subsystem-bench: add regression tests for availability read and write (#3311)

### What's been done
- `subsystem-bench` has been split into two parts: a cli benchmark
runner and a library.
- The cli runner is quite simple. It just allows us to run `.yaml` based
test sequences. Now it should only be used to run benchmarks during
development.
- The library is used in the cli runner and in regression tests. Some
code is changed to make the library independent of the runner.
- Added first regression tests for availability read and write that
replicate existing test sequences.

### How we run regression tests
- Regression tests are simply rust integration tests without the
harnesses.
- They should only be compiled under the `subsystem-benchmarks` feature
to prevent them from running with other tests.
- This doesn't work when running tests with `nextest` in CI, so
additional filters have been added to the `nextest` runs.
- Each benchmark run takes a different time in the beginning, so we
"warm up" the tests until their CPU usage differs by only 1%.
- After the warm-up, we run the benchmarks a few more times and compare
the average with the exception using a precision.

### What is still wrong?
- I haven't managed to set up approval voting tests. The spread of their
results is too large and can't be narrowed down in a reasonable amount
of time in the warm-up phase.
- The tests start an unconfigurable prometheus endpoint inside, which
causes errors because they use the same 9999 port. I disable it with a
flag, but I think it's better to extract the endpoint launching outside
the test, as we already do with `valgrind` and `pyroscope`. But we still
use `prometheus` inside the tests.

### Future work
* https://github.com/paritytech/polkadot-sdk/issues/3528
* https://github.com/paritytech/polkadot-sdk/issues/3529
* https://github.com/paritytech/polkadot-sdk/issues/3530
* https://github.com/paritytech/polkadot-sdk/issues/3531

---------

Co-authored-by: Alexander Samusev <41779041+alvicsam@users.noreply.github.com>

polkadot/node/network/availability-distribution/tests/availability-distribution-regression-bench.rs

@@ -0,0 +1,113 @@
+// Copyright (C) Parity Technologies (UK) Ltd.
+// This file is part of Polkadot.
+
+// Polkadot is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+
+// Polkadot is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU General Public License for more details.
+
+// You should have received a copy of the GNU General Public License
+// along with Polkadot.  If not, see <http://www.gnu.org/licenses/>.
+
+//! availability-read regression tests
+//!
+//! TODO: Explain the test case after configuration adjusted to Kusama
+//!
+//! Subsystems involved:
+//! - availability-distribution
+//! - bitfield-distribution
+//! - availability-store
+
+use polkadot_subsystem_bench::{
+	availability::{benchmark_availability_write, prepare_test, TestDataAvailability, TestState},
+	configuration::{PeerLatency, TestConfiguration},
+	usage::BenchmarkUsage,
+};
+
+const BENCH_COUNT: usize = 3;
+const WARM_UP_COUNT: usize = 20;
+const WARM_UP_PRECISION: f64 = 0.01;
+
+fn main() -> Result<(), String> {
+	let mut messages = vec![];
+
+	// TODO: Adjust the test configurations to Kusama values
+	let mut config = TestConfiguration::default();
+	config.latency = Some(PeerLatency { mean_latency_ms: 30, std_dev: 2.0 });
+	config.n_validators = 1000;
+	config.n_cores = 200;
+	config.max_validators_per_core = 5;
+	config.min_pov_size = 5120;
+	config.max_pov_size = 5120;
+	config.peer_bandwidth = 52428800;
+	config.bandwidth = 52428800;
+	config.connectivity = 75;
+	config.num_blocks = 3;
+	config.generate_pov_sizes();
+
+	warm_up(config.clone())?;
+	let usage = benchmark(config.clone());
+
+	messages.extend(usage.check_network_usage(&[
+		("Received from peers", 4330.0, 0.05),
+		("Sent to peers", 15900.0, 0.05),
+	]));
+	messages.extend(usage.check_cpu_usage(&[
+		("availability-distribution", 0.025, 0.05),
+		("bitfield-distribution", 0.085, 0.05),
+		("availability-store", 0.180, 0.05),
+	]));
+
+	if messages.is_empty() {
+		Ok(())
+	} else {
+		eprintln!("{}", messages.join("\n"));
+		Err("Regressions found".to_string())
+	}
+}
+
+fn warm_up(config: TestConfiguration) -> Result<(), String> {
+	println!("Warming up...");
+	let mut prev_run: Option<BenchmarkUsage> = None;
+	for _ in 0..WARM_UP_COUNT {
+		let curr = run(config.clone());
+		if let Some(ref prev) = prev_run {
+			let av_distr_diff =
+				curr.cpu_usage_diff(prev, "availability-distribution").expect("Must exist");
+			let bitf_distr_diff =
+				curr.cpu_usage_diff(prev, "bitfield-distribution").expect("Must exist");
+			let av_store_diff =
+				curr.cpu_usage_diff(prev, "availability-store").expect("Must exist");
+			if av_distr_diff < WARM_UP_PRECISION &&
+				bitf_distr_diff < WARM_UP_PRECISION &&
+				av_store_diff < WARM_UP_PRECISION
+			{
+				return Ok(())
+			}
+		}
+		prev_run = Some(curr);
+	}
+
+	Err("Can't warm up".to_string())
+}
+
+fn benchmark(config: TestConfiguration) -> BenchmarkUsage {
+	println!("Benchmarking...");
+	let usages: Vec<BenchmarkUsage> = (0..BENCH_COUNT).map(|_| run(config.clone())).collect();
+	let usage = BenchmarkUsage::average(&usages);
+	println!("{}", usage);
+	usage
+}
+
+fn run(config: TestConfiguration) -> BenchmarkUsage {
+	let mut state = TestState::new(&config);
+	let (mut env, _protocol_config) =
+		prepare_test(config.clone(), &mut state, TestDataAvailability::Write, false);
+	env.runtime()
+		.block_on(benchmark_availability_write("data_availability_write", &mut env, state))
+}