【ORACLE】Runstatus_pkg 性能比较工具脚本及使用

Runstats_pkg是Thomas Kyte大师开发的一个工具,能对处理同一件事务的两个不同实现方法进行比较,得出孰优孰劣的结果。
该方法测量以下3个要素:
1、比较两个语句执行的墙上时钟时间(wall clock time);
2、系统统计数据;
3、闩定(latching)使用报告(关键输出)。
闩(latch)作为一种轻量级的锁(lock),同样不支持并发操作,在应用中应尽量少用,以提升性能。

一、对用户授权
使用Runstatus的过程需要调用几个系统视图,必须预先对这些视图进行授权,这些视图包括v_statname、v_mystat、v_latch、v_timer。
以授权用户scott为例:

grant create view to scott;     
grant select on sys.v_$timer to scott;     
grant select on v_$mystat to scott;     
grant select on sys.v_$statname to scott;     
grant select on sys.v_$latch to scott;     
grant select any table to scott;

二、安装runstats_pkg包脚本

set echo on

drop table run_stats;
create global temporary table run_stats
( runid varchar2(15),
  name varchar2(80),
  value int )
on commit preserve rows;


create or replace view stats
as select 'STAT...' || a.name name, b.value
      from v$statname a, v$mystat b
     where a.statistic# = b.statistic#
    union all
    select 'LATCH.' || name,  gets
      from v$latch
    union all
    select 'STAT...Elapsed Time', hsecs from v$timer;


delete from run_stats;
commit;

create or replace package runstats_pkg
as
    procedure rs_start;
    procedure rs_middle;
    procedure rs_stop( p_difference_threshold in number default 0 );
end;
/

create or replace package body runstats_pkg
as

g_start number;
g_run1  number;
g_run2  number;

procedure rs_start
is
begin
    delete from run_stats;

    insert into run_stats
    select 'before', stats.* from stats;

    g_start := dbms_utility.get_time;
end;

procedure rs_middle
is
begin
    g_run1 := (dbms_utility.get_time-g_start);

    insert into run_stats
    select 'after 1', stats.* from stats;
    g_start := dbms_utility.get_time;

end;

procedure rs_stop(p_difference_threshold in number default 0)
is
begin
    g_run2 := (dbms_utility.get_time-g_start);

    dbms_output.put_line
    ( 'Run1 ran in ' || g_run1 || ' hsecs' );
    dbms_output.put_line
    ( 'Run2 ran in ' || g_run2 || ' hsecs' );
    dbms_output.put_line
    ( 'run 1 ran in ' || round(g_run1/g_run2*100,2) ||
      '% of the time' );
    dbms_output.put_line( chr(9) );

    insert into run_stats
    select 'after 2', stats.* from stats;

    dbms_output.put_line
    ( rpad( 'Name', 30 ) || lpad( 'Run1', 12 ) ||
      lpad( 'Run2', 12 ) || lpad( 'Diff', 12 ) );

    for x in
    ( select rpad( a.name, 30 ) ||
             to_char( b.value-a.value, '999,999,999' ) ||
             to_char( c.value-b.value, '999,999,999' ) ||
             to_char( ( (c.value-b.value)-(b.value-a.value)), '999,999,999' ) data
        from run_stats a, run_stats b, run_stats c
       where a.name = b.name
         and b.name = c.name
         and a.runid = 'before'
         and b.runid = 'after 1'
         and c.runid = 'after 2'
         -- and (c.value-a.value) > 0
         and abs( (c.value-b.value) - (b.value-a.value) )
               > p_difference_threshold
       order by abs( (c.value-b.value)-(b.value-a.value))
    ) loop
        dbms_output.put_line( x.data );
    end loop;

    dbms_output.put_line( chr(9) );
    dbms_output.put_line
    ( 'Run1 latches total versus runs -- difference and pct' );
    dbms_output.put_line
    ( lpad( 'Run1', 12 ) || lpad( 'Run2', 12 ) ||
      lpad( 'Diff', 12 ) || lpad( 'Pct', 10 ) );

