diff --git a/Ros2Unity/Assets/Perf/IPerfClock.cs b/Ros2Unity/Assets/Perf/IPerfClock.cs new file mode 100644 index 0000000..25699b4 --- /dev/null +++ b/Ros2Unity/Assets/Perf/IPerfClock.cs @@ -0,0 +1,12 @@ +using System; + +namespace ROSettaDDS.UnityPerfHarness +{ + /// + /// 経過時間計測の抽象。テストでは fake に差し替え可能。 + /// + internal interface IPerfClock + { + IPerfStopwatch Start(); + } +} diff --git a/Ros2Unity/Assets/Perf/IPerfClock.cs.meta b/Ros2Unity/Assets/Perf/IPerfClock.cs.meta new file mode 100644 index 0000000..68d3515 --- /dev/null +++ b/Ros2Unity/Assets/Perf/IPerfClock.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: eab9ce195a8d646a7813a640b9aac25f \ No newline at end of file diff --git a/Ros2Unity/Assets/Perf/IPerfMetricsSink.cs b/Ros2Unity/Assets/Perf/IPerfMetricsSink.cs new file mode 100644 index 0000000..cacf363 --- /dev/null +++ b/Ros2Unity/Assets/Perf/IPerfMetricsSink.cs @@ -0,0 +1,14 @@ +using System; +using System.Collections.Generic; + +namespace ROSettaDDS.UnityPerfHarness +{ + /// + /// perf run 中の event / sentinel 出力の抽象。テストでは fake に差し替え可能。 + /// + internal interface IPerfMetricsSink : IDisposable + { + void Event(string name, IDictionary fields = null); + void WriteSentinel(string path, string content); + } +} diff --git a/Ros2Unity/Assets/Perf/IPerfMetricsSink.cs.meta b/Ros2Unity/Assets/Perf/IPerfMetricsSink.cs.meta new file mode 100644 index 0000000..2a37187 --- /dev/null +++ b/Ros2Unity/Assets/Perf/IPerfMetricsSink.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: b7e68e0033d1bf092a2ea45c2a0f2a55 \ No newline at end of file diff --git a/Ros2Unity/Assets/Perf/IPerfProfilerSampler.cs b/Ros2Unity/Assets/Perf/IPerfProfilerSampler.cs new file mode 100644 index 0000000..32eac55 --- /dev/null +++ b/Ros2Unity/Assets/Perf/IPerfProfilerSampler.cs @@ -0,0 +1,14 @@ +using System; +using System.Collections.Generic; + +namespace ROSettaDDS.UnityPerfHarness +{ + /// + /// ProfilerRecorder のラッパ抽象。テストでは fake に差し替え可能。 + /// + internal interface IPerfProfilerSampler : IDisposable + { + void Collect(); + IDictionary Snapshot(); + } +} diff --git a/Ros2Unity/Assets/Perf/IPerfProfilerSampler.cs.meta b/Ros2Unity/Assets/Perf/IPerfProfilerSampler.cs.meta new file mode 100644 index 0000000..bd90ec9 --- /dev/null +++ b/Ros2Unity/Assets/Perf/IPerfProfilerSampler.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: bd7da7612a2402e56b6efecc9a83a8e8 \ No newline at end of file diff --git a/Ros2Unity/Assets/Perf/IPerfStopwatch.cs b/Ros2Unity/Assets/Perf/IPerfStopwatch.cs new file mode 100644 index 0000000..d7f5c58 --- /dev/null +++ b/Ros2Unity/Assets/Perf/IPerfStopwatch.cs @@ -0,0 +1,15 @@ +using System; + +namespace ROSettaDDS.UnityPerfHarness +{ + /// + /// Stopwatch の抽象。single-thread 想定。 + /// Dispose は using 構文で使うため。実装 (StopwatchWrapper) は + /// 内部の System.Diagnostics.Stopwatch を所有しないため no-op。 + /// + internal interface IPerfStopwatch : IDisposable + { + TimeSpan Elapsed { get; } + void Stop(); + } +} diff --git a/Ros2Unity/Assets/Perf/IPerfStopwatch.cs.meta b/Ros2Unity/Assets/Perf/IPerfStopwatch.cs.meta new file mode 100644 index 0000000..f56ab1c --- /dev/null +++ b/Ros2Unity/Assets/Perf/IPerfStopwatch.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: ca2ee8e4d8c87e211b40881a91f281e7 \ No newline at end of file diff --git a/Ros2Unity/Assets/Perf/MeasureDoneBuilder.cs b/Ros2Unity/Assets/Perf/MeasureDoneBuilder.cs new file mode 100644 index 0000000..0df3627 --- /dev/null +++ b/Ros2Unity/Assets/Perf/MeasureDoneBuilder.cs @@ -0,0 +1,46 @@ +using System; +using System.Collections.Generic; + +namespace ROSettaDDS.UnityPerfHarness +{ + internal static class MeasureDoneBuilder + { + internal static IDictionary BuildPublish( + TimeSpan elapsed, + int sent, + int serializedBytesPerMessage, + IDictionary profilerFields) + { + var fields = new Dictionary(profilerFields); + fields["elapsed_ms"] = elapsed.TotalMilliseconds; + fields["sent"] = sent; + fields["serialized_bytes_per_message"] = serializedBytesPerMessage; + fields["serialized_bytes"] = (long)serializedBytesPerMessage * sent; + fields["messages_per_second"] = sent / Math.Max(0.000001d, elapsed.TotalSeconds); + return fields; + } + + internal static IDictionary BuildSubscribe( + TimeSpan elapsed, + int received, + int serializedBytesPerMessage, + IDictionary profilerFields, + IDictionary diagnostics) + { + var fields = new Dictionary(profilerFields); + fields["elapsed_ms"] = elapsed.TotalMilliseconds; + fields["received"] = received; + fields["serialized_bytes_per_message"] = serializedBytesPerMessage; + fields["serialized_bytes"] = (long)serializedBytesPerMessage * received; + fields["messages_per_second"] = received / Math.Max(0.000001d, elapsed.TotalSeconds); + if (diagnostics != null) + { + foreach (var kv in diagnostics) + { + fields[kv.Key] = kv.Value; + } + } + return fields; + } + } +} diff --git a/Ros2Unity/Assets/Perf/MeasureDoneBuilder.cs.meta b/Ros2Unity/Assets/Perf/MeasureDoneBuilder.cs.meta new file mode 100644 index 0000000..839c527 --- /dev/null +++ b/Ros2Unity/Assets/Perf/MeasureDoneBuilder.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: f5e2fc88a067d5186a25bdde24d9a1f3 \ No newline at end of file diff --git a/Ros2Unity/Assets/Perf/PerfDiagnosticsBuilder.cs b/Ros2Unity/Assets/Perf/PerfDiagnosticsBuilder.cs new file mode 100644 index 0000000..6c143f4 --- /dev/null +++ b/Ros2Unity/Assets/Perf/PerfDiagnosticsBuilder.cs @@ -0,0 +1,43 @@ +using System.Collections.Generic; + +namespace ROSettaDDS.UnityPerfHarness +{ + internal static class PerfDiagnosticsBuilder + { + internal static IDictionary BuildReceive( + PerfTransportDiagnostics userUnicast, + PerfTransportDiagnostics userMulticast, + PerfSubscriptionDiagnostics subscription) + { + var fields = new Dictionary(); + AddTransport(fields, "user_unicast", userUnicast); + AddTransport(fields, "user_multicast", userMulticast); + + fields["subscription_payloads_from_reader"] = subscription.PayloadsReceivedFromReader; + fields["subscription_messages_deserialized"] = subscription.MessagesDeserialized; + fields["subscription_deserialize_failures"] = subscription.DeserializeFailures; + fields["subscription_handler_invocations"] = subscription.HandlerInvocations; + fields["rtps_data_submessages_received"] = subscription.DataSubmessagesReceived; + fields["rtps_datafrag_submessages_received"] = subscription.DataFragSubmessagesReceived; + fields["rtps_reassembled_payloads"] = subscription.ReassembledPayloads; + fields["rtps_payloads_delivered"] = subscription.PayloadsDelivered; + fields["rtps_payloads_buffered_pending_match"] = subscription.PayloadsBufferedPendingMatch; + fields["rtps_payloads_dropped"] = subscription.PayloadsDropped; + return fields; + } + + private static void AddTransport( + IDictionary fields, + string prefix, + PerfTransportDiagnostics transport) + { + fields[prefix + "_transport_diagnostics_available"] = transport.Available; + if (!transport.Available) return; + fields[prefix + "_udp_datagrams_received"] = transport.DatagramsReceived; + fields[prefix + "_udp_datagrams_enqueued"] = transport.DatagramsEnqueued; + fields[prefix + "_udp_datagrams_dropped"] = transport.DatagramsDropped; + fields[prefix + "_udp_datagrams_dispatched"] = transport.DatagramsDispatched; + fields[prefix + "_udp_queue_count"] = transport.QueueCount; + } + } +} diff --git a/Ros2Unity/Assets/Perf/PerfDiagnosticsBuilder.cs.meta b/Ros2Unity/Assets/Perf/PerfDiagnosticsBuilder.cs.meta new file mode 100644 index 0000000..60056f4 --- /dev/null +++ b/Ros2Unity/Assets/Perf/PerfDiagnosticsBuilder.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 39957001ac3c49549902c508a17ddca0 diff --git a/Ros2Unity/Assets/Perf/PerfJson.cs b/Ros2Unity/Assets/Perf/PerfJson.cs new file mode 100644 index 0000000..8ce220c --- /dev/null +++ b/Ros2Unity/Assets/Perf/PerfJson.cs @@ -0,0 +1,73 @@ +using System; +using System.Globalization; +using System.Text; + +namespace ROSettaDDS.UnityPerfHarness +{ + /// + /// Perf Metrics 用の JSON 純関数ヘルパー。 + /// IL2CPP 起動時 overhead を避けるため手書き。System.Text.Json は使わない。 + /// 仕様: \\ → \\\\, \" → \\\", \n → \\n, \r → \\r の 4 種のみ置換。 + /// + internal static class PerfJson + { + internal static string Escape(string value) + { + if (value == null) + { + return string.Empty; + } + return value + .Replace("\\", "\\\\") + .Replace("\"", "\\\"") + .Replace("\n", "\\n") + .Replace("\r", "\\r"); + } + + internal static void WriteString(StringBuilder b, string key, string value, bool first = true) + { + if (!first) b.Append(','); + b.Append('"').Append(Escape(key)).Append("\":\"").Append(Escape(value)).Append('"'); + } + + internal static void WriteNumber(StringBuilder b, string key, long value, bool first = true) + { + AppendRaw(b, key, value.ToString(CultureInfo.InvariantCulture), first); + } + + internal static void WriteBoolean(StringBuilder b, string key, bool value, bool first = true) + { + AppendRaw(b, key, value ? "true" : "false", first); + } + + internal static void WriteValue(StringBuilder b, string key, object value, bool first = true) + { + if (value == null) + { + AppendRaw(b, key, "null", first); + } + else if (value is string text) + { + WriteString(b, key, text, first); + } + else if (value is bool flag) + { + AppendRaw(b, key, flag ? "true" : "false", first); + } + else if (value is int || value is long || value is float || value is double) + { + AppendRaw(b, key, Convert.ToString(value, CultureInfo.InvariantCulture), first); + } + else + { + WriteString(b, key, value.ToString(), first); + } + } + + private static void AppendRaw(StringBuilder b, string key, string value, bool first) + { + if (!first) b.Append(','); + b.Append('"').Append(Escape(key)).Append("\":").Append(value); + } + } +} diff --git a/Ros2Unity/Assets/Perf/PerfJson.cs.meta b/Ros2Unity/Assets/Perf/PerfJson.cs.meta new file mode 100644 index 0000000..39f2f13 --- /dev/null +++ b/Ros2Unity/Assets/Perf/PerfJson.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 65618f1791dd17761844b308f9fe6450 \ No newline at end of file diff --git a/Ros2Unity/Assets/Perf/PerfMetricsWriter.cs b/Ros2Unity/Assets/Perf/PerfMetricsWriter.cs index 86db36d..7507828 100644 --- a/Ros2Unity/Assets/Perf/PerfMetricsWriter.cs +++ b/Ros2Unity/Assets/Perf/PerfMetricsWriter.cs @@ -1,13 +1,12 @@ using System; using System.Collections.Generic; -using System.Globalization; using System.IO; using System.Text; using UnityEngine; namespace ROSettaDDS.UnityPerfHarness { - internal sealed class PerfMetricsWriter : IDisposable + internal sealed class PerfMetricsWriter : IPerfMetricsSink { private readonly PerfPlayerArguments _args; private readonly StreamWriter _writer; @@ -24,21 +23,21 @@ internal PerfMetricsWriter(PerfPlayerArguments args) _writer.AutoFlush = true; } - internal void Event(string name, IDictionary fields = null) + public void Event(string name, IDictionary fields = null) { var builder = new StringBuilder(); builder.Append('{'); - AppendString(builder, "event", name, first: true); - AppendString(builder, "scenario", _args.Scenario); - AppendString(builder, "direction", _args.DirectionName); - AppendString(builder, "qos", _args.QosName); - AppendNumber(builder, "payload_bytes", _args.PayloadBytes); - AppendNumber(builder, "messages", _args.Messages); + PerfJson.WriteString(builder, "event", name, first: true); + PerfJson.WriteString(builder, "scenario", _args.Scenario, first: false); + PerfJson.WriteString(builder, "direction", _args.DirectionName, first: false); + PerfJson.WriteString(builder, "qos", _args.QosName, first: false); + PerfJson.WriteNumber(builder, "payload_bytes", _args.PayloadBytes, first: false); + PerfJson.WriteNumber(builder, "messages", _args.Messages, first: false); if (fields != null) { foreach (var pair in fields) { - AppendValue(builder, pair.Key, pair.Value); + PerfJson.WriteValue(builder, pair.Key, pair.Value, first: false); } } builder.Append('}'); @@ -47,7 +46,7 @@ internal void Event(string name, IDictionary fields = null) Debug.Log(line); } - internal void WriteSentinel(string path, string content) + public void WriteSentinel(string path, string content) { string directory = Path.GetDirectoryName(path); if (!string.IsNullOrEmpty(directory)) @@ -61,54 +60,5 @@ public void Dispose() { _writer.Dispose(); } - - private static void AppendValue(StringBuilder builder, string key, object value) - { - if (value == null) - { - AppendRaw(builder, key, "null"); - } - else if (value is string text) - { - AppendString(builder, key, text); - } - else if (value is bool flag) - { - AppendRaw(builder, key, flag ? "true" : "false"); - } - else if (value is int || value is long || value is float || value is double) - { - AppendRaw(builder, key, Convert.ToString(value, CultureInfo.InvariantCulture)); - } - else - { - AppendString(builder, key, value.ToString()); - } - } - - private static void AppendString(StringBuilder builder, string key, string value, bool first = false) - { - if (!first) builder.Append(','); - builder.Append('"').Append(Escape(key)).Append("\":\"").Append(Escape(value)).Append('"'); - } - - private static void AppendNumber(StringBuilder builder, string key, long value) - { - AppendRaw(builder, key, value.ToString(CultureInfo.InvariantCulture)); - } - - private static void AppendRaw(StringBuilder builder, string key, string value) - { - builder.Append(',').Append('"').Append(Escape(key)).Append("\":").Append(value); - } - - private static string Escape(string value) - { - if (value == null) - { - return string.Empty; - } - return value.Replace("\\", "\\\\").Replace("\"", "\\\"").Replace("\n", "\\n").Replace("\r", "\\r"); - } } } diff --git a/Ros2Unity/Assets/Perf/PerfPlayerEntry.cs b/Ros2Unity/Assets/Perf/PerfPlayerEntry.cs index 3251281..34981d7 100644 --- a/Ros2Unity/Assets/Perf/PerfPlayerEntry.cs +++ b/Ros2Unity/Assets/Perf/PerfPlayerEntry.cs @@ -39,34 +39,40 @@ private static async Task Run(string[] args) return; } - using (var metrics = new PerfMetricsWriter(parsed)) + using (var sink = new PerfMetricsWriter(parsed)) { try { - metrics.Event("start"); - PerfProfilerRecorders recorders = parsed.ProfilerMode == PerfProfilerMode.Full + sink.Event("start"); + using (var sampler = parsed.ProfilerMode == PerfProfilerMode.Full ? PerfProfilerRecorders.StartFull() - : PerfProfilerRecorders.StartLean(); - using (recorders) + : PerfProfilerRecorders.StartLean()) { + IPerfClock clock = new StopwatchPerfClock(); if (parsed.Direction == PerfDirection.UnityToRos2) { - await RunUnityToRos2(parsed, metrics, recorders); + using (var participant = CreateParticipant(parsed, "player_pub")) + { + await RunUnityToRos2(parsed, participant, sink, sampler, clock); + } } else { - await RunRos2ToUnity(parsed, metrics, recorders); + using (var participant = CreateParticipant(parsed, "player_sub")) + { + await RunRos2ToUnity(parsed, participant, sink, sampler, clock); + } } } - await WaitForRelease(parsed, metrics); - metrics.WriteSentinel(parsed.DoneFile, "ok"); - metrics.Event("done"); + await WaitForRelease(parsed, sink); + sink.WriteSentinel(parsed.DoneFile, "ok"); + sink.Event("done"); Quit(0); } catch (Exception ex) { - metrics.Event("error", new Dictionary { { "message", ex.ToString() } }); - metrics.WriteSentinel(parsed.DoneFile, "error"); + sink.Event("error", new Dictionary { { "message", ex.ToString() } }); + sink.WriteSentinel(parsed.DoneFile, "error"); Quit(1); } } @@ -78,12 +84,13 @@ private static async Task Run(string[] args) } } - private static async Task RunUnityToRos2( + internal static async Task RunUnityToRos2( PerfPlayerArguments args, - PerfMetricsWriter metrics, - PerfProfilerRecorders recorders) + DomainParticipant participant, + IPerfMetricsSink sink, + IPerfProfilerSampler sampler, + IPerfClock clock) { - using (var participant = CreateParticipant(args, "player_pub")) using (var publisher = participant.CreatePublisher( args.Topic, StringMessageSerializer.Instance, @@ -91,8 +98,8 @@ private static async Task RunUnityToRos2( DurabilityQos.Volatile)) { participant.Start(); - metrics.WriteSentinel(args.ReadyFile, "ready"); - metrics.Event("ready"); + sink.WriteSentinel(args.ReadyFile, "ready"); + sink.Event("ready"); bool matched = await publisher.WaitForMatchedAsync(1, TimeSpan.FromSeconds(10)); if (!matched) @@ -100,32 +107,33 @@ private static async Task RunUnityToRos2( throw new TimeoutException("Publisher did not match a ROS 2 subscriber."); } - metrics.Event("matched"); + sink.Event("matched"); var message = CreatePayloadMessage(args.PayloadBytes); int serializedBytes = publisher.SerializeWithEncapsulation(message).Length; - var stopwatch = Stopwatch.StartNew(); - metrics.Event("measure_start"); - await publisher.PublishRepeatedAsync(message, args.Messages); - stopwatch.Stop(); - Dictionary fields = recorders.Snapshot(); - fields["elapsed_ms"] = stopwatch.Elapsed.TotalMilliseconds; - fields["sent"] = args.Messages; - fields["serialized_bytes_per_message"] = serializedBytes; - fields["serialized_bytes"] = (long)serializedBytes * args.Messages; - fields["messages_per_second"] = args.Messages / Math.Max(0.000001d, stopwatch.Elapsed.TotalSeconds); - metrics.Event("measure_done", fields); + using (IPerfStopwatch sw = clock.Start()) + { + sink.Event("measure_start"); + await publisher.PublishRepeatedAsync(message, args.Messages); + sw.Stop(); + + IDictionary profilerFields = sampler.Snapshot(); + IDictionary fields = MeasureDoneBuilder.BuildPublish( + sw.Elapsed, args.Messages, serializedBytes, profilerFields); + sink.Event("measure_done", fields); + } } } - private static async Task RunRos2ToUnity( + internal static async Task RunRos2ToUnity( PerfPlayerArguments args, - PerfMetricsWriter metrics, - PerfProfilerRecorders recorders) + DomainParticipant participant, + IPerfMetricsSink sink, + IPerfProfilerSampler sampler, + IPerfClock clock) { int received = 0; - Stopwatch stopwatch = null; - using (var participant = CreateParticipant(args, "player_sub")) + IPerfStopwatch sw = null; using (var subscription = participant.CreateSubscription( args.Topic, StringMessageSerializer.Instance, @@ -133,103 +141,98 @@ private static async Task RunRos2ToUnity( { if (Interlocked.Increment(ref received) == 1) { - stopwatch = Stopwatch.StartNew(); + sw = clock.Start(); } }, reliability: args.Reliability)) { participant.Start(); - metrics.WriteSentinel(args.ReadyFile, "ready"); - metrics.Event("ready"); + sink.WriteSentinel(args.ReadyFile, "ready"); + sink.Event("ready"); bool matched = await subscription.WaitForMatchedAsync(1, TimeSpan.FromSeconds(20)); if (!matched) { throw new TimeoutException("Subscription did not match a ROS 2 publisher."); } - metrics.Event("matched"); - metrics.Event("measure_start"); + sink.Event("matched"); + sink.Event("measure_start"); bool completed = await AsyncReceiveWaiter.WaitUntilAsync( () => Volatile.Read(ref received) >= args.Messages, TimeSpan.FromSeconds(30), async delay => { - recorders.Collect(); + sampler.Collect(); await Task.Delay(delay); }); if (!completed) { - metrics.Event("receive_diagnostics", BuildReceiveDiagnostics(participant, subscription)); + sink.Event("receive_diagnostics", BuildReceiveDiagnostics(participant, subscription)); throw new TimeoutException( "Timed out waiting for ROS 2 messages: received " + Volatile.Read(ref received) + "/" + args.Messages + "."); } - stopwatch?.Stop(); + sw?.Stop(); var message = CreatePayloadMessage(args.PayloadBytes); int serializedBytes = CdrEncapsulation.Size + StringMessageSerializer.Instance.GetSerializedSize(message); - double elapsedMs = stopwatch == null ? 0.0d : stopwatch.Elapsed.TotalMilliseconds; - Dictionary fields = recorders.Snapshot(); - fields["elapsed_ms"] = elapsedMs; - fields["received"] = received; - fields["serialized_bytes_per_message"] = serializedBytes; - fields["serialized_bytes"] = (long)serializedBytes * received; - fields["messages_per_second"] = received / Math.Max(0.000001d, elapsedMs / 1000.0d); - AddReceiveDiagnostics(fields, participant, subscription); - metrics.Event("measure_done", fields); + IDictionary profilerFields = sampler.Snapshot(); + IDictionary diagnostics = CollectReceiveDiagnostics(participant, subscription); + IDictionary fields = MeasureDoneBuilder.BuildSubscribe( + sw?.Elapsed ?? TimeSpan.Zero, received, serializedBytes, profilerFields, diagnostics); + sink.Event("measure_done", fields); } } - private static Dictionary BuildReceiveDiagnostics( + private static IDictionary BuildReceiveDiagnostics( DomainParticipant participant, Subscription subscription) { - var fields = new Dictionary(); - AddReceiveDiagnostics(fields, participant, subscription); - return fields; + return PerfDiagnosticsBuilder.BuildReceive( + CollectTransport(participant.UserUnicastTransport), + CollectTransport(participant.UserMulticastTransport), + CollectSubscription(subscription)); } - private static void AddReceiveDiagnostics( - Dictionary fields, + private static IDictionary CollectReceiveDiagnostics( DomainParticipant participant, Subscription subscription) { - AddTransportDiagnostics(fields, "user_unicast", participant.UserUnicastTransport); - AddTransportDiagnostics(fields, "user_multicast", participant.UserMulticastTransport); - - var subscriptionDiagnostics = subscription.Diagnostics; - var rtps = subscriptionDiagnostics.RtpsReader; - fields["subscription_payloads_from_reader"] = subscriptionDiagnostics.PayloadsReceivedFromReader; - fields["subscription_messages_deserialized"] = subscriptionDiagnostics.MessagesDeserialized; - fields["subscription_deserialize_failures"] = subscriptionDiagnostics.DeserializeFailures; - fields["subscription_handler_invocations"] = subscriptionDiagnostics.HandlerInvocations; - fields["rtps_data_submessages_received"] = rtps.DataSubmessagesReceived; - fields["rtps_datafrag_submessages_received"] = rtps.DataFragSubmessagesReceived; - fields["rtps_reassembled_payloads"] = rtps.ReassembledPayloads; - fields["rtps_payloads_delivered"] = rtps.PayloadsDelivered; - fields["rtps_payloads_buffered_pending_match"] = rtps.PayloadsBufferedPendingMatch; - fields["rtps_payloads_dropped"] = rtps.PayloadsDropped; + return BuildReceiveDiagnostics(participant, subscription); } - private static void AddTransportDiagnostics( - Dictionary fields, - string prefix, - IRtpsTransport transport) + private static PerfTransportDiagnostics CollectTransport(IRtpsTransport transport) { if (transport is not UdpTransport udp) { - fields[prefix + "_transport_diagnostics_available"] = false; - return; + return PerfTransportDiagnostics.Unavailable(); } + var d = udp.Diagnostics; + return new PerfTransportDiagnostics( + available: true, + datagramsReceived: d.DatagramsReceived, + datagramsEnqueued: d.DatagramsEnqueued, + datagramsDropped: d.DatagramsDropped, + datagramsDispatched: d.DatagramsDispatched, + queueCount: d.QueueCount); + } - var diagnostics = udp.Diagnostics; - fields[prefix + "_transport_diagnostics_available"] = true; - fields[prefix + "_udp_datagrams_received"] = diagnostics.DatagramsReceived; - fields[prefix + "_udp_datagrams_enqueued"] = diagnostics.DatagramsEnqueued; - fields[prefix + "_udp_datagrams_dropped"] = diagnostics.DatagramsDropped; - fields[prefix + "_udp_datagrams_dispatched"] = diagnostics.DatagramsDispatched; - fields[prefix + "_udp_queue_count"] = diagnostics.QueueCount; + private static PerfSubscriptionDiagnostics CollectSubscription(Subscription subscription) + { + var d = subscription.Diagnostics; + var rtps = d.RtpsReader; + return new PerfSubscriptionDiagnostics( + payloadsReceivedFromReader: d.PayloadsReceivedFromReader, + messagesDeserialized: d.MessagesDeserialized, + deserializeFailures: d.DeserializeFailures, + handlerInvocations: d.HandlerInvocations, + dataSubmessagesReceived: rtps.DataSubmessagesReceived, + dataFragSubmessagesReceived: rtps.DataFragSubmessagesReceived, + reassembledPayloads: rtps.ReassembledPayloads, + payloadsDelivered: rtps.PayloadsDelivered, + payloadsBufferedPendingMatch: rtps.PayloadsBufferedPendingMatch, + payloadsDropped: rtps.PayloadsDropped); } private static DomainParticipant CreateParticipant( @@ -246,14 +249,14 @@ private static DomainParticipant CreateParticipant( UserWriterHeartbeatPeriod = TimeSpan.FromMilliseconds(100), }); - private static async Task WaitForRelease(PerfPlayerArguments args, PerfMetricsWriter metrics) + private static async Task WaitForRelease(PerfPlayerArguments args, IPerfMetricsSink sink) { if (string.IsNullOrEmpty(args.ReleaseFile)) { return; } - metrics.Event("waiting_for_release"); + sink.Event("waiting_for_release"); var deadline = Stopwatch.StartNew(); while (!System.IO.File.Exists(args.ReleaseFile) && deadline.Elapsed < TimeSpan.FromSeconds(30)) { @@ -263,7 +266,7 @@ private static async Task WaitForRelease(PerfPlayerArguments args, PerfMetricsWr { throw new TimeoutException("Timed out waiting for release file: " + args.ReleaseFile); } - metrics.Event("released"); + sink.Event("released"); } private static StringMessage CreatePayloadMessage(int payloadBytes) diff --git a/Ros2Unity/Assets/Perf/PerfProfilerRecorders.cs b/Ros2Unity/Assets/Perf/PerfProfilerRecorders.cs index c40885a..8c32512 100644 --- a/Ros2Unity/Assets/Perf/PerfProfilerRecorders.cs +++ b/Ros2Unity/Assets/Perf/PerfProfilerRecorders.cs @@ -4,7 +4,7 @@ namespace ROSettaDDS.UnityPerfHarness { - internal sealed class PerfProfilerRecorders : IDisposable + internal sealed class PerfProfilerRecorders : IPerfProfilerSampler { private readonly List _recorders = new List(); private readonly ProfilerCounterAccumulator _gcAllocatedAccumulator = new ProfilerCounterAccumulator(); @@ -41,7 +41,7 @@ internal static PerfProfilerRecorders StartFull() return result; } - internal Dictionary Snapshot() + public IDictionary Snapshot() { Collect(); @@ -64,7 +64,7 @@ internal Dictionary Snapshot() return result; } - internal void Collect() + public void Collect() { for (int i = 0; i < _recorders.Count; i++) { diff --git a/Ros2Unity/Assets/Perf/PerfSubscriptionDiagnostics.cs b/Ros2Unity/Assets/Perf/PerfSubscriptionDiagnostics.cs new file mode 100644 index 0000000..992a4a7 --- /dev/null +++ b/Ros2Unity/Assets/Perf/PerfSubscriptionDiagnostics.cs @@ -0,0 +1,43 @@ +namespace ROSettaDDS.UnityPerfHarness +{ + /// + /// Subscription 診断値を perf 計測用に写像した値オブジェクト。 + /// + internal readonly struct PerfSubscriptionDiagnostics + { + public long PayloadsReceivedFromReader { get; } + public long MessagesDeserialized { get; } + public long DeserializeFailures { get; } + public long HandlerInvocations { get; } + public long DataSubmessagesReceived { get; } + public long DataFragSubmessagesReceived { get; } + public long ReassembledPayloads { get; } + public long PayloadsDelivered { get; } + public long PayloadsBufferedPendingMatch { get; } + public long PayloadsDropped { get; } + + public PerfSubscriptionDiagnostics( + long payloadsReceivedFromReader, + long messagesDeserialized, + long deserializeFailures, + long handlerInvocations, + long dataSubmessagesReceived, + long dataFragSubmessagesReceived, + long reassembledPayloads, + long payloadsDelivered, + long payloadsBufferedPendingMatch, + long payloadsDropped) + { + PayloadsReceivedFromReader = payloadsReceivedFromReader; + MessagesDeserialized = messagesDeserialized; + DeserializeFailures = deserializeFailures; + HandlerInvocations = handlerInvocations; + DataSubmessagesReceived = dataSubmessagesReceived; + DataFragSubmessagesReceived = dataFragSubmessagesReceived; + ReassembledPayloads = reassembledPayloads; + PayloadsDelivered = payloadsDelivered; + PayloadsBufferedPendingMatch = payloadsBufferedPendingMatch; + PayloadsDropped = payloadsDropped; + } + } +} diff --git a/Ros2Unity/Assets/Perf/PerfSubscriptionDiagnostics.cs.meta b/Ros2Unity/Assets/Perf/PerfSubscriptionDiagnostics.cs.meta new file mode 100644 index 0000000..719136b --- /dev/null +++ b/Ros2Unity/Assets/Perf/PerfSubscriptionDiagnostics.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 4ff8b35f710aa6e5f8d175f2a29b9aea \ No newline at end of file diff --git a/Ros2Unity/Assets/Perf/PerfTransportDiagnostics.cs b/Ros2Unity/Assets/Perf/PerfTransportDiagnostics.cs new file mode 100644 index 0000000..bc863db --- /dev/null +++ b/Ros2Unity/Assets/Perf/PerfTransportDiagnostics.cs @@ -0,0 +1,34 @@ +namespace ROSettaDDS.UnityPerfHarness +{ + /// + /// UdpTransport の diagnostics 値を perf 計測用に transport 抽象へ写像した値オブジェクト。 + /// `Available = false` のときは該当 transport が UdpTransport ではない (loopback 等)。 + /// + internal readonly struct PerfTransportDiagnostics + { + public bool Available { get; } + public long DatagramsReceived { get; } + public long DatagramsEnqueued { get; } + public long DatagramsDropped { get; } + public long DatagramsDispatched { get; } + public long QueueCount { get; } + + public PerfTransportDiagnostics( + bool available, + long datagramsReceived, + long datagramsEnqueued, + long datagramsDropped, + long datagramsDispatched, + long queueCount) + { + Available = available; + DatagramsReceived = datagramsReceived; + DatagramsEnqueued = datagramsEnqueued; + DatagramsDropped = datagramsDropped; + DatagramsDispatched = datagramsDispatched; + QueueCount = queueCount; + } + + public static PerfTransportDiagnostics Unavailable() => new PerfTransportDiagnostics(false, 0L, 0L, 0L, 0L, 0L); + } +} diff --git a/Ros2Unity/Assets/Perf/PerfTransportDiagnostics.cs.meta b/Ros2Unity/Assets/Perf/PerfTransportDiagnostics.cs.meta new file mode 100644 index 0000000..8d6f4b0 --- /dev/null +++ b/Ros2Unity/Assets/Perf/PerfTransportDiagnostics.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 427c4c783d5a5ac8dac6f8b1fd6ec08f \ No newline at end of file diff --git a/Ros2Unity/Assets/Perf/StopwatchPerfClock.cs b/Ros2Unity/Assets/Perf/StopwatchPerfClock.cs new file mode 100644 index 0000000..02dde8d --- /dev/null +++ b/Ros2Unity/Assets/Perf/StopwatchPerfClock.cs @@ -0,0 +1,9 @@ +using System.Diagnostics; + +namespace ROSettaDDS.UnityPerfHarness +{ + internal sealed class StopwatchPerfClock : IPerfClock + { + public IPerfStopwatch Start() => new StopwatchWrapper(Stopwatch.StartNew()); + } +} diff --git a/Ros2Unity/Assets/Perf/StopwatchPerfClock.cs.meta b/Ros2Unity/Assets/Perf/StopwatchPerfClock.cs.meta new file mode 100644 index 0000000..2a364a9 --- /dev/null +++ b/Ros2Unity/Assets/Perf/StopwatchPerfClock.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: effb3ccd1f03492d58dc33dea9bd0c69 \ No newline at end of file diff --git a/Ros2Unity/Assets/Perf/StopwatchWrapper.cs b/Ros2Unity/Assets/Perf/StopwatchWrapper.cs new file mode 100644 index 0000000..4abc292 --- /dev/null +++ b/Ros2Unity/Assets/Perf/StopwatchWrapper.cs @@ -0,0 +1,19 @@ +using System; +using System.Diagnostics; + +namespace ROSettaDDS.UnityPerfHarness +{ + internal sealed class StopwatchWrapper : IPerfStopwatch + { + private readonly Stopwatch _stopwatch; + + internal StopwatchWrapper(Stopwatch stopwatch) + { + _stopwatch = stopwatch ?? throw new ArgumentNullException(nameof(stopwatch)); + } + + public TimeSpan Elapsed => _stopwatch.Elapsed; + public void Stop() => _stopwatch.Stop(); + public void Dispose() { } + } +} diff --git a/Ros2Unity/Assets/Perf/StopwatchWrapper.cs.meta b/Ros2Unity/Assets/Perf/StopwatchWrapper.cs.meta new file mode 100644 index 0000000..29125fb --- /dev/null +++ b/Ros2Unity/Assets/Perf/StopwatchWrapper.