Merge pull request #159 from gwsystems/ekf-experiments

Ekf experiments

runtime/experiments/applications/ekf/by_iteration/.gitignore

@@ -0,0 +1,3 @@
+*res.dat
+rt.log
+log.csv

runtime/experiments/applications/ekf/by_iteration/README.md

@@ -0,0 +1,11 @@
+# EKF
+
+Executes TinyEKF as shows by [You Chong's GPS example](http://www.mathworks.com/matlabcentral/fileexchange/31487-extended-kalman-filter-ekf--for-gps)
+
+This test executes multiple runs of three iterations (the output of a previous iteration is refed as input), comparing the binary result against a known memoized result stored in `initial_state.dat`, `one_iteration.dat`, `two_iterations.dat`, and `three_iterations.dat`.
+
+The `rust.sh` script stores per-run results to temporary files suffixed with `*.res.dat` and `diff -s` because I had trouble using cURL to pass a bash string of binary input.
+
+In order to be compatible with the stdin/stdout model of serverless, the input and output files are binary concatenations of various C structs.
+
+See `main()` in `runtime/tests/TinyEKF/extras/c/gps_ekf_fn.c` for specifics.

runtime/experiments/applications/ekf/by_iteration/debug.sh

@@ -5,7 +5,7 @@
 # Also disables pagination and stopping on SIGUSR1
 
 experiment_directory=$(pwd)
-project_directory=$(cd ../../.. && pwd)
+project_directory=$(cd ../../../.. && pwd)
 binary_directory=$(cd "$project_directory"/bin && pwd)
 
 export LD_LIBRARY_PATH="$binary_directory:$LD_LIBRARY_PATH"

runtime/experiments/applications/ekf/by_iteration/run.sh

@@ -0,0 +1,53 @@
+#!/bin/bash
+# Executes the runtime in GDB
+# Substitutes the absolute path from the container with a path relatively derived from the location of this script
+# This allows debugging outside of the Docker container
+# Also disables pagination and stopping on SIGUSR1
+
+experiment_directory=$(pwd)
+runtime_directory=$(cd ../../../.. && pwd)
+binary_directory=$(cd "$runtime_directory"/bin && pwd)
+log="$experiment_directory/log.csv"
+
+# Copy data if not here
+if [[ ! -f "./initial_state.dat" ]]; then
+  cp $runtime_directory/tests/TinyEKF/extras/c/ekf_raw.dat ./initial_state.dat
+fi
+
+if [ "$1" != "-d" ]; then
+  SLEDGE_SANDBOX_PERF_LOG=$log PATH="$binary_directory:$PATH" LD_LIBRARY_PATH="$binary_directory:$LD_LIBRARY_PATH" sledgert "$experiment_directory/spec.json" >rt.log 2>&1 &
+  sleep 2
+else
+  echo "Running under gdb"
+fi
+
+one_iteration_expected_result="$(tr -d '\0' <./one_iteration.dat)"
+two_iterations_expected_result="$(tr -d '\0' <./two_iterations.dat)"
+three_iterations_expected_result="$(tr -d '\0' <./three_iterations.dat)"
+
+success_count=0
+total_count=50
+
+for ((i = 0; i < total_count; i++)); do
+  echo "$i"
+  curl -H 'Expect:' -H "Content-Type: application/octet-stream" --data-binary "@initial_state.dat" localhost:10000 2>/dev/null >./one_iteration_res.dat
+  curl -H 'Expect:' -H "Content-Type: application/octet-stream" --data-binary "@one_iteration_res.dat" localhost:10001 2>/dev/null >./two_iterations_res.dat
+  curl -H 'Expect:' -H "Content-Type: application/octet-stream" --data-binary "@two_iterations_res.dat" localhost:10002 2>/dev/null >./three_iterations_res.dat
+  if diff -s one_iteration_res.dat one_iteration.dat && diff -s two_iterations_res.dat two_iterations.dat && diff -s three_iterations_res.dat three_iterations.dat; then
+    success_count=$((success_count + 1))
+  else
+    echo "FAIL"
+    exit
+  fi
+
+  rm *_res.dat
+done
+
+echo "$success_count / $total_count"
+
+if [ "$1" != "-d" ]; then
+  sleep 5
+  echo -n "Running Cleanup: "
+  pkill sledgert >/dev/null 2>/dev/null
+  echo "[DONE]"
+fi

