Sam Haves
f0d5ed73b2
The BM_CompileManyTextures benchmark temporarily sets the MuJoCo cache capacity to 0. This change ensures that the original cache capacity is restored after the benchmark completes, preventing side effects on other tests. PiperOrigin-RevId: 864332653 Change-Id: I5f756e30d4922d5e6f9b70d19ba9d0e31cde9259
142 lines
4.4 KiB
C++
142 lines
4.4 KiB
C++
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// A benchmark for parsing and compiling models from XML.
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#include <array>
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#include <memory>
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#include <string>
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#include <benchmark/benchmark.h>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <absl/base/attributes.h>
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#include <absl/strings/str_format.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mujoco.h>
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#include "test/fixture.h"
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namespace mujoco {
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namespace {
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using ::testing::Eq;
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using ::testing::NotNull;
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static void run_parse_benchmark(const std::string xml_path,
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benchmark::State& state) {
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MujocoErrorTestGuard guard; // Fail test if there are any mujoco errors
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int vfs_errno = 0;
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std::string vfs_errmsg = "";
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auto vfs = std::make_unique<mjVFS>();
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mj_defaultVFS(vfs.get());
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if ((vfs_errno = mj_addFileVFS(vfs.get(), "", xml_path.data()))) {
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if (vfs_errno == 1) {
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vfs_errmsg = "VFS is full"; // should not occur
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} else if (vfs_errno == 2) {
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vfs_errmsg = "Repeated name in VFS"; // should not occur
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} else {
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vfs_errmsg = "File not found";
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}
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}
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ASSERT_THAT(vfs_errno, Eq(0)) << "Failed to add file to VFS: " << vfs_errmsg;
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// load once to warm up filesystem and compiler cache
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std::array<char, 1024> error;
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mjModel* model =
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mj_loadXML(xml_path.data(), vfs.get(), error.data(), error.size());
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ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
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for (auto s : state) {
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mjModel* model = mj_loadXML(xml_path.data(), vfs.get(), 0, 0);
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mj_deleteModel(model);
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}
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state.SetLabel(xml_path);
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mj_deleteVFS(vfs.get());
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}
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// Use ABSL_ATTRIBUTE_NO_TAIL_CALL to make sure the benchmark functions appear
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// separately in CPU profiles (and don't get replaced with raw calls to
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// run_parse_benchmark).
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void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseFlagPlugin(benchmark::State& state) {
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run_parse_benchmark(GetModelPath("flex/flag.xml"), state);
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}
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BENCHMARK(BM_ParseFlagPlugin);
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void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseFlag(benchmark::State& state) {
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run_parse_benchmark(GetModelPath("../test/benchmark/testdata/flag.xml"),
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state);
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}
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BENCHMARK(BM_ParseFlag);
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void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseHumanoid(benchmark::State& state) {
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run_parse_benchmark(GetModelPath("humanoid/humanoid.xml"), state);
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}
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BENCHMARK(BM_ParseHumanoid);
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void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseHumanoid100(benchmark::State& state) {
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run_parse_benchmark(GetModelPath("humanoid/humanoid100.xml"), state);
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}
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BENCHMARK(BM_ParseHumanoid100);
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void BM_CompileManyTextures(benchmark::State& state) {
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MujocoErrorTestGuard guard; // Fail test if there are any mujoco errors
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std::string texture_path =
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GetTestDataFilePath("benchmark/testdata/noise.png");
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// Create a model with many textures
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std::string xml = "<mujoco>\n";
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xml += " <asset>\n";
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for (int i = 0; i < state.range(0); ++i) {
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xml += absl::StrFormat(" <texture name='tex%d' type='2d' file='%s'/>\n",
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i, texture_path);
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}
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xml += " </asset>\n";
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xml += " <worldbody>\n";
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xml += " <geom size='1'/>\n";
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xml += " </worldbody>\n";
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xml += "</mujoco>\n";
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// Disable cache to simulate many textures without needing separate
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// testdata files.
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auto* cache = mj_getCache();
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int old_capacity = mj_getCacheCapacity(cache);
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mj_setCacheCapacity(cache, 0);
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for (auto s : state) {
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char error[1024];
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mjModel* model = LoadModelFromString(xml, error, sizeof(error));
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mj_deleteModel(model);
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}
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// Reset cache capacity to default value.
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mj_setCacheCapacity(cache, old_capacity);
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}
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BENCHMARK(BM_CompileManyTextures)->Range(10, 100);
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} // namespace
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void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseCacheHits(benchmark::State& state) {
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run_parse_benchmark(
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GetModelPath("../test/benchmark/testdata/cache_hits.xml"), state);
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}
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BENCHMARK(BM_ParseCacheHits);
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} // namespace mujoco
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