Merge pull request #1517 from tier4/feature/execution_time

.github/workflows/BuildAndRun.yaml

@@ -78,7 +78,7 @@ jobs:
       - name: Install sonar-scanner and build-wrapper
         uses: sonarsource/sonarcloud-github-c-cpp@v3
         env:
-          SONAR_HOST_URL: ${{ secrets.SONAR_HOST_URL }} 
+          SONAR_HOST_URL: ${{ secrets.SONAR_HOST_URL }}
 
       - name: Build with SonarCloud Build Wrapper
         run: |
@@ -120,6 +120,34 @@ jobs:
           ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/workflow.txt global_frame_rate:=20
         shell: bash
 
+      - name: Scenario test (optional)
+        id: optional-scenario-test
+        run: |
+          source install/setup.bash
+          source install/local_setup.bash
+          # execute scenarios but ignore the return code
+          ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/optional_workflow.txt global_frame_rate:=20 || true
+          ./src/scenario_simulator_v2/.github/workflows/generate_workflow_report.sh /tmp/scenario_workflow/optional_workflow
+          echo failure=$(grep -c "<failure"  /tmp/scenario_workflow/optional_workflow/failure_report.md) >> $GITHUB_OUTPUT
+        shell: bash
+
+      - uses: actions/github-script@v7
+        if: steps.optional-scenario-test.outputs.failure > 0
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          script: |
+            const fs = require('fs');
+            let commentBody = fs.readFileSync('/tmp/scenario_workflow/optional_workflow/failure_report.md', 'utf8');
+            if (commentBody) {
+              commentBody = '## Failure optional scenarios\n> [!NOTE]\n> This is an experimental check and does not block merging the pull-request. \n> But, please be aware that this may indicate a regression.\n' + commentBody;
+            }
+            await github.rest.issues.createComment({
+              issue_number: context.issue.number,
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              body: commentBody
+            })
+
       - name: Upload Lcov result
         uses: actions/upload-artifact@v4
         with:

.github/workflows/generate_workflow_report.sh

@@ -0,0 +1,21 @@
+#!/bin/sh
+
+if [ $# -ne 1 ]; then
+    echo "Usage: $0 <workflow_directory>"
+    exit 1
+fi
+
+workflow_directory="$1"
+failure_report="$workflow_directory/failure_report.md"
+rm -f "$failure_report"
+
+find $workflow_directory -name "result.junit.xml" | while read file; do
+  [ -e "$file" ] || continue
+  if grep -q '<failure' "$file"; then
+    {
+      echo "<details><summary>scenario failed: $(dirname "${file#"$workflow_directory"/}" | cut -d'/' -f1)</summary><div>\n\n\`\`\`xml"
+      grep '<failure' "$file"
+      echo "\`\`\`\n</div></details>\n"
+    } >> "$failure_report"
+  fi
+done

.github/workflows/workflow.sh

@@ -15,8 +15,9 @@ exit_status=0
 
 while IFS= read -r line
 do
-  ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" "$@"
-  ros2 run scenario_test_runner result_checker.py /tmp/scenario_test_runner/result.junit.xml
+  output_directory="/tmp/scenario_workflow/$(basename "$file_path" | sed 's/\.[^.]*$//')/$(basename "$line" | sed 's/\.[^.]*$//')"
+  ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:="$line" output_directory:=$output_directory "$@"
+  ros2 run scenario_test_runner result_checker.py $output_directory/scenario_test_runner/result.junit.xml
   command_exit_status=$?
   if [ $command_exit_status -ne 0 ]; then
     echo "Error: caught non-zero exit status（code: $command_exit_status)"

openscenario/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp

@@ -32,6 +32,7 @@
 #include <rclcpp_lifecycle/lifecycle_node.hpp>
 #include <scenario_simulator_exception/exception.hpp>
 #include <simple_junit/junit5.hpp>
+#include <tier4_simulation_msgs/msg/user_defined_value.hpp>
 #include <utility>
 
 #define INTERPRETER_INFO_STREAM(...) \
@@ -52,6 +53,15 @@ class Interpreter : public rclcpp_lifecycle::LifecycleNode,
 
   const rclcpp_lifecycle::LifecyclePublisher<Context>::SharedPtr publisher_of_context;
 
+  rclcpp_lifecycle::LifecyclePublisher<tier4_simulation_msgs::msg::UserDefinedValue>::SharedPtr
+    evaluate_time_publisher;
+
+  rclcpp_lifecycle::LifecyclePublisher<tier4_simulation_msgs::msg::UserDefinedValue>::SharedPtr
+    update_time_publisher;
+
+  rclcpp_lifecycle::LifecyclePublisher<tier4_simulation_msgs::msg::UserDefinedValue>::SharedPtr
+    output_time_publisher;
+
   double local_frame_rate;
 