runtime/experiments/applications/ekf/by_iteration/spec.json

@@ -0,0 +1,42 @@
+{
+  "active": "yes",
+  "name": "ekf_first_iter",
+  "path": "ekf_wasm.so",
+  "port": 10000,
+  "relative-deadline-us": 50000,
+  "argsize": 1,
+  "http-req-headers": [],
+  "http-req-content-type": "application/octet-stream",
+  "http-req-size": 1024000,
+  "http-resp-headers": [],
+  "http-resp-size": 1024000,
+  "http-resp-content-type": "application/octet-stream"
+},
+{
+  "active": "yes",
+  "name": "ekf_second_iter",
+  "path": "ekf_wasm.so",
+  "port": 10001,
+  "relative-deadline-us": 50000,
+  "argsize": 1,
+  "http-req-headers": [],
+  "http-req-content-type": "application/octet-stream",
+  "http-req-size": 1024000,
+  "http-resp-headers": [],
+  "http-resp-size": 1024000,
+  "http-resp-content-type": "application/octet-stream"
+},
+{
+  "active": "yes",
+  "name": "ekf_third_iter",
+  "path": "ekf_wasm.so",
+  "port": 10002,
+  "relative-deadline-us": 50000,
+  "argsize": 1,
+  "http-req-headers": [],
+  "http-req-content-type": "application/octet-stream",
+  "http-req-size": 1024000,
+  "http-resp-headers": [],
+  "http-resp-size": 1024000,
+  "http-resp-content-type": "application/octet-stream"
+}

runtime/experiments/applications/ekf/one_iteration/debug.sh

@@ -5,7 +5,7 @@
 # Also disables pagination and stopping on SIGUSR1
 
 experiment_directory=$(pwd)
-project_directory=$(cd ../../.. && pwd)
+project_directory=$(cd ../../../.. && pwd)
 binary_directory=$(cd "$project_directory"/bin && pwd)
 
 export LD_LIBRARY_PATH="$binary_directory:$LD_LIBRARY_PATH"

runtime/experiments/applications/ekf/one_iteration/run.sh

@@ -5,7 +5,7 @@
 # Also disables pagination and stopping on SIGUSR1
 
 experiment_directory=$(pwd)
-project_directory=$(cd ../../.. && pwd)
+project_directory=$(cd ../../../.. && pwd)
 binary_directory=$(cd "$project_directory"/bin && pwd)
 
 # Copy data if not here

runtime/experiments/applications/fivebyeight/debug.sh

@@ -1,19 +0,0 @@
-#!/bin/bash
-# Executes the runtime in GDB
-# Substitutes the absolute path from the container with a path relatively derived from the location of this script
-# This allows debugging outside of the Docker container
-# Also disables pagination and stopping on SIGUSR1
-
-experiment_directory=$(pwd)
-project_directory=$(cd ../../.. && pwd)
-binary_directory=$(cd "$project_directory"/bin && pwd)
-
-export LD_LIBRARY_PATH="$binary_directory:$LD_LIBRARY_PATH"
-export PATH="$binary_directory:$PATH"
-
-gdb --eval-command="handle SIGUSR1 nostop" \
-  --eval-command="handle SIGPIPE nostop" \
-  --eval-command="set pagination off" \
-  --eval-command="set substitute-path /sledge/runtime $project_directory" \
-  --eval-command="run $experiment_directory/spec.json" \
-  sledgert

runtime/experiments/applications/handwriting/debug.sh

@@ -1,19 +0,0 @@
-#!/bin/bash
-# Executes the runtime in GDB
-# Substitutes the absolute path from the container with a path relatively derived from the location of this script
-# This allows debugging outside of the Docker container
-# Also disables pagination and stopping on SIGUSR1
-
-experiment_directory=$(pwd)
-project_directory=$(cd ../../.. && pwd)
-binary_directory=$(cd "$project_directory"/bin && pwd)
-
-export LD_LIBRARY_PATH="$binary_directory:$LD_LIBRARY_PATH"
-export PATH="$binary_directory:$PATH"
-
-gdb --eval-command="handle SIGUSR1 nostop" \
-  --eval-command="handle SIGPIPE nostop" \
-  --eval-command="set pagination off" \
-  --eval-command="set substitute-path /sledge/runtime $project_directory" \
-  --eval-command="run $experiment_directory/spec.json" \
-  sledgert

