speed_test.cpp

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * 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.
 *     * Neither the name of the Willow Garage, Inc. 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.
 */

#include <rve_properties/property_node.h>
#include <ros/time.h>
#include <ros/assert.h>

using namespace rve_properties;

struct Timer
{
  Timer(const std::string& msg)
  : msg(msg)
  , start(ros::WallTime::now())
  {}

  ~Timer()
  {
    ros::WallTime end = ros::WallTime::now();
    ros::WallDuration dur = end - start;
    ROS_INFO("%s: %f", msg.c_str(), dur.toSec());
  }

  std::string msg;
  ros::WallTime start;
};

int main(int argc, char** argv)
{
  PropertyNodePtr node(new PropertyNode);

  {
    Timer t("Creation of 300000 property nodes");
    for (uint32_t i = 0; i < 10000; ++i)
    {
      std::stringstream ss;
      ss << i << "/a/b/c/d/e/f/g/h/i/j/k/l/m/n/o/p/q/r/s/t/u/v/w/x/y/z/1/2/3/4";
      node->getNode(ss.str());
    }
  }

  {
    Timer t("Setting an integer value on 10000 30-deep properties");
    for (uint32_t i = 0; i < 10000; ++i)
    {
      std::stringstream ss;
      ss << i << "/a/b/c/d/e/f/g/h/i/j/k/l/m/n/o/p/q/r/s/t/u/v/w/x/y/z/1/2/3/4";
      node->set<uint32_t>(ss.str(), 5);
    }
  }

  {
    Timer t("Getting an integer value from 10000 30-deep properties");
    for (uint32_t i = 0; i < 10000; ++i)
    {
      std::stringstream ss;
      ss << i << "/a/b/c/d/e/f/g/h/i/j/k/l/m/n/o/p/q/r/s/t/u/v/w/x/y/z/1/2/3/4";
      uint32_t val = 0;
      node->get(ss.str(), val);
      ROS_ASSERT(val == 5);
    }
  }

  {
    Timer t("Setting a string value on 10000 30-deep properties");
    std::string hello("hello");
    for (uint32_t i = 0; i < 10000; ++i)
    {
      std::stringstream ss;
      ss << i << "/a/b/c/d/e/f/g/h/i/j/k/l/m/n/o/p/q/r/s/t/u/v/w/x/y/z/1/2/3/4";
      node->set(ss.str(), hello);
    }
  }

  {
    Timer t("Getting a string value from 10000 30-deep properties");
    for (uint32_t i = 0; i < 10000; ++i)
    {
      std::stringstream ss;
      ss << i << "/a/b/c/d/e/f/g/h/i/j/k/l/m/n/o/p/q/r/s/t/u/v/w/x/y/z/1/2/3/4";
      std::string hello;
      node->get(ss.str(), hello);
      ROS_ASSERT(hello == "hello");
    }
  }
}