Add memory usage analysis workflow and tests for RTI Connector

Author: kyoungho

.github/workflows/build.yml

@@ -188,3 +188,30 @@ jobs:
         path: |
           coverage.txt
           coverage_report.txt
+
+  memory-usage:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Setup Go
+      uses: actions/setup-go@v4
+      with:
+        go-version: '1.21'
+
+    - name: Install system dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y build-essential curl unzip bc
+
+    - name: Download RTI Connector libraries
+      run: |
+        go run ./cmd/download-libs -force
+
+    - name: Run memory usage analysis
+      run: |
+        echo "=== Memory Usage Analysis ==="
+        echo "Measuring RTI Connector memory consumption..."
+        
+        # Run single iteration to measure baseline memory usage
+        MEMTEST_ITERATIONS=1 go test -v -run=TestMemoryUsage

memory_usage_test.go

@@ -0,0 +1,213 @@
+package rti
+
+import (
+	"fmt"
+	"os"
+	"os/exec"
+	"runtime"
+	"strconv"
+	"strings"
+	"testing"
+	"time"
+)
+
+// getProcessMemory returns RSS (Resident Set Size) in bytes
+func getProcessMemory() (int64, error) {
+	pid := os.Getpid()
+	cmd := exec.Command("ps", "-o", "rss=", "-p", strconv.Itoa(pid))
+	output, err := cmd.Output()
+	if err != nil {
+		return 0, err
+	}
+
+	rssKB, err := strconv.ParseInt(strings.TrimSpace(string(output)), 10, 64)
+	if err != nil {
+		return 0, err
+	}
+
+	return rssKB * 1024, nil // Convert KB to bytes
+}
+
+// TestMemoryUsage tests RTI Connector with comprehensive memory profiling
+func TestMemoryUsage(t *testing.T) {
+	iterations := 1
+	if iterStr := os.Getenv("MEMTEST_ITERATIONS"); iterStr != "" {
+		if parsed, err := strconv.Atoi(iterStr); err == nil && parsed > 0 {
+			iterations = parsed
+		}
+	}
+
+	// Get initial system memory
+	initialRSS, err := getProcessMemory()
+	if err != nil {
+		t.Logf("Warning: Could not get initial RSS: %v", err)
+		initialRSS = 0
+	}
+
+	var m1, m2 runtime.MemStats
+	runtime.GC()
+	runtime.ReadMemStats(&m1)
+
+	t.Logf("Starting memory measurement:")
+	t.Logf("  Initial RSS: %d bytes (%.2f MB)", initialRSS, float64(initialRSS)/1024/1024)
+	t.Logf("  Initial Go heap: %d bytes (%.2f MB)", m1.HeapAlloc, float64(m1.HeapAlloc)/1024/1024)
+
+	for i := 0; i < iterations; i++ {
+		runGoGetExample(t, i)
+
+		// Sample memory after each iteration
+		if iterations > 1 && (i+1)%max(1, iterations/5) == 0 {
+			currentRSS, _ := getProcessMemory()
+			var currentMem runtime.MemStats
+			runtime.ReadMemStats(&currentMem)
+			t.Logf("  After iteration %d: RSS=%d bytes, Go heap=%d bytes",
+				i+1, currentRSS, currentMem.HeapAlloc)
+		}
+	}
+
+	runtime.GC()
+	time.Sleep(100 * time.Millisecond) // Give GC time to complete
+	runtime.ReadMemStats(&m2)
+
+	// Get final system memory
+	finalRSS, err := getProcessMemory()
+	if err != nil {
+		t.Logf("Warning: Could not get final RSS: %v", err)
+		finalRSS = initialRSS
+	}
+
+	allocDelta := m2.TotalAlloc - m1.TotalAlloc
+	heapDelta := int64(m2.HeapAlloc) - int64(m1.HeapAlloc)
+	rssDelta := finalRSS - initialRSS
+
+	t.Logf("\n=== Memory Analysis Results ===")
+	t.Logf("Iterations: %d", iterations)
+	t.Logf("\nGo Heap Memory:")
+	t.Logf("  Total allocations: %d bytes (%.2f KB)", allocDelta, float64(allocDelta)/1024)
+	t.Logf("  Heap delta: %d bytes (%.2f KB)", heapDelta, float64(heapDelta)/1024)
+	t.Logf("  Final heap size: %d bytes (%.2f MB)", m2.HeapAlloc, float64(m2.HeapAlloc)/1024/1024)
+	t.Logf("  GC runs: %d", m2.NumGC-m1.NumGC)
+	t.Logf("\nSystem Memory (RSS - includes C libraries):")
+	t.Logf("  Initial RSS: %d bytes (%.2f MB)", initialRSS, float64(initialRSS)/1024/1024)
+	t.Logf("  Final RSS: %d bytes (%.2f MB)", finalRSS, float64(finalRSS)/1024/1024)