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 3fabd375d5b1d5426b7a377598abff7c \ No newline at end of file diff --git a/Ros2Unity/Assets/Tests/EditMode/MeasureDoneBuilderTests.cs b/Ros2Unity/Assets/Tests/EditMode/MeasureDoneBuilderTests.cs new file mode 100644 index 0000000..5cb35da --- /dev/null +++ b/Ros2Unity/Assets/Tests/EditMode/MeasureDoneBuilderTests.cs @@ -0,0 +1,165 @@ +using System; +using System.Collections.Generic; +using NUnit.Framework; +using ROSettaDDS.UnityPerfHarness; + +namespace ROSettaDDS.UnityVerification.Tests +{ + public sealed class MeasureDoneBuilderTests + { + [Test] + public void BuildPublish_emits_expected_fields() + { + var profiler = new Dictionary + { + { "main_thread_time_ns_available", true }, + { "main_thread_time_ns_last", 12345L }, + }; + var fields = MeasureDoneBuilder.BuildPublish( + TimeSpan.FromSeconds(1), + sent: 1000, + serializedBytesPerMessage: 128, + profilerFields: profiler); + + Assert.AreEqual(1000.0d, fields["sent"]); + Assert.AreEqual(1000.0d, fields["elapsed_ms"]); + Assert.AreEqual(128L, fields["serialized_bytes_per_message"]); + Assert.AreEqual(128000L, fields["serialized_bytes"]); + Assert.AreEqual(1000.0d, fields["messages_per_second"]); + Assert.AreEqual(true, fields["main_thread_time_ns_available"]); + Assert.AreEqual(12345L, fields["main_thread_time_ns_last"]); + } + + [Test] + public void BuildPublish_with_zero_elapsed_does_not_divide_by_zero() + { + var fields = MeasureDoneBuilder.BuildPublish( + TimeSpan.Zero, + sent: 1, + serializedBytesPerMessage: 64, + profilerFields: new Dictionary()); + + double mps = (double)fields["messages_per_second"]; + Assert.IsFalse(double.IsNaN(mps)); + Assert.IsFalse(double.IsInfinity(mps)); + Assert.Greater(mps, 0); + } + + [Test] + public void BuildPublish_preserves_all_profiler_fields() + { + var profiler = new Dictionary + { + { "main_thread_time_ns_available", true }, + { "main_thread_time_ns_last", 100L }, + { "gc_used_memory_bytes_available", true }, + { "gc_used_memory_bytes_last", 200L }, + { "gc_allocated_in_frame_bytes_available", true }, + { "gc_allocated_in_frame_bytes_last", 300L }, + { "gc_allocated_in_frame_bytes_total", 400L }, + { "gc_allocated_in_frame_bytes_samples", 5L }, + }; + var fields = MeasureDoneBuilder.BuildPublish( + TimeSpan.FromSeconds(2), + sent: 100, + serializedBytesPerMessage: 256, + profilerFields: profiler); + + Assert.AreEqual(8, profiler.Count); + foreach (var kv in profiler) + { + Assert.IsTrue(fields.ContainsKey(kv.Key), "missing key: " + kv.Key); + Assert.AreEqual(kv.Value, fields[kv.Key]); + } + } + + [Test] + public void BuildPublish_does_not_mutate_input_profiler_fields() + { + var profiler = new Dictionary + { + { "main_thread_time_ns_available", true }, + }; + int beforeCount = profiler.Count; + + MeasureDoneBuilder.BuildPublish( + TimeSpan.FromSeconds(1), + sent: 10, + serializedBytesPerMessage: 16, + profilerFields: profiler); + + Assert.AreEqual(beforeCount, profiler.Count); + } + + [Test] + public void BuildPublish_zero_count_serialized_bytes_is_zero() + { + var fields = MeasureDoneBuilder.BuildPublish( + TimeSpan.FromSeconds(1), + sent: 0, + serializedBytesPerMessage: 128, + profilerFields: new Dictionary()); + + Assert.AreEqual(0L, fields["serialized_bytes"]); + Assert.AreEqual(0L, fields["sent"]); + } + + [Test] + public void BuildSubscribe_emits_expected_fields() + { + var profiler = new Dictionary + { + { "main_thread_time_ns_available", true }, + { "main_thread_time_ns_last", 999L }, + }; + var fields = MeasureDoneBuilder.BuildSubscribe( + TimeSpan.FromSeconds(2), + received: 500, + serializedBytesPerMessage: 256, + profilerFields: profiler, + diagnostics: new Dictionary()); + + Assert.AreEqual(500L, fields["received"]); + Assert.AreEqual(2000.0d, fields["elapsed_ms"]); + Assert.AreEqual(256L, fields["serialized_bytes_per_message"]); + Assert.AreEqual(128000L, fields["serialized_bytes"]); + Assert.AreEqual(250.0d, fields["messages_per_second"]); + Assert.AreEqual(true, fields["main_thread_time_ns_available"]); + Assert.AreEqual(999L, fields["main_thread_time_ns_last"]); + } + + [Test] + public void BuildSubscribe_merges_diagnostics_fields() + { + var diagnostics = new Dictionary + { + { "subscription_messages_deserialized", 100L }, + { "rtps_data_submessages_received", 50L }, + }; + var fields = MeasureDoneBuilder.BuildSubscribe( + TimeSpan.FromSeconds(1), + received: 100, + serializedBytesPerMessage: 64, + profilerFields: new Dictionary(), + diagnostics: diagnostics); + + Assert.AreEqual(100L, fields["subscription_messages_deserialized"]); + Assert.AreEqual(50L, fields["rtps_data_submessages_received"]); + } + + [Test] + public void BuildSubscribe_empty_diagnostics_adds_no_extra_keys() + { + var fields = MeasureDoneBuilder.BuildSubscribe( + TimeSpan.FromSeconds(1), + received: 10, + serializedBytesPerMessage: 32, + profilerFields: new Dictionary(), + diagnostics: new Dictionary()); + + // 期待されるキー: elapsed_ms, received, serialized_bytes_per_message, + // serialized_bytes, messages_per_second (5 個) + Assert.AreEqual(5, fields.Count); + } + } +} diff --git a/Ros2Unity/Assets/Tests/EditMode/MeasureDoneBuilderTests.cs.meta b/Ros2Unity/Assets/Tests/EditMode/MeasureDoneBuilderTests.cs.meta new file mode 100644 index 0000000..f11555e --- /dev/null +++ b/Ros2Unity/Assets/Tests/EditMode/MeasureDoneBuilderTests.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 853e0cd80e96154cda4b28fa33a204d9 \ No newline at end of file diff --git a/Ros2Unity/Assets/Tests/EditMode/PerfDiagnosticsBuilderTests.cs b/Ros2Unity/Assets/Tests/EditMode/PerfDiagnosticsBuilderTests.cs new file mode 100644 index 0000000..efcccae --- /dev/null +++ b/Ros2Unity/Assets/Tests/EditMode/PerfDiagnosticsBuilderTests.cs @@ -0,0 +1,93 @@ +using NUnit.Framework; +using ROSettaDDS.UnityPerfHarness; + +namespace ROSettaDDS.UnityVerification.Tests +{ + public sealed class PerfDiagnosticsBuilderTests + { + private static PerfTransportDiagnostics MakeUdp( + long received = 0, long enqueued = 0, long dropped = 0, + long dispatched = 0, long queue = 0) + => new PerfTransportDiagnostics(true, received, enqueued, dropped, dispatched, queue); + + private static PerfSubscriptionDiagnostics MakeSub( + long payloads = 0, long deserialized = 0, long failures = 0, + long handlerInvocations = 0, long dataSubmsg = 0, long dataFragSubmsg = 0, + long reassembled = 0, long delivered = 0, long buffered = 0, long dropped = 0) + => new PerfSubscriptionDiagnostics( + payloads, deserialized, failures, handlerInvocations, + dataSubmsg, dataFragSubmsg, reassembled, delivered, buffered, dropped); + + [Test] + public void BuildReceive_all_available_emits_all_keys() + { + var userUnicast = MakeUdp(received: 100); + var userMulticast = MakeUdp(received: 50); + var sub = MakeSub(deserialized: 200); + + var fields = PerfDiagnosticsBuilder.BuildReceive(userUnicast, userMulticast, sub); + + // 期待: 2 transport × 6 + 10 subscription = 22 キー + Assert.AreEqual(22, fields.Count); + Assert.AreEqual(true, fields["user_unicast_transport_diagnostics_available"]); + Assert.AreEqual(true, fields["user_multicast_transport_diagnostics_available"]); + Assert.AreEqual(100L, fields["user_unicast_udp_datagrams_received"]); + Assert.AreEqual(50L, fields["user_multicast_udp_datagrams_received"]); + Assert.AreEqual(200L, fields["subscription_messages_deserialized"]); + } + + [Test] + public void BuildReceive_user_unicast_unavailable_emits_only_transport_diagnostics_available_false() + { + var userUnicast = PerfTransportDiagnostics.Unavailable(); + var userMulticast = MakeUdp(received: 10); + var sub = MakeSub(); + + var fields = PerfDiagnosticsBuilder.BuildReceive(userUnicast, userMulticast, sub); + + Assert.AreEqual(false, fields["user_unicast_transport_diagnostics_available"]); + // user_unicast_udp_* キーは出ない + Assert.IsFalse(fields.ContainsKey("user_unicast_udp_datagrams_received")); + Assert.IsFalse(fields.ContainsKey("user_unicast_udp_datagrams_enqueued")); + // user_multicast は出る + Assert.AreEqual(10L, fields["user_multicast_udp_datagrams_received"]); + } + + [Test] + public void BuildReceive_propagates_subscription_values() + { + var sub = MakeSub( + payloads: 1, deserialized: 2, failures: 3, handlerInvocations: 4, + dataSubmsg: 5, dataFragSubmsg: 6, reassembled: 7, delivered: 8, + buffered: 9, dropped: 10); + + var fields = PerfDiagnosticsBuilder.BuildReceive( + PerfTransportDiagnostics.Unavailable(), + PerfTransportDiagnostics.Unavailable(), + sub); + + Assert.AreEqual(1L, fields["subscription_payloads_from_reader"]); + Assert.AreEqual(2L, fields["subscription_messages_deserialized"]); + Assert.AreEqual(3L, fields["subscription_deserialize_failures"]); + Assert.AreEqual(4L, fields["subscription_handler_invocations"]); + Assert.AreEqual(5L, fields["rtps_data_submessages_received"]); + Assert.AreEqual(6L, fields["rtps_datafrag_submessages_received"]); + Assert.AreEqual(7L, fields["rtps_reassembled_payloads"]); + Assert.AreEqual(8L, fields["rtps_payloads_delivered"]); + Assert.AreEqual(9L, fields["rtps_payloads_buffered_pending_match"]); + Assert.AreEqual(10L, fields["rtps_payloads_dropped"]); + } + + [Test] + public void BuildReceive_expected_key_set_when_all_unavailable() + { + var fields = PerfDiagnosticsBuilder.BuildReceive( + PerfTransportDiagnostics.Unavailable(), + PerfTransportDiagnostics.Unavailable(), + MakeSub()); + + // 期待: 2 transport_diagnostics_available + 10 subscription = 12 キー + Assert.AreEqual(12, fields.Count); + } + } +} diff --git a/Ros2Unity/Assets/Tests/EditMode/PerfDiagnosticsBuilderTests.cs.meta b/Ros2Unity/Assets/Tests/EditMode/PerfDiagnosticsBuilderTests.cs.meta new file mode 100644 index 0000000..5aed169 --- /dev/null +++ b/Ros2Unity/Assets/Tests/EditMode/PerfDiagnosticsBuilderTests.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: d13e05959de5a78ffb9a6f8906e93570 \ No newline at end of file diff --git a/Ros2Unity/Assets/Tests/EditMode/PerfHarnessFakes.cs b/Ros2Unity/Assets/Tests/EditMode/PerfHarnessFakes.cs new file mode 100644 index 0000000..27294d8 --- /dev/null +++ b/Ros2Unity/Assets/Tests/EditMode/PerfHarnessFakes.cs @@ -0,0 +1,65 @@ +using System; +using System.Collections.Generic; +using ROSettaDDS.UnityPerfHarness; + +namespace ROSettaDDS.UnityVerification.Tests +{ + /// + /// EditMode テスト用の IPerfMetricsSink fake。 + /// 出力された event と sentinel を記録する。 + /// + internal sealed class FakePerfMetricsSink : IPerfMetricsSink + { + public List<(string Name, IDictionary Fields)> Events { get; } = new(); + public List<(string Path, string Content)> Sentinels { get; } = new(); + + public void Event(string name, IDictionary fields = null) + { + Events.Add((name, fields ?? new Dictionary())); + } + + public void WriteSentinel(string path, string content) + { + Sentinels.Add((path, content)); + } + + public void Dispose() { } + } + + /// + /// EditMode テスト用の IPerfProfilerSampler fake。 + /// 設定可能な Snapshot 戻り値を持つ。 + /// + internal sealed class FakePerfProfilerSampler : IPerfProfilerSampler + { + public int CollectCallCount { get; private set; } + public IDictionary NextSnapshot { get; set; } + = new Dictionary(); + + public void Collect() => CollectCallCount++; + + public IDictionary Snapshot() => NextSnapshot; + public void Dispose() { } + } + + /// + /// EditMode テスト用の IPerfClock fake。設定可能な Elapsed 値を返す。 + /// + internal sealed class FakePerfClock : IPerfClock + { + public TimeSpan Elapsed { get; set; } + public IPerfStopwatch Start() => new FakePerfStopwatch(this); + } + + /// + /// EditMode テスト用の IPerfStopwatch fake。 + /// + internal sealed class FakePerfStopwatch : IPerfStopwatch + { + private readonly FakePerfClock _clock; + public FakePerfStopwatch(FakePerfClock clock) { _clock = clock; } + public TimeSpan Elapsed => _clock.Elapsed; + public void Stop() { } + public void Dispose() { } + } +} diff --git a/Ros2Unity/Assets/Tests/EditMode/PerfHarnessFakes.cs.meta b/Ros2Unity/Assets/Tests/EditMode/PerfHarnessFakes.cs.meta new file mode 100644 index 0000000..9f0a418 --- /dev/null +++ b/Ros2Unity/Assets/Tests/EditMode/PerfHarnessFakes.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 9b05db5c15dd5f8be80962d2df9b19e1 \ No newline at end of file diff --git a/Ros2Unity/Assets/Tests/EditMode/PerfHarnessRegressionTests.cs b/Ros2Unity/Assets/Tests/EditMode/PerfHarnessRegressionTests.cs index 33cb46f..e95a973 100644 --- a/Ros2Unity/Assets/Tests/EditMode/PerfHarnessRegressionTests.cs +++ b/Ros2Unity/Assets/Tests/EditMode/PerfHarnessRegressionTests.cs @@ -59,5 +59,24 @@ public async Task ReceiveWaiter_times_out_without_blocking_the_thread() Assert.IsFalse(completed); Assert.GreaterOrEqual(delayCalls, 1); } + + [Test] + public void StopwatchPerfClock_measures_elapsed_time() + { + var clock = new StopwatchPerfClock(); + var sw = clock.Start(); + System.Threading.Thread.Sleep(10); + Assert.GreaterOrEqual(sw.Elapsed.TotalMilliseconds, 5.0d); + sw.Stop(); + } + + [Test] + public void StopwatchWrapper_Stop_does_not_throw() + { + var clock = new StopwatchPerfClock(); + var sw = clock.Start(); + sw.Stop(); + sw.Stop(); // 2 回呼んでも例外なし + } } } diff --git a/Ros2Unity/Assets/Tests/EditMode/PerfJsonTests.cs b/Ros2Unity/Assets/Tests/EditMode/PerfJsonTests.cs new file mode 100644 index 0000000..b623cec --- /dev/null +++ b/Ros2Unity/Assets/Tests/EditMode/PerfJsonTests.cs @@ -0,0 +1,138 @@ +using System.Text; +using NUnit.Framework; +using ROSettaDDS.UnityPerfHarness; + +namespace ROSettaDDS.UnityVerification.Tests +{ + public sealed class PerfJsonTests + { + [TestCase(null, "")] + [TestCase("", "")] + [TestCase("plain", "plain")] + [TestCase("a", "a")] + [TestCase("a\\b", "a\\\\b")] + [TestCase("a\"b", "a\\\"b")] + [TestCase("a\nb", "a\\nb")] + [TestCase("a\rb", "a\\rb")] + [TestCase("\\\\", "\\\\\\\\")] + public void Escape_replaces_json_special_characters(string input, string expected) + { + Assert.AreEqual(expected, PerfJson.Escape(input)); + } + [Test] + public void WriteString_writes_key_value_pair_with_quotes() + { + var sb = new StringBuilder(); + PerfJson.WriteString(sb, "k", "v"); + Assert.AreEqual("\"k\":\"v\"", sb.ToString()); + } + + [Test] + public void WriteString_with_first_true_omits_leading_comma() + { + var sb = new StringBuilder(); + PerfJson.WriteString(sb, "k", "v", first: true); + Assert.AreEqual("\"k\":\"v\"", sb.ToString()); + } + + [Test] + public void WriteString_with_first_false_appends_leading_comma() + { + var sb = new StringBuilder("{"); + PerfJson.WriteString(sb, "k", "v", first: false); + Assert.AreEqual("{,\"k\":\"v\"", sb.ToString()); + } + + [Test] + public void WriteString_escapes_special_characters() + { + var sb = new StringBuilder(); + PerfJson.WriteString(sb, "k", "a\"b\nc"); + Assert.AreEqual("\"k\":\"a\\\"b\\nc\"", sb.ToString()); + } + + [TestCase(42L, "\"k\":42")] + [TestCase(-1L, "\"k\":-1")] + [TestCase(0L, "\"k\":0")] + public void WriteNumber_uses_invariant_culture(long value, string expected) + { + var sb = new StringBuilder(); + PerfJson.WriteNumber(sb, "k", value); + Assert.AreEqual(expected, sb.ToString()); + } + + [Test] + public void WriteBoolean_true() + { + var sb = new StringBuilder(); + PerfJson.WriteBoolean(sb, "k", true); + Assert.AreEqual("\"k\":true", sb.ToString()); + } + + [Test] + public void WriteBoolean_false() + { + var sb = new StringBuilder(); + PerfJson.WriteBoolean(sb, "k", false); + Assert.AreEqual("\"k\":false", sb.ToString()); + } + + [Test] + public void WriteValue_null_writes_null_literal() + { + var sb = new StringBuilder(); + PerfJson.WriteValue(sb, "k", null); + Assert.AreEqual("\"k\":null", sb.ToString()); + } + + [Test] + public void WriteValue_string_writes_quoted() + { + var sb = new StringBuilder(); + PerfJson.WriteValue(sb, "k", (object)"v"); + Assert.AreEqual("\"k\":\"v\"", sb.ToString()); + } + + [Test] + public void WriteValue_bool_writes_true_false() + { + var sb = new StringBuilder(); + PerfJson.WriteValue(sb, "k", (object)true); + Assert.AreEqual("\"k\":true", sb.ToString()); + } + + [Test] + public void WriteValue_long_writes_number() + { + var sb = new StringBuilder(); + PerfJson.WriteValue(sb, "k", (object)42L); + Assert.AreEqual("\"k\":42", sb.ToString()); + } + + [Test] + public void WriteValue_int_writes_number() + { + var sb = new StringBuilder(); + PerfJson.WriteValue(sb, "k", (object)42); + Assert.AreEqual("\"k\":42", sb.ToString()); + } + + [Test] + public void WriteValue_double_writes_invariant() + { + var sb = new StringBuilder(); + PerfJson.WriteValue(sb, "k", (object)3.14d); + Assert.AreEqual("\"k\":3.14", sb.ToString()); + } + + [Test] + public void WriteValue_unknown_type_falls_back_to_ToString() + { + var sb = new StringBuilder(); + PerfJson.WriteValue(sb, "k", (object)new { X = 1 }); + // object の ToString() は "TypeName" 形式 + StringAssert.StartsWith("\"k\":\"", sb.ToString()); + StringAssert.EndsWith("\"", sb.ToString()); + } + } +} diff --git a/Ros2Unity/Assets/Tests/EditMode/PerfJsonTests.cs.meta b/Ros2Unity/Assets/Tests/EditMode/PerfJsonTests.cs.meta new file mode 100644 index 0000000..e509625 --- /dev/null +++ b/Ros2Unity/Assets/Tests/EditMode/PerfJsonTests.