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Demo for callback-group-level executor concept. #302

Merged
merged 17 commits into from
Mar 11, 2021
Merged

Demo for callback-group-level executor concept. #302

merged 17 commits into from
Mar 11, 2021

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ralph-lange
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Moved PR from ros2/demos to this repository as discussed in ros2/demos#485.

Karsten1987
Karsten1987 reviewed Feb 13, 2021
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  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

rclcpp/executors/cbg_executor/src/examples_rclcpp_cbg_executor/ping_node.cpp Outdated Show resolved Hide resolved
rclcpp/executors/cbg_executor/src/examples_rclcpp_cbg_executor/ping_node.cpp Outdated Show resolved Hide resolved
rclcpp/executors/cbg_executor/include/examples_rclcpp_cbg_executor/ping_node.hpp Outdated Show resolved Hide resolved
rclcpp/executors/cbg_executor/src/examples_rclcpp_cbg_executor/ping_node.cpp Outdated Show resolved Hide resolved
rclcpp/executors/cbg_executor/src/examples_rclcpp_cbg_executor/ping_node.cpp Outdated Show resolved Hide resolved
rclcpp/executors/cbg_executor/src/examples_rclcpp_cbg_executor/pong_node.cpp Outdated Show resolved Hide resolved
rclcpp/executors/cbg_executor/src/examples_rclcpp_cbg_executor/pong_node.cpp Outdated Show resolved Hide resolved
rclcpp/executors/cbg_executor/CMakeLists.txt Outdated Show resolved Hide resolved
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rclcpp/executors/cbg_executor/package.xml Outdated Show resolved Hide resolved
ralph-lange and others added 2 commits February 13, 2021 15:49
@ralph-lange @Karsten1987
Apply suggestions from code review
660e6bb 
Co-authored-by: Karsten Knese <[email protected]>
Signed-off-by: Ralph Lange <[email protected]>
@ralph-lange
Fixed CMake line length warning.
67be1c9 
Signed-off-by: Ralph Lange <[email protected]>
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Hi @Karsten1987, I fixed the warnings caused by the line lengths in the CMakeLists.txt. Could you please re-trigger the job on ci.ros2.org?

@Karsten1987 Karsten1987 mentioned this pull request Feb 15, 2021
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@ralph-lange ralph-lange marked this pull request as draft February 17, 2021 17:12
@Karsten1987 Karsten1987 self-assigned this Feb 17, 2021
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Converted it to a draft until macOS support is implemented.

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Hi @Karsten1987, I tried to add support for macOS - without having any practical C++ experience on this platform. Could you please test and my implementation?

ralph-lange and others added 4 commits February 18, 2021 10:03
@ralph-lange
Simplified #ifdefs for logger.
359c55f 
Signed-off-by: Ralph Lange <[email protected]>
@Karsten1987
make compile on osx
cfc01da 
Signed-off-by: Karsten Knese <[email protected]>
@ralph-lange
Fixed includes so that CPPLINT.cfg can be removed and formatting of i…
71ae2c5 
…nt64 in logging.

Signed-off-by: Ralph Lange <[email protected]>
@Karsten1987
fix osx cpu affinity
413ede4 
Signed-off-by: Karsten Knese <[email protected]>
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Karsten1987 commented Feb 25, 2021 •
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@ralph-lange the CPU affinity indeed required the threads to the suspended while being configured. The condition variable seemed to have work according to the following output:

 ➭ ros2 run examples_rclcpp_cbg_executor ping_pong
1614233204.026369 [71]   12615970: using network interface en0 (udp/10.0.0.222) selected arbitrarily from: en0, vnic0, vnic1, vboxnet0, en8
[INFO] [1614233204.055699564] [pong_node]: Running experiment from now on for 10 s ...
[INFO] [1614233214.057528441] [ping_node]: High prio path: Sent 988 pings, received 985 pongs.
[INFO] [1614233214.057547680] [ping_node]: High prio path: Average RTT is 27.9 ms.
[INFO] [1614233214.057557175] [ping_node]: Low prio path: Sent 988 pings, received 0 pongs.
[INFO] [1614233214.057563656] [pong_node]: High priority executor thread ran for 9987 ms.
[INFO] [1614233214.057569745] [pong_node]: Low priority executor thread ran for 0 ms.

I could do this without requiring root rights, so maybe that'll also reduce the need for it on Linux.

I further went ahead and refactored the nodes from being compile dependent on the compiler options (ADD_PING, ADD_PONG, ...) into three individual files. I hope you don't mind that I renamed the executables accordingly.

CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

@Karsten1987 Karsten1987 marked this pull request as ready for review February 25, 2021 06:14
@Karsten1987
duplicate main methods for simplicity
ce8653f 
Signed-off-by: Karsten Knese <[email protected]>
@Karsten1987
uncrustify
cb7bb15 
Signed-off-by: Karsten Knese <[email protected]>
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Great that you got the core pinning for macOS working. However, we have to use separate mutexes for each executor instance. Otherwise, with the current lock mechanism, only one of the two executor instances will eventually run. I'll fix this in the evening.

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@Karsten1987, could you please re-trigger the job on ci.ros2.org?

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  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

@Karsten1987
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  • Linux Build Status
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Karsten1987
Karsten1987 approved these changes Mar 11, 2021
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this looks good to me with green CI.

However, @clalancette if you could give it a pair of eyes as well. I've ended up contributing to the PR quite a bit.

clalancette
clalancette approved these changes Mar 11, 2021
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Seems reasonable enough to me. @Karsten1987 I'll let you merge.

@Karsten1987 Karsten1987 merged commit 73e3849 into ros2:master Mar 11, 2021
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@clalancette clalancette clalancette approved these changes

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