zephyrproject-rtos · fabiobaltieri · Dec 12, 2023 · Oct 26, 2023
diff --git a/samples/subsys/zbus/benchmark/CMakeLists.txt b/samples/subsys/zbus/benchmark/CMakeLists.txt
@@ -4,5 +4,17 @@ cmake_minimum_required(VERSION 3.20.0)
 find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
 project(benchmark)
 
-FILE(GLOB app_sources src/*.c)
+set(app_sources src/benchmark.c)
+
+if(CONFIG_BM_LISTENERS)
+  list(APPEND app_sources src/lis.c)
+
+elseif(CONFIG_BM_SUBSCRIBERS)
+  list(APPEND app_sources src/sub.c)
+
+elseif(CONFIG_BM_MSG_SUBSCRIBERS)
+  list(APPEND app_sources src/msg_sub.c)
+
+endif()
+
 target_sources(app PRIVATE ${app_sources})
diff --git a/samples/subsys/zbus/benchmark/Kconfig b/samples/subsys/zbus/benchmark/Kconfig
@@ -9,8 +9,25 @@ config BM_ONE_TO
 	int "Number of consumers"
 	default 8
 
-config BM_ASYNC
-	bool "Consuming in asynchronous mode"
-	default false
+choice BM_OBSERVER_TYPE
+	bool "Observer type to be used in the benchmark"
+
+config BM_LISTENERS
+	bool "Synchronous using listeners"
+
+config BM_SUBSCRIBERS
+	bool "Asynchronous using subscribers"
+
+config BM_MSG_SUBSCRIBERS
+	bool "Asynchronous using message subscribers"
+	select ZBUS_MSG_SUBSCRIBER
+
+endchoice
+
+config BM_FAIRPLAY
+	bool "Force a comparison with same actions"
+	help
+	  Forces a message copy on the listeners and subscribers to behave equivalent to
+	  message subscribers.
 
 source "Kconfig.zephyr"
diff --git a/samples/subsys/zbus/benchmark/README.rst b/samples/subsys/zbus/benchmark/README.rst
@@ -2,9 +2,10 @@
    :name: Benchmarking
    :relevant-api: zbus_apis
 
-   Measure the time for sending 256KB from a producer to X consumers.
+   Measure the time for sending 256KB from a producer to N consumers.
 
-This sample implements an application to measure the time for sending 256KB from the producer to the consumers.
+This sample implements an application to measure the time for sending 256KB from the producer to the
+consumers.
 
 Building and Running
 ********************
@@ -13,28 +14,30 @@ Building and Running
    :zephyr-app: samples/subsys/zbus/dyn_channel
    :host-os: unix
    :board: qemu_cortex_m3
-   :gen-args: -DCONFIG_BM_MESSAGE_SIZE=1 -DCONFIG_BM_ONE_TO=1 -DCONFIG_BM_ASYNC=y
+   :gen-args: -DCONFIG_BM_MESSAGE_SIZE=512 -DCONFIG_BM_ONE_TO=1 -DCONFIG_BM_LISTENERS=y
    :goals: build run
 
 Notice we have the following parameters:
 
-* **CONFIG_BM_MESSAGE_SIZE** the size of the message to be transferred (1, 2, 4, 8, 16, 32, 64, 128, or 256);
-* **CONFIG_BM_ONE_TO** number of consumers to send (1, 2, 4, or 8);
-* **CONFIG_BM_ASYNC** if the execution must be asynchronous or synchronous. Use y to async and n to sync;
+* **CONFIG_BM_MESSAGE_SIZE** the size of the message to be transferred (2 to 4096 bytes);
+* **CONFIG_BM_ONE_TO** number of consumers to send (1 up to 8 consumers);
+* **CONFIG_BM_LISTENERS** Use y to perform the benchmark listeners;
+* **CONFIG_BM_SUBSCRIBERS** Use y to perform the benchmark subscribers;
+* **CONFIG_BM_MSG_SUBSCRIBERS** Use y to perform the benchmark message subscribers.
 
