This directory provides everything needed for measuring the network throughput of Fast DDS.
Throughput measure implies having at least two nodes: one with the publication role and the other one with the subscription role. The publication node, besides publishing fixed-size data in a custom rate, is in charge of controlling the synchronization with the subscription nodes and gathering the results. Both roles are provided by the same utility which can be compiled with Fast DDS.
Also this directory provides a Python script which helps launching both nodes in the same system.
Throughput measure
The test consists on sending during a period of time as much as possible bursts of samples separated by a fix recovery
time.
While the test does not exceed the test time, the publication node will try in a loop to send a burst of n samples and
sleep for the recovery time.
After the test exceeds the test time, the publication node will gather all information from the subscription nodes to
show you at the end.
The throughput test application is able to execute at the same time several tests with different setups. The elements that can be configured are the following:
- Size of the samples.
- Number of samples for each burst.
- Recovery time -- time of each break between sending a burst of samples and the next one.
- Test time -- maximum time the throughput test must be running.
At the end of the execution the utility will show a table with the test results. Below is an example of these test results.
[ TEST ][ PUBLISHER ][ SUBSCRIBER ]
[ Bytes,Demand,Recovery Time][Sent Samples,Send Time(us), Packs/sec, MBits/sec][Rec Samples,Lost Samples,Rec Time(us), Packs/sec, MBits/sec]
[------,------,-------------][------------,-------------,------------,-----------][-----------,------------,------------,------------,-----------]
1024, 10000, 5, 410000, 1015633, 403689.138, 3307.021, 410000, 0, 1022114, 401129.377, 3286.052
Each line of the table is an execution with a specific setup. The columns show the next information:
- Bytes -- Size the samples used in the test.
- Demand -- Number of samples in each burst.
- Recovery Time -- Break time in milliseconds between sending a burst of samples and the next one.
- Sent Samples -- Total samples the publication node is able to send.
- Send time (us) -- Total time the publication node was running the test.
- Packs/sec -- Samples rate in the publication side.
- MBits/sec -- Throughput measure in the publication side.
- Rec Samples -- Number of samples received by the subscription node.
- Lost Samples -- Number of samples lost during the testing.
- Rec time(us) -- Total time the subscription was running the test.
- Packs/sec -- Samples rate in the subscription side.
- MBits/sec -- Throughput measure in the subscription side.
Compilation
This utility can be enabled by using the CMake option PERFORMANCE_TESTS.
Following the Fast DDS Installation from sources guide,
Fast-DDS and this utility can be compiled executing the next command.
colcon build --cmake-args -DPERFORMANCE_TESTS=ON
The throughput test executable can be found in the build directory.
build/fastrtps/test/performance/throughput
├── CMakeFiles
├── cmake_install.cmake
├── CTestTestfile.cmake
├── Makefile
├── ThroughputTest <=== Throughput test utility
└── xml
Usage
The utility is able to have the publication role or the subscription role. Also it is able to have both roles, useful for testing special Fast DDS mechanisms such as intraprocess communication
# Run a publication node
$ ThroughputTest publisher
# Run a subscription node
$ ThroughputTest subscriber
# Run a node with both roles
$ ThroughputTest both
The utility offers several options:
General options
| Option | Description |
|---|---|
| --reliability=[reliable/besteffort] | Set the Reliability QoS of the DDS entity |
| --domain \ |
Set the DDS domain to be used. Default domain is a random one. If testing in separate processes, always set the domain using this argument |
| --data_sharing=[on/off] | Explicitly enable/disable Data Sharing feature. Fast-DDS default is auto |
| --data_load | Enables the use of Data Loans feature |
| --shared_memory | Explicitly enable/disable Shared Memory transport. Fast-DDS default is on |
| --security=[true/false] | Enable/disable DDS security |
| --certs=\ |
Directory with the certificates. Used when security is enable |
Publication options
| Option | Description |
|---|---|
| --subscribers=\ |
Number of subscriber in the testing. Default is 1 |
| --time=\ |
Time the test must be running . Default is 5 seconds |
| --recovery_time=\ |
Break time between sending a burst and the next one. Default is 5 milliseconds |
| --demand=\ |
Number of samples send in each burst. Default is 10000 |
| --msg_size=\ |
Size of each sample in bytes. Default is 1024 bytes |
Batch testing options
These options are used to execute a batch of tests with different setups.
| Option | Description |
|---|---|
| --recoveries_file=\ |
A CSV file with the recovery times. |
| --file=\ |
File containing the different demands |
The CSV for recovery times has the format of all recovery times separated with ; character.
5;10
This example will execute two tests, one with a recovery time of 5 milliseconds and the other one with a recovery time of 10 milliseconds.
The file with the demands has the format of each line the data size separated of all demands with a ; character.
16;100;1000
32;100;1000
This examples will execute four tests: one sending bursts of 100 samples of 16 bytes, other test sending bursts of 1000 samples of 16 bytes, , other sending bursts of 100 samples of 32 bytes and the last one sending bursts of 1000 samples of 32 bytes.
Examples
Testing throughput for best effort communications using UDP transport
The setup will be:
- Size of each sample: 2 Mb
- Size of each burst: 100 samples
- Recovery time: 90 milliseconds
- Test time: 10 seconds
# Publication node
$ ThroughtputTest publisher --reliability=besteffort --domain 0 --shared_memory=off --time=10 --recovery_time=90 --demand=100 --msg_size=2097152
# Subscription node
$ ThroughtputTest subscriber --reliability=besteffort --domain 0 --shared_memory=off
Python launcher
The directory also comes with a Python script which automates the execution of the test nodes.
# Indicate where is the utility executable
export THROUGHPUT_TEST_BIN=build/fastrtps/test/performance/throughtput/ThroughputTest
# Call python script to run tests.
python3 src/fastrtps/test/performance/throughput/throughput_tests.py
The python scripts offers several options:
| Option | Description |
|---|---|
| --reliability | Set the Reliability QoS of the DDS entities to reliable. Default Reliability is best-effort |
| --data_loans | Enable the use of the loan sample API. Default is disable |
| --shared_memory [on/off] | Explicitly enable/disable shared memory transport. Fast-DDS default is on |
| --interprocess | Publisher and subscriber in separate processes. Default is both in the sample process and using intraprocess communications |
| --security | Enable security. Default disable |
| -t \ |
Test time in seconds. Default is 1 second |
| -r \ |
A CSV file with recovery time |
| -f \ |
A file containing the demands |