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Merged
merged 21 commits into from
Jul 8, 2024
Merged

feat(autoware_universe_utils): add TimeKeeper to track function's processing time #7754

merged 21 commits into from
Jul 8, 2024

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takayuki5168
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@takayuki5168 takayuki5168 commented Jun 30, 2024 •
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Description

Added a class to track the function's processing time.

Terminal (when show_on_terminal is True) or ros2 topic echo /planning/scenario_planning/lane_driving/motion_planning/path_optimizer/debug/processing_time_detail --field data

[component_container_mt-32] ========================================
[component_container_mt-32] onPath (3.763ms)
[component_container_mt-32]     ├── generateOptimizedTrajectory (3.631ms)
[component_container_mt-32]     │   ├── optimizeTrajectory (3.341ms)
[component_container_mt-32]     │   │   └── optimizeTrajectory (3.338ms)
[component_container_mt-32]     │   │       ├── calcReferencePoints (0.951ms)
[component_container_mt-32]     │   │       │   ├── resampleReferencePoints (0.108ms)
[component_container_mt-32]     │   │       │   ├── updateFixedPoint (0.065ms)
[component_container_mt-32]     │   │       │   ├── updateBounds (0.066ms)
[component_container_mt-32]     │   │       │   ├── updateVehicleBounds (0.316ms)
[component_container_mt-32]     │   │       │   └── updateExtraPoints (0.171ms)
[component_container_mt-32]     │   │       ├── calcMatrix (0.049ms)
[component_container_mt-32]     │   │       ├── calcValueMatrix (0.01ms)
[component_container_mt-32]     │   │       ├── calcObjectiveMatrix (0.176ms)
[component_container_mt-32]     │   │       ├── calcConstraintMatrix (0.608ms)
[component_container_mt-32]     │   │       ├── calcOptimizedSteerAngles (1.473ms)
[component_container_mt-32]     │   │       │   ├── initOsqp (0.617ms)
[component_container_mt-32]     │   │       │   └── solveOsqp (0.596ms)
[component_container_mt-32]     │   │       ├── calcMPTPoints (0.013ms)
[component_container_mt-32]     │   │       └── publishDebugTrajectories (0.015ms)
[component_container_mt-32]     │   ├── applyInputVelocity (0.02ms)
[component_container_mt-32]     │   ├── insertZeroVelocityOutsideDrivableArea (0.254ms)
[component_container_mt-32]     │   └── publishDebugMarkerOfOptimization (0ms)
[component_container_mt-32]     ├── extendTrajectory (0.073ms)
[component_container_mt-32]     └── publishDebugData (0.001ms)

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Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

@takayuki5168
feat(autoware_universe_utils): add TimeKeeper to track function's pro…
37c22cd 
…cessing time

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@github-actions github-actions bot added component:planning Route planning, decision-making, and navigation. (auto-assigned) component:common Common packages from the autoware-common repository. (auto-assigned) labels Jun 30, 2024
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Please ensure:

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update
3ac2ca9 
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@yhisaki yhisaki mentioned this pull request Jul 2, 2024
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@yhisaki
refactoring
b08c038 
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
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yhisaki commented Jul 2, 2024

add new msg
tier4/tier4_autoware_msgs#137

@yhisaki
remove track
55ea365 
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
takayuki5168
takayuki5168 commented Jul 2, 2024
View reviewed changes
common/autoware_universe_utils/src/system/time_keeper.cpp Outdated
void TimeNode::construct_time_tree_msg(
tier4_debug_msgs::msg::TimeTree & time_tree_msg, const int parent_id)
{
auto time_node_msg = std::make_shared<tier4_debug_msgs::msg::TimeNode>();
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Any reason to use shared_ptr?

