Add service and client benchmarks (#1425)
* Add service and client benchmarks Signed-off-by: Stephen Brawner <brawner@gmail.com> * Style Signed-off-by: Stephen Brawner <brawner@gmail.com> * Uncrustify Signed-off-by: Stephen Brawner <brawner@gmail.com>
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3 changed files with 306 additions and 0 deletions
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@ -4,6 +4,12 @@ find_package(performance_test_fixture REQUIRED)
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# implementation. We are looking to test the performance of the ROS 2 code, not
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# the underlying middleware.
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add_performance_test(benchmark_client benchmark_client.cpp)
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if(TARGET benchmark_client)
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target_link_libraries(benchmark_client ${PROJECT_NAME})
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ament_target_dependencies(benchmark_client test_msgs rcl_interfaces)
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endif()
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add_performance_test(benchmark_init_shutdown benchmark_init_shutdown.cpp)
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if(TARGET benchmark_init_shutdown)
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target_link_libraries(benchmark_init_shutdown ${PROJECT_NAME})
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@ -13,3 +19,9 @@ add_performance_test(benchmark_node benchmark_node.cpp)
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if(TARGET benchmark_node)
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target_link_libraries(benchmark_node ${PROJECT_NAME})
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endif()
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add_performance_test(benchmark_service benchmark_service.cpp)
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if(TARGET benchmark_service)
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target_link_libraries(benchmark_service ${PROJECT_NAME})
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ament_target_dependencies(benchmark_service test_msgs rcl_interfaces)
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endif()
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153
rclcpp/test/benchmark/benchmark_client.cpp
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153
rclcpp/test/benchmark/benchmark_client.cpp
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@ -0,0 +1,153 @@
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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 <memory>
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#include <string>
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#include "performance_test_fixture/performance_test_fixture.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "test_msgs/srv/empty.hpp"
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using performance_test_fixture::PerformanceTest;
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constexpr char empty_service_name[] = "empty_service";
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class ClientPerformanceTest : public PerformanceTest
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{
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public:
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explicit ClientPerformanceTest(rclcpp::NodeOptions = rclcpp::NodeOptions()) {}
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void SetUp(benchmark::State & state)
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{
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rclcpp::init(0, nullptr);
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node = std::make_unique<rclcpp::Node>("node", "ns");
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auto empty_service_callback =
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[](
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const test_msgs::srv::Empty::Request::SharedPtr,
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test_msgs::srv::Empty::Response::SharedPtr) {};
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empty_service =
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node->create_service<test_msgs::srv::Empty>(empty_service_name, empty_service_callback);
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performance_test_fixture::PerformanceTest::SetUp(state);
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}
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void TearDown(benchmark::State & state)
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{
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performance_test_fixture::PerformanceTest::TearDown(state);
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empty_service.reset();
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node.reset();
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rclcpp::shutdown();
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}
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protected:
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std::unique_ptr<rclcpp::Node> node;
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std::shared_ptr<rclcpp::Service<test_msgs::srv::Empty>> empty_service;
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};
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BENCHMARK_F(ClientPerformanceTest, construct_client_no_service)(benchmark::State & state) {
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// Prime cache
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auto outer_client = node->create_client<test_msgs::srv::Empty>("not_an_existing_service");
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outer_client.reset();
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reset_heap_counters();
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for (auto _ : state) {
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auto client = node->create_client<test_msgs::srv::Empty>("not_an_existing_service");
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benchmark::DoNotOptimize(client);
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benchmark::ClobberMemory();
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state.PauseTiming();
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client.reset();
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state.ResumeTiming();
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}
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}
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BENCHMARK_F(ClientPerformanceTest, construct_client_empty_srv)(benchmark::State & state) {
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// Prime cache
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auto outer_client = node->create_client<test_msgs::srv::Empty>(empty_service_name);
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outer_client.reset();
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reset_heap_counters();
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for (auto _ : state) {
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auto client = node->create_client<test_msgs::srv::Empty>(empty_service_name);
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benchmark::DoNotOptimize(client);
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benchmark::ClobberMemory();
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state.PauseTiming();
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client.reset();
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state.ResumeTiming();
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}
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}
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BENCHMARK_F(ClientPerformanceTest, destroy_client_empty_srv)(benchmark::State & state) {
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// Prime cache
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auto outer_client = node->create_client<test_msgs::srv::Empty>(empty_service_name);
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outer_client.reset();
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reset_heap_counters();
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for (auto _ : state) {
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state.PauseTiming();
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auto client = node->create_client<test_msgs::srv::Empty>(empty_service_name);
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state.ResumeTiming();
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benchmark::DoNotOptimize(client);
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benchmark::ClobberMemory();
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client.reset();
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}
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}
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BENCHMARK_F(ClientPerformanceTest, wait_for_service)(benchmark::State & state) {
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int count = 0;
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for (auto _ : state) {
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state.PauseTiming();
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const std::string service_name = std::string("service_") + std::to_string(count++);
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// Create client before service so it has to 'discover' the service after construction
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auto client = node->create_client<test_msgs::srv::Empty>(service_name);
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auto callback =
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[](
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const test_msgs::srv::Empty::Request::SharedPtr,
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test_msgs::srv::Empty::Response::SharedPtr) {};
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auto service =
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node->create_service<test_msgs::srv::Empty>(service_name, callback);
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state.ResumeTiming();
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client->wait_for_service(std::chrono::seconds(1));
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benchmark::ClobberMemory();
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}
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}
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BENCHMARK_F(ClientPerformanceTest, async_send_request_only)(benchmark::State & state) {
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auto client = node->create_client<test_msgs::srv::Empty>(empty_service_name);
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auto shared_request = std::make_shared<test_msgs::srv::Empty::Request>();
