[openrtm-commit:03023] r902 - in trunk/OpenRTM-aist-Python/OpenRTM_aist/python3_examples: . Throughput
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2017年 12月 15日 (金) 11:08:20 JST
Author: miyamoto
Date: 2017-12-15 11:08:20 +0900 (Fri, 15 Dec 2017)
New Revision: 902
Added:
trunk/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/Throughput/
trunk/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/Throughput/Throughput_py.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/Throughput/rtc.conf
Log:
[compat,bugfix,->RELENG_1_2] fixed bug.
Added: trunk/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/Throughput/Throughput_py.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/Throughput/Throughput_py.py (rev 0)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/Throughput/Throughput_py.py 2017-12-15 02:08:20 UTC (rev 902)
@@ -0,0 +1,605 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+# -*- Python -*-
+
+"""
+ @file Throughput_py.py
+ @brief Throughput sample
+ @date $Date$
+
+ @author 宮本 信彦 n-miyamoto at aist.go.jp
+ 産業技術総合研究所 ロボットイノベーション研究センター
+ ロボットソフトウェアプラットフォーム研究チーム
+
+ LGPL
+
+"""
+import sys
+import time
+sys.path.append(".")
+
+# Import RTM module
+import RTC
+import OpenRTM_aist
+
+import math
+
+
+# Import Service implementation class
+# <rtc-template block="service_impl">
+
+# </rtc-template>
+
+# Import Service stub modules
+# <rtc-template block="consumer_import">
+# </rtc-template>
+
+
+# This module's spesification
+# <rtc-template block="module_spec">
+throughput_py_spec = ["implementation_id", "Throughput_py",
+ "type_name", "Throughput_py",
+ "description", "Throughput sample",
+ "version", "1.0.0",
+ "vendor", "AIST",
+ "category", "example",
+ "activity_type", "STATIC",
+ "max_instance", "1",
+ "language", "Python",
+ "lang_type", "SCRIPT",
+ "conf.default.datatype", "double",
+ "conf.default.outputfile", "test.dat",
+ "conf.default.increment", "100",
+ "conf.default.sleep_time", "0.1",
+ "conf.default.mode", "logincr",
+ "conf.default.maxsize", "1000000",
+ "conf.default.maxsend", "1000",
+ "conf.default.maxsample", "100",
+ "conf.default.filesuffix", "-test",
+
+ "conf.__widget__.datatype", "radio",
+ "conf.__widget__.outputfile", "text",
+ "conf.__widget__.increment", "text",
+ "conf.__widget__.sleep_time", "text",
+ "conf.__widget__.mode", "radio",
+ "conf.__widget__.maxsize", "text",
+ "conf.__widget__.maxsend", "text",
+ "conf.__widget__.maxsample", "text",
+ "conf.__widget__.filesuffix", "text",
+ "conf.__constraints__.datatype", "(octet,short,long,float,double)",
+ "conf.__constraints__.mode", "(logincr,incr,const)",
+
+ "conf.__type__.datatype", "string",
+ "conf.__type__.outputfile", "string",
+ "conf.__type__.increment", "long",
+ "conf.__type__.sleep_time", "double",
+ "conf.__type__.mode", "string",
+ "conf.__type__.maxsize", "long",
+ "conf.__type__.maxsend", "long",
+ "conf.__type__.maxsample", "long",
+ "conf.__type__.filesuffix", "string",
+
+ ""]
+# </rtc-template>
+
+class DataListener(OpenRTM_aist.ConnectorDataListenerT):
+ def __init__(self, comp, data):
+ self._comp = comp
+ self._data = data
+
+ def __del__(self):
+ pass
+
+ def __call__(self, info, cdrdata):
+ data = OpenRTM_aist.ConnectorDataListenerT.__call__(self, info, cdrdata, self._data)
+ self._comp.receiveData(data.tm, len(data.data))
+
+
+
+class ConnListener(OpenRTM_aist.ConnectorListener):
+ def __init__(self, comp):
+ self._comp = comp
+
+ def __del__(self):
+ print("dtor of ", self._name)
+
