Set CPU affinity for producers and recorder from benchmark parameters (ros2#1305)

Signed-off-by: Michael Orlov <[email protected]>

Author: morlov-apexai

rosbag2_performance/rosbag2_performance_benchmarking/config/benchmarks/default_benchmark_producers.yaml

@@ -7,6 +7,8 @@ rosbag2_performance_benchmarking:
         repeat_each:          1     # How many times to run each configurations (to average results)
         no_transport:         False # Whether to run storage-only or end-to-end (including transport) benchmark
         preserve_bags:        False # Whether to leave bag files after experiment (and between runs). Some configurations can take lots of space!
+        producers_cpu_affinity: [0, 1] # CPU affinity for producers
+        recorder_cpu_affinity:  [2, 3] # CPU affinity for recorder
         parameters:                 # Each combination of parameters in this section will be benchmarked
           storage_id:             ["mcap", "sqlite3"]
           max_cache_size:         [100000000, 500000000]

rosbag2_performance/rosbag2_performance_benchmarking/config/benchmarks/default_no_transport.yaml

@@ -7,6 +7,8 @@ rosbag2_performance_benchmarking:
         repeat_each:          1     # How many times to run each configurations (to average results)
         no_transport:         True  # Whether to run storage-only or end-to-end (including transport) benchmark
         preserve_bags:        False # Whether to leave bag files after experiment (and between runs). Some configurations can take lots of space!
+        producers_cpu_affinity: [0, 1] # CPU affinity for producers
+        recorder_cpu_affinity:  [2, 3] # CPU affinity for recorder
         parameters:                 # Each combination of parameters in this section will be benchmarked
           storage_id:             ["mcap", "sqlite3"]
           max_cache_size:         [100000000, 500000000]

rosbag2_performance/rosbag2_performance_benchmarking/launch/benchmark_launch.py

@@ -78,6 +78,9 @@
 _producer_cpu_usage = 0.0
 _recorder_cpu_usage = 0.0
 
+_producer_cpu_affinity = []
+_recorder_cpu_affinity = []
+
 
 def _parse_arguments(args=sys.argv[4:]):
     """Parse benchmark and producers config file paths."""
@@ -141,9 +144,11 @@ def _launch_sequence(transport):
 
 def _rosbag_proc_started(event, context):
     """Register current rosbag2 PID so we can terminate it when producer exits."""
-    global _rosbag_pid, _rosbag_process
+    global _rosbag_pid, _rosbag_process, _recorder_cpu_affinity
     _rosbag_pid = event.pid
     _rosbag_process = psutil.Process(_rosbag_pid)
+    if len(_recorder_cpu_affinity) > 0:
+        _rosbag_process.cpu_affinity(_recorder_cpu_affinity)
 
 
 def _rosbag_ready_check(event):
@@ -202,9 +207,11 @@ def _results_writer_exited(event, context):
 def _producer_node_started(event, context):
     """Log current benchmark progress on producer start."""
     global _producer_idx, _producer_pid, _producer_process, _producer_cpu_usage
-    global _cpu_usage_per_core
+    global _cpu_usage_per_core, _producer_cpu_affinity
     _producer_pid = event.pid
     _producer_process = psutil.Process(_producer_pid)
+    if len(_producer_cpu_affinity) > 0:
+        _producer_process.cpu_affinity(_producer_cpu_affinity)
     _producer_process.cpu_percent()
     _producer_cpu_usage = 0.0
     psutil.cpu_percent(None, True)
@@ -357,6 +364,7 @@ def _producer_node_exited(event, context):
 def generate_launch_description():
     """Generate launch description for ros2 launch system."""
     global _producer_nodes, _bench_cfg_path, _producers_cfg_path
+    global _producer_cpu_affinity, _recorder_cpu_affinity
     _bench_cfg_path, _producers_cfg_path = _parse_arguments()
 
     # Parse yaml config for benchmark
@@ -376,6 +384,17 @@ def generate_launch_description():
     transport = not benchmark_params.get('no_transport')
     preserve_bags = benchmark_params.get('preserve_bags')
 
+    # CPU affinity for producers and recorder
+    _producer_cpu_affinity = benchmark_params.get('producers_cpu_affinity', [])
+    _recorder_cpu_affinity = benchmark_params.get('recorder_cpu_affinity', [])
+    if not transport:
+        _producer_cpu_affinity = _recorder_cpu_affinity
+        print('Warning! With no_transport = True, producer_cpu_affinity will be ignored')
+
+    if len(_producer_cpu_affinity) > 0:
+        # Set CPU affinity for current process to avoid impact on the recorder
+        psutil.Process().cpu_affinity(_producer_cpu_affinity)
+
     # Producers options
     producers_params = bench_cfg['benchmark']['parameters']
 
@@ -577,7 +596,8 @@ def __generate_cross_section_parameter(i,
                     'sigkill_timeout', default=60),
                 sigterm_timeout=launch.substitutions.LaunchConfiguration(
                     'sigterm_timeout', default=60),
-                cmd=['ros2', 'bag', 'record', '-e', r'\/.*_benchmarking_node\/.*'] + rosbag_args
+                cmd=['ros2', 'bag', 'record', '-e',
+                     r'\/.*_benchmarking_node\/.*'] + rosbag_args
             )
 
             # Fill up list with rosbag record process and result writers actions