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Refactor code for improved readability and consistency

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This commit is contained in:
slz
2026-06-10 15:17:15 +08:00
parent 77695a78c8
commit 14b62847eb
23 changed files with 271 additions and 275 deletions
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orbbec_camera/tools/ob_benchmark.cpp
+19 -18
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@@ -177,16 +177,18 @@ class ObBenchmark : public rclcpp::Node {
std::ofstream file;
file.open(filename, std::ios_base::app);
if (file.is_open()) {
file << "Time,CPU,Memory(MB)" << "\n";
file << "Time,CPU,Memory(MB)"
<< "\n";
for (int i = skip_number_; i < usage_count_ - 1; i++) {
file << current_time_[i] << "," << cpu_usage_[i] << "%" << "," << memory_usage_[i] << "\n";
file << current_time_[i] << "," << cpu_usage_[i] << "%"
<< "," << memory_usage_[i] << "\n";
}
float cpu_average =
std::accumulate(cpu_usage_.begin() + skip_number_, cpu_usage_.begin() + usage_count_ - 1, 0.0f) /
(usage_count_ - (skip_number_+1));
float cpu_average = std::accumulate(cpu_usage_.begin() + skip_number_,
cpu_usage_.begin() + usage_count_ - 1, 0.0f) /
(usage_count_ - (skip_number_ + 1));
float memory_average = std::accumulate(memory_usage_.begin() + skip_number_,
memory_usage_.begin() + usage_count_ - 1, 0.0f) /
(usage_count_ - (skip_number_+1));
(usage_count_ - (skip_number_ + 1));
file << "Average: ," << cpu_average << "%, " << memory_average << "\n";
RCLCPP_INFO_STREAM(rclcpp::get_logger("ObBenchmark"),
"Average: " << cpu_average << "%" << memory_average << "MB");
@@ -200,7 +202,7 @@ class ObBenchmark : public rclcpp::Node {
usage_count_ = 0;
++launch_count_;
}
void kill_process(const std::string& process_name) {
void kill_process(const std::string& process_name) {
std::string command = "ps aux | grep " + process_name + " | grep -v grep | awk '{print $2}'";
std::shared_ptr<FILE> pipe(popen(command.c_str(), "r"), pclose);
@@ -224,15 +226,15 @@ void kill_process(const std::string& process_name) {
}
for (int pid : pids) {
if (kill(pid, SIGINT) == 0) {
RCLCPP_INFO_STREAM(rclcpp::get_logger("ObBenchmark"),
"Successfully sent SIGINT (Ctrl+C) to process with PID " << pid);
} else {
RCLCPP_ERROR_STREAM(this->get_logger(),
"Failed to send SIGINT to process with PID " << pid);
}
if (kill(pid, SIGINT) == 0) {
RCLCPP_INFO_STREAM(rclcpp::get_logger("ObBenchmark"),
"Successfully sent SIGINT (Ctrl+C) to process with PID " << pid);
} else {
RCLCPP_ERROR_STREAM(this->get_logger(),
"Failed to send SIGINT to process with PID " << pid);
}
}
}
}
void stat_process() {
const char* ros2_launch = "/opt/ros/humble/bin/ros2";
std::string start_launch = "ob_benchmark_" + std::to_string(launch_count_) + ".launch.py";
@@ -272,9 +274,8 @@ void kill_process(const std::string& process_name) {
current_time_.push_back(getCurrentTimes());
RCLCPP_INFO_STREAM(rclcpp::get_logger("ObBenchmark"),
"CurrentTimes: " << current_time_[usage_count_]);
RCLCPP_INFO_STREAM(rclcpp::get_logger("ObBenchmark"), "CPU Usage of "
<< process_name_ << ":"
<< cpu_usage_[usage_count_] << "%");
RCLCPP_INFO_STREAM(rclcpp::get_logger("ObBenchmark"),
"CPU Usage of " << process_name_ << ":" << cpu_usage_[usage_count_] << "%");
RCLCPP_INFO_STREAM(
rclcpp::get_logger("ObBenchmark"),
"Memory Usage of " << process_name_ << ":" << memory_usage_[usage_count_] << "MB");