Added benchmark test to rcl_yaml_param_parser (#803)
* Added benchmark test to rcl_yaml_param_parser Signed-off-by: ahcorde <ahcorde@gmail.com> * reset heap counters Signed-off-by: ahcorde <ahcorde@gmail.com> * updated benchmark tests Signed-off-by: ahcorde <ahcorde@gmail.com> * Added feedback Signed-off-by: ahcorde <ahcorde@gmail.com> * Replace BENCHMARK_DEFINE_F and BENCHMARK_REGISTER_F with BENCHMARK_F Signed-off-by: ahcorde <ahcorde@gmail.com> * Used rcpputils for the path Signed-off-by: ahcorde <ahcorde@gmail.com> * Clean up the CMake dependencies Signed-off-by: Scott K Logan <logans@cottsay.net> * Updated test Signed-off-by: ahcorde <ahcorde@gmail.com> * udpated test name Signed-off-by: ahcorde <ahcorde@gmail.com> Co-authored-by: Scott K Logan <logans@cottsay.net>
This commit is contained in:
Alejandro Hernández Cordero
Alejandro Hernández Cordero
parent
46e9ff8032
commit
1c08083888
5 changed files with 332 additions and 0 deletions
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@ -57,6 +57,11 @@ if(BUILD_TESTING)
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find_package(osrf_testing_tools_cpp REQUIRED)
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ament_lint_auto_find_test_dependencies()
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find_package(performance_test_fixture REQUIRED)
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# Give cppcheck hints about macro definitions coming from outside this package
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get_target_property(ament_cmake_cppcheck_ADDITIONAL_INCLUDE_DIRS
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performance_test_fixture::performance_test_fixture INTERFACE_INCLUDE_DIRECTORIES)
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# Gtests
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ament_add_gtest(test_parse_yaml
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test/test_parse_yaml.cpp
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@ -80,6 +85,23 @@ if(BUILD_TESTING)
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target_link_libraries(test_parser ${PROJECT_NAME})
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endif()
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add_performance_test(benchmark_parse_yaml test/benchmark/benchmark_parse_yaml.cpp
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WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}")
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if(TARGET benchmark_parse_yaml)
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target_link_libraries(benchmark_parse_yaml ${PROJECT_NAME})
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ament_target_dependencies(benchmark_parse_yaml
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"rcpputils"
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"rcutils"
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)
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endif()
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add_performance_test(benchmark_variant test/benchmark/benchmark_variant.cpp)
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if(TARGET benchmark_variant)
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target_link_libraries(benchmark_variant ${PROJECT_NAME})
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ament_target_dependencies(benchmark_variant
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"rcutils"
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)
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endif()
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endif()
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ament_export_dependencies(ament_cmake libyaml_vendor)
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@ -17,6 +17,8 @@
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<test_depend>ament_lint_common</test_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>osrf_testing_tools_cpp</test_depend>
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<test_depend>performance_test_fixture</test_depend>
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<test_depend>rcpputils</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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@ -0,0 +1,7 @@
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# config/test_yaml
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---
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foo_ns:
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foo_name:
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ros__parameters:
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param1: 1
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@ -0,0 +1,45 @@
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// Copyright 2020 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <string>
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#include "performance_test_fixture/performance_test_fixture.hpp"
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#include "rcl_yaml_param_parser/parser.h"
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#include "rcpputils/filesystem_helper.hpp"
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#include "rcutils/allocator.h"
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#include "rcutils/error_handling.h"
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#include "rcutils/filesystem.h"
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using performance_test_fixture::PerformanceTest;
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BENCHMARK_F(PerformanceTest, parser_yaml_param)(benchmark::State & st)
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{
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std::string path =
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(rcpputils::fs::current_path() / "test" / "benchmark" / "benchmark_params.yaml").string();
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reset_heap_counters();
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for (auto _ : st) {
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rcl_params_t * params_hdl = rcl_yaml_node_struct_init(rcutils_get_default_allocator());
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if (NULL == params_hdl) {
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st.SkipWithError(rcutils_get_error_string().str);
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}
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bool res = rcl_parse_yaml_file(path.c_str(), params_hdl);
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if (!res) {
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st.SkipWithError(rcutils_get_error_string().str);
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}
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rcl_yaml_node_struct_fini(params_hdl);
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}
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}
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256
rcl_yaml_param_parser/test/benchmark/benchmark_variant.cpp
Normal file
256
rcl_yaml_param_parser/test/benchmark/benchmark_variant.cpp
Normal file
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@ -0,0 +1,256 @@
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// Copyright 2020 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <string>
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#include <type_traits>
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#include "osrf_testing_tools_cpp/scope_exit.hpp"
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#include "performance_test_fixture/performance_test_fixture.hpp"
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#include "rcl_yaml_param_parser/parser.h"
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#include "rcutils/allocator.h"
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#include "rcutils/error_handling.h"
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#include "rcutils/filesystem.h"
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#include "rcutils/strdup.h"
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#include "../src/impl/yaml_variant.h"
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using performance_test_fixture::PerformanceTest;
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namespace
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{