+ def __call__(self, info):
+ print("------------------------------")
+ print("Profile::name: ", info.name)
+ print("Profile::id: ", info.id)
+ print("Profile::properties: ")
+ print(info.properties)
+ print("------------------------------")
+ self._comp.setConnectorProfile(info)
+
+
+##
+# @class Throughput_py
+# @brief Throughput sample
+#
+# データポートのスループットを計測するコンポーネント。interface_type,
+# subscription_type 等 ConnectorProfile パラメータやデータサイズ、サン
+# プル数などを変更して、その際の転送時間（最大、最小、平均、標準偏差）
+# およびスループットを測定してファイルに記録することができる。
+# 基本的には、以下の(a)や(b)のような接続形態で使用する。
+# <pre>
+# +-----------+
+# | ______ | ______ ______
+# +->|_____|>-+ >|_____|>-->|_____|>
+# (a) (b)
+# </pre>
+# 同一コンポーネント内では(a)、同一プロセス内、同一ノード内のスループッ
+# トは (a)または(b)、異なるノード間のスループットを計測する際は (b)の
+# 接続形態で計測する。計測は以下の手順で行う。
+# -# コンポーネントを起動する
+# -# コンフィグレーションパラメータを設定する
+# -# 必要なコネクタプロファイルを設定してポートを接続する
+# -# コンポーネントをアクティベートする
+# 計測結果はデータを受け取ったコンポーネントがファイルに記録する。
+#
+#
+class Throughput_py(OpenRTM_aist.DataFlowComponentBase):
+
+ ##
+ # @brief constructor
+ # @param manager Maneger Object
+ #
+ def __init__(self, manager):
+ OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
+ self._size = 0
+
+
+
+
+
+
+ # initialize of configuration-data.
+ # <rtc-template block="init_conf_param">
+ """
+ データ型
+ - Name: datatype datatype
+ - DefaultValue: double
+ - Constraint: (octet,short,long,float,double)
+ """
+ self._datatype = ['double']
+ """
+ 出力ファイル名。onActivated時、またはデータ受信時にファイルがオープンされるの
+ で、それ以降にパラメータを設定した場合は反映されない。
+ - Name: outputfile outputfile
+ - DefaultValue: test.dat
+ """
+ self._outputfile = ['test.dat']
+ """
+ データ増分。mode が incr の場合のデータ増分を byte で指定する。
+ - Name: increment increment
+ - DefaultValue: 100
+ - Unit: byte
+ """
+ self._increment = [100]
+ """
+ onExecute内で待機する時間
+ - Name: sleep_time sleep_time
+ - DefaultValue: 0.1
+ - Unit: s
+ """
+ self._sleep_time = [0.1]
+ """
+ - mode: 計測モード名。logincr, incr, const から選択可能。
+ - logincr: logスケールでデータ数を増加させ計測。実際には、1, 2, 5,
+ 10, .. といった間隔でデータ数を増加させ、logスケールでプ
+ ロットした際にほぼ等間隔となるように計測する。
+ - incr: incrementパラメータで指定されたバイト数で、一定間隔でデータ
+ 数を増加させる。
+ - const: データは増加させず一定サイズでスループットを計測する。
+ - Name: mode mode
+ - DefaultValue: logincr
+ - Constraint: (logincr,incr,const)
+ """
+ self._mode = ['logincr']
+ """
+ 最大データ個数を指定する。送信するシーケンスデータのサイズを指定する。実際の
+ データサイズは、この個数に1データ当たりのバイト数をかけたものとなる。
+ - Name: maxsize maxsize
+ - DefaultValue: 1000000
+ """
+ self._maxsize = [1000000]
+ """
+ 最大送信数。データ送信回数の最大値を指定する。モードがlogincr, incr
+ の場合、データサイズ毎に maxsend 回数データを送信する。
+ - Name: maxsend maxsend
+ - DefaultValue: 1000
+ """
+ self._maxsend = [1000]
+ """
+ 最大サンプリング数。データを受信し、統計情報を計算する際の最大サンプル数を指
+ 定する。データ送信側の送信数がサンプル数より少ない場合、受信したサンプル数で
+ 統計情報を計算する。データ送信側の送信数がサンプル数より多い場合、古い情報は
+ 破棄され、最新の maxsample 個の計測データから統計情報を計算する。
+ - Name: maxsample maxsample
+ - DefaultValue: 100
+ """
+ self._maxsample = [100]
+ """
+ ファイル識別子
+ - Name: filesuffix filesuffix
+ - DefaultValue: -test
+ """
+ self._filesuffix = ['-test']
+
+ # </rtc-template>
+ self._datasize = 0
+ self._fs = None
+ self._record = []
+ self._sendcount = 0
+ self._logmulcnt = 0
+ self._varsize = 0
+
+
+
+ ##
+ #
+ # The initialize action (on CREATED->ALIVE transition)
+ # formaer rtc_init_entry()
+ #
+ # @return RTC::ReturnCode_t
+ #
+ #
+ def onInitialize(self):
+ # Bind variables and configuration variable
+ self.bindParameter("datatype", self._datatype, "double")
+ self.bindParameter("outputfile", self._outputfile, "test.dat")
+ self.bindParameter("increment", self._increment, "100")
