Added executor benchmark tests (#1413)
* Added executor benchmark tests Signed-off-by: ahcorde <ahcorde@gmail.com> * make linters happy Signed-off-by: ahcorde <ahcorde@gmail.com> * initialize callback_count Signed-off-by: ahcorde <ahcorde@gmail.com> * Added feddback Signed-off-by: ahcorde <ahcorde@gmail.com> * Added feedback Signed-off-by: ahcorde <ahcorde@gmail.com> * Added add_node and remove_node benchmark tests Signed-off-by: ahcorde <ahcorde@gmail.com> * Add/remove node in static_single_thread_executor Signed-off-by: ahcorde <ahcorde@gmail.com> * Make linters happy Signed-off-by: ahcorde <ahcorde@gmail.com> * Added StaticSingleThreadedExecutor add/remove node tests Signed-off-by: ahcorde <ahcorde@gmail.com> * make linters happy Signed-off-by: ahcorde <ahcorde@gmail.com>
This commit is contained in:
Alejandro Hernández Cordero
brawner
parent
37415670c6
commit
d65bc667fa
2 changed files with 395 additions and 0 deletions
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@ -10,6 +10,12 @@ if(TARGET benchmark_client)
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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_executor benchmark_executor.cpp)
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if(TARGET benchmark_executor)
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target_link_libraries(benchmark_executor ${PROJECT_NAME})
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ament_target_dependencies(benchmark_executor test_msgs)
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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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389
rclcpp/test/benchmark/benchmark_executor.cpp
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389
rclcpp/test/benchmark/benchmark_executor.cpp
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@ -0,0 +1,389 @@
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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 <utility>
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#include <vector>
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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 "rclcpp/scope_exit.hpp"
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#include "test_msgs/msg/empty.hpp"
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using namespace std::chrono_literals;
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using performance_test_fixture::PerformanceTest;
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constexpr unsigned int kNumberOfNodes = 10;
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class PerformanceTestExecutor : public PerformanceTest
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{
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public:
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void SetUp(benchmark::State & st)
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{
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rclcpp::init(0, nullptr);
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callback_count = 0;
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for (unsigned int i = 0u; i < kNumberOfNodes; i++) {
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nodes.push_back(std::make_shared<rclcpp::Node>("my_node_" + std::to_string(i)));
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publishers.push_back(
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nodes[i]->create_publisher<test_msgs::msg::Empty>(
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"/empty_msgs_" + std::to_string(i), rclcpp::QoS(10)));
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auto callback = [this](test_msgs::msg::Empty::SharedPtr) {this->callback_count++;};
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subscriptions.push_back(
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nodes[i]->create_subscription<test_msgs::msg::Empty>(
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"/empty_msgs_" + std::to_string(i), rclcpp::QoS(10), std::move(callback)));
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}
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PerformanceTest::SetUp(st);
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}
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void TearDown(benchmark::State & st)
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{
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PerformanceTest::TearDown(st);
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subscriptions.clear();
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publishers.clear();
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nodes.clear();
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rclcpp::shutdown();
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}
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test_msgs::msg::Empty empty_msgs;
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std::vector<rclcpp::Node::SharedPtr> nodes;
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std::vector<rclcpp::Publisher<test_msgs::msg::Empty>::SharedPtr> publishers;
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std::vector<rclcpp::Subscription<test_msgs::msg::Empty>::SharedPtr> subscriptions;
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int callback_count;
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};
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BENCHMARK_F(PerformanceTestExecutor, single_thread_executor_spin_some)(benchmark::State & st)
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{
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rclcpp::executors::SingleThreadedExecutor executor;
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for (unsigned int i = 0u; i < kNumberOfNodes; i++) {
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executor.add_node(nodes[i]);
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publishers[i]->publish(empty_msgs);
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executor.spin_some(100ms);
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}
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callback_count = 0;
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reset_heap_counters();
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for (auto _ : st) {
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st.PauseTiming();
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for (unsigned int i = 0u; i < kNumberOfNodes; i++) {
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publishers[i]->publish(empty_msgs);
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}
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st.ResumeTiming();
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executor.spin_some(100ms);
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}
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if (callback_count == 0) {
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st.SkipWithError("No message was received");
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}
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}
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BENCHMARK_F(PerformanceTestExecutor, multi_thread_executor_spin_some)(benchmark::State & st)
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{
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rclcpp::executors::MultiThreadedExecutor executor;
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for (unsigned int i = 0u; i < kNumberOfNodes; i++) {
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executor.add_node(nodes[i]);
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publishers[i]->publish(empty_msgs);
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executor.spin_some(100ms);
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}
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callback_count = 0;
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reset_heap_counters();
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for (auto _ : st) {
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st.PauseTiming();
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for (unsigned int i = 0u; i < kNumberOfNodes; i++) {
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publishers[i]->publish(empty_msgs);
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}
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st.ResumeTiming();
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executor.spin_some(100ms);
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}
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if (callback_count == 0) {
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st.SkipWithError("No message was received");
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}
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}
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class PerformanceTestExecutorSimple : public PerformanceTest
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{
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public:
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void SetUp(benchmark::State & st)
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{
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rclcpp::init(0, nullptr);
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node = std::make_shared<rclcpp::Node>("my_node");
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PerformanceTest::SetUp(st);
