add support for events executor

Signed-off-by: VictorLee <lzs_1993@qq.com>
ZhenshengLee · Jul 22, 2021 · c71666d · c71666d
1 parent c2eb11c
commit c71666d
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Showing 5 changed files with 43 additions and 0 deletions.
diff --git a/performance_test/CMakeLists.txt b/performance_test/CMakeLists.txt
@@ -171,6 +171,12 @@ if(PERFORMANCE_TEST_RCLCPP_ENABLED)
   add_definitions(-DPERFORMANCE_TEST_RCLCPP_ENABLED)
 endif()
 
+# ROS2 rclcpp events executor plugin
+option(PERFORMANCE_TEST_RCLCPP_EVENTS_EXECUTOR_ENABLED "" OFF)
+if(PERFORMANCE_TEST_RCLCPP_EVENTS_EXECUTOR_ENABLED)
+  add_definitions(-DPERFORMANCE_TEST_RCLCPP_EVENTS_EXECUTOR_ENABLED)
+endif()
+
 set(${PROJECT_NAME}_SOURCES
     src/experiment_execution/analyze_runner.cpp)
 

diff --git a/performance_test/src/communication_abstractions/rclcpp_callback_communicator.hpp b/performance_test/src/communication_abstractions/rclcpp_callback_communicator.hpp
@@ -16,6 +16,7 @@
 #define COMMUNICATION_ABSTRACTIONS__RCLCPP_CALLBACK_COMMUNICATOR_HPP_
 
 #include <rclcpp/rclcpp.hpp>
+#include "rclcpp/executors/events_executor.hpp"
 
 #include <memory>
 #include <atomic>
@@ -67,5 +68,11 @@ template<class Msg>
 using RclcppStaticSingleThreadedExecutorCommunicator =
   RclcppCallbackCommunicator<Msg, rclcpp::executors::StaticSingleThreadedExecutor>;
 
+#ifdef PERFORMANCE_TEST_RCLCPP_EVENTS_EXECUTOR_ENABLED
+  template<class Msg>
+  using RclcppEventsExecutorCommunicator =
+    RclcppCallbackCommunicator<Msg, rclcpp::executors::EventsExecutor>;
+#endif // PERFORMANCE_TEST_RCLCPP_EVENTS_EXECUTOR_ENABLED
+
 }  // namespace performance_test
 #endif  // COMMUNICATION_ABSTRACTIONS__RCLCPP_CALLBACK_COMMUNICATOR_HPP_
diff --git a/performance_test/src/data_running/data_runner_factory.cpp b/performance_test/src/data_running/data_runner_factory.cpp
@@ -79,6 +79,11 @@ std::shared_ptr<DataRunnerBase> DataRunnerFactory::get(
         if (com_mean == CommunicationMean::RCLCPP_WAITSET) {
           ptr = std::make_shared<DataRunner<RclcppWaitsetCommunicator<T>>>(run_type);
         }
+#ifdef PERFORMANCE_TEST_RCLCPP_EVENTS_EXECUTOR_ENABLED
+        if (com_mean == CommunicationMean::RCLCPP_EVENTS_EXECUTOR) {
+          ptr = std::make_shared<DataRunner<RclcppEventsExecutorCommunicator<T>>>(run_type);
+        }
+#endif // PERFORMANCE_TEST_RCLCPP_EVENTS_EXECUTOR_ENABLED
 #endif
 #ifdef PERFORMANCE_TEST_FASTRTPS_ENABLED
         if (com_mean == CommunicationMean::FASTRTPS) {

diff --git a/performance_test/src/experiment_configuration/communication_mean.hpp b/performance_test/src/experiment_configuration/communication_mean.hpp
@@ -27,6 +27,9 @@ enum class CommunicationMean
   RCLCPP_SINGLE_THREADED_EXECUTOR,
   RCLCPP_STATIC_SINGLE_THREADED_EXECUTOR,
   RCLCPP_WAITSET,
+#ifdef PERFORMANCE_TEST_RCLCPP_EVENTS_EXECUTOR_ENABLED
+  RCLCPP_EVENTS_EXECUTOR,
+#endif // PERFORMANCE_TEST_RCLCPP_EVENTS_EXECUTOR_ENABLED
 #endif
 #ifdef PERFORMANCE_TEST_FASTRTPS_ENABLED
   FASTRTPS,
@@ -62,6 +65,11 @@ inline std::ostream & operator<<(std::ostream & stream, const CommunicationMean
   if (cm == CommunicationMean::RCLCPP_WAITSET) {
     return stream << "RCLCPP_WAITSET";
   }
+#ifdef PERFORMANCE_TEST_RCLCPP_EVENTS_EXECUTOR_ENABLED
+  if (cm == CommunicationMean::RCLCPP_EVENTS_EXECUTOR) {
+    return stream << "RCLCPP_EVENTS_EXECUTOR";
+  }
+#endif // PERFORMANCE_TEST_RCLCPP_EVENTS_EXECUTOR_ENABLED
 #endif
 #ifdef PERFORMANCE_TEST_FASTRTPS_ENABLED
   if (cm == CommunicationMean::FASTRTPS) {

diff --git a/performance_test/src/experiment_configuration/experiment_configuration.cpp b/performance_test/src/experiment_configuration/experiment_configuration.cpp
@@ -96,6 +96,9 @@ void ExperimentConfiguration::setup(int argc, char ** argv)
     allowedCommunications.push_back("rclcpp-single-threaded-executor");
     allowedCommunications.push_back("rclcpp-static-single-threaded-executor");
     allowedCommunications.push_back("rclcpp-waitset");
+#ifdef PERFORMANCE_TEST_RCLCPP_EVENTS_EXECUTOR_ENABLED
+    allowedCommunications.push_back("rclcpp-events-executor");
+#endif // PERFORMANCE_TEST_RCLCPP_EVENTS_EXECUTOR_ENABLED
 #endif
 #ifdef PERFORMANCE_TEST_FASTRTPS_ENABLED
     allowedCommunications.push_back("FastRTPS");
@@ -291,6 +294,14 @@ void ExperimentConfiguration::setup(int argc, char ** argv)
       m_com_mean_str = "RCLCPP_WAITSET";
       #endif
     }
+#ifdef PERFORMANCE_TEST_RCLCPP_EVENTS_EXECUTOR_ENABLED
+    if (comm_str == "rclcpp-events-executor") {
+      m_com_mean = CommunicationMean::RCLCPP_EVENTS_EXECUTOR;
+      #ifdef PERFORMANCE_TEST_ODB_FOR_SQL_ENABLED
+      m_com_mean_str = "RCLCPP_EVENTS_EXECUTOR";
+      #endif
+    }
+#endif // PERFORMANCE_TEST_RCLCPP_EVENTS_EXECUTOR_ENABLED
 #endif
 #ifdef PERFORMANCE_TEST_FASTRTPS_ENABLED
     if (comm_str == "FastRTPS") {
@@ -456,6 +467,12 @@ bool ExperimentConfiguration::use_ros2_layers() const
     return true;
   }
 #endif
+#ifdef PERFORMANCE_TEST_RCLCPP_EVENTS_EXECUTOR_ENABLED
+  if (m_com_mean == CommunicationMean::RCLCPP_EVENTS_EXECUTOR)
+  {
+    return true;
+  }
+#endif // PERFORMANCE_TEST_RCLCPP_EVENTS_EXECUTOR_ENABLED
   return false;
 }
 uint32_t ExperimentConfiguration::dds_domain_id() const