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This commit is contained in:
PJ Reiniger
2025-11-07 20:01:58 -05:00
committed by Peter Johnson
parent ae6bdc9d25
commit 2109161534
749 changed files with 5504 additions and 3936 deletions
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50
ntcore/src/dev/native/cpp/main.cpp
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@@ -72,9 +72,12 @@ void PrintTimes(std::vector<int64_t>& times) {
std::inner_product(times.begin(), times.end(), times.begin(), 0);
double stdev = std::sqrt(sq_sum / times.size() - mean * mean);
wpi::util::print("min: {} max: {}, mean: {}, stdev: {}\n", min, max, mean, stdev);
wpi::util::print("min 10: {}\n", fmt::join(times.begin(), times.begin() + 10, ","));
wpi::util::print("max 10: {}\n", fmt::join(times.end() - 10, times.end(), ","));
wpi::util::print("min: {} max: {}, mean: {}, stdev: {}\n", min, max, mean,
stdev);
wpi::util::print("min 10: {}\n",
fmt::join(times.begin(), times.begin() + 10, ","));
wpi::util::print("max 10: {}\n",
fmt::join(times.end() - 10, times.end(), ","));
}
// benchmark
@@ -94,9 +97,10 @@ void bench() {
// add "typical" set of subscribers on client and server
wpi::nt::SubscribeMultiple(client, {{std::string_view{}}});
wpi::nt::Subscribe(wpi::nt::GetTopic(client, "highrate"), NT_DOUBLE, "double",
{.sendAll = true, .keepDuplicates = true});
{.sendAll = true, .keepDuplicates = true});
wpi::nt::SubscribeMultiple(server, {{std::string_view{}}});
auto pub = wpi::nt::Publish(wpi::nt::GetTopic(server, "highrate"), NT_DOUBLE, "double");
auto pub = wpi::nt::Publish(wpi::nt::GetTopic(server, "highrate"), NT_DOUBLE,
"double");
wpi::nt::SetDouble(pub, 0);
// warm up
@@ -130,9 +134,10 @@ void bench() {
}
auto stop = std::chrono::high_resolution_clock::now();
wpi::util::print("total time: {}us\n",
std::chrono::duration_cast<std::chrono::microseconds>(stop - start)
.count());
wpi::util::print(
"total time: {}us\n",
std::chrono::duration_cast<std::chrono::microseconds>(stop - start)
.count());
PrintTimes(times);
wpi::util::print("-- Flush --\n");
PrintTimes(flushTimes);
@@ -163,8 +168,8 @@ void bench2() {
std::array<NT_Entry, 1000> pubs;
for (int i = 0; i < 1000; ++i) {
pubs[i] = wpi::nt::GetEntry(
wpi::nt::GetTopic(server,
fmt::format("/some/long/name/with/lots/of/slashes/{}", i)),
wpi::nt::GetTopic(
server, fmt::format("/some/long/name/with/lots/of/slashes/{}", i)),
NT_DOUBLE_ARRAY, "double[]");
}
@@ -203,9 +208,10 @@ void bench2() {
}
auto stop = std::chrono::high_resolution_clock::now();
wpi::util::print("total time: {}us\n",
std::chrono::duration_cast<std::chrono::microseconds>(stop - start)
.count());
wpi::util::print(
"total time: {}us\n",
std::chrono::duration_cast<std::chrono::microseconds>(stop - start)
.count());
PrintTimes(times);
wpi::util::print("-- Flush --\n");
PrintTimes(flushTimes);
@@ -251,9 +257,9 @@ void stress() {
// create publishers
NT_Publisher pub[30];
for (int i = 0; i < 30; ++i) {
pub[i] =
wpi::nt::Publish(wpi::nt::GetTopic(server, fmt::format("{}_{}", count, i)),
NT_DOUBLE, "double", {});
pub[i] = wpi::nt::Publish(
wpi::nt::GetTopic(server, fmt::format("{}_{}", count, i)),
NT_DOUBLE, "double", {});
}
// publish values
@@ -348,13 +354,13 @@ void latency() {
std::this_thread::sleep_for(1s);
// create publishers and subscribers
auto pub =
wpi::nt::Publish(wpi::nt::GetTopic(client1, "highrate"), NT_DOUBLE, "double");
auto pub = wpi::nt::Publish(wpi::nt::GetTopic(client1, "highrate"), NT_DOUBLE,
"double");
wpi::nt::SubscribeMultiple(server, {{std::string_view{}}});
auto sub =
wpi::nt::Subscribe(wpi::nt::GetTopic(server, "highrate"), NT_DOUBLE, "double");
auto sub2 =
wpi::nt::Subscribe(wpi::nt::GetTopic(client2, "highrate"), NT_DOUBLE, "double");
auto sub = wpi::nt::Subscribe(wpi::nt::GetTopic(server, "highrate"),
NT_DOUBLE, "double");
auto sub2 = wpi::nt::Subscribe(wpi::nt::GetTopic(client2, "highrate"),
NT_DOUBLE, "double");
std::this_thread::sleep_for(1s);