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Update thread_performance_test.cc.

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PiperOrigin-RevId: 916025277
Change-Id: Icc000e5f81b79e0239359638d0eabc3e2ecd00e6
This commit is contained in:
Kyle Bayes
2026-05-15 08:47:18 -07:00
committed by Copybara-Service
parent 9fb548cadb
commit a0c4c62654
1 changed files with 42 additions and 18 deletions
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test/benchmark/thread_performance_test.cc
+42 -18
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@@ -12,6 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
#include <array>
#include <string>
#include <vector>
#include <benchmark/benchmark.h>
@@ -26,7 +27,13 @@ namespace {
// number of steps to roll out before benchmarking
static const int kNumWarmupSteps = 500;
// number of steps to benchmark (before resetting state)
static const int kBatchSize = 50;
void BM_StepHumanoid200(benchmark::State& state) {
int nthread = state.range(0);
std::string label = std::to_string(nthread) + " thread(s)";
auto model_path = GetTestDataFilePath("benchmark/testdata/humanoid200.xml");
std::array<char, 1024> error;
mjModel* model =
@@ -36,8 +43,11 @@ void BM_StepHumanoid200(benchmark::State& state) {
model->opt.disableflags &= ~mjDSBL_ISLAND; // enable islands
mjData* data = mj_makeData(model);
mjThreadPool* threadpool = mju_threadPoolCreate(10);
mju_bindThreadPool(data, threadpool);
mjThreadPool* threadpool = nullptr;
if (nthread > 1) {
threadpool = mju_threadPoolCreate(nthread);
mju_bindThreadPool(data, threadpool);
}
// warm-up rollout to get a steady state
for (int i = 0; i < kNumWarmupSteps; i++) {
@@ -50,22 +60,29 @@ void BM_StepHumanoid200(benchmark::State& state) {
std::vector<mjtNum> initial_state(size);
mj_getState(model, data, initial_state.data(), spec);
// note: this tests resetting and stepping
for (int i = 0; i < 10; ++i) {
// reset to the saved state, step again, get the resulting state
while (state.KeepRunningBatch(kBatchSize)) {
// reset to the saved state
mj_setState(model, data, initial_state.data(), spec);
for (int i = 0; i < kNumWarmupSteps; i++) {
// run a batch of steps
for (int i = 0; i < kBatchSize; i++) {
mj_step(model, data);
}
}
state.SetLabel(label);
state.SetItemsProcessed(state.iterations());
mj_deleteData(data);
mju_threadPoolDestroy(threadpool);
if (threadpool) {
mju_threadPoolDestroy(threadpool);
}
}
void BM_Step22Humanoids(benchmark::State& state) {
auto model_path = GetTestDataFilePath("benchmark/testdata/22_humanoids.xml");
int nthread = state.range(0);
std::string label = std::to_string(nthread) + " thread(s)";
auto model_path = GetModelPath("humanoid/22_humanoids.xml");
std::array<char, 1024> error;
mjModel* model =
mj_loadXML(model_path.c_str(), nullptr, error.data(), error.size());
@@ -73,8 +90,11 @@ void BM_Step22Humanoids(benchmark::State& state) {
model->opt.disableflags &= ~mjDSBL_ISLAND; // enable islands
mjData* data = mj_makeData(model);
mjThreadPool* threadpool = mju_threadPoolCreate(10);
mju_bindThreadPool(data, threadpool);
mjThreadPool* threadpool = nullptr;
if (nthread > 1) {
threadpool = mju_threadPoolCreate(nthread);
mju_bindThreadPool(data, threadpool);
}
// warm-up rollout to get a steady state
for (int i = 0; i < kNumWarmupSteps; i++) {
@@ -87,24 +107,28 @@ void BM_Step22Humanoids(benchmark::State& state) {
std::vector<mjtNum> initial_state(size);
mj_getState(model, data, initial_state.data(), spec);
std::vector<mjtNum> ctrl = GetCtrlNoise(model, kNumWarmupSteps);
std::vector<mjtNum> ctrl = GetCtrlNoise(model, kBatchSize);
// note: this tests resetting and stepping
for (int i = 0; i < 10; ++i) {
// reset to the saved state, step again, get the resulting state
while (state.KeepRunningBatch(kBatchSize)) {
// reset to the saved state
mj_setState(model, data, initial_state.data(), spec);
for (int i = 0; i < kNumWarmupSteps; i++) {
// run a batch of steps
for (int i = 0; i < kBatchSize; i++) {
mju_copy(data->ctrl, ctrl.data()+model->nu*i, model->nu);
mj_step(model, data);
}
}
state.SetLabel(label);
state.SetItemsProcessed(state.iterations());
mj_deleteData(data);
mju_threadPoolDestroy(threadpool);
if (threadpool) {
mju_threadPoolDestroy(threadpool);
}
}
BENCHMARK(BM_StepHumanoid200);
BENCHMARK(BM_Step22Humanoids);
BENCHMARK(BM_StepHumanoid200)->Arg(1)->Arg(6);
BENCHMARK(BM_Step22Humanoids)->Arg(1)->Arg(6);
} // namespace
} // namespace mujoco