add logging performance test with multi-threads.

Signed-off-by: Tomoya Fujita <[email protected]>

Author: fujitatomoya

prover_rclcpp/CMakeLists.txt

@@ -185,6 +185,7 @@ custom_executable(ros2cli_834)
 custom_executable(sim_clock_publisher)
 custom_executable(intraprocess_pub_sub)
 custom_executable(rclcpp_logger_test)
+custom_executable(rcl_logging_performance)
 
 if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang" AND
     "${CMAKE_CXX_COMPILER_VERSION}" VERSION_LESS 6.0)

prover_rclcpp/src/rcl_logging_performance.cpp

@@ -0,0 +1,59 @@
+#include <thread>
+#include <vector>
+
+#include <rclcpp/logger.hpp>
+#include <rclcpp/logging.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+void log_debug(rclcpp::Node::SharedPtr node) {
+    for (int i = 0; i < 1000000; i++) {
+      RCLCPP_DEBUG(node->get_logger(), "Debug level logging");
+    }
+}
+
+void log_info(rclcpp::Node::SharedPtr node) {
+  for (int i = 0; i < 1000000; i++) {
+    RCLCPP_INFO(node->get_logger(), "Information level logging");
+  }
+}
+
+void log_warn(rclcpp::Node::SharedPtr node) {
+  for (int i = 0; i < 1000000; i++) {
+    RCLCPP_WARN(node->get_logger(), "Warning level logging");
+  }
+}
+
+void log_error(rclcpp::Node::SharedPtr node) {
+  for (int i = 0; i < 1000000; i++) {
+    RCLCPP_ERROR(node->get_logger(), "Error level logging");
+  }
+}
+
+void log_fatal(rclcpp::Node::SharedPtr node) {
+  for (int i = 0; i < 1000000; i++) {
+    RCLCPP_FATAL(node->get_logger(), "Fatal level logging");
+  }
+}
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::Node::SharedPtr node{rclcpp::Node::make_shared("node")};
+
+  node->get_logger().set_level(rclcpp::Logger::Level::Debug);
+
+  std::vector<std::thread> threads;
+  threads.emplace_back(log_debug, node);
+  threads.emplace_back(log_info, node);
+  threads.emplace_back(log_warn, node);
+  threads.emplace_back(log_error, node);
+  threads.emplace_back(log_fatal, node);
+
+  for (auto &thread : threads) {
+    thread.join();
+  }
+
+  rclcpp::shutdown();
+
+  return 0;
+}