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Set CMakeLists to only use default rmw for benchmarks (#1427)

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* Set CMakeLists to only use default rmw for benchmarks

Signed-off-by: Stephen Brawner <brawner@gmail.com>

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Signed-off-by: Stephen Brawner <brawner@gmail.com>
This commit is contained in:
brawner 2020-10-28 12:49:53 -07:00
parent 9f2f754029
commit 1c22d6b2c4
1 changed files with 11 additions and 65 deletions
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76
rclcpp/test/benchmark/CMakeLists.txt
View file

@ -1,69 +1,15 @@
find_package(performance_test_fixture REQUIRED)
#
# Add a rmw-specific performance benchmark test from performance_test_fixture
#
# :param NAME: the target name which will also be used as the test name
# :type NAME: string
# :param SOURCE: the benchmark test target's source file
# :type SOURCE: string
# :param AMENT_DEPENDS: the ament dependincies for the benchmark test target
# :type list of strings
# :param LIBRARIES: the additional libraries the target needs to be linked
# against
# :type list of strings
# :param TEST_OPTIONS: arguments to pass directly to add_performance_test
# :type list of strings
function(add_rclcpp_benchmark NAME SOURCE)
set(multiValueArgs AMENT_DEPENDS LIBRARIES TEST_OPTIONS)
cmake_parse_arguments(
RCLCPP_BENCHMARK
""
""
"${multiValueArgs}"
"${ARGN}")
if(RCLCPP_BENCHMARK_UNPARSED_ARGUMENTS)
message(
FATAL_ERROR
"Unrecognized arguments for 'add_rclcpp_benchmark'"
" (${RCLCPP_BENCHMARK_UNPARSED_ARGUMENTS})")
return()
endif()
find_package(${rmw_implementation} REQUIRED)
message(STATUS "Adding ${NAME} for '${rmw_implementation}'")
set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
# These benchmarks are only being created and run for the default RMW
# implementation. We are looking to test the performance of the ROS 2 code, not
# the underlying middleware.
set(full_benchmark_name ${NAME}${target_suffix})
add_performance_test(
${full_benchmark_name}
${SOURCE}
${RCLCPP_BENCHMARK_TEST_OPTIONS}
ENV ${rmw_implementation_env_var})
if(TARGET ${full_benchmark_name})
if(RCLCPP_BENCHMARK_AMENT_DEPENDS)
ament_target_dependencies(
${full_benchmark_name}
${RCLCPP_BENCHMARK_AMENT_DEPENDS})
endif()
target_link_libraries(
${full_benchmark_name}
${PROJECT_NAME}
${RCLCPP_BENCHMARK_LIBRARIES})
endif()
endfunction()
add_performance_test(benchmark_init_shutdown benchmark_init_shutdown.cpp)
if(TARGET benchmark_init_shutdown)
target_link_libraries(benchmark_init_shutdown ${PROJECT_NAME})
endif()
# Add new benchmarks inside this macro
macro(rclcpp_benchmarks)
add_rclcpp_benchmark(benchmark_init_shutdown benchmark_init_shutdown.cpp)
set(SKIP_TEST "")
if(${rmw_implementation} MATCHES "(.*)connext(.*)")
set(SKIP_TEST "SKIP_TEST")
endif()
add_rclcpp_benchmark(
benchmark_node
benchmark_node.cpp
TEST_OPTIONS ${SKIP_TEST})
endmacro()
call_for_each_rmw_implementation(rclcpp_benchmarks)
add_performance_test(benchmark_node benchmark_node.cpp)
if(TARGET benchmark_node)
target_link_libraries(benchmark_node ${PROJECT_NAME})
endif()