107 lines
2.7 KiB
C++
107 lines
2.7 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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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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*
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*/
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#include <unistd.h>
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#include "gazebo/test/ServerFixture.hh"
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#include "gazebo/test/helper_physics_generator.hh"
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using namespace gazebo;
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class BandwidthTest : public ServerFixture,
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public testing::WithParamInterface<const char*>
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{
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public: void Bandwidth(const std::string &_physicsEngine);
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};
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boost::mutex g_mutex;
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std::vector<int> g_bwBytes;
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std::vector<common::Time> g_bwTime;
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void BandwidthMsg(const std::string &_msg)
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{
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boost::mutex::scoped_lock lock(g_mutex);
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g_bwBytes.push_back(_msg.size());
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g_bwTime.push_back(common::Time::GetWallTime());
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}
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void BandwidthTest::Bandwidth(const std::string &_physicsEngine)
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{
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if (_physicsEngine == "dart")
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{
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gzerr << "Abort test since dart does not support closed loops in PR2, "
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<< "Please see issue #913. "
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<< "(https://bitbucket.org/osrf/gazebo/issue/913)\n";
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return;
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}
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Load("worlds/pr2.world", false, _physicsEngine);
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transport::NodePtr node(new transport::Node());
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node->Init("default");
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std::string topic = "/gazebo/default/pose/info";
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transport::SubscriberPtr sub = node->Subscribe(topic, BandwidthMsg);
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while (true)
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{
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common::Time::MSleep(100);
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{
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boost::mutex::scoped_lock lock(g_mutex);
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if (g_bwBytes.size() >= 100)
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{
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std::sort(g_bwBytes.begin(), g_bwBytes.end());
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float sumSize = 0;
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unsigned int count = g_bwBytes.size();
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common::Time dt = g_bwTime[count - 1] - g_bwTime[0];
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for (unsigned int i = 0; i < count; ++i)
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sumSize += g_bwBytes[i];
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float meanSize = sumSize / count;
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float totalBw = sumSize / dt.Double();
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printf("Bandwidth:\n");
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printf(" Total[%6.2f B/s] Mean[%6.2f B] Messages[%u] Time[%4.2fs]\n",
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totalBw, meanSize, count, dt.Double());
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EXPECT_GT(totalBw, 1000.0);
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g_bwBytes.clear();
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g_bwTime.clear();
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break;
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}
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}
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}
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}
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TEST_P(BandwidthTest, Bandwidth)
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{
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Bandwidth(GetParam());
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}
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INSTANTIATE_TEST_CASE_P(PhysicsEngines, BandwidthTest, PHYSICS_ENGINE_VALUES);
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int main(int argc, char **argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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