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constexpr const uint64_t kSize = 1024;
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}
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BENCHMARK_F(PerformanceTest, bool_copy_variant)(benchmark::State & st)
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{
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bool bool_value = true;
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rcl_variant_t src_variant{};
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rcl_variant_t dest_variant{};
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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src_variant.bool_value = &bool_value;
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for (auto _ : st) {
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if (!rcl_yaml_variant_copy(&dest_variant, &src_variant, allocator)) {
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st.SkipWithError(rcutils_get_error_string().str);
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}
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}
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rcl_yaml_variant_fini(&dest_variant, allocator);
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src_variant.bool_value = nullptr;
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}
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BENCHMARK_F(PerformanceTest, int_copy_variant)(benchmark::State & st)
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{
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int64_t int_value = 42;
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rcl_variant_t src_variant{};
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rcl_variant_t dest_variant{};
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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src_variant.integer_value = &int_value;
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for (auto _ : st) {
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if (!rcl_yaml_variant_copy(&dest_variant, &src_variant, allocator)) {
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st.SkipWithError(rcutils_get_error_string().str);
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}
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}
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rcl_yaml_variant_fini(&dest_variant, allocator);
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src_variant.integer_value = nullptr;
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}
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BENCHMARK_F(PerformanceTest, double_copy_variant)(benchmark::State & st)
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{
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double double_value = 3.14157;
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rcl_variant_t src_variant{};
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rcl_variant_t dest_variant{};
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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src_variant.double_value = &double_value;
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reset_heap_counters();
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for (auto _ : st) {
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if (!rcl_yaml_variant_copy(&dest_variant, &src_variant, allocator)) {
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st.SkipWithError(rcutils_get_error_string().str);
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}
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}
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rcl_yaml_variant_fini(&dest_variant, allocator);
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src_variant.double_value = nullptr;
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}
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BENCHMARK_F(PerformanceTest, string_copy_variant)(benchmark::State & st)
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{
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std::string data(kSize, '*');
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rcl_variant_t src_variant{};
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rcl_variant_t dest_variant{};
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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char * tmp_string = rcutils_strdup(data.c_str(), allocator);
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src_variant.string_value = tmp_string;
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reset_heap_counters();
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for (auto _ : st) {
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if (!rcl_yaml_variant_copy(&dest_variant, &src_variant, allocator)) {
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st.SkipWithError(rcutils_get_error_string().str);
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}
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rcl_yaml_variant_fini(&dest_variant, allocator);
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}
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src_variant.string_value = nullptr;
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}
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BENCHMARK_F(PerformanceTest, array_bool_copy_variant)(benchmark::State & st)
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{
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bool bool_arry[kSize];
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rcl_variant_t src_variant{};
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rcl_variant_t dest_variant{};
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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using ArrayT = std::remove_pointer<decltype(src_variant.bool_array_value)>::type;
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src_variant.bool_array_value =
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static_cast<ArrayT *>(allocator.allocate(sizeof(ArrayT), allocator.state));
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using ValueT = std::remove_pointer<decltype(src_variant.bool_array_value->values)>::type;
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src_variant.bool_array_value->values =
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static_cast<ValueT *>(
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allocator.zero_allocate(kSize, sizeof(ValueT), allocator.state));
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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rcl_yaml_variant_fini(&src_variant, allocator);
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rcl_yaml_variant_fini(&dest_variant, allocator);
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src_variant.bool_array_value = nullptr;
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dest_variant.bool_array_value = nullptr;
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});
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src_variant.bool_array_value->size = kSize;
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for (size_t i = 0; i < kSize; ++i) {
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src_variant.bool_array_value->values[i] = bool_arry[i];
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}
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reset_heap_counters();
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for (auto _ : st) {
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if (!rcl_yaml_variant_copy(&dest_variant, &src_variant, allocator)) {
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st.SkipWithError(rcutils_get_error_string().str);
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}
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rcl_yaml_variant_fini(&dest_variant, allocator);
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dest_variant.double_array_value = nullptr;
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}
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}
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BENCHMARK_F(PerformanceTest, array_int_copy_variant)(benchmark::State & st)
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{
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int int_arry[kSize];
