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feat(pointcloud_preprocessor): add pipeline_latency_ms debug publisher to missed modules #6569

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merged 2 commits into from
Mar 14, 2024
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feat(pointcloud_preprocessor): add pipeline_latency_ms debug publisher to missed modules #6569

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83a61d9
feat(pointcloud_preprocessor): add pipeline_latency_ms debug publishe…
brkay54 Mar 7, 2024
00ddc57
Merge branch 'main' into feat/add-pipeline-latency
YoshiRi Mar 8, 2024
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14 changes: 14 additions & 0 deletions sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2023 TIER IV, Inc.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 5.91 to 6.18, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -281,6 +281,20 @@
checkSyncStatus();
combineClouds(concat_cloud_ptr);

for (const auto & e : cloud_stdmap_) {
if (e.second != nullptr) {
if (debug_publisher_) {

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sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp#L284-L286 

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const auto pipeline_latency_ms =
std::chrono::duration<double, std::milli>(
std::chrono::nanoseconds(
(this->get_clock()->now() - e.second->header.stamp).nanoseconds()))
.count();
debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
"debug" + e.first + "/pipeline_latency_ms", pipeline_latency_ms);

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}
}
}

// publish concatenated pointcloud
if (concat_cloud_ptr) {
auto output = std::make_unique<sensor_msgs::msg::PointCloud2>(*concat_cloud_ptr);
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9 changes: 9 additions & 0 deletions sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp
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// Copyright 2023 TIER IV, Inc.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 5.08 to 5.15, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -374,6 +374,15 @@
// publish transformed raw pointclouds
for (const auto & e : transformed_raw_points) {
if (e.second) {
if (debug_publisher_) {

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const auto pipeline_latency_ms =
std::chrono::duration<double, std::milli>(
std::chrono::nanoseconds(
(this->get_clock()->now() - e.second->header.stamp).nanoseconds()))
.count();
debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
"debug" + e.first + "/pipeline_latency_ms", pipeline_latency_ms);

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}
auto output = std::make_unique<sensor_msgs::msg::PointCloud2>(*e.second);
transformed_raw_pc_publisher_map_[e.first]->publish(std::move(output));
} else {
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