Added benchmark test to rcl_logging_spdlog (#52)

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

rcl_logging_spdlog/CMakeLists.txt

@@ -46,11 +46,20 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
+  find_package(performance_test_fixture REQUIRED)
+  # Give cppcheck hints about macro definitions coming from outside this package
+  get_target_property(ament_cmake_cppcheck_ADDITIONAL_INCLUDE_DIRS
+    performance_test_fixture::performance_test_fixture INTERFACE_INCLUDE_DIRECTORIES)
+
   find_package(ament_cmake_gtest REQUIRED)
   ament_add_gtest(test_logging_interface test/test_logging_interface.cpp)
   if(TARGET test_logging_interface)
     target_link_libraries(test_logging_interface ${PROJECT_NAME})
   endif()
+  add_performance_test(benchmark_logging_interface test/benchmark/benchmark_logging_interface.cpp)
+  if(TARGET benchmark_logging_interface)
+    target_link_libraries(benchmark_logging_interface ${PROJECT_NAME})
+  endif()
 endif()
 
 ament_export_include_directories(include)

rcl_logging_spdlog/package.xml

@@ -20,6 +20,8 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>performance_test_fixture</test_depend>
+  <test_depend>rcpputils</test_depend>
 
   <member_of_group>rcl_logging_packages</member_of_group>
 

rcl_logging_spdlog/test/benchmark/benchmark_logging_interface.cpp

@@ -0,0 +1,120 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+
+#include <rcutils/allocator.h>
+#include <rcutils/logging.h>
+
+#include <rcl_logging_interface/rcl_logging_interface.h>
+
+#include <string>
+
+#include "performance_test_fixture/performance_test_fixture.hpp"
+
+using performance_test_fixture::PerformanceTest;
+
+namespace
+{
+constexpr const uint64_t kSize = 4096;
+}
+
+class LoggingBenchmarkPerformance : public PerformanceTest
+{
+public:
+  void SetUp(benchmark::State & st)
+  {
+    rcl_logging_ret_t ret = rcl_logging_external_initialize(
+      nullptr,
+      rcutils_get_default_allocator());
+    if (ret != RCL_LOGGING_RET_OK) {
+      st.SkipWithError(rcutils_get_error_string().str);
+    }
+
+    data = std::string(kSize, '0');
+    PerformanceTest::SetUp(st);
+  }
+  void TearDown(benchmark::State & st)
+  {
+    PerformanceTest::TearDown(st);
+    rcl_logging_ret_t ret = rcl_logging_external_shutdown();
+    if (ret != RCL_LOGGING_RET_OK) {
+      st.SkipWithError(rcutils_get_error_string().str);
+    }
+  }
+
+  static void setLogLevel(int logger_level, benchmark::State & st)
+  {
+    rcl_logging_ret_t ret = rcl_logging_external_set_logger_level(nullptr, logger_level);
+    if (ret != RCL_LOGGING_RET_OK) {
+      st.SkipWithError(rcutils_get_error_string().str);
+    }
+  }
+
+  std::string data;
+};
+
+BENCHMARK_F(LoggingBenchmarkPerformance, log_level_hit)(benchmark::State & st)
+{
+  setLogLevel(RCUTILS_LOG_SEVERITY_INFO, st);
+
+  rcl_logging_external_log(RCUTILS_LOG_SEVERITY_INFO, nullptr, data.c_str());
+  reset_heap_counters();
+
+  for (auto _ : st) {
+    rcl_logging_external_log(RCUTILS_LOG_SEVERITY_INFO, nullptr, data.c_str());
+  }
+}
+
+BENCHMARK_F(LoggingBenchmarkPerformance, log_level_miss)(benchmark::State & st)
+{
+  setLogLevel(RCUTILS_LOG_SEVERITY_INFO, st);
+  for (auto _ : st) {
+    rcl_logging_external_log(RCUTILS_LOG_SEVERITY_DEBUG, nullptr, data.c_str());
+  }
+}
+
+BENCHMARK_F(PerformanceTest, logging_reinitialize)(benchmark::State & st)
+{
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  rcl_logging_ret_t ret = rcl_logging_external_initialize(nullptr, allocator);
+
+  reset_heap_counters();
+
+  for (auto _ : st) {
+    ret = rcl_logging_external_initialize(nullptr, allocator);
+    if (ret != RCL_LOGGING_RET_OK) {
+      st.SkipWithError(rcutils_get_error_string().str);
+    }
+  }
+
+  ret = rcl_logging_external_shutdown();
+  if (ret != RCL_LOGGING_RET_OK) {
+    st.SkipWithError(rcutils_get_error_string().str);
+  }
+}
+
+BENCHMARK_F(PerformanceTest, logging_initialize_shutdown)(benchmark::State & st)
+{
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  for (auto _ : st) {
+    rcl_logging_ret_t ret = rcl_logging_external_initialize(nullptr, allocator);
+    if (ret != RCL_LOGGING_RET_OK) {
+      st.SkipWithError(rcutils_get_error_string().str);
+    }
+    ret = rcl_logging_external_shutdown();
+    if (ret != RCL_LOGGING_RET_OK) {
+      st.SkipWithError(rcutils_get_error_string().str);
+    }
+  }
+}