 Sample Output
 =============
 The result would be something like:
 
 .. code-block:: console
 
-    *** Booting Zephyr OS build zephyr-v3.3.0 ***
-    I: Benchmark 1 to 1: Dynamic memory, SYNC transmission and message size 1
-    I: Bytes sent = 262144, received = 262144
-    I: Average data rate: 0.6MB/s
-    I: Duration: 4.72020167s
+   *** Booting Zephyr OS build zephyr-vX.Y.Z ***
+   I: Benchmark 1 to 1 using LISTENERS to transmit with message size: 512 bytes
+   I: Bytes sent = 262144, received = 262144
+   I: Average data rate: 12.62MB/s
+   I: Duration: 0.019805908s
 
-    @4072020167
+   @19805
 
 
 Running the benchmark automatically
@@ -43,91 +46,64 @@ Running the benchmark automatically
 There is a `Robot framework <https://robotframework.org/>`_ script called ``benchmark_256KB.robot`` which runs all the input combinations as the complete benchmark.
 The resulting file, ``zbus_dyn_benchmark_256KB.csv`` is generated in the project root folder. It takes a long time to execute. In the CSV file, we have the following columns:
 
-+------------+---------------------+--------------------------+---------------+-------------+-------------+
-| Style      | Number of consumers | Message size (bytes)     | Duration (ns) | RAM (bytes) | ROM (bytes) |
-+============+=====================+==========================+===============+=============+=============+
-| SYNC/ASYNC | 1,2,4,8             | 1,2,4,8,16,32,64,128,256 | float         | int         | int         |
-+------------+---------------------+--------------------------+---------------+-------------+-------------+
++-----------------+---------------------+--------------------------+---------------+-------------+-------------+
+| Observer type   | Number of consumers | Message size (bytes)     | Duration (ns) | RAM (bytes) | ROM (bytes) |
++=================+=====================+==========================+===============+=============+=============+
+| LIS/SUB/MSG_SUB | 1,4,8               | 2,8,32,128,512           | float         | int         | int         |
++-----------------+---------------------+--------------------------+---------------+-------------+-------------+
 
 The complete benchmark command using Robot framework is:
 
 .. code-block:: console
 
-    robot --variable serial_port:/dev/ttyACM0 --variable board:nrf52833dk_nrf52833 -d /tmp/benchmark_out   benchmark_256KB.robot
+    robot --variable serial_port:/dev/ttyACM0 --variable board:nrf52dk_nrf52832 -d /tmp/benchmark_out   benchmark_256KB.robot
 
-An example of execution using the ``nrf52833dk_nrf52833`` board would generate a file like this:
+An example of execution using the ``nrf52dk_nrf52832`` board would generate a file like this:
 
 .. code-block::
 
