Add deserialization benchmark.

r2r/Cargo.toml

@@ -34,6 +34,7 @@ futures = "0.3.25"
 tokio = { version = "1.22.0", features = ["rt-multi-thread", "time", "macros"] }
 rand = "0.8.5"
 cdr = "0.2.4"
+criterion = "0.5.1"
 
 [build-dependencies]
 r2r_common = { path = "../r2r_common", version = "0.8.2" }
@@ -51,3 +52,7 @@ doc-only = ["r2r_common/doc-only", "r2r_rcl/doc-only", "r2r_msg_gen/doc-only", "
 
 [package.metadata.docs.rs]
 features = ["doc-only"]
+
+[[bench]]
+name = "deserialization"
+harness = false

r2r/benches/deserialization.rs

@@ -0,0 +1,57 @@
+use criterion::{criterion_group, criterion_main, Criterion};
+use r2r::*;
+use rand::Rng;
+use rand::thread_rng;
+
+const NUM_ELEMENTS: usize = 10_000;
+const NUM_TIMES: usize = 1_000;
+
+fn bench_ros_deserialization() {
+    let mut rng = thread_rng();
+    let mut numbers = Vec::<i32>::with_capacity(NUM_ELEMENTS);
+
+    for _ in 0..NUM_ELEMENTS {
+        numbers.push(rng.gen_range(0..i32::MAX));
+    }
+    let message = std_msgs::msg::Int32MultiArray {
+        layout: std_msgs::msg::MultiArrayLayout::default(),
+        data: numbers
+    };
+
+    let bytes = message.to_serialized_bytes().unwrap();
+
+    for _ in 0..NUM_TIMES {
+        let _ = std_msgs::msg::Int32MultiArray::from_serialized_bytes(&bytes).unwrap();
+    }
+}
+
+fn bench_cdr_deserialization() {
+    let mut rng = thread_rng();
+    let mut numbers = Vec::<i32>::with_capacity(NUM_ELEMENTS);
+
+    for _ in 0..NUM_ELEMENTS {
+        numbers.push(rng.gen_range(0..i32::MAX));
+    }
+    let message = std_msgs::msg::Int32MultiArray {
+        layout: std_msgs::msg::MultiArrayLayout::default(),
+        data: numbers
+    };
+
+    let bytes = message.to_serialized_bytes().unwrap();
+
+    for _ in 0..NUM_TIMES {
+        let _msg1 = cdr::deserialize::<std_msgs::msg::Int32MultiArray>(&bytes).unwrap();
+        // just for testing that we get the same result.
+        // let msg2 = std_msgs::msg::Int32MultiArray::from_serialized_bytes(&bytes).unwrap();
+        // assert_eq!(msg1, msg2);
+        // assert_eq!(msg2, message);
+    }
+}
+
+pub fn criterion_benchmark(c: &mut Criterion) {
+    c.bench_function("ros_deserialization", |b| b.iter(|| bench_ros_deserialization()));
+    c.bench_function("cdr_deserialization", |b| b.iter(|| bench_cdr_deserialization()));
+}
+
+criterion_group!(benches, criterion_benchmark);
+criterion_main!(benches);