+ self.bindParameter("sleep_time", self._sleep_time, "0.1")
+ self.bindParameter("mode", self._mode, "logincr")
+ self.bindParameter("maxsize", self._maxsize, "1000000")
+ self.bindParameter("maxsend", self._maxsend, "1000")
+ self.bindParameter("maxsample", self._maxsample, "100")
+ self.bindParameter("filesuffix", self._filesuffix, "-test")
+
+ # Set InPort buffers
+
+ # Set OutPort buffers
+
+ # Set service provider to Ports
+
+ # Set service consumers to Ports
+
+ # Set CORBA Service Ports
+ #self.getConfigService().update()
+ #print self._datatype
+ self._data_type = OpenRTM_aist.normalize(self._datatype)
+ if self._data_type == "octet":
+ self._d_in = RTC.TimedOctetSeq(RTC.Time(0,0), [])
+ self._d_out = RTC.TimedOctetSeq(RTC.Time(0,0), [])
+ self._varsize = 1
+ elif self._data_type == "short":
+ self._d_in = RTC.TimedShortSeq(RTC.Time(0,0), [])
+ self._d_out = RTC.TimedShortSeq(RTC.Time(0,0), [])
+ self._varsize = 2
+ elif self._data_type == "long":
+ self._d_in = RTC.TimedLongSeq(RTC.Time(0,0), [])
+ self._d_out = RTC.TimedLongSeq(RTC.Time(0,0), [])
+ self._varsize = 4
+ elif self._data_type == "float":
+ self._d_in = RTC.TimedFloatSeq(RTC.Time(0,0), [])
+ self._d_out = RTC.TimedFloatSeq(RTC.Time(0,0), [])
+ self._varsize = 4
+ elif self._data_type == "double":
+ self._d_in = RTC.TimedDoubleSeq(RTC.Time(0,0), [])
+ self._d_out = RTC.TimedDoubleSeq(RTC.Time(0,0), [])
+ self._varsize = 8
+ else:
+ return RTC.RTC_ERROR
+
+
+ self._inIn = OpenRTM_aist.InPort("in", self._d_in)
+ self.addInPort("in",self._inIn)
+ self._outOut = OpenRTM_aist.OutPort("out", self._d_out)
+ self.addOutPort("out",self._outOut)
+ self._inIn.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE,
+ DataListener(self, self._d_in))
+ self._inIn.addConnectorListener(OpenRTM_aist.ConnectorListenerType.ON_CONNECT,
+ ConnListener(self))
+
+ return RTC.RTC_OK
+
+ def receiveData(self, tm, seq_length):
+ received_time = OpenRTM_aist.Time().getTime()
+ if self._size == 0:
+ self._size = seq_length
+ record_num = len(self._record)
+ record_ptr = record_num
+ if self._size != seq_length and record_num != 0:
+
+ max_latency = 0.0
+ min_latency = 0.0
+ mean_latency = 0.0
+ variance = 0.0
+ stddev = 0.0
+ throughput = 0.0
+ sum = 0.0
+ sq_sum = 0.0
+ record_len = len(self._record)
+
+ #print record_len
+
+
+ for d in self._record:
+ tmp = d
+ sum += tmp
+ sq_sum += tmp * tmp
+ if tmp > max_latency:
+ max_latency = tmp
+ elif tmp < min_latency:
+ min_latency = tmp
+
+ mean_latency = sum / record_len
+ variance = (sq_sum / record_len) - (mean_latency * mean_latency)
+ stddev = math.sqrt(variance)
+ throughput = ((((self._size * self._varsize) + 8) * 8) / mean_latency) / (1024 * 1024)
+
+ self._fs.write(str(self._size)+"\t")
+ self._fs.write(str(min_latency)+"\t"+str(max_latency)+"\t")
+ self._fs.write(str(mean_latency)+"\t"+str(stddev)+"\t")
+ self._fs.write(str(throughput)+"\n")
+ self._record = []
+
+ if seq_length < self._size:
+
+ async = OpenRTM_aist.Async_tInvoker(self, Throughput_py.exit)
+ async.invoke()
+ return
+ send_time = OpenRTM_aist.TimeValue(tm.sec, tm.nsec/1000)
+ if record_ptr == self._maxsample[0]:
+ self._record.pop(0)
+ self._record.append((received_time-send_time).toDouble())
+ self._size = seq_length
+
+
+ def setConnectorProfile(self, info):
+ outputfile = self._datatype[0] + "-" + info.properties.getProperty("interface_type") + self._filesuffix[0] + ".dat"
+ if self._fs is None:
+ try:
+ self._fs = open(outputfile, 'w')
+ except:
+ print("File open failed!!")
