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2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 | // Copyright 2021 DeepMind Technologies Limited
//
// 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.
// A benchmark for parsing and compiling models from XML.
#include <array>
#include <memory>
#include <string>
#include <benchmark/benchmark.h>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <absl/base/attributes.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
#include "test/fixture.h"
namespace mujoco {
namespace {
using ::testing::Eq;
using ::testing::NotNull;
static void run_parse_benchmark(const std::string xml_path,
benchmark::State& state) {
MujocoErrorTestGuard guard; // Fail test if there are any mujoco errors
int vfs_errno = 0;
std::string vfs_errmsg = "";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
if ((vfs_errno = mj_addFileVFS(vfs.get(), "", xml_path.data()))) {
if (vfs_errno == 1) {
vfs_errmsg = "VFS is full"; // should not occur
} else if (vfs_errno == 2) {
vfs_errmsg = "Repeated name in VFS"; // should not occur
} else {
vfs_errmsg = "File not found";
}
}
ASSERT_THAT(vfs_errno, Eq(0)) << "Failed to add file to VFS: " << vfs_errmsg;
// load once to warm up filesystem and compiler cache
std::array<char, 1024> error;
mjModel* model =
mj_loadXML(xml_path.data(), vfs.get(), error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
for (auto s : state) {
mjModel* model = mj_loadXML(xml_path.data(), vfs.get(), 0, 0);
mj_deleteModel(model);
}
state.SetLabel(xml_path);
mj_deleteVFS(vfs.get());
}
// Use ABSL_ATTRIBUTE_NO_TAIL_CALL to make sure the benchmark functions appear
// separately in CPU profiles (and don't get replaced with raw calls to
// run_parse_benchmark).
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseFlagPlugin(benchmark::State& state) {
run_parse_benchmark(GetModelPath("flex/flag.xml"), state);
}
BENCHMARK(BM_ParseFlagPlugin);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseFlag(benchmark::State& state) {
run_parse_benchmark(GetModelPath("../test/benchmark/testdata/flag.xml"),
state);
}
BENCHMARK(BM_ParseFlag);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseHumanoid(benchmark::State& state) {
run_parse_benchmark(GetModelPath("humanoid/humanoid.xml"), state);
}
BENCHMARK(BM_ParseHumanoid);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseHumanoid100(benchmark::State& state) {
run_parse_benchmark(GetModelPath("humanoid/humanoid100.xml"), state);
}
BENCHMARK(BM_ParseHumanoid100);
} // namespace
} // namespace mujoco
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