6. Use-Cases and Examples¶
6.1. Example Command Lines for Running the Performance Test¶
The following are examples of how to run the performance test for different use cases:
The tests below print final results only; if you want to see intermediate values, remove the
-noprintargument from the command line.If you are running on two unequal machines—i.e., one machine is faster (has better processors) than another—you will see better performance by running the Publisher on the slower machine.
To measure CPU usage while running these tests, use
-cpuor the TOP utility.
6.1.1. RTI Connext DDS Professional¶
6.1.1.1. 1-to-1, Multicast, Best Latency as a Function of Message Size¶
Publisher:
bin/<arch>/release/perftest_cpp -pub -noPrint -nic <ipaddr> -domain <ID> -latencyCount 1 -dataLen <length> -latencyTest -multicast -executionTime 100
Subscriber:
bin/<arch>/release/perftest_cpp -sub -noPrint -nic <ipaddr> -domain <ID> -multicast
Modify -dataLen <bytes> to see latencies for different data sizes.
Set -executionTime <seconds> to be >=100 for statistically better
results.
6.1.1.2. 1-to-1, Multicast, Maximum Throughput as a Function of Message Size (with Batching)¶
Publisher:
bin/<arch>/release/perftest_cpp -pub -noPrint -nic <ipaddr> -dataLen <length> -batchSize <bytes> -sendQueueSize <number> -multicast -executionTime 100
Subscriber:
bin/<arch>/release/perftest_cpp -sub -noprint -nic <ipaddr> -multicast
To achieve maximum throughput, start by setting See
-batchSize <bytes> to 6400, then increase the size to see if you
get better throughput.
The largest valid batch size is 63000 bytes.
For maximum throughput, start by setting -sendQueueSize <number> to
30; the best value will usually be between 30-50.
Note: For larger data sizes (8000 bytes and higher), batching often
does not improve throughput, at least for 1-Gig networks.
6.1.1.3. 1-to-1, Multicast, Latency vs. Throughput for 200-byte Messages (with Batching)¶
Publisher:
bin/<arch>/release/perftest_cpp -pub -noPrint -nic <ipaddr> -dataLen 200 -batchSize <bytes> -sendQueueSize <number> -pubRate <count> -transport UDPv4 -multicast -executionTime 100
Subscriber
bin/<arch>/release/perftest_cpp -sub -noPrint -nic <ipaddr> -transport UDPv4 -multicast
To adjust throughput, experiment with the value of -pubRate <count>.
6.1.1.4. 1-to-1, Multicast, Reliable UDPv4, All Sizes¶
Publisher:
bin/<arch>/release/perftest_cpp -pub -noPrint -sendQueueSize 32 -latencyCount 10000 -scan -transport UDPv4 -multicast
Subscriber:
bin/<arch>/release/perftest_cpp -sub -noPrint -transport UDPv4 -multicast
6.1.1.5. 1-to-1, Unicast, Best-Effort, UDPv4|SHMEM, 1 Size¶
Publisher:
bin/<arch>/release/perftest_cpp -pub -noPrint -sendQueueSize 32 -latencyCount 1000 -dataLen 1024 -bestEffort -executionTime 100
Subscriber
bin/<arch>/release/perftest_cpp -sub -noPrint -dataLen 1024 -bestEffort
6.1.1.6. 1-to-1, Multicast, Reliable, UDPv4, Batching Enabled¶
Publisher:
bin/<arch>/release/perftest_cpp -pub -noPrint -sendQueueSize 32 -latencyCount 1000 -dataLen 200 -batchSize 6400 -transport UDPv4 -multicast -executionTime 100
Subscriber:
bin/<arch>/release/perftest_cpp -sub -noPrint -dataLen 200 -batchSize 6400 -transport UDPv4 -multicast
