Add benchmarks for components (#1476)

Signed-off-by: Scott K Logan <logans@cottsay.net>

rclcpp_components/CMakeLists.txt

@@ -65,6 +65,10 @@ endif()
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
+  find_package(ament_cmake_google_benchmark REQUIRED)
+  find_package(benchmark REQUIRED)
+  # Give cppcheck hints about macro definitions coming from outside this package
+  get_target_property(ament_cmake_cppcheck_ADDITIONAL_INCLUDE_DIRS benchmark::benchmark INTERFACE_INCLUDE_DIRECTORIES)
   ament_lint_auto_find_test_dependencies()
 
   set(components "")
@@ -109,6 +113,14 @@ if(BUILD_TESTING)
   if(TARGET test_component_manager_api)
     target_link_libraries(test_component_manager_api component_manager)
   endif()
+
+  ament_add_google_benchmark(benchmark_components
+    test/benchmark/benchmark_components.cpp
+    APPEND_ENV AMENT_PREFIX_PATH=${CMAKE_CURRENT_BINARY_DIR}/test_ament_index/$<CONFIG>
+    APPEND_LIBRARY_DIRS "${append_library_dirs}")
+  if(TARGET benchmark_components)
+    target_link_libraries(benchmark_components component_manager)
+  endif()
 endif()
 
 install(

rclcpp_components/package.xml

@@ -23,6 +23,7 @@
   <exec_depend>composition_interfaces</exec_depend>
   <exec_depend>rclcpp</exec_depend>
 
+  <test_depend>ament_cmake_google_benchmark</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

rclcpp_components/test/benchmark/benchmark_components.cpp

@@ -0,0 +1,121 @@
+// 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 "benchmark/benchmark.h"
+
+#include <rcutils/logging.h>
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "rclcpp_components/component_manager.hpp"
+
+class ComponentTest : public benchmark::Fixture
+{
+public:
+  ComponentTest()
+  : component_manager_name("my_manager")
+  {
+  }
+
+#ifdef __GNUC__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Woverloaded-virtual"
+#endif
+  void SetUp(benchmark::State &) override
+  {
+    rcutils_logging_set_default_logger_level(RCUTILS_LOG_SEVERITY_WARN);
+
+    context = std::make_shared<rclcpp::Context>();
+    context->init(0, nullptr, rclcpp::InitOptions().auto_initialize_logging(false));
+
+    rclcpp::ExecutorOptions exec_options;
+    exec_options.context = context;
+
+    executor = std::make_shared<rclcpp::executors::SingleThreadedExecutor>(exec_options);
+
+    manager = std::make_shared<rclcpp_components::ComponentManager>(
+      executor, component_manager_name, rclcpp::NodeOptions().context(context));
+    executor->add_node(manager);
+  }
+
+  void TearDown(benchmark::State &) override
+  {
+    context->shutdown("Test is complete");
+
+    manager.reset();
+    executor.reset();
+    context.reset();
+  }
+#ifdef __GNUC__
+#pragma GCC diagnostic pop
+#endif
+
+  const std::string component_manager_name;
+
+protected:
+  rclcpp::Context::SharedPtr context;
+  rclcpp::executors::SingleThreadedExecutor::SharedPtr executor;
+  std::shared_ptr<rclcpp_components::ComponentManager> manager;
+};
+
+BENCHMARK_F(ComponentTest, get_component_resources)(benchmark::State & state)
+{
+  for (auto _ : state) {
+    std::vector<rclcpp_components::ComponentManager::ComponentResource> resources =
+      manager->get_component_resources("rclcpp_components");
+    if (resources.size() != 3) {
+      state.SkipWithError("Wrong number of components found");
+      break;
+    }
+  }
+}
+
+BENCHMARK_F(ComponentTest, create_component_factory)(benchmark::State & state)
+{
+  const std::vector<rclcpp_components::ComponentManager::ComponentResource> resources =
+    manager->get_component_resources("rclcpp_components");
+  if (resources.size() != 3) {
+    state.SkipWithError("Wrong number of components found");
+    return;
+  }
+
+  for (auto _ : state) {
+    manager->create_component_factory(resources[0]).reset();
+  }
+}
+
+BENCHMARK_F(ComponentTest, create_node_instance)(benchmark::State & state)
+{
+  const std::vector<rclcpp_components::ComponentManager::ComponentResource> resources =
+    manager->get_component_resources("rclcpp_components");
+  if (resources.size() != 3) {
+    state.SkipWithError("Wrong number of components found");
+    return;
+  }
+
+  // Choosing resource 0 - the other two test components were shown empirically to yield
+  // the same performance charactarisitics, so they shouldn't need their own benchmarks.
+  const std::shared_ptr<rclcpp_components::NodeFactory> factory =
+    manager->create_component_factory(resources[0]);
+
+  const rclcpp::NodeOptions options = rclcpp::NodeOptions().context(context);
+
+  for (auto _ : state) {
+    rclcpp_components::NodeInstanceWrapper node = factory->create_node_instance(options);
+    benchmark::DoNotOptimize(node);
+    benchmark::ClobberMemory();
+  }
+}