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it's my mistake. i fixed it.

yhisaki added 3 commits July 4, 2024 14:31
@yhisaki
refactor
45a2198 
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
@yhisaki
fix
17e3bdf 
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
@yhisaki
fix
25c3c3e 
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yhisaki commented Jul 4, 2024

msg

- id: 1
  name: onPath
  processing_time: 8.648
  parent_id: 0
- id: 2
  name: generateOptimizedTrajectory
  processing_time: 8.437
  parent_id: 1
- id: 3
  name: optimizeTrajectory
  processing_time: 7.938
  parent_id: 2
- id: 4
  name: optimizeTrajectory
  processing_time: 7.932
  parent_id: 3
- id: 5
  name: calcReferencePoints
  processing_time: 2.127
  parent_id: 4
- id: 6
  name: resampleReferencePoints
  processing_time: 0.139
  parent_id: 5
- id: 7
  name: updateFixedPoint
  processing_time: 0.091
  parent_id: 5
- id: 8
  name: updateBounds
  processing_time: 0.128
  parent_id: 5
- id: 9
  name: updateVehicleBounds
  processing_time: 0.837
  parent_id: 5
- id: 10
  name: updateExtraPoints
  processing_time: 0.596
  parent_id: 5
- id: 11
  name: calcMatrix
  processing_time: 0.092
  parent_id: 4
- id: 12
  name: calcValueMatrix
  processing_time: 0.023
  parent_id: 4
- id: 13
  name: calcObjectiveMatrix
  processing_time: 0.641
  parent_id: 4
- id: 14
  name: calcConstraintMatrix
  processing_time: 1.876
  parent_id: 4
- id: 15
  name: calcOptimizedSteerAngles
  processing_time: 3.025
  parent_id: 4
- id: 16
  name: initOsqp
  processing_time: 1.349
  parent_id: 15
- id: 17
  name: solveOsqp
  processing_time: 1.153
  parent_id: 15
- id: 18
  name: calcMPTPoints
  processing_time: 0.022
  parent_id: 4
- id: 19
  name: publishDebugTrajectories
  processing_time: 0.036
  parent_id: 4
- id: 20
  name: applyInputVelocity
  processing_time: 0.042
  parent_id: 2
- id: 21
  name: insertZeroVelocityOutsideDrivableArea
  processing_time: 0.436
  parent_id: 2
- id: 22
  name: publishDebugMarkerOfOptimization
  processing_time: 0.0
  parent_id: 2
- id: 23
  name: extendTrajectory
  processing_time: 0.125
  parent_id: 1
- id: 24
  name: publishDebugData
  processing_time: 0.003
  parent_id: 1
---

terminal output

[component_container_mt-32] ========================================
[component_container_mt-32] onPath (3.763ms)
[component_container_mt-32]     ├── generateOptimizedTrajectory (3.631ms)
[component_container_mt-32]     │   ├── optimizeTrajectory (3.341ms)
[component_container_mt-32]     │   │   └── optimizeTrajectory (3.338ms)
[component_container_mt-32]     │   │       ├── calcReferencePoints (0.951ms)
[component_container_mt-32]     │   │       │   ├── resampleReferencePoints (0.108ms)
[component_container_mt-32]     │   │       │   ├── updateFixedPoint (0.065ms)
[component_container_mt-32]     │   │       │   ├── updateBounds (0.066ms)
[component_container_mt-32]     │   │       │   ├── updateVehicleBounds (0.316ms)
[component_container_mt-32]     │   │       │   └── updateExtraPoints (0.171ms)
[component_container_mt-32]     │   │       ├── calcMatrix (0.049ms)
[component_container_mt-32]     │   │       ├── calcValueMatrix (0.01ms)
[component_container_mt-32]     │   │       ├── calcObjectiveMatrix (0.176ms)
[component_container_mt-32]     │   │       ├── calcConstraintMatrix (0.608ms)
[component_container_mt-32]     │   │       ├── calcOptimizedSteerAngles (1.473ms)
[component_container_mt-32]     │   │       │   ├── initOsqp (0.617ms)
[component_container_mt-32]     │   │       │   └── solveOsqp (0.596ms)
[component_container_mt-32]     │   │       ├── calcMPTPoints (0.013ms)
[component_container_mt-32]     │   │       └── publishDebugTrajectories (0.015ms)
[component_container_mt-32]     │   ├── applyInputVelocity (0.02ms)
[component_container_mt-32]     │   ├── insertZeroVelocityOutsideDrivableArea (0.254ms)
[component_container_mt-32]     │   └── publishDebugMarkerOfOptimization (0ms)
[component_container_mt-32]     ├── extendTrajectory (0.073ms)
[component_container_mt-32]     └── publishDebugData (0.001ms)

