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Benchmark lifecycle features #1462

Merged
merged 2 commits into from
Nov 19, 2020
Merged

Benchmark lifecycle features #1462

merged 2 commits into from
Nov 19, 2020

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brawner
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@brawner brawner commented Nov 17, 2020

This PR adds benchmarks for lifecycle node features, including rclcpp::LifecycleNode construction/destruction, state machine methods, and construction+destruction for State/Transition types.

Much of the API of rclcpp::LifecycleNode calls the node interface's API, which are benchmarked elsewhere, so I did not include those here.

Signed-off-by: Stephen Brawner brawner@gmail.com

@brawner brawner requested a review from cottsay November 17, 2020 00:01
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brawner commented Nov 17, 2020

Building with benchmarks on, testing --packages-select rclcpp_lifecycle

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cottsay
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Just a few nitpicks.

rclcpp_lifecycle/test/benchmark/benchmark_transition.cpp Show resolved Hide resolved
rclcpp_lifecycle/test/benchmark/benchmark_state.cpp Show resolved Hide resolved
rclcpp_lifecycle/test/benchmark/benchmark_lifecycle_client.cpp Outdated Show resolved Hide resolved
rclcpp_lifecycle/test/benchmark/benchmark_lifecycle_client.cpp Outdated Show resolved Hide resolved
rclcpp_lifecycle/CMakeLists.txt Outdated Show resolved Hide resolved
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cottsay commented Nov 17, 2020

benchmark_lifecycle_client:

-------------------------------------------------------------------------------------------------------------
Benchmark                                                   Time             CPU   Iterations UserCounters...
-------------------------------------------------------------------------------------------------------------
BenchmarkLifecycleClient/get_state                     195772 ns        61088 ns        10313 heap_allocations=8.47813
BenchmarkLifecycleClient/change_state                  428399 ns       125877 ns         5793 heap_allocations=16.9871
BenchmarkLifecycleClient/get_available_states          212097 ns        68654 ns        10280 heap_allocations=9.18356
BenchmarkLifecycleClient/get_available_transitions     208669 ns        67407 ns        13291 heap_allocations=9.28388
BenchmarkLifecycleClient/get_transition_graph          277065 ns       107590 ns         6135 heap_allocations=26.6667

benchmark_lifecycle_node:

----------------------------------------------------------------------------------------------------------------------
Benchmark                                                            Time             CPU   Iterations UserCounters...
----------------------------------------------------------------------------------------------------------------------
BenchmarkLifecycleNodeConstruction/construct_lifecycle_node   11560168 ns     11545396 ns           60 heap_allocations=5.3143k
BenchmarkLifecycleNodeConstruction/destroy_lifecycle_node      5913835 ns      5566607 ns          126 heap_allocations=171.921
BenchmarkLifecycleNode/get_current_state                          68.6 ns         68.6 ns     10227245 heap_allocations=0
BenchmarkLifecycleNode/get_available_states                       8518 ns         8518 ns        79652 heap_allocations=5
BenchmarkLifecycleNode/get_available_transitions                 11385 ns        11384 ns        60252 heap_allocations=6
BenchmarkLifecycleNode/transition_valid_state                    16895 ns        16895 ns        41840 heap_allocations=10

benchmark_state:

---------------------------------------------------------------------------------------------------
Benchmark                                         Time             CPU   Iterations UserCounters...
---------------------------------------------------------------------------------------------------
PerformanceTest/construct_destruct_state       2300 ns         2300 ns       303327 heap_allocations=2
PerformanceTest/copy_destruct_state            2313 ns         2313 ns       303493 heap_allocations=2.00001

benchmark_transition:

--------------------------------------------------------------------------------------------------------
Benchmark                                              Time             CPU   Iterations UserCounters...
--------------------------------------------------------------------------------------------------------
PerformanceTest/construct_destruct_transition       2328 ns         2328 ns       299758 heap_allocations=2
PerformanceTest/copy_destruct_transition            2337 ns         2337 ns       298487 heap_allocations=2.00001

@brawner
Benchmark lifecycle features
0fac2b9 
Signed-off-by: Stephen Brawner <brawner@gmail.com>
@brawner
Cleanup
3151248 
Signed-off-by: Stephen Brawner <brawner@gmail.com>
@brawner brawner force-pushed the brawner/rclcpp_lifecycle-benchmarks branch from 2706680 to 3151248 Compare November 18, 2020 02:12
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brawner commented Nov 18, 2020 •
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Rebased onto master as well after merging #1464 and #1461

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brawner commented Nov 19, 2020

Aarch and Windows show expected warnings. Rpr job fails because performance_test_fixture needs a release.

@brawner brawner merged commit a7db1dc into master Nov 19, 2020
@delete-merged-branch delete-merged-branch bot deleted the brawner/rclcpp_lifecycle-benchmarks branch November 19, 2020 02:41
@cottsay cottsay mentioned this pull request Nov 19, 2020
Merged
brawner added a commit that referenced this pull request Nov 19, 2020
@brawner
Benchmark lifecycle features (#1462)
e864f6a 
* Benchmark lifecycle features

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Cleanup

Signed-off-by: Stephen Brawner <brawner@gmail.com>
@brawner brawner mentioned this pull request Nov 19, 2020
Merged
brawner added a commit that referenced this pull request Nov 23, 2020
@brawner
Benchmark lifecycle features (#1462) (#1471)
bea9c5a 
* Benchmark lifecycle features

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Cleanup

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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