Create a node API benchmark based on zenoh

Cargo.lock

@@ -272,6 +272,25 @@ version = "1.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e6b4d9b1225d28d360ec6a231d65af1fd99a2a095154c8040689617290569c5c"
 
+[[package]]
+name = "benchmark-example-node"
+version = "0.1.2"
+dependencies = [
+ "dora-node-api",
+ "eyre",
+ "futures",
+ "rand",
+ "tokio",
+]
+
+[[package]]
+name = "benchmark-example-sink"
+version = "0.1.2"
+dependencies = [
+ "dora-node-api",
+ "eyre",
+]
+
 [[package]]
 name = "bincode"
 version = "1.3.3"
@@ -971,6 +990,8 @@ dependencies = [
  "dunce",
  "eyre",
  "tokio",
+ "tracing",
+ "tracing-subscriber",
 ]
 
 [[package]]

Cargo.toml

@@ -10,6 +10,7 @@ members = [
     "binaries/*",
     "examples/rust-dataflow/*",
     "examples/iceoryx/*",
+    "examples/benchmark/*",
     "libraries/communication-layer/*",
     "libraries/core",
     "libraries/message",
@@ -38,6 +39,8 @@ eyre = "0.6.8"
 tokio = "1.20.1"
 dora-coordinator = { path = "binaries/coordinator" }
 dunce = "1.0.2"
+tracing = "0.1.36"
+tracing-subscriber = "0.3.15"
 
 [[example]]
 name = "c-dataflow"
@@ -62,3 +65,7 @@ path = "examples/python-dataflow/run.rs"
 [[example]]
 name = "iceoryx"
 path = "examples/iceoryx/run.rs"
+
+[[example]]
+name = "benchmark"
+path = "examples/benchmark/run.rs"

examples/benchmark/dataflow.yml

@@ -0,0 +1,18 @@
+communication:
+  zenoh:
+    prefix: /benchmark-example
+
+nodes:
+  - id: rust-node
+    custom:
+      build: cargo build -p benchmark-example-node --release
+      source: ../../target/release/benchmark-example-node
+      outputs:
+        - random
+  - id: rust-sink
+    custom:
+      build: cargo build -p benchmark-example-sink --release
+      source: ../../target/release/benchmark-example-sink
+      inputs:
+        # message: runtime-node/rust-operator/status
+        message: rust-node/random

examples/benchmark/node/Cargo.toml

@@ -0,0 +1,13 @@
+[package]
+name = "benchmark-example-node"
+version.workspace = true
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+dora-node-api = { workspace = true, features = ["zenoh", "iceoryx"] }
+eyre = "0.6.8"
+futures = "0.3.21"
+rand = "0.8.5"
+tokio = { version = "1.20.1", features = ["rt", "macros"] }

examples/benchmark/node/src/main.rs

@@ -0,0 +1,34 @@
+use dora_node_api::{self, dora_core::config::DataId, DoraNode};
+use rand::Rng;
+
+fn main() -> eyre::Result<()> {
+    let output = DataId::from("random".to_owned());
+
+    let mut node = DoraNode::init_from_env()?;
+    let sizes = [
+        0,
+        8,
+        64,
+        512,
+        2048,
+        4096,
+        4 * 4096,
+        10 * 4096,
+        100 * 4096,
+        1000 * 4096,
+        10000 * 4096,
+    ];
+    for size in sizes {
+        for _ in 0..100 {
+            let data: Vec<u8> = rand::thread_rng()
+                .sample_iter(rand::distributions::Standard)
+                .take(size)
+                .collect();
+            node.send_output(&output, Default::default(), data.len(), |out| {
+                out.copy_from_slice(&data);
+            })?;
+        }
+    }
+
+    Ok(())
+}

