File size: 5,181 Bytes
a1fc554 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 | import sys
import os
ROOT_DIR = os.path.dirname(os.path.dirname(__file__))
sys.path.append(ROOT_DIR)
os.chdir(ROOT_DIR)
import time
import numpy as np
import multiprocessing as mp
from multiprocessing.managers import SharedMemoryManager
from diffusion_policy.shared_memory.shared_memory_ring_buffer import (
SharedMemoryRingBuffer,
SharedAtomicCounter)
def test():
shm_manager = SharedMemoryManager()
shm_manager.start()
ring_buffer = SharedMemoryRingBuffer.create_from_examples(
shm_manager,
{'timestamp': np.array(0, dtype=np.float64)},
buffer_size=128
)
for i in range(30):
ring_buffer.put({
'timestamp': np.array(
time.perf_counter(),
dtype=np.float64)
})
print(ring_buffer.get())
def _timestamp_worker(ring_buffer, start_event, stop_event):
while not stop_event.is_set():
start_event.set()
ring_buffer.put({
'timestamp': np.array(
time.time(),
dtype=np.float64)
})
def test_mp():
shm_manager = SharedMemoryManager()
shm_manager.start()
ring_buffer = SharedMemoryRingBuffer.create_from_examples(
shm_manager,
{'timestamp': np.array(0, dtype=np.float64)},
get_max_k=1,
get_time_budget=0.01,
put_desired_frequency=1000
)
start_event = mp.Event()
stop_event = mp.Event()
worker = mp.Process(target=_timestamp_worker, args=(
ring_buffer, start_event, stop_event))
worker.start()
start_event.wait()
for i in range(1000):
t = float(ring_buffer.get()['timestamp'])
curr_t = time.time()
print('latency', curr_t - t)
stop_event.set()
worker.join()
def test_get_last_k():
shm_manager = SharedMemoryManager()
shm_manager.start()
ring_buffer = SharedMemoryRingBuffer.create_from_examples(
shm_manager,
{'counter': np.array(0, dtype=np.int64)},
buffer_size=8
)
from collections import deque
k = 4
last_k = deque(maxlen=k)
for i in range(100):
ring_buffer.put({
'counter': np.array(i, dtype=np.int64)
})
last_k.append(i)
if i > k:
result = ring_buffer.get_last_k(k)['counter']
assert np.allclose(result, last_k)
print(ring_buffer.shared_arrays['counter'].get())
result = ring_buffer.get_last_k(4)
print(result)
def test_timing():
shm_manager = SharedMemoryManager()
shm_manager.start()
ring_buffer = SharedMemoryRingBuffer.create_from_examples(
shm_manager,
{'counter': np.array(0, dtype=np.int64)},
get_max_k=8,
get_time_budget=0.1,
put_desired_frequency=100
)
# print(ring_buffer.timestamp_array.get())
print('buffer_size', ring_buffer.buffer_size)
dt = 1 / 150
t_init = time.monotonic()
for i in range(1000):
t_start = time.monotonic()
ring_buffer.put({
'counter': np.array(i, dtype=np.int64)
}, wait=False)
if (i % 10 == 0) and (i > 0):
result = ring_buffer.get_last_k(8)
t_end =time.monotonic()
desired_t = (i+1) * dt + t_init
if desired_t > t_end:
time.sleep(desired_t - t_end)
hz = 1 / (time.monotonic() - t_start)
print(f'{hz}Hz')
def _timestamp_image_worker(ring_buffer, img_shape, dt, start_event, stop_event):
i = 0
t_init = time.monotonic()
image = np.ones(img_shape, dtype=np.uint8)
while not stop_event.is_set():
t_start = time.monotonic()
start_event.set()
ring_buffer.put({
'img': image,
'timestamp': time.time(),
'counter': i
})
t_end = time.monotonic()
desired_t = (i+1) * dt + t_init
# print('alive')
if desired_t > t_end:
time.sleep(desired_t - t_end)
# hz = 1 / (time.monotonic() - t_start)
i += 1
def test_timing_mp():
shm_manager = SharedMemoryManager()
shm_manager.start()
hz = 200
img_shape = (1920,1080,3)
ring_buffer = SharedMemoryRingBuffer.create_from_examples(
shm_manager,
examples={
'img': np.zeros(img_shape, dtype=np.uint8),
'timestamp': time.time(),
'counter': 0
},
get_max_k=60,
get_time_budget=0.02,
put_desired_frequency=hz
)
start_event = mp.Event()
stop_event = mp.Event()
worker = mp.Process(target=_timestamp_image_worker, args=(
ring_buffer, img_shape, 1/hz, start_event, stop_event))
worker.start()
start_event.wait()
out = None
t_start = time.monotonic()
k = 1
for i in range(1000):
if ring_buffer.count < k:
time.sleep(0)
continue
out = ring_buffer.get_last_k(k=k, out=out)
t = float(out['timestamp'][-1])
curr_t = time.time()
print('latency', curr_t - t)
t_end = time.monotonic()
print('Get Hz', 1/(t_end-t_start)*1000)
stop_event.set()
worker.join()
if __name__ == '__main__':
# test_mp()
test_timing_mp()
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