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EXI (Efficient XML Interface) wrappers for CRCL.
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package crcl.exi;
/*
* This software is public domain software, however it is preferred
* that the following disclaimers be attached.
* Software Copywrite/Warranty Disclaimer
*
* This software was developed at the National Institute of Standards and
* Technology by employees of the Federal Government in the course of their
* official duties. Pursuant to title 17 Section 105 of the United States
* Code this software is not subject to copyright protection and is in the
* public domain.
*
* This software is experimental. NIST assumes no responsibility whatsoever for its use by other
* parties, and makes no guarantees, expressed or implied, about its
* quality, reliability, or any other characteristic. We would appreciate
* acknowledgement if the software is used. This software can be
* redistributed and/or modified freely provided that any derivative works
* bear some notice that they are derived from it, and any modified
* versions bear some notice that they have been modified.
*
* See http://www.copyright.gov/title17/92chap1.html#105
*
*/
import crcl.base.CRCLCommandInstanceType;
import crcl.base.CRCLCommandType;
import crcl.base.CRCLStatusType;
import crcl.base.CommandStateEnumType;
import crcl.base.CommandStatusType;
import crcl.base.GetStatusType;
import crcl.base.GripperStatusType;
import crcl.base.JointStatusType;
import crcl.base.JointStatusesType;
import crcl.base.PointType;
import crcl.base.PoseType;
import crcl.base.VacuumGripperStatusType;
import crcl.base.VectorType;
import crcl.utils.CRCLException;
import crcl.utils.CRCLPosemath;
import java.io.IOException;
import java.math.BigDecimal;
import java.math.BigInteger;
import java.net.ServerSocket;
import java.net.Socket;
import java.util.ArrayList;
import java.util.List;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.concurrent.TimeUnit;
import java.util.logging.Level;
import java.util.logging.Logger;
/*
*
* NOTE: Comments beginning with {@literal @} or {@literal >>>} are used by Checker Framework Comments
* beginning with {@literal @} must have no spaces in the comment or Checker will ignore
* it.
*
* See http://types.cs.washington.edu/checker-framework for null pointer
* checks. This file can be compiled without the Checker Framework, but using
* the framework allows potential NullPointerExceptions to be found.
*/
/*>>>
import org.checkerframework.checker.nullness.qual.*;
*/
public class PerfTest {
private static CRCLStatusType createStatus() {
CRCLStatusType stat = new CRCLStatusType();
CommandStatusType cst = new CommandStatusType();
cst.setCommandID(1);
cst.setStatusID(1);
cst.setCommandState(CommandStateEnumType.CRCL_WORKING);
stat.setCommandStatus(cst);
PoseType pose = new PoseType();
PointType pt = new PointType();
pt.setX(0.0);
pt.setY(1.0);
pt.setZ(10.0);
pose.setPoint(pt);
VectorType xAxis = new VectorType();
xAxis.setI(1.0);
xAxis.setJ(0.0);
xAxis.setK(0.0);
pose.setXAxis(xAxis);
VectorType zAxis = new VectorType();
zAxis.setI(0.0);
zAxis.setJ(0.0);
zAxis.setK(1.0);
pose.setZAxis(zAxis);
CRCLPosemath.setPose(stat, pose);
GripperStatusType gst = new VacuumGripperStatusType();
stat.setGripperStatus(gst);
gst.setGripperName("vacgrip");
JointStatusesType jst = new JointStatusesType();
for (int i = 1; i <= 6; i++) {
JointStatusType js = new JointStatusType();
js.setJointNumber(i);
js.setJointPosition(i * 0.1);
jst.getJointStatus().add(js);
}
stat.setJointStatuses(jst);
return stat;
}
public static void main(String[] args) {
runPerfTest(false, true, 200);
runPerfTest(false, false, 200);
MinMaxAvg ft = runPerfTest(false, true, 25000);
MinMaxAvg ff = runPerfTest(false, false, 25000);
runPerfTest(true, true, 200);
MinMaxAvg tt = runPerfTest(true, true, 25000);
runPerfTest(true, false, 200);
MinMaxAvg tf = runPerfTest(true, false, 25000);
System.out.println("useExi,validate,\tmin ,\tmax ,\tavg");
if (null != tt) {
System.out.println("true, true, " + tt.toStringCsv());
}
if (null != tf) {
System.out.println("true, false, " + tf.toStringCsv());
}
if (null != ft) {
System.out.println("false, true, " + ft.toStringCsv());
}
if (null != ff) {
System.out.println("false, false, " + ff.toStringCsv());
}
System.exit(0);
}
public static class MinMaxAvg {
private final double min;
private final double max;
private final double avg;
public MinMaxAvg(double min, double max, double avg) {
this.min = min;
this.max = max;
this.avg = avg;
}
public double getMin() {
return min;
}
public double getMax() {
return max;
}
public double getAvg() {
return avg;
}
@Override
public String toString() {
return "MinMaxAvgDev{" + "min=" + min + ", max=" + max + ", avg=" + avg + '}';
}
public String toStringCsv() {
return String.format("\t%6.6f,\t%6.6f,\t%6.6f", min, max, avg);
}
}
/*@Nullable*/
public static MinMaxAvg runPerfTest(final boolean enableEXI, final boolean validate, final int repeats) throws RuntimeException {