6.1.1.7. 1-to-2, Multicast, Reliable, UDPv4¶
Publisher:
bin/<arch>/release/perftest_cpp -pub -noPrint -pidMultiPubTest 0 -sendQueueSize 32 -numSubscribers 2 -latencyCount 1000 -dataLen 200 -transport UDPv4 -multicast -executionTime 100
Subscriber 1:
bin/<arch>/release/perftest_cpp -sub -noPrint -transport UDPv4 -multicast -sidMultiSubTest 0
Subscriber 2:
bin/<arch>/release/perftest_cpp -sub -noPrint -transport UDPv4 -multicast -sidMultiSubTest 1
6.1.1.8. 2-to-1, Multicast, Reliable, UDPv4¶
Publisher 1:
bin/<arch>/release/perftest_cpp -pub -noPrint -pidMultiPubTest 0 -sendQueueSize 32 -numSubscribers 1 -latencyCount 1000 -dataLen 200 -multicast -executionTime 100
Publisher 2:
bin/<arch>/release/perftest_cpp -pub -noPrint -pidMultiPubTest 1 -sendQueueSize 32 -numSubscribers 1 -latencyCount 1000 -dataLen 200 -multicast -executionTime 100
Subscriber:
bin/<arch>/release/perftest_cpp -sub -noPrint -dataLen 200 -numPublishers 2 -sidMultiSubTest 0 -multicast
6.1.1.9. 1-to-1, Unicast, Reliable Using Security: Signing Packages, Encrypting Data¶
Publisher:
bin/<arch>/release/perftest_cpp -pub -noPrint -dataLen 63000 -secureSign -secureEncryptData -executionTime 100
Subscriber
bin/<arch>/release/perftest_cpp -sub -noPrint -dataLen 63000 -secureSign -secureEncryptData
6.1.1.10. 1-to-1, RawTransport, Unicast, BestEffort (Same Machine)¶
Publisher:
bin/<arch>/release/perftest_cpp -pub -noPrint -rawTransport -dataLen 63000 -executionTime 100
Subscriber
bin/<arch>/release/perftest_cpp -sub -noPrint -rawTransport
6.1.1.11. 1-to-2, RawTransport, Unicast, BestEffort (Same Machine)¶
Publisher:
bin/<arch>/release/perftest_cpp -pub -noPrint -rawTransport -peer 127.0.0.1 -peer 127.0.0.1:4 -numSubscribers 2 -dataLen 63000 -executionTime 100
Subscriber 1
bin/<arch>/release/perftest_cpp -sub -noPrint -rawTransport -sidMultiSubTest 0
Subscriber 2
bin/<arch>/release/perftest_cpp -sub -noPrint -rawTransport -sidMultiSubTest 4
6.1.1.12. 1-to-1, RawTransport, Unicast, BestEffort (Different Machine)¶
Publisher:
bin/<arch>/release/perftest_cpp -pub -noPrint -rawTransport -peer 10.70.1.50 -nic 10.70.1.49 -dataLen 63000 -executionTime 100
Subscriber
bin/<arch>/release/perftest_cpp -sub -noPrint -rawTransport -peer 10.70.1.49 -nic 10.70.1.50
6.1.1.13. 1-to-2, RawTransport, Multicast, BestEffort¶
Publisher:
bin/<arch>/release/perftest_cpp -pub -noPrint -rawTransport -multicastAddr 225.0.0.1 -nic 10.70.1.1 -numSubscribers 2 -dataLen 63000 -executionTime 100
Subscriber 1
bin/<arch>/release/perftest_cpp -sub -noPrint -rawTransport -multicastAddr 225.0.0.1 -nic 10.70.2.1
Subscriber 2
bin/<arch>/release/perftest_cpp -sub -noPrint -rawTransport -multicastAddr 225.0.0.1 -nic 10.70.2.2
6.1.2. RTI Connext DDS Micro¶
6.1.3. 1-to-1, Unicast, Best Latency as a Function of Message Size¶
Publisher:
bin/<arch>/release/perftest_cpp_micro -pub -noPrint -nic <ipaddr> -domain <ID> -latencyCount 1 -dataLen <length> -latencyTest -executionTime 100
Subscriber:
bin/<arch>/release/perftest_cpp_micro -sub -noPrint -nic <ipaddr> -domain <ID>
Modify -dataLen <bytes> to see latencies for different data sizes.
