performance_test_fixture

This repository contains the source code for the performance_test_fixture package.

performance_test_fixture provides:

1. A Google Benchmark fixture that leverages memory tools from osrf_testing_tools_cpp to record memory allocation statistics
2. A CMake macro for compiling, linking, and configuring benchmarking runs, as well as automatically skipping the tests on platforms where the osrf_testing_tools_cpp memory tools are not supported

Usage

The test fixture can be used just like any other Google Benchmark fixture:

#include <performance_test_fixture/performance_test_fixture.hpp>

using performance_test_fixture::PerformanceTest;

BENCHMARK_F(PerformanceTest, example_test)(benchmark::State & st)
{
  ...
}

The CMake macro can be used in the same way as the rest of the ament_cmake_test family of macros:

  find_package(performance_test_fixture REQUIRED)
  add_performance_test(example_test test/example_test.cpp)

Because it has a large impact on performance, trace messages coming from the memory tools in osrf_testing_tools_cpp are suppressed by default. To enable memory operation trace logging, set the environment variable PERFORMANCE_TEST_FIXTURE_ENABLE_TRACE=1.