Add benchmarks for rosidl_runtime_* packages

rosidl_runtime_c/CMakeLists.txt

@@ -51,6 +51,9 @@ ament_index_register_resource("rosidl_runtime_packages")
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
+  find_package(performance_test_fixture REQUIRED)
+  # Give cppcheck hints about macro definitions coming from outside this package
+  get_target_property(ament_cmake_cppcheck_ADDITIONAL_INCLUDE_DIRS performance_test_fixture::performance_test_fixture INTERFACE_INCLUDE_DIRECTORIES)
   ament_lint_auto_find_test_dependencies()
 
   # For gtest
@@ -101,6 +104,12 @@ if(BUILD_TESTING)
     target_link_libraries(test_u16string_functions ${PROJECT_NAME})
     target_compile_definitions(test_u16string_functions PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
   endif()
+
+  add_performance_test(benchmark_string_conversion test/benchmark_string_conversion.cpp)
+  if(TARGET benchmark_string_conversion)
+    target_include_directories(benchmark_string_conversion PUBLIC include)
+    target_link_libraries(benchmark_string_conversion ${PROJECT_NAME})
+  endif()
 endif()
 
 install(

rosidl_runtime_c/package.xml

@@ -18,6 +18,7 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>performance_test_fixture</test_depend>
 
   <member_of_group>rosidl_runtime_packages</member_of_group>
 

rosidl_runtime_c/test/benchmark_string_conversion.cpp

@@ -0,0 +1,126 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#include <string>
+
+#include "rosidl_runtime_c/string_functions.h"
+#include "rosidl_runtime_c/u16string_functions.h"
+
+#include "performance_test_fixture/performance_test_fixture.hpp"
+
+using performance_test_fixture::PerformanceTest;
+
+BENCHMARK_DEFINE_F(PerformanceTest, string_assign_complexity)(benchmark::State & st)
+{
+  size_t len = st.range(0);
+  std::string data(len, '*');
+
+  rosidl_runtime_c__String s;
+  if (!rosidl_runtime_c__String__init(&s)) {
+    st.SkipWithError("String initialization failed");
+    return;
+  }
+
+  // No explicit resize function - just do a copy
+  rosidl_runtime_c__String__assignn(&s, data.c_str(), len);
+
+  for (auto _ : st) {
+    rosidl_runtime_c__String__assignn(&s, data.c_str(), len);
+  }
+
+  st.SetComplexityN(len);
+
+  rosidl_runtime_c__String__fini(&s);
+}
+
+BENCHMARK_REGISTER_F(PerformanceTest, string_assign_complexity)
+->RangeMultiplier(2)->Range(1 << 3, 1 << 12);
+
+BENCHMARK_DEFINE_F(PerformanceTest, string_resize_assign_complexity)(benchmark::State & st)
+{
+  size_t len = st.range(0);
+  std::string data(len, '*');
+
+  rosidl_runtime_c__String s;
+  if (!rosidl_runtime_c__String__init(&s)) {
+    st.SkipWithError("String initialization failed");
+    return;
+  }
+
+  // No explicit resize function - just do a copy
+  rosidl_runtime_c__String__assignn(&s, data.c_str(), 0);
+
+  for (auto _ : st) {
+    rosidl_runtime_c__String__assignn(&s, data.c_str(), len);
+    rosidl_runtime_c__String__assignn(&s, data.c_str(), 0);
+  }
+
+  st.SetComplexityN(len);
+
+  rosidl_runtime_c__String__fini(&s);
+}
+
+BENCHMARK_REGISTER_F(PerformanceTest, string_resize_assign_complexity)
+->RangeMultiplier(2)->Range(1 << 3, 1 << 12);
+
+BENCHMARK_DEFINE_F(PerformanceTest, u16string_assign_complexity)(benchmark::State & st)
+{
+  size_t len = st.range(0);
+  std::string data(len, '*');
+
+  rosidl_runtime_c__U16String s;
+  if (!rosidl_runtime_c__U16String__init(&s)) {
+    st.SkipWithError("U16String initialization failed");
+    return;
+  }
+
+  rosidl_runtime_c__U16String__resize(&s, len);
+
+  for (auto _ : st) {
+    rosidl_runtime_c__U16String__assignn_from_char(&s, data.c_str(), len);
+  }
+
+  st.SetComplexityN(len);
+
+  rosidl_runtime_c__U16String__fini(&s);
+}
+
+BENCHMARK_REGISTER_F(PerformanceTest, u16string_assign_complexity)
+->RangeMultiplier(2)->Range(1 << 3, 1 << 12);
+
+BENCHMARK_DEFINE_F(PerformanceTest, u16string_resize_assign_complexity)(benchmark::State & st)
+{
+  size_t len = st.range(0);
+  std::string data(len, '*');
+
+  rosidl_runtime_c__U16String s;
+  if (!rosidl_runtime_c__U16String__init(&s)) {
+    st.SkipWithError("U16String initialization failed");
+    return;
+  }
+
+  rosidl_runtime_c__U16String__resize(&s, 0);
+
+  for (auto _ : st) {
+    rosidl_runtime_c__U16String__assignn_from_char(&s, data.c_str(), len);
+    rosidl_runtime_c__U16String__resize(&s, 0);
+  }
+
+  st.SetComplexityN(len);
+
+  rosidl_runtime_c__U16String__fini(&s);
+}
+
+BENCHMARK_REGISTER_F(PerformanceTest, u16string_resize_assign_complexity)
+->RangeMultiplier(2)->Range(1 << 3, 1 << 12);