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Merge pull request #15495 from lykling/master
merge new features
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load("//tools:cpplint.bzl", "cpplint") | ||
load("//tools/proto:proto.bzl", "proto_library") | ||
load("//tools:apollo_package.bzl", "apollo_package", "apollo_cc_binary") | ||
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package(default_visibility = ["//visibility:public"]) | ||
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apollo_cc_binary( | ||
name = "cyber_benchmark_reader", | ||
srcs = [ | ||
"cyber_benchmark_reader.cc", | ||
], | ||
linkopts = [ | ||
"-pthread", | ||
"-lprofiler", | ||
"-ltcmalloc", | ||
], | ||
deps = [ | ||
"//cyber", | ||
":benchmark_msg_proto", | ||
], | ||
) | ||
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apollo_cc_binary( | ||
name = "cyber_benchmark_writer", | ||
srcs = [ | ||
"cyber_benchmark_writer.cc", | ||
], | ||
linkopts = [ | ||
"-pthread", | ||
"-lprofiler", | ||
"-ltcmalloc", | ||
], | ||
deps = [ | ||
"//cyber", | ||
":benchmark_msg_proto", | ||
], | ||
) | ||
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proto_library( | ||
name = "benchmark_msg_proto", | ||
srcs = ["benchmark_msg.proto"], | ||
) | ||
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apollo_package() | ||
cpplint() |
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syntax = "proto2"; | ||
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package apollo.cyber.benchmark; | ||
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message BenchmarkMsg { | ||
repeated uint32 data = 1; | ||
optional bytes data_bytes = 2; | ||
} |
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/****************************************************************************** | ||
* 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. | ||
*****************************************************************************/ | ||
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#include <getopt.h> | ||
#include <libgen.h> | ||
#include <string> | ||
#include <vector> | ||
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#include "cyber/cyber.h" | ||
#include "cyber/benchmark/benchmark_msg.pb.h" | ||
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#if __has_include("gperftools/profiler.h") | ||
#include "gperftools/profiler.h" | ||
#include "gperftools/heap-profiler.h" | ||
#include "gperftools/malloc_extension.h" | ||
#endif | ||
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using apollo::cyber::benchmark::BenchmarkMsg; | ||
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std::string BINARY_NAME = "cyber_benchmark_reader"; // NOLINT | ||
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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 | ||
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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 "; | ||
} | ||
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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}}; | ||
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// log command for info | ||
std::string cmd(""); | ||
for (int i = 0; i < argc; ++i) { | ||
cmd += argv[i]; | ||
cmd += " "; | ||
} | ||
AINFO << "command: " << cmd; | ||
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if (1 == argc) { | ||
DisplayUsage(); | ||
exit(0); | ||
} | ||
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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); | ||
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if (optind < argc) { | ||
AINFO << "Found non-option ARGV-element \"" << argv[optind++] << "\""; | ||
DisplayUsage(); | ||
exit(1); | ||
} | ||
} | ||
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int main(int argc, char** argv) { | ||
GetOptions(argc, argv); | ||
apollo::cyber::Init(argv[0], BINARY_NAME); | ||
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apollo::cyber::ReaderConfig reader_config; | ||
reader_config.channel_name = "/apollo/cyber/benchmark"; | ||
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std::vector<std::shared_ptr<apollo::cyber::Reader<BenchmarkMsg>>> vec; | ||
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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){}))); | ||
} | ||
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#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 | ||
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apollo::cyber::WaitForShutdown(); | ||
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#ifndef NO_TCMALLOC | ||
#ifdef BASE_PROFILER_H_ | ||
if (enable_cpuprofile) { | ||
ProfilerStop(); | ||
} | ||
if (enable_heapprofile) { | ||
HeapProfilerDump("Befor shutdown"); | ||
HeapProfilerStop(); | ||
} | ||
#endif | ||
#endif | ||
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return 0; | ||
} |
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