pxmlw6n2f/Gazebo_Distributed_TCP/test/integration/speed_thread_pr2.cc

117 lines
3.4 KiB
C++

/*
* Copyright (C) 2015 Open Source Robotics Foundation
*
* 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 <boost/filesystem.hpp>
#include "gazebo/util/Diagnostics.hh"
#include "gazebo/test/ServerFixture.hh"
#include "gazebo/test/helper_physics_generator.hh"
using namespace gazebo;
class SpeedThreadPR2Test : public ServerFixture
{
};
/////////////////////////////////////////////////
// Get timing information from World::Step()
// \param[in] _world Pointer to the world
// \param[out] _avgTime Average duration of a World::Step
// \param[out] _maxTime Max duration of a World::Step
// \param[out] _minTime Min duration of a World::Step
void stats(physics::WorldPtr _world, common::Time &_avgTime,
common::Time &_maxTime, common::Time &_minTime)
{
common::Timer timer;
common::Time timeLap = common::Time::Zero;
_avgTime = common::Time::Zero;
_maxTime = common::Time::Zero;
_minTime.Set(GZ_INT32_MAX, 0);
int repetitions = 3;
int steps = 5000;
for (int i = 0; i < repetitions; ++i)
{
// Time the world for 5000 iterations
timer.Reset();
timer.Start();
_world->Step(steps);
timer.Stop();
timeLap = timer.GetElapsed();
_avgTime += timeLap;
if (timeLap >= _maxTime)
_maxTime = timeLap;
if (timeLap <= _minTime)
_minTime = timeLap;
}
_avgTime = _avgTime.Double() / repetitions;
}
/////////////////////////////////////////////////
// Test ODE threaded position correction.
TEST_F(SpeedThreadPR2Test, PR2SplitImpulseWorld)
{
Load("worlds/pr2_no_sensors_test.world", true);
// Get a pointer to the world
physics::WorldPtr world = physics::get_world("default");
ASSERT_TRUE(world != NULL);
// Get a pointer to the physics engine
physics::PhysicsEnginePtr physicsEngine = world->GetPhysicsEngine();
ASSERT_TRUE(physicsEngine != NULL);
// Unleash the physics engine to maximum speed.
physicsEngine->SetRealTimeUpdateRate(0);
// Let things settle
world->Step(5000);
// Make sure threading is off
physicsEngine->SetParam("thread_position_correction", false);
// Collect base-line statistics (no threading)
common::Time baseAvgTime, baseMaxTime, baseMinTime;
stats(world, baseAvgTime, baseMaxTime, baseMinTime);
std::cout << "Base Time\n";
std::cout << "\t Avg[" << baseAvgTime << "]\n"
<< "\t Max[" << baseMaxTime << "]\n"
<< "\t Min[" << baseMinTime << "]\n";
// Turn on threading
physicsEngine->SetParam("thread_position_correction", true);
// Collect threaded statistics
common::Time threadAvgTime, threadMaxTime, threadMinTime;
stats(world, threadAvgTime, threadMaxTime, threadMinTime);
std::cout << "Thread Time\n";
std::cout << "\t Avg[" << threadAvgTime << "]\n"
<< "\t Max[" << threadMaxTime << "]\n"
<< "\t Min[" << threadMinTime << "]\n";
}
/////////////////////////////////////////////////
int main(int argc, char **argv)
{
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}