-    SYNC,1,1,2312815348.3333335,7286,23752
-    SYNC,1,2,1172444661.3333333,7287,23760
-    SYNC,1,4,602284749.6666666,7289,23768
-    SYNC,1,8,323750814.0,7293,23772
-    SYNC,1,16,175120035.66666666,7301,23776
-    SYNC,1,32,103942871.33333333,7317,23776
-    SYNC,1,64,68318685.0,7349,23776
-    SYNC,1,128,50567627.333333336,7477,23776
-    SYNC,1,256,41656494.0,7733,23776
-    SYNC,2,1,1277842204.3333333,7298,23768
-    SYNC,2,2,647094726.6666666,7299,23776
-    SYNC,2,4,329559326.3333333,7301,23784
-    SYNC,2,8,170979817.66666666,7305,23796
-    SYNC,2,16,95174153.66666667,7313,23792
-    SYNC,2,32,55786133.0,7329,23792
-    SYNC,2,64,36173502.333333336,7361,23792
-    SYNC,2,128,26326497.666666668,7489,23792
-    SYNC,2,256,21280924.333333332,7745,23792
-    SYNC,4,1,745513916.0,7322,23800
-    SYNC,4,2,374755859.6666667,7323,23808
-    SYNC,4,4,191497802.66666666,7325,23816
-    SYNC,4,8,101399739.66666667,7329,23820
-    SYNC,4,16,54026286.0,7337,23824
-    SYNC,4,32,31097412.0,7353,23824
-    SYNC,4,64,19643148.333333332,7385,23824
-    SYNC,4,128,13936360.333333334,7513,23824
-    SYNC,4,256,11047363.333333334,7769,23824
-    SYNC,8,1,477518717.3333333,7370,23864
-    SYNC,8,2,240773518.66666666,7371,23872
-    SYNC,8,4,121897379.33333333,7373,23880
-    SYNC,8,8,64015706.333333336,7377,23884
-    SYNC,8,16,33681234.0,7385,23888
-    SYNC,8,32,18880208.333333332,7401,23888
-    SYNC,8,64,11505127.0,7433,23888
-    SYNC,8,128,7781982.333333333,7561,23888
-    SYNC,8,256,5940755.333333333,7817,23888
-    ASYNC,1,1,9422749837.333334,7962,24108
-    ASYNC,1,2,4728759765.333333,7963,24116
-    ASYNC,1,4,2380554199.3333335,7965,24124
-    ASYNC,1,8,1225118001.6666667,7969,24128
-    ASYNC,1,16,618764241.6666666,7977,24132
-    ASYNC,1,32,326253255.3333333,7993,24132
-    ASYNC,1,64,179473876.66666666,8025,24132
-    ASYNC,1,128,106170654.33333333,8217,24132
-    ASYNC,1,256,69386800.33333333,8601,24136
-    ASYNC,2,1,8347330729.0,8650,24288
-    ASYNC,2,2,4186747233.3333335,8651,24296
-    ASYNC,2,4,2092895507.3333333,8653,24304
-    ASYNC,2,8,1049245198.6666666,8657,24316
-    ASYNC,2,16,541544596.6666666,8665,24312
-    ASYNC,2,32,281127929.6666667,8681,24312
-    ASYNC,2,64,150746663.66666666,8713,24312
-    ASYNC,2,128,85662842.0,8969,24312
-    ASYNC,2,256,48909505.0,9481,24320
-    ASYNC,4,1,7854085286.666667,10026,24652
-    ASYNC,4,2,3935852050.3333335,10027,24660
-    ASYNC,4,4,1972869873.0,10029,24668
-    ASYNC,4,8,979451497.6666666,10033,24672
-    ASYNC,4,16,499348958.0,10041,24676
-    ASYNC,4,32,253712972.0,10057,24676
-    ASYNC,4,64,131022135.33333333,10089,24676
-    ASYNC,4,128,69610595.66666667,10473,24676
-    ASYNC,4,256,38706461.666666664,11241,24692
-    ASYNC,8,1,7590311686.666667,12778,25220
-    ASYNC,8,2,3800333658.6666665,12779,25228
-    ASYNC,8,4,1900014241.6666667,12781,25236
-    ASYNC,8,8,940419515.0,12785,25240
-    ASYNC,8,16,478739420.6666667,12793,25244
-    ASYNC,8,32,241465250.66666666,12809,25244
-    ASYNC,8,64,122701009.0,12841,25244
-    ASYNC,8,128,63405355.0,13481,25244
-    ASYNC,8,256,33752441.666666664,14761,25244
+   LISTENERS,1,2,890787.3333333334,9247,23091
+   LISTENERS,1,8,237925.0,9253,23091
+   LISTENERS,1,32,74513.0,9277,23151
+   LISTENERS,1,128,33813.0,9565,23231
+   LISTENERS,1,512,35746.0,10717,23623
+   LISTENERS,4,2,314198.3333333333,9274,23142
+   LISTENERS,4,8,82244.33333333333,9280,23142
+   LISTENERS,4,32,24057.333333333332,9304,23202
+   LISTENERS,4,128,9816.0,9592,23282
+   LISTENERS,4,512,9277.0,10744,23674
+   LISTENERS,8,2,211465.66666666666,9310,23202
+   LISTENERS,8,8,56294.0,9316,23210
+   LISTENERS,8,32,15635.0,9340,23270
+   LISTENERS,8,128,5818.0,9628,23350
+   LISTENERS,8,512,4862.0,10780,23742
+   SUBSCRIBERS,1,2,7804351.333333333,9927,23463
+   SUBSCRIBERS,1,8,1978179.3333333333,9933,23463
+   SUBSCRIBERS,1,32,514139.3333333333,9957,23523
+   SUBSCRIBERS,1,128,146759.0,10309,23603
+   SUBSCRIBERS,1,512,55104.0,11845,23995
+   SUBSCRIBERS,4,2,5551961.0,11994,24134
+   SUBSCRIBERS,4,8,1395009.0,12000,24134
+   SUBSCRIBERS,4,32,354583.3333333333,12024,24194
+   SUBSCRIBERS,4,128,92976.66666666667,12568,24274
+   SUBSCRIBERS,4,512,28015.0,15256,24666
+   SUBSCRIBERS,8,2,5449839.0,14750,24858
+   SUBSCRIBERS,8,8,1321766.6666666667,14756,24866
+   SUBSCRIBERS,8,32,332804.0,14780,24926
+   SUBSCRIBERS,8,128,85489.33333333333,15580,25006
+   SUBSCRIBERS,8,512,23905.0,19804,25398
+   MSG_SUBSCRIBERS,1,2,8783538.333333334,10371,25615
+   MSG_SUBSCRIBERS,1,8,2249592.6666666665,10377,25615
+   MSG_SUBSCRIBERS,1,32,610168.0,10401,25675
+   MSG_SUBSCRIBERS,1,128,207295.0,10753,25755
+   MSG_SUBSCRIBERS,1,512,143584.66666666666,12289,26147
+   MSG_SUBSCRIBERS,4,2,5787699.0,12318,26126
+   MSG_SUBSCRIBERS,4,8,1473907.0,12324,26126
+   MSG_SUBSCRIBERS,4,32,396127.6666666667,12348,26186
+   MSG_SUBSCRIBERS,4,128,126362.66666666667,12892,26266
+   MSG_SUBSCRIBERS,4,512,59040.666666666664,15580,26658
+   MSG_SUBSCRIBERS,8,2,5453999.333333333,14914,26610
+   MSG_SUBSCRIBERS,8,8,1356312.3333333333,14920,26650
+   MSG_SUBSCRIBERS,8,32,361368.3333333333,14944,26710
+   MSG_SUBSCRIBERS,8,128,113148.66666666667,15744,26790
+   MSG_SUBSCRIBERS,8,512,51218.333333333336,19968,27182
diff --git a/samples/subsys/zbus/benchmark/benchmark_256KB.robot b/samples/subsys/zbus/benchmark/benchmark_256KB.robot
@@ -8,19 +8,23 @@ Suite Teardown      Terminate All Processes    kill=True
 
