test_microbench_matrix.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_matrix.cpp
* Tests for the microbench matrix math library.
*/
#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 <matrix/math.hpp>
namespace MicroBenchMatrix
{
#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 MicroBenchMatrix : public UnitTest
{
public:
virtual bool run_tests();
private:
bool time_matrix_euler();
bool time_matrix_quaternion();
bool time_matrix_dcm();
bool time_matrix_pseduo_inverse();
void reset();
matrix::Quatf q;
matrix::Eulerf e;
matrix::Dcmf d;
matrix::Matrix<float, 16, 6> A16;
matrix::Matrix<float, 6, 16> B16;
matrix::Matrix<float, 6, 16> B16_4;
};
bool MicroBenchMatrix::run_tests()
{
ut_run_test(time_matrix_euler);
ut_run_test(time_matrix_quaternion);
ut_run_test(time_matrix_dcm);
ut_run_test(time_matrix_pseduo_inverse);
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 MicroBenchMatrix::reset()
{
srand(time(nullptr));
// initialize with random data
q = matrix::Quatf(rand(), rand(), rand(), rand());
e = matrix::Eulerf(random(-2.0 * M_PI, 2.0 * M_PI), random(-2.0 * M_PI, 2.0 * M_PI), random(-2.0 * M_PI, 2.0 * M_PI));
d = q;
for (size_t j = 0; j < 6; j++) {
for (size_t i = 0; i < 16; i++) {
B16(j, i) = random(-10.0, 10.0);
}
for (size_t i = 0; i < 4; i++) {
B16_4(j, i) = random(-10.0, 10.0);
}
}
}
bool MicroBenchMatrix::time_matrix_euler()
{
PERF("matrix Euler from Quaternion", e = q, 100);
PERF("matrix Euler from Dcm", e = d, 100);
return true;
}
bool MicroBenchMatrix::time_matrix_quaternion()
{
PERF("matrix Quaternion from Euler", q = e, 100);
PERF("matrix Quaternion from Dcm", q = d, 100);
return true;
}
bool MicroBenchMatrix::time_matrix_dcm()
{
PERF("matrix Dcm from Euler", d = e, 100);
PERF("matrix Dcm from Quaternion", d = q, 100);
return true;
}
bool MicroBenchMatrix::time_matrix_pseduo_inverse()
{
PERF("matrix 6x16 pseudo inverse (all non-zero columns)", A16 = matrix::geninv(B16), 100);
PERF("matrix 6x16 pseudo inverse (4 non-zero columns)", A16 = matrix::geninv(B16_4), 100);
return true;
}
ut_declare_test_c(test_microbench_matrix, MicroBenchMatrix)
} // namespace MicroBenchMatrix