@takayuki5168 takayuki5168 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jul 4, 2024
@takayuki5168 takayuki5168 marked this pull request as ready for review July 4, 2024 08:57
@takayuki5168 takayuki5168 reopened this Jul 5, 2024
yhisaki and others added 2 commits July 5, 2024 11:32
@yhisaki
Merge branch 'main' into feat/time-keeper
d1dcfc3
@yhisaki
fix bug of test
0efba77 
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
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codecov bot commented Jul 5, 2024 •
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Codecov Report

Attention: Patch coverage is 88.37209% with 15 lines in your changes missing coverage. Please review.

Project coverage is 28.45%. Comparing base (f28ccd8) to head (b8490ff).

Files Patch % Lines
...autoware_universe_utils/src/system/time_keeper.cpp 81.81% 12 Missing and 2 partials ⚠️
planning/autoware_path_optimizer/src/node.cpp 94.11% 1 Missing ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #7754      +/-   ##
==========================================
+ Coverage   28.43%   28.45%   +0.02%     
==========================================
  Files        1588     1592       +4     
  Lines      116175   116226      +51     
  Branches    49542    49622      +80     
==========================================
+ Hits        33032    33076      +44     
- Misses      74131    74139       +8     
+ Partials     9012     9011       -1
Flag Coverage Δ *Carryforward flag
differential 29.85% <88.37%> (?)
total 28.39% <ø> (-0.05%) ⬇️ Carriedforward from f28ccd8

*This pull request uses carry forward flags. Click here to find out more.

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@yhisaki yhisaki closed this Jul 5, 2024
@yhisaki yhisaki reopened this Jul 5, 2024
@yhisaki yhisaki enabled auto-merge (squash) July 5, 2024 09:12
yhisaki added 7 commits July 6, 2024 02:25
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update
2ee520e 
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
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add string reporter
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add manager
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revert manager
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remove unused include
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remove comment
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@github-actions github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Jul 8, 2024
yhisaki and others added 2 commits July 8, 2024 18:38
@yhisaki yhisaki closed this Jul 8, 2024
auto-merge was automatically disabled July 8, 2024 10:00

Pull request was closed

@yhisaki yhisaki reopened this Jul 8, 2024
@xmfcx xmfcx merged commit 1cbd11d into autowarefoundation:main Jul 8, 2024
42 of 44 checks passed
kyoichi-sugahara pushed a commit to kyoichi-sugahara/autoware.universe that referenced this pull request Jul 9, 2024
@takayuki5168 @kyoichi-sugahara
feat(autoware_universe_utils): add TimeKeeper to track function's pro…
17fd4cb 
…cessing time (autowarefoundation#7754)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
palas21 pushed a commit to palas21/autoware.universe that referenced this pull request Jul 12, 2024
@takayuki5168 @palas21
feat(autoware_universe_utils): add TimeKeeper to track function's pro…
c4768ef 
…cessing time (autowarefoundation#7754)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
Signed-off-by: palas21 <palas21@itu.edu.tr>
yhisaki pushed a commit to tier4/autoware_universe that referenced this pull request Jul 19, 2024
@takayuki5168 @yhisaki
feat(autoware_universe_utils): add TimeKeeper to track function's pro…
9bc020d 
…cessing time (autowarefoundation#7754)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
KhalilSelyan pushed a commit that referenced this pull request Jul 22, 2024
@takayuki5168
feat(autoware_universe_utils): add TimeKeeper to track function's pro…
6f8b0c3 
…cessing time (#7754)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
Ariiees pushed a commit to Ariiees/autoware.universe that referenced this pull request Jul 22, 2024
@takayuki5168 @Ariiees
feat(autoware_universe_utils): add TimeKeeper to track function's pro…
9cf0436 
…cessing time (autowarefoundation#7754)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@rej55 rej55 deleted the feat/time-keeper branch December 25, 2024 09:05
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@soblin soblin soblin approved these changes

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