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Stop using constref signature of benchmark DoNotOptimize. (#2238)
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* Stop using constref signature of benchmark DoNotOptimize.

Newer versions of google benchmark (1.8.2 in my case) warn
that the compiler may optimize away the DoNotOptimize calls
when using the constref version.  Get away from that here
by explicitly *not* calling the constref version, casting
where necessary.

Signed-off-by: Chris Lalancette <[email protected]>
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clalancette authored Jul 18, 2023
1 parent 6e97990 commit c0d72c3
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Showing 2 changed files with 20 additions and 13 deletions.
11 changes: 7 additions & 4 deletions rclcpp_lifecycle/test/benchmark/benchmark_lifecycle_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -228,7 +228,8 @@ class BenchmarkLifecycleClient : public performance_test_fixture::PerformanceTes
BENCHMARK_F(BenchmarkLifecycleClient, get_state)(benchmark::State & state) {
for (auto _ : state) {
(void)_;
const auto lifecycle_state = lifecycle_client->get_state();

lifecycle_msgs::msg::State lifecycle_state = lifecycle_client->get_state();
if (lifecycle_state.id != lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED) {
const std::string msg =
std::string("Expected state did not match actual: ") +
Expand Down Expand Up @@ -268,7 +269,7 @@ BENCHMARK_F(BenchmarkLifecycleClient, get_available_states)(benchmark::State & s
for (auto _ : state) {
(void)_;
constexpr size_t expected_states = 11u;
const auto states = lifecycle_client->get_available_states();
std::vector<lifecycle_msgs::msg::State> states = lifecycle_client->get_available_states();
if (states.size() != expected_states) {
const std::string msg =
std::string("Expected number of states did not match actual: ") +
Expand All @@ -284,7 +285,8 @@ BENCHMARK_F(BenchmarkLifecycleClient, get_available_transitions)(benchmark::Stat
for (auto _ : state) {
(void)_;
constexpr size_t expected_transitions = 2u;
const auto transitions = lifecycle_client->get_available_transitions();
std::vector<lifecycle_msgs::msg::TransitionDescription> transitions =
lifecycle_client->get_available_transitions();
if (transitions.size() != expected_transitions) {
const std::string msg =
std::string("Expected number of transitions did not match actual: ") +
Expand All @@ -300,7 +302,8 @@ BENCHMARK_F(BenchmarkLifecycleClient, get_transition_graph)(benchmark::State & s
for (auto _ : state) {
(void)_;
constexpr size_t expected_transitions = 25u;
const auto transitions = lifecycle_client->get_transition_graph();
std::vector<lifecycle_msgs::msg::TransitionDescription> transitions =
lifecycle_client->get_transition_graph();
if (transitions.size() != expected_transitions) {
const std::string msg =
std::string("Expected number of transitions did not match actual: ") +
Expand Down
22 changes: 13 additions & 9 deletions rclcpp_lifecycle/test/benchmark/benchmark_lifecycle_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -97,13 +97,15 @@ class BenchmarkLifecycleNode : public performance_test_fixture::PerformanceTest
BENCHMARK_F(BenchmarkLifecycleNode, get_current_state)(benchmark::State & state) {
for (auto _ : state) {
(void)_;
const auto & lifecycle_state = node->get_current_state();
const rclcpp_lifecycle::State & lifecycle_state = node->get_current_state();
if (lifecycle_state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED) {
const std::string message =
std::string("Node's current state is: ") + std::to_string(lifecycle_state.id());
state.SkipWithError(message.c_str());
}
benchmark::DoNotOptimize(lifecycle_state);
// Google benchmark 1.8.2 warns that the constref DoNotOptimize signature may be optimized away
// by the compiler. Cast const away to ensure we don't get that problem (and warning).
benchmark::DoNotOptimize(const_cast<rclcpp_lifecycle::State &>(lifecycle_state));
benchmark::ClobberMemory();
}
}
Expand All @@ -112,7 +114,7 @@ BENCHMARK_F(BenchmarkLifecycleNode, get_available_states)(benchmark::State & sta
for (auto _ : state) {
(void)_;
constexpr size_t expected_states = 11u;
const auto lifecycle_states = node->get_available_states();
std::vector<rclcpp_lifecycle::State> lifecycle_states = node->get_available_states();
if (lifecycle_states.size() != expected_states) {
const std::string msg = std::to_string(lifecycle_states.size());
state.SkipWithError(msg.c_str());
Expand All @@ -126,7 +128,7 @@ BENCHMARK_F(BenchmarkLifecycleNode, get_available_transitions)(benchmark::State
for (auto _ : state) {
(void)_;
constexpr size_t expected_transitions = 2u;
const auto & transitions = node->get_available_transitions();
std::vector<rclcpp_lifecycle::Transition> transitions = node->get_available_transitions();
if (transitions.size() != expected_transitions) {
const std::string msg = std::to_string(transitions.size());
state.SkipWithError(msg.c_str());
Expand All @@ -140,7 +142,7 @@ BENCHMARK_F(BenchmarkLifecycleNode, get_transition_graph)(benchmark::State & sta
for (auto _ : state) {
(void)_;
constexpr size_t expected_transitions = 25u;
const auto & transitions = node->get_transition_graph();
std::vector<rclcpp_lifecycle::Transition> transitions = node->get_transition_graph();
if (transitions.size() != expected_transitions) {
const std::string msg =
std::string("Expected number of transitions did not match actual: ") +
Expand All @@ -162,18 +164,20 @@ BENCHMARK_F(BenchmarkLifecycleNode, transition_valid_state)(benchmark::State & s
reset_heap_counters();
for (auto _ : state) {
(void)_;
const auto & active =
const rclcpp_lifecycle::State & active =
node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
if (active.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) {
state.SkipWithError("Transition to active state failed");
}
const auto & inactive =
const rclcpp_lifecycle::State & inactive =
node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_DEACTIVATE);
if (inactive.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) {
state.SkipWithError("Transition to inactive state failed");
}
benchmark::DoNotOptimize(active);
benchmark::DoNotOptimize(inactive);
// Google benchmark 1.8.2 warns that the constref DoNotOptimize signature may be optimized away
// by the compiler. Cast const away to ensure we don't get that problem (and warning).
benchmark::DoNotOptimize(const_cast<rclcpp_lifecycle::State &>(active));
benchmark::DoNotOptimize(const_cast<rclcpp_lifecycle::State &>(inactive));
benchmark::ClobberMemory();
}
}

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