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rcl_variant_t src_variant{};
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rcl_variant_t dest_variant{};
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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using ArrayT = std::remove_pointer<decltype(src_variant.integer_array_value)>::type;
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src_variant.integer_array_value =
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static_cast<ArrayT *>(allocator.allocate(sizeof(ArrayT), allocator.state));
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using ValueT = std::remove_pointer<decltype(src_variant.integer_array_value->values)>::type;
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src_variant.integer_array_value->values =
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static_cast<ValueT *>(
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allocator.zero_allocate(kSize, sizeof(ValueT), allocator.state));
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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rcl_yaml_variant_fini(&src_variant, allocator);
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rcl_yaml_variant_fini(&dest_variant, allocator);
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src_variant.integer_array_value = nullptr;
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dest_variant.integer_array_value = nullptr;
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});
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src_variant.integer_array_value->size = kSize;
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for (size_t i = 0; i < kSize; ++i) {
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src_variant.integer_array_value->values[i] = int_arry[i];
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}
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reset_heap_counters();
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for (auto _ : st) {
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if (!rcl_yaml_variant_copy(&dest_variant, &src_variant, allocator)) {
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st.SkipWithError(rcutils_get_error_string().str);
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}
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rcl_yaml_variant_fini(&dest_variant, allocator);
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dest_variant.double_array_value = nullptr;
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}
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}
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BENCHMARK_F(PerformanceTest, array_double_copy_variant)(benchmark::State & st)
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{
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double double_arry[kSize];
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rcl_variant_t src_variant{};
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rcl_variant_t dest_variant{};
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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using ArrayT = std::remove_pointer<decltype(src_variant.double_array_value)>::type;
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src_variant.double_array_value =
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static_cast<ArrayT *>(allocator.allocate(sizeof(ArrayT), allocator.state));
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using ValueT = std::remove_pointer<decltype(src_variant.double_array_value->values)>::type;
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src_variant.double_array_value->values =
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static_cast<ValueT *>(
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allocator.zero_allocate(kSize, sizeof(ValueT), allocator.state));
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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rcl_yaml_variant_fini(&src_variant, allocator);
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rcl_yaml_variant_fini(&dest_variant, allocator);
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src_variant.double_array_value = nullptr;
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dest_variant.double_array_value = nullptr;
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});
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src_variant.double_array_value->size = kSize;
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for (size_t i = 0; i < kSize; ++i) {
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src_variant.double_array_value->values[i] = double_arry[i];
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}
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reset_heap_counters();
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for (auto _ : st) {
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if (!rcl_yaml_variant_copy(&dest_variant, &src_variant, allocator)) {
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st.SkipWithError(rcutils_get_error_string().str);
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}
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rcl_yaml_variant_fini(&dest_variant, allocator);
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dest_variant.double_array_value = nullptr;
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}
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}
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BENCHMARK_F(PerformanceTest, array_string_copy_variant)(benchmark::State & st)
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{
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rcl_variant_t src_variant{};
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rcl_variant_t dest_variant{};
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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src_variant.string_array_value =
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static_cast<rcutils_string_array_t *>(
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allocator.allocate(sizeof(rcutils_string_array_t), allocator.state));
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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rcl_yaml_variant_fini(&src_variant, allocator);
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rcl_yaml_variant_fini(&dest_variant, allocator);
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});
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*src_variant.string_array_value = rcutils_get_zero_initialized_string_array();
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if (rcutils_string_array_init(src_variant.string_array_value, kSize, &allocator) !=
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RCUTILS_RET_OK)
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{
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st.SkipWithError(rcutils_get_error_string().str);
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}
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src_variant.string_array_value->size = kSize;
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for (size_t i = 0; i < kSize; i++) {
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src_variant.string_array_value->data[i] = rcutils_strdup("string", allocator);
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if (src_variant.string_array_value->data[i] == NULL) {
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st.SkipWithError(rcutils_get_error_string().str);
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}
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}
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reset_heap_counters();
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for (auto _ : st) {
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if (!rcl_yaml_variant_copy(&dest_variant, &src_variant, allocator)) {
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st.SkipWithError(rcutils_get_error_string().str);
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}
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rcl_yaml_variant_fini(&dest_variant, allocator);
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dest_variant.double_array_value = nullptr;
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}
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}
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