text: // 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 benchmark for parsing and compiling models from XML.
  
  #include <array>
  
  #include <benchmark/benchmark.h>
  #include <gmock/gmock.h>
  #include <gtest/gtest.h>
  #include <absl/base/attributes.h>
  #include <mujoco/mjmodel.h>
  #include <mujoco/mujoco.h>
  #include "test/fixture.h"
  
  namespace mujoco {
  namespace {
  
  using ::testing::NotNull;
  
  static void run_parse_benchmark(const char *model_path, benchmark::State& state) {
    MujocoErrorTestGuard guard;  // Fail test if there are any mujoco errors
  
    const std::string xml_path = GetModelPath(model_path);
    std::array<char, 1024> error;
    for (auto s : state) {
      // TODO(nimrod): Load the models from VFS rather than from disk, to
      // limit the benchmark to the parsing and model compilation speed.
      mjModel* model =
        mj_loadXML(xml_path.data(), nullptr, error.data(), error.size());
      ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
      mj_deleteModel(model);
    }
    state.SetLabel(model_path);
  }
  
  // Use ABSL_ATTRIBUTE_NO_TAIL_CALL to make sure the benchmark functions appear
  // separately in CPU profiles (and don't get replaced with raw calls to
  // run_parse_benchmark).
  
  void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseCloth(benchmark::State& state) {
    run_parse_benchmark("composite/cloth.xml", state);
  }
  BENCHMARK(BM_ParseCloth);
  
  void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseHumanoid(benchmark::State& state) {
    run_parse_benchmark("humanoid/humanoid.xml", state);
  }
  BENCHMARK(BM_ParseHumanoid);
  
  void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseHumanoid100(benchmark::State& state) {
    run_parse_benchmark("humanoid100/humanoid100.xml", state);
  }
  BENCHMARK(BM_ParseHumanoid100);
  
  }  // namespace
  }  // namespace mujoco
  