
* Benchmark lifecycle features Signed-off-by: Stephen Brawner <brawner@gmail.com> * Cleanup Signed-off-by: Stephen Brawner <brawner@gmail.com>
157 lines
5.2 KiB
C++
157 lines
5.2 KiB
C++
// 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 <benchmark/benchmark.h>
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#include <memory>
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#include <string>
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#include "lifecycle_msgs/msg/state.hpp"
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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_lifecycle/lifecycle_node.hpp"
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/**
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* Benchmarks for evaluating rclcpp_lifecycle::LifecycleNode.
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*
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* Much of the lifecycle node API calls rclcpp::Node and node_interface functions, which are
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* likely to be inlined and are not of much value to benchmark.
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*/
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class BenchmarkLifecycleNodeConstruction : public performance_test_fixture::PerformanceTest
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{
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public:
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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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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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rclcpp::shutdown();
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}
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};
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BENCHMARK_F(BenchmarkLifecycleNodeConstruction, construct_lifecycle_node)(
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benchmark::State & state)
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{
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for (auto _ : state) {
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auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("node", "ns");
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PERFORMANCE_TEST_FIXTURE_PAUSE_MEASUREMENTS(
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state,
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{
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node.reset();
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});
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}
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}
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BENCHMARK_F(BenchmarkLifecycleNodeConstruction, destroy_lifecycle_node)(benchmark::State & state) {
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for (auto _ : state) {
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std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node(nullptr);
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PERFORMANCE_TEST_FIXTURE_PAUSE_MEASUREMENTS(
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state,
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{
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node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("node", "ns");
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});
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node.reset();
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}
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}
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class BenchmarkLifecycleNode : public performance_test_fixture::PerformanceTest
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{
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public:
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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_shared<rclcpp_lifecycle::LifecycleNode>("node", "ns");
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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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node.reset();
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rclcpp::shutdown();
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}
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protected:
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std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node;
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};
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// This is a simple getter, but it crosses over into the rcl library.
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BENCHMARK_F(BenchmarkLifecycleNode, get_current_state)(benchmark::State & state) {
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for (auto _ : state) {
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const auto & lifecycle_state = node->get_current_state();
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if (lifecycle_state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED) {
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const std::string message =
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std::string("Node's current state is: ") + std::to_string(lifecycle_state.id());
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state.SkipWithError(message.c_str());
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}
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benchmark::DoNotOptimize(lifecycle_state);
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benchmark::ClobberMemory();
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}
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}
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BENCHMARK_F(BenchmarkLifecycleNode, get_available_states)(benchmark::State & state) {
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for (auto _ : state) {
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constexpr size_t expected_states = 11u;
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const auto lifecycle_states = node->get_available_states();
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if (lifecycle_states.size() != expected_states) {
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const std::string msg = std::to_string(lifecycle_states.size());
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state.SkipWithError(msg.c_str());
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}
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benchmark::DoNotOptimize(lifecycle_states);
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benchmark::ClobberMemory();
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}
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}
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BENCHMARK_F(BenchmarkLifecycleNode, get_available_transitions)(benchmark::State & state) {
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for (auto _ : state) {
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constexpr size_t expected_transitions = 25u;
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const auto & transitions = node->get_available_transitions();
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if (transitions.size() != expected_transitions) {
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const std::string msg = std::to_string(transitions.size());
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state.SkipWithError(msg.c_str());
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}
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benchmark::DoNotOptimize(transitions);
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benchmark::ClobberMemory();
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}
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}
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BENCHMARK_F(BenchmarkLifecycleNode, transition_valid_state)(benchmark::State & state) {
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const auto & configured =
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node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
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if (configured.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) {
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state.SkipWithError("Transition to configured state failed");
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}
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reset_heap_counters();
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for (auto _ : state) {
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const auto & active =
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node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
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if (active.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) {
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state.SkipWithError("Transition to active state failed");
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}
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const auto & inactive =
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node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_DEACTIVATE);
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if (inactive.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) {
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state.SkipWithError("Transition to inactive state failed");
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}
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benchmark::DoNotOptimize(active);
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benchmark::DoNotOptimize(inactive);
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benchmark::ClobberMemory();
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}
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}
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