int main(int argc, char *argv[])
{
sub.init();
rttest_read_args(argc, argv);
if (rttest_set_sched_priority(90, SCHED_RR) != 0)
{
perror("Failed to set scheduling priority and policy of thread");
}
if (rttest_lock_memory() != 0)
{
perror("Failed to lock memory");
}
rttest_prefault_stack();
rttest_spin(sub_callback, NULL);
rttest_write_results();
rttest_finish();
sub.teardown();
}
int main(int argc, char *argv[])
{
sub = new ExampleSubscriber();
sub->init();
rttest_read_args(argc, argv);
if (rttest_set_sched_priority(90, SCHED_RR) != 0)
{
perror("Failed to set scheduling priority and policy of thread");
}
size_t pool_size = 1024*1024*1024;
size_t stack_size = sizeof(*sub) + 1024*1024;
if (rttest_lock_memory() != 0)
{
perror("Failed to lock memory");
}
rttest_prefault_stack();
rttest_spin(sub_callback, NULL);
rttest_write_results();
rttest_finish();
std::cout << "Subscriber received " << sub->msgs_count << " messages." << std::endl;
sub->teardown();
delete sub;
}
void *publisher_thread(void *unused)
{
rttest_spin(pub_callback, NULL);
rttest_write_results_file("rttest_publisher_results");
if (pub != NULL)
pub->teardown();
rttest_finish();
}
/// Wrap executor::spin into rttest_spin.
// Do all the work available to the executor for as many iterations specified by rttest.
void spin()
{
// This call will block until rttest is finished, calling loop_callback at periodic intervals
// specified on the command line.
rttest_spin(RttExecutor::loop_callback, static_cast<void *>(this));
// Clean up state and write results after rttest has finished spinning.
running = false;
rttest_write_results();
if (rttest_running()) {
rttest_finish();
}
rttest_ready = rttest_running();
}
void *subscriber_thread(void *unused)
{
rttest_init_new_thread();
if (rttest_set_sched_priority(98, SCHED_RR) != 0)
{
perror("Failed to set scheduling priorty and policy of thread");
}
rttest_spin(sub_callback, NULL);
rttest_write_results_file("rttest_subscriber_results");
std::cout << "Subscriber received " << sub->msgs_count << " messages." << std::endl;
/*if (sub != NULL)
sub->teardown();*/
rttest_finish();
}
/// Core component of the executor. Do a little bit of work and update extra state.
// \param[in] Anonymous argument, will be casted as a pointer to an RttExecutor.
static void * loop_callback(void * arg)
{
// Cast the argument so that we can access the executor's state.
RttExecutor * executor = static_cast<RttExecutor *>(arg);
// If the input pointer was NULL or invalid, or if rclcpp has stopped, signal rttest to stop.
if (!executor || !rclcpp::utilities::ok()) {
rttest_finish();
return 0;
}
// Single-threaded spin_some: do as much work as we have available.
executor->spin_some();
// Retrieve rttest statistics accumulated so far and store them in the executor.
rttest_get_statistics(&executor->results);
rttest_get_sample_at(executor->results.iteration, &executor->last_sample);
// In case this boolean wasn't set, notify that we've recently run the callback.
executor->running = true;
return 0;
}
int main(int argc, char ** argv)
{
rttest_set_sched_priority(98, SCHED_RR);
if (rttest_read_args(argc, argv) != 0) {
perror("Couldn't read arguments for rttest");
return -1;
}
if (rttest_lock_memory() != 0) {
perror("Couldn't lock memory");
return -1;
}
rttest_lock_and_prefault_dynamic();
rttest_spin(my_loop_callback, NULL);
rttest_write_results();
rttest_finish();
return 0;
}
