Implemented the benchmark to observe the effect of middleware over se…

…rvice-client jobs

CMakeLists.txt

@@ -15,6 +15,7 @@ find_package(nav_msgs REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(yaml-cpp REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(example_interfaces REQUIRED)
 
 add_executable(
   scenario_perception_pipeline_benchmark_main
@@ -29,7 +30,8 @@ ament_target_dependencies(
   "benchmark"
   "dynmsg"
   "nav_msgs"
-  "yaml-cpp")
+  "yaml-cpp"
+  "example_interfaces")
 
 target_include_directories(
   scenario_perception_pipeline_benchmark_main
@@ -56,9 +58,33 @@ target_include_directories(
 target_link_libraries(scenario_basic_subscription_benchmark_main
                       PUBLIC "benchmark::benchmark" ${YAML_CPP_LIBRARIES})
 
-install(TARGETS scenario_perception_pipeline_benchmark_main
-                scenario_basic_subscription_benchmark_main
-        DESTINATION lib/moveit_middleware_benchmark)
+add_executable(
+  scenario_basic_service_client_benchmark_main
+  src/scenario_basic_service_client_benchmark_main.cpp
+  src/scenarios/scenario_basic_service_client.cpp)
+
+ament_target_dependencies(
+  scenario_basic_service_client_benchmark_main
+  PUBLIC
+  "moveit_ros_planning_interface"
+  "rclcpp"
+  "benchmark"
+  "std_msgs"
+  "example_interfaces")
+
+target_include_directories(
+  scenario_basic_service_client_benchmark_main
+  PUBLIC $<INSTALL_INTERFACE:include>
+         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
+
+target_link_libraries(scenario_basic_service_client_benchmark_main
+                      PUBLIC "benchmark::benchmark" ${YAML_CPP_LIBRARIES})
+
+install(
+  TARGETS scenario_perception_pipeline_benchmark_main
+          scenario_basic_subscription_benchmark_main
+          scenario_basic_service_client_benchmark_main
+  DESTINATION lib/moveit_middleware_benchmark)
 
 install(DIRECTORY launch config DESTINATION share/moveit_middleware_benchmark)
 

include/moveit_middleware_benchmark/scenarios/scenario_basic_service_client.hpp

@@ -0,0 +1,83 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2024, Cihat Kurtuluş Altıparmak
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Cihat Kurtuluş Altıparmak
+   Description: Benchmarking module to compare the effects of middlewares
+   against basic service client works
+ */
+
+#pragma once
+
+#include <rclcpp/rclcpp.hpp>
+#include <benchmark/benchmark.h>
+#include <memory>
+#include <chrono>
+#include <std_msgs/msg/string.hpp>
+#include <example_interfaces/srv/add_two_ints.hpp>
+
+#include <ament_index_cpp/get_package_share_directory.hpp>
+
+namespace moveit
+{
+namespace middleware_benchmark
+{
+
+class ScenarioBasicServiceClient
+{
+public:
+  ScenarioBasicServiceClient(rclcpp::Node::SharedPtr node);
+
+  void runTestCase(const int& sending_request_number);
+
+private:
+  rclcpp::Node::SharedPtr node_;
+  rclcpp::Client<example_interfaces::srv::AddTwoInts>::SharedPtr client_;
+};    
+
+class ScenarioBasicServiceClientFixture : public benchmark::Fixture
+{
+public:
+  ScenarioBasicServiceClientFixture();
+
+  void SetUp(::benchmark::State& /*state*/);
+
+  void TearDown(::benchmark::State& /*state*/);
+
+protected:
+  rclcpp::Node::SharedPtr node_;
+  int sending_request_number_;
+};
+
+}  // namespace middleware_benchmark
+}  // namespace moveit

launch/scenario_basic_service_client_benchmark.launch.py

@@ -0,0 +1,65 @@
+import os
+from launch import LaunchDescription
+from launch.substitutions import LaunchConfiguration
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import (
+    DeclareLaunchArgument,
+    ExecuteProcess,
+    Shutdown,
+    OpaqueFunction,
+)
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+
+
+def launch_setup(context, *args, **kwargs):
+    benchmark_command_args = context.perform_substitution(
+        LaunchConfiguration("benchmark_command_args")
+    ).split()
+
+    sending_request_number = int(
+        context.perform_substitution(LaunchConfiguration("sending_request_number"))
+    )
+
+    add_two_ints_server_node = ExecuteProcess(
+        cmd=[
+            [
+                "ros2 run demo_nodes_cpp add_two_ints_server"
+            ]
+        ],
+        shell=True,
+    )
+
+    benchmark_main_node = Node(
+        name="benchmark_main",
+        package="moveit_middleware_benchmark",
+        executable="scenario_basic_service_client_benchmark_main",
+        output="both",
+        arguments=benchmark_command_args,
+        parameters=[
+            {"sending_request_number": sending_request_number},
+        ],
+        on_exit=Shutdown(),
+    )
+
+    return [add_two_ints_server_node, benchmark_main_node]
+
+
+def generate_launch_description():
+    declared_arguments = []
+
+    benchmark_command_args = DeclareLaunchArgument(
+        "benchmark_command_args",
+        default_value="--benchmark_out=middleware_benchmark_results.json --benchmark_out_format=json --benchmark_repetitions=6",
+        description="Google Benchmark Tool Arguments",
+    )
+    declared_arguments.append(benchmark_command_args)
+
+    sending_request_number_arg = DeclareLaunchArgument(
+        "sending_request_number", default_value="10000"
+    )
+    declared_arguments.append(sending_request_number_arg)
+
+    return LaunchDescription(
+        declared_arguments + [OpaqueFunction(function=launch_setup)]
+    )