+ return
+ self._fs.write("# Profile::name: " + info.name + "\n")
+ self._fs.write("# Profile::id: " + info.id + "\n")
+ self._fs.write("# Profile::properties: " + "\n")
+ ss = str(info.properties)
+ propv = ss.split("\n")
+ for prop in propv:
+ self._fs.write("# " + prop + "\n")
+ self._fs.write("size[byte]\tmin[s]\tmax[s]\tmean[s]\tstddev[s]\tthroughpiut[Mbps]" + "\n")
+
+ #print outputfile
+ #print "setConnectorProfile"
+ def setDataSize(self, size):
+ self._d_out.data = [0]*size
+ #print "setDataSize"
+ def getDataSize(self):
+ #print "getDataSize"
+ return len(self._d_out.data)
+ def writeData(self):
+ OpenRTM_aist.setTimestamp(self._d_out)
+ self._outOut.write()
+ #print "writeData"
+ def getInPortConnectorSize(self):
+ return len(self._inIn.get_connector_profiles())
+
+ # ##
+ # #
+ # # The finalize action (on ALIVE->END transition)
+ # # formaer rtc_exiting_entry()
+ # #
+ # # @return RTC::ReturnCode_t
+ #
+ # #
+ #def onFinalize(self):
+ #
+ # return RTC.RTC_OK
+
+ # ##
+ # #
+ # # The startup action when ExecutionContext startup
+ # # former rtc_starting_entry()
+ # #
+ # # @param ec_id target ExecutionContext Id
+ # #
+ # # @return RTC::ReturnCode_t
+ # #
+ # #
+ #def onStartup(self, ec_id):
+ #
+ # return RTC.RTC_OK
+
+ # ##
+ # #
+ # # The shutdown action when ExecutionContext stop
+ # # former rtc_stopping_entry()
+ # #
+ # # @param ec_id target ExecutionContext Id
+ # #
+ # # @return RTC::ReturnCode_t
+ # #
+ # #
+ #def onShutdown(self, ec_id):
+ #
+ # return RTC.RTC_OK
+
+ ##
+ #
+ # The activated action (Active state entry action)
+ # former rtc_active_entry()
+ #
+ # @param ec_id target ExecutionContext Id
+ #
+ # @return RTC::ReturnCode_t
+ #
+ #
+ def onActivated(self, ec_id):
+ self._datasize = 1
+ self.setDataSize(int(self._datasize))
+ self._sendcount = 0
+ self._logmulcnt = 0
+ return RTC.RTC_OK
+
+ ##
+ #
+ # The deactivated action (Active state exit action)
+ # former rtc_active_exit()
+ #
+ # @param ec_id target ExecutionContext Id
+ #
+ # @return RTC::ReturnCode_t
+ #
+ #
+ def onDeactivated(self, ec_id):
+ if self._fs:
+ self._fs.close()
+ self._fs = None
+ self._datasize = 1
+ self.setDataSize(self._datasize)
+ self._sendcount = 0
+ self._logmulcnt = 0
+
+ if self.getInPortConnectorSize() == 0:
+ async = OpenRTM_aist.Async_tInvoker(self, Throughput_py.exit)
+ async.invoke()
+ return RTC.RTC_OK
+
+ ##
+ #
+ # The execution action that is invoked periodically
+ # former rtc_active_do()
+ #
+ # @param ec_id target ExecutionContext Id
+ #
+ # @return RTC::ReturnCode_t
+ #
+ #
+ def onExecute(self, ec_id):
+ logmul = [2.0, 2.5, 2.0]
+ if self.getDataSize() != self._datasize:
+ self.setDataSize(int(self._datasize))
+ self.writeData()
+ self._sendcount += 1
+ if self._sendcount%(self._maxsample[0]+1) != 0:
+ return RTC.RTC_OK
+
+ if self._mode[0] == "logincr":
+ self._datasize *= logmul[self._logmulcnt%3]
+ self._logmulcnt += 1
+ #print self._datasize, self._logmulcnt
+ elif self._mode[0] == "incr":
+ self._datasize += self._increment[0]
+ else:
+ if self._sendcount > self._maxsend[0]:
+ self.deactivate(ec_id)
+ return RTC.RTC_OK
+ time.sleep(self._sleep_time[0])
+ if self._datasize > self._maxsize[0]:
+ print("Exiting")
+ self.setDataSize(1)
+ self.writeData()
+ self.deactivate(ec_id)
+
+
+ return RTC.RTC_OK
+
+ # ##
+ # #
+ # # The aborting action when main logic error occurred.
