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add_sql_support_readme.md

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Save results to a SQL database

Requirements

ODB 2.5.0

Note: 2.5.0 is a beta version, but it is required if you are using Ubuntu 18.04 LTS and gcc 7.4.0, if you are using earlier ubuntu/gcc versions, proceed to the installation of ODB 2.4.0 below.

Follow the instructions here to install build2 toolchain, odb compiler and runtime libraries.

Required runtime libraries are: libodb, libodb-sqlite/libodb-pgsql/libodb-mysql (depending on which database you want to use) and libodb-boost.

Remember to install the correct gcc plugin, for example (for gcc 7):

sudo apt-get update
sudo apt-get install gcc-7-plugin-dev

Additionally, if you want to use MYSQL database, you will need to build a not yet released version, so instead of executing:

bpkg build libodb-mysql
bpkg install libodb-mysql

you will need to execute:

bpkg build libodb-mysql@https://git.codesynthesis.com/odb/libodb-mysql.git#fix-bind-decl
bpkg install libodb-mysql

After installing all the libraries make sure to add /usr/local/lib to your PATH:

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib

ODB 2.4.0: All the downloads can be found here.

  • Odb compiler
  • Common Runtime Library: libodb-2.4.0
  • Database Runtime Library: libodb-sqlite-2.4.0/libodb-mysql-2.4.0/libodb-pgsql-2.4.0
  • Profile Libraries: libodb-boost-2.4.0, libodb-qt-2.4.0

Follow the instructions to install all the components.

How to build and run

source ros2_install_path/setup.bash
mkdir -p perf_test_ws/src
cd perf_test_ws/src
git clone https://github.com/ApexAI/performance_test.git
cd ..
colcon build --cmake-clean-cache --cmake-args -DCMAKE_BUILD_TYPE=Release -DPERFORMANCE_TEST_ODB_SQLITE=ON
./install/performance_test/lib/performance_test/perf_test -c ROS2 -l log -t Array1k --max_runtime 10

The default name of the resulting database is "db_name", you can change it by using --db_name argument in when executing performance_test. For MySQL or PostgreSQL databases, you can also specify --db_user, --db_password, --db_host and --db_port to connect to your database.

In order to run the performance test with MySQL or PostgreSQL support, you can use -DPERFORMANCE_TEST_ODB_MYSQL=ON or -DPERFORMANCE_TEST_ODB_PGSQL=ON instead of -DPERFORMANCE_TEST_ODB_SQLITE=ON option.

The project supports schema evolution. Every time you make a change in C++ code base which requires a schema evolution you need to:

  1. Update the model version (#pragma db model version).
  2. Commit the xml files with schema changes (schema_changelog folder).

Note: The current schema_changelog is implemented for MySQL database. In order to use other database, you need to start a new schema evolution: 1. Remove the existing xml files (please do not commit these changes). 2. Run the performance test with db model version 1 (specified in experiment_configuration.hpp file).

All the necessary changes to add SQL database support to the performance_test tool were made by following instructions from ODB platform. Please refer to the ODB manual for more information and implementation details.