+	t.Logf("  RSS delta: %d bytes (%.2f MB)", rssDelta, float64(rssDelta)/1024/1024)
+	t.Logf("\nMemory per Operation:")
+	if iterations > 0 {
+		t.Logf("  Go heap per op: %.2f bytes", float64(allocDelta)/float64(iterations))
+		t.Logf("  RSS per op: %.2f bytes", float64(rssDelta)/float64(iterations))
+	}
+}
+
+func max(a, b int) int {
+	if a > b {
+		return a
+	}
+	return b
+}
+
+func runGoGetExample(t *testing.T, iteration int) {
+	// Same XML config as the original example
+	xmlConfig := `str://"<dds>
+  <qos_library name="QosLibrary">
+    <qos_profile name="DefaultProfile" base_name="BuiltinQosLibExp::Generic.StrictReliable" is_default_qos="true"/>
+  </qos_library>
+  
+  <types>
+    <struct name="TestType">
+      <member name="message" type="string"/>
+      <member name="count" type="long"/>
+    </struct>
+  </types>
+  
+  <domain_library name="MyDomainLibrary">
+    <domain name="MyDomain" domain_id="0">
+      <register_type name="TestType" type_ref="TestType"/>
+      <topic name="TestTopic" register_type_ref="TestType"/>
+    </domain>
+  </domain_library>
+  
+  <domain_participant_library name="MyParticipantLibrary">
+    <domain_participant name="Zero" domain_ref="MyDomainLibrary::MyDomain">
+      <publisher name="MyPublisher">
+        <data_writer name="MyWriter" topic_ref="TestTopic"/>
+      </publisher>
+    </domain_participant>
+  </domain_participant_library>
+</dds>"`
+
+	// Create connector from XML string
+	connector, err := NewConnector("MyParticipantLibrary::Zero", xmlConfig)
+	if err != nil {
+		t.Fatalf("Iteration %d: Failed to create connector: %v", iteration, err)
+	}
+	defer connector.Delete()
+
+	// Get output (writer) and publish a simple message
+	output, err := connector.GetOutput("MyPublisher::MyWriter")
+	if err != nil {
+		t.Fatalf("Iteration %d: Failed to get output: %v", iteration, err)
+	}
+
+	// Publish test message
+	output.Instance.SetString("message", fmt.Sprintf("Hello from iteration %d!", iteration))
+	output.Instance.SetInt("count", iteration)
+	err = output.Write()
+	if err != nil {
+		t.Fatalf("Iteration %d: Failed to write: %v", iteration, err)
+	}
+
+	if iteration%10 == 0 {
+		t.Logf("Completed iteration %d", iteration)
+	}
+}
+
+// BenchmarkConnectorMemory provides benchmark-based memory analysis
+func BenchmarkConnectorMemory(b *testing.B) {
+	xmlConfig := `str://"<dds>
+  <qos_library name="QosLibrary">
+    <qos_profile name="DefaultProfile" base_name="BuiltinQosLibExp::Generic.StrictReliable" is_default_qos="true"/>
+  </qos_library>
+  
+  <types>
+    <struct name="TestType">
+      <member name="message" type="string"/>
+      <member name="count" type="long"/>
+    </struct>
+  </types>
+  
+  <domain_library name="MyDomainLibrary">
+    <domain name="MyDomain" domain_id="0">
+      <register_type name="TestType" type_ref="TestType"/>
+      <topic name="TestTopic" register_type_ref="TestType"/>
+    </domain>
+  </domain_library>
+  
+  <domain_participant_library name="MyParticipantLibrary">
+    <domain_participant name="Zero" domain_ref="MyDomainLibrary::MyDomain">
+      <publisher name="MyPublisher">
+        <data_writer name="MyWriter" topic_ref="TestTopic"/>
+      </publisher>
+    </domain_participant>
+  </domain_participant_library>
+</dds>"`
+
+	b.ResetTimer()
+	for i := 0; i < b.N; i++ {
+		connector, err := NewConnector("MyParticipantLibrary::Zero", xmlConfig)
+		if err != nil {
+			b.Fatalf("Failed to create connector: %v", err)
+		}
+
+		output, err := connector.GetOutput("MyPublisher::MyWriter")
+		if err != nil {
+			connector.Delete()
+			b.Fatalf("Failed to get output: %v", err)
+		}
+
+		output.Instance.SetString("message", "Benchmark message")
+		output.Instance.SetInt("count", i)
+		output.Write()
+
+		connector.Delete()
+	}
+}