csg-robomaster

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csg-robomaster / examples /benchmark /node /src /main.rs

TomPei

Duplicate from opencsg/csg-robomaster

0bfb62b 2 days ago

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use dora_node_api::{self, dora_core::config::DataId, DoraNode};
use eyre::Context;
use rand::Rng;
use std::time::Duration;
use tracing_subscriber::Layer;

fn main() -> eyre::Result<()> {
    set_up_tracing().wrap_err("failed to set up tracing subscriber")?;

    let latency = DataId::from("latency".to_owned());
    let throughput = DataId::from("throughput".to_owned());

    let (mut node, _events) = DoraNode::init_from_env()?;
    let sizes = [
        0,
        8,
        64,
        512,
        2048,
        4096,
        4 * 4096,
        10 * 4096,
        100 * 4096,
        1000 * 4096,
    ];

    // test latency first
    for size in sizes {
        for _ in 0..100 {
            let data: Vec<u8> = rand::thread_rng()
                .sample_iter(rand::distributions::Standard)
                .take(size)
                .collect();
            node.send_output_raw(latency.clone(), Default::default(), data.len(), |out| {
                out.copy_from_slice(&data);
            })?;

            // sleep a bit to avoid queue buildup
            std::thread::sleep(Duration::from_millis(10));
        }
    }

    // wait a bit to ensure that all throughput messages reached their target
    std::thread::sleep(Duration::from_secs(2));

    // then throughput with full speed
    for size in sizes {
        for _ in 0..100 {
            let data: Vec<u8> = rand::thread_rng()
                .sample_iter(rand::distributions::Standard)
                .take(size)
                .collect();
            node.send_output_raw(throughput.clone(), Default::default(), data.len(), |out| {
                out.copy_from_slice(&data);
            })?;
        }
    }

    Ok(())
}

fn set_up_tracing() -> eyre::Result<()> {
    use tracing_subscriber::prelude::__tracing_subscriber_SubscriberExt;

    let stdout_log = tracing_subscriber::fmt::layer()
        .pretty()
        .with_filter(tracing::metadata::LevelFilter::DEBUG);
    let subscriber = tracing_subscriber::Registry::default().with(stdout_log);
    tracing::subscriber::set_global_default(subscriber)
        .context("failed to set tracing global subscriber")
}

	use dora_node_api::{self, dora_core::config::DataId, DoraNode};
	use eyre::Context;
	use rand::Rng;
	use std::time::Duration;
	use tracing_subscriber::Layer;

	fn main() -> eyre::Result<()> {
	set_up_tracing().wrap_err("failed to set up tracing subscriber")?;

	let latency = DataId::from("latency".to_owned());
	let throughput = DataId::from("throughput".to_owned());

	let (mut node, _events) = DoraNode::init_from_env()?;
	let sizes = [
	0,
	8,
	64,
	512,
	2048,
	4096,
	4 * 4096,
	10 * 4096,
	100 * 4096,
	1000 * 4096,
	];

	// test latency first
	for size in sizes {
	for _ in 0..100 {
	let data: Vec<u8> = rand::thread_rng()
	.sample_iter(rand::distributions::Standard)
	.take(size)
	.collect();
	node.send_output_raw(latency.clone(), Default::default(), data.len(), \|out\| {
	out.copy_from_slice(&data);
	})?;

	// sleep a bit to avoid queue buildup
	std::thread::sleep(Duration::from_millis(10));
	}
	}

	// wait a bit to ensure that all throughput messages reached their target
	std::thread::sleep(Duration::from_secs(2));

	// then throughput with full speed
	for size in sizes {
	for _ in 0..100 {
	let data: Vec<u8> = rand::thread_rng()
	.sample_iter(rand::distributions::Standard)
	.take(size)
	.collect();
	node.send_output_raw(throughput.clone(), Default::default(), data.len(), \|out\| {
	out.copy_from_slice(&data);
	})?;
	}
	}

	Ok(())
	}

	fn set_up_tracing() -> eyre::Result<()> {
	use tracing_subscriber::prelude::__tracing_subscriber_SubscriberExt;

	let stdout_log = tracing_subscriber::fmt::layer()
	.pretty()
	.with_filter(tracing::metadata::LevelFilter::DEBUG);
	let subscriber = tracing_subscriber::Registry::default().with(stdout_log);
	tracing::subscriber::set_global_default(subscriber)
	.context("failed to set tracing global subscriber")
	}