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}
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void TearDown(benchmark::State & st)
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{
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PerformanceTest::TearDown(st);
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node.reset();
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rclcpp::shutdown();
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}
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rclcpp::Node::SharedPtr node;
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};
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BENCHMARK_F(PerformanceTestExecutorSimple, single_thread_executor_add_node)(benchmark::State & st)
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{
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rclcpp::executors::SingleThreadedExecutor executor;
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for (auto _ : st) {
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executor.add_node(node);
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st.PauseTiming();
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executor.remove_node(node);
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st.ResumeTiming();
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}
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}
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BENCHMARK_F(
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PerformanceTestExecutorSimple, single_thread_executor_remove_node)(benchmark::State & st)
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{
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rclcpp::executors::SingleThreadedExecutor executor;
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for (auto _ : st) {
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st.PauseTiming();
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executor.add_node(node);
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st.ResumeTiming();
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executor.remove_node(node);
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}
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}
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BENCHMARK_F(PerformanceTestExecutorSimple, multi_thread_executor_add_node)(benchmark::State & st)
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{
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rclcpp::executors::MultiThreadedExecutor executor;
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for (auto _ : st) {
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executor.add_node(node);
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st.PauseTiming();
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executor.remove_node(node);
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st.ResumeTiming();
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}
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}
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BENCHMARK_F(PerformanceTestExecutorSimple, multi_thread_executor_remove_node)(benchmark::State & st)
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{
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rclcpp::executors::MultiThreadedExecutor executor;
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for (auto _ : st) {
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st.PauseTiming();
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executor.add_node(node);
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st.ResumeTiming();
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executor.remove_node(node);
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}
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}
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BENCHMARK_F(
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PerformanceTestExecutorSimple,
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static_single_thread_executor_add_node)(benchmark::State & st)
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{
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rclcpp::executors::StaticSingleThreadedExecutor executor;
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for (auto _ : st) {
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executor.add_node(node);
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st.PauseTiming();
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executor.remove_node(node);
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st.ResumeTiming();
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}
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}
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BENCHMARK_F(
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PerformanceTestExecutorSimple,
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static_single_thread_executor_remove_node)(benchmark::State & st)
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{
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rclcpp::executors::StaticSingleThreadedExecutor executor;
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for (auto _ : st) {
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st.PauseTiming();
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executor.add_node(node);
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st.ResumeTiming();
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executor.remove_node(node);
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}
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}
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BENCHMARK_F(
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PerformanceTestExecutorSimple,
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static_single_thread_executor_spin_until_future_complete)(benchmark::State & st)
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{
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rclcpp::executors::StaticSingleThreadedExecutor executor;
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// test success of an immediately finishing future
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std::promise<bool> promise;
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std::future<bool> future = promise.get_future();
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promise.set_value(true);
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auto shared_future = future.share();
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auto ret = executor.spin_until_future_complete(shared_future, 100ms);
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if (ret != rclcpp::FutureReturnCode::SUCCESS) {
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st.SkipWithError(rcutils_get_error_string().str);
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}
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reset_heap_counters();
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for (auto _ : st) {
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// static_single_thread_executor has a special design. We need to add/remove the node each
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// time you call spin
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st.PauseTiming();
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executor.add_node(node);
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st.ResumeTiming();
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ret = executor.spin_until_future_complete(shared_future, 100ms);
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if (ret != rclcpp::FutureReturnCode::SUCCESS) {
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st.SkipWithError(rcutils_get_error_string().str);
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break;
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}
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st.PauseTiming();
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executor.remove_node(node);
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st.ResumeTiming();
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}
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}
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BENCHMARK_F(
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PerformanceTestExecutorSimple,
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single_thread_executor_spin_node_until_future_complete)(benchmark::State & st)
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{
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rclcpp::executors::SingleThreadedExecutor executor;
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// test success of an immediately finishing future
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std::promise<bool> promise;
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std::future<bool> future = promise.get_future();
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promise.set_value(true);
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auto shared_future = future.share();
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auto ret = rclcpp::executors::spin_node_until_future_complete(
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executor, node, shared_future, 1s);
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if (ret != rclcpp::FutureReturnCode::SUCCESS) {