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 4f93ab74a66571965b8795880cee6873 \ No newline at end of file diff --git a/Ros2Unity/Assets/Tests/EditMode/PerfRunFlowTests.cs b/Ros2Unity/Assets/Tests/EditMode/PerfRunFlowTests.cs new file mode 100644 index 0000000..25eec69 --- /dev/null +++ b/Ros2Unity/Assets/Tests/EditMode/PerfRunFlowTests.cs @@ -0,0 +1,158 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Threading; +using System.Threading.Tasks; +using NUnit.Framework; +using ROSettaDDS.Dds; +using ROSettaDDS.Dds.QoS; +using ROSettaDDS.Msgs.Std; +using ROSettaDDS.Transport; +using ROSettaDDS.UnityPerfHarness; + +namespace ROSettaDDS.UnityVerification.Tests +{ + public sealed class PerfRunFlowTests + { + private static string TempFile(string name) + => System.IO.Path.Combine(System.IO.Path.GetTempPath(), + "perf-test-" + System.Guid.NewGuid().ToString("N") + "-" + name); + + private static PerfPlayerArguments MakeArgs(PerfDirection direction, int messages = 8, int payload = 32) + { + string[] args = + { + "--rosettadds-perf", + "--rosettadds-scenario", "test", + "--rosettadds-direction", direction == PerfDirection.UnityToRos2 ? "unity_to_ros2" : "ros2_to_unity", + "--rosettadds-domain-id", "0", + "--rosettadds-topic", "/test_topic", + "--rosettadds-qos", "reliable", + "--rosettadds-payload-bytes", payload.ToString(), + "--rosettadds-messages", messages.ToString(), + "--rosettadds-ready-file", TempFile("ready"), + "--rosettadds-done-file", TempFile("done"), + "--rosettadds-metrics-file", TempFile("metrics.ndjson"), + }; + Assert.IsTrue(PerfPlayerArguments.TryParse(args, out var parsed, out var err), err); + return parsed; + } + + [Test] + public async Task RunUnityToRos2_emits_measure_done_with_expected_fields() + { + var pair = UnityLoopbackTestSupport.CreatePair(); + var sink = new FakePerfMetricsSink(); + var sampler = new FakePerfProfilerSampler + { + NextSnapshot = new Dictionary + { + { "main_thread_time_ns_available", true }, + { "main_thread_time_ns_last", 100L }, + }, + }; + var clock = new FakePerfClock { Elapsed = TimeSpan.FromMilliseconds(500) }; + var args = MakeArgs(PerfDirection.UnityToRos2, messages: 4); + + int dummyReceived = 0; + using var sub = pair.Reader.CreateSubscription( + args.Topic, StringMessageSerializer.Instance, _ => Interlocked.Increment(ref dummyReceived)); + pair.Reader.Start(); + + await PerfPlayerEntry.RunUnityToRos2(args, pair.Writer, sink, sampler, clock); + + var measureDone = sink.Events.FirstOrDefault(e => e.Name == "measure_done"); + Assert.IsNotNull(measureDone.Name); + var f = measureDone.Fields; + Assert.AreEqual(4L, f["sent"]); + Assert.AreEqual(500.0d, f["elapsed_ms"]); + Assert.IsTrue(f.ContainsKey("serialized_bytes_per_message")); + Assert.IsTrue(f.ContainsKey("serialized_bytes")); + Assert.IsTrue(f.ContainsKey("messages_per_second")); + Assert.AreEqual(true, f["main_thread_time_ns_available"]); + } + + [Test] + public async Task RunRos2ToUnity_emits_measure_done_with_diagnostics() + { + var pair = UnityLoopbackTestSupport.CreatePair(); + var sink = new FakePerfMetricsSink(); + var sampler = new FakePerfProfilerSampler + { + NextSnapshot = new Dictionary(), + }; + var clock = new FakePerfClock { Elapsed = TimeSpan.FromSeconds(1) }; + var args = MakeArgs(PerfDirection.Ros2ToUnity, messages: 4); + + using var pub = pair.Writer.CreatePublisher( + args.Topic, StringMessageSerializer.Instance, + ReliabilityQos.Reliable, DurabilityQos.TransientLocal); + pair.Writer.Start(); + + for (int i = 0; i < 4; i++) + { + await pub.PublishAsync(new StringMessage("test-" + i)); + } + + await PerfPlayerEntry.RunRos2ToUnity(args, pair.Reader, sink, sampler, clock); + + var measureDone = sink.Events.FirstOrDefault(e => e.Name == "measure_done"); + Assert.IsNotNull(measureDone.Name); + var f = measureDone.Fields; + Assert.GreaterOrEqual((int)f["received"], 4); + Assert.IsTrue(f.ContainsKey("subscription_messages_deserialized")); + Assert.AreEqual(false, f["user_unicast_transport_diagnostics_available"]); + Assert.AreEqual(false, f["user_multicast_transport_diagnostics_available"]); + } + + [Test, Explicit("Slow: 20+ seconds due to hardcoded match/receive timeouts")] + public void RunRos2ToUnity_timeout_emits_receive_diagnostics_and_throws() + { + var pair = UnityLoopbackTestSupport.CreatePair(); + var sink = new FakePerfMetricsSink(); + var sampler = new FakePerfProfilerSampler + { + NextSnapshot = new Dictionary(), + }; + var clock = new FakePerfClock { Elapsed = TimeSpan.Zero }; + var args = MakeArgs(PerfDirection.Ros2ToUnity, messages: 1000); + + using var pub = pair.Writer.CreatePublisher( + args.Topic, StringMessageSerializer.Instance); + pair.Writer.Start(); + + Assert.ThrowsAsync(async () => + await PerfPlayerEntry.RunRos2ToUnity(args, pair.Reader, sink, sampler, clock)); + + var rxDiag = sink.Events.FirstOrDefault(e => e.Name == "receive_diagnostics"); + Assert.IsNotNull(rxDiag.Name); + } + + [Test] + public void PerfMetricsWriter_escapes_payload_in_event_name() + { + string[] args = + { + "--rosettadds-perf", + "--rosettadds-scenario", "with\"quote\nnewline", + "--rosettadds-direction", "unity_to_ros2", + "--rosettadds-domain-id", "0", + "--rosettadds-topic", "/t", + "--rosettadds-qos", "reliable", + "--rosettadds-payload-bytes", "32", + "--rosettadds-messages", "1", + "--rosettadds-ready-file", TempFile("ready"), + "--rosettadds-done-file", TempFile("done"), + "--rosettadds-metrics-file", TempFile("metrics-escape.ndjson"), + }; + Assert.IsTrue(PerfPlayerArguments.TryParse(args, out var parsed, out var err), err); + using (var writer = new PerfMetricsWriter(parsed)) + { + writer.Event("start"); + } + string line = System.IO.File.ReadAllText(parsed.MetricsFile).Trim(); + StringAssert.Contains("\\\"", line); + StringAssert.Contains("\\n", line); + } + } +} diff --git a/Ros2Unity/Assets/Tests/EditMode/PerfRunFlowTests.cs.meta b/Ros2Unity/Assets/Tests/EditMode/PerfRunFlowTests.cs.meta new file mode 100644 index 0000000..558f0da --- /dev/null +++ b/Ros2Unity/Assets/Tests/EditMode/PerfRunFlowTests.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 3a7b5c8d2e9f1a4b7c6d3e8f0a2b5c7d \ No newline at end of file diff --git a/docs/superpowers/plans/2026-06-29-unity-perf-harness-testability.md b/docs/superpowers/plans/2026-06-29-unity-perf-harness-testability.md new file mode 100644 index 0000000..a3aae00 --- /dev/null +++ b/docs/superpowers/plans/2026-06-29-unity-perf-harness-testability.md @@ -0,0 +1,2149 @@ +# Unity Perf Harness テスト容易化 実装プラン + +> **For agentic workers:** REQUIRED SUB-SKILL: Use superpowers:subagent-driven-development (recommended) or superpowers:executing-plans to implement this plan task-by-task. Steps use checkbox (`- [ ]`) syntax for tracking. + +**Goal:** `Ros2Unity/Assets/Perf/` 配下を、純関数ヘルパー + 差し替え可能 interface 中心の設計に再構成し、EditMode から直接テストできる構造にする。NDJSON event vocabulary・sentinel file 動作・外部 CLI は完全不変。 + +**Architecture:** 純関数ヘルパー (`PerfJson` / `MeasureDoneBuilder` / `PerfDiagnosticsBuilder`)、値オブジェクト (`PerfTransportDiagnostics` / `PerfSubscriptionDiagnostics`)、3 interface (`IPerfMetricsSink` / `IPerfProfilerSampler` / `IPerfClock`) + `IPerfStopwatch` を新設。`PerfPlayerEntry.Run*` の signature を 5 引数 (`participant` + 3 interface) に拡張し、本番は実実装、テストは fake を注入する。 + +**Tech Stack:** Unity 6000.3 / C# 9 / NUnit 3 / Unity Test Framework / EditMode テスト + +**参照 spec:** `docs/superpowers/specs/2026-06-29-unity-perf-harness-testability-design.md` + +**branch:** `perf/unity-perf-harness-testability` (main から派生済み) + +--- + +## ファイル構成 + +### 新規 (Perf/ 配下) +- `Ros2Unity/Assets/Perf/IPerfMetricsSink.cs` — metrics 出力 interface +- `Ros2Unity/Assets/Perf/IPerfProfilerSampler.cs` — profiler sampler interface +- `Ros2Unity/Assets/Perf/IPerfClock.cs` — clock interface +- `Ros2Unity/Assets/Perf/IPerfStopwatch.cs` — stopwatch interface +- `Ros2Unity/Assets/Perf/PerfJson.cs` — JSON escape / 値 serialize の純関数ヘルパー +- `Ros2Unity/Assets/Perf/MeasureDoneBuilder.cs` — measure_done event ペイロード構築 +- `Ros2Unity/Assets/Perf/PerfTransportDiagnostics.cs` — 値オブジェクト +- `Ros2Unity/Assets/Perf/PerfSubscriptionDiagnostics.cs` — 値オブジェクト +- `Ros2Unity/Assets/Perf/PerfDiagnosticsBuilder.cs` — diagnostics event ペイロード構築 +- `Ros2Unity/Assets/Perf/StopwatchPerfClock.cs` — IPerfClock 実装 +- `Ros2Unity/Assets/Perf/StopwatchWrapper.cs` — IPerfStopwatch 実装 (Stopwatch ラップ) + +### 新規 (Tests/EditMode/ 配下) +- `Ros2Unity/Assets/Tests/EditMode/PerfJsonTests.cs` — PerfJson 単体テスト +- `Ros2Unity/Assets/Tests/EditMode/MeasureDoneBuilderTests.cs` — measure_done 構築テスト +- `Ros2Unity/Assets/Tests/EditMode/PerfDiagnosticsBuilderTests.cs` — diagnostics 構築テスト +- `Ros2Unity/Assets/Tests/EditMode/PerfHarnessFakes.cs` — テスト用 fake 群 +- `Ros2Unity/Assets/Tests/EditMode/PerfRunFlowTests.cs` — Run* 統合テスト + +### 変更 (Perf/ 配下) +- `Ros2Unity/Assets/Perf/PerfPlayerEntry.cs` — Run* signature 変更 + 内部で builder 呼び出し +- `Ros2Unity/Assets/Perf/PerfMetricsWriter.cs` — 内部実装を `PerfJson` 経由に、`IPerfMetricsSink` 実装に +- `Ros2Unity/Assets/Perf/PerfProfilerRecorders.cs` — `IPerfProfilerSampler` 実装に + +### 既存 (回帰確認のみ) +- `Ros2Unity/Assets/Tests/EditMode/PerfHarnessRegressionTests.cs` (63 行) +- `Ros2Unity/Assets/Tests/EditMode/ROSettaDDSUnityVerificationTests.cs` +- `Ros2Unity/Assets/Tests/EditMode/UnityLoopbackTestSupport.cs` + +--- + +## Task 1: 4 つの interface 定義ファイルを作成 + +**Files:** +- Create: `Ros2Unity/Assets/Perf/IPerfMetricsSink.cs` +- Create: `Ros2Unity/Assets/Perf/IPerfProfilerSampler.cs` +- Create: `Ros2Unity/Assets/Perf/IPerfClock.cs` +- Create: `Ros2Unity/Assets/Perf/IPerfStopwatch.cs` + +- [ ] **Step 1: `IPerfMetricsSink.cs` を作成** + +`Ros2Unity/Assets/Perf/IPerfMetricsSink.cs`: + +```csharp +using System; +using System.Collections.Generic; + +namespace ROSettaDDS.UnityPerfHarness +{ + /// + /// perf run 中の event / sentinel 出力の抽象。テストでは fake に差し替え可能。 + /// + internal interface IPerfMetricsSink : IDisposable + { + void Event(string name, IDictionary fields = null); + void WriteSentinel(string path, string content); + } +} +``` + +- [ ] **Step 2: `IPerfProfilerSampler.cs` を作成** + +`Ros2Unity/Assets/Perf/IPerfProfilerSampler.cs`: + +```csharp +using System; +using System.Collections.Generic; + +namespace ROSettaDDS.UnityPerfHarness +{ + /// + /// ProfilerRecorder のラッパ抽象。テストでは fake に差し替え可能。 + /// + internal interface IPerfProfilerSampler : IDisposable + { + void Collect(); + IDictionary Snapshot(); + } +} +``` + +- [ ] **Step 3: `IPerfClock.cs` を作成** + +`Ros2Unity/Assets/Perf/IPerfClock.cs`: + +```csharp +using System; + +namespace ROSettaDDS.UnityPerfHarness +{ + /// + /// 経過時間計測の抽象。テストでは fake に差し替え可能。 + /// + internal interface IPerfClock + { + IPerfStopwatch Start(); + } +} +``` + +- [ ] **Step 4: `IPerfStopwatch.cs` を作成** + +`Ros2Unity/Assets/Perf/IPerfStopwatch.cs`: + +```csharp +using System; + +namespace ROSettaDDS.UnityPerfHarness +{ + /// + /// Stopwatch の抽象。single-thread 想定。 + /// Dispose は using 構文で使うため。実装 (StopwatchWrapper) は + /// 内部の System.Diagnostics.Stopwatch を所有しないため no-op。 + /// + internal interface IPerfStopwatch : IDisposable + { + TimeSpan Elapsed { get; } + void Stop(); + } +} +``` + +- [ ] **Step 5: ビルドが通ることを確認** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +dotnet build Ros2Unity/Assets/Perf/ROSettaDDS.UnityPerfHarness.csproj 2>&1 | tail -10 +``` + +期待: build success (interface のみ、実装は次タスク以降)。 + +注: Unity asmdef プロジェクトは `dotnet build` 単体では失敗する場合がある。`Unity Hub` 起動後の EditMode テスト実行で確認すれば良い (Task 8 で確認)。 + +- [ ] **Step 6: コミット** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +git add Ros2Unity/Assets/Perf/IPerfMetricsSink.cs \ + Ros2Unity/Assets/Perf/IPerfProfilerSampler.cs \ + Ros2Unity/Assets/Perf/IPerfClock.cs \ + Ros2Unity/Assets/Perf/IPerfStopwatch.cs +git commit -m "feat(perf): 4 interface (IPerfMetricsSink/ProfilerSampler/Clock/Stopwatch) を新設" +``` + +--- + +## Task 2: `PerfJson.Escape` 純関数 (TDD) + +**Files:** +- Create: `Ros2Unity/Assets/Tests/EditMode/PerfJsonTests.cs` +- Create: `Ros2Unity/Assets/Perf/PerfJson.cs` + +- [ ] **Step 1: 失敗するテストを書く** + +`Ros2Unity/Assets/Tests/EditMode/PerfJsonTests.cs` を新規作成 (この段階では Escape のみ): + +```csharp +using System.Text; +using NUnit.Framework; +using ROSettaDDS.UnityPerfHarness; + +namespace ROSettaDDS.UnityVerification.Tests +{ + public sealed class PerfJsonTests + { + [TestCase(null, "")] + [TestCase("", "")] + [TestCase("plain", "plain")] + [TestCase("a", "a")] + [TestCase("a\\b", "a\\\\b")] + [TestCase("a\"b", "a\\\"b")] + [TestCase("a\nb", "a\\nb")] + [TestCase("a\rb", "a\\rb")] + [TestCase("\\\\", "\\\\\\\\")] + public void Escape_replaces_json_special_characters(string input, string expected) + { + Assert.AreEqual(expected, PerfJson.Escape(input)); + } + } +} +``` + +- [ ] **Step 2: テストが失敗することを確認 (コンパイルエラー)** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +bash scripts/unity/run_editmode.sh --batch --filter-type assembly --filter-value ROSettaDDS.UnityVerification.Tests 2>&1 | tail -20 +``` + +期待: `PerfJson` 型が見つからないコンパイルエラー。 + +注: `--filter-type assembly` で `ROSettaDDS.UnityVerification.Tests` アセンブリのテストのみ実行。`--batch` は Editor 強制 batchmode 起動。 + +- [ ] **Step 3: 最小実装を追加** + +`Ros2Unity/Assets/Perf/PerfJson.cs`: + +```csharp +using System.Text; + +namespace ROSettaDDS.UnityPerfHarness +{ + /// + /// Perf Metrics 用の JSON 純関数ヘルパー。 + /// IL2CPP 起動時 overhead を避けるため手書き。System.Text.Json は使わない。 + /// 仕様: \\ → \\\\, \" → \\\", \n → \\n, \r → \\r の 4 種のみ置換。 + /// + internal static class PerfJson + { + internal static string Escape(string value) + { + if (value == null) + { + return string.Empty; + } + return value + .Replace("\\", "\\\\") + .Replace("\"", "\\\"") + .Replace("\n", "\\n") + .Replace("\r", "\\r"); + } + } +} +``` + +- [ ] **Step 4: テストが成功することを確認** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +bash scripts/unity/run_editmode.sh --batch --filter-type assembly --filter-value ROSettaDDS.UnityVerification.Tests 2>&1 | tail -20 +``` + +期待: `PerfJsonTests` 9 ケース pass。 + +- [ ] **Step 5: コミット** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +git add Ros2Unity/Assets/Tests/EditMode/PerfJsonTests.cs \ + Ros2Unity/Assets/Perf/PerfJson.cs +git commit -m "feat(perf): PerfJson.Escape 純関数ヘルパーを追加 (TDD)" +``` + +--- + +## Task 3: `PerfJson.Write*` メソッド (TDD) + +**Files:** +- Modify: `Ros2Unity/Assets/Tests/EditMode/PerfJsonTests.cs` +- Modify: `Ros2Unity/Assets/Perf/PerfJson.cs` + +- [ ] **Step 1: 失敗するテストを追加** + +`Ros2Unity/Assets/Tests/EditMode/PerfJsonTests.cs` の `PerfJsonTests` クラス末尾に以下を追加: + +```csharp + [Test] + public void WriteString_writes_key_value_pair_with_quotes() + { + var sb = new StringBuilder(); + PerfJson.WriteString(sb, "k", "v"); + Assert.AreEqual("\"k\":\"v\"", sb.ToString()); + } + + [Test] + public void WriteString_with_first_true_omits_leading_comma() + { + var sb = new StringBuilder(); + PerfJson.WriteString(sb, "k", "v", first: true); + Assert.AreEqual("\"k\":\"v\"", sb.ToString()); + } + + [Test] + public void WriteString_with_first_false_appends_leading_comma() + { + var sb = new StringBuilder("{"); + PerfJson.WriteString(sb, "k", "v"); + Assert.AreEqual("{\"k\":\"v\"", sb.ToString()); + } + + [Test] + public void WriteString_escapes_special_characters() + { + var sb = new StringBuilder(); + PerfJson.WriteString(sb, "k", "a\"b\nc"); + Assert.AreEqual("\"k\":\"a\\\"b\\nc\"", sb.ToString()); + } + + [TestCase(42L, "42")] + [TestCase(-1L, "-1")] + [TestCase(0L, "0")] + public void WriteNumber_uses_invariant_culture(long value, string expected) + { + var sb = new StringBuilder(); + PerfJson.WriteNumber(sb, "k", value); + Assert.AreEqual("\"k\":42", sb.ToString().Replace("-1", "-1").Replace("0", "0").Length > 0 + ? "\"k\":" + expected + : ""); + } + + [Test] + public void WriteNumber_simple() + { + var sb = new StringBuilder(); + PerfJson.WriteNumber(sb, "k", 42L); + Assert.AreEqual("\"k\":42", sb.ToString()); + } + + [Test] + public void WriteBoolean_true() + { + var sb = new StringBuilder(); + PerfJson.WriteBoolean(sb, "k", true); + Assert.AreEqual("\"k\":true", sb.ToString()); + } + + [Test] + public void WriteBoolean_false() + { + var sb = new StringBuilder(); + PerfJson.WriteBoolean(sb, "k", false); + Assert.AreEqual("\"k\":false", sb.ToString()); + } + + [Test] + public void WriteValue_null_writes_null_literal() + { + var sb = new StringBuilder(); + PerfJson.WriteValue(sb, "k", null); + Assert.AreEqual("\"k\":null", sb.ToString()); + } + + [Test] + public void WriteValue_string_writes_quoted() + { + var sb = new StringBuilder(); + PerfJson.WriteValue(sb, "k", (object)"v"); + Assert.AreEqual("\"k\":\"v\"", sb.ToString()); + } + + [Test] + public void WriteValue_bool_writes_true_false() + { + var sb = new StringBuilder(); + PerfJson.WriteValue(sb, "k", (object)true); + Assert.AreEqual("\"k\":true", sb.ToString()); + } + + [Test] + public void WriteValue_long_writes_number() + { + var sb = new StringBuilder(); + PerfJson.WriteValue(sb, "k", (object)42L); + Assert.AreEqual("\"k\":42", sb.ToString()); + } + + [Test] + public void WriteValue_int_writes_number() + { + var sb = new StringBuilder(); + PerfJson.WriteValue(sb, "k", (object)42); + Assert.AreEqual("\"k\":42", sb.ToString()); + } + + [Test] + public void WriteValue_double_writes_invariant() + { + var sb = new StringBuilder(); + PerfJson.WriteValue(sb, "k", (object)3.14d); + Assert.AreEqual("\"k\":3.14", sb.ToString()); + } + + [Test] + public void WriteValue_unknown_type_falls_back_to_ToString() + { + var sb = new StringBuilder(); + PerfJson.WriteValue(sb, "k", (object)new { X = 1 }); + // object の ToString() は "TypeName" 形式 + StringAssert.StartsWith("\"k\":\"", sb.ToString()); + StringAssert.EndsWith("\"", sb.ToString()); + } +``` + +注: 上記 `WriteNumber_uses_invariant_culture` テストは冗長な書き方になっている。`WriteNumber_simple` 1 つに置換してもよいが、3 ケース (正/負/零) を 1 メソッドで表現した。`AreEqual` のロジックが冗長なので以下のように簡素化する: + +```csharp + [TestCase(42L, "\"k\":42")] + [TestCase(-1L, "\"k\":-1")] + [TestCase(0L, "\"k\":0")] + public void WriteNumber_uses_invariant_culture(long value, string expected) + { + var sb = new StringBuilder(); + PerfJson.WriteNumber(sb, "k", value); + Assert.AreEqual(expected, sb.ToString()); + } +``` + +`WriteNumber_simple` は削除し、`WriteNumber_uses_invariant_culture` 3 ケースで置換する。最終的なテストメソッドは以下: + +- `Escape_replaces_json_special_characters` (9 ケース) +- `WriteString_writes_key_value_pair_with_quotes` +- `WriteString_with_first_true_omits_leading_comma` +- `WriteString_with_first_false_appends_leading_comma` +- `WriteString_escapes_special_characters` +- `WriteNumber_uses_invariant_culture` (3 ケース) +- `WriteBoolean_true` +- `WriteBoolean_false` +- `WriteValue_null_writes_null_literal` +- `WriteValue_string_writes_quoted` +- `WriteValue_bool_writes_true_false` +- `WriteValue_long_writes_number` +- `WriteValue_int_writes_number` +- `WriteValue_double_writes_invariant` +- `WriteValue_unknown_type_falls_back_to_ToString` + +合計 16 ケース。 + +- [ ] **Step 2: テストが失敗することを確認 (コンパイルエラー)** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +bash scripts/unity/run_editmode.sh --batch --filter-type assembly --filter-value ROSettaDDS.UnityVerification.Tests 2>&1 | tail -20 +``` + +期待: `WriteString` / `WriteNumber` / `WriteBoolean` / `WriteValue` が見つからないコンパイルエラー。 + +- [ ] **Step 3: 最小実装を追加** + +`Ros2Unity/Assets/Perf/PerfJson.cs` を以下に置換: + +```csharp +using System; +using System.Globalization; +using System.Text; + +namespace ROSettaDDS.UnityPerfHarness +{ + /// + /// Perf Metrics 用の JSON 純関数ヘルパー。 + /// IL2CPP 起動時 overhead を避けるため手書き。System.Text.Json は使わない。 + /// 仕様: \\ → \\\\, \" → \\\", \n → \\n, \r → \\r の 4 種のみ置換。 + /// + internal static class PerfJson + { + internal static string Escape(string value) + { + if (value == null) + { + return string.Empty; + } + return value + .Replace("\\", "\\\\") + .Replace("\"", "\\\"") + .Replace("\n", "\\n") + .Replace("\r", "\\r"); + } + + internal static void WriteString(StringBuilder b, string key, string value, bool first = false) + { + if (!first) b.Append(','); + b.Append('"').Append(Escape(key)).Append("\":\"").Append(Escape(value)).Append('"'); + } + + internal static void WriteNumber(StringBuilder b, string key, long value, bool first = false) + { + AppendRaw(b, key, value.ToString(CultureInfo.InvariantCulture), first); + } + + internal static void WriteBoolean(StringBuilder b, string key, bool value, bool first = false) + { + AppendRaw(b, key, value ? "true" : "false", first); + } + + internal static void WriteValue(StringBuilder b, string key, object value, bool first = false) + { + if (value == null) + { + AppendRaw(b, key, "null", first); + } + else if (value is string text) + { + WriteString(b, key, text, first); + } + else if (value is bool flag) + { + AppendRaw(b, key, flag ? "true" : "false", first); + } + else if (value is int || value is long || value is float || value is double) + { + AppendRaw(b, key, Convert.ToString(value, CultureInfo.InvariantCulture), first); + } + else + { + WriteString(b, key, value.ToString(), first); + } + } + + private static void AppendRaw(StringBuilder b, string key, string value, bool first) + { + if (!first) b.Append(','); + b.Append('"').Append(Escape(key)).Append("\":").Append(value); + } + } +} +``` + +- [ ] **Step 4: テストが成功することを確認** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +bash scripts/unity/run_editmode.sh --batch --filter-type assembly --filter-value ROSettaDDS.UnityVerification.Tests 2>&1 | tail -20 +``` + +期待: `PerfJsonTests` 16 ケース pass。 + +- [ ] **Step 5: コミット** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +git add Ros2Unity/Assets/Tests/EditMode/PerfJsonTests.cs \ + Ros2Unity/Assets/Perf/PerfJson.cs +git commit -m "feat(perf): PerfJson.Write* メソッドを追加 (TDD)" +``` + +--- + +## Task 4: `MeasureDoneBuilder.BuildPublish` (TDD) + +**Files:** +- Create: `Ros2Unity/Assets/Tests/EditMode/MeasureDoneBuilderTests.cs` +- Create: `Ros2Unity/Assets/Perf/MeasureDoneBuilder.cs` + +- [ ] **Step 1: 失敗するテストを書く** + +`Ros2Unity/Assets/Tests/EditMode/MeasureDoneBuilderTests.cs`: + +```csharp +using System; +using System.Collections.Generic; +using NUnit.Framework; +using ROSettaDDS.UnityPerfHarness; + +namespace ROSettaDDS.UnityVerification.Tests +{ + public sealed class MeasureDoneBuilderTests + { + [Test] + public void BuildPublish_emits_expected_fields() + { + var profiler = new Dictionary + { + { "main_thread_time_ns_available", true }, + { "main_thread_time_ns_last", 12345L }, + }; + var fields = MeasureDoneBuilder.BuildPublish( + TimeSpan.FromSeconds(1), + sent: 1000, + serializedBytesPerMessage: 128, + profilerFields: profiler); + + Assert.AreEqual(1000.0d, fields["sent"]); + Assert.AreEqual(1000.0d, fields["elapsed_ms"]); + Assert.AreEqual(128L, fields["serialized_bytes_per_message"]); + Assert.AreEqual(128000L, fields["serialized_bytes"]); + Assert.AreEqual(1000.0d, fields["messages_per_second"]); + Assert.AreEqual(true, fields["main_thread_time_ns_available"]); + Assert.AreEqual(12345L, fields["main_thread_time_ns_last"]); + } + + [Test] + public void BuildPublish_with_zero_elapsed_does_not_divide_by_zero() + { + var fields = MeasureDoneBuilder.BuildPublish( + TimeSpan.Zero, + sent: 1, + serializedBytesPerMessage: 64, + profilerFields: new Dictionary()); + + double mps = (double)fields["messages_per_second"]; + Assert.IsFalse(double.IsNaN(mps)); + Assert.IsFalse(double.IsInfinity(mps)); + Assert.Greater(mps, 0); + } + + [Test] + public void BuildPublish_preserves_all_profiler_fields() + { + var profiler = new Dictionary + { + { "main_thread_time_ns_available", true }, + { "main_thread_time_ns_last", 100L }, + { "gc_used_memory_bytes_available", true }, + { "gc_used_memory_bytes_last", 200L }, + { "gc_allocated_in_frame_bytes_available", true }, + { "gc_allocated_in_frame_bytes_last", 300L }, + { "gc_allocated_in_frame_bytes_total", 400L }, + { "gc_allocated_in_frame_bytes_samples", 5L }, + }; + var fields = MeasureDoneBuilder.BuildPublish( + TimeSpan.FromSeconds(2), + sent: 100, + serializedBytesPerMessage: 256, + profilerFields: profiler); + + Assert.AreEqual(8, profiler.Count); + foreach (var kv in profiler) + { + Assert.IsTrue(fields.ContainsKey(kv.Key), "missing key: " + kv.Key); + Assert.AreEqual(kv.Value, fields[kv.Key]); + } + } + + [Test] + public void BuildPublish_does_not_mutate_input_profiler_fields() + { + var profiler = new Dictionary + { + { "main_thread_time_ns_available", true }, + }; + int beforeCount = profiler.Count; + + MeasureDoneBuilder.BuildPublish( + TimeSpan.FromSeconds(1), + sent: 10, + serializedBytesPerMessage: 16, + profilerFields: profiler); + + Assert.AreEqual(beforeCount, profiler.Count); + } + + [Test] + public void BuildPublish_zero_count_serialized_bytes_is_zero() + { + var fields = MeasureDoneBuilder.BuildPublish( + TimeSpan.FromSeconds(1), + sent: 0, + serializedBytesPerMessage: 128, + profilerFields: new Dictionary()); + + Assert.AreEqual(0L, fields["serialized_bytes"]); + Assert.AreEqual(0L, fields["sent"]); + } + } +} +``` + +- [ ] **Step 2: テストが失敗することを確認 (コンパイルエラー)** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +bash scripts/unity/run_editmode.sh --batch --filter-type assembly --filter-value ROSettaDDS.UnityVerification.Tests 2>&1 | tail -20 +``` + +期待: `MeasureDoneBuilder` 型が見つからないコンパイルエラー。 + +- [ ] **Step 3: 最小実装を追加** + +`Ros2Unity/Assets/Perf/MeasureDoneBuilder.cs`: + +```csharp +using System; +using System.Collections.Generic; + +namespace ROSettaDDS.UnityPerfHarness +{ + /// + /// measure_done event のペイロード構築ヘルパー。 + /// Run* メソッド内の Dictionary 直書きを pure 関数化。 + /// + internal static class MeasureDoneBuilder + { + internal static IDictionary BuildPublish( + TimeSpan elapsed, + int sent, + int serializedBytesPerMessage, + IReadOnlyDictionary profilerFields) + { + var fields = new Dictionary(profilerFields); + fields["elapsed_ms"] = elapsed.TotalMilliseconds; + fields["sent"] = sent; + fields["serialized_bytes_per_message"] = serializedBytesPerMessage; + fields["serialized_bytes"] = (long)serializedBytesPerMessage * sent; + fields["messages_per_second"] = sent / Math.Max(0.000001d, elapsed.TotalSeconds); + return fields; + } + } +} +``` + +- [ ] **Step 4: テストが成功することを確認** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +bash scripts/unity/run_editmode.sh --batch --filter-type assembly --filter-value ROSettaDDS.UnityVerification.Tests 2>&1 | tail -20 +``` + +期待: `MeasureDoneBuilderTests` 5 ケース pass。 + +- [ ] **Step 5: コミット** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +git add Ros2Unity/Assets/Tests/EditMode/MeasureDoneBuilderTests.cs \ + Ros2Unity/Assets/Perf/MeasureDoneBuilder.cs +git commit -m "feat(perf): MeasureDoneBuilder.BuildPublish を追加 (TDD)" +``` + +--- + +## Task 5: `MeasureDoneBuilder.BuildSubscribe` (TDD) + +**Files:** +- Modify: `Ros2Unity/Assets/Tests/EditMode/MeasureDoneBuilderTests.cs` +- Modify: `Ros2Unity/Assets/Perf/MeasureDoneBuilder.cs` + +- [ ] **Step 1: 失敗するテストを追加** + +`MeasureDoneBuilderTests.cs` の `MeasureDoneBuilderTests` クラス末尾に以下を追加: + +```csharp + [Test] + public void BuildSubscribe_emits_expected_fields() + { + var profiler = new Dictionary + { + { "main_thread_time_ns_available", true }, + { "main_thread_time_ns_last", 999L }, + }; + var fields = MeasureDoneBuilder.BuildSubscribe( + TimeSpan.FromSeconds(2), + received: 500, + serializedBytesPerMessage: 256, + profilerFields: profiler, + diagnostics: new Dictionary()); + + Assert.AreEqual(500L, fields["received"]); + Assert.AreEqual(2000.0d, fields["elapsed_ms"]); + Assert.AreEqual(256L, fields["serialized_bytes_per_message"]); + Assert.AreEqual(128000L, fields["serialized_bytes"]); + Assert.AreEqual(250.0d, fields["messages_per_second"]); + Assert.AreEqual(true, fields["main_thread_time_ns_available"]); + Assert.AreEqual(999L, fields["main_thread_time_ns_last"]); + } + + [Test] + public void BuildSubscribe_merges_diagnostics_fields() + { + var diagnostics = new Dictionary + { + { "subscription_messages_deserialized", 100L }, + { "rtps_data_submessages_received", 50L }, + }; + var fields = MeasureDoneBuilder.BuildSubscribe( + TimeSpan.FromSeconds(1), + received: 100, + serializedBytesPerMessage: 64, + profilerFields: new Dictionary(), + diagnostics: diagnostics); + + Assert.AreEqual(100L, fields["subscription_messages_deserialized"]); + Assert.AreEqual(50L, fields["rtps_data_submessages_received"]); + } + + [Test] + public void BuildSubscribe_empty_diagnostics_adds_no_extra_keys() + { + var fields = MeasureDoneBuilder.BuildSubscribe( + TimeSpan.FromSeconds(1), + received: 10, + serializedBytesPerMessage: 32, + profilerFields: new Dictionary(), + diagnostics: new Dictionary()); + + // 期待されるキー: elapsed_ms, received, serialized_bytes_per_message, + // serialized_bytes, messages_per_second (5 個) + Assert.AreEqual(5, fields.Count); + } +``` + +- [ ] **Step 2: テストが失敗することを確認 (BuildSubscribe 未実装なのでコンパイルエラー)** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +bash scripts/unity/run_editmode.sh --batch --filter-type assembly --filter-value ROSettaDDS.UnityVerification.Tests 2>&1 | tail -20 +``` + +期待: `BuildSubscribe` メソッドが見つからないコンパイルエラー。 + +- [ ] **Step 3: BuildSubscribe 実装を追加** + +`Ros2Unity/Assets/Perf/MeasureDoneBuilder.cs` の `MeasureDoneBuilder` クラス末尾に `BuildSubscribe` を追加: + +```csharp + internal static IDictionary BuildSubscribe( + TimeSpan elapsed, + int received, + int serializedBytesPerMessage, + IReadOnlyDictionary profilerFields, + IReadOnlyDictionary diagnostics) + { + var fields = new Dictionary(profilerFields); + fields["elapsed_ms"] = elapsed.TotalMilliseconds; + fields["received"] = received; + fields["serialized_bytes_per_message"] = serializedBytesPerMessage; + fields["serialized_bytes"] = (long)serializedBytesPerMessage * received; + fields["messages_per_second"] = received / Math.Max(0.000001d, elapsed.TotalSeconds / 1000.0d); + if (diagnostics != null) + { + foreach (var kv in diagnostics) + { + fields[kv.Key] = kv.Value; + } + } + return fields; + } +``` + +注: 現行 `PerfPlayerEntry.cs:178` の計算式 `received / Math.Max(0.000001d, elapsedMs / 1000.0d)` は `received / Math.Max(0.000001d, elapsed.TotalSeconds)` と数学的に等価 (`elapsedMs / 1000.0d == elapsed.TotalSeconds`)。現行 NDJSON との完全互換のため、式形を保ったまま引数名だけ `elapsed.TotalSeconds` に変更。 + +- [ ] **Step 4: テストが成功することを確認** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +bash scripts/unity/run_editmode.sh --batch --filter-type assembly --filter-value ROSettaDDS.UnityVerification.Tests 2>&1 | tail -20 +``` + +期待: `MeasureDoneBuilderTests` 8 ケース pass (BuildPublish 5 + BuildSubscribe 3)。 + +- [ ] **Step 5: コミット** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +git add Ros2Unity/Assets/Tests/EditMode/MeasureDoneBuilderTests.cs \ + Ros2Unity/Assets/Perf/MeasureDoneBuilder.cs +git commit -m "feat(perf): MeasureDoneBuilder.BuildSubscribe を追加 (TDD)" +``` + +--- + +## Task 6: 値オブジェクト `PerfTransportDiagnostics` / `PerfSubscriptionDiagnostics` + +**Files:** +- Create: `Ros2Unity/Assets/Perf/PerfTransportDiagnostics.cs` +- Create: `Ros2Unity/Assets/Perf/PerfSubscriptionDiagnostics.cs` + +- [ ] **Step 1: `PerfTransportDiagnostics.cs` を作成** + +`Ros2Unity/Assets/Perf/PerfTransportDiagnostics.cs`: + +```csharp +namespace ROSettaDDS.UnityPerfHarness +{ + /// + /// UdpTransport の diagnostics 値を perf 計測用に transport 抽象へ写像した値オブジェクト。 + /// `Available = false` のときは該当 transport が UdpTransport ではない (loopback 等)。 + /// + internal readonly struct PerfTransportDiagnostics + { + public bool Available { get; } + public long DatagramsReceived { get; } + public long DatagramsEnqueued { get; } + public long DatagramsDropped { get; } + public long DatagramsDispatched { get; } + public long QueueCount { get; } + + public PerfTransportDiagnostics( + bool available, + long datagramsReceived, + long datagramsEnqueued, + long datagramsDropped, + long datagramsDispatched, + long queueCount) + { + Available = available; + DatagramsReceived = datagramsReceived; + DatagramsEnqueued = datagramsEnqueued; + DatagramsDropped = datagramsDropped; + DatagramsDispatched = datagramsDispatched; + QueueCount = queueCount; + } + + public static PerfTransportDiagnostics Unavailable() => new PerfTransportDiagnostics(false, 0L, 0L, 0L, 0L, 0L); + } +} +``` + +- [ ] **Step 2: `PerfSubscriptionDiagnostics.cs` を作成** + +`Ros2Unity/Assets/Perf/PerfSubscriptionDiagnostics.cs`: + +```csharp +namespace ROSettaDDS.UnityPerfHarness +{ + /// + /// Subscription 診断値を perf 計測用に写像した値オブジェクト。 + /// + internal readonly struct PerfSubscriptionDiagnostics + { + public long PayloadsReceivedFromReader { get; } + public long MessagesDeserialized { get; } + public long DeserializeFailures { get; } + public long HandlerInvocations { get; } + public long DataSubmessagesReceived { get; } + public long DataFragSubmessagesReceived { get; } + public long ReassembledPayloads { get; } + public long PayloadsDelivered { get; } + public long PayloadsBufferedPendingMatch { get; } + public long PayloadsDropped { get; } + + public PerfSubscriptionDiagnostics( + long payloadsReceivedFromReader, + long messagesDeserialized, + long deserializeFailures, + long handlerInvocations, + long dataSubmessagesReceived, + long dataFragSubmessagesReceived, + long reassembledPayloads, + long payloadsDelivered, + long payloadsBufferedPendingMatch, + long payloadsDropped) + { + PayloadsReceivedFromReader = payloadsReceivedFromReader; + MessagesDeserialized = messagesDeserialized; + DeserializeFailures = deserializeFailures; + HandlerInvocations = handlerInvocations; + DataSubmessagesReceived = dataSubmessagesReceived; + DataFragSubmessagesReceived = dataFragSubmessagesReceived; + ReassembledPayloads = reassembledPayloads; + PayloadsDelivered = payloadsDelivered; + PayloadsBufferedPendingMatch = payloadsBufferedPendingMatch; + PayloadsDropped = payloadsDropped; + } + } +} +``` + +- [ ] **Step 3: コミット** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +git add Ros2Unity/Assets/Perf/PerfTransportDiagnostics.cs \ + Ros2Unity/Assets/Perf/PerfSubscriptionDiagnostics.cs +git commit -m "feat(perf): PerfTransportDiagnostics / PerfSubscriptionDiagnostics 値オブジェクトを追加" +``` + +--- + +## Task 7: `PerfDiagnosticsBuilder.BuildReceive` (TDD) + +**Files:** +- Create: `Ros2Unity/Assets/Tests/EditMode/PerfDiagnosticsBuilderTests.cs` +- Create: `Ros2Unity/Assets/Perf/PerfDiagnosticsBuilder.cs` + +- [ ] **Step 1: 失敗するテストを書く** + +`Ros2Unity/Assets/Tests/EditMode/PerfDiagnosticsBuilderTests.cs`: + +```csharp +using NUnit.Framework; +using ROSettaDDS.UnityPerfHarness; + +namespace ROSettaDDS.UnityVerification.Tests +{ + public sealed class PerfDiagnosticsBuilderTests + { + private static PerfTransportDiagnostics MakeUdp( + long received = 0, long enqueued = 0, long dropped = 0, + long dispatched = 0, long queue = 0) + => new PerfTransportDiagnostics(true, received, enqueued, dropped, dispatched, queue); + + private static PerfSubscriptionDiagnostics MakeSub( + long payloads = 0, long deserialized = 0, long failures = 0, + long handlerInvocations = 0, long dataSubmsg = 0, long dataFragSubmsg = 0, + long reassembled = 0, long delivered = 0, long buffered = 0, long dropped = 0) + => new PerfSubscriptionDiagnostics( + payloads, deserialized, failures, handlerInvocations, + dataSubmsg, dataFragSubmsg, reassembled, delivered, buffered, dropped); + + [Test] + public void BuildReceive_all_available_emits_all_keys() + { + var userUnicast = MakeUdp(received: 100); + var userMulticast = MakeUdp(received: 50); + var sub = MakeSub(deserialized: 200); + + var fields = PerfDiagnosticsBuilder.BuildReceive(userUnicast, userMulticast, sub); + + // 期待: 2 transport × 6 + 10 subscription = 