refactor(perf): Unity Perf Harness テスト容易化 (interface 抽出 + 純関数ヘルパー)

Ros2Unity/Assets/Perf/IPerfClock.cs

@@ -0,0 +1,12 @@
+using System;
+
+namespace ROSettaDDS.UnityPerfHarness
+{
+    /// <summary>
+    /// 経過時間計測の抽象。テストでは fake に差し替え可能。
+    /// </summary>
+    internal interface IPerfClock
+    {
+        IPerfStopwatch Start();
+    }
+}

Ros2Unity/Assets/Perf/IPerfMetricsSink.cs

@@ -0,0 +1,14 @@
+using System;
+using System.Collections.Generic;
+
+namespace ROSettaDDS.UnityPerfHarness
+{
+    /// <summary>
+    /// perf run 中の event / sentinel 出力の抽象。テストでは fake に差し替え可能。
+    /// </summary>
+    internal interface IPerfMetricsSink : IDisposable
+    {
+        void Event(string name, IDictionary<string, object> fields = null);
+        void WriteSentinel(string path, string content);
+    }
+}

Ros2Unity/Assets/Perf/IPerfProfilerSampler.cs

@@ -0,0 +1,14 @@
+using System;
+using System.Collections.Generic;
+
+namespace ROSettaDDS.UnityPerfHarness
+{
+    /// <summary>
+    /// ProfilerRecorder のラッパ抽象。テストでは fake に差し替え可能。
+    /// </summary>
+    internal interface IPerfProfilerSampler : IDisposable
+    {
+        void Collect();
+        IDictionary<string, object> Snapshot();
+    }
+}

Ros2Unity/Assets/Perf/IPerfStopwatch.cs

@@ -0,0 +1,15 @@
+using System;
+
+namespace ROSettaDDS.UnityPerfHarness
+{
+    /// <summary>
+    /// 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。
+    /// </summary>
+    internal interface IPerfStopwatch : IDisposable
+    {
+        TimeSpan Elapsed { get; }
+        void Stop();
+    }
+}

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<string, object> BuildPublish(
+            TimeSpan elapsed,
+            int sent,
+            int serializedBytesPerMessage,
+            IDictionary<string, object> profilerFields)
+        {
+            var fields = new Dictionary<string, object>(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<string, object> BuildSubscribe(
+            TimeSpan elapsed,
+            int received,
+            int serializedBytesPerMessage,
+            IDictionary<string, object> profilerFields,
+            IDictionary<string, object> diagnostics)
+        {
+            var fields = new Dictionary<string, object>(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;
+        }
+    }
+}

Ros2Unity/Assets/Perf/PerfDiagnosticsBuilder.cs

@@ -0,0 +1,43 @@
+using System.Collections.Generic;
+
+namespace ROSettaDDS.UnityPerfHarness
+{
+    internal static class PerfDiagnosticsBuilder
+    {
+        internal static IDictionary<string, object> BuildReceive(
+            PerfTransportDiagnostics userUnicast,
+            PerfTransportDiagnostics userMulticast,
+            PerfSubscriptionDiagnostics subscription)
+        {
+            var fields = new Dictionary<string, object>();
+            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<string, object> 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;
+        }
+    }
+}

Ros2Unity/Assets/Perf/PerfJson.cs

@@ -0,0 +1,73 @@
+using System;
+using System.Globalization;
+using System.Text;
+
+namespace ROSettaDDS.UnityPerfHarness
+{
+    /// <summary>
+    /// 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。
+    /// </summary>
+    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);
+        }
+    }
+}

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<string, object> fields = null)
+        public void Event(string name, IDictionary<string, object> 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<string, object> 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");
-        }
     }
 }