Performance tests demo

CMakeLists.txt

@@ -145,6 +145,12 @@ if(BUILD_TESTING)
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
   endif()
 
+  # BENCHMARK_F seems to break cppcheck 2.1
+  # set(ament_cmake_cppcheck_FOUND TRUE)
+
+  find_package(ament_cmake_google_benchmark REQUIRED)
+  find_package(performance_test_fixture REQUIRED)
+
   find_package(ament_cmake_gmock REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_cmake_pytest REQUIRED)
@@ -505,6 +511,15 @@ if(BUILD_TESTING)
   rcutils_custom_add_gtest(test_macros
     test/test_macros.cpp
   )
+
+add_performance_test(benchmark_test_logging test/test_benchmark_logging.cpp)
+target_link_libraries(benchmark_test_logging ${PROJECT_NAME})
+target_include_directories(benchmark_test_logging PUBLIC include)
+
+add_performance_test(benchmark_test_err_handle test/test_benchmark_error_handling.cpp)
+target_link_libraries(benchmark_test_err_handle ${PROJECT_NAME})
+target_include_directories(benchmark_test_err_handle PUBLIC include)
+
   if(TARGET test_macros)
     target_link_libraries(test_macros ${PROJECT_NAME})
   endif()

package.xml

@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
   <buildtool_depend>python3-empy</buildtool_depend>
 
+  <test_depend>ament_cmake_google_benchmark</test_depend>
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>
@@ -20,6 +21,7 @@
   <test_depend>launch_testing</test_depend>
   <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>osrf_testing_tools_cpp</test_depend>
+  <test_depend>performance_test_fixture</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

test/test_benchmark_error_handling.cpp

@@ -0,0 +1,33 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <string>
+
+#include "rcutils/error_handling.h"
+
+#include <benchmark/benchmark.h>
+#include <cassert>
+
+static void benchmark_err_handling(benchmark::State & state) {
+  for (auto _ : state) {
+    rcutils_ret_t ret =
+      rcutils_initialize_error_handling_thread_local_storage(rcutils_get_default_allocator());
+    assert(ret == RCUTILS_RET_OK);
+    rcutils_reset_error();
+    const char * test_message = "test message";
+    RCUTILS_SET_ERROR_MSG(test_message);
+  }
+}
+
+BENCHMARK(benchmark_err_handling);

test/test_benchmark_logging.cpp

@@ -0,0 +1,88 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <string>
+#include <vector>
+
+#include "./allocator_testing_utils.h"
+#include "osrf_testing_tools_cpp/scope_exit.hpp"
+#include "rcutils/logging.h"
+
+#include <benchmark/benchmark.h>
+#include <cassert>
+
+#ifdef RMW_IMPLEMENTATION
+# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
+# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
+#else
+# define CLASSNAME(NAME, SUFFIX) NAME
+#endif
+
+size_t g_log_calls = 0;
+struct LogEvent
+{
+  const rcutils_log_location_t * location;
+  int level;
+  std::string name;
+  rcutils_time_point_value_t timestamp;
+  std::string message;
+};
+LogEvent g_last_log_event;
+
+static void simple_benchmark(benchmark::State & state) {
+  for (auto _ : state) {
+    rcutils_logging_initialize();
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+    {
+      rcutils_logging_shutdown();
+    });
+    g_rcutils_logging_default_logger_level = RCUTILS_LOG_SEVERITY_DEBUG;
+
+    auto rcutils_logging_console_output_handler = [](
+      const rcutils_log_location_t * location,
+      int level, const char * name, rcutils_time_point_value_t timestamp,
+      const char * format, va_list * args) -> void
+      {
+	g_log_calls += 1;
+	g_last_log_event.location = location;
+	g_last_log_event.level = level;
+	g_last_log_event.name = name ? name : "";
+	g_last_log_event.timestamp = timestamp;
+	char buffer[1024];
+	vsnprintf(buffer, sizeof(buffer), format, *args);
+	g_last_log_event.message = buffer;
+      };
+
+    rcutils_logging_output_handler_t original_function = rcutils_logging_get_output_handler();
+    rcutils_logging_set_output_handler(rcutils_logging_console_output_handler);
+    int original_level = rcutils_logging_get_default_logger_level();
+
+    // check all attributes for a debug log message
+    rcutils_log_location_t location = {"func", "file", 42u};
+    rcutils_log(&location, RCUTILS_LOG_SEVERITY_DEBUG, "name1", "message %d", 11);
+    rcutils_logging_set_default_logger_level(RCUTILS_LOG_SEVERITY_ERROR);
+    rcutils_log(NULL, RCUTILS_LOG_SEVERITY_INFO, "name2", "message %d", 22);
+    rcutils_logging_set_default_logger_level(RCUTILS_LOG_SEVERITY_UNSET);
+    rcutils_log(NULL, RCUTILS_LOG_SEVERITY_INFO, "name3", "message %d", 33);
+    rcutils_log(NULL, RCUTILS_LOG_SEVERITY_WARN, "", "%s", "");
+    rcutils_log(NULL, RCUTILS_LOG_SEVERITY_ERROR, "", "%s", "");
+    rcutils_log(NULL, RCUTILS_LOG_SEVERITY_FATAL, NULL, "%s", "");
+
+    // restore original state
+    rcutils_logging_set_default_logger_level(original_level);
+    rcutils_logging_set_output_handler(original_function);
+  }
+}
+
+BENCHMARK(simple_benchmark);