add samples to check service/topic registration

samples/CMakeLists.txt

@@ -93,9 +93,14 @@ if(ECAL_CORE_PUBLISHER AND ECAL_CORE_SUBSCRIBER)
 endif()
 
 # monitoring
-if(ECAL_CORE_MONITORING AND ECAL_CORE_BUILD_SAMPLES_PROTOBUF)
-  add_subdirectory(cpp/monitoring/monitoring_rec)
-  add_subdirectory(cpp/monitoring/monitoring_reg)
+if(ECAL_CORE_MONITORING)
+  add_subdirectory(cpp/monitoring/monitoring_get_services)
+  add_subdirectory(cpp/monitoring/monitoring_get_topics)
+  add_subdirectory(cpp/monitoring/monitoring_performance)
+  if(ECAL_CORE_BUILD_SAMPLES_PROTOBUF)
+    add_subdirectory(cpp/monitoring/monitoring_rec)
+    add_subdirectory(cpp/monitoring/monitoring_reg)
+  endif()
 endif()
 
 # services

samples/cpp/monitoring/monitoring_get_services/CMakeLists.txt

@@ -0,0 +1,39 @@
+# ========================= eCAL LICENSE =================================
+#
+# Copyright (C) 2016 - 2019 Continental Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# 
+#      http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# ========================= eCAL LICENSE =================================
+
+cmake_minimum_required(VERSION 3.10)
+
+set(CMAKE_FIND_PACKAGE_PREFER_CONFIG ON)
+
+project(monitoring_get_services)
+
+find_package(eCAL REQUIRED)
+
+set(monitoring_get_services_src
+    src/monitoring_get_services.cpp
+)
+
+ecal_add_sample(${PROJECT_NAME} ${monitoring_get_services_src})
+
+target_link_libraries(${PROJECT_NAME} eCAL::core)
+
+target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_14)
+
+ecal_install_sample(${PROJECT_NAME})
+
+set_property(TARGET ${PROJECT_NAME} PROPERTY FOLDER samples/cpp/monitoring)

samples/cpp/monitoring/monitoring_get_services/src/monitoring_get_services.cpp

@@ -0,0 +1,76 @@
+/* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * 
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ * 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
+#include <ecal/ecal.h>
+
+#include <chrono>
+#include <iostream>
+#include <string>
+#include <map>
+#include <vector>
+
+int main(int argc, char **argv)
+{
+  int                                   run(0), runs(1000);
+  std::chrono::steady_clock::time_point start_time;
+
+  // initialize eCAL core API
+  eCAL::Initialize(argc, argv, "monitoring get services");
+
+  // monitor for ever
+  while(eCAL::Ok())
+  {
+    // GetServices
+    {
+      std::map<std::tuple<std::string, std::string>, eCAL::SServiceMethodInformation> service_info_map;
+
+      start_time = std::chrono::steady_clock::now();
+      for (run = 0; run < runs; ++run)
+      {
+        eCAL::Util::GetServices(service_info_map);
+      }
+
+      auto num_services = service_info_map.size();
+      auto diff_time = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::steady_clock::now() - start_time);
+      std::cout << "GetServices      : " << static_cast<double>(diff_time.count()) / runs << " ms" << " (" << num_services << " services)" << std::endl;
+      std::cout << std::endl;
+    }
+
+    // GetServiceNames
+    {
+      std::vector<std::tuple<std::string, std::string>> service_method_names;
+
+      start_time = std::chrono::steady_clock::now();
+      for (run = 0; run < runs; ++run)
+      {
+        eCAL::Util::GetServiceNames(service_method_names);
+      }
+
+      auto num_services = service_method_names.size();
+      auto diff_time = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::steady_clock::now() - start_time);
+      std::cout << "GetServicesNames : " << static_cast<double>(diff_time.count()) / runs << " ms" << " (" << num_services << " services)" << std::endl;
+      std::cout << std::endl;
+    }
+  }
+
+  // finalize eCAL API
+  eCAL::Finalize();
+
+  return(0);
+}

samples/cpp/monitoring/monitoring_get_topics/CMakeLists.txt

@@ -0,0 +1,39 @@
+# ========================= eCAL LICENSE =================================
+#
+# Copyright (C) 2016 - 2019 Continental Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# 
+#      http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# ========================= eCAL LICENSE =================================
+
+cmake_minimum_required(VERSION 3.10)
+
+set(CMAKE_FIND_PACKAGE_PREFER_CONFIG ON)
+
+project(monitoring_get_topics)
+
+find_package(eCAL REQUIRED)
+
+set(monitoring_get_topics_src
+    src/monitoring_get_topics.cpp
+)
+
+ecal_add_sample(${PROJECT_NAME} ${monitoring_get_topics_src})
+
+target_link_libraries(${PROJECT_NAME} eCAL::core)
+
+target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_14)
+
+ecal_install_sample(${PROJECT_NAME})
+
+set_property(TARGET ${PROJECT_NAME} PROPERTY FOLDER samples/cpp/monitoring)