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st.SkipWithError(rcutils_get_error_string().str);
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}
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reset_heap_counters();
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for (auto _ : st) {
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ret = rclcpp::executors::spin_node_until_future_complete(
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executor, node, shared_future, 1s);
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if (ret != rclcpp::FutureReturnCode::SUCCESS) {
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st.SkipWithError(rcutils_get_error_string().str);
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break;
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}
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}
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}
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BENCHMARK_F(
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PerformanceTestExecutorSimple,
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multi_thread_executor_spin_node_until_future_complete)(benchmark::State & st)
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{
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rclcpp::executors::MultiThreadedExecutor executor;
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// test success of an immediately finishing future
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std::promise<bool> promise;
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std::future<bool> future = promise.get_future();
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promise.set_value(true);
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auto shared_future = future.share();
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auto ret = rclcpp::executors::spin_node_until_future_complete(
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executor, node, shared_future, 1s);
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if (ret != rclcpp::FutureReturnCode::SUCCESS) {
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st.SkipWithError(rcutils_get_error_string().str);
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}
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reset_heap_counters();
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for (auto _ : st) {
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ret = rclcpp::executors::spin_node_until_future_complete(
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executor, node, shared_future, 1s);
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if (ret != rclcpp::FutureReturnCode::SUCCESS) {
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st.SkipWithError(rcutils_get_error_string().str);
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break;
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}
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}
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}
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BENCHMARK_F(
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PerformanceTestExecutorSimple,
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static_single_thread_executor_spin_node_until_future_complete)(benchmark::State & st)
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{
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rclcpp::executors::StaticSingleThreadedExecutor executor;
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// test success of an immediately finishing future
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std::promise<bool> promise;
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std::future<bool> future = promise.get_future();
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promise.set_value(true);
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auto shared_future = future.share();
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reset_heap_counters();
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for (auto _ : st) {
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auto ret = rclcpp::executors::spin_node_until_future_complete(
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executor, node, shared_future, 1s);
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if (ret != rclcpp::FutureReturnCode::SUCCESS) {
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st.SkipWithError(rcutils_get_error_string().str);
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break;
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}
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}
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}
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BENCHMARK_F(PerformanceTestExecutorSimple, spin_until_future_complete)(benchmark::State & st)
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{
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// test success of an immediately finishing future
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std::promise<bool> promise;
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std::future<bool> future = promise.get_future();
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promise.set_value(true);
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auto shared_future = future.share();
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auto ret = rclcpp::spin_until_future_complete(node, shared_future, 1s);
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if (ret != rclcpp::FutureReturnCode::SUCCESS) {
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st.SkipWithError(rcutils_get_error_string().str);
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}
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reset_heap_counters();
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for (auto _ : st) {
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ret = rclcpp::spin_until_future_complete(node, shared_future, 1s);
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if (ret != rclcpp::FutureReturnCode::SUCCESS) {
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st.SkipWithError(rcutils_get_error_string().str);
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break;
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}
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}
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}
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BENCHMARK_F(
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PerformanceTestExecutorSimple,
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static_executor_entities_collector_execute)(benchmark::State & st)
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{
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rclcpp::executors::StaticExecutorEntitiesCollector::SharedPtr entities_collector_ =
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std::make_shared<rclcpp::executors::StaticExecutorEntitiesCollector>();
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entities_collector_->add_node(node->get_node_base_interface());
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rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
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rcl_allocator_t allocator = rcl_get_default_allocator();
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auto shared_context = node->get_node_base_interface()->get_context();
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rcl_context_t * context = shared_context->get_rcl_context().get();
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rcl_ret_t ret = rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator);
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if (ret != RCL_RET_OK) {
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st.SkipWithError(rcutils_get_error_string().str);
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}
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RCLCPP_SCOPE_EXIT(
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{
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rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
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if (ret != RCL_RET_OK) {
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st.SkipWithError(rcutils_get_error_string().str);
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}
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});
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auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
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rclcpp::GuardCondition guard_condition(shared_context);
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rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
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entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
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RCLCPP_SCOPE_EXIT(entities_collector_->fini());
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reset_heap_counters();
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for (auto _ : st) {
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entities_collector_->execute();
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}
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}
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