#include <ros/ros.h> #include <iostream> #include <string> #include <cstring> // 名称空间映射表 #include "k8s_sum/SumServiceImplPortBinding.nsmap" #include "k8s_sum/soapSumServiceImplPortBindingProxy.h" //using namespace std; #include <stdio.h> #include <iostream> #include <unistd.h> #include <fstream> #include <time.h> #include <sys/types.h> #define NUM 1000 #define FORK_NUM 100 //获取当前时间 double getCurrentTime(){ struct timeval tv; gettimeofday(&tv,NULL); //return tv.tv_sec*1000+tv.tv_usec/1000;//毫秒 return tv.tv_sec*1000+tv.tv_usec/1000+tv.tv_usec%1000*0.001;//毫秒带小数 } //计算数组内平均值 double getAvgDiff(double *diffs){ double sum = 0.0; for(int i=0;i<NUM;i++){ sum +=*(diffs+i); } return sum/NUM; } //总处理函数 void handle(){ //输出到文件 std::ofstream fout; int pid = getpid(); std::string fileName="/tmp/rosSumfile_"+std::to_string(pid)+".dat"; fout.open(fileName, std::ios::app); double first_time;//记录本次最开始时间 double last_time;//记录本次最后一次时间 double avg_diff;//平均响应时间 double diffs[NUM] ={0.0}; for(int i=0;i<NUM;i++){ SumServiceImplPortBindingProxy sumWebservice; K8S1__getSum sumRequest; K8S1__getSumResponse res; int a,b; //两个1-100的随机数 a= rand() % 100; b= rand() % 100; sumRequest.arg0 = a; sumRequest.arg1 = b; std::cout<<"a="<<a<<",b="<<b<<std::endl; time_t tt = time(NULL);//这句返回的只是一个时间戳 精确到秒 //clock_t start_time,end_time; //这个会精确到毫秒 //start_time = clock(); double start_time,end_time; start_time = getCurrentTime(); if(i==0){ first_time = start_time;//记录第一次时间 } fout<<"Current timestamp(k8s_sum) request(ms)="<<std::to_string(start_time); int result = sumWebservice.getSum(&sumRequest, res); //sleep(2); 暂停2秒 if(SOAP_OK == result) { int sum_value = res.return_; //time_t tt1 = time(NULL); end_time = getCurrentTime(); if(i+1==NUM){ last_time = end_time; } fout<<",response(ms)="<<std::to_string(end_time); fout<<",the diff(ms)="<<end_time-start_time<<std::endl; diffs[i]=end_time-start_time; }else{ fout<<",request is error!"<<std::endl; } } //计算平均响应时间 avg_diff = getAvgDiff(diffs); fout<<"Count firstTime="<<std::to_string(first_time)<<",lastTime="<<std::to_string(last_time)<<",avgDiff="<<avg_diff<<std::endl; fout.close(); } int main(int argc, char **argv) { ros::init(argc, argv, "k8s_sum_node"); pid_t pid; //创建子进程 for(int i=0;i<FORK_NUM;i++){ pid = fork(); //子进程退出循环，不再创建子进程，全部由主进程创建子进程 ，这里是关键所在 if(pid ==0 || pid == -1){ break; } } if(pid == -1){ ROS_INFO("Fail to Fork!"); exit(1); } else if(pid == 0){ //子进程处理逻辑 handle(); sleep(5); exit(0); } else{ //主进程处理逻辑 handle(); exit(0); } ros::spin(); return 0; }