[sample] sample massive_pub_sub extended (#1713)

ecal/samples/cpp/benchmarks/massive_pub_sub/src/massive_pub_sub.cpp

@@ -25,14 +25,14 @@
 #include <thread>
 #include <vector>
 
-const int subscriber_number                    (5000);
+const int subscriber_number                    (10000);
 
-const int publisher_number                     (5000);
+const int publisher_number                     (10000);
 const int publisher_type_encoding_size_bytes   (10*1024);
 const int publisher_type_descriptor_size_bytes (10*1024);
 
 const int in_between_sleep_sec                 (5);
-const int final_sleep_sec                      (120);
+const int final_sleep_sec                      (0);
 
 std::string GenerateSizedString(const std::string& name, size_t totalSize)
 {
@@ -56,8 +56,11 @@ std::string GenerateSizedString(const std::string& name, size_t totalSize)
 
 int main(int argc, char** argv)
 {
-  // initialize eCAL API
-  eCAL::Initialize(argc, argv, "massive_pub_sub");
+  // initialize eCAL API with shm monitoring
+  eCAL::Configuration configuration;
+  configuration.registration.layer.shm.enable = true;
+  configuration.registration.layer.udp.enable = false;
+  eCAL::Initialize(configuration, "massive_pub_sub");
 
   eCAL::Util::EnableLoopback(true);
 
@@ -82,7 +85,7 @@ int main(int argc, char** argv)
 
     // calculate the duration
     auto duration = std::chrono::duration_cast<std::chrono::milliseconds>(end_time - start_time).count();
-    std::cout << "Time taken for subscriber creation: " << duration << " milliseconds" << std::endl;
+    std::cout << "Time taken for subscriber creation: " << duration << " milliseconds" << std::endl << std::endl;
   }
 
   // sleep for a few seconds
@@ -114,9 +117,62 @@ int main(int argc, char** argv)
 
     // calculate the duration
     auto duration = std::chrono::duration_cast<std::chrono::milliseconds>(end_time - start_time).count();
-    std::cout << "Time taken for publisher creation: " << duration << " milliseconds" << std::endl;
+    std::cout << "Time taken for publisher creation: " << duration << " milliseconds" << std::endl << std::endl;
+  }
+
+  // sleep for a few seconds
+  std::this_thread::sleep_for(std::chrono::seconds(in_between_sleep_sec));
+
+  // wait for full registration
+  std::cout << "Wait for publisher/subscriber registration." << std::endl;
+  {
+    // start time measurement
+    auto start_time = std::chrono::high_resolution_clock::now();
+
+    size_t num_pub(0);
+    size_t num_sub(0);
+    while ((num_pub < publisher_number) || (num_sub < subscriber_number))
+    {
+      num_pub = eCAL::Registration::GetPublisherIDs().size();
+      num_sub = eCAL::Registration::GetSubscriberIDs().size();
+
+      std::cout << "Registered publisher : " << num_pub << std::endl;
+      std::cout << "Registered subscriber: " << num_sub << std::endl;
+
+      // sleep for 1000 milliseconds
+      std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+    }
+
+    // stop time measurement
+    auto end_time = std::chrono::high_resolution_clock::now();
+
+    // calculate the duration
+    auto duration = std::chrono::duration_cast<std::chrono::milliseconds>(end_time - start_time).count();
+    std::cout << "Time taken to get all registered: " << duration << " milliseconds" << std::endl << std::endl;
+  }
+
+  // get publisher information
+  std::cout << "Get publisher information. (";
+  size_t num_pub(0);
+  {
+    // start time measurement
+    auto start_time = std::chrono::high_resolution_clock::now();
+
+    const auto pub_ids = eCAL::Registration::GetPublisherIDs();
+    num_pub = pub_ids.size();
+    for (const auto& id : pub_ids)
+    {
+      eCAL::Registration::SQualityTopicInfo topic_info;
+      eCAL::Registration::GetPublisherInfo(id, topic_info);
+    }
+
+    // stop time measurement
+    auto end_time = std::chrono::high_resolution_clock::now();
+
+    // calculate the duration
+    auto duration = std::chrono::duration_cast<std::chrono::milliseconds>(end_time - start_time).count();
+    std::cout << num_pub << ")" << std::endl << "Time taken to get publisher information: " << duration << " milliseconds" << std::endl << std::endl;
   }
-  std::cout << std::endl;
 
   // sleep for a few seconds
   std::this_thread::sleep_for(std::chrono::seconds(final_sleep_sec));