runtime/experiments/applications/hyde/debug.sh

@@ -1,19 +0,0 @@
-#!/bin/bash
-# Executes the runtime in GDB
-# Substitutes the absolute path from the container with a path relatively derived from the location of this script
-# This allows debugging outside of the Docker container
-# Also disables pagination and stopping on SIGUSR1
-
-experiment_directory=$(pwd)
-project_directory=$(cd ../../.. && pwd)
-binary_directory=$(cd "$project_directory"/bin && pwd)
-
-export LD_LIBRARY_PATH="$binary_directory:$LD_LIBRARY_PATH"
-export PATH="$binary_directory:$PATH"
-
-gdb --eval-command="handle SIGUSR1 nostop" \
-  --eval-command="handle SIGPIPE nostop" \
-  --eval-command="set pagination off" \
-  --eval-command="set substitute-path /sledge/runtime $project_directory" \
-  --eval-command="run $experiment_directory/spec.json" \
-  sledgert

runtime/experiments/applications/ocr/by_dpi/debug.sh

@@ -5,7 +5,7 @@
 # Also disables pagination and stopping on SIGUSR1
 
 experiment_directory=$(pwd)
-project_directory=$(cd ../../.. && pwd)
+project_directory=$(cd ../../../.. && pwd)
 binary_directory=$(cd "$project_directory"/bin && pwd)
 
 export LD_LIBRARY_PATH="$binary_directory:$LD_LIBRARY_PATH"

runtime/experiments/applications/ocr/by_dpi/run.sh

@@ -5,7 +5,7 @@
 # Also disables pagination and stopping on SIGUSR1
 
 experiment_directory=$(pwd)
-project_directory=$(cd ../../.. && pwd)
+project_directory=$(cd ../../../.. && pwd)
 binary_directory=$(cd "$project_directory"/bin && pwd)
 log="$experiment_directory/log.csv"
 

runtime/experiments/applications/ocr/by_font/debug.sh

@@ -5,7 +5,7 @@
 # Also disables pagination and stopping on SIGUSR1
 
 experiment_directory=$(pwd)
-project_directory=$(cd ../../.. && pwd)
+project_directory=$(cd ../../../.. && pwd)
 binary_directory=$(cd "$project_directory"/bin && pwd)
 
 export LD_LIBRARY_PATH="$binary_directory:$LD_LIBRARY_PATH"

runtime/experiments/applications/ocr/by_font/run.sh

@@ -5,7 +5,7 @@
 # Also disables pagination and stopping on SIGUSR1
 
 experiment_directory=$(pwd)
-project_directory=$(cd ../../.. && pwd)
+project_directory=$(cd ../../../.. && pwd)
 binary_directory=$(cd "$project_directory"/bin && pwd)
 log="$experiment_directory/log.csv"
 

runtime/experiments/applications/ocr/by_word/debug.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+# Executes the runtime in GDB
+# Substitutes the absolute path from the container with a path relatively derived from the location of this script
+# This allows debugging outside of the Docker container
+# Also disables pagination and stopping on SIGUSR1
+
+experiment_directory=$(pwd)
+project_directory=$(cd ../../../.. && pwd)
+binary_directory=$(cd "$project_directory"/bin && pwd)
+
+export LD_LIBRARY_PATH="$binary_directory:$LD_LIBRARY_PATH"
+export PATH="$binary_directory:$PATH"
+
+gdb --eval-command="handle SIGUSR1 nostop" \
+  --eval-command="handle SIGPIPE nostop" \
+  --eval-command="set pagination off" \
+  --eval-command="set substitute-path /sledge/runtime $project_directory" \
+  --eval-command="run $experiment_directory/spec.json" \
+  sledgert

runtime/experiments/applications/ocr/by_word/run.sh

@@ -5,7 +5,7 @@
 # Also disables pagination and stopping on SIGUSR1
 
 experiment_directory=$(pwd)
-project_directory=$(cd ../../.. && pwd)
+project_directory=$(cd ../../../.. && pwd)
 binary_directory=$(cd "$project_directory"/bin && pwd)
 log="$experiment_directory/log.csv"
 

