Merge pull request #29 from joelbeedle/26-bug-queue-specification-in-…

…headless-mode-issue-with-user-input

26 bug queue specification in headless mode issue with user input

testbed/plot/plot.cpp

@@ -117,4 +117,26 @@ void plot(std::string log_file_path) {
   return;
 }
 
+void add_rtf_to_csv(std::string log_file_path, int num_drones, int num_targets,
+                    double rtf) {
+  std::filesystem::path results_dir =
+      exec_path / ".." / ".." / "testbed" / "results";
+  std::filesystem::path file_path = results_dir;
+  std::filesystem::path csv_filename = file_path / "results.csv";
+
+  std::cout << log_file_path << std::endl;
+  std::cout << "Adding RTF to " << csv_filename << std::endl;
+  {
+    std::ofstream csvFile(csv_filename, std::ios::app);
+    if (csvFile.tellp() == 0) {  // Check if the file is empty
+      csvFile << "num_drones,num_targets,rtf\n";
+    }
+  }
+
+  std::ofstream csvFile;
+  csvFile.open(csv_filename, std::ios::app);
+  csvFile << num_drones << "," << num_targets << "," << rtf << "\n";
+  csvFile.close();
+}
+
 }  // namespace testbed

testbed/plot/plot.h

@@ -5,6 +5,7 @@
 #include <salsa/core/map.h>
 
 #include <filesystem>
+#include <fstream>
 #include <string>
 
 namespace testbed {
@@ -16,6 +17,8 @@ extern bool plot_drone_heatmap;
 extern bool plot_drone_distances;
 
 void plot(std::string log_file_path);
+void add_rtf_to_csv(std::string log_file_path, int num_drones, int num_targets,
+                    double rtf);
 void init_python();
 void finalize_python();
 }  // namespace testbed

testbed/testbed.cpp

@@ -552,6 +552,11 @@ int run_headless(bool verbose) {
       std::cout << std::endl;
       std::cout << "Finished test " << test.behaviour_name << " ";
       std::cout << "(RTF: " << ratio << ")" << std::endl;
+      if (verbose) {
+        spdlog::info("Adding test to results csv");
+        testbed::add_rtf_to_csv(sim->getCurrentLogFile(), test.num_drones,
+                                test.num_targets, ratio);
+      }
       testbed::plot(sim->getCurrentLogFile());
     } catch (const std::exception &e) {
       spdlog::error("Error: {}", e.what());

testbed/user.cpp

@@ -84,6 +84,24 @@ void user() {
                               50000,      1200.0f,      "Tree",  "Default"};
 
   // Load the test queue with our tree tests
+  // 10, 100, 500, 1000
+  // 100, 1000, 10000
+  std::vector<int> num_drones = {10, 100, 500, 1000};
+  std::vector<int> num_targets = {100, 1000, 10000};
+  int num_trials = 5;
+
+  for (int drones : num_drones) {
+    for (int targets : num_targets) {
+      for (int i = 0; i < num_trials; i++) {
+        config.num_drones = drones;
+        config.num_targets = targets;
+        salsa::TestQueue::push(config);
+      }
+    }
+  }
+  salsa::TestQueue::save("performance_table_queue");
+
+  salsa::TestQueue::getTests().clear();
   auto names = salsa::behaviour::Registry::get().behaviour_names();
   for (auto &name : names) {
     config.behaviour_name = name;
@@ -93,9 +111,6 @@ void user() {
       config.num_drones = i;
       salsa::TestQueue::push(config);
     }
-  }
-
-  salsa::TestQueue::save("example_queue");
-}
+    salsa::TestQueue::save("example_queue");
 
-}  // namespace testbed
+  }  // namespace testbed