microbench split into hrt, math, matrix, uorb

src/systemcmds/tests/test_microbench_uorb.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>
+
+#include <uORB/topics/sensor_accel.h>
+#include <uORB/topics/sensor_gyro.h>
+#include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/vehicle_status.h>
+
+namespace MicroBenchORB
+{
+
+#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 MicroBenchORB : public UnitTest
+{
+public:
+	virtual bool run_tests();
+
+private:
+
+	bool time_px4_uorb();
+
+	void reset();
+
+	vehicle_status_s status;
+	vehicle_local_position_s lpos;
+	sensor_gyro_s gyro;
+};
+
+bool MicroBenchORB::run_tests()
+{
+	ut_run_test(time_px4_uorb);
+
+	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 MicroBenchORB::reset()
+{
+	srand(time(nullptr));
+
+	// initialize with random data
+	status.timestamp = rand();
+	status.mission_failure = rand();
+
+	lpos.timestamp = rand();
+	lpos.dist_bottom_valid = rand();
+
+	gyro.timestamp = rand();
+	gyro.temperature_raw = rand();
+}
+
+ut_declare_test_c(test_microbench_uorb, MicroBenchORB)
+
+bool MicroBenchORB::time_px4_uorb()
+{
+	int fd_status = orb_subscribe(ORB_ID(vehicle_status));
+	int fd_lpos = orb_subscribe(ORB_ID(vehicle_local_position));
+	int fd_gyro = orb_subscribe(ORB_ID(sensor_gyro));
+
+	int ret = 0;
+	bool updated = false;
+	uint64_t time = 0;
+
+	PERF("orb_check vehicle_status", ret = orb_check(fd_status, &updated), 1000);
+	PERF("orb_stat vehicle_status", ret = orb_stat(fd_status, &time), 1000);
+	PERF("orb_copy vehicle_status", ret = orb_copy(ORB_ID(vehicle_status), fd_status, &status), 1000);
+
+	PERF("orb_check vehicle_local_position", ret = orb_check(fd_lpos, &updated), 1000);
+	PERF("orb_stat vehicle_local_position", ret = orb_stat(fd_lpos, &time), 1000);
+	PERF("orb_copy vehicle_local_position", ret = orb_copy(ORB_ID(vehicle_local_position), fd_lpos, &lpos), 1000);
+
+	PERF("orb_check sensor_gyro", ret = orb_check(fd_gyro, &updated), 1000);
+	PERF("orb_stat sensor_gyro", ret = orb_stat(fd_gyro, &time), 1000);
+	PERF("orb_copy sensor_gyro", ret = orb_copy(ORB_ID(sensor_gyro), fd_gyro, &lpos), 1000);
+
+	PERF("orb_exists sensor_accel 0", ret = orb_exists(ORB_ID(sensor_accel), 0), 100);
+	PERF("orb_exists sensor_accel 1", ret = orb_exists(ORB_ID(sensor_accel), 1), 100);
+	PERF("orb_exists sensor_accel 2", ret = orb_exists(ORB_ID(sensor_accel), 2), 100);
+	PERF("orb_exists sensor_accel 3", ret = orb_exists(ORB_ID(sensor_accel), 3), 100);
+	PERF("orb_exists sensor_accel 4", ret = orb_exists(ORB_ID(sensor_accel), 4), 100);
+
+	orb_unsubscribe(fd_status);
+	orb_unsubscribe(fd_lpos);
+	orb_unsubscribe(fd_gyro);
+
+	return true;
+}
+
+} // namespace MicroBenchORB