ServerSocket ss = null;
try {
System.out.println("Starting runPerfTest(enableEXI=" + enableEXI + ",validate=" + validate + ",repeats=" + repeats + ") ...");
try {
Thread.sleep(100);
} catch (Exception e) {
Logger.getLogger(PerfTest.class.getName()).log(Level.FINEST, "exception normally ignored", e);
}
CrclExiSocket csTst = new CrclExiSocket();
csTst.setReplaceHeader(true);
CRCLStatusType stat0 = createStatus();
String xmlS = csTst.statusToString(stat0, validate);
// System.out.println("Starting runPerfTest(" + enableEXI + ") ...");
// System.out.println("enableEXI = " + enableEXI);
// System.out.println("xmlS = " + xmlS);
// System.out.println("xmlS.length() = " + xmlS.length());
byte ba[] = csTst.statusToEXI(stat0);
// System.out.println("ba.length = " + ba.length);
// System.out.println("ba = " + Arrays.toString(ba));
final List sockets = new ArrayList<>();
final ExecutorService exServ = Executors.newCachedThreadPool();
ss = new ServerSocket(44004);
// System.out.println("ss.getLocalPort() = " + ss.getLocalPort());
final ServerSocket ssf = ss;
exServ.execute(new Runnable() {
@Override
public void run() {
while (!Thread.currentThread().isInterrupted() && !exServ.isShutdown()) {
try {
Socket s = ssf.accept();
sockets.add(s);
final CrclExiSocket cs = new CrclExiSocket(s);
cs.setEXIEnabled(enableEXI);
final CRCLStatusType status = createStatus();
exServ.execute(new Runnable() {
@Override
public void run() {
try {
while (!Thread.currentThread().isInterrupted()
&& cs.isConnected()
&& !exServ.isShutdown()) {
CRCLCommandInstanceType cmdInstance = cs.readCommand(validate);
CRCLCommandType cmd = cmdInstance.getCRCLCommand();
status.getCommandStatus().setCommandID(cmd.getCommandID());
status.getCommandStatus().setStatusID(status.getCommandStatus().getStatusID() + 1);
cs.writeStatus(status, validate);
}
} catch (Exception ex) {
Logger.getLogger(PerfTest.class.getName()).log(Level.FINEST, "exception normally ignored", ex);
} finally {
try {
cs.close();
} catch (IOException ex) {
Logger.getLogger(PerfTest.class.getName()).log(Level.SEVERE, "Error closing socket.", ex);
}
}
}
});
} catch (Exception ex) {
Logger.getLogger(PerfTest.class.getName()).log(Level.FINEST, "exception normally ignored", ex);
}
}
for (int i = 0; i < sockets.size(); i++) {
Socket s = sockets.get(i);
if (null != s) {
try {
s.close();
} catch (Exception e) {
Logger.getLogger(PerfTest.class.getName()).log(Level.FINEST, "exception normally ignored", e);
}
}
}
}
});
long end = 0;
long start = 0;
long diff_max = 0;
double sum_diff2 = 0;
long diff_min = Long.MAX_VALUE;
try (CrclExiSocket cs = new CrclExiSocket("localhost", ss.getLocalPort())) {
cs.setEXIEnabled(enableEXI);
CRCLCommandInstanceType cmdInstance = new CRCLCommandInstanceType();
GetStatusType getStatus = new GetStatusType();
getStatus.setCommandID(1);
cmdInstance.setCRCLCommand(getStatus);
start = System.nanoTime();
for (int i = 0; i < repeats; i++) {
long t1 = System.nanoTime();
getStatus.setCommandID(getStatus.getCommandID() + 1);
// System.out.println("getStatus.getCommandID() = " + getStatus.getCommandID());
cs.writeCommand(cmdInstance, validate);
CRCLStatusType stat = cs.readStatus(validate);
// System.out.println("stat.getCommandStatus().getCommandID() = " + stat.getCommandStatus().getCommandID());
if (stat.getCommandStatus().getCommandID() != getStatus.getCommandID()) {
throw new RuntimeException("Command ID doesn't match : "
+ stat.getCommandStatus().getCommandID() + " != " + getStatus.getCommandID());
}
long t2 = System.nanoTime();
long diff = t2 - t1;
if (diff > diff_max) {
diff_max = diff;
}
if (diff < diff_min) {
diff_min = diff;
}
sum_diff2 += diff * diff;
}
end = System.nanoTime();
}
System.out.println("(end-start) = " + (end - start) + " ns");
System.out.println("Average time = " + ((double) (end - start)) / repeats + " ns");
System.out.println("Max time = " + diff_max + " ns");
exServ.shutdown();
for (int i = 0; i < sockets.size(); i++) {
Socket s = sockets.get(i);
if (null != s) {
try {
s.close();
} catch (Exception e) {
Logger.getLogger(PerfTest.class.getName()).log(Level.FINEST, "exception normally ignored", e);
}
}
}
exServ.awaitTermination(5, TimeUnit.SECONDS);
exServ.shutdownNow();
sockets.clear();
// double avg = (end - start) * 1e-6 / repeats;
// double dev = Math.sqrt(sum_diff2 / repeats - avg * avg);
return new MinMaxAvg(
diff_min * 1e-6,
diff_max * 1e-6,
(end - start) * 1e-6 / repeats
);
} catch (CRCLException | IOException | InterruptedException ex) {
Logger.getLogger(PerfTest.class.getName()).log(Level.SEVERE, null, ex);
} finally {
if (null != ss) {
try {
ss.close();
} catch (Exception exx) {
}
}
System.out.println("End of runPerfTest(enableEXI=" + enableEXI + ",validate=" + validate + ",repeats=" + repeats + ") ...");
System.out.println("");
}
return null;
}
private static final Logger LOG = Logger.getLogger(PerfTest.class.getName());
}
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