microbench split into hrt, math, matrix, uorb

src/systemcmds/tests/test_microbench_math.cpp

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+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+#include <unit_test.h>
+
+#include <time.h>
+#include <stdlib.h>
+
+#include <drivers/drv_hrt.h>
+#include <perf/perf_counter.h>
+#include <px4_config.h>
+#include <px4_micro_hal.h>
+
+namespace MicroBenchMath
+{
+
+#ifdef __PX4_NUTTX
+#include <nuttx/irq.h>
+static irqstate_t flags;
+#endif
+
+void lock()
+{
+#ifdef __PX4_NUTTX
+	flags = px4_enter_critical_section();
+#endif
+}
+
+void unlock()
+{
+#ifdef __PX4_NUTTX
+	px4_leave_critical_section(flags);
+#endif
+}
+
+#define PERF(name, op, count) do { \
+		usleep(1000); \
+		reset(); \
+		perf_counter_t p = perf_alloc(PC_ELAPSED, name); \
+		for (int i = 0; i < count; i++) { \
+			lock(); \
+			perf_begin(p); \
+			op; \
+			perf_end(p); \
+			unlock(); \
+			reset(); \
+		} \
+		perf_print_counter(p); \
+		perf_free(p); \
+	} while (0)
+
+class MicroBenchMath : public UnitTest
+{
+public:
+	virtual bool run_tests();
+
+private:
+	bool time_single_precision_float();
+	bool time_single_precision_float_trig();
+
+	bool time_double_precision_float();
+	bool time_double_precision_float_trig();
+
+	bool time_8bit_integers();
+	bool time_16bit_integers();
+	bool time_32bit_integers();
+	bool time_64bit_integers();
+
+	void reset();
+
+	float f32;
+	float f32_out;
+
+	double f64;
+	double f64_out;
+
+	uint8_t i_8;
+	uint8_t i_8_out;
+
+	uint16_t i_16;
+	uint16_t i_16_out;
+
+	uint32_t i_32;
+	uint32_t i_32_out;
+
+	int64_t i_64;
+	int64_t i_64_out;
+
+	uint64_t u_64;
+	uint64_t u_64_out;
+};
+
+bool MicroBenchMath::run_tests()
+{
+	ut_run_test(time_single_precision_float);
+	ut_run_test(time_single_precision_float_trig);
+	ut_run_test(time_double_precision_float);
+	ut_run_test(time_double_precision_float_trig);
+	ut_run_test(time_8bit_integers);
+	ut_run_test(time_16bit_integers);
+	ut_run_test(time_32bit_integers);
+	ut_run_test(time_64bit_integers);
+
+	return (_tests_failed == 0);
+}
+
+template<typename T>
+T random(T min, T max)
+{
+	const T scale = rand() / (T) RAND_MAX; /* [0, 1.0] */
+	return min + scale * (max - min);      /* [min, max] */
+}
+
+void MicroBenchMath::reset()
+{
+	srand(time(nullptr));
+
+	// initialize with random data
+	f32 = random(-2.0f * M_PI, 2.0f * M_PI);		// somewhat representative range for angles in radians
+	f32_out = random(-2.0f * M_PI, 2.0f * M_PI);
+
+	f64 = random(-2.0 * M_PI, 2.0 * M_PI);
+	f64_out = random(-2.0 * M_PI, 2.0 * M_PI);
+
+	i_8 = rand();
+	i_8_out = rand();
+
+	i_16 = rand();
+	i_16_out = rand();
+
+	i_32 = rand();
+	i_32_out = rand();
+
+	i_64 = rand();
+	i_64_out = rand();
+
+	u_64 = rand();
+	u_64_out = rand();
+}
+
+ut_declare_test_c(test_microbench_math, MicroBenchMath)
+
+bool MicroBenchMath::time_single_precision_float()
+{
+	PERF("float add", f32_out += f32, 1000);
+	PERF("float sub", f32_out -= f32, 1000);
+	PERF("float mul", f32_out *= f32, 1000);
+	PERF("float div", f32_out /= f32, 1000);
+	PERF("float sqrt", f32_out = sqrtf(f32), 1000);
+
+	return true;
+}
+
+bool MicroBenchMath::time_single_precision_float_trig()
+{
+	PERF("sinf()", f32_out = sinf(f32), 1000);
+	PERF("cosf()", f32_out = cosf(f32), 1000);
+	PERF("tanf()", f32_out = tanf(f32), 1000);
+
+	PERF("acosf()", f32_out = acosf(f32), 1000);
+	PERF("asinf()", f32_out = asinf(f32), 1000);
+	PERF("atan2f()", f32_out = atan2f(f32, 2.0f * f32), 1000);
+
+	return true;
+}
+
+bool MicroBenchMath::time_double_precision_float()
+{
+	PERF("double add", f64_out += f64, 1000);
+	PERF("double sub", f64_out -= f64, 1000);
+	PERF("double mul", f64_out *= f64, 1000);
+	PERF("double div", f64_out /= f64, 1000);
+	PERF("double sqrt", f64_out = sqrt(f64), 1000);
+
+	return true;
+}
+
+bool MicroBenchMath::time_double_precision_float_trig()
+{
+	PERF("sin()", f64_out = sin(f64), 1000);
+	PERF("cos()", f64_out = cos(f64), 1000);
+	PERF("tan()", f64_out = tan(f64), 1000);
+
+	PERF("acos()", f64_out = acos(f64 * 0.5), 1000);
+	PERF("asin()", f64_out = asin(f64 * 0.6), 1000);
+	PERF("atan2()", f64_out = atan2(f64 * 0.7, f64 * 0.8), 1000);
+
+	PERF("sqrt()", f64_out = sqrt(f64), 1000);
+
+	return true;
+}
+
+
+bool MicroBenchMath::time_8bit_integers()
+{
+	PERF("int8 add", i_8_out += i_8, 1000);
+	PERF("int8 sub", i_8_out -= i_8, 1000);
+	PERF("int8 mul", i_8_out *= i_8, 1000);
+	PERF("int8 div", i_8_out /= i_8, 1000);
+
+	return true;
+}
+
+bool MicroBenchMath::time_16bit_integers()
+{
+	PERF("int16 add", i_16_out += i_16, 1000);
+	PERF("int16 sub", i_16_out -= i_16, 1000);
+	PERF("int16 mul", i_16_out *= i_16, 1000);
+	PERF("int16 div", i_16_out /= i_16, 1000);
+
+	return true;
+}
+
+bool MicroBenchMath::time_32bit_integers()
+{
+	PERF("int32 add", i_32_out += i_32, 1000);
+	PERF("int32 sub", i_32_out -= i_32, 1000);
+	PERF("int32 mul", i_32_out *= i_32, 1000);
+	PERF("int32 div", i_32_out /= i_32, 1000);
+
+	return true;
+}
+
+bool MicroBenchMath::time_64bit_integers()
+{
+	PERF("int64 add", i_64_out += i_64, 1000);
+	PERF("int64 sub", i_64_out -= i_64, 1000);
+	PERF("int64 mul", i_64_out *= i_64, 1000);
+	PERF("int64 div", i_64_out /= i_64, 1000);
+
+	return true;
+}
+
+} // namespace MicroBenchMath