Set -executionTime <seconds> to be >=100 for statistically better
results.
6.2. Use-Cases¶
6.2.1. Large Samples¶
RTI Perftest can send samples from 28 Bytes to 2,147,483,135 Bytes (2 GBytes - 512 Bytes - 8 Bytes), which corresponds to the maximum payload that RTI Connext DDS is able to send in a single sample.
The size of data is configured by the command-line parameter
-dataLen <bytes>. Depending on this parameter, RTI Perftest will
automatically configure certain RTI Connext DDS behaviors.
When the sample size is smaller or equal to 63000 Bytes, RTI Perftest will, by default, use types with Bounded-Sequences (bound set to 63000 elements). If the sample size is bigger than 63000 Bytes, RTI Perftest will automatically switch to types equivalent to the ones mentioned previously, but with Unbounded-Sequences. This is not the case when using Flat Data, since it require fixed size types. In that case the size of the sequence will change to RTI_FLATDATA_MAX_SIZE, which is configurable and by default is 10MB (See compilation section for more information about how to change this.
The reason for this behavior is that, when RTI Perftest
uses Unbounded-Sequences, RTI Connext DDS will not pre-allocate the
sequences to their maximum size (as opposed to when using bounded
sequences). For Unbounded-Members, the code generated by RTI Connext
DDS will de-serialize the samples by dynamically allocating and
de-allocating memory to accommodate the actual size of the unbounded
member. Unbounded-Sequences and strings are also supported with
DynamicData (command-line parameter -DynamicData).
Apart from the use of Unbounded-Sequences, by setting samples bigger than 63000 Bytes, RTI Perftest will enable the use of Asynchronous Publishing, as set by the RTI Connext DDS default FlowController.
You can also use Unbounded-Sequences, Asynchronous Publishing, or
a flow controller that is different than the default for sample sizes
smaller than 63000 bytes. These
behaviors can be achieved by using the command-line parameters
-unbounded <managerMemory>, -asynchronous, and
-flowController. See the Test Parameters sections for more
details.
6.2.1.1. Adjusting the configuration¶
Find here an example where the sample size is configured to 1GB:
Publisher:
bin/<architecture>/<release or debug>/perftest_cpp -pub -dataLen 1073741824
Subscriber:
bin/<architecture>/<release or debug>/perftest_cpp -sub -dataLen 1073741824
This is a perfectly valid configuration, accepted by RTI Perftest, however, in certain cases, the communication in this scenario will be limited or non-optimal, due to the large sample size. Therefore some extra tuning might be required:
6.2.1.1.1. By using the parameter -sendQueueSize <number>¶
The default value for the Send Queue in the Writer side is 50. That
might be a very high value, and the RTI Connext DDS middleware might
not perform in optimal conditions. Therefore, for large data samples it
is recommended to reduce the send Queue to lower values.
6.2.1.1.2. By using the parameter -pubRate <samples/s>¶
This parameter can be used to limit the frequency at which RTI Perftest publishes samples. This can help reduce the number of packages in the network, achieving better latency and throughput numbers.
6.2.1.1.3. By using a flow controller -flowController <default,1Gbps,10Gbps>¶
Since the sample size is bigger than 63000 Bytes, RTI Perftest will enable Asynchronous Publishing. By enabling Asynchronous Publishing, you also make use of the default FlowController, which might not be optimal. Therefore, it is a good practice to also specify a FlowController that fits with the characteristics (bandwidth, latency, etc.) of the network where the RTI Perftest applications are going to run.
RTI Perftest provides options to use a flow controller designed for a
10Gbps network and a 1Gbps one. However, by accessing the
perftest_qos_profiles.xml configuration file, it is possible to
modify these two flow controllers and tailor them to specific network
requirements.
<qos_profile name="BaseProfileQos">
<participant_qos>
. . .
