test_microbench_hrt.cpp

Go to the documentation of this file.

/****************************************************************************
 *
 *  Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * @file test_microbench_hrt.cpp
 * Tests for the microbench high resolution timer.
 */

#include <unit_test.h>

#include <time.h>
#include <stdlib.h>
#include <unistd.h>

#include <drivers/drv_hrt.h>
#include <perf/perf_counter.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/micro_hal.h>

namespace MicroBenchHRT
{

#ifdef __PX4_NUTTX
#include <nuttx/irq.h>
static irqstate_t flags;
#endif

void lock()
{
#ifdef __PX4_NUTTX
    flags = px4_enter_critical_section();
#endif
}

void unlock()
{
#ifdef __PX4_NUTTX
    px4_leave_critical_section(flags);
#endif
}

#define PERF(name, op, count) do { \
        px4_usleep(1000); \
        reset(); \
        perf_counter_t p = perf_alloc(PC_ELAPSED, name); \
        for (int i = 0; i < count; i++) { \
            lock(); \
            perf_begin(p); \
            op; \
            perf_end(p); \
            unlock(); \
            reset(); \
        } \
        perf_print_counter(p); \
        perf_free(p); \
    } while (0)

class MicroBenchHRT : public UnitTest
{
public:
    virtual bool run_tests();

private:

    bool time_px4_hrt();

    void reset();

    void lock()
    {
#ifdef __PX4_NUTTX
        flags = px4_enter_critical_section();
#endif
    }

    void unlock()
    {
#ifdef __PX4_NUTTX
        px4_leave_critical_section(flags);
#endif
    }

    uint64_t u_64;
    uint64_t u_64_out;
};

bool MicroBenchHRT::run_tests()
{
    ut_run_test(time_px4_hrt);

    return (_tests_failed == 0);
}

template<typename T>
T random(T min, T max)
{
    const T scale = rand() / (T) RAND_MAX; /* [0, 1.0] */
    return min + scale * (max - min);      /* [min, max] */
}

void MicroBenchHRT::reset()
{
    srand(time(nullptr));

    // initialize with random data
    u_64 = rand();
    u_64_out = rand();
}

ut_declare_test_c(test_microbench_hrt, MicroBenchHRT)

bool MicroBenchHRT::time_px4_hrt()
{
    PERF("hrt_absolute_time()", u_64_out = hrt_absolute_time(), 1000);
    PERF("hrt_elapsed_time()", u_64_out = hrt_elapsed_time_atomic(&u_64), 1000);

    return true;
}

} // namespace MicroBenchHRT