From 419479b604b16c054076429694220976b88881c1 Mon Sep 17 00:00:00 2001
From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp>
Date: Wed, 8 Feb 2017 02:59:22 -0800
Subject: [PATCH] [util] Add performance measure script (orignally made for
 https://github.com/ros/rospack/pull/66).

---
 test/test_util.py          |  6 +++++
 util/measure_performace.sh | 50 ++++++++++++++++++++++++++++++++++++++
 2 files changed, 56 insertions(+)
 create mode 100755 util/measure_performace.sh

diff --git a/test/test_util.py b/test/test_util.py
index 5ec5582..1501d01 100644
--- a/test/test_util.py
+++ b/test/test_util.py
@@ -35,3 +35,9 @@ def test_replace_str_infile(self):
         if NEW_STR in file_strtest:
             is_replaced = True        
         self.assertTrue(is_replaced, 'String is not found in the targeted file.')
+
+    def test_measure_performance(self):
+        from subprocess import Popen, PIPE
+        process = Popen(['measure_performance', 'ls', '10'], stdout=PIPE, stderr=PIPE)
+        stdout, stderr = process.communicate()
+        self.assertTrue(stderr, '')
diff --git a/util/measure_performace.sh b/util/measure_performace.sh
new file mode 100755
index 0000000..bd18ad8
--- /dev/null
+++ b/util/measure_performace.sh
@@ -0,0 +1,50 @@
+# Copyright (C) 2017, Isaac I.Y. Saito
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#   * Redistributions of source code must retain the above copyright notice,
+#     this list of conditions and the following disclaimer.
+#   * Redistributions in binary form must reproduce the above copyright
+#     notice, this list of conditions and the following disclaimer in the
+#     documentation and/or other materials provided with the distribution.
+#   * Neither the names of Stanford University or Open Source Robotics Foundation. nor the names of its
+#     contributors may be used to endorse or promote products derived from
+#     this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+function iterate_command {
+  command=${1:-"rospack profile"};
+  num_iteration=${2:-10000};
+  for i in $(seq 1 ${num_iteration}); do
+    echo "${i}th iteration.";
+    $command;
+  done
+}
+
+function measure_performance {
+  command=${1:-"rospack profile"};
+  num_iteration=${2:-100000};
+  output_filename=${3:-"straceResult_${command// /-}_${num_iteration}_`date +%Y%m%d%H%M%S`.log"};
+  echo "Command to be measured: ${command}";
+
+  export ROS_CACHE_TIMEOUT=0.0 # Needed to not use cache.
+
+  # strace doesn't easily call a function. http://unix.stackexchange.com/questions/339173/strace-not-finding-shell-function-with-cant-stat-error
+  strace -o ${output_filename} -c -Ttt bash -c "$(typeset -f iterate_command); iterate_command '${command}' $num_iteration";
+}
+
+command=${1:-"rospack profile"};
+num_iteration=${2:-100000};
+output_filename=${3:-"straceResult_${command// /-}_${num_iteration}_`date +%Y%m%d%H%M%S`.log"};
+measure_performance $command $num_iteration $output_filename;