+ # # former rtc_aborting_entry()
+ # #
+ # # @param ec_id target ExecutionContext Id
+ # #
+ # # @return RTC::ReturnCode_t
+ # #
+ # #
+ #def onAborting(self, ec_id):
+ #
+ # return RTC.RTC_OK
+
+ # ##
+ # #
+ # # The error action in ERROR state
+ # # former rtc_error_do()
+ # #
+ # # @param ec_id target ExecutionContext Id
+ # #
+ # # @return RTC::ReturnCode_t
+ # #
+ # #
+ #def onError(self, ec_id):
+ #
+ # return RTC.RTC_OK
+
+ # ##
+ # #
+ # # The reset action that is invoked resetting
+ # # This is same but different the former rtc_init_entry()
+ # #
+ # # @param ec_id target ExecutionContext Id
+ # #
+ # # @return RTC::ReturnCode_t
+ # #
+ # #
+ #def onReset(self, ec_id):
+ #
+ # return RTC.RTC_OK
+
+ # ##
+ # #
+ # # The state update action that is invoked after onExecute() action
+ # # no corresponding operation exists in OpenRTm-aist-0.2.0
+ # #
+ # # @param ec_id target ExecutionContext Id
+ # #
+ # # @return RTC::ReturnCode_t
+ # #
+
+ # #
+ #def onStateUpdate(self, ec_id):
+ #
+ # return RTC.RTC_OK
+
+ # ##
+ # #
+ # # The action that is invoked when execution context's rate is changed
+ # # no corresponding operation exists in OpenRTm-aist-0.2.0
+ # #
+ # # @param ec_id target ExecutionContext Id
+ # #
+ # # @return RTC::ReturnCode_t
+ # #
+ # #
+ #def onRateChanged(self, ec_id):
+ #
+ # return RTC.RTC_OK
+
+
+
+
+def Throughput_pyInit(manager):
+ profile = OpenRTM_aist.Properties(defaults_str=throughput_py_spec)
+ manager.registerFactory(profile,
+ Throughput_py,
+ OpenRTM_aist.Delete)
+
+def MyModuleInit(manager):
+ Throughput_pyInit(manager)
+
+ # Create a component
+ comp = manager.createComponent("Throughput_py")
+
+def main():
+ mgr = OpenRTM_aist.Manager.init(sys.argv)
+ mgr.setModuleInitProc(MyModuleInit)
+ mgr.activateManager()
+ mgr.runManager()
+
+if __name__ == "__main__":
+ main()
+
Added: trunk/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/Throughput/rtc.conf
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/Throughput/rtc.conf (rev 0)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/python3_examples/Throughput/rtc.conf 2017-12-15 02:08:20 UTC (rev 902)
@@ -0,0 +1,7 @@
+corba.args: -ORBgiopMaxMsgSize 209715200
+manager.components.preconnect: Throughput_py0.out:Throughput_py0.in(dataflow_type=push&interface_type=corba_cdr)
+manager.components.preactivation: Throughput_py0
+
+example.Throughput_py.conf.default.maxsize: 1000000
+example.Throughput_py.conf.default.datatype: float
+example.Throughput_py.conf.default.filesuffix: -samecomp
\ No newline at end of file
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