From b4e85d2e47b25b5e3507082f9c170108083551e4 Mon Sep 17 00:00:00 2001 From: xtk8532704 <1041084556@qq.com> Date: Wed, 27 Nov 2024 01:45:14 +0900 Subject: [PATCH] add output_metrics option. Signed-off-by: xtk8532704 <1041084556@qq.com> --- .../README.md | 2 + .../config/processing_time_checker.param.yaml | 1 + .../package.xml | 2 + .../processing_time_checker.schema.json | 7 ++- .../src/processing_time_checker.cpp | 55 +++++++++++++++++++ .../src/processing_time_checker.hpp | 9 +++ 6 files changed, 75 insertions(+), 1 deletion(-) diff --git a/system/autoware_processing_time_checker/README.md b/system/autoware_processing_time_checker/README.md index 5745ec52086cc..1cb6a289bc54f 100644 --- a/system/autoware_processing_time_checker/README.md +++ b/system/autoware_processing_time_checker/README.md @@ -31,6 +31,8 @@ ros2 launch autoware_processing_time_checker processing_time_checker.launch.xml {{ json_to_markdown("system/autoware_processing_time_checker/schema/processing_time_checker.schema.json") }} +If `output_metrics = true`, the node writes the statics of the processing_time measured during its lifetime to `/autoware_metrics/-.json` when shut down. + ## Assumptions / Known limits TBD. diff --git a/system/autoware_processing_time_checker/config/processing_time_checker.param.yaml b/system/autoware_processing_time_checker/config/processing_time_checker.param.yaml index 526e413ea196f..c2cda94099d8a 100644 --- a/system/autoware_processing_time_checker/config/processing_time_checker.param.yaml +++ b/system/autoware_processing_time_checker/config/processing_time_checker.param.yaml @@ -1,5 +1,6 @@ /**: ros__parameters: + output_metrics: false # if true, metrics are written to `/autoware_metrics/-.json`. update_rate: 10.0 processing_time_topic_name_list: - /control/control_evaluator/debug/processing_time_ms diff --git a/system/autoware_processing_time_checker/package.xml b/system/autoware_processing_time_checker/package.xml index 73a0b43e44c50..16b225f3ef425 100644 --- a/system/autoware_processing_time_checker/package.xml +++ b/system/autoware_processing_time_checker/package.xml @@ -12,6 +12,8 @@ ament_cmake autoware_cmake + autoware_universe_utils + nlohmann-json-dev rclcpp rclcpp_components tier4_debug_msgs diff --git a/system/autoware_processing_time_checker/schema/processing_time_checker.schema.json b/system/autoware_processing_time_checker/schema/processing_time_checker.schema.json index 152cedb60f8ab..513d2fe9aa554 100644 --- a/system/autoware_processing_time_checker/schema/processing_time_checker.schema.json +++ b/system/autoware_processing_time_checker/schema/processing_time_checker.schema.json @@ -6,6 +6,11 @@ "autoware_processing_time_checker": { "type": "object", "properties": { + "output_metrics": { + "description": "If `output_metrics = true`, the node writes the statics of the processing_time measured during its lifetime to `/autoware_metrics/-.json` when shut down.", + "type": "boolean", + "default": "false" + }, "update_rate": { "type": "number", "default": 10, @@ -20,7 +25,7 @@ "description": "The topic name list of the processing time." } }, - "required": ["update_rate", "processing_time_topic_name_list"] + "required": ["output_metrics", "update_rate", "processing_time_topic_name_list"] } }, "properties": { diff --git a/system/autoware_processing_time_checker/src/processing_time_checker.cpp b/system/autoware_processing_time_checker/src/processing_time_checker.cpp index 3ab96ab0f9711..262c695d953a6 100644 --- a/system/autoware_processing_time_checker/src/processing_time_checker.cpp +++ b/system/autoware_processing_time_checker/src/processing_time_checker.cpp @@ -14,8 +14,12 @@ #include "processing_time_checker.hpp" +#include #include +#include +#include +#include #include #include @@ -38,6 +42,7 @@ std::string get_last_name(const std::string & str) ProcessingTimeChecker::ProcessingTimeChecker(const rclcpp::NodeOptions & node_options) : Node("processing_time_checker", node_options) { + output_metrics_ = declare_parameter("output_metrics"); const double update_rate = declare_parameter("update_rate"); const auto processing_time_topic_name_list = declare_parameter>("processing_time_topic_name_list"); @@ -64,6 +69,7 @@ ProcessingTimeChecker::ProcessingTimeChecker(const rclcpp::NodeOptions & node_op // register module name if (module_name) { module_name_map_.insert_or_assign(processing_time_topic_name, *module_name); + processing_time_accumulator_map_.insert_or_assign(*module_name, Accumulator()); } else { throw std::invalid_argument("The format of the processing time topic name is not correct."); } @@ -79,6 +85,7 @@ ProcessingTimeChecker::ProcessingTimeChecker(const rclcpp::NodeOptions & node_op processing_time_topic_name, 1, [this, &module_name]([[maybe_unused]] const Float64Stamped & msg) { processing_time_map_.insert_or_assign(module_name, msg.data); + processing_time_accumulator_map_.at(module_name).add(msg.data); })); // clang-format on } @@ -90,6 +97,54 @@ ProcessingTimeChecker::ProcessingTimeChecker(const rclcpp::NodeOptions & node_op this, get_clock(), period_ns, std::bind(&ProcessingTimeChecker::on_timer, this)); } +ProcessingTimeChecker::~ProcessingTimeChecker() +{ + if (!output_metrics_) { + return; + } + + // generate json data + nlohmann::json j; + for (const auto & accumulator_iterator : processing_time_accumulator_map_) { + const auto module_name = accumulator_iterator.first; + const auto processing_time_accumulator = accumulator_iterator.second; + j[module_name + "/min"] = processing_time_accumulator.min(); + j[module_name + "/max"] = processing_time_accumulator.max(); + j[module_name + "/mean"] = processing_time_accumulator.mean(); + j[module_name + "/count"] = processing_time_accumulator.count(); + j[module_name + "/description"] = "processing time of " + module_name + "[ms]"; + } + + // get output folder + const std::string output_folder_str = + rclcpp::get_logging_directory().string() + "/autoware_metrics"; + if (!std::filesystem::exists(output_folder_str)) { + if (!std::filesystem::create_directories(output_folder_str)) { + RCLCPP_ERROR( + this->get_logger(), "Failed to create directories: %s", output_folder_str.c_str()); + return; + } + } + + // get time stamp + std::time_t now_time_t = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now()); + std::tm * local_time = std::localtime(&now_time_t); + std::ostringstream oss; + oss << std::put_time(local_time, "%Y-%m-%d-%H-%M-%S"); + std::string cur_time_str = oss.str(); + + // Write metrics .json to file + const std::string output_file_str = + output_folder_str + "/autoware_processing_time_checker-" + cur_time_str + ".json"; + std::ofstream f(output_file_str); + if (f.is_open()) { + f << j.dump(4); + f.close(); + } else { + RCLCPP_ERROR(this->get_logger(), "Failed to open file: %s", output_file_str.c_str()); + } +} + void ProcessingTimeChecker::on_timer() { // create MetricArrayMsg diff --git a/system/autoware_processing_time_checker/src/processing_time_checker.hpp b/system/autoware_processing_time_checker/src/processing_time_checker.hpp index 199410623f8b1..77450923509f2 100644 --- a/system/autoware_processing_time_checker/src/processing_time_checker.hpp +++ b/system/autoware_processing_time_checker/src/processing_time_checker.hpp @@ -15,6 +15,8 @@ #ifndef PROCESSING_TIME_CHECKER_HPP_ #define PROCESSING_TIME_CHECKER_HPP_ +#include "autoware/universe_utils/math/accumulator.hpp" + #include #include @@ -27,6 +29,7 @@ namespace autoware::processing_time_checker { +using autoware::universe_utils::Accumulator; using MetricMsg = tier4_metric_msgs::msg::Metric; using MetricArrayMsg = tier4_metric_msgs::msg::MetricArray; using tier4_debug_msgs::msg::Float64Stamped; @@ -35,6 +38,7 @@ class ProcessingTimeChecker : public rclcpp::Node { public: explicit ProcessingTimeChecker(const rclcpp::NodeOptions & node_options); + ~ProcessingTimeChecker() override; private: void on_timer(); @@ -44,10 +48,15 @@ class ProcessingTimeChecker : public rclcpp::Node rclcpp::Publisher::SharedPtr metrics_pub_; std::vector::SharedPtr> processing_time_subscribers_; + // parameters + bool output_metrics_; + // topic name - module name std::unordered_map module_name_map_{}; // module name - processing time std::unordered_map processing_time_map_{}; + // module name - accumulator + std::unordered_map> processing_time_accumulator_map_{}; }; } // namespace autoware::processing_time_checker