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tests: microbenchmarks reduce iterations and sleep inbetween

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This commit is contained in:
Daniel Agar 2020-04-13 14:02:40 -04:00
parent 60836eabd5
commit 6c1e9c60ed
4 changed files with 85 additions and 81 deletions
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5
src/systemcmds/tests/test_microbench_hrt.cpp
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@ -74,6 +74,7 @@ void unlock()
reset(); \
perf_counter_t p = perf_alloc(PC_ELAPSED, name); \
for (int i = 0; i < count; i++) { \
px4_usleep(1); \
lock(); \
perf_begin(p); \
op; \
@ -110,8 +111,8 @@ private:
#endif
}
uint64_t u_64;
uint64_t u_64_out;
volatile uint64_t u_64;
volatile uint64_t u_64_out;
};
bool MicroBenchHRT::run_tests()

107
src/systemcmds/tests/test_microbench_math.cpp
View File

@ -75,6 +75,7 @@ void unlock()
reset(); \
perf_counter_t p = perf_alloc(PC_ELAPSED, name); \
for (int i = 0; i < count; i++) { \
px4_usleep(1); \
lock(); \
perf_begin(p); \
op; \
@ -105,26 +106,26 @@ private:
void reset();
float f32;
float f32_out;
volatile float f32;
volatile float f32_out;
double f64;
double f64_out;
volatile double f64;
volatile double f64_out;
uint8_t i_8;
uint8_t i_8_out;
volatile uint8_t i_8;
volatile uint8_t i_8_out;
uint16_t i_16;
uint16_t i_16_out;
volatile uint16_t i_16;
volatile uint16_t i_16_out;
uint32_t i_32;
uint32_t i_32_out;
volatile uint32_t i_32;
volatile uint32_t i_32_out;
int64_t i_64;
int64_t i_64_out;
volatile int64_t i_64;
volatile int64_t i_64_out;
uint64_t u_64;
uint64_t u_64_out;
volatile uint64_t u_64;
volatile uint64_t u_64_out;
};
bool MicroBenchMath::run_tests()
@ -179,50 +180,50 @@ 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);
PERF("float add", f32_out += f32, 100);
PERF("float sub", f32_out -= f32, 100);
PERF("float mul", f32_out *= f32, 100);
PERF("float div", f32_out /= f32, 100);
PERF("float sqrt", f32_out = sqrtf(f32), 100);
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("sinf()", f32_out = sinf(f32), 100);
PERF("cosf()", f32_out = cosf(f32), 100);
PERF("tanf()", f32_out = tanf(f32), 100);
PERF("acosf()", f32_out = acosf(f32), 1000);
PERF("asinf()", f32_out = asinf(f32), 1000);
PERF("atan2f()", f32_out = atan2f(f32, 2.0f * f32), 1000);
PERF("acosf()", f32_out = acosf(f32), 100);
PERF("asinf()", f32_out = asinf(f32), 100);
PERF("atan2f()", f32_out = atan2f(f32, 2.0f * f32), 100);
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);
PERF("double add", f64_out += f64, 100);
PERF("double sub", f64_out -= f64, 100);
PERF("double mul", f64_out *= f64, 100);
PERF("double div", f64_out /= f64, 100);
PERF("double sqrt", f64_out = sqrt(f64), 100);
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("sin()", f64_out = sin(f64), 100);
PERF("cos()", f64_out = cos(f64), 100);
PERF("tan()", f64_out = tan(f64), 100);
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("acos()", f64_out = acos(f64 * 0.5), 100);
PERF("asin()", f64_out = asin(f64 * 0.6), 100);
PERF("atan2()", f64_out = atan2(f64 * 0.7, f64 * 0.8), 100);
PERF("sqrt()", f64_out = sqrt(f64), 1000);
PERF("sqrt()", f64_out = sqrt(f64), 100);
return true;
}
@ -230,40 +231,40 @@ bool MicroBenchMath::time_double_precision_float_trig()
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);
PERF("int8 add", i_8_out += i_8, 100);
PERF("int8 sub", i_8_out -= i_8, 100);
PERF("int8 mul", i_8_out *= i_8, 100);
PERF("int8 div", i_8_out /= i_8, 100);
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);
PERF("int16 add", i_16_out += i_16, 100);
PERF("int16 sub", i_16_out -= i_16, 100);
PERF("int16 mul", i_16_out *= i_16, 100);
PERF("int16 div", i_16_out /= i_16, 100);
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);
PERF("int32 add", i_32_out += i_32, 100);
PERF("int32 sub", i_32_out -= i_32, 100);
PERF("int32 mul", i_32_out *= i_32, 100);
PERF("int32 div", i_32_out /= i_32, 100);
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);
PERF("int64 add", i_64_out += i_64, 100);
PERF("int64 sub", i_64_out -= i_64, 100);
PERF("int64 mul", i_64_out *= i_64, 100);
PERF("int64 div", i_64_out /= i_64, 100);
return true;
}