<property>
<value>
<element>
<name>dds.flow_controller.token_bucket.10Gbps.token_bucket.max_tokens</name>
<value>300</value>
</element>
<element>
<name>dds.flow_controller.token_bucket.10Gbps.token_bucket.tokens_added_per_period</name>
<value>200</value>
</element>
<element>
<name>dds.flow_controller.token_bucket.10Gbps.token_bucket.bytes_per_token</name>
<value>65536</value>
</element>
<element>
<name>dds.flow_controller.token_bucket.10Gbps.token_bucket.period.sec</name>
<value>0</value>
</element>
<element>
<name>dds.flow_controller.token_bucket.10Gbps.token_bucket.period.nanosec</name>
<value>10000000</value>
</element>
</value>
</property>
. . .
</participant_qos>
</qos_profile>
The specific values for the flow controller and the Send Queue will highly depend on the scenario and machines performing the test, but as a general suggestion, these changes are recommended:
Publisher:
bin/<architecture>/<release or debug>/perftest_cpp -pub -dataLen 1073741824 -sendQueueSize 1 -flowController 1Gbps
Subscriber:
bin/<architecture>/<release or debug>/perftest_cpp -sub -dataLen 1073741824
6.2.1.2. Large Samples in Java¶
When using the RTI Perftest implementation for Java and large data samples, the following error may appear:
Exception in thread "main" java.lang.OutOfMemoryError: Java heap space
This error indicates that memory reserved for the heap is not enough.
To solve this problem, increase the size Java is allowed to reserve,
by using the command-line parameter -Xmx in the
scripts used to run the Java examples: bin/Release/perftest_java.sh
and bin\Release\perftest_java.bat. The increased amount will depend
on the -dataLen parameter and the memory specifications of the device
where RTI Perftest is running.
6.2.2. Content-Filtered Topics¶
RTI Perftest can be used to test latency and throughput scenarios using Content-Filtered Topics (CFTs). This is especially useful in scenarios with many subscribers.
CFT support is implemented only for RTI Connext DDS Professional.
6.2.2.1. Using CFTs will allow you to¶
Limit the number of data samples a DataReader has to process, which results in less CPU consumption.
Reduce the amount of data sent over the network.
6.2.2.2. Command-Line Parameters¶
To enable the use of CFTs on the subscriber side, the following parameter is required:
-cft <start>:<end>Use a Content-Filtered Topic for the Throughput topic on the subscriber side. Specify two parameters to receive samples with a key in that range. Specify only one parameter to receive samples with that exact key.
If no parameter is specified on the publisher side, RTI Perftest will
send as many instances as specified (using the -instances
command-line parameter). However, you can change that behavior by using
the following parameter:
-writeInstance <instance>Set the number of instances to be sent.
6.2.2.3. Example Command Lines for Running the Performance Test¶
The following are examples of how to run RTI Perftest for the different scenarios using CFT.
6.2.2.3.1. Latency test, 1 Publisher and 2 Subscribers, Publisher sending to only 1 of them¶
RTI Perftest Publisher:
bin/<arch>/release/perftest_cpp -pub -noPrint -nic <ipaddr> -domain <ID> -numSubscribers 2 -latencyCount 1 -dataLen <length> -latencyTest -executionTime 100 -writeInstance 0 -keyed -instances 2
RTI Perftest Subscriber 1:
bin/<arch>/release/perftest_cpp -sub -noPrint -nic <ipaddr> -domain <ID> -dataLen <length> -sidMultiSubTest 0 -cft 0 -keyed
RTI Perftest Subscriber 2:
bin/<arch>/release/perftest_cpp -sub -noPrint -nic <ipaddr> -domain <ID> -dataLen <length> -sidMultiSubTest 1 -cft 1 -keyed
6.2.2.3.2. Latency test, 1 Publisher and 2 Subscribers, Publisher sending using a Round-Robin schedule¶
RTI Perftest Publisher:
bin/<arch>/release/perftest_cpp -pub -noPrint -nic <ipaddr> -domain <ID> -numSubscribers 2 -latencyCount 1 -dataLen <length> -latencyTest -executionTime 100 -keyed -instances 2
RTI Perftest Subscriber 1:
bin/<arch>/release/perftest_cpp -sub -noPrint -nic <ipaddr> -domain <ID> -dataLen <length> -sidMultiSubTest 0 -cft 0 -keyed
RTI Perftest Subscriber 2:
bin/<arch>/release/perftest_cpp -sub -noPrint -nic <ipaddr> -domain <ID> -dataLen <length> -sidMultiSubTest 1 -cft 1 -keyed
6.2.3. RTI Routing-Service¶
This wrapper has been created to test the effects of introducing RTI Routing Service when using RTI Perftest in latency and throughput. It consists of a set of two files:
A compatible XML configuration file for RTI Routing Service parameterized to use different environment variables depending on the scenario to test.
