Kyle Bayes
1490336955
PiperOrigin-RevId: 935980153 Change-Id: I41d25bfab4935494dc984168820cb7cad123cadf
141 lines
4.3 KiB
C++
141 lines
4.3 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 <absl/strings/str_format.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("flex/flag.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);
|
|
|
|
void BM_CompileManyTextures(benchmark::State& state) {
|
|
MujocoErrorTestGuard guard; // Fail test if there are any mujoco errors
|
|
std::string texture_path =
|
|
GetTestDataFilePath("benchmark/testdata/noise.png");
|
|
|
|
// Create a model with many textures
|
|
std::string xml = "<mujoco>\n";
|
|
xml += " <asset>\n";
|
|
for (int i = 0; i < 100; ++i) {
|
|
xml += absl::StrFormat(" <texture name='tex%d' type='2d' file='%s'/>\n",
|
|
i, texture_path);
|
|
}
|
|
xml += " </asset>\n";
|
|
xml += " <worldbody>\n";
|
|
xml += " <geom size='1'/>\n";
|
|
xml += " </worldbody>\n";
|
|
xml += "</mujoco>\n";
|
|
|
|
// Disable cache to simulate many textures without needing separate
|
|
// testdata files.
|
|
auto* cache = mj_getCache();
|
|
int old_capacity = mj_getCacheCapacity(cache);
|
|
mj_setCacheCapacity(cache, 0);
|
|
|
|
for (auto s : state) {
|
|
char error[1024];
|
|
MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
|
|
}
|
|
|
|
// Reset cache capacity to default value.
|
|
mj_setCacheCapacity(cache, old_capacity);
|
|
}
|
|
|
|
BENCHMARK(BM_CompileManyTextures);
|
|
|
|
} // namespace
|
|
|
|
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseCacheHits(benchmark::State& state) {
|
|
run_parse_benchmark(
|
|
GetModelPath("../test/benchmark/testdata/cache_hits.xml"), state);
|
|
}
|
|
BENCHMARK(BM_ParseCacheHits);
|
|
|
|
} // namespace mujoco
|