71 lines
1.8 KiB
C++
71 lines
1.8 KiB
C++
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/*
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* Copyright (C) 2014 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 <iostream>
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#include <boost/shared_ptr.hpp>
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#include "gazebo/test/ServerFixture.hh"
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/common/common.hh"
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using namespace std;
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using namespace gazebo;
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class ImageConvertStressTest : public ServerFixture
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{
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/////////////////////////////////////////////////
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public: double virtMemory()
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{
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double resident, share;
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GetMemInfo(resident, share);
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return resident + share;
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}
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public: static void delete_many(unsigned char* ptr)
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{
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delete[] ptr;
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}
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};
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/////////////////////////////////////////////////
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TEST_F(ImageConvertStressTest, ManyConversions)
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{
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boost::shared_ptr<unsigned char> u(new unsigned char[400*400*3], delete_many);
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double memBefore = virtMemory();
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for (int i = 0; i < 1000; i++)
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{
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common::Image image;
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msgs::Image msg;
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image.SetFromData(u.get(), 400, 400, common::Image::RGB_INT8);
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msgs::Set(&msg, image);
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}
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double memAfter = virtMemory();
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// Without the fix in pull request #1057, the difference is over 470000
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EXPECT_LE(memAfter - memBefore, 2000);
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}
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/////////////////////////////////////////////////
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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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