 
 *** Variables ***
-${csv_file}     zbus_dyn_benchmark_256kb.csv
-${board}        hifive1_revb
-${serial_port}     /dev/ttyACM0
+${csv_file}         zbus_dyn_benchmark_256kb.csv
+${board}            hifive1_revb
+${serial_port}      /dev/ttyACM0
+
 
 *** Tasks ***
 Clear Old CSV File
     Empty Csv File    ${csv_file}
 
 Zbus Benchmark
-    FOR    ${async}    IN    "n"    "y"
-        FOR    ${consumers}    IN    1    2    4    8
-            FOR    ${msg_size}    IN    1    2    4    8    16    32    64    128    256
-                Benchmark Report For    message_size=${msg_size}    one_to=${consumers}    asynchronous=${async}
+    FOR    ${obs_type}    IN    0    1    2
+        FOR    ${consumers}    IN    1    4    8
+            FOR    ${msg_size}    IN    2    8    32    128    512
+                Benchmark Report For
+                ...    message_size=${msg_size}
+                ...    one_to=${consumers}
+                ...    observer_type=${obs_type}
             END
         END
     END
@@ -54,30 +58,41 @@ Measure Results
     [Teardown]    Delete All Ports
 
 Benchmark
-    [Arguments]    ${message_size}=256    ${one_to}=1    ${asynchronous}=n
+    [Arguments]    ${message_size}=256    ${one_to}=1    ${observer_type}=LISTENERS
     ${result}    Run Process
-    ...    west build -b ${board} -p always -- -DCONFIG_BM_MESSAGE_SIZE\=${message_size} -DCONFIG_BM_ONE_TO\=${one_to} -DCONFIG_BM_ASYNC\=${asynchronous}
+    ...    west build -b ${board} -p always -- -DCONFIG_BM_MESSAGE_SIZE\=${message_size} -DCONFIG_BM_ONE_TO\=${one_to} -DCONFIG_BM_${observer_type}\=y
     ...    shell=True
     Should Be Equal As Integers    ${result.rc}    0
     ${duration}    Measure Results
     RETURN    ${duration}
 
