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

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

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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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How was this PR tested?

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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github-actions bot commented Jun 30, 2024 •
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Thank you for contributing to the Autoware project!

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Please ensure:

@takayuki5168
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
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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
refactor
45a2198 
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
@yhisaki
fix
17e3bdf 
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
@yhisaki
fix
25c3c3e 
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
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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 tag: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
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