rclnodejs/test_repro_hz.js

ROS2.0 JavaScript client with Node.js

// Reprocer for https://github.com/RobotWebTools/rclnodejs/issues/1394
// Tests subscription throughput at ~10Hz publishing rate
'use strict';

const rclnodejs = require('./index.js');

const PUBLISH_HZ = 10;
const TEST_DURATION_SEC = 10;

async function main() {
  await rclnodejs.init();

  const pubNode = new rclnodejs.Node('test_pub_node');
  const subNode = new rclnodejs.Node('test_sub_node');

  const publisher = pubNode.createPublisher(
    'std_msgs/msg/Float64MultiArray',
    '/test_hz_topic'
  );

  let msgCount = 0;
  let lastTs = null;
  const hzSamples = [];

  subNode.createSubscription(
    'std_msgs/msg/Float64MultiArray',
    '/test_hz_topic',
    (msg) => {
      const now = Date.now();
      msgCount++;
      if (lastTs) {
        const hz = 1000 / (now - lastTs);
        hzSamples.push(hz);
      }
      lastTs = now;
    }
  );

  pubNode.spin();
  subNode.spin();

  // Publish at target Hz
  let pubCount = 0;
  const pubInterval = setInterval(() => {
    publisher.publish({ data: [1.0, 2.0, 3.0] });
    pubCount++;
  }, 1000 / PUBLISH_HZ);

  // Wait for test duration then report
  setTimeout(() => {
    clearInterval(pubInterval);

    if (hzSamples.length > 0) {
      const avgHz =
        hzSamples.reduce((a, b) => a + b, 0) / hzSamples.length;
      const minHz = Math.min(...hzSamples);
      const maxHz = Math.max(...hzSamples);

      console.log(`Published:  ${pubCount} messages`);
      console.log(`Received:   ${msgCount} messages`);
      console.log(`Avg Hz:     ${avgHz.toFixed(2)}`);
      console.log(`Min Hz:     ${minHz.toFixed(2)}`);
      console.log(`Max Hz:     ${maxHz.toFixed(2)}`);
      console.log(
        `Expected:   ~${PUBLISH_HZ} Hz`
      );

      if (avgHz < PUBLISH_HZ * 0.5) {
        console.log(
          `\n*** REGRESSION DETECTED: Average Hz (${avgHz.toFixed(2)}) is less than 50% of expected (${PUBLISH_HZ}) ***`
        );
      } else {
        console.log('\nPerformance looks OK.');
      }
    } else {
      console.log('No messages received!');
    }

    pubNode.stop();
    subNode.stop();
    rclnodejs.shutdown();
    process.exit(0);
  }, TEST_DURATION_SEC * 1000);
}

main().catch(console.error);