runtime/experiments/applications/ocr/fivebyeight/debug.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+# Executes the runtime in GDB
+# Substitutes the absolute path from the container with a path relatively derived from the location of this script
+# This allows debugging outside of the Docker container
+# Also disables pagination and stopping on SIGUSR1
+
+experiment_directory=$(pwd)
+project_directory=$(cd ../../../.. && pwd)
+binary_directory=$(cd "$project_directory"/bin && pwd)
+
+export LD_LIBRARY_PATH="$binary_directory:$LD_LIBRARY_PATH"
+export PATH="$binary_directory:$PATH"
+
+gdb --eval-command="handle SIGUSR1 nostop" \
+  --eval-command="handle SIGPIPE nostop" \
+  --eval-command="set pagination off" \
+  --eval-command="set substitute-path /sledge/runtime $project_directory" \
+  --eval-command="run $experiment_directory/spec.json" \
+  sledgert

runtime/experiments/applications/ocr/fivebyeight/run.sh

@@ -5,7 +5,7 @@
 # Also disables pagination and stopping on SIGUSR1
 
 experiment_directory=$(pwd)
-project_directory=$(cd ../../.. && pwd)
+project_directory=$(cd ../../../.. && pwd)
 binary_directory=$(cd "$project_directory"/bin && pwd)
 
 if [ "$1" != "-d" ]; then

runtime/experiments/applications/ocr/handwriting/debug.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+# Executes the runtime in GDB
+# Substitutes the absolute path from the container with a path relatively derived from the location of this script
+# This allows debugging outside of the Docker container
+# Also disables pagination and stopping on SIGUSR1
+
+experiment_directory=$(pwd)
+project_directory=$(cd ../../../.. && pwd)
+binary_directory=$(cd "$project_directory"/bin && pwd)
+
+export LD_LIBRARY_PATH="$binary_directory:$LD_LIBRARY_PATH"
+export PATH="$binary_directory:$PATH"
+
+gdb --eval-command="handle SIGUSR1 nostop" \
+  --eval-command="handle SIGPIPE nostop" \
+  --eval-command="set pagination off" \
+  --eval-command="set substitute-path /sledge/runtime $project_directory" \
+  --eval-command="run $experiment_directory/spec.json" \
+  sledgert

runtime/experiments/applications/ocr/handwriting/run.sh

@@ -5,7 +5,7 @@
 # Also disables pagination and stopping on SIGUSR1
 
 experiment_directory=$(pwd)
-project_directory=$(cd ../../.. && pwd)
+project_directory=$(cd ../../../.. && pwd)
 binary_directory=$(cd "$project_directory"/bin && pwd)
 
 if [ "$1" != "-d" ]; then

runtime/experiments/applications/ocr/hyde/debug.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+# Executes the runtime in GDB
+# Substitutes the absolute path from the container with a path relatively derived from the location of this script
+# This allows debugging outside of the Docker container
+# Also disables pagination and stopping on SIGUSR1
+
+experiment_directory=$(pwd)
+project_directory=$(cd ../../../.. && pwd)
+binary_directory=$(cd "$project_directory"/bin && pwd)
+
+export LD_LIBRARY_PATH="$binary_directory:$LD_LIBRARY_PATH"
+export PATH="$binary_directory:$PATH"
+
+gdb --eval-command="handle SIGUSR1 nostop" \
+  --eval-command="handle SIGPIPE nostop" \
+  --eval-command="set pagination off" \
+  --eval-command="set substitute-path /sledge/runtime $project_directory" \
+  --eval-command="run $experiment_directory/spec.json" \
+  sledgert

runtime/experiments/applications/ocr/hyde/run.sh

@@ -5,7 +5,7 @@
 # Also disables pagination and stopping on SIGUSR1
 
 experiment_directory=$(pwd)
-project_directory=$(cd ../../.. && pwd)
+project_directory=$(cd ../../../.. && pwd)
 binary_directory=$(cd "$project_directory"/bin && pwd)
 
 if [ "$1" != "-d" ]; then