A wrapper script to launch RTI Routing Service that will set the environment variables needed by the XML configuration file previously mentioned. It contains several command-line parameters to control the scenario to be tested.
6.2.3.1. Command-Line Parameters¶
-domain <ID>Domain ID.
RTI Routing Service will route between the provided domain (ID) and (ID + 1).
Default:0Range:0 - 200-sendQueueSize <number>Specify the size of the send queue for the DataWriters used in RTI Routing Service
Default:50Range:[1-100 million]-bestEffortUse best-effort reliability settings.
Default:
false(use reliable communication).-asynchronousEnable asynchronous publishing in the DataWriter QoS.
Default:
Not set-unboundedUse Unbounded Sequences and Large samples.
Default:
Not set-verbositySpecify the verbosity level for RTI Routing Service
0-SILENT1-ERROR(default)2-WARNING3-ALL-keyedSpecify the use of a keyed type.
Default:
Unkeyedtype.-batchSize <bytes>Enable batching and set the maximum batched message size.
Default:0(batching disabled)Range:1 to 63000-executionTime <sec>Limit the test duration by specifying the number of seconds to keep RTI Routing Service running.
Default: Not set, infinite.
-nddshomePath to the RTI Connext DDS installation. If this parameter is not present, the
$NDDSHOMEvariable will be used.
6.2.3.2. Example Command Lines for Running the Performance Test¶
The following are examples of how to run the performance test for different use cases.
6.2.3.2.1. Minimum Latency – 1 Routing Service¶
RTI Perftest Publisher:
bin/<arch>/release/perftest_cpp -pub -noPrint -nic <ipaddr> -domain <ID> -latencyCount 1 -dataLen <length> -latencyTest -executionTime 100
RTI Routing Service wrapper script:
resource/routing_service/routingservice_wrapper.sh -domain <ID> -executionTime 120
RTI Perftest Subscriber:
bin/<arch>/release/perftest_cpp -sub -noPrint -nic <ipaddr> -domain <ID+1> -dataLen <length>
6.2.3.2.2. Maximum Throughput – 1 Routing Service¶
RTI Perftest Publisher:
bin/<arch>/release/perftest_cpp -pub -noPrint -nic <ipaddr> -domain <ID> -batchSize <bytes> -sendQueueSize <number> -executionTime 100 -dataLen <length>
RTI Routing Service wrapper script:
resource/routing_service/routingservice_wrapper.sh -domain <ID> -executionTime 120 -batchSize <bytes> -sendQueueSize <number>
RTI Perftest Subscriber:
bin/<arch>/release/perftest_cpp -sub -noPrint -nic <ipaddr> -domain <ID+1> -dataLen <length>
6.2.3.2.3. Maximum Throughput – 2 Routing Service¶
RTI Perftest Publisher:
bin/<arch>/release/perftest_cpp -pub -noPrint -nic <ipaddr> -domain <ID> -batchSize <bytes> -sendQueueSize <number> -executionTime 100 -dataLen <length>
RTI Routing Service 1 wrapper script:
resource/routing_service/routingservice_wrapper.sh -domain <ID> -executionTime 120 -batchSize <bytes> -sendQueueSize <number>
RTI Routing Service 2 wrapper script:
resource/routing_service/routingservice_wrapper.sh -domain <ID+1> -executionTime 120 -batchSize <bytes> -sendQueueSize <number>
RTI Perftest Subscriber:
bin/<arch>/release/perftest_cpp -sub -noPrint -nic <ipaddr> -domain <ID+2> -dataLen <length>
6.2.4. Using Custom Types¶
The Custom Types feature allows you to use your own customized types instead of the one provided by RTI Perftest. It is designed in such a way that the number of changes in the code and configuration files is minimal.
