[bm] Initial benchmark setup

cmake/dart_defs.cmake

@@ -361,3 +361,113 @@ function(dart_coverage)
     install(DIRECTORY ${gcovr_html_dir}/ DESTINATION ${_ARG_INSTALL_DIR})
   endif()
 endfunction()
+
+function(dart_benchmarks)
+  set(prefix _ARG)
+  set(options)
+  set(oneValueArgs
+    TYPE
+    TARGET_PREFIX
+    TEST_LIST
+  )
+  set(multiValueArgs
+    SOURCES
+    INCLUDE_DIRS
+    LINK_LIBRARIES
+    LINK_DART_LIBRARIES
+    COMPILE_DEFINITIONS
+  )
+  cmake_parse_arguments(
+    "${prefix}" "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}
+  )
+
+  if(NOT _ARG_TYPE)
+    message(
+      FATAL_ERROR "DEVELOPER ERROR: You must specify a TYPE for your benchmarks!"
+    )
+  endif()
+
+  if(NOT DEFINED _ARG_SOURCES)
+    message(STATUS "No benchmarks have been specified for ${_ARG_TYPE}")
+  else()
+    list(LENGTH _ARG_SOURCES num_benchmarks)
+    message(STATUS "Adding ${num_benchmarks} ${_ARG_TYPE} benchmarks")
+  endif()
+
+  if(_ARG_TEST_LIST)
+    set(${_ARG_TEST_LIST} "")
+  endif()
+
+  foreach(source ${_ARG_SOURCES})
+
+    # Set target name: <TYPE>[_<TARGET_PREFIX>]_<source>
+    set(target_name ${_ARG_TYPE})
+    if(_ARG_TARGET_PREFIX)
+      set(target_name "${target_name}_${_ARG_TARGET_PREFIX}")
+    endif()
+    get_filename_component(source_name ${source} NAME_WE)
+    string(REPLACE "bm_" "" source_name ${source_name})
+    get_filename_component(source_dir ${source} DIRECTORY)
+    if(source_dir)
+      string(REPLACE "/" "_" source_prefix ${source_dir})
+      set(target_name "${target_name}_${source_prefix}_${source_name}")
+    else()
+      set(target_name "${target_name}_${source_name}")
+    endif()
+
+    add_executable(${target_name} ${source})
+    target_include_directories(
+      ${target_name} PRIVATE ${_ARG_INCLUDE_DIRS}
+    )
+
+    target_link_libraries(${target_name} PRIVATE benchmark benchmark_main)
+
+    if(UNIX)
+      # gbenchmark requies pthread when compiled on a Unix machine
+      target_link_libraries(${target_name} PRIVATE pthread)
+    endif()
+
+    target_link_libraries(
+      ${target_name} PRIVATE ${_ARG_LINK_LIBRARIES}
+    )
+
+    target_compile_definitions(
+      ${target_name} PRIVATE ${_ARG_COMPILE_DEFINITIONS}
+    )
+
+    foreach(dart_lib ${_ARG_LINK_DART_LIBRARIES})
+      if(NOT TARGET ${dart_lib})
+        message(FATAL_ERROR "Invalid target: ${dart_lib}")
+      endif()
+      target_link_libraries(${target_name} PRIVATE ${dart_lib})
+    endforeach()
+
+    set_target_properties(${target_name}
+      PROPERTIES
+        RUNTIME_OUTPUT_DIRECTORY "${DART_BINARY_DIR}/bin"
+    )
+
+    if(_ARG_TEST_LIST)
+      list(APPEND ${_ARG_TEST_LIST} ${target_name})
+    endif()
+
+    # Add executable target
+    add_custom_target(
+      RUN_${target_name}
+      COMMAND ${target_name}
+      COMMENT "Running benchmark ${target_name}..."
+      VERBATIM
+    )
+
+    dart_property_add(DART_${_ARG_TYPE}_BENCHMARKS ${target_name})
+  endforeach()
+
+  if(_ARG_TEST_LIST)
+    set(${_ARG_TEST_LIST} "${${_ARG_TEST_LIST}}"
+        PARENT_SCOPE
+    )
+  endif()
+
+  dart_format_add(${_ARG_SOURCES})
+
+endfunction()

pixi.toml

@@ -15,6 +15,7 @@ install-local = { cmd = "cmake --install build --prefix $CONDA_PREFIX", depends_
 ] }
 example-atlas-puppet = { cmd = "cmake --build build --target atlas_puppet --parallel && ./build/bin/atlas_puppet", depends_on = ["configure"] }
 example-atlas-simbicon = { cmd = "cmake --build build --target atlas_simbicon --parallel && ./build/bin/atlas_simbicon", depends_on = ["configure"] }
+bm-empty = { cmd = "cmake --build build --target BM_INTEGRATION_empty --parallel && ./build/bin/BM_INTEGRATION_empty", depends_on = ["configure"] }
 
 [dependencies]
 assimp = ">=5.3.1,<5.4"

tests/CMakeLists.txt

@@ -149,3 +149,5 @@ else()
 endif()
 
 dart_format_add(GTestUtils.hpp)
+
+add_subdirectory(benchmark)

tests/benchmark/CMakeLists.txt

@@ -0,0 +1,41 @@
+# Copyright (c) The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/master/LICENSE
+#
+# This file is provided under the following "BSD-style" License:
+#   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.
+#   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 HOLDER 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(FetchContent)
+FetchContent_Declare(
+  benchmark
+  GIT_REPOSITORY https://github.com/google/benchmark.git
+  GIT_TAG v1.8.3
+)
+set(BENCHMARK_ENABLE_TESTING OFF CACHE BOOL "" FORCE)
+FetchContent_MakeAvailable(benchmark)
+
+add_subdirectory(unit)
+add_subdirectory(integration)

tests/benchmark/integration/CMakeLists.txt

@@ -0,0 +1,34 @@
+# Copyright (c) The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/master/LICENSE
+#
+# This file is provided under the following "BSD-style" License:
+#   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.
+#   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 HOLDER 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.
+
+dart_benchmarks(
+  TYPE BM_INTEGRATION
+  SOURCES bm_empty.cpp
+)

tests/benchmark/integration/bm_empty.cpp

@@ -0,0 +1,42 @@
+/*
+ * Copyright (c) 2011-2024, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   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.
+ *   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 HOLDER 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 <benchmark/benchmark.h>
+
+static void BM_Empty(benchmark::State& state)
+{
+  for (auto _ : state) {
+    // Empty
+  }
+}
+
+BENCHMARK(BM_Empty);

tests/benchmark/unit/CMakeLists.txt

@@ -0,0 +1,29 @@
+# Copyright (c) The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/master/LICENSE
+#
+# This file is provided under the following "BSD-style" License:
+#   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.
+#   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 HOLDER 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.