Yuval Tassa
62ec802ec1
- Modify parse_benchmark_test to not time the first instance of file loading. - Improve readability of step_benchmark_test. PiperOrigin-RevId: 680953562 Change-Id: I4569d1b946ecb49b6590ea313f0b598ffc897888
98 lines
3.1 KiB
C++
98 lines
3.1 KiB
C++
// Copyright 2021 DeepMind Technologies Limited
|
|
//
|
|
// 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.
|
|
|
|
// A benchmark for parsing and compiling models from XML.
|
|
|
|
#include <array>
|
|
#include <memory>
|
|
#include <string>
|
|
|
|
#include <benchmark/benchmark.h>
|
|
#include <gmock/gmock.h>
|
|
#include <gtest/gtest.h>
|
|
#include <absl/base/attributes.h>
|
|
#include <mujoco/mjmodel.h>
|
|
#include <mujoco/mujoco.h>
|
|
#include "test/fixture.h"
|
|
|
|
namespace mujoco {
|
|
namespace {
|
|
|
|
using ::testing::Eq;
|
|
using ::testing::NotNull;
|
|
|
|
|
|
static void run_parse_benchmark(const std::string xml_path,
|
|
benchmark::State& state) {
|
|
MujocoErrorTestGuard guard; // Fail test if there are any mujoco errors
|
|
|
|
int vfs_errno = 0;
|
|
std::string vfs_errmsg = "";
|
|
auto vfs = std::make_unique<mjVFS>();
|
|
mj_defaultVFS(vfs.get());
|
|
|
|
if ((vfs_errno = mj_addFileVFS(vfs.get(), "", xml_path.data()))) {
|
|
if (vfs_errno == 1) {
|
|
vfs_errmsg = "VFS is full"; // should not occur
|
|
} else if (vfs_errno == 2) {
|
|
vfs_errmsg = "Repeated name in VFS"; // should not occur
|
|
} else {
|
|
vfs_errmsg = "File not found";
|
|
}
|
|
}
|
|
|
|
ASSERT_THAT(vfs_errno, Eq(0)) << "Failed to add file to VFS: " << vfs_errmsg;
|
|
|
|
// load once to warm up filesystem and compiler cache
|
|
std::array<char, 1024> error;
|
|
mjModel* model =
|
|
mj_loadXML(xml_path.data(), vfs.get(), error.data(), error.size());
|
|
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
|
|
|
|
for (auto s : state) {
|
|
mjModel* model = mj_loadXML(xml_path.data(), vfs.get(), 0, 0);
|
|
mj_deleteModel(model);
|
|
}
|
|
state.SetLabel(xml_path);
|
|
mj_deleteVFS(vfs.get());
|
|
}
|
|
|
|
// Use ABSL_ATTRIBUTE_NO_TAIL_CALL to make sure the benchmark functions appear
|
|
// separately in CPU profiles (and don't get replaced with raw calls to
|
|
// run_parse_benchmark).
|
|
|
|
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseFlagPlugin(benchmark::State& state) {
|
|
run_parse_benchmark(GetModelPath("plugin/elasticity/flag_flex.xml"), state);
|
|
}
|
|
BENCHMARK(BM_ParseFlagPlugin);
|
|
|
|
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseFlag(benchmark::State& state) {
|
|
run_parse_benchmark(GetModelPath("../test/benchmark/testdata/flag.xml"),
|
|
state);
|
|
}
|
|
BENCHMARK(BM_ParseFlag);
|
|
|
|
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseHumanoid(benchmark::State& state) {
|
|
run_parse_benchmark(GetModelPath("humanoid/humanoid.xml"), state);
|
|
}
|
|
BENCHMARK(BM_ParseHumanoid);
|
|
|
|
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseHumanoid100(benchmark::State& state) {
|
|
run_parse_benchmark(GetModelPath("humanoid/humanoid100.xml"), state);
|
|
}
|
|
BENCHMARK(BM_ParseHumanoid100);
|
|
|
|
} // namespace
|
|
} // namespace mujoco
|