Briefly, the steps you need to perform to use your custom type in RTI Perftest are as follows:
Copy your IDL files into ~/rtiperftest/srcIdl/custom/
Implement the API custom type functions of customtype.cxx
Run the build script with the command-line parameter
--customType <type>Run RTI Perftest as usual.
6.2.4.1. Full example using Custom Types¶
The following custom type will be used for this example:
const long SIZE_TEST_SEQ = 100;
const long SIZE_TEST_STRING = 128;
enum TestEnum {
ENUM1,
ENUM2
};//@Extensibility FINAL_EXTENSIBILITY
struct StringTest {
string<SIZE_TEST_STRING> test_string;
};//@Extensibility FINAL_EXTENSIBILITY
struct SeqTest {
sequence<long, SIZE_TEST_SEQ> test_seq;
};//@Extensibility FINAL_EXTENSIBILITY
struct Test {
long test_long;
TestEnum test_enum;
StringTest test_string;
SeqTest test_seq;
};//@Extensibility FINAL_EXTENSIBILITY
These are the steps needed to use the above type in RTI Perftest for the C++ (Traditional) API:
Copy your IDL files into ~/rtiperftest/srcIdl/customType/ folder.
The following functions should be implemented (optionally) to properly initialize and set the custom type structures.
- initialize_custom_type_data:
This function is used to initialize your data. Using this function, you will be able to allocate memory or set an immutable field of the data. The function takes one argument:
A reference to custom type data.
bool initialize_custom_type_data(RTI_CUSTOM_TYPE &data) { bool success = true; if (!data.test_seq.test_seq.ensure_length(SIZE_TEST_SEQ, SIZE_TEST_SEQ)) { success = false; } data.test_enum = ENUM1; return success; }- register_custom_type_data:
This function is used to set your data before being registered. It is only required for key types. Set the key field of the data based on the key input. There is a one-to-one mapping between an input key and an instance. The function takes two arguments:
A reference to custom type data.
A specific number unique for every key.
void register_custom_type_data(RTI_CUSTOM_TYPE & data, unsigned long key) { data.test_long = key; }
- set_custom_type_data:
This function is used to set your data before it is sent. It is called every time the data is sent. You must set the custom type data before it is sent with the right “key” value and the “targetDataLen”. The function takes three arguments:
A reference to custom type data.
A specific number unique for every key.
The target size set by the command-line parameter
-dataLen <bytes>minus the overhead of RTI Perftest. If applicable, you can use this value to set the content of the data.
bool set_custom_type_data( RTI_CUSTOM_TYPE & data, unsigned long key, int targetDataLen) { bool success = true; data.test_long = key; if (sprintf(data.test_string.test_string, "Hello World! %lu", key) < 0) { success = false; } return success; }
- finalize_custom_type_data:
This function is used to remove your data. It is called in the destructor. The function takes one argument:
A reference to custom type data.
bool finalize_custom_type_data(RTI_CUSTOM_TYPE & data) { bool success = true; if (!data.test_seq.test_seq.maximum(0)) { success = false; } return success; }- initialize_custom_type_dynamic_data:
This function is used to initialize your DynamicData. Using this function, you will be able to allocate memory or set an immutable field of the data. The function takes one argument:
A reference to the full DDS_DynamicData object that includes custom_type.
bool initialize_custom_type_dynamic_data(DDS_DynamicData & data) { bool success = true; if (!longSeq.ensure_length(SIZE_TEST_SEQ, SIZE_TEST_SEQ)) { success = false; fprintf(stderr, "longSeq.ensure_length failed.\n"); } return success; }- register_custom_type_dynamic_data:
This function is used to set your DynamicData before it has been registered. It is only required for key types. Set the key field of the data based on the key input. There is a one-to-one mapping between an input key and an instance. The function takes two arguments:
A reference to the full DDS_DynamicData object that includes custom_type.