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reset_heap_counters();
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for (auto _ : state) {
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auto future = client->async_send_request(shared_request);
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benchmark::DoNotOptimize(future);
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benchmark::ClobberMemory();
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}
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}
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BENCHMARK_F(ClientPerformanceTest, async_send_request_and_response)(benchmark::State & state) {
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auto client = node->create_client<test_msgs::srv::Empty>(empty_service_name);
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auto shared_request = std::make_shared<test_msgs::srv::Empty::Request>();
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reset_heap_counters();
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for (auto _ : state) {
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auto future = client->async_send_request(shared_request);
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rclcpp::spin_until_future_complete(
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node->get_node_base_interface(), future, std::chrono::seconds(1));
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benchmark::DoNotOptimize(future);
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benchmark::ClobberMemory();
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}
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}
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141
rclcpp/test/benchmark/benchmark_service.cpp
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141
rclcpp/test/benchmark/benchmark_service.cpp
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@ -0,0 +1,141 @@
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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 <memory>
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#include "performance_test_fixture/performance_test_fixture.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "test_msgs/srv/empty.hpp"
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using performance_test_fixture::PerformanceTest;
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constexpr char empty_service_name[] = "empty_service";
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class ServicePerformanceTest : public PerformanceTest
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{
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public:
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ServicePerformanceTest()
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: callback_count(0) {}
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void SetUp(benchmark::State & state)
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{
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rclcpp::init(0, nullptr);
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node = std::make_unique<rclcpp::Node>("node", "ns");
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empty_client = node->create_client<test_msgs::srv::Empty>(empty_service_name);
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callback_count = 0;
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performance_test_fixture::PerformanceTest::SetUp(state);
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}
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void TearDown(benchmark::State & state)
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{
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performance_test_fixture::PerformanceTest::TearDown(state);
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empty_client.reset();
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node.reset();
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rclcpp::shutdown();
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}
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void ServiceCallback(
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const test_msgs::srv::Empty::Request::SharedPtr,
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test_msgs::srv::Empty::Response::SharedPtr)
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{
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callback_count++;
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}
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protected:
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std::unique_ptr<rclcpp::Node> node;
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std::shared_ptr<rclcpp::Client<test_msgs::srv::Empty>> empty_client;
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int callback_count;
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};
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BENCHMARK_F(ServicePerformanceTest, construct_service_no_client)(benchmark::State & state) {
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auto callback = std::bind(
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&ServicePerformanceTest::ServiceCallback,
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this, std::placeholders::_1, std::placeholders::_2);
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auto outer_service = node->create_service<test_msgs::srv::Empty>("not_a_service", callback);
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reset_heap_counters();
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for (auto _ : state) {
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auto service = node->create_service<test_msgs::srv::Empty>("not_a_service", callback);
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benchmark::DoNotOptimize(service);
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benchmark::ClobberMemory();
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state.PauseTiming();
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service.reset();
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state.ResumeTiming();
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}
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}
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BENCHMARK_F(ServicePerformanceTest, construct_service_empty_srv)(benchmark::State & state) {
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auto callback = std::bind(
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&ServicePerformanceTest::ServiceCallback,
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this, std::placeholders::_1, std::placeholders::_2);
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auto outer_service = node->create_service<test_msgs::srv::Empty>(empty_service_name, callback);
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reset_heap_counters();
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for (auto _ : state) {
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auto service = node->create_service<test_msgs::srv::Empty>(empty_service_name, callback);
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benchmark::DoNotOptimize(service);
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benchmark::ClobberMemory();
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state.PauseTiming();
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service.reset();
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state.ResumeTiming();
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}
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}
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BENCHMARK_F(ServicePerformanceTest, destroy_service_empty_srv)(benchmark::State & state) {
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auto callback = std::bind(
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&ServicePerformanceTest::ServiceCallback,
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this, std::placeholders::_1, std::placeholders::_2);
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auto outer_service = node->create_service<test_msgs::srv::Empty>(empty_service_name, callback);
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reset_heap_counters();
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for (auto _ : state) {
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state.PauseTiming();
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auto service = node->create_service<test_msgs::srv::Empty>(empty_service_name, callback);
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state.ResumeTiming();
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benchmark::DoNotOptimize(service);
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benchmark::ClobberMemory();
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service.reset();
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}
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}
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BENCHMARK_F(ServicePerformanceTest, async_send_response)(benchmark::State & state) {
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auto callback = std::bind(
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&ServicePerformanceTest::ServiceCallback,
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this, std::placeholders::_1, std::placeholders::_2);
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auto service = node->create_service<test_msgs::srv::Empty>(empty_service_name, callback);
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reset_heap_counters();
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for (auto _ : state) {
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state.PauseTiming();
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// Clear executor queue
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rclcpp::spin_some(node->get_node_base_interface());
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auto request = std::make_shared<test_msgs::srv::Empty::Request>();
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auto future = empty_client->async_send_request(request);
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state.ResumeTiming();
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benchmark::DoNotOptimize(service);
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benchmark::ClobberMemory();
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rclcpp::spin_until_future_complete(node->get_node_base_interface(), future);
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}
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if (callback_count == 0) {
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state.SkipWithError("Service callback was not called");
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}
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}
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