examples/benchmark/run.rs

@@ -0,0 +1,47 @@
+use eyre::{bail, Context};
+use std::path::Path;
+use tracing::metadata::LevelFilter;
+use tracing_subscriber::Layer;
+
+#[tokio::main]
+async fn main() -> eyre::Result<()> {
+    set_up_tracing().wrap_err("failed to set up tracing subscriber")?;
+
+    let root = Path::new(env!("CARGO_MANIFEST_DIR"));
+    std::env::set_current_dir(root.join(file!()).parent().unwrap())
+        .wrap_err("failed to set working dir")?;
+
+    let dataflow = Path::new("dataflow.yml");
+    build_dataflow(dataflow).await?;
+
+    dora_coordinator::run(dora_coordinator::Args {
+        run_dataflow: dataflow.to_owned().into(),
+        runtime: None,
+    })
+    .await?;
+
+    Ok(())
+}
+
+async fn build_dataflow(dataflow: &Path) -> eyre::Result<()> {
+    let cargo = std::env::var("CARGO").unwrap();
+    let mut cmd = tokio::process::Command::new(&cargo);
+    cmd.arg("run");
+    cmd.arg("--package").arg("dora-cli");
+    cmd.arg("--").arg("build").arg(dataflow);
+    if !cmd.status().await?.success() {
+        bail!("failed to build dataflow");
+    };
+    Ok(())
+}
+
+fn set_up_tracing() -> eyre::Result<()> {
+    use tracing_subscriber::prelude::__tracing_subscriber_SubscriberExt;
+
+    let stdout_log = tracing_subscriber::fmt::layer()
+        .pretty()
+        .with_filter(LevelFilter::DEBUG);
+    let subscriber = tracing_subscriber::Registry::default().with(stdout_log);
+    tracing::subscriber::set_global_default(subscriber)
+        .context("failed to set tracing global subscriber")
+}

examples/benchmark/sink/Cargo.toml

@@ -0,0 +1,10 @@
+[package]
+name = "benchmark-example-sink"
+version.workspace = true
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+dora-node-api = { workspace = true, features = ["zenoh", "iceoryx"] }
+eyre = "0.6.8"

examples/benchmark/sink/src/main.rs

@@ -0,0 +1,67 @@
+use dora_node_api::{self, DoraNode};
+use std::{
+    fmt::Write as _,
+    time::{Duration, Instant},
+};
+
+fn main() -> eyre::Result<()> {
+    let mut node = DoraNode::init_from_env()?;
+    let inputs = node.inputs()?;
+
+    let mut current_size = 0;
+    let mut n = 0;
+    let mut start = Instant::now();
+    let mut latencies = Vec::new();
+
+    let mut summary = String::new();
+
+    while let Ok(input) = inputs.recv() {
+        match input.id.as_str() {
+            "message" => {
+                let data = input.data();
+
+                if data.len() != current_size {
+                    if n > 0 {
+                        record_results(start, current_size, n, latencies, &mut summary);
+                    }
+                    current_size = data.len();
+                    n = 0;
+                    start = Instant::now();
+                    latencies = Vec::new();
+                }
+                n += 1;
+                latencies.push(
+                    input
+                        .metadata
+                        .timestamp()
+                        .get_time()
+                        .to_system_time()
+                        .elapsed()?,
+                );
+            }
+            other => eprintln!("Ignoring unexpected input `{other}`"),
+        }
+    }
+
+    record_results(start, current_size, n, latencies, &mut summary);
+
+    println!("\nSummary:\n{summary}");
+
+    Ok(())
+}
+
+fn record_results(
+    start: Instant,
+    current_size: usize,
+    n: u32,
+    latencies: Vec<Duration>,
+    summary: &mut String,
+) {
+    let duration = start.elapsed();
+    let per_message = duration / n;
+    let avg_latency = latencies.iter().sum::<Duration>() / n;
+    let msg =
+        format!("size {current_size:<#8x}: {per_message:?} per message (latency: {avg_latency:?})");
+    println!("{msg}");
+    writeln!(summary, "{msg}").unwrap();
+}