mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-29 08:23:34 +08:00
Ramon Roche
ed70e1d91c
- Validate rate, duration, and connections args (reject <= 0) - Cap connections at 10 to prevent sysid overflow past 255 - Use unique_ptr for MavlinkPassthrough (no manual delete) - Fix runner script: document that perf is read via MAVLink shell, wait for PX4 process on shutdown Signed-off-by: Ramon Roche <mrpollo@gmail.com>
118 lines
3.3 KiB
Bash
Executable File
118 lines
3.3 KiB
Bash
Executable File
#!/bin/bash
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#
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# MAVLink forwarding mutex benchmark runner.
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#
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# Builds the benchmark tool, starts PX4 SITL SIH, runs the benchmark,
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# then collects perf counter data.
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#
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# Usage:
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# ./run_forwarding_bench.sh [--duration 60] [--rate 200] [--connections 2] [--label baseline]
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#
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# The --label flag tags the output files for before/after comparison.
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set -euo pipefail
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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PX4_DIR="$(cd "$SCRIPT_DIR/../.." && pwd)"
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BUILD_DIR="$SCRIPT_DIR/build_bench"
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RESULTS_DIR="$PX4_DIR/bench_results"
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DURATION=60
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RATE=200
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CONNECTIONS=2
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LABEL="run"
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while [[ $# -gt 0 ]]; do
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case "$1" in
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--duration) DURATION="$2"; shift 2 ;;
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--rate) RATE="$2"; shift 2 ;;
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--connections) CONNECTIONS="$2"; shift 2 ;;
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--label) LABEL="$2"; shift 2 ;;
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--help|-h)
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echo "Usage: $0 [--duration N] [--rate N] [--connections N] [--label NAME]"
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exit 0
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;;
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*) echo "Unknown arg: $1"; exit 1 ;;
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esac
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done
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TIMESTAMP=$(date +%Y%m%d_%H%M%S)
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RESULT_PREFIX="${RESULTS_DIR}/${LABEL}_${TIMESTAMP}"
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mkdir -p "$RESULTS_DIR"
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echo "=== Step 1: Build PX4 SITL SIH ==="
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cd "$PX4_DIR"
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make px4_sitl_sih 2>&1 | tail -5
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echo ""
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echo "=== Step 2: Build benchmark tool ==="
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mkdir -p "$BUILD_DIR"
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cd "$BUILD_DIR"
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# Symlink the standalone CMakeLists and source into build dir
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ln -sf "$SCRIPT_DIR/CMakeLists_bench.txt" CMakeLists.txt
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ln -sf "$SCRIPT_DIR/test_mavlink_forwarding_bench.cpp" .
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cmake -DCMAKE_BUILD_TYPE=Release .
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make -j$(nproc 2>/dev/null || sysctl -n hw.ncpu)
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echo ""
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echo "=== Step 3: Start PX4 SITL SIH ==="
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cd "$PX4_DIR"
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# Start PX4 in background, capture PID
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PX4_SIM_MODEL=sihsim_quadx $PX4_DIR/build/px4_sitl_sih/bin/px4 \
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-s $PX4_DIR/ROMFS/px4fmu_common/init.d-posix/rcS \
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-w $PX4_DIR/build/px4_sitl_sih/rootfs \
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$PX4_DIR/build/px4_sitl_sih/etc \
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> "${RESULT_PREFIX}_px4.log" 2>&1 &
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PX4_PID=$!
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echo "PX4 started (PID=$PX4_PID), waiting 10s for boot..."
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sleep 10
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# Verify PX4 is running
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if ! kill -0 "$PX4_PID" 2>/dev/null; then
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echo "ERROR: PX4 failed to start. Check ${RESULT_PREFIX}_px4.log"
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exit 1
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fi
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echo ""
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echo "=== Step 4: Run benchmark ==="
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echo " Duration: ${DURATION}s"
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echo " Rate: ${RATE} Hz/connection"
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echo " Connections: ${CONNECTIONS}"
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echo ""
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"$BUILD_DIR/mavlink_forwarding_bench" \
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--duration "$DURATION" \
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--rate "$RATE" \
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--connections "$CONNECTIONS" \
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--report "${RESULT_PREFIX}_sender.csv" \
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2>&1 | tee "${RESULT_PREFIX}_bench.log"
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echo ""
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echo "=== Step 5: Perf counters ==="
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echo "The benchmark tool reads perf counters from the board automatically"
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echo "via the MAVLink shell protocol. Check the bench log above for BENCH lines."
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echo ""
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echo "=== Step 6: Stop PX4 ==="
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kill -INT "$PX4_PID" 2>/dev/null || true
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wait "$PX4_PID" 2>/dev/null || true
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# Extract bench lines from the benchmark log if available
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if grep -q "BENCH" "${RESULT_PREFIX}_bench.log" 2>/dev/null; then
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echo "Perf counters:"
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grep "BENCH" "${RESULT_PREFIX}_bench.log" | tee "${RESULT_PREFIX}_perf.txt"
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fi
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echo ""
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echo "=== Results saved ==="
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echo " PX4 log: ${RESULT_PREFIX}_px4.log"
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echo " Bench log: ${RESULT_PREFIX}_bench.log"
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echo " Sender CSV: ${RESULT_PREFIX}_sender.csv"
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echo " Perf data: ${RESULT_PREFIX}_perf.txt (if available)"
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echo ""
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echo "To compare runs:"
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echo " diff <baseline>_perf.txt <after_fix>_perf.txt"
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