184 lines
5.8 KiB
C++
184 lines
5.8 KiB
C++
/*
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* Copyright (C) 2017 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 "gazebo/test/ServerFixture.hh"
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#include "gazebo/common/Timer.hh"
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#include "gazebo/physics/physics.hh"
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#include "gazebo/test/helper_physics_generator.hh"
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using namespace gazebo;
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class SpeedThreadIslandsTest : public ServerFixture,
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public testing::WithParamInterface<const char*>
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{
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/// \brief Load a world file and test the thread speedup using _threads
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/// Unthrottle update rate, set island threads, and check
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/// changes in required computational time.
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/// \param[in] _physicsEngine Type of physics engine to use.
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/// \param[in] _solverType Type of solver to use.
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/// \param[in] _worldFile The world file to load into physics engine.
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/// \param[in] _threads The number of threads to use for speedup test.
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/// \param[in] _warmUpSteps The numebr of warm up simulation steps.
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public: void ThreadSpeedup(const std::string &_physicsEngine,
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const std::string &_solverType,
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const std::string &_worldFile,
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const int _threads,
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const int _warmUpSteps);
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};
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/////////////////////////////////////////////////
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// copied from speed_thread_pr2.cc
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// Get timing information from World::Step()
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// \param[in] _world Pointer to the world
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// \param[in] _steps Number of steps to run
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// \param[out] _avgTime Average duration of a World::Step
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// \param[out] _maxTime Max duration of a World::Step
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// \param[out] _minTime Min duration of a World::Step
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void Stats(physics::WorldPtr _world, const int _steps, common::Time &_avgTime,
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common::Time &_maxTime, common::Time &_minTime)
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{
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common::Timer timer;
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common::Time timeLap = common::Time::Zero;
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_avgTime = common::Time::Zero;
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_maxTime = common::Time::Zero;
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_minTime.Set(GZ_INT32_MAX, 0);
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int repetitions = 3;
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int steps = _steps;
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for (int i = 0; i < repetitions; ++i)
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{
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// Time the world for 5000 iterations
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timer.Reset();
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timer.Start();
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_world->Step(steps);
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timer.Stop();
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timeLap = timer.GetElapsed();
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_avgTime += timeLap;
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if (timeLap >= _maxTime)
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_maxTime = timeLap;
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if (timeLap <= _minTime)
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_minTime = timeLap;
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}
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_avgTime = _avgTime.Double() / repetitions;
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}
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////////////////////////////////////////////////////////////////////////
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void SpeedThreadIslandsTest::ThreadSpeedup(const std::string &_physicsEngine,
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const std::string &_solverType,
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const std::string &_worldFile,
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const int _threads,
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const int _warmUpSteps)
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{
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// Load world
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Load(_worldFile, true, _physicsEngine);
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != nullptr);
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// Verify physics engine type
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physics::PhysicsEnginePtr physics = world->GetPhysicsEngine();
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ASSERT_TRUE(physics != nullptr);
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EXPECT_EQ(physics->GetType(), _physicsEngine);
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// Set solver type and unthrottle update rate
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physics->SetParam("solver_type", _solverType);
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if (_solverType == "world")
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{
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physics->SetParam("ode_quiet", true);
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}
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physics->SetRealTimeUpdateRate(0.0);
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// Expect no island threads by default
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{
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int threads;
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EXPECT_NO_THROW(
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threads = boost::any_cast<int>(physics->GetParam("island_threads")));
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EXPECT_EQ(0, threads);
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}
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// Take some steps to warm up.
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world->Step(_warmUpSteps);
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// Collect base-line statistics (no threading)
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common::Time baseAvgTime, baseMaxTime, baseMinTime;
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Stats(world, 10*_warmUpSteps, baseAvgTime, baseMaxTime, baseMinTime);
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std::cout << "Base Time\n";
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std::cout << "\t Avg[" << baseAvgTime << "]\n"
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<< "\t Max[" << baseMaxTime << "]\n"
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<< "\t Min[" << baseMinTime << "]\n";
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// Turn on island threads
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{
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int threads;
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physics->SetParam("island_threads", _threads);
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EXPECT_NO_THROW(
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threads = boost::any_cast<int>(physics->GetParam("island_threads")));
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EXPECT_EQ(_threads, threads);
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}
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// Take some steps to warm up.
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world->Step(_warmUpSteps);
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// Collect threaded statistics
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common::Time threadAvgTime, threadMaxTime, threadMinTime;
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Stats(world, 10*_warmUpSteps, threadAvgTime, threadMaxTime, threadMinTime);
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std::cout << "Thread Time\n";
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std::cout << "\t Avg[" << threadAvgTime << "]\n"
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<< "\t Max[" << threadMaxTime << "]\n"
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<< "\t Min[" << threadMinTime << "]\n";
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// Expect best-case computational time to decrease
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EXPECT_LT(threadMinTime, baseMinTime);
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}
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TEST_F(SpeedThreadIslandsTest, MultiplePendulumQuickStep)
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{
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ThreadSpeedup("ode", "quick",
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"worlds/revolute_joint_test_with_large_gap.world", 4, 500);
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}
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// this test fails on macOS, see issue #2364
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#ifndef __APPLE__
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TEST_F(SpeedThreadIslandsTest, MultiplePendulumWorldStep)
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{
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ThreadSpeedup("ode", "world",
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"worlds/revolute_joint_test_with_large_gap.world", 4, 500);
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}
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#endif
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TEST_F(SpeedThreadIslandsTest, DualPR2QuickStep)
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{
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ThreadSpeedup("ode", "quick", "worlds/dual_pr2.world", 2, 50);
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}
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TEST_F(SpeedThreadIslandsTest, DualPR2WorldStep)
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{
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ThreadSpeedup("ode", "world", "worlds/dual_pr2.world", 2, 50);
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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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