Use a std::promise/std::future to avoid busy waiting the step ack mes…

…sages in NetworkManagerPrimary (#470)

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Signed-off-by: Louise Poubel <louise@openrobotics.org>

Co-authored-by: Louise Poubel <louise@openrobotics.org>

Hacking the nectwork secondary loop to allow taking steps asynchronously

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

tweaks so the secondary sends ack messages more eagerly, and 'goes ahead' more slowly

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Something that works with the distributed_levels demo

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Primary acks secondaries steps each N/2

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Use real robots in the distributed levels world

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Speedup primary in distributed simulation

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Clenup NewtworkManagerPrimary::Step() code

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Primary indicates how many steps secondaries can move ahead

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Scripts to run the distributed_levels simulation with N robots and M secondaries

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Record statistics with ign_imgui

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Delete unrelated file

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

examples/scripts/distributed_levels/primary.sh

@@ -1,17 +1,76 @@
 #!/usr/bin/env bash
 
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+set -e
 
+SCRIPTNAME="$(basename $0)"
+HELP="$(cat << EOM
+
+$SCRIPTNAME [--secondaries N] [--robots N]
+
+  --secondaries, -s: Number of secondaries the primary expects, defaults to 2.
+  --robots, -r: Number of robots, defaults to 2.
+EOM
+)
+"
+
+ROBOTS="2"
+SECONDARIES="2"
+
+while [[ $# -gt 0 ]]
+do
+key="$1"
+
+case $key in
+    -s|--secondaries)
+    SECONDARIES="$2"
+    shift
+    shift
+    ;;
+    -r|--robots)
+    ROBOTS="$2"
+    shift
+    shift
+    ;;
+    *)
+    echo "$HELP"
+    exit 0
+    ;;
+esac
+done
+
+FILENAME="${SCRIPTNAME%.*}"
+TMPFILE=$(mktemp /tmp/primary.XXXXXX.sdf)
+function cleanup {
+  rm $TMPFILE
+}
+trap cleanup EXIT
+
+OUTPUT_STATS_FILE="stats_distributed_r${ROBOTS}_s${SECONDARIES}.csv"
+
+if [[ -f $OUTPUT_STATS_FILE ]]; then
+  echo "$OUTPUT_STATS_FILE already exists, delete it before running a simulation with the same settings"
+  exit 0
+fi
+
+empy3 -o "$TMPFILE" "$FILENAME.sdf.em" $ROBOTS
+
+echo "-----------------------"
+echo "Launching Gazebo"
+echo "-----------------------"
 # --levels is implied by --network-role
-ign gazebo -v 4 -z 100000000 --network-role primary --network-secondaries 2 $DIR/primary.sdf
+ign gazebo -v 4 -z 100000000 -r --network-role primary --network-secondaries $SECONDARIES $TMPFILE &
 
-# Ignition Gazebo 1.x.x and 2.x.x support using environment variables to
-# configure distributed simulation. This capability is deprecated in
-# version 2.x.x, and removed in verion 3.x.x of Inition Gazebo. Please use the
-# --network-role and --network-secondaries command line options instead.
+sleep 10s
 
-# export IGN_GAZEBO_NETWORK_ROLE="PRIMARY"
-# export IGN_GAZEBO_NETWORK_SECONDARIES=3
-# ign-gazebo -v 4 --distributed -f $DIR/primary.sdf
+echo "-----------------------"
+echo "Launching ign_imgui"
+echo "-----------------------"
+ign_imgui -o $OUTPUT_STATS_FILE &
 
+sleep 120s
 
+echo "-----------------------"
+echo "Closing"
+echo "-----------------------"
+kill -SIGINT %1 %2
+wait %1 %2