
+  // log command for info
+  std::string cmd("");
+  for (int i = 0; i < argc; ++i) {
+    cmd += argv[i];
+    cmd += " ";
+  }
+  AINFO << "command: " << cmd;
+
+  if (1 == argc) {
+    DisplayUsage();
+    exit(0);
+  }
+
+  do {
+    int opt =
+        getopt_long(argc, argv, short_opts.c_str(), long_opts, &long_index);
+    if (opt == -1) {
+      break;
+    }
+    switch (opt) {
+      case 'n':
+        nums_of_reader = std::stoi(std::string(optarg));
+        if (nums_of_reader < 0) {
+          AERROR << "Invalid numbers of reader. It should be grater than 0";
+          exit(-1);
+        }
+        break;
+      case 'c':
+#ifndef BASE_PROFILER_H_
+        AWARN << "gperftools not installed, ignore perf parameters";
+#endif
+        enable_cpuprofile = true;
+        break;
+      case 'o':
+        profile_filename = std::string(optarg);
+        break;
+      case 'H':
+#ifndef BASE_PROFILER_H_
+        AWARN << "gperftools not installed, ignore perf parameters";
+#endif
+        enable_heapprofile = true;
+        break;
+      case 'O':
+        heapprofile_filename = std::string(optarg);
+        break;
+      case 'h':
+        DisplayUsage();
+        exit(0);
+      default:
+        break;
+    }
+  } while (true);
+
+  if (optind < argc) {
+    AINFO << "Found non-option ARGV-element \"" << argv[optind++] << "\"";
+    DisplayUsage();
+    exit(1);
+  }
+}
+
+int main(int argc, char** argv) {
+  GetOptions(argc, argv);
+  apollo::cyber::Init(argv[0], BINARY_NAME);
+
+  apollo::cyber::ReaderConfig reader_config;
+  reader_config.channel_name = "/apollo/cyber/benchmark";
+
+  std::vector<std::shared_ptr<apollo::cyber::Reader<BenchmarkMsg>>> vec;
+
+  for (int i = 0; i < nums_of_reader; i++) {
+    std::string node_name = BINARY_NAME + "-" + std::to_string(i);
+    auto node = apollo::cyber::CreateNode(node_name);
+    vec.push_back(std::move(node->CreateReader<BenchmarkMsg>(
+      reader_config, [](const std::shared_ptr<BenchmarkMsg> m){})));
+  }
+
+#ifndef NO_TCMALLOC
+#ifdef BASE_PROFILER_H_
+  if (enable_cpuprofile) {
+    ProfilerStart(profile_filename.c_str());
+  }
+  if (enable_heapprofile) {
+    HeapProfilerStart(heapprofile_filename.c_str());
+  }
+#endif
+#endif
+
+  apollo::cyber::WaitForShutdown();
+
+#ifndef NO_TCMALLOC
+#ifdef BASE_PROFILER_H_
+  if (enable_cpuprofile) {
+    ProfilerStop();
+  }
+  if (enable_heapprofile) {
+    HeapProfilerDump("Befor shutdown");
+    HeapProfilerStop();
+  }
+#endif
+#endif
+
+  return 0;
+}