samples/cpp/monitoring/monitoring_get_topics/src/monitoring_get_topics.cpp

@@ -0,0 +1,75 @@
+/* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * 
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ * 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
+#include <ecal/ecal.h>
+
+#include <chrono>
+#include <iostream>
+#include <string>
+#include <unordered_map>
+
+int main(int argc, char **argv)
+{
+  int                                   run(0), runs(1000);
+  std::chrono::steady_clock::time_point start_time;
+
+  // initialize eCAL core API
+  eCAL::Initialize(argc, argv, "monitoring get topics");
+
+  // monitor for ever
+  while(eCAL::Ok())
+  {
+    // GetTopics
+    {
+      std::unordered_map<std::string, eCAL::SDataTypeInformation> topic_info_map;
+
+      start_time = std::chrono::steady_clock::now();
+      for (run = 0; run < runs; ++run)
+      {
+        eCAL::Util::GetTopics(topic_info_map);
+      }
+
+      auto num_topics = topic_info_map.size();
+      auto diff_time = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::steady_clock::now() - start_time);
+      std::cout << "GetTopics      : " << static_cast<double>(diff_time.count()) / runs << " ms" << " (" << num_topics << " topics)" << std::endl;
+      std::cout << std::endl;
+    }
+
+    // GetTopicNames
+    {
+      std::vector<std::string> topic_names;
+
+      start_time = std::chrono::steady_clock::now();
+      for (run = 0; run < runs; ++run)
+      {
+        eCAL::Util::GetTopicNames(topic_names);
+      }
+
+      auto num_topics = topic_names.size();
+      auto diff_time = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::steady_clock::now() - start_time);
+      std::cout << "GetTopicsNames : " << static_cast<double>(diff_time.count()) / runs << " ms" << " (" << num_topics << " topics)" << std::endl;
+      std::cout << std::endl;
+    }
+  }
+
+  // finalize eCAL API
+  eCAL::Finalize();
+
+  return(0);
+}

samples/cpp/monitoring/monitoring_performance/CMakeLists.txt

@@ -0,0 +1,52 @@
+# ========================= eCAL LICENSE =================================
+#
+# Copyright (C) 2016 - 2019 Continental Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# 
+#      http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# ========================= eCAL LICENSE =================================
+
+cmake_minimum_required(VERSION 3.10)
+
+set(CMAKE_FIND_PACKAGE_PREFER_CONFIG ON)
+
+project(monitoring_performance)
+
+find_package(eCAL REQUIRED)
+find_package(Protobuf REQUIRED)
+
+set(monitoring_performance_src
+    src/monitoring_performance.cpp
+)
+
+set(monitoring_rec_proto
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/protobuf/host.proto
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/protobuf/layer.proto
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/protobuf/monitoring.proto
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/protobuf/process.proto
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/protobuf/service.proto
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/protobuf/topic.proto
+)
+ecal_add_sample(${PROJECT_NAME} ${monitoring_performance_src})
+PROTOBUF_TARGET_CPP(${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/src/protobuf ${monitoring_rec_proto})
+
+target_link_libraries(${PROJECT_NAME}
+    eCAL::core
+    protobuf::libprotobuf
+)
+
+target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_14)
+
+ecal_install_sample(${PROJECT_NAME})
+
+set_property(TARGET ${PROJECT_NAME} PROPERTY FOLDER samples/cpp/monitoring)

samples/cpp/monitoring/monitoring_performance/src/monitoring_performance.cpp

@@ -0,0 +1,91 @@
+/* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * 
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ * 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
+#include <ecal/ecal.h>
+
+#include <chrono>
+#include <iostream>
+#include <string>
+
+#ifdef _MSC_VER
+#pragma warning(push, 0)
+#endif
+#include <monitoring.pb.h>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
+#define MEASURE_VARIANT_STRING 1
+#define MEASURE_VARIANT_STRUCT 1
+
+int main(int argc, char **argv)
+{
+  // initialize eCAL core API
+  eCAL::Initialize(argc, argv, "monitoring performance", eCAL::Init::All);
+
+  int                                   runs(100);
+  int                                   run(0);
+  std::chrono::steady_clock::time_point start_time;
+
+  // monitor for ever
+  while(eCAL::Ok())
+  {
+#if MEASURE_VARIANT_STRING
+    // take snapshots as string (and parse it afterwards to protobuf)
+    {
+      int num_topics(0);
+      start_time = std::chrono::steady_clock::now();
+      for (run = 0; run < runs; ++run)
+      {
+        std::string          monitoring_s;
+        eCAL::pb::Monitoring monitoring;
+        eCAL::Monitoring::GetMonitoring(monitoring_s);
+        monitoring.ParseFromString(monitoring_s);
+        num_topics = monitoring.topics_size();
+      }
+
+      auto diff_time = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::steady_clock::now() - start_time);
+      std::cout << "Monitoring time to string  : " << static_cast<double>(diff_time.count()) / runs << " ms"  << " (" << num_topics << " topics)" << std::endl;
+    }
+#endif // MEASURE_VARIANT_STRING
+
+#if MEASURE_VARIANT_STRUCT
+    // take snapshots as monitoring struct
+    {
+      size_t num_topics(0);
+      start_time = std::chrono::steady_clock::now();
+      for (run = 0; run < runs; ++run)
+      {
+        eCAL::Monitoring::SMonitoring monitoring;
+        eCAL::Monitoring::GetMonitoring(monitoring);
+        num_topics = monitoring.publisher.size() + monitoring.subscriber.size();
+      }
+      auto diff_time = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::steady_clock::now() - start_time);
+      std::cout << "Monitoring time to structs : " << static_cast<double>(diff_time.count()) / runs << " ms" << " (" << num_topics << " topics)" << std::endl;
+    }
+#endif // MEASURE_VARIANT_STRUCT
+
+    std::cout << std::endl;
+  }
+
+  // finalize eCAL API
+  eCAL::Finalize();
+
+  return(0);
+}