Add a number_of_subscribers option to the latency testing Python launcher

Signed-off-by: qinglongwang <[email protected]>

Author: Ginakira

test/performance/latency/README.md

@@ -166,7 +166,10 @@ The python scripts offers several options:
 | --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*                                                                |
+| --data_sharing [on/off]             | Explicitly enable/disable data sharing. Fast DDS default is *AUTO*                                                                         |
 | --interprocess                      | Publisher and subscriber in separate processes. Default is both in the sample process and using intraprocess communications                |
+| --number_of_subscribers \<number>   | Number of subscribers in the interprocess mode test. Default is *1 subscriber*                                                             |
 | --security                          | Enable security. Default disable                                                                                                           |
-| -n \<number>                        | Number of samples sent in the test. Default is *10000 samples*
+| -n \<number>                        | Number of samples sent in the test. Default is *10000 samples*                                                                             |
 | -f \<file>                          | A file containing the demands                                                                                                              |
+| -x \<file>                          | A file containing the Fast DDS XML configuration                                                                                           |

test/performance/latency/latency_tests.py

@@ -80,7 +80,13 @@
         choices=['on', 'off'],
         help='Explicitly enable/disable shared memory transport. (Defaults: Fast DDS default settings)',
         required=False
-        )
+    )
+    parser.add_argument(
+        '--number_of_subscribers',
+        help='Number of subscribers',
+        required=False,
+        default='1',
+    )
 
     # Parse arguments
     args = parser.parse_args()
@@ -103,6 +109,17 @@
         )
         exit(1)  # Exit with error
 
+    # Check that subscribers is positive
+    if str.isdigit(args.number_of_subscribers) and int(args.number_of_subscribers) > 0:
+        number_of_subscribers = str(args.number_of_subscribers)
+    else:
+        print(
+            '"number_of_subscribers" must be a positive integer, NOT {}'.format(
+                args.number_of_subscribers
+            )
+        )
+        exit(1) # Exit with error
+
     # Demands files options
     demands_options = []
     if args.demands_file:
@@ -199,6 +216,8 @@
             'publisher',
             '--samples',
             samples,
+            '--subscribers',
+            number_of_subscribers,
             '--export_raw_data',
         ]
         # Base of test command for subscriber agent
@@ -246,14 +265,17 @@
 
         # Spawn processes
         publisher = subprocess.Popen(pub_command)
-        subscriber = subprocess.Popen(sub_command)
+        subscribers = []
+        for _ in range(int(number_of_subscribers)):
+            subscribers.append(subprocess.Popen(sub_command))
         # Wait until finish
-        subscriber.communicate()
-        publisher.communicate()
+        for subscriber in subscribers:
+            subscriber.communicate()
+            if subscriber.returncode != 0:
+                exit(subscriber.returncode)
 
-        if subscriber.returncode != 0:
-            exit(subscriber.returncode)
-        elif publisher.returncode != 0:
+        publisher.communicate()
+        if publisher.returncode != 0:
             exit(publisher.returncode)
     else:
         # Base of test command to execute