 Benchmark Report For
-    [Arguments]    ${message_size}=256    ${one_to}=1    ${asynchronous}=n
-    ${duration}    Benchmark    message_size=${message_size}    one_to=${one_to}    asynchronous=${asynchronous}
+    [Arguments]    ${message_size}=256    ${one_to}=1    ${observer_type}=0
+
+    ${obs_type_str}    Set Variable    LISTENERS
+    IF    ${observer_type} == 1
+        ${obs_type_str}    Set Variable    SUBSCRIBERS
+    ELSE IF    ${observer_type} == 2
+        ${obs_type_str}    Set Variable    MSG_SUBSCRIBERS
+    END
+
+    ${duration}    Benchmark
+    ...    message_size=${message_size}
+    ...    one_to=${one_to}
+    ...    observer_type=${obs_type_str}
+
     ${ram_amount}    Run Memory Report    ram
+
     ${rom_amount}    Run Memory Report    rom
-    IF    ${asynchronous} == "y"
-        ${async_str}    Set Variable    ASYNC
-    ELSE
-        ${async_str}    Set Variable    SYNC
-    END
+
     @{results}    Create List
-    ...    ${async_str}
+    ...    ${obs_type_str}
     ...    ${one_to}
     ...    ${message_size}
     ...    ${duration}
     ...    ${ram_amount}
     ...    ${rom_amount}
+
     Log To Console    \n${results}
+
     Append To Csv File    ${csv_file}    ${results}
diff --git a/samples/subsys/zbus/benchmark/prj.conf b/samples/subsys/zbus/benchmark/prj.conf
@@ -1,5 +1,7 @@
 CONFIG_LOG=y
+CONFIG_BOOT_BANNER=n
 CONFIG_LOG_MODE_MINIMAL=y
 CONFIG_ASSERT=n
 CONFIG_ZBUS=y
 CONFIG_ZBUS_LOG_LEVEL_INF=y
+CONFIG_HEAP_MEM_POOL_SIZE=1024
diff --git a/samples/subsys/zbus/benchmark/sample.yaml b/samples/subsys/zbus/benchmark/sample.yaml
@@ -10,15 +10,37 @@ tests:
       type: multi_line
       ordered: true
       regex:
-        - "I: Benchmark 1 to 8: Dynamic memory, ASYNC transmission and message size 256"
+        - "I: Benchmark 1 to 8 using LISTENERS to transmit with message size: 256 bytes"
         - "I: Bytes sent = 262144, received = 262144"
         - "I: Average data rate: (\\d+).(\\d+)MB/s"
         - "I: Duration: (\\d+).(\\d+)s"
         - "@(.*)"
     extra_configs:
       - CONFIG_BM_ONE_TO=8
       - CONFIG_BM_MESSAGE_SIZE=256
-      - CONFIG_BM_ASYNC=y
+      - CONFIG_BM_LISTENERS=y
+      - arch:nios2:CONFIG_SYS_CLOCK_TICKS_PER_SEC=1000
+      - CONFIG_IDLE_STACK_SIZE=1024
+    integration_platforms:
+      - qemu_x86
+  sample.zbus.benchmark_async_msg_sub:
+    tags: zbus
+    min_ram: 16
+    filter: CONFIG_SYS_CLOCK_EXISTS and not (CONFIG_ARCH_POSIX and not CONFIG_BOARD_NATIVE_POSIX)
+    harness: console
+    harness_config:
+      type: multi_line
+      ordered: true
+      regex:
+        - "I: Benchmark 1 to 8 using MSG_SUBSCRIBERS to transmit with message size: 256 bytes"
+        - "I: Bytes sent = 262144, received = 262144"
+        - "I: Average data rate: (\\d+).(\\d+)MB/s"
+        - "I: Duration: (\\d+).(\\d+)s"
+        - "@(.*)"
+    extra_configs:
+      - CONFIG_BM_ONE_TO=8
+      - CONFIG_BM_MESSAGE_SIZE=256
+      - CONFIG_BM_MSG_SUBSCRIBERS=y
       - arch:nios2:CONFIG_SYS_CLOCK_TICKS_PER_SEC=1000
       - CONFIG_IDLE_STACK_SIZE=1024
     integration_platforms:
@@ -32,15 +54,15 @@ tests:
       type: multi_line
       ordered: true
       regex:
-        - "I: Benchmark 1 to 8: Dynamic memory, SYNC transmission and message size 256"
+        - "I: Benchmark 1 to 8 using SUBSCRIBERS to transmit with message size: 256 bytes"
         - "I: Bytes sent = 262144, received = 262144"
         - "I: Average data rate: (\\d+).(\\d+)MB/s"
         - "I: Duration: (\\d+).(\\d+)s"
         - "@(.*)"
     extra_configs:
       - CONFIG_BM_ONE_TO=8
       - CONFIG_BM_MESSAGE_SIZE=256
-      - CONFIG_BM_ASYNC=n
+      - CONFIG_BM_SUBSCRIBERS=y
       - arch:nios2:CONFIG_SYS_CLOCK_TICKS_PER_SEC=1000
       - CONFIG_IDLE_STACK_SIZE=1024
     integration_platforms: