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tests: microbench uorb add sensor_gyro_fifo copy

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- gives an idea of the cost of copying a large message
This commit is contained in:
Daniel Agar 2020-04-13 14:10:20 -04:00
parent 6c1e9c60ed
commit aad2856872
1 changed files with 18 additions and 0 deletions
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18
src/systemcmds/tests/test_microbench_uorb.cpp
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@ -50,6 +50,7 @@
#include <uORB/Subscription.hpp>
#include <uORB/topics/sensor_accel.h>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/sensor_gyro_fifo.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_status.h>
@ -107,6 +108,7 @@ private:
vehicle_status_s status;
vehicle_local_position_s lpos;
sensor_gyro_s gyro;
sensor_gyro_fifo_s gyro_fifo;
};
bool MicroBenchORB::run_tests()
@ -136,6 +138,8 @@ void MicroBenchORB::reset()
lpos.dist_bottom_valid = rand();
gyro.timestamp = rand();
gyro_fifo.timestamp = rand();
}
ut_declare_test_c(test_microbench_uorb, MicroBenchORB)
@ -145,6 +149,7 @@ 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 fd_gyro_fifo = orb_subscribe(ORB_ID(sensor_gyro_fifo));
int ret = 0;
bool updated = false;
@ -165,6 +170,11 @@ bool MicroBenchORB::time_px4_uorb()
printf("\n");
PERF("orb_check sensor_gyro_fifo", ret = orb_check(fd_gyro_fifo, &updated), 100);
PERF("orb_copy sensor_gyro_fifo", ret = orb_copy(ORB_ID(sensor_gyro_fifo), fd_gyro_fifo, &gyro_fifo), 100);
printf("\n");
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);
@ -180,6 +190,7 @@ bool MicroBenchORB::time_px4_uorb()
orb_unsubscribe(fd_status);
orb_unsubscribe(fd_lpos);
orb_unsubscribe(fd_gyro);
orb_unsubscribe(fd_gyro_fifo);
return true;
}
@ -228,6 +239,13 @@ bool MicroBenchORB::time_px4_uorb_direct()
PERF("uORB::Subscription orb_copy sensor_gyro:3", ret = sens_gyro3.copy(&gyro), 100);
}
{
printf("\n");
uORB::Subscription sens_gyro_fifo0{ORB_ID(sensor_gyro_fifo), 0};
PERF("uORB::Subscription orb_check sensor_gyro_fifo:0", ret = sens_gyro_fifo0.updated(), 100);
PERF("uORB::Subscription orb_copy sensor_gyro_fifo:0", ret = sens_gyro_fifo0.copy(&gyro_fifo), 100);
}
return true;
}