17
src/systemcmds/tests/test_microbench_matrix.cpp
View File

@ -76,6 +76,7 @@ void unlock()
reset(); \
perf_counter_t p = perf_alloc(PC_ELAPSED, name); \
for (int i = 0; i < count; i++) { \
px4_usleep(1); \
lock(); \
perf_begin(p); \
op; \
@ -145,17 +146,17 @@ ut_declare_test_c(test_microbench_matrix, MicroBenchMatrix)
bool MicroBenchMatrix::time_px4_matrix()
{
PERF("matrix Euler from Quaternion", e = q, 1000);
PERF("matrix Euler from Dcm", e = d, 1000);
PERF("matrix Euler from Quaternion", e = q, 100);
PERF("matrix Euler from Dcm", e = d, 100);
PERF("matrix Quaternion from Euler", q = e, 1000);
PERF("matrix Quaternion from Dcm", q = d, 1000);
PERF("matrix Quaternion from Euler", q = e, 100);
PERF("matrix Quaternion from Dcm", q = d, 100);
PERF("matrix Dcm from Euler", d = e, 1000);
PERF("matrix Dcm from Quaternion", d = q, 1000);
PERF("matrix Dcm from Euler", d = e, 100);
PERF("matrix Dcm from Quaternion", d = q, 100);
PERF("matrix 6x16 pseudo inverse (all non-zero columns)", A16 = matrix::geninv(B16), 1000);
PERF("matrix 6x16 pseudo inverse (4 non-zero columns)", A16 = matrix::geninv(B16_4), 1000);
PERF("matrix 6x16 pseudo inverse (all non-zero columns)", A16 = matrix::geninv(B16), 100);
PERF("matrix 6x16 pseudo inverse (4 non-zero columns)", A16 = matrix::geninv(B16_4), 100);
return true;
}

