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René ScheibeKarsten1987
René Scheibe
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Karsten1987
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Benchmarks for SQLite write performance (#1)
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‎.gitignore

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.idea/
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.ipynb_checkpoints/
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cmake-build-debug/
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cmake-build-release/
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build/
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venv/

‎NOTICE

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rosbag2
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Copyright Holders:
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Copyright (c) 2018, Open Source Robotics Foundation, Inc.
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Copyright (c) 2018, Bosch Software Innovations GmbH

‎rosbag2_storage_evaluation/CMakeLists.txt

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cmake_minimum_required(VERSION 3.5)
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project(rosbag2_storage_evaluation)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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# uncomment the following section in order to fill in
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# further dependencies manually.
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# find_package(<dependency> REQUIRED)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# remove the line when a copyright and license is present in all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# remove the line when this package is a git repo
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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project(ros2_rosbag_evaluation)
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_FLAGS "-O3")
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set(BUILD_SHARED_LIBS ON)
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set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
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set(common_sources
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src/common/strings.cpp)
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set(profiler_sources
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src/profiler/profiler.cpp)
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set(sqlite_sources
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src/writer/sqlite/sqlite.cpp
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src/writer/sqlite/sqlite_writer.cpp
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src/writer/sqlite/one_table_sqlite_writer.cpp
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src/writer/sqlite/separate_topic_table_sqlite_writer.cpp)
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set(trivial_writer_benchmark_sources
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src/benchmark/writer/trivial/trivial_writer_benchmark.cpp
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src/benchmark/benchmark.cpp
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src/writer/stream/message_stream_writer.cpp
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src/generators/message_generator.cpp)
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set(sqlite_writer_benchmark_cmd_sources
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src/benchmark/writer/sqlite/sqlite_writer_benchmark_cmd.cpp
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src/benchmark/writer/sqlite/sqlite_writer_benchmark.cpp
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src/benchmark/benchmark.cpp
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src/generators/message_generator.cpp)
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set(small_messages_benchmark_sources
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src/benchmark/small_messages_benchmark.cpp
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src/benchmark/writer/sqlite/sqlite_writer_benchmark.cpp
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src/benchmark/benchmark.cpp
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src/generators/message_generator.cpp)
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set(big_messages_benchmark_sources
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src/benchmark/big_messages_benchmark.cpp
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src/benchmark/writer/sqlite/sqlite_writer_benchmark.cpp
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src/benchmark/benchmark.cpp
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src/generators/message_generator.cpp)
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set(mixed_messages_benchmark_sources
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src/benchmark/mixed_messages_benchmark.cpp
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src/benchmark/writer/sqlite/sqlite_writer_benchmark.cpp
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src/benchmark/benchmark.cpp
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src/generators/message_generator.cpp)
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add_library(common ${common_sources})
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target_include_directories(common PRIVATE src)
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add_library(profiler ${profiler_sources})
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target_include_directories(profiler PRIVATE src)
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add_library(sqlite ${sqlite_sources})
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target_include_directories(sqlite PRIVATE src)
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target_link_libraries(sqlite sqlite3 common)
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add_executable(trivial_writer_benchmark ${trivial_writer_benchmark_sources})
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target_link_libraries(trivial_writer_benchmark profiler sqlite)
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target_include_directories(trivial_writer_benchmark PRIVATE src)
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add_executable(sqlite_writer_benchmark_cmd ${sqlite_writer_benchmark_cmd_sources})
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target_link_libraries(sqlite_writer_benchmark_cmd profiler sqlite)
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target_include_directories(sqlite_writer_benchmark_cmd PRIVATE src)
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add_executable(small_messages_benchmark ${small_messages_benchmark_sources})
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target_link_libraries(small_messages_benchmark profiler sqlite)
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target_include_directories(small_messages_benchmark PRIVATE src)
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add_executable(big_messages_benchmark ${big_messages_benchmark_sources})
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target_link_libraries(big_messages_benchmark profiler sqlite)
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target_include_directories(big_messages_benchmark PRIVATE src)
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add_executable(mixed_messages_benchmark ${mixed_messages_benchmark_sources})
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target_link_libraries(mixed_messages_benchmark profiler sqlite)
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target_include_directories(mixed_messages_benchmark PRIVATE src)

‎rosbag2_storage_evaluation/README.md

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# ROS 2.0 Rosbag Evaluation
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## Benchmarks
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This folder currently contains benchmarks which measure the write speed and disk usage of SQLite files.
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The single table schema
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```
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sqlite::create_table(db, "MESSAGES", {
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"TIMESTAMP INTEGER NOT NULL",
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"TOPIC TEXT NOT NULL",
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"DATA BLOB NOT NULL"
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});
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```
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is compared with a foreign key schema storing topics in a separate table
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```
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sqlite::create_table(db, "TOPICS", {
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"ID INTEGER PRIMARY KEY",
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"TOPIC TEXT NOT NULL"
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});
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sqlite::create_table(db, "MESSAGES", {
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"TIMESTAMP INTEGER NOT NULL",
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"TOPIC_ID INTEGER NOT NULL",
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"DATA BLOB NOT NULL"
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}, {sqlite::ForeignKeyDef{"TOPIC_ID", "TOPICS", "ID"}});
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```
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It should be **easy to add additional bag file formats**, e.g. for writing directly to disk or writing the RosBag 2.0 format.
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### Build from command line
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The project is using cmake. The script `./build.sh` can be used to build it.
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This will generate benchmark binaries in `./build/bin/`.
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### Run
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Individual benchmarks in `./build/bin` can be run by hand. To run the complete suite the script `./run_all_benchmarks.sh` can be used.
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Each benchmark will generate a CSV file in `./build/bin` containing the measured data for further plotting with the Jupyter Notebook.
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## Jupyter Notebook
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It is used for data analysis and visualization.
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### Setup
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Prerequisites: Python 3.5+, [pip](https://pip.pypa.io/en/stable/), [virtualenv](https://virtualenv.pypa.io/en/stable/)
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```
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virtualenv -p python3 venv
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. venv/bin/activate
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pip install -r requirements.txt
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```
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### Usage
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```
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. venv/bin/activate
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jupyter notebook data_analysis_and_visualization.ipynb
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```
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A browser window should open. Click `Cell -> Run All`.
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## Extending the benchmarks
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### Read Tests
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To measure retrieval time of the first message, extend the `MessageWriter` interface like so
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```
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virtual MessageStream::Ptr selectAll() = 0;
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virtual MessageStream::Ptr selectTopic(std::string const & topic) = 0;
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virtual MessageStream::Ptr selectFromTo(
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Message::Timestamp const & fromInclusive, Message::Timestamp const & toExclusive) = 0;
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```
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where `MessageStream` is a lazy data structure
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```
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virtual bool has_next() const = 0;
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virtual MessagePtr next() = 0;
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```
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implemented with a streaming SQLite `SELECT` statement.
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The desired timings can then be measured with the `Profiler`.

‎rosbag2_storage_evaluation/build.sh

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#!/usr/bin/env sh
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# Copyright (c) 2018, Bosch Software Innovations GmbH.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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mkdir -p ./build
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cd build
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cmake ..
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make
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cd ..
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