A specific number unique for every key.
void register_custom_type_dynamic_data(DDS_DynamicData & data, unsigned long key) { DDS_ReturnCode_t retcode = data.set_long( "custom_type.test_long", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, key); if (retcode != DDS_RETCODE_OK) { fprintf(stderr, "set_long(test_long) failed: %d.\n", retcode); } }
- set_custom_type_dynamic_data:
This function is used to set your DynamicData before it is sent. It is called every time the data is sent. Set the custom type data before it is sent with the right “key” value and the “targetDataLen”. The function takes three arguments:
A reference to the full DDS_DynamicData object that includes custom_type.
A specific number unique for every key.
The target size set by the command-line parameter
-dataLen <bytes>minus the overhead of RTI Perftest. If applicable, you can use this value to set the content of the data.
bool set_custom_type_dynamic_data( DDS_DynamicData & data, unsigned long key, int targetDataLen) { DDS_ReturnCode_t retcode; char test_string[SIZE_TEST_STRING]; //size of member_name bool success = true; DDS_DynamicData customTypeData(NULL, DDS_DYNAMIC_DATA_PROPERTY_DEFAULT); DDS_DynamicData testSeqData(NULL, DDS_DYNAMIC_DATA_PROPERTY_DEFAULT); retcode = data.bind_complex_member( customTypeData, "custom_type", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED); if (retcode != DDS_RETCODE_OK) { fprintf(stderr, "bind_complex_member(custom_type) failed: %d.\n", retcode); success = false; } retcode = customTypeData.set_long( "test_long", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, key); if (retcode != DDS_RETCODE_OK) { fprintf(stderr, "set_long(test_long) failed: %d.\n", retcode); success = false; } retcode = customTypeData.set_long( "test_enum", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, ENUM1); if (retcode != DDS_RETCODE_OK) { fprintf(stderr, "set_long(test_enum) failed: %d.\n", retcode); success = false; } if (snprintf(test_string, SIZE_TEST_STRING, "Hello World! %lu", key) < 0) { success = false; } retcode = customTypeData.set_string( "test_string.test_string", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, test_string); if (retcode != DDS_RETCODE_OK) { fprintf(stderr, "set_string(test_string) failed: %d.\n", retcode); success = false; } retcode = customTypeData.bind_complex_member( testSeqData, "test_seq", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED); if (retcode != DDS_RETCODE_OK) { fprintf(stderr, "bind_complex_member(testSeqData) failed: %d.\n", retcode); success = false; } retcode = testSeqData.set_long_seq( "test_seq", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, longSeq); if (retcode != DDS_RETCODE_OK) { fprintf(stderr, "set_long(test_seq) failed: %d.\n", retcode); success = false; } retcode = customTypeData.unbind_complex_member(testSeqData); if (retcode != DDS_RETCODE_OK) { fprintf(stderr, "unbind_complex_member(testSeqData) failed: %d.\n", retcode); success = false; } retcode = data.unbind_complex_member(custom_type_data); if (retcode != DDS_RETCODE_OK) { fprintf(stderr, "unbind_complex_member(custom_type) failed: %d.\n", retcode); success = false; } return success; }
- finalize_custom_type_dynamic_data:
This function is used to remove your data. It is called in the destructor. The function takes one argument:
A reference to the full DDS_DynamicData object that includes custom_type.
bool finalize_custom_type_dynamic_data(DDS_DynamicData & data) { bool success = true; if (!longSeq.ensure_length(0, 0)) { success = false; fprintf(stderr, "longSeq.ensure_length failed.\n"); } DDS_ReturnCode_t retcode = data.clear_all_members(); if (retcode != DDS_RETCODE_OK) { fprintf(stderr, "clear_all_members failed: %d.\n", retcode); success = false; } return success; }Build RTI Perftest using
--customType <type>../build.sh --platform x64Linux3gcc5.4.0 --nddshome /home/rti_connext_dds-6.0.0 --cpp-build --customType Test
Launch RTI Perftest.
