test_microbench_hrt.cpp
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/****************************************************************************
*
* 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++) { \
px4_usleep(1); \
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(&u_64), 1000);
PERF("hrt_elapsed_time_atomic()", u_64_out = hrt_elapsed_time_atomic(&u_64), 1000);
return true;
}
} // namespace MicroBenchHRT