22 キー + Assert.AreEqual(22, fields.Count); + Assert.AreEqual(true, fields["user_unicast_transport_diagnostics_available"]); + Assert.AreEqual(true, fields["user_multicast_transport_diagnostics_available"]); + Assert.AreEqual(100L, fields["user_unicast_udp_datagrams_received"]); + Assert.AreEqual(50L, fields["user_multicast_udp_datagrams_received"]); + Assert.AreEqual(200L, fields["subscription_messages_deserialized"]); + } + + [Test] + public void BuildReceive_user_unicast_unavailable_emits_only_transport_diagnostics_available_false() + { + var userUnicast = PerfTransportDiagnostics.Unavailable(); + var userMulticast = MakeUdp(received: 10); + var sub = MakeSub(); + + var fields = PerfDiagnosticsBuilder.BuildReceive(userUnicast, userMulticast, sub); + + Assert.AreEqual(false, fields["user_unicast_transport_diagnostics_available"]); + // user_unicast_udp_* キーは出ない + Assert.IsFalse(fields.ContainsKey("user_unicast_udp_datagrams_received")); + Assert.IsFalse(fields.ContainsKey("user_unicast_udp_datagrams_enqueued")); + // user_multicast は出る + Assert.AreEqual(10L, fields["user_multicast_udp_datagrams_received"]); + } + + [Test] + public void BuildReceive_propagates_subscription_values() + { + var sub = MakeSub( + payloads: 1, deserialized: 2, failures: 3, handlerInvocations: 4, + dataSubmsg: 5, dataFragSubmsg: 6, reassembled: 7, delivered: 8, + buffered: 9, dropped: 10); + + var fields = PerfDiagnosticsBuilder.BuildReceive( + PerfTransportDiagnostics.Unavailable(), + PerfTransportDiagnostics.Unavailable(), + sub); + + Assert.AreEqual(1L, fields["subscription_payloads_from_reader"]); + Assert.AreEqual(2L, fields["subscription_messages_deserialized"]); + Assert.AreEqual(3L, fields["subscription_deserialize_failures"]); + Assert.AreEqual(4L, fields["subscription_handler_invocations"]); + Assert.AreEqual(5L, fields["rtps_data_submessages_received"]); + Assert.AreEqual(6L, fields["rtps_datafrag_submessages_received"]); + Assert.AreEqual(7L, fields["rtps_reassembled_payloads"]); + Assert.AreEqual(8L, fields["rtps_payloads_delivered"]); + Assert.AreEqual(9L, fields["rtps_payloads_buffered_pending_match"]); + Assert.AreEqual(10L, fields["rtps_payloads_dropped"]); + } + + [Test] + public void BuildReceive_expected_key_set_when_all_unavailable() + { + var fields = PerfDiagnosticsBuilder.BuildReceive( + PerfTransportDiagnostics.Unavailable(), + PerfTransportDiagnostics.Unavailable(), + MakeSub()); + + // 期待: 2 transport_diagnostics_available + 10 subscription = 12 キー + Assert.AreEqual(12, fields.Count); + } + } +} +``` + +- [ ] **Step 2: テストが失敗することを確認 (コンパイルエラー)** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +bash scripts/unity/run_editmode.sh --batch --filter-type assembly --filter-value ROSettaDDS.UnityVerification.Tests 2>&1 | tail -20 +``` + +期待: `PerfDiagnosticsBuilder` 型が見つからないコンパイルエラー。 + +- [ ] **Step 3: 最小実装を追加** + +`Ros2Unity/Assets/Perf/PerfDiagnosticsBuilder.cs`: + +```csharp +using System.Collections.Generic; + +namespace ROSettaDDS.UnityPerfHarness +{ + /// + /// measure_done event の receive diagnostics 部分ペイロード構築ヘルパー。 + /// live 型 (UdpTransport / Subscription) を知らず、値オブジェクトだけを受け取る。 + /// + internal static class PerfDiagnosticsBuilder + { + internal static IDictionary BuildReceive( + PerfTransportDiagnostics userUnicast, + PerfTransportDiagnostics userMulticast, + PerfSubscriptionDiagnostics subscription) + { + var fields = new Dictionary(); + AddTransport(fields, "user_unicast", userUnicast); + AddTransport(fields, "user_multicast", userMulticast); + + fields["subscription_payloads_from_reader"] = subscription.PayloadsReceivedFromReader; + fields["subscription_messages_deserialized"] = subscription.MessagesDeserialized; + fields["subscription_deserialize_failures"] = subscription.DeserializeFailures; + fields["subscription_handler_invocations"] = subscription.HandlerInvocations; + fields["rtps_data_submessages_received"] = subscription.DataSubmessagesReceived; + fields["rtps_datafrag_submessages_received"] = subscription.DataFragSubmessagesReceived; + fields["rtps_reassembled_payloads"] = subscription.ReassembledPayloads; + fields["rtps_payloads_delivered"] = subscription.PayloadsDelivered; + fields["rtps_payloads_buffered_pending_match"] = subscription.PayloadsBufferedPendingMatch; + fields["rtps_payloads_dropped"] = subscription.PayloadsDropped; + return fields; + } + + private static void AddTransport( + IDictionary fields, + string prefix, + PerfTransportDiagnostics transport) + { + fields[prefix + "_transport_diagnostics_available"] = transport.Available; + if (!transport.Available) return; + fields[prefix + "_udp_datagrams_received"] = transport.DatagramsReceived; + fields[prefix + "_udp_datagrams_enqueued"] = transport.DatagramsEnqueued; + fields[prefix + "_udp_datagrams_dropped"] = transport.DatagramsDropped; + fields[prefix + "_udp_datagrams_dispatched"] = transport.DatagramsDispatched; + fields[prefix + "_udp_queue_count"] = transport.QueueCount; + } + } +} +``` + +- [ ] **Step 4: テストが成功することを確認** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +bash scripts/unity/run_editmode.sh --batch --filter-type assembly --filter-value ROSettaDDS.UnityVerification.Tests 2>&1 | tail -20 +``` + +期待: `PerfDiagnosticsBuilderTests` 4 ケース pass。 + +- [ ] **Step 5: コミット** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +git add Ros2Unity/Assets/Tests/EditMode/PerfDiagnosticsBuilderTests.cs \ + Ros2Unity/Assets/Perf/PerfDiagnosticsBuilder.cs +git commit -m "feat(perf): PerfDiagnosticsBuilder.BuildReceive を追加 (TDD)" +``` + +--- + +## Task 8: `StopwatchPerfClock` + `StopwatchWrapper` (TDD) + +**Files:** +- Create: `Ros2Unity/Assets/Perf/StopwatchWrapper.cs` +- Create: `Ros2Unity/Assets/Perf/StopwatchPerfClock.cs` +- Create: `Ros2Unity/Assets/Tests/EditMode/StopwatchPerfClockTests.cs` (任意、Task 1 の asmdef が無いため test asmdef に追加) + +注: テストファイルは既存 `PerfHarnessRegressionTests.cs` と同じアセンブリに含める。新規ファイル追加で十分。 + +- [ ] **Step 1: `StopwatchWrapper.cs` を作成** + +`Ros2Unity/Assets/Perf/StopwatchWrapper.cs`: + +```csharp +using System; +using System.Diagnostics; + +namespace ROSettaDDS.UnityPerfHarness +{ + /// + /// System.Diagnostics.Stopwatch を IPerfStopwatch にラップする adapter。 + /// Dispose は using 構文対応のため (Stopwatch 自体は IDisposable ではないため no-op)。 + /// + internal sealed class StopwatchWrapper : IPerfStopwatch + { + private readonly Stopwatch _stopwatch; + + internal StopwatchWrapper(Stopwatch stopwatch) + { + _stopwatch = stopwatch ?? throw new ArgumentNullException(nameof(stopwatch)); + } + + public TimeSpan Elapsed => _stopwatch.Elapsed; + public void Stop() => _stopwatch.Stop(); + public void Dispose() { /* no-op: Stopwatch は native resource を保持しない */ } + } +} +``` + +- [ ] **Step 2: `StopwatchPerfClock.cs` を作成** + +`Ros2Unity/Assets/Perf/StopwatchPerfClock.cs`: + +```csharp +using System.Diagnostics; + +namespace ROSettaDDS.UnityPerfHarness +{ + /// + /// 実 Stopwatch を使う IPerfClock 実装。 + /// + internal sealed class StopwatchPerfClock : IPerfClock + { + public IPerfStopwatch Start() => new StopwatchWrapper(Stopwatch.StartNew()); + } +} +``` + +- [ ] **Step 3: テスト追加 (任意、step 4 の統合テストで間接的にカバーされる)** + +`Ros2Unity/Assets/Tests/EditMode/PerfHarnessRegressionTests.cs` の `PerfHarnessRegressionTests` クラス末尾に追加: + +```csharp + [Test] + public void StopwatchPerfClock_measures_elapsed_time() + { + var clock = new StopwatchPerfClock(); + var sw = clock.Start(); + System.Threading.Thread.Sleep(10); + Assert.GreaterOrEqual(sw.Elapsed.TotalMilliseconds, 5.0d); + sw.Stop(); + } + + [Test] + public void StopwatchWrapper_Stop_does_not_throw() + { + var clock = new StopwatchPerfClock(); + var sw = clock.Start(); + sw.Stop(); + sw.Stop(); // 2 回呼んでも例外なし + } +``` + +- [ ] **Step 4: テストが成功することを確認** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +bash scripts/unity/run_editmode.sh --batch --filter-type assembly --filter-value ROSettaDDS.UnityVerification.Tests 2>&1 | tail -20 +``` + +期待: `PerfHarnessRegressionTests` 5 ケース pass (既存 3 + 追加 2)。 + +- [ ] **Step 5: コミット** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +git add Ros2Unity/Assets/Perf/StopwatchWrapper.cs \ + Ros2Unity/Assets/Perf/StopwatchPerfClock.cs \ + Ros2Unity/Assets/Tests/EditMode/PerfHarnessRegressionTests.cs +git commit -m "feat(perf): StopwatchPerfClock / StopwatchWrapper (IPerfClock 実装) を追加" +``` + +--- + +## Task 9: `PerfMetricsWriter` を `IPerfMetricsSink` 実装に refactor + +**Files:** +- Modify: `Ros2Unity/Assets/Perf/PerfMetricsWriter.cs` + +注: 既存テスト (PerfHarnessRegressionTests 等) はこのクラスに直接触れていないため、リファクタ後 EditMode テストで `PerfJson` 経由の挙動が等価であることを担保する。 + +- [ ] **Step 1: `PerfMetricsWriter.cs` を以下に置換** + +`Ros2Unity/Assets/Perf/PerfMetricsWriter.cs`: + +```csharp +using System; +using System.Collections.Generic; +using System.IO; +using System.Text; +using UnityEngine; + +namespace ROSettaDDS.UnityPerfHarness +{ + internal sealed class PerfMetricsWriter : IPerfMetricsSink + { + private readonly PerfPlayerArguments _args; + private readonly StreamWriter _writer; + + internal PerfMetricsWriter(PerfPlayerArguments args) + { + _args = args; + string directory = Path.GetDirectoryName(args.MetricsFile); + if (!string.IsNullOrEmpty(directory)) + { + Directory.CreateDirectory(directory); + } + _writer = new StreamWriter(args.MetricsFile, false, new UTF8Encoding(false)); + _writer.AutoFlush = true; + } + + internal void Event(string name, IDictionary fields = null) + { + var builder = new StringBuilder(); + builder.Append('{'); + PerfJson.WriteString(builder, "event", name, first: true); + PerfJson.WriteString(builder, "scenario", _args.Scenario); + PerfJson.WriteString(builder, "direction", _args.DirectionName); + PerfJson.WriteString(builder, "qos", _args.QosName); + PerfJson.WriteNumber(builder, "payload_bytes", _args.PayloadBytes); + PerfJson.WriteNumber(builder, "messages", _args.Messages); + if (fields != null) + { + foreach (var pair in fields) + { + PerfJson.WriteValue(builder, pair.Key, pair.Value); + } + } + builder.Append('}'); + string line = builder.ToString(); + _writer.WriteLine(line); + Debug.Log(line); + } + + internal void WriteSentinel(string path, string content) + { + string directory = Path.GetDirectoryName(path); + if (!string.IsNullOrEmpty(directory)) + { + Directory.CreateDirectory(directory); + } + File.WriteAllText(path, content, new UTF8Encoding(false)); + } + + public void Dispose() + { + _writer.Dispose(); + } + } +} +``` + +注: `internal void Event` は `IPerfMetricsSink.Event` を実装 (interface も `internal` なのでアクセス互換)。 +`internal void WriteSentinel` も同様。 + +- [ ] **Step 2: 既存 EditMode テストが pass することを確認 (回帰確認)** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +bash scripts/unity/run_editmode.sh --batch --filter-type assembly --filter-value ROSettaDDS.UnityVerification.Tests 2>&1 | tail -20 +``` + +期待: 全テスト pass (PerfJsonTests 16 / MeasureDoneBuilderTests 8 / PerfDiagnosticsBuilderTests 4 / PerfHarnessRegressionTests 5 = 33 ケース)。 + +- [ ] **Step 3: コミット** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +git add Ros2Unity/Assets/Perf/PerfMetricsWriter.cs +git commit -m "refactor(perf): PerfMetricsWriter を PerfJson 経由 + IPerfMetricsSink 実装に書き換え" +``` + +--- + +## Task 10: `PerfProfilerRecorders` を `IPerfProfilerSampler` 実装に refactor + +**Files:** +- Modify: `Ros2Unity/Assets/Perf/PerfProfilerRecorders.cs` + +- [ ] **Step 1: クラス宣言に interface 実装を追加** + +`Ros2Unity/Assets/Perf/PerfProfilerRecorders.cs` の `internal sealed class PerfProfilerRecorders : IDisposable` を `internal sealed class PerfProfilerRecorders : IPerfProfilerSampler` に変更 (1 行)。 + +- [ ] **Step 2: テストが pass することを確認 (回帰確認)** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +bash scripts/unity/run_editmode.sh --batch --filter-type assembly --filter-value ROSettaDDS.UnityVerification.Tests 2>&1 | tail -20 +``` + +期待: 全テスト pass (33 ケース)。 + +- [ ] **Step 3: コミット** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +git add Ros2Unity/Assets/Perf/PerfProfilerRecorders.cs +git commit -m "refactor(perf): PerfProfilerRecorders を IPerfProfilerSampler 実装に" +``` + +--- + +## Task 11: `PerfPlayerEntry.Run*` の signature 変更 + +**Files:** +- Modify: `Ros2Unity/Assets/Perf/PerfPlayerEntry.cs` + +注: 大きな signature 変更。本タスクは signature のみ変更し、本体内ロジックは次タスク (12 / 13) で builder 呼び出しに置換する。`Run` メソッドも更新して新 signature を呼ぶ形にする。 + +- [ ] **Step 1: `Run` メソッドを更新** + +`Ros2Unity/Assets/Perf/PerfPlayerEntry.cs` の `Run` メソッド (line 31-79) を以下に置換: + +```csharp + private static async Task Run(string[] args) + { + try + { + if (!PerfPlayerArguments.TryParse(args, out var parsed, out string error)) + { + UnityEngine.Debug.LogError(error); + Quit(1); + return; + } + + using (var sink = new PerfMetricsWriter(parsed)) + { + try + { + sink.Event("start"); + using (var sampler = parsed.ProfilerMode == PerfProfilerMode.Full + ? PerfProfilerRecorders.StartFull() + : PerfProfilerRecorders.StartLean()) + { + IPerfClock clock = new StopwatchPerfClock(); + if (parsed.Direction == PerfDirection.UnityToRos2) + { + using (var participant = CreateParticipant(parsed, "player_pub")) + { + await RunUnityToRos2(parsed, participant, sink, sampler, clock); + } + } + else + { + using (var participant = CreateParticipant(parsed, "player_sub")) + { + await RunRos2ToUnity(parsed, participant, sink, sampler, clock); + } + } + } + await WaitForRelease(parsed, sink); + sink.WriteSentinel(parsed.DoneFile, "ok"); + sink.Event("done"); + Quit(0); + } + catch (Exception ex) + { + sink.Event("error", new Dictionary { { "message", ex.ToString() } }); + sink.WriteSentinel(parsed.DoneFile, "error"); + Quit(1); + } + } + } + catch (Exception ex) + { + UnityEngine.Debug.LogError(ex); + Quit(1); + } + } +``` + +注: 旧 `metrics.Event("start")` (line 46) を `sink.Event("start")` に置換。`using (var participant = ...)` は `Run` メソッド側で participant を所有・dispose する形に整理。**`Run*` メソッドは participant を dispose しない (呼び出し元責任)**。 + +- [ ] **Step 2: `RunUnityToRos2` / `RunRos2ToUnity` の signature を変更** + +`RunUnityToRos2` (line 81) を以下に置換: + +```csharp + internal static async Task RunUnityToRos2( + PerfPlayerArguments args, + DomainParticipant participant, + IPerfMetricsSink sink, + IPerfProfilerSampler sampler, + IPerfClock clock) + { + using (var publisher = participant.CreatePublisher( + args.Topic, + StringMessageSerializer.Instance, + args.Reliability, + DurabilityQos.Volatile)) + { + participant.Start(); + sink.WriteSentinel(args.ReadyFile, "ready"); + sink.Event("ready"); + + bool matched = await publisher.WaitForMatchedAsync(1, TimeSpan.FromSeconds(10)); + if (!matched) + { + throw new TimeoutException("Publisher did not match a ROS 2 subscriber."); + } + + sink.Event("matched"); + var message = CreatePayloadMessage(args.PayloadBytes); + int serializedBytes = publisher.SerializeWithEncapsulation(message).Length; + + using (IPerfStopwatch sw = clock.Start()) + { + sink.Event("measure_start"); + await publisher.PublishRepeatedAsync(message, args.Messages); + sw.Stop(); + + IDictionary profilerFields = sampler.Snapshot(); + IDictionary fields = MeasureDoneBuilder.BuildPublish( + sw.Elapsed, args.Messages, serializedBytes, profilerFields); + sink.Event("measure_done", fields); + } + } + } +``` + +注: 旧 `using (participant)` (line 86) は **削除**。participant は引数で受けるが、ライフサイクルは呼び出し元 (Run メソッド) の責任。これにより EditMode テストから渡された `pair.Writer` を二重 dispose しない。 + +`RunRos2ToUnity` (line 121) を以下に置換: + +```csharp + internal static async Task RunRos2ToUnity( + PerfPlayerArguments args, + DomainParticipant participant, + IPerfMetricsSink sink, + IPerfProfilerSampler sampler, + IPerfClock clock) + { + int received = 0; + IPerfStopwatch sw = null; + using (var subscription = participant.CreateSubscription( + args.Topic, + StringMessageSerializer.Instance, + _ => + { + if (Interlocked.Increment(ref received) == 1) + { + sw = clock.Start(); + } + }, + reliability: args.Reliability)) + { + participant.Start(); + sink.WriteSentinel(args.ReadyFile, "ready"); + sink.Event("ready"); + + bool matched = await subscription.WaitForMatchedAsync(1, TimeSpan.FromSeconds(20)); + if (!matched) + { + throw new TimeoutException("Subscription did not match a ROS 2 publisher."); + } + sink.Event("matched"); + sink.Event("measure_start"); + + bool completed = await AsyncReceiveWaiter.WaitUntilAsync( + () => Volatile.Read(ref received) >= args.Messages, + TimeSpan.FromSeconds(30), + async delay => + { + sampler.Collect(); + await Task.Delay(delay); + }); + if (!completed) + { + sink.Event("receive_diagnostics", BuildReceiveDiagnostics(participant, subscription)); + throw new TimeoutException( + "Timed out waiting for ROS 2 messages: received " + + Volatile.Read(ref received) + "/" + args.Messages + "."); + } + sw?.Stop(); + + var message = CreatePayloadMessage(args.PayloadBytes); + int serializedBytes = CdrEncapsulation.Size + StringMessageSerializer.Instance.GetSerializedSize(message); + IDictionary profilerFields = sampler.Snapshot(); + IDictionary diagnostics = CollectReceiveDiagnostics(participant, subscription); + IDictionary fields = MeasureDoneBuilder.BuildSubscribe( + sw?.Elapsed ?? TimeSpan.Zero, received, serializedBytes, profilerFields, diagnostics); + sink.Event("measure_done", fields); + } + } +``` + +注: 同じく旧 `using (participant)` (line 128) を削除。 + +- [ ] **Step 3: 補助メソッドを helper 経由に置換** + +`AddReceiveDiagnostics` / `AddTransportDiagnostics` / `BuildReceiveDiagnostics` を残し、`CollectReceiveDiagnostics` (live 型から値オブジェクトへ写像) を新規追加: + +```csharp + private static IDictionary BuildReceiveDiagnostics( + DomainParticipant participant, + Subscription subscription) + { + return PerfDiagnosticsBuilder.BuildReceive( + CollectTransport(participant.UserUnicastTransport), + CollectTransport(participant.UserMulticastTransport), + CollectSubscription(subscription)); + } + + private static IDictionary CollectReceiveDiagnostics( + DomainParticipant participant, + Subscription subscription) + { + return BuildReceiveDiagnostics(participant, subscription); + } + + private static PerfTransportDiagnostics CollectTransport(IRtpsTransport transport) + { + if (transport is not UdpTransport udp) + { + return PerfTransportDiagnostics.Unavailable(); + } + var d = udp.Diagnostics; + return new PerfTransportDiagnostics( + available: true, + datagramsReceived: d.DatagramsReceived, + datagramsEnqueued: d.DatagramsEnqueued, + datagramsDropped: d.DatagramsDropped, + datagramsDispatched: d.DatagramsDispatched, + queueCount: d.QueueCount); + } + + private static PerfSubscriptionDiagnostics CollectSubscription(Subscription subscription) + { + var d = subscription.Diagnostics; + var rtps = d.RtpsReader; + return new PerfSubscriptionDiagnostics( + payloadsReceivedFromReader: d.PayloadsReceivedFromReader, + messagesDeserialized: d.MessagesDeserialized, + deserializeFailures: d.DeserializeFailures, + handlerInvocations: d.HandlerInvocations, + dataSubmessagesReceived: rtps.DataSubmessagesReceived, + dataFragSubmessagesReceived: rtps.DataFragSubmessagesReceived, + reassembledPayloads: rtps.ReassembledPayloads, + payloadsDelivered: rtps.PayloadsDelivered, + payloadsBufferedPendingMatch: rtps.PayloadsBufferedPendingMatch, + payloadsDropped: rtps.PayloadsDropped); + } +``` + +`AddReceiveDiagnostics` / `AddTransportDiagnostics` の旧メソッドは **削除** (内部呼び出し箇所は Task 11 / 12 で置換済み)。`BuildReceiveDiagnostics` は `receive_diagnostics` event 用に残る。 + +- [ ] **Step 4: コンパイルが通ることを確認** + +Unity Editor の Compile 完了を待機 (uloop / batchmode)。`Assets/Perf/ROSettaDDS.UnityPerfHarness.asmdef` 配下でコンパイルエラーが出ないこと。 + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +bash scripts/unity/run_editmode.sh --batch 2>&1 | tail -30 +``` + +期待: EditMode テスト実行が走り、`ROSettaDDS.UnityVerification.Tests` 関連のエラーが 0 件。 + +- [ ] **Step 5: 既存テストが pass することを確認** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +bash scripts/unity/run_editmode.sh --batch 2>&1 | tail -20 +``` + +期待: 33 ケース + 既存 ROSettaDDSUnityVerificationTests すべて pass。 + +- [ ] **Step 6: コミット** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +git add Ros2Unity/Assets/Perf/PerfPlayerEntry.cs +git commit -m "refactor(perf): Run* の signature を 5 引数 (participant + 3 interface) に変更" +``` + +--- + +## Task 12: NDJSON 出力が現行と完全互換であることを手動確認 + +注: 統合テスト (`PerfRunFlowTests`) は Task 14 / 15 で追加する。本タスクは **既存の動作が手元 (可能なら `dotnet run --project tools/rosettadds-perf-runner` で) 確認できること** が要件。Unity Editor 上で Perf Player をビルドし、`--skip-build` で 1 scenario 実行 → NDJSON を baseline と diff。 + +**Files:** +- (no file changes) + +- [ ] **Step 1: 既存 baseline NDJSON をバックアップ** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +ls artifacts/perf/ | tail -3 +# 直近の run-id をメモ (例: 20260628-153000) +BASELINE_RUN=20260628-153000 # ← 実値に置換 +mkdir -p /tmp/perf-baseline +cp artifacts/perf/$BASELINE_RUN/*/metrics.ndjson /tmp/perf-baseline/ 2>/dev/null || echo "no baseline metrics" +``` + +注: `BASELINE_RUN` は直近の run-id ディレクトリのいずれかを指定。なければ本タスクはスキップ可 (次タスクの統合テストで担保)。 + +- [ ] **Step 2: 1 scenario を実行して NDJSON を取得** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +# 1) Player をリビルド (新コード含む) +uloop execute-dynamic-code --project-path Ros2Unity --code \ + 'ROSettaDDS.EditorTools.ROSettaDDSPerfPlayerBuilder.BuildPlayer("artifacts/perf/refactor-build", "StandaloneLinux64", "mono"); return "ok";' +# 2) 1 scenario のみ実行 +dotnet run --project tools/rosettadds-perf-runner -- \ + --skip-build --player-build artifacts/perf/refactor-build/ROSettaDDSPerfPlayer \ + --scenario unity-to-ros2-reliable-32 --capture-frames 600 +# 3) 直近の run-id の NDJSON を取得 +NEW_RUN=$(ls -t artifacts/perf/ | head -1) +echo "new run: $NEW_RUN" +``` + +- [ ] **Step 3: baseline と diff (キー名の一致確認)** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +# 各 NDJSON のキー名セットを比較 (値は timing jitter で異なるので比較しない) +NEW_DIR=artifacts/perf/$NEW_RUN/unity-to-ros2-reliable-32 +for f in $NEW_DIR/metrics.ndjson; do + echo "=== $f ===" + # 各行の key のみ抽出 (":" の前) + cat "$f" | tr ',' '\n' | sed 's/:.*//' | sort -u +done +``` + +期待: event vocabulary (`event`, `scenario`, `direction`, `qos`, `payload_bytes`, `messages`, `elapsed_ms`, `sent`, `serialized_bytes_per_message`, `serialized_bytes`, `messages_per_second`, `*_available`, `*_last`) が baseline と一致すること。 + +- [ ] **Step 4: コミット (差分なし、verification タスク完了の squash 用)** + +差分なしなら commit 不要。次の Task に進む。 + +--- + +## Task 13: Fake テストインフラ + +**Files:** +- Create: `Ros2Unity/Assets/Tests/EditMode/PerfHarnessFakes.cs` + +- [ ] **Step 1: Fake クラスを作成** + +`Ros2Unity/Assets/Tests/EditMode/PerfHarnessFakes.cs`: + +```csharp +using System; +using System.Collections.Generic; +using System.Diagnostics; +using ROSettaDDS.UnityPerfHarness; + +namespace ROSettaDDS.UnityVerification.Tests +{ + /// + /// EditMode テスト用の IPerfMetricsSink fake。 + /// 出力された event と sentinel を記録する。 + /// + internal sealed class FakePerfMetricsSink : IPerfMetricsSink + { + public List<(string Name, IDictionary Fields)> Events { get; } = new(); + public List<(string Path, string Content)> Sentinels { get; } = new(); + + public void Event(string name, IDictionary fields = null) + { + Events.Add((name, fields ?? new Dictionary())); + } + + public void WriteSentinel(string path, string content) + { + Sentinels.Add((path, content)); + } + + public void Dispose() { } + } + + /// + /// EditMode テスト用の IPerfProfilerSampler fake。 + /// 設定可能な Snapshot 戻り値を持つ。 + /// + internal sealed class FakePerfProfilerSampler : IPerfProfilerSampler + { + public int CollectCallCount { get; private set; } + public IDictionary NextSnapshot { get; set; } + = new Dictionary(); + + public void Collect() => CollectCallCount++; + + public IDictionary Snapshot() => NextSnapshot; + public void Dispose() { } + } + + /// + /// EditMode テスト用の IPerfClock fake。設定可能な Elapsed 値を返す。 + /// + internal sealed class FakePerfClock : IPerfClock + { + public TimeSpan Elapsed { get; set; } + public IPerfStopwatch Start() => new FakePerfStopwatch(this); + } + + /// + /// EditMode テスト用の IPerfStopwatch fake。 + /// + internal sealed class FakePerfStopwatch : IPerfStopwatch + { + private readonly FakePerfClock _clock; + public FakePerfStopwatch(FakePerfClock clock) { _clock = clock; } + public TimeSpan Elapsed => _clock.Elapsed; + public void Stop() { } + } +} +``` + +- [ ] **Step 2: ビルドが通ることを確認** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +bash scripts/unity/run_editmode.sh --batch 2>&1 | tail -10 +``` + +期待: コンパイルエラーなし。 + +- [ ] **Step 3: コミット** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +git add Ros2Unity/Assets/Tests/EditMode/PerfHarnessFakes.cs +git commit -m "test(perf): FakePerfMetricsSink/ProfilerSampler/Clock を追加" +``` + +--- + +## Task 14: `PerfRunFlowTests` 統合テスト (TDD) + +**Files:** +- Create: `Ros2Unity/Assets/Tests/EditMode/PerfRunFlowTests.cs` + +注: 既存 `ROSettaDDSUnityVerificationTests.cs` の `LoopbackParticipantPair` パターン (`UnityLoopbackTestSupport.CreatePair()`) を使う。`PerfPlayerEntry.RunUnityToRos2` / `RunRos2ToUnity` を fake sink/sampler/clock で実行する。 + +- [ ] **Step 1: 失敗するテストを書く** + +`Ros2Unity/Assets/Tests/EditMode/PerfRunFlowTests.cs`: + +```csharp +using System; +using System.Collections.Generic; +using System.Linq; +using System.Threading; +using System.Threading.Tasks; +using NUnit.Framework; +using ROSettaDDS.Dds; +using ROSettaDDS.Msgs.Std; +using ROSettaDDS.Transport; +using ROSettaDDS.UnityPerfHarness; + +namespace ROSettaDDS.UnityVerification.Tests +{ + public sealed class PerfRunFlowTests + { + private static string TempFile(string name) + => System.IO.Path.Combine(System.IO.Path.GetTempPath(), + "perf-test-" + System.Guid.NewGuid().ToString("N") + "-" + name); + + private static PerfPlayerArguments MakeArgs(PerfDirection direction, int messages = 8, int payload = 32) + { + string[] args = + { + "--rosettadds-perf", + "--rosettadds-scenario", "test", + "--rosettadds-direction", direction == PerfDirection.UnityToRos2 ? "unity_to_ros2" : "ros2_to_unity", + "--rosettadds-domain-id", "0", + "--rosettadds-topic", "/test_topic", + "--rosettadds-qos", "reliable", + "--rosettadds-payload-bytes", payload.ToString(), + "--rosettadds-messages", messages.ToString(), + "--rosettadds-ready-file", TempFile("ready"), + "--rosettadds-done-file", TempFile("done"), + "--rosettadds-metrics-file", TempFile("metrics.ndjson"), + }; + Assert.IsTrue(PerfPlayerArguments.TryParse(args, out var parsed, out var err), err); + return parsed; + } + + [Test] + public async Task RunUnityToRos2_emits_measure_done_with_expected_fields() + { + var pair = UnityLoopbackTestSupport.CreatePair(); + var sink = new FakePerfMetricsSink(); + var sampler = new FakePerfProfilerSampler + { + NextSnapshot = new Dictionary + { + { "main_thread_time_ns_available", true }, + { "main_thread_time_ns_last", 100L }, + }, + }; + var clock = new FakePerfClock { Elapsed = TimeSpan.FromMilliseconds(500) }; + var args = MakeArgs(PerfDirection.UnityToRos2, messages: 4); + + // RunRos2ToUnity は participant を dispose しない (Task 11 参照)。 + // ので、counterparty subscriber を pre-set して matching を通す。 + int dummyReceived = 0; + using var sub = pair.Reader.CreateSubscription( + args.Topic, StringMessageSerializer.Instance, _ => Interlocked.Increment(ref dummyReceived)); + + await PerfPlayerEntry.RunUnityToRos2(args, pair.Writer, sink, sampler, clock); + + var measureDone = sink.Events.FirstOrDefault(e => e.Name == "measure_done"); + Assert.IsNotNull(measureDone.Name); + var f = measureDone.Fields; + Assert.AreEqual(4L, f["sent"]); + Assert.AreEqual(500.0d, f["elapsed_ms"]); + Assert.IsTrue(f.ContainsKey("serialized_bytes_per_message")); + Assert.IsTrue(f.ContainsKey("serialized_bytes")); + Assert.IsTrue(f.ContainsKey("messages_per_second")); + Assert.AreEqual(true, f["main_thread_time_ns_available"]); + } + + [Test] + public async Task RunRos2ToUnity_emits_measure_done_with_diagnostics() + { + var pair = UnityLoopbackTestSupport.CreatePair(); + var sink = new FakePerfMetricsSink(); + var sampler = new FakePerfProfilerSampler + { + NextSnapshot = new Dictionary(), + }; + var clock = new FakePerfClock { Elapsed = TimeSpan.FromSeconds(1) }; + var args = MakeArgs(PerfDirection.Ros2ToUnity, messages: 4); + + // Pre-set publisher on Writer side, then publish 4 messages. + using var pub = pair.Writer.CreatePublisher( + args.Topic, StringMessageSerializer.Instance); + // Wait for SEDP match so messages will be delivered. + // (matching requires both sides to be started; pair.Start() was called inside CreatePair) + for (int i = 0; i < 4; i++) + { + await pub.PublishAsync(new StringMessage("test-" + i)); + } + + await PerfPlayerEntry.RunRos2ToUnity(args, pair.Reader, sink, sampler, clock); + + var measureDone = sink.Events.FirstOrDefault(e => e.Name == "measure_done"); + Assert.IsNotNull(measureDone.Name); + var f = measureDone.Fields; + // subscription が事前 publish した分も受け取るため、>= 4 + Assert.GreaterOrEqual((long)f["received"], 4L); + Assert.IsTrue(f.ContainsKey("subscription_messages_deserialized")); + // loopback transport は UdpTransport ではないため transport_diagnostics_available = false + Assert.AreEqual(false, f["user_unicast_transport_diagnostics_available"]); + Assert.AreEqual(false, f["user_multicast_transport_diagnostics_available"]); + } + + [Test, Explicit("Slow: 20+ seconds due to hardcoded match/receive timeouts")] + public void RunRos2ToUnity_timeout_emits_receive_diagnostics_and_throws() + { + var pair = UnityLoopbackTestSupport.CreatePair(); + var sink = new FakePerfMetricsSink(); + var sampler = new FakePerfProfilerSampler + { + NextSnapshot = new Dictionary(), + }; + var clock = new FakePerfClock { Elapsed = TimeSpan.Zero }; + var args = MakeArgs(PerfDirection.Ros2ToUnity, messages: 1000); + + // Pre-set publisher for matching, but don't publish → receive will timeout + using var pub = pair.Writer.CreatePublisher( + args.Topic, StringMessageSerializer.Instance); + + Assert.ThrowsAsync(async () => + await PerfPlayerEntry.RunRos2ToUnity(args, pair.Reader, sink, sampler, clock)); + + // receive_diagnostics event が出力されているはず + var rxDiag = sink.Events.FirstOrDefault(e => e.Name == "receive_diagnostics"); + Assert.IsNotNull(rxDiag.Name); + } + + [Test] + public void PerfMetricsWriter_escapes_payload_in_event_name() + { + // PerfPlayerArguments.TryParse は scenario 値にどんな文字も通す。 + // escape されることを確認。 + string[] args = + { + "--rosettadds-perf", + "--rosettadds-scenario", "with\"quote\nnewline", + "--rosettadds-direction", "unity_to_ros2", + "--rosettadds-domain-id", "0", + "--rosettadds-topic", "/t", + "--rosettadds-qos", "reliable", + "--rosettadds-payload-bytes", "32", + "--rosettadds-messages", "1", + "--rosettadds-ready-file", TempFile("ready"), + "--rosettadds-done-file", TempFile("done"), + "--rosettadds-metrics-file", TempFile("metrics-escape.ndjson"), + }; + Assert.IsTrue(PerfPlayerArguments.TryParse(args, out var parsed, out var err), err); + using (var writer = new PerfMetricsWriter(parsed)) + { + writer.Event("start"); + } + string line = System.IO.File.ReadAllText(parsed.MetricsFile).Trim(); + // scenario 値に " と \n が含まれていた場合、エスケープされているはず + StringAssert.Contains("\\\"", line); + StringAssert.Contains("\\n", line); + } + } +} +``` + +注: 上記テストは `PerfPlayerEntry.RunUnityToRos2` / `RunRos2ToUnity` が `internal static` であり、テストアセンブリからアクセスできることが前提 (Task 11 で `internal` 化済)。Test 3 (`RunRos2ToUnity_timeout_*`) は `[Explicit]` でマークし、CI 高速化のためデフォルトでは skip。`bash scripts/unity/run_editmode.sh --batch --filter-type regex --filter-value RunRos2ToUnity_timeout` で個別実行可能。 + +- [ ] **Step 2: テストを実行 (EditMode)** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +bash scripts/unity/run_editmode.sh --batch --filter-type assembly --filter-value ROSettaDDS.UnityVerification.Tests 2>&1 | tail -30 +``` + +期待: `PerfRunFlowTests` のうち Test 1, 2, 4 が pass (Test 3 は Explicit なので skip)。既存 33 ケース + 3 ケース = 36 ケース pass。 + +- [ ] **Step 3: 失敗時のデバッグ** + +Test 1 / 2 が loopback で成立しない場合 (例: SEDP match に時間がかかりすぎる、`measure_done` の sent/received が予期せぬ値) は、Debug ログを有効にして `sink.Events` の中身を逐次確認する。失敗時は helper 単体テスト (`MeasureDoneBuilder.BuildPublish/Subscribe` への直接呼出) で担保する旨を findings に記録。 + +- [ ] **Step 4: コミット** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +git add Ros2Unity/Assets/Tests/EditMode/PerfRunFlowTests.cs +git commit -m "test(perf): PerfRunFlowTests (Run* 統合) を追加 (TDD)" +``` + +--- + +## Task 15: 受け入れ基準の最終確認 + +**Files:** +- (no file changes, verification のみ) + +- [ ] **Step 1: 既存 .NET unit test が緑であることを確認** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +dotnet test tools/rosettadds-perf-runner.Tests/ 2>&1 | tail -10 +dotnet test tests/rosettadds.Tests/rosettadds.Tests.csproj 2>&1 | tail -10 +``` + +期待: 両プロジェクト全テスト pass。 + +- [ ] **Step 2: Unity EditMode 全テストが緑であることを確認** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +bash scripts/unity/run_editmode.sh --batch 2>&1 | tail -20 +``` + +期待: 既存 + 新規 37 ケース pass。 + +- [ ] **Step 3: NDJSON 互換性確認 (Task 12 の続き)** + +Task 12 で取得した NDJSON を baseline と diff する。**`measure_done` event の key セットが完全一致** することを目視確認。 + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +NEW_RUN=$(ls -t artifacts/perf/ | head -1) +NEW_DIR=artifacts/perf/$NEW_RUN/unity-to-ros2-reliable-32 +cat $NEW_DIR/metrics.ndjson | tr ',' '\n' | sed 's/:.*//' | sort -u +# 期待されるキー: +# elapsed_ms, event, main_thread_time_ns_available, main_thread_time_ns_last, +# messages, messages_per_second, payload_bytes, qos, scenario, direction, +# serialized_bytes, serialized_bytes_per_message, sent +``` + +期待: 上記 13 キーが全て含まれる (順序不問)。 + +- [ ] **Step 4: Unity メタファイル確認** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +bash .github/scripts/check_unity_meta.sh 2>&1 | tail -20 +``` + +期待: 新規 .cs ファイルに .meta ファイルが存在し、orphan がないこと。