src/scenario_basic_service_client_benchmark_main.cpp

@@ -0,0 +1,50 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2024, Cihat Kurtuluş Altıparmak
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Cihat Kurtuluş Altıparmak
+   Description: Benchmarking module to compare the effects of middlewares
+   against basic service client works
+ */
+
+#include "moveit_middleware_benchmark/scenarios/scenario_basic_service_client.hpp"
+
+int main(int argc, char** argv)
+{
+  rclcpp::init(argc, argv);
+  benchmark::Initialize(&argc, argv);
+  benchmark::RunSpecifiedBenchmarks();
+  benchmark::Shutdown();
+  rclcpp::shutdown();
+  return 0;
+}

src/scenarios/scenario_basic_service_client.cpp

@@ -0,0 +1,115 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2024, Cihat Kurtuluş Altıparmak
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Cihat Kurtuluş Altıparmak
+   Description: Benchmarking module to compare the effects of middlewares
+   against basic service client works
+ */
+
+ #include "moveit_middleware_benchmark/scenarios/scenario_basic_service_client.hpp"
+
+namespace moveit
+{
+namespace middleware_benchmark
+{
+
+using namespace std::chrono_literals;
+
+ScenarioBasicServiceClient::ScenarioBasicServiceClient(rclcpp::Node::SharedPtr node) : node_(node) {
+  client_ = node_->create_client<example_interfaces::srv::AddTwoInts>("add_two_ints");
+
+  if (!client_->wait_for_service(5s)) {
+    RCLCPP_FATAL(node_->get_logger(), "Server is not available !");
+  }
+
+  // TODO @CihatAltiparmak : add this time stopings to 
+  //              perception pipeline benchmark as well
+  // It should be waited even if server is okay due 
+  // to the fact that server sometimes doesn't response 
+  // request we sent in case that client sent request once server is ready 
+  std::this_thread::sleep_for(1s);
+}
+
+void ScenarioBasicServiceClient::runTestCase(const int& sending_request_number) {
+  for (int i = 0; i < sending_request_number; i++) {
+    auto request = std::make_shared<example_interfaces::srv::AddTwoInts::Request>();
+    request->a = 5;
+    request->b = 4;
+
+    auto result = client_->async_send_request(request);
+
+    if (rclcpp::spin_until_future_complete(node_, result) == rclcpp::FutureReturnCode::SUCCESS) {
+      RCLCPP_DEBUG(node_->get_logger(), "Response %d is successfuly returned by server!", i);
+    } else {
+      RCLCPP_ERROR(node_->get_logger(), "Request %d failed!", i);
+    }
+  }
+}
+
+ScenarioBasicServiceClientFixture::ScenarioBasicServiceClientFixture() {
+
+}
+
+void ScenarioBasicServiceClientFixture::SetUp(::benchmark::State& /*state*/) {
+  if (node_.use_count() == 0)
+  {
+    node_ = std::make_shared<rclcpp::Node>("test_scenario_basic_service_client",
+                                           rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true));
+
+    node_->get_parameter("sending_request_number", sending_request_number_);
+  }
+}
+
+void ScenarioBasicServiceClientFixture::TearDown(::benchmark::State& /*state*/) {
+  node_.reset();
+}
+
+BENCHMARK_DEFINE_F(ScenarioBasicServiceClientFixture, test_scenario_basic_service_client)(benchmark::State& st)
+{
+  for (auto _ : st)
+  {
+    // TODO @CihatAltiparmak : add this time stopings to 
+    //              perception pipeline benchmark as well
+    st.PauseTiming();
+    auto sc = ScenarioBasicServiceClient(node_);
+    st.ResumeTiming();
+
+    sc.runTestCase(sending_request_number_);
+  }
+}
+
+BENCHMARK_REGISTER_F(ScenarioBasicServiceClientFixture, test_scenario_basic_service_client);
+
+}  // namespace middleware_benchmark
+}  // namespace moveit