~/rtiperftest$ ./bin/x64Linux3gcc5.4.0/release/perftest_cpp -pub -executionTime 60 -noprint RTI Perftest 3.0.0 (RTI Connext DDS 6.0.0) Custom Type provided: 'Test' Mode: THROUGHPUT TEST (Use "-latencyTest" for Latency Mode) Perftest Configuration: Reliability: Reliable Keyed: No Publisher ID: 0 Latency count: 1 latency sample every 10000 samples Data Size: 100 Batching: 8192 Bytes (Use "-batchSize 0" to disable batching) Publication Rate: Unlimited (Not set) Execution time: 60 seconds Receive using: Listeners Domain: 1 Dynamic Data: No Asynchronous Publishing: No XML File: perftest_qos_profiles.xml Transport Configuration: Kind: UDPv4 & SHMEM (taken from QoS XML file) Use Multicast: False Waiting to discover 1 subscribers ... Waiting for subscribers announcement ... Sending 4050 initialization pings ... Publishing data ... Setting timeout to 60 seconds Length: 464 Latency: Ave 39 us Std 30.7 us Min 21 us Max 276 us 50% 30 us 90% 60 us 99% 276 us 99.99% 276 us 99.9999% 276 us Finishing test due to timer... Test ended.~/rtiperftest$ ./bin/x64Linux3gcc5.4.0/release/perftest_cpp -sub -noprint RTI Perftest 3.0.0 (RTI Connext DDS 6.0.0) Custom Type provided: 'Test' Perftest Configuration: Reliability: Reliable Keyed: No Subscriber ID: 0 Receive using: Listeners Domain: 1 Dynamic Data: No XML File: perftest_qos_profiles.xml Transport Configuration: Kind: UDPv4 & SHMEM (taken from QoS XML file) Use Multicast: False Waiting to discover 1 publishers ... Waiting for data... Length: 464 Packets: 68081040 Packets/s(ave): 1134692 Mbps(ave): 4212.0 Lost: 0 (0.00%) Finishing test... Test ended.You can also launch RTI Perftest with your customType using DynamicData.
~/rtiperftest$ ./bin/x64Linux3gcc5.4.0/release/perftest_cpp -pub -executionTime 60 -noprint -dynamicData RTI Perftest 3.0.0 (RTI Connext DDS 6.0.0) Custom Type provided: 'Test' Mode: THROUGHPUT TEST (Use "-latencyTest" for Latency Mode) Perftest Configuration: Reliability: Reliable Keyed: No Publisher ID: 0 Latency count: 1 latency sample every 10000 samples Data Size: 100 Batching: 8192 Bytes (Use "-batchSize 0" to disable batching) Publication Rate: Unlimited (Not set) Execution time: 60 seconds Receive using: Listeners Domain: 1 Dynamic Data: Yes Asynchronous Publishing: No XML File: perftest_qos_profiles.xml Transport Configuration: Kind: UDPv4 & SHMEM (taken from QoS XML file) Use Multicast: False Waiting to discover 1 subscribers ... Waiting for subscribers announcement ... Sending 4050 initialization pings ... Publishing data ... Setting timeout to 60 seconds Length: 464 Latency: Ave 158 us Std 166.5 us Min 71 us Max 678 us 50% 105 us 90% 169 us 99% 678 us 99.99% 678 us 99.9999% 678 us Finishing test due to timer... Test ended.~/rtiperftest$ ./bin/x64Linux3gcc5.4.0/release/perftest_cpp -sub -noprint -dynamicData RTI Perftest 3.0.0 (RTI Connext DDS 6.0.0) Custom Type provided: 'Test' Perftest Configuration: Reliability: Reliable Keyed: No Subscriber ID: 0 Receive using: Listeners Domain: 1 Dynamic Data: Yes XML File: perftest_qos_profiles.xml Transport Configuration: Kind: UDPv4 & SHMEM (taken from QoS XML file) Use Multicast: False Waiting to discover 1 publishers ... Waiting for data... Length: 464 Packets: 8146078 Packets/s(ave): 135770 Mbps(ave): 504.0 Lost: 0 (0.00%) Finishing test... Test ended.