   double local_real_time_factor;
@@ -195,36 +205,6 @@ class Interpreter : public rclcpp_lifecycle::LifecycleNode,
       return handle();
     }
   }
-
-  template <typename TimeoutHandler, typename Thunk>
-  auto withTimeoutHandler(TimeoutHandler && handle, Thunk && thunk) -> decltype(auto)
-  {
-    if (const auto time = execution_timer.invoke("", thunk); currentLocalFrameRate() < time) {
-      handle(execution_timer.getStatistics(""));
-    }
-  }
-
-  auto defaultTimeoutHandler() const
-  {
-    /*
-       Ideally, the scenario should be terminated with an error if the total
-       time for the ScenarioDefinition evaluation and the traffic_simulator's
-       updateFrame exceeds the time allowed for a single frame. However, we
-       have found that many users are in environments where it is not possible
-       to run the simulator stably at 30 FPS (the default setting) while
-       running Autoware. In order to prioritize comfortable daily use, we
-       decided to give up full reproducibility of the scenario and only provide
-       warnings.
-    */
-
-    return [this](const auto & statistics) {
-      RCLCPP_WARN_STREAM(
-        get_logger(),
-        "Your machine is not powerful enough to run the scenario at the specified frame rate ("
-          << local_frame_rate << " Hz). We recommend that you reduce the frame rate to "
-          << 1000.0 / statistics.template max<std::chrono::milliseconds>().count() << " or less.");
-    };
-  }
 };
 }  // namespace openscenario_interpreter
 

openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp

@@ -37,6 +37,12 @@ namespace openscenario_interpreter
 Interpreter::Interpreter(const rclcpp::NodeOptions & options)
 : rclcpp_lifecycle::LifecycleNode("openscenario_interpreter", options),
   publisher_of_context(create_publisher<Context>("context", rclcpp::QoS(1).transient_local())),
+  evaluate_time_publisher(create_publisher<tier4_simulation_msgs::msg::UserDefinedValue>(
+    "/simulation/interpreter/execution_time/evaluate", rclcpp::QoS(1).transient_local())),
+  update_time_publisher(create_publisher<tier4_simulation_msgs::msg::UserDefinedValue>(
+    "/simulation/interpreter/execution_time/update", rclcpp::QoS(1).transient_local())),
+  output_time_publisher(create_publisher<tier4_simulation_msgs::msg::UserDefinedValue>(
+    "/simulation/interpreter/execution_time/output", rclcpp::QoS(1).transient_local())),
   local_frame_rate(30),
   local_real_time_factor(1.0),
   osc_path(""),
@@ -188,7 +194,7 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result
         deactivate();
       },
       [this]() {
-        withTimeoutHandler(defaultTimeoutHandler(), [this]() {
+        const auto evaluate_time = execution_timer.invoke("evaluate", [this]() {
           if (std::isnan(evaluateSimulationTime())) {
             if (not waiting_for_engagement_to_be_completed and engageable()) {
               engage();
@@ -202,11 +208,44 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result
           } else {
             throw Error("No script evaluable.");
           }
-
-          SimulatorCore::update();
-
-          publishCurrentContext();
         });
+
+        const auto update_time =
+          execution_timer.invoke("update", []() { SimulatorCore::update(); });
+
+        const auto output_time =
+          execution_timer.invoke("output", [this]() { publishCurrentContext(); });
+
+        auto generate_double_user_defined_value_message = [](double value) {
+          tier4_simulation_msgs::msg::UserDefinedValue message;
+          message.type.data = tier4_simulation_msgs::msg::UserDefinedValueType::DOUBLE;
+          message.value = std::to_string(value);
+          return message;
+        };
+        evaluate_time_publisher->publish(generate_double_user_defined_value_message(
+          std::chrono::duration<double>(evaluate_time).count()));
+        update_time_publisher->publish(generate_double_user_defined_value_message(
+          std::chrono::duration<double>(update_time).count()));
+        output_time_publisher->publish(generate_double_user_defined_value_message(
+          std::chrono::duration<double>(output_time).count()));
+
+        if (auto time_until_trigger = timer->time_until_trigger(); time_until_trigger.count() < 0) {
+          /*
+            Ideally, the scenario should be terminated with an error if the total
+            time for the ScenarioDefinition evaluation and the traffic_simulator's
+            updateFrame exceeds the time allowed for a single frame. However, we
+            have found that many users are in environments where it is not possible
+            to run the simulator stably at 30 FPS (the default setting) while
+            running Autoware. In order to prioritize comfortable daily use, we
+            decided to give up full reproducibility of the scenario and only provide
+            warnings.
+          */
+          RCLCPP_WARN_STREAM(
+            get_logger(),
+            "Your machine is not powerful enough to run the scenario at the specified frame rate ("
+              << local_frame_rate << " Hz). Current frame execution exceeds "
+              << -time_until_trigger.count() / 1.e6 << " milliseconds.");
+        }
       });
   };
 
@@ -249,6 +288,9 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result
         execution_timer.clear();
 
         publisher_of_context->on_activate();
+        evaluate_time_publisher->on_activate();
+        update_time_publisher->on_activate();
+        output_time_publisher->on_activate();
 
         assert(publisher_of_context->is_activated());
 
@@ -320,6 +362,15 @@ auto Interpreter::reset() -> void
   if (publisher_of_context->is_activated()) {
     publisher_of_context->on_deactivate();
   }
+  if (evaluate_time_publisher->is_activated()) {
+    evaluate_time_publisher->on_deactivate();
+  }
+  if (update_time_publisher->is_activated()) {
+    update_time_publisher->on_deactivate();
+  }
+  if (output_time_publisher->is_activated()) {
+    output_time_publisher->on_deactivate();
+  }
 
   if (not has_parameter("initialize_duration")) {
     declare_parameter<int>("initialize_duration", 30);

test_runner/scenario_test_runner/config/optional_workflow.txt

@@ -0,0 +1 @@
+$(find-pkg-share scenario_test_runner)/scenario/execution_time_test.yaml