1+ #include <pthread.h>
2+ #include <stdint.h>
3+ #include <stdio.h>
4+ #include <string.h>
5+ #include <time.h>
6+
7+ #include "zenoh.h"
8+
9+ pthread_cond_t cond ;
10+ pthread_mutex_t mutex ;
11+
12+ void callback (const z_sample_t * sample , void * context ) { pthread_cond_signal (& cond ); }
13+ void drop (void * context ) { pthread_cond_destroy (& cond ); }
14+
15+ struct args_t {
16+ unsigned int size ; // -s
17+ unsigned int number_of_pings ; // -n
18+ unsigned int warmup_ms ; // -w
19+ char * config_path ; // -c
20+ uint8_t help_requested ; // -h
21+ };
22+ struct args_t parse_args (int argc , char * * argv );
23+
24+ int main (int argc , char * * argv ) {
25+ struct args_t args = parse_args (argc , argv );
26+ if (args .help_requested ) {
27+ printf (
28+ "\
29+ -n (optional, int, default=4): the number of pings to be attempted\n\
30+ -s (optional, int, default=8): the size of the payload embedded in the ping and repeated by the pong\n\
31+ -w (optional, int, default=0): the warmup time in ms during which pings will be emitted but not measured\n\
32+ -c (optional, string): the path to a configuration file for the session. If this option isn't passed, the default configuration will be used.\n\
33+ " );
34+ return 1 ;
35+ }
36+ pthread_mutex_init (& mutex , NULL );
37+ pthread_cond_init (& cond , NULL );
38+ z_owned_config_t config = args .config_path ? zc_config_from_file (args .config_path ) : z_config_default ();
39+ z_owned_session_t session = z_open (z_move (config ));
40+ z_keyexpr_t ping = z_keyexpr_unchecked ("test/ping" );
41+ z_keyexpr_t pong = z_keyexpr_unchecked ("test/pong" );
42+ z_owned_publisher_t pub = z_declare_publisher (z_loan (session ), ping , NULL );
43+ z_owned_closure_sample_t respond = z_closure (callback , drop , (void * )(& pub ));
44+ z_owned_subscriber_t sub = z_declare_subscriber (z_loan (session ), pong , z_move (respond ), NULL );
45+ uint8_t * data = malloc (args .size );
46+ for (int i = 0 ; i < args .size ; i ++ ) {
47+ data [i ] = i % 10 ;
48+ }
49+ pthread_mutex_lock (& mutex );
50+ if (args .warmup_ms ) {
51+ printf ("Warming up for %dms...\n" , args .warmup_ms );
52+ clock_t warmup_end = clock () + CLOCKS_PER_SEC * args .warmup_ms / 1000 ;
53+ for (clock_t now = clock (); now < warmup_end ; now = clock ()) {
54+ z_publisher_put (z_loan (pub ), data , args .size , NULL );
55+ pthread_cond_wait (& cond , & mutex );
56+ }
57+ }
58+ clock_t * results = malloc (sizeof (clock_t ) * args .number_of_pings );
59+ for (int i = 0 ; i < args .number_of_pings ; i ++ ) {
60+ clock_t start = clock ();
61+ z_publisher_put (z_loan (pub ), data , args .size , NULL );
62+ pthread_cond_wait (& cond , & mutex );
63+ clock_t end = clock ();
64+ results [i ] = end - start ;
65+ }
66+ for (int i = 0 ; i < args .number_of_pings ; i ++ ) {
67+ clock_t rtt = results [i ] * 1000000 / CLOCKS_PER_SEC ;
68+ printf ("%d bytes: seq=%d rtt=%ldµs lat=%ldµs\n" , args .size , i , rtt , rtt / 2 );
69+ }
70+ pthread_mutex_unlock (& mutex );
71+ free (results );
72+ free (data );
73+ z_drop (z_move (sub ));
74+ z_drop (z_move (pub ));
75+ z_close (z_move (session ));
76+ }
77+
78+ char * getopt (int argc , char * * argv , char option ) {
79+ for (int i = 0 ; i < argc ; i ++ ) {
80+ size_t len = strlen (argv [i ]);
81+ if (len >= 2 && argv [i ][0 ] == '-' && argv [i ][1 ] == option ) {
82+ if (len > 2 && argv [i ][2 ] == '=' ) {
83+ return argv [i ] + 3 ;
84+ } else if (i + 1 < argc ) {
85+ return argv [i + 1 ];
86+ }
87+ }
88+ }
89+ return NULL ;
90+ }
91+
92+ struct args_t parse_args (int argc , char * * argv ) {
93+ for (int i = 0 ; i < argc ; i ++ ) {
94+ if (strcmp (argv [i ], "-h" ) == 0 ) {
95+ return (struct args_t ){.help_requested = 1 };
96+ }
97+ }
98+ char * arg = getopt (argc , argv , 's' );
99+ unsigned int size = 8 ;
100+ if (arg ) {
101+ size = atoi (arg );
102+ }
103+ arg = getopt (argc , argv , 'n' );
104+ unsigned int number_of_pings = 4 ;
105+ if (arg ) {
106+ number_of_pings = atoi (arg );
107+ }
108+ arg = getopt (argc , argv , 'w' );
109+ unsigned int warmup_ms = 0 ;
110+ if (arg ) {
111+ warmup_ms = atoi (arg );
112+ }
113+ return (struct args_t ){.help_requested = 0 ,
114+ .size = size ,
115+ .number_of_pings = number_of_pings ,
116+ .warmup_ms = warmup_ms ,
117+ .config_path = getopt (argc , argv , 'c' )};
118+ }
0 commit comments