ArduCopter-src-3.4.6.zip_ArduCopter_ArduCopter源码_px4_px4固件3.4.6

benchmark ========= [](https://travis-ci.org/google/benchmark) A library to support the benchmarking of functions, similar to unit-tests. Discussion group: https://groups.google.com/d/forum/benchmark-discuss Example usage ------------- Define a function that executes the code to be measured a specified number of times: ```c++ static void BM_StringCreation(benchmark::State& state) { while (state.KeepRunning()) std::string empty_string; } // Register the function as a benchmark BENCHMARK(BM_StringCreation); // Define another benchmark static void BM_StringCopy(benchmark::State& state) { std::string x = "hello"; while (state.KeepRunning()) std::string copy(x); } BENCHMARK(BM_StringCopy); BENCHMARK_MAIN(); ``` Sometimes a family of microbenchmarks can be implemented with just one routine that takes an extra argument to specify which one of the family of benchmarks to run. For example, the following code defines a family of microbenchmarks for measuring the speed of `memcpy()` calls of different lengths: ```c++ static void BM_memcpy(benchmark::State& state) { char* src = new char[state.range_x()]; char* dst = new char[state.range_x()]; memset(src, 'x', state.range_x()); while (state.KeepRunning()) memcpy(dst, src, state.range_x()); state.SetBytesProcessed(int64_t(state.iterations) * int64_t(state.range_x())); delete[] src; delete[] dst; } BENCHMARK(BM_memcpy)->Arg(8)->Arg(64)->Arg(512)->Arg(1<<10)->Arg(8<<10); ``` The preceding code is quite repetitive, and can be replaced with the following short-hand. The following invocation will pick a few appropriate arguments in the specified range and will generate a microbenchmark for each such argument. ```c++ BENCHMARK(BM_memcpy)->Range(8, 8<<10); ``` You might have a microbenchmark that depends on two inputs. For example, the following code defines a family of microbenchmarks for measuring the speed of set insertion. ```c++ static void BM_SetInsert(benchmark::State& state) { while (state.KeepRunning()) { state.PauseTiming(); std::set<int> data = ConstructRandomSet(state.range_x()); state.ResumeTiming(); for (int j = 0; j < state.rangeY; ++j) data.insert(RandomNumber()); } } BENCHMARK(BM_SetInsert) ->ArgPair(1<<10, 1) ->ArgPair(1<<10, 8) ->ArgPair(1<<10, 64) ->ArgPair(1<<10, 512) ->ArgPair(8<<10, 1) ->ArgPair(8<<10, 8) ->ArgPair(8<<10, 64) ->ArgPair(8<<10, 512); ``` The preceding code is quite repetitive, and can be replaced with the following short-hand. The following macro will pick a few appropriate arguments in the product of the two specified ranges and will generate a microbenchmark for each such pair. ```c++ BENCHMARK(BM_SetInsert)->RangePair(1<<10, 8<<10, 1, 512); ``` For more complex patterns of inputs, passing a custom function to Apply allows programmatic specification of an arbitrary set of arguments to run the microbenchmark on. The following example enumerates a dense range on one parameter, and a sparse range on the second. ```c++ static benchmark::internal::Benchmark* CustomArguments( benchmark::internal::Benchmark* b) { for (int i = 0; i <= 10; ++i) for (int j = 32; j <= 1024*1024; j *= 8) b = b->ArgPair(i, j); return b; } BENCHMARK(BM_SetInsert)->Apply(CustomArguments); ``` Templated microbenchmarks work the same way: Produce then consume 'size' messages 'iters' times Measures throughput in the absence of multiprogramming. ```c++ template <class Q> int BM_Sequential(benchmark::State& state) { Q q; typename Q::value_type v; while (state.KeepRunning()) { for (int i = state.range_x(); i--; ) q.push(v); for (int e = state.range_x(); e--; ) q.Wait(&v); } // actually messages, not bytes: state.SetBytesProcessed( static_cast<int64_t>(state.iterations())*state.range_x()); } BENCHMARK_TEMPLATE(BM_Sequential, WaitQueue<int>)->Range(1<<0, 1<<10); ``` Three macros are provided for adding benchmark templates. ```c++ #if __cplusplus >= 201103L // C++11 and greater. #define BENCHMARK_TEMPLATE(func, ...) // Takes any number of parameters. #else // C++ < C++11 #define BENCHMARK_TEMPLATE(func, arg1) #endif #define BENCHMARK_TEMPLATE1(func, arg1) #define BENCHMARK_TEMPLATE2(func, arg1, arg2) ``` In a multithreaded test, it is guaranteed that none of the threads will start until all have called KeepRunning, and all will have finished before KeepRunning returns false. As such, any global setup or teardown you want to do can be wrapped in a check against the thread index: ```c++ static void BM_MultiThreaded(benchmark::State& state) { if (state.thread_index == 0) { // Setup code here. } while (state.KeepRunning()) { // Run the test as normal. } if (state.thread_index == 0) { // Teardown code here. } } BENCHMARK(BM_MultiThreaded)->Threads(2); To prevent a value or expression from being optimized away by the compiler the `benchmark::DoNotOptimize(...)` function can be used. ```c++ static void BM_test(benchmark::State& state) { while (state.KeepRunning()) { int x = 0; for (int i=0; i < 64; ++i) { benchmark::DoNotOptimize(x += i); } } } ``` Output Formats -------------- The library supports multiple output formats. Use the `--benchmark_format=<tabular|json>` flag to set the format type. `tabular` is the default format. The Tabular format is intended to be a human readable format. By default the format generates color output. Example tabular output looks like: ``` Run on (40 X 2801 MHz CPUs) 2015/03/17-18:35:54 Build Type: DEBUG Benchmark Time(ns) CPU(ns) Iterations ---------------------------------------------------------------------- BM_SetInsert/1024/1 28928 29349 23853 133.097kB/s 33.2742k items/s BM_SetInsert/1024/8 32065 32913 21375 949.487kB/s 237.372k items/s BM_SetInsert/1024/10 33157 33648 21431 1.13369MB/s 290.225k items/s ``` The JSON format outputs human readable json split into two top level attributes. The `context` attribute contains information about the run in general, including information about the CPU and the date. The `benchmarks` attribute contains a list of ever benchmark run. Example json output looks like: ``` { "context": { "date": "2015/03/17-18:40:25", "num_cpus": 40, "mhz_per_cpu": 2801, "cpu_scaling_enabled": false, "build_type": "debug" }, "benchmarks": [ { "name": "BM_SetInsert/1024/1", "iterations": 94877, "real_time": 29275, "cpu_time": 29836, "bytes_per_second": 134066, "items_per_second": 33516 }, { "name": "BM_SetInsert/1024/8", "iterations": 21609, "real_time": 32317, "cpu_time": 32429, "bytes_per_second": 986770, "items_per_second": 246693 }, { "name": "BM_SetInsert/1024/10", "iterations": 21393, "real_time": 32724, "cpu_time": 33355, "bytes_per_second": 1199226, "items_per_second": 299807 } ] } ``` Linking against the library --------------------------- When using gcc, it is necessary to link against pthread to avoid runtime exceptions. This is due to how gcc implements std::thread. See [issue #67](https://github.com/google/benchmark/issues/67) for more details.