Unity Editor を開いていないと .meta が生成されない場合は、Unity Editor を 1 度 batchmode 起動して生成する: + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +# Unity batchmode で Ros2Unity を開く (Assets/ をスキャンして .meta を生成) +# 具体的なコマンドは .opencode / common.sh の UNITY_EDITOR 設定に依存 +# 例: +"$UNITY_EDITOR" -batchmode -nographics -projectPath Ros2Unity -quit +``` + +- [ ] **Step 5: 変更のコミット (もし .meta ファイルを生成した場合)** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +git status +git add '*.meta' # 新規 .meta のみ add される +git commit -m "chore(unity): 新規ファイル群の .meta を追加" || echo "no new .meta files" +``` + +- [ ] **Step 6: ブランチ確認と push (任意)** + +```bash +cd /home/ojii3/src/github.com/ojii3/ROSettaDDS +git log --oneline main..HEAD +git push origin perf/unity-perf-harness-testability # リモートに push +``` + +- [ ] **Step 7: PR 作成の説明 (任意、AGENTS.md の方針に従う)** + +PR 説明文のドラフト: + +``` +## 概要 +Ros2Unity/Assets/Perf/ 配下を、純関数ヘルパー + interface 抽象中心の設計に再構成。 +EditMode から直接テストできる構造にし、perf run event 出力 (measure_done) の +構造を assert できるようにする。 + +## 変更内容 +- 4 interface 追加 (IPerfMetricsSink/ProfilerSampler/Clock/Stopwatch) +- 3 純関数ヘルパー追加 (PerfJson/MeasureDoneBuilder/PerfDiagnosticsBuilder) +- 2 値オブジェクト追加 (PerfTransportDiagnostics/PerfSubscriptionDiagnostics) +- 1 実装 (StopwatchPerfClock/StopwatchWrapper) +- PerfPlayerEntry.Run* の signature を 5 引数に変更 +- EditMode テスト 5 ファイル追加 (計 33 → 37 ケース) + +## 受け入れ基準 +- [x] 既存 + 新規 EditMode テスト 37 ケース pass +- [x] NDJSON event vocabulary / measure_done キー名 完全互換 +- [x] 公開 API への破壊的変更なし +- [x] check_unity_meta.sh クリーン + +## 参照 +- spec: docs/superpowers/specs/2026-06-29-unity-perf-harness-testability-design.md +- plan: docs/superpowers/plans/2026-06-29-unity-perf-harness-testability.md +``` + +--- + +## 補足: タスク全体のサマリ + +| Task | 内容 | 種別 | ケース追加 | +|---:|---|---|---:| +| 1 | 4 interface 作成 | foundation | 0 | +| 2 | PerfJson.Escape | TDD | +9 | +| 3 | PerfJson.Write* | TDD | +7 | +| 4 | MeasureDoneBuilder.BuildPublish | TDD | +5 | +| 5 | MeasureDoneBuilder.BuildSubscribe | TDD | +3 | +| 6 | 値オブジェクト 2 種 | plain | 0 | +| 7 | PerfDiagnosticsBuilder.BuildReceive | TDD | +4 | +| 8 | StopwatchPerfClock / Wrapper | TDD | +2 | +| 9 | PerfMetricsWriter refactor | refactor | 0 | +| 10 | PerfProfilerRecorders refactor | refactor | 0 | +| 11 | Run* signature 変更 | refactor | 0 | +| 12 | NDJSON 互換性確認 | verify | 0 | +| 13 | Fake インフラ | foundation | 0 | +| 14 | PerfRunFlowTests | TDD | +3 (1 [Explicit] skip) | +| 15 | 最終確認 | verify | 0 | +| | **合計** | | **+33** | + +(既存 PerfHarnessRegressionTests 3 → 5 への +2 を含む Task 8 の +2 を含む) + +最終的な EditMode テスト数: 既存 (Unity Verification) + 既存 PerfHarnessRegression 3 + 新規 PerfJson 16 + MeasureDoneBuilder 8 + PerfDiagnosticsBuilder 4 + PerfHarnessRegression 増分 2 + PerfRunFlow 3 (fast) + PerfRunFlow 1 (Explicit) = **約 +33 ケース**。 + +注: 仕様書 (spec) の 7.1 節では PerfRunFlowTests を 4 ケースとしていたが、Task 14 で timeout test を `[Explicit]` 化したため、デフォルト実行では 3 ケース + Explicit 1 ケース。CI 高速化のため、Explicit は手動実行。 diff --git a/docs/superpowers/specs/2026-06-29-unity-perf-harness-testability-design.md b/docs/superpowers/specs/2026-06-29-unity-perf-harness-testability-design.md new file mode 100644 index 0000000..5f288ea --- /dev/null +++ b/docs/superpowers/specs/2026-06-29-unity-perf-harness-testability-design.md @@ -0,0 +1,279 @@ +# Unity Perf Harness テスト容易化リファクタ + +## 背景 + +`Ros2Unity/Assets/Perf/PerfPlayerEntry.cs` (282 行) を中心に、Unity Perf Harness のテスト容易性に構造的な課題がある。`docs/superpowers/specs/2026-06-22-perf-revisit-findings.md` 系の一連の findings / design では計測値と計測ノイズの分析が進んだが、計測コード自体の設計品質については以下のギャップが残っている。 + +- `PerfPlayerEntry.RunUnityToRos2` / `RunRos2ToUnity` には EditMode ユニットテストが無い。`[RuntimeInitializeOnLoadMethod]` 経由でしか起動せず、`LoopbackHub` ベースの統合テストも現状 `ROSettaDDSUnityVerificationTests` 経由の派生パスのみで、Perf 計測 event 出力 (`measure_done` ペイロード) の構造を直接 assert できない。 +- `PerfMetricsWriter.Escape` などの JSON 純ロジック (`Perf/PerfMetricsWriter.cs:105-112`) に単体テストが無い。`\n` / `\r` / `"` / `\\` の 4 種 escape は手書きで、特殊文字 round-trip の検証がされていない。 +- `RunRos2ToUnity` 内の `AddReceiveDiagnostics` / `AddTransportDiagnostics` (`PerfPlayerEntry.cs:184-233`) は `DomainParticipant` / `Subscription` / `UdpTransport` の live 型に直依存し、fake を注入できない。 +- `measure_done` event のペイロード構築ロジック (`PerfPlayerEntry.cs:111-117` および `173-180`) が Dictionary 直書きで、field 名のタイポや過剰/不足を EditMode で検出できない。 +- `RunUnityToRos2` と `RunRos2ToUnity` の間で `Stopwatch` 初期化パターンや `recorders.Collect()` のタイミングに揺れがあり (`PerfPlayerEntry.cs:106-108` vs `127-137` / `155-160`)、テストでの再現時に差異が出る。 + +リファクタの主目的は **テスタビリティ向上**。NDJSON event vocabulary、sentinel file 動作、外部 CLI、Runner 側・ROS 2 helper 側とのインターフェースは一切変えない。 + +## スコープ + +`Ros2Unity/Assets/Perf/` 配下のみを変更。`tools/rosettadds-perf-runner/`, `tools/ros2-perf-helper/`, `docs/unity-verification.md` は触らない。 + +## 変更内容 + +### 1. `PerfJson` 純関数ヘルパーの新設 + +`PerfMetricsWriter.cs` の手書き JSON escape を `internal static class PerfJson` に切り出す。 + +```csharp +internal static class PerfJson +{ + internal static string Escape(string value); + internal static void WriteString(StringBuilder b, string key, string value, bool first = false); + internal static void WriteNumber(StringBuilder b, string key, long value, bool first = false); + internal static void WriteBoolean(StringBuilder b, string key, bool value, bool first = false); + internal static void WriteValue(StringBuilder b, string key, object value, bool first = false); +} +``` + +- `Escape` の挙動は **完全不変**: `null` → `""`、`\\` → `\\\\`、`"` → `\\"`、`\n` → `\\n`、`\r` → `\\r` の 4 種のみ。 +- `PerfMetricsWriter` はこれらの `PerfJson.*` メソッドを呼び出す薄いラッパになる。`Event` / `WriteSentinel` 等のパブリックな振る舞いは不変。 +- 数値フォーマットは `CultureInfo.InvariantCulture` 固定 (現行踏襲)。 + +### 2. `MeasureDoneBuilder` の新設 + +`RunUnityToRos2` / `RunRos2ToUnity` 内の `measure_done` event 構築ロジックを 2 つの static メソッドに抽出。 + +```csharp +internal static class MeasureDoneBuilder +{ + internal static IDictionary BuildPublish( + TimeSpan elapsed, + int sent, + int serializedBytesPerMessage, + IReadOnlyDictionary profilerFields); + + internal static IDictionary BuildSubscribe( + TimeSpan elapsed, + int received, + int serializedBytesPerMessage, + IReadOnlyDictionary profilerFields, + IReadOnlyDictionary diagnostics); +} +``` + +- `messages_per_second` の除算保護 (`Math.Max(0.000001d, ...)`) は現行踏襲。 +- `serialized_bytes = (long)serializedBytesPerMessage * count` も現行踏襲 (long オーバーフロー保護)。 +- `profilerFields` 内の `*_available` / `*_last` / `*_total` / `*_samples` キーはそのまま merge される。 + +### 3. `PerfDiagnosticsBuilder` と値オブジェクトの追加 + +`AddReceiveDiagnostics` / `AddTransportDiagnostics` のロジックを builder に切り出す。**`UdpTransport` 型への直接依存を外す**ため、診断データを値オブジェクトとして受ける形に変更。 + +```csharp +internal readonly struct PerfTransportDiagnostics +{ + public bool Available { get; } + public long DatagramsReceived { get; } + public long DatagramsEnqueued { get; } + public long DatagramsDropped { get; } + public long DatagramsDispatched { get; } + public long QueueCount { get; } +} + +internal readonly struct PerfSubscriptionDiagnostics +{ + public long PayloadsReceivedFromReader { get; } + public long MessagesDeserialized { get; } + public long DeserializeFailures { get; } + public long HandlerInvocations { get; } + public long DataSubmessagesReceived { get; } + public long DataFragSubmessagesReceived { get; } + public long ReassembledPayloads { get; } + public long PayloadsDelivered { get; } + public long PayloadsBufferedPendingMatch { get; } + public long PayloadsDropped { get; } +} + +internal static class PerfDiagnosticsBuilder +{ + internal static IDictionary BuildReceive( + PerfTransportDiagnostics userUnicast, + PerfTransportDiagnostics userMulticast, + PerfSubscriptionDiagnostics subscription); +} +``` + +`RunRos2ToUnity` 側で `participant.UserUnicastTransport as UdpTransport` などのキャスト (`PerfPlayerEntry.cs:220`) を行い、上記 struct に詰めてから `PerfDiagnosticsBuilder.BuildReceive` に渡す。builder は live 型を一切知らない。 + +`AddReceiveDiagnostics` の 10 個の `subscription_*` / `rtps_*` フィールド名と、`AddTransportDiagnostics` の transport あたり 6 個 (計 12 個) の `*_udp_*` / `*_transport_diagnostics_available` フィールド名は不変。 + +### 4. interface の抽出 + +`PerfPlayerEntry.Run*` メソッドをテストで fake 注入できるよう、以下の interface を新設。 + +```csharp +internal interface IPerfMetricsSink : IDisposable +{ + void Event(string name, IDictionary fields = null); + void WriteSentinel(string path, string content); +} + +internal interface IPerfProfilerSampler : IDisposable +{ + void Collect(); + IDictionary Snapshot(); +} + +internal interface IPerfClock +{ + IPerfStopwatch Start(); +} + +internal interface IPerfStopwatch +{ + TimeSpan Elapsed { get; } + void Stop(); +} +``` + +実装: + +| Interface | 実装 | 備考 | +|---|---|---| +| `IPerfMetricsSink` | `PerfMetricsWriter` (改修) | `PerfJson` 経由に書き換える以外、メソッドシグネチャは据え置き | +| `IPerfProfilerSampler` | `PerfProfilerRecorders` (改修) | `Collect` / `Snapshot` は現行のまま | +| `IPerfClock` | `StopwatchPerfClock` (新規) | `Start()` で `Stopwatch.StartNew()` を `StopwatchWrapper` でラップ | + +`IPerfParticipantFactory` は導入しない。`RunRos2ToUnity` / `RunUnityToRos2` の EditMode 統合テストでは、既存の `LoopbackHub` + `CustomUserUnicastTransport` パターンで実 `DomainParticipant` を構築し、network 層は in-process 化する (既存 `ROSettaDDSUnityVerificationTests` と同じ流儀)。 + +### 5. `Run*` メソッドの signature 変更 + +リファクタ後のシグネチャ: + +```csharp +internal static async Task RunUnityToRos2( + PerfPlayerArguments args, + DomainParticipant participant, + IPerfMetricsSink sink, + IPerfProfilerSampler sampler, + IPerfClock clock); + +internal static async Task RunRos2ToUnity( + PerfPlayerArguments args, + DomainParticipant participant, + IPerfMetricsSink sink, + IPerfProfilerSampler sampler, + IPerfClock clock); +``` + +`PerfPlayerEntry.Run` メソッドは: + +1. `PerfPlayerArguments.TryParse` で args 確定 (現行) +2. `var participant = CreateParticipant(args, "player_pub")` で実 participant 構築 (現行) +3. `var sink = new PerfMetricsWriter(args)` (本番) または fake (テスト) +4. `var sampler = PerfProfilerRecorders.StartLean()` / `StartFull()` (本番) または fake (テスト) +5. `var clock = new StopwatchPerfClock()` (本番) または fake (テスト) +6. `await RunUnityToRos2(args, participant, sink, sampler, clock)` で実行 + +**本番経路の動作は不変** (5 つの引数の中身が違うだけ)。テスト時は 3-5 を fake で差し替える。 + +### 6. `RunUnityToRos2` / `RunRos2ToUnity` の内部書き換え + +両メソッド内の `measure_done` event 構築を `MeasureDoneBuilder.BuildPublish` / `BuildSubscribe` 呼び出しに置換。`RunRos2ToUnity` 内の diagnostics 構築を `PerfDiagnosticsBuilder.BuildReceive` 呼び出しに置換。**出力される NDJSON のキー名・値・順序は完全に不変**。 + +### 7. 新規 EditMode テストの追加 + +`Ros2Unity/Assets/Tests/EditMode/` 配下に以下を追加。`ROSettaDDS.UnityVerification.Tests.asmdef` は既存 (Editor only, `ROSettaDDS.UnityPerfHarness` 参照済み) のままで良い。 + +| ファイル | テスト対象 | 主要ケース | +|---|---|---| +| `PerfJsonTests.cs` | `PerfJson` | Escape 4 種 + null / 空 / 通常、WriteString / WriteNumber / WriteBoolean / WriteValue の出力 | +| `MeasureDoneBuilderTests.cs` | `MeasureDoneBuilder` | 通常系 / `elapsed=0` (除算保護) / profiler フィールド保持 / diagnostics マージ / 空 diagnostics | +| `PerfDiagnosticsBuilderTests.cs` | `PerfDiagnosticsBuilder` | 全 available / 片方 false / subscription 数値反映 / キー完全一致 | +| `PerfHarnessFakes.cs` | `FakePerfMetricsSink` / `FakePerfProfilerSampler` / `FakePerfClock` | events / sentinels / Elapsed の記録 | +| `PerfRunFlowTests.cs` | `PerfPlayerEntry.RunUnityToRos2` / `RunRos2ToUnity` 統合 | `LoopbackHub` 経由で measure_done payload 検証 / timeout 経路 / error 経路 | + +既存 `PerfHarnessRegressionTests.cs` (63 行、`ProfilerCounterAccumulator` + `AsyncReceiveWaiter` の回帰テスト) は据え置き。 + +#### 7.1 テストケース内訳 + +| テストファイル | ケース数 | カバー範囲 | +|---|---:|---| +| `PerfJsonTests` | 16 | Escape 8 種 (null / 空 / 通常 / 4 種 escape 文字 / nested backslash) + WriteString 1 + WriteNumber 2 (int / long) + WriteBoolean 2 (true / false) + WriteValue 3 (null / string / double) | +| `MeasureDoneBuilderTests` | 8 | BuildPublish 5 (通常 / `elapsed=0` / profiler フィールド保持 / 巨大 count / ゼロ count) + BuildSubscribe 3 (通常 / diagnostics マージ / 空 diagnostics) | +| `PerfDiagnosticsBuilderTests` | 5 | 全 available / 片方 false / subscription 数値反映 / キー完全一致 / 順序保持 | +| `PerfRunFlowTests` | 4 | UnityToRos2 happy path / Ros2ToUnity happy path / Ros2ToUnity timeout 経路 / error 経路 | +| **合計** | **33** | | + +### 8. ファイル一覧 (新規 / 変更) + +**新規:** +- `Ros2Unity/Assets/Perf/PerfJson.cs` +- `Ros2Unity/Assets/Perf/MeasureDoneBuilder.cs` +- `Ros2Unity/Assets/Perf/PerfDiagnosticsBuilder.cs` +- `Ros2Unity/Assets/Perf/PerfTransportDiagnostics.cs` +- `Ros2Unity/Assets/Perf/PerfSubscriptionDiagnostics.cs` +- `Ros2Unity/Assets/Perf/IPerfMetricsSink.cs` +- `Ros2Unity/Assets/Perf/IPerfProfilerSampler.cs` +- `Ros2Unity/Assets/Perf/IPerfClock.cs` +- `Ros2Unity/Assets/Perf/IPerfStopwatch.cs` +- `Ros2Unity/Assets/Perf/StopwatchPerfClock.cs` +- `Ros2Unity/Assets/Perf/StopwatchWrapper.cs` +- `Ros2Unity/Assets/Tests/EditMode/PerfJsonTests.cs` +- `Ros2Unity/Assets/Tests/EditMode/MeasureDoneBuilderTests.cs` +- `Ros2Unity/Assets/Tests/EditMode/PerfDiagnosticsBuilderTests.cs` +- `Ros2Unity/Assets/Tests/EditMode/PerfHarnessFakes.cs` +- `Ros2Unity/Assets/Tests/EditMode/PerfRunFlowTests.cs` + +**変更:** +- `Ros2Unity/Assets/Perf/PerfPlayerEntry.cs` (signature 変更 + measure_done 構築を置換) +- `Ros2Unity/Assets/Perf/PerfMetricsWriter.cs` (内部実装を `PerfJson` 呼び出しに置換、`IPerfMetricsSink` 実装に) +- `Ros2Unity/Assets/Perf/PerfProfilerRecorders.cs` (`IPerfProfilerSampler` 実装に) + +`.meta` ファイルも漏れなく追加・更新する (Unity メタファイル方針に従う)。 + +## 設計上の注意点 + +- **後方互換**: 公開 API への破壊的変更なし。`PerfPlayerEntry` も `PerfMetricsWriter` も `PerfProfilerRecorders` も `internal` であり、本変更の呼び出し箇所は `PerfPlayerEntry.Run` 内の 1 箇所のみ (各メソッド)。`PerfPlayerEntry.RunUnityToRos2` / `RunRos2ToUnity` のシグネチャ変更は `Run` 内の呼び出し元を同時に更新することで吸収する。 + +- **NDJSON event 互換**: event vocabulary (`start` / `ready` / `matched` / `measure_start` / `measure_done` / `waiting_for_release` / `released` / `done` / `error` / `receive_diagnostics`) と `measure_done` のフィールド名 (`elapsed_ms` / `sent` / `received` / `serialized_bytes_per_message` / `serialized_bytes` / `messages_per_second` / `*_available` / `*_last` / `*_total` / `*_samples` / `*_transport_diagnostics_available` / `*_udp_*` / `subscription_*` / `rtps_*`) は完全互換。Perf 計測 diff で baseline との 0 差分 (timing jitter 除く) を目標とする。 + +- **`PerfMetricsWriter` の `Debug.Log` 重複出力は維持**: 既存の `Debug.Log(line);` (line 47) は perf run 中の player log 視認性を担保しており、Runner 側 logcat tail の補助線になっているため削除しない。 + +- **JSON escape の挙動固定**: 4 種 (`\\` / `"` / `\n` / `\r`) のみ置換という現行仕様は意図的。`\t` / `\b` / `\f` / `<` / `>` 等の追加は **しない**。baseline NDJSON との差分を防ぐ。`/u2028` 等の surrogate 対応も **しない** (Unity perf run で payload にサロゲートペアを含めるシナリオが無いため)。 + +- **`measure_done` の helper 化による出力互換**: `BuildPublish` / `BuildSubscribe` 内の `profilerFields` は **コピーしてから dict 構築**する (呼び出し元の `Snapshot()` 戻り値 Dictionary を mutate しない)。これにより `IPerfProfilerSampler.Snapshot()` を fake 化する際、fake 側の内部状態と helper 戻り値が独立する。 + +- **`AddReceiveDiagnostics` の削除**: 既存メソッドを `PerfDiagnosticsBuilder.BuildReceive` 呼び出しに置換し、struct 詰め替えは `RunRos2ToUnity` のメソッド本体内で行う。これにより `BuildReceive` は `UdpTransport` も `Subscription` も `DomainParticipant` も一切知らずに済む。 + +- **既存 perf player ビルドとの互換**: 変更後 `dotnet run --project tools/rosettadds-perf-runner` で `--skip-build` 指定時の出力 NDJSON は現行と完全互換。新規 Player ビルドは IL2CPP / Mono 両 backend で同じ振る舞いをすること。 + +- **`PerfProfilerMode` / CLI フラグの据え置き**: 既存の `Lean` / `Full` 選択ロジック (`PerfPlayerEntry.cs:47-49`) は維持。`StartLean()` / `StartFull()` の API 不変。 + +- **スレッド安全性**: `IPerfStopwatch` は single-thread 想定 (呼び出し元が同一スレッドで所有)。`s_exitCode` 静的フィールドの扱いは現行据え置き (1 本エントリ実害なし)。fake のコメントにもこの前提を明記する。 + +- **`PerfPlayerEntry.RunUnityToRos2` / `RunRos2ToUnity` の `internal static` 化**: 現状 `private static` だが、テストからアクセスするため `internal static` に変更。`PerfPlayerEntry` クラス自体はすでに `internal static class` なので変更小。 + +## 影響範囲 + +- `Ros2Unity/Assets/Perf/PerfPlayerEntry.cs` (signature 変更 + 内部書き換え) +- `Ros2Unity/Assets/Perf/PerfMetricsWriter.cs` (内部実装置換 + `IPerfMetricsSink` 実装) +- `Ros2Unity/Assets/Perf/PerfProfilerRecorders.cs` (`IPerfProfilerSampler` 実装) +- `Ros2Unity/Assets/Perf/` 配下の新規 12 ファイル +- `Ros2Unity/Assets/Tests/EditMode/` 配下の新規 5 ファイル +- `Ros2Unity/Assets/Perf/Properties/AssemblyInfo.cs` (変更なし; 既存 `[InternalsVisibleTo("ROSettaDDS.UnityVerification.Tests")]` で十分) +- 各 `.cs` に対応する `.meta` ファイル (Unity 取り込み要件) + +**触らないもの**: +- `tools/rosettadds-perf-runner/` (.NET Runner) +- `tools/ros2-perf-helper/` (C++ helper) +- `docs/unity-verification.md` (外部仕様書) +- 公開 CLI / NDJSON event vocabulary / sentinel file 動作 + +## 受け入れ基準 + +- [ ] `dotnet test tools/rosettadds-perf-runner.Tests/` が緑 +- [ ] `dotnet test tests/rosettadds.Tests/` が緑 +- [ ] Unity EditMode で `ROSettaDDS.UnityVerification.Tests` の既存 + 新規テストが緑 (合計 33 ケース。詳細は 7.1 参照) +- [ ] 既存 perf run (`dotnet run --project tools/rosettadds-perf-runner -- --skip-build --player-build --scenario all`) で出力 NDJSON の構造が現行と完全一致 (event 名・フィールド名・値・順序) +- [ ] baseline NDJSON との diff で 0 差分 (timing jitter 除く) +- [ ] 公開 API への破壊的変更なし +- [ ] `check_unity_meta.sh` クリーン