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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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src/systemcmds/tests/test_microbench_uorb.cpp
+19 -18
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@@ -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;