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#!/usr/bin/env python3
# Copyright 2021 DeepMind Technologies Limited
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
"""A script for running step_benchmark_test for a variety of build settings.
This is not meant to be run in google3, but in the git repository's root.
This will be used for release 2.1.1, and adapted for future use when more
decisions about the build need to be made.
"""
import argparse
import os
import re
import shutil
import subprocess
import sys
from typing import NamedTuple, Tuple
class _Setting(NamedTuple):
name: str
cmake_args: Tuple[str]
def run_benchmark_variants(output_directory: str, build_directory: str,
benchmark_repetitions: int, delete_build: bool):
"""Builds different variants of the benchmark test, and runs them."""
# For each of the settings, the first option is what we use as a baseline.
# We chose to pick the settings that were likely best (so this is an ablation
# study), so interactions between settings are tested.
settings_ranges = {
"avx": [
_Setting("on", ("-DMUJOCO_ENABLE_AVX=ON",)),
_Setting("off", ("-DMUJOCO_ENABLE_AVX=OFF",))
],
"avx_intrinsics": [
_Setting("on", ("-DMUJOCO_ENABLE_AVX_INTRINSICS=ON",)),
_Setting("off", ("-DMUJOCO_ENABLE_AVX_INTRINSICS=OFF",))
],
"lto": [
_Setting("on", ("-DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON",)),
_Setting("off", ("-DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF",)),
],
"compiler": compiler_cmake_flags_variants(),
}
baseline_settings = {
key: value[0] for key, value in settings_ranges.items()
}
run_benchmark(
f"{sys.platform}_baseline",
baseline_settings,
output_directory=output_directory,
build_directory=f"{build_directory}_baseline",
benchmark_repetitions=benchmark_repetitions,
delete_build=delete_build,
)
for key in sorted(settings_ranges):
settings = baseline_settings.copy()
for setting in settings_ranges[key][1:]:
settings[key] = setting
run_benchmark(
f"{sys.platform}_{key}_{setting.name}",
settings,
output_directory=output_directory,
build_directory=f"{build_directory}_{key}_{setting.name}",
benchmark_repetitions=benchmark_repetitions,
delete_build=delete_build,
)
def run_benchmark(name, settings, output_directory: str, build_directory: str,
benchmark_repetitions: int, delete_build: bool):
"""Builds and runs a single benchmark."""
current_dir = os.getcwd()
try:
if delete_build:
shutil.rmtree(build_directory, ignore_errors=True)
os.makedirs(build_directory, exist_ok=True)
os.makedirs(output_directory, exist_ok=True)
os.chdir(build_directory)
cmake_args = [
"cmake", "..", "-DMUJOCO_BUILD_TESTS=ON", "-DCMAKE_BUILD_TYPE=Release"
]
cmake_args.extend(os_specific_cmake_flags())
for _, setting in sorted(settings.items()):
cmake_args.extend(setting.cmake_args)
print(f"Running ({name}):", " ".join(cmake_args))
subprocess.check_call(cmake_args)
subprocess.check_call([
"cmake", "--build", ".", "-j8", "--config=Release", "-t",
"step_benchmark_test"
])
output_path = os.path.join(output_directory, f"{name}.json")
os.chdir("../mujoco/test")
if sys.platform == "win32":
cygwin_run_benchmark(build_directory, output_path, benchmark_repetitions)
else:
binary_path = os.path.join(build_directory, "bin", "step_benchmark_test")
subprocess.check_call([
binary_path,
"--benchmark_filter=all",
"--benchmark_enable_random_interleaving=true",
"--benchmark_min_time=0.5",
f"--benchmark_repetitions={benchmark_repetitions}",
"--benchmark_format=json",
f"--benchmark_out={output_path}",
])
finally:
os.chdir(current_dir)
def os_specific_cmake_flags():
"""CMake args that should be passed to all benchmarks on current OS."""
if sys.platform == "win32":
return ("-A", "x64", "-Thost=x86",
"-DCMAKE_MSVC_RUNTIME_LIBRARY=MultiThreaded",
"-DCMAKE_SYSTEM_VERSION=10.0.19041.0")
elif sys.platform.startswith("linux"):
return ()
elif sys.platform == "darwin":
# macOS
return ()
else:
raise ValueError(f"Unknown OS: {sys.platform}")
def compiler_cmake_flags_variants():
"""Returns a list of benchmark settings for different compilers."""
if sys.platform == "win32":
return [
_Setting("VS2022", ("-G", "Visual Studio 17 2022")),
# MSVC 2017 doesn't seem to support C17 standard.
# _Setting("VS2017", ("-G", "Visual Studio 15 2017")),
]
elif sys.platform.startswith("linux"):
return [
_Setting("clang-11",
("-DCMAKE_C_COMPILER=clang-11",
"-DCMAKE_CXX_COMPILER=clang++-11", "-DCMAKE_LINKER=lld-11")),
_Setting("clang-8",
("-DCMAKE_C_COMPILER=clang-8",
"-DCMAKE_CXX_COMPILER=clang++-8", "-DCMAKE_LINKER=lld-8")),
]
elif sys.platform == "darwin":
# macOS
return [_Setting("clang", ())]
else:
raise ValueError(f"Unknown OS: {sys.platform}")
def cygwin_run_benchmark(build_directory, output_path, benchmark_repetitions):
"""Runs the benchmark command under the cygwin environment."""
# The subprocess module interacts badly with cygwin.
# Rather than trying to run the binary directly through Popen, use bash on
# cygwin.
lib_path = cygwin_path(os.path.join(build_directory, "lib", "Release"))
binary_path = cygwin_path(
os.path.join(build_directory, "bin", "Release",
"step_benchmark_test"))
cygwin = subprocess.Popen(["bash"], stdin=subprocess.PIPE)
command = (
f'PATH="$PATH:{lib_path}" {binary_path} --benchmark_filter=all '
"--benchmark_enable_random_interleaving=true ",
"--benchmark_min_time=0.5 "
f"--benchmark_repetitions={benchmark_repetitions} "
"--benchmark_format=json "
f"--benchmark_out='{output_path}'")
cygwin.communicate(input=bytes(command, "utf-8"))
if cygwin.returncode:
raise ValueError(f"Benchmark returned error code: {cygwin.returncode}")
def cygwin_path(windows_path):
path = windows_path.replace("\\", "/")
path = re.sub(r".*cygwin64", "", path)
return path
def main(argv):
parser = argparse.ArgumentParser()
parser.add_argument("-o", "--output_directory", default="benchmark_results")
parser.add_argument(
"-b",
"--build_directory",
default="build",
help="Base path for build directories. Benchmark names will be appended."
)
parser.add_argument("-n", "--repetitions", type=int, default=30)
parser.add_argument(
"-d",
"--delete_build",
nargs="?",
type=bool,
const=True,
default=False,
help="Delete the build directory before building benchmark.")
args = parser.parse_args(argv[1:])
run_benchmark_variants(
output_directory=os.path.abspath(args.output_directory),
build_directory=os.path.abspath(args.build_directory),
delete_build=args.delete_build,
benchmark_repetitions=args.repetitions)
if __name__ == "__main__":
main(sys.argv)
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