test_microbench_uorb.cpp

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/**
 * @file test_microbench_uorb.cpp
 * Tests for microbench uORB functionality.
 */

#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>

#include <uORB/Subscription.hpp>
#include <uORB/topics/sensor_accel.h>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_status.h>

namespace MicroBenchORB
{

#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 MicroBenchORB : public UnitTest
{
public:
    virtual bool run_tests();

private:

    bool time_px4_uorb();
    bool time_px4_uorb_direct();

    void reset();

    vehicle_status_s status;
    vehicle_local_position_s lpos;
    sensor_gyro_s gyro;
};

bool MicroBenchORB::run_tests()
{
    ut_run_test(time_px4_uorb);
    ut_run_test(time_px4_uorb_direct);

    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 MicroBenchORB::reset()
{
    srand(time(nullptr));

    // initialize with random data
    status.timestamp = rand();
    status.mission_failure = rand();

    lpos.timestamp = rand();
    lpos.dist_bottom_valid = rand();

    gyro.timestamp = rand();
}

ut_declare_test_c(test_microbench_uorb, MicroBenchORB)

bool MicroBenchORB::time_px4_uorb()
{
    int fd_status = orb_subscribe(ORB_ID(vehicle_status));
    int fd_lpos = orb_subscribe(ORB_ID(vehicle_local_position));
    int fd_gyro = orb_subscribe(ORB_ID(sensor_gyro));

    int ret = 0;
    bool updated = false;
    uint64_t time = 0;

    PERF("orb_check vehicle_status", ret = orb_check(fd_status, &updated), 1000);
    PERF("orb_stat vehicle_status", ret = orb_stat(fd_status, &time), 1000);
    PERF("orb_copy vehicle_status", ret = orb_copy(ORB_ID(vehicle_status), fd_status, &status), 1000);

    printf("\n");

    PERF("orb_check vehicle_local_position", ret = orb_check(fd_lpos, &updated), 1000);
    PERF("orb_stat vehicle_local_position", ret = orb_stat(fd_lpos, &time), 1000);
    PERF("orb_copy vehicle_local_position", ret = orb_copy(ORB_ID(vehicle_local_position), fd_lpos, &lpos), 1000);

    printf("\n");

    PERF("orb_check sensor_gyro", ret = orb_check(fd_gyro, &updated), 1000);
    PERF("orb_stat sensor_gyro", ret = orb_stat(fd_gyro, &time), 1000);
    PERF("orb_copy sensor_gyro", ret = orb_copy(ORB_ID(sensor_gyro), fd_gyro, &gyro), 1000);

    printf("\n");

    PERF("orb_exists sensor_accel 0", ret = orb_exists(ORB_ID(sensor_accel), 0), 100);
    PERF("orb_exists sensor_accel 1", ret = orb_exists(ORB_ID(sensor_accel), 1), 100);
    PERF("orb_exists sensor_accel 2", ret = orb_exists(ORB_ID(sensor_accel), 2), 100);
    PERF("orb_exists sensor_accel 3", ret = orb_exists(ORB_ID(sensor_accel), 3), 100);
    PERF("orb_exists sensor_accel 4", ret = orb_exists(ORB_ID(sensor_accel), 4), 100);

    orb_unsubscribe(fd_status);
    orb_unsubscribe(fd_lpos);
    orb_unsubscribe(fd_gyro);

    return true;
}

bool MicroBenchORB::time_px4_uorb_direct()
{
    bool ret = false;
    bool updated = false;
    uint64_t time = 0;

    uORB::Subscription vstatus{ORB_ID(vehicle_status)};
    PERF("uORB::Subscription orb_check vehicle_status", ret = vstatus.updated(), 1000);
    PERF("uORB::Subscription orb_copy vehicle_status", ret = vstatus.copy(&status), 1000);

    printf("\n");

    uORB::Subscription local_pos{ORB_ID(vehicle_local_position)};
    PERF("uORB::Subscription orb_check vehicle_local_position", ret = local_pos.updated(), 1000);
    PERF("uORB::Subscription orb_copy vehicle_local_position", ret = local_pos.copy(&lpos), 1000);

    printf("\n");

    uORB::Subscription sens_gyro{ORB_ID(sensor_gyro)};
    PERF("uORB::Subscription orb_check sensor_gyro", ret = sens_gyro.updated(), 1000);
    PERF("uORB::Subscription orb_copy sensor_gyro", ret = sens_gyro.copy(&gyro), 1000);

    return true;
}

} // namespace MicroBenchORB