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Set CMakeLists to only use default rmw for benchmarks (#1427)
* Set CMakeLists to only use default rmw for benchmarks Signed-off-by: Stephen Brawner <brawner@gmail.com> * Add comment Signed-off-by: Stephen Brawner <brawner@gmail.com>
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Original file line number | Diff line number | Diff line change |
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@@ -1,69 +1,15 @@ | ||
find_package(performance_test_fixture REQUIRED) | ||
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# | ||
# Add a rmw-specific performance benchmark test from performance_test_fixture | ||
# | ||
# :param NAME: the target name which will also be used as the test name | ||
# :type NAME: string | ||
# :param SOURCE: the benchmark test target's source file | ||
# :type SOURCE: string | ||
# :param AMENT_DEPENDS: the ament dependincies for the benchmark test target | ||
# :type list of strings | ||
# :param LIBRARIES: the additional libraries the target needs to be linked | ||
# against | ||
# :type list of strings | ||
# :param TEST_OPTIONS: arguments to pass directly to add_performance_test | ||
# :type list of strings | ||
function(add_rclcpp_benchmark NAME SOURCE) | ||
set(multiValueArgs AMENT_DEPENDS LIBRARIES TEST_OPTIONS) | ||
cmake_parse_arguments( | ||
RCLCPP_BENCHMARK | ||
"" | ||
"" | ||
"${multiValueArgs}" | ||
"${ARGN}") | ||
if(RCLCPP_BENCHMARK_UNPARSED_ARGUMENTS) | ||
message( | ||
FATAL_ERROR | ||
"Unrecognized arguments for 'add_rclcpp_benchmark'" | ||
" (${RCLCPP_BENCHMARK_UNPARSED_ARGUMENTS})") | ||
return() | ||
endif() | ||
find_package(${rmw_implementation} REQUIRED) | ||
message(STATUS "Adding ${NAME} for '${rmw_implementation}'") | ||
set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation}) | ||
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set(full_benchmark_name ${NAME}${target_suffix}) | ||
add_performance_test( | ||
${full_benchmark_name} | ||
${SOURCE} | ||
${RCLCPP_BENCHMARK_TEST_OPTIONS} | ||
ENV ${rmw_implementation_env_var}) | ||
if(TARGET ${full_benchmark_name}) | ||
if(RCLCPP_BENCHMARK_AMENT_DEPENDS) | ||
ament_target_dependencies( | ||
${full_benchmark_name} | ||
${RCLCPP_BENCHMARK_AMENT_DEPENDS}) | ||
endif() | ||
target_link_libraries( | ||
${full_benchmark_name} | ||
${PROJECT_NAME} | ||
${RCLCPP_BENCHMARK_LIBRARIES}) | ||
endif() | ||
endfunction() | ||
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# Add new benchmarks inside this macro | ||
macro(rclcpp_benchmarks) | ||
add_rclcpp_benchmark(benchmark_init_shutdown benchmark_init_shutdown.cpp) | ||
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set(SKIP_TEST "") | ||
if(${rmw_implementation} MATCHES "(.*)connext(.*)") | ||
set(SKIP_TEST "SKIP_TEST") | ||
endif() | ||
add_rclcpp_benchmark( | ||
benchmark_node | ||
benchmark_node.cpp | ||
TEST_OPTIONS ${SKIP_TEST}) | ||
endmacro() | ||
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call_for_each_rmw_implementation(rclcpp_benchmarks) | ||
# These benchmarks are only being created and run for the default RMW | ||
# implementation. We are looking to test the performance of the ROS 2 code, not | ||
# the underlying middleware. | ||
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add_performance_test(benchmark_init_shutdown benchmark_init_shutdown.cpp) | ||
if(TARGET benchmark_init_shutdown) | ||
target_link_libraries(benchmark_init_shutdown ${PROJECT_NAME}) | ||
endif() | ||
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add_performance_test(benchmark_node benchmark_node.cpp) | ||
if(TARGET benchmark_node) | ||
target_link_libraries(benchmark_node ${PROJECT_NAME}) | ||
endif() |