117 lines
3.4 KiB
C++
117 lines
3.4 KiB
C++
/*
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* Copyright (C) 2015 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 <boost/filesystem.hpp>
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#include "gazebo/util/Diagnostics.hh"
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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 SpeedThreadPR2Test : public ServerFixture
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{
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};
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/////////////////////////////////////////////////
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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[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, 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 = 5000;
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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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// Test ODE threaded position correction.
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TEST_F(SpeedThreadPR2Test, PR2SplitImpulseWorld)
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{
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Load("worlds/pr2_no_sensors_test.world", true);
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// Get a pointer to the world
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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// Get a pointer to the physics engine
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physics::PhysicsEnginePtr physicsEngine = world->GetPhysicsEngine();
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ASSERT_TRUE(physicsEngine != NULL);
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// Unleash the physics engine to maximum speed.
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physicsEngine->SetRealTimeUpdateRate(0);
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// Let things settle
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world->Step(5000);
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// Make sure threading is off
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physicsEngine->SetParam("thread_position_correction", false);
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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, 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 threading
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physicsEngine->SetParam("thread_position_correction", true);
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// Collect threaded statistics
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common::Time threadAvgTime, threadMaxTime, threadMinTime;
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stats(world, 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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}
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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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