37
src/systemcmds/tests/test_microbench_uorb.cpp
View File

@ -80,6 +80,7 @@ void unlock()
reset(); \
perf_counter_t p = perf_alloc(PC_ELAPSED, name); \
for (int i = 0; i < count; i++) { \
px4_usleep(1); \
lock(); \
perf_begin(p); \
op; \
@ -149,18 +150,18 @@ bool MicroBenchORB::time_px4_uorb()
bool updated = false;
uint64_t time = 0;
PERF("orb_check vehicle_status", ret = orb_check(fd_status, &updated), 1000);
PERF("orb_copy vehicle_status", ret = orb_copy(ORB_ID(vehicle_status), fd_status, &status), 1000);
PERF("orb_check vehicle_status", ret = orb_check(fd_status, &updated), 100);
PERF("orb_copy vehicle_status", ret = orb_copy(ORB_ID(vehicle_status), fd_status, &status), 100);
printf("\n");
PERF("orb_check vehicle_local_position", ret = orb_check(fd_lpos, &updated), 1000);
PERF("orb_copy vehicle_local_position", ret = orb_copy(ORB_ID(vehicle_local_position), fd_lpos, &lpos), 1000);
PERF("orb_check vehicle_local_position", ret = orb_check(fd_lpos, &updated), 100);
PERF("orb_copy vehicle_local_position", ret = orb_copy(ORB_ID(vehicle_local_position), fd_lpos, &lpos), 100);
printf("\n");
PERF("orb_check sensor_gyro", ret = orb_check(fd_gyro, &updated), 1000);
PERF("orb_copy sensor_gyro", ret = orb_copy(ORB_ID(sensor_gyro), fd_gyro, &gyro), 1000);
PERF("orb_check sensor_gyro", ret = orb_check(fd_gyro, &updated), 100);
PERF("orb_copy sensor_gyro", ret = orb_copy(ORB_ID(sensor_gyro), fd_gyro, &gyro), 100);
printf("\n");
@ -190,41 +191,41 @@ bool MicroBenchORB::time_px4_uorb_direct()
uint64_t time = 0;
uORB::Subscription vstatus{ORB_ID(vehicle_status)};
PERF("uORB::Subscription orb_check vehicle_status", ret = vstatus.updated(), 1000);
PERF("uORB::Subscription orb_copy vehicle_status", ret = vstatus.copy(&status), 1000);
PERF("uORB::Subscription orb_check vehicle_status", ret = vstatus.updated(), 100);
PERF("uORB::Subscription orb_copy vehicle_status", ret = vstatus.copy(&status), 100);
printf("\n");
uORB::Subscription local_pos{ORB_ID(vehicle_local_position)};
PERF("uORB::Subscription orb_check vehicle_local_position", ret = local_pos.updated(), 1000);
PERF("uORB::Subscription orb_copy vehicle_local_position", ret = local_pos.copy(&lpos), 1000);
PERF("uORB::Subscription orb_check vehicle_local_position", ret = local_pos.updated(), 100);
PERF("uORB::Subscription orb_copy vehicle_local_position", ret = local_pos.copy(&lpos), 100);
{
printf("\n");
uORB::Subscription sens_gyro0{ORB_ID(sensor_gyro), 0};
PERF("uORB::Subscription orb_check sensor_gyro:0", ret = sens_gyro0.updated(), 1000);
PERF("uORB::Subscription orb_copy sensor_gyro:0", ret = sens_gyro0.copy(&gyro), 1000);
PERF("uORB::Subscription orb_check sensor_gyro:0", ret = sens_gyro0.updated(), 100);
PERF("uORB::Subscription orb_copy sensor_gyro:0", ret = sens_gyro0.copy(&gyro), 100);
}
{
printf("\n");
uORB::Subscription sens_gyro1{ORB_ID(sensor_gyro), 1};
PERF("uORB::Subscription orb_check sensor_gyro:1", ret = sens_gyro1.updated(), 1000);
PERF("uORB::Subscription orb_copy sensor_gyro:1", ret = sens_gyro1.copy(&gyro), 1000);
PERF("uORB::Subscription orb_check sensor_gyro:1", ret = sens_gyro1.updated(), 100);
PERF("uORB::Subscription orb_copy sensor_gyro:1", ret = sens_gyro1.copy(&gyro), 100);
}
{
printf("\n");
uORB::Subscription sens_gyro2{ORB_ID(sensor_gyro), 2};
PERF("uORB::Subscription orb_check sensor_gyro:2", ret = sens_gyro2.updated(), 1000);
PERF("uORB::Subscription orb_copy sensor_gyro:2", ret = sens_gyro2.copy(&gyro), 1000);
PERF("uORB::Subscription orb_check sensor_gyro:2", ret = sens_gyro2.updated(), 100);
PERF("uORB::Subscription orb_copy sensor_gyro:2", ret = sens_gyro2.copy(&gyro), 100);
}
{
printf("\n");
uORB::Subscription sens_gyro3{ORB_ID(sensor_gyro), 3};
PERF("uORB::Subscription orb_check sensor_gyro:3", ret = sens_gyro3.updated(), 1000);
PERF("uORB::Subscription orb_copy sensor_gyro:3", ret = sens_gyro3.copy(&gyro), 1000);
PERF("uORB::Subscription orb_check sensor_gyro:3", ret = sens_gyro3.updated(), 100);
PERF("uORB::Subscription orb_copy sensor_gyro:3", ret = sens_gyro3.copy(&gyro), 100);
}
return true;