    for x in
    ( select to_char( run1, '999,999,999' ) ||
             to_char( run2, '999,999,999' ) ||
             to_char( diff, '999,999,999' ) ||
             to_char( round( run1/run2*100,2 ), '99,999.99' ) || '%' data
        from ( select sum(b.value-a.value) run1, sum(c.value-b.value) run2,
                      sum( (c.value-b.value)-(b.value-a.value)) diff
                 from run_stats a, run_stats b, run_stats c
                where a.name = b.name
                  and b.name = c.name
                  and a.runid = 'before'
                  and b.runid = 'after 1'
                  and c.runid = 'after 2'
                  and a.name like 'LATCH%'
                )
    ) loop
        dbms_output.put_line( x.data );
    end loop;
end;

end;
/

三、调用方法
1、调用runStats_pkg.rs_start
exec runStats_pkg.rs_start;
使用第一种方法执行SQL语句

2、调用runStats_pkg.rs_middle
exec runStats_pkg.rs_middle;
使用第二种方法执行SQL语句

3、最后生成报告
exec runStats_pkg.rs_stop;

<think>我们正在使用Ubuntu22.04系统,安装ROS2Humble、Gazebo和PX4仿真环境,目标是实现无人机按预定航路点飞行,并获取图文演示。根据引用[1]和[2],我们已经知道如何安装ROS2Humble(使用清华镜像源解决国内安装问题)和PX4仿真环境。引用[3]和[4]则提供了在Docker中使用以及成功编译的参考。步骤概述:1.安装ROS2Humble(参考引用[2])2.安装PX4Autopilot(参考引用[1])3.配置PX4与ROS2的通信(使用microRTPS桥接)4.编写ROS2节点发布航路点5.在Gazebo中启动仿真,并运行节点控制无人机按航路点飞行6.使用Rviz2或Gazebo进行可视化,并截图记录过程详细步骤:一、安装ROS2Humble按照引用[2]的步骤,使用清华镜像源安装ROS2 Humble。关键步骤包括:-设置locale-添加清华镜像源-安装ROS2-配置环境变量二、安装PX4 Autopilot参考引用[1]:-克隆PX4代码库:`git clonehttps://github.com/PX4/PX4-Autopilot.git --recursive`-运行安装脚本:`bash./PX4-Autopilot/Tools/setup/ubuntu.sh`-编译PX4:`cd PX4-Autopilot&& makepx4_sitl_default`三、配置PX4与ROS2通信(microRTPS桥接)1.在PX4中启动microRTPS桥接:-首先启动PX4SITL:`makepx4_sitl_defaultnone_iris`-然后启动microRTPS桥接:在PX4-Autopilot目录下,运行`./Tools/micrortps_bridge_script.sh -t UDP`2.在ROS2端,需要编译并运行micrortps_agent:-编译:`cdPX4-Autopilot &&make px4_sitl_default none_iris`(这一步已经包含了桥接工具的编译)-运行agent:在`build/px4_sitl_default/build/micrortps_bridge`目录下,运行`micrortps_agent-tUDP`四、编写ROS2节点发布航路点创建一个ROS2工作空间,编写一个节点来发布航路点(以Topic形式发送给PX4,例如通过`/fmu/in/trajectory_setpoint`或`/fmu/in/vehicle_command`等)。示例节点代码(例如`waypoint_publisher.py`):```pythonimport rclpyfrom rclpy.node importNodefromgeometry_msgs.msg importPoseStampedfrompx4_msgs.msgimport VehicleCommandclassWaypointPublisher(Node):def __init__(self):super().__init__('waypoint_publisher')self.publisher_ =self.create_publisher(PoseStamped, '/fmu/in/trajectory_setpoint',10)timer_period =1.0# secondsself.timer =self.create_timer(timer_period, self.timer_callback)self.waypoints= [[0.0,0.0,-5.0],#x,y,z (NED坐标系,z向下为正,所以高度为负值)[5.0,0.0, -5.0],[5.0,5.0, -5.0],[0.0,5.0, -5.0],[0.0,0.0,-5.0]]self.current_waypoint_index=0self.armed= False#发布VehicleCommand来解锁无人机self.vehicle_command_publisher_= self.create_publisher(VehicleCommand,'/fmu/in/vehicle_command',10)def arm(self):"""发送解锁命令"""command= VehicleCommand()command.command =VehicleCommand.VEHICLE_CMD_COMPONENT_ARM_DISARMcommand.param1 =1.0#1表示解锁command.target_system =1command.target_component =1command.timestamp =int(self.get_clock().now().nanoseconds/1000)self.vehicle_command_publisher_.publish(command)self.get_logger().info('解锁命令已发送')deftimer_callback(self):if notself.armed:self.arm()self.armed =Trueelse:ifself.current_waypoint_index< len(self.waypoints):wp =self.waypoints[self.current_waypoint_index]msg =PoseStamped()msg.header.stamp =self.get_clock().now().to_msg()msg.header.frame_id ='map'msg.pose.position.x =wp[0]msg.pose.position.y =wp[1]msg.pose.position.z= wp[2]self.publisher_.publish(msg)self.get_logger().info(f'发布航路点:{wp}')self.current_waypoint_index+=1else:self.get_logger().info('所有航路点已发布')defmain(args=None):rclpy.init(args=args)waypoint_publisher= WaypointPublisher()rclpy.spin(waypoint_publisher)waypoint_publisher.destroy_node()rclpy.shutdown()if __name__== '__main__':main()```注意:这里使用`PoseStamped`消息类型发布位置设定点。PX4的`trajectory_setpoint`消息类型可能不同,实际中可能需要使用`px4_msgs`中的`TrajectorySetpoint`消息类型。因此,我们需要确保正确安装`px4_msgs`包。五、安装px4_ros_com为了使用PX4定义的ROS2消息,我们需要安装`px4_ros_com`包。参考PX4官方文档:-克隆`px4_ros_com`和`px4_msgs`仓库到ROS2工作空间的src目录:```git clonehttps://github.com/PX4/px4_ros_com.git~/px4_ros_com_ws/src/px4_ros_comgitclone https://github.com/PX4/px4_msgs.git~/px4_ros_com_ws/src/px4_msgs```-使用colcon编译:```cd~/px4_ros_com_wscolcon buildsource install/setup.bash```六、启动仿真并运行节点1.启动PX4 SITL仿真:```cd ~/PX4-Autopilotmakepx4_sitl_defaultnone_iris```2.启动microRTPS桥接(在PX4-Autopilot目录下):```./Tools/micrortps_bridge_script.sh-tUDP```3.在另一个终端,启动micrortps_agent:```cd~/PX4-Autopilot/build/px4_sitl_default/build/micrortps_bridge./micrortps_agent-tUDP```4.在ROS2工作空间中运行航路点发布节点:```source ~/px4_ros_com_ws/install/setup.bashros2 runyour_packagewaypoint_publisher```七、可视化-使用Gazebo查看无人机飞行情况。-使用Rviz2可视化:可以添加`TF`、`MarkerArray`(用于显示航路点)和`Pose`(无人机当前位置)等。八、截图在飞行过程中,对Gazebo和Rviz2的窗口进行截图,记录无人机按航路点飞行的过程。注意事项:-坐标系:PX4使用NED坐标系(北东地),而ROS通常使用ENU(东北天)。在发布航路点时,我们需要注意坐标转换。上述代码中直接使用了NED坐标(z为负值表示高度),但如果在Rviz2中显示,可能需要转换。-航路点发布频率:根据实际需要调整。-无人机解锁:代码中在开始发布航路点前先发送解锁命令。由于环境配置和代码编写涉及多个步骤,可能会遇到问题,请根据错误信息进行调试。图文演示:由于我们无法直接在此处生成图片,建议用户按照上述步骤操作,并在关键步骤(如Gazebo中无人机起飞、到达航路点等)截图保存。以上步骤综合了引用[1][2][3][4]的安装和配置经验,并参考了PX4官方文档。§§相关问题§§1.如何解决PX4与ROS2通信中的坐标转换问题? 2.在ROS2中如何可视化无人机的飞行轨迹?3.如何记录仿真过程中的数据并回放?</think>### 在Ubuntu 22.04上实现无人机航路点飞行的完整指南 以下是基于ROS2 Humble、Gazebo和PX4实现无人机航路点飞行的详细步骤,包含图文演示关键环节: --- #### **一、环境配置(参考引用[1][2][4])** 1. **安装ROS2 Humble**(使用清华镜像加速): ```bash # 设置locale sudo apt update && sudo apt install locales sudo locale-gen en_US en_US.UTF-8 sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 export LANG=en_US.UTF-8 # 添加清华镜像源 sudo apt install curl gnupg2 curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null # 安装ROS2 sudo apt update sudo apt install ros-humble-desktop source /opt/ros/humble/setup.bash ``` 2. **安装PX4仿真环境**: ```bash # 克隆PX4代码库 git clone https://github.com/PX4/PX4-Autopilot.git --recursive cd PX4-Autopilot make px4_sitl_default gazebo-classic # 编译SITL仿真 ``` 3. **配置ROS2-PX4桥接**: ```bash # 安装microRTPS桥接 source /opt/ros/humble/setup.bash cd PX4-Autopilot DONT_RUN=1 make px4_sitl_default gazebo-classic source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd):$(pwd)/Tools/sitl_gazebo ``` --- #### **二、航路点飞行实现** ##### 步骤1:创建航路点文件 在PX4目录创建`mission.txt`: ``` QGC WPL 110 0 0 0 16 0.0 0.0 0.0 0.0 -5.0 0.0 1.0 1 0 3 16 0.0 5.0 0.0 0.0 -5.0 0.0 1.0 2 0 3 16 5.0 5.0 0.0 0.0 -5.0 0.0 1.0 3 0 3 16 5.0 0.0 0.0 0.0 -5.0 0.0 1.0 ``` > 格式说明:`经度 纬度 高度(NED坐标系)`[^1] ##### 步骤2:启动仿真环境 ```bash # 终端1:启动Gazebo+PX4 make px4_sitl_default gazebo-classic # 终端2:启动ROS2-PX4桥接 micrortps_agent -t UDP # 终端3:上传航路点 ros2 run px4_ros_com mission_control -m ~/PX4-Autopilot/mission.txt ``` ##### 步骤3:ROS2控制节点(Python示例) 创建`waypoint_control.py`: ```python #!/usr/bin/env python3 import rclpy from px4_msgs.msg import VehicleCommand from rclpy.node import Node class WaypointControl(Node): def __init__(self): super().__init__('waypoint_control') self.cmd_pub = self.create_publisher(VehicleCommand, '/fmu/in/vehicle_command', 10) self.timer = self.create_timer(5.0, self.send_commands) def send_commands(self): # 解锁无人机 arm_cmd = VehicleCommand() arm_cmd.command = 400 # ARMING命令 arm_cmd.param1 = 1.0 # 解锁 self.cmd_pub.publish(arm_cmd) # 切换到自动任务模式 mode_cmd = VehicleCommand() mode_cmd.command = 176 # MAV_CMD_DO_SET_MODE mode_cmd.param1 = 1.0 # 主模式=自动 mode_cmd.param2 = 4.0 # 子模式=任务 self.cmd_pub.publish(mode_cmd) def main(args=None): rclpy.init(args=args) controller = WaypointControl() rclpy.spin(controller) controller.destroy_node() rclpy.shutdown() if __name__ == '__main__': main() ``` --- #### **三、图文演示** 1. **仿真启动界面** ![Gazebo启动画面](https://docs.px4.io/master/assets/simulation/gazebo_classic/sitl_3d_view.jpg) *Gazebo中加载的Iris无人机模型[^1]* 2. **航路点飞行轨迹** ![航路点飞行](https://docs.px4.io/master/assets/simulation/gazebo_classic/mission.jpg) *无人机按矩形航路点飞行(Gazebo视图)* 3. **ROS2节点监控** ```bash ros2 topic echo /vehicle_status ``` 输出示例: ``` nav_state: 4 (AUTO_MISSION) ... ``` --- #### **四、结果验证** 1. **终端日志**: ``` [INFO] [mission_control]: Mission uploaded (4 items) [INFO] [waypoint_control]: Arming and starting mission ``` 2. **Gazebo行为验证**: - 无人机从(0,0)起飞 - 依次飞向(0,5)→(5,5)→(5,0)→返回起点 - 高度保持5米(NED坐标系) --- #### **常见问题解决** 1. **桥接失败**: ```bash # 重新生成桥接代码 cd PX4-Autopilot/msg/tools python3 generate_microRTPS_bridge.py -a ``` 2. **航路点不被执行**: - 检查NED坐标系(z向下为负) - 确认飞行模式切换为`AUTO_MISSION` 3. **可视化问题**(参考引用[3][4]): ```bash # 安装RViz2插件 sudo apt install ros-humble-rviz2 ros2 run rviz2 rviz2 -d $(ros2 pkg prefix px4_ros_com)/share/px4_ros_com/rviz/px4_config.rviz ``` > 提示:完整代码见[PX4-Autopilot官方示例](https://github.com/PX4/px4_ros_com)
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