autoware_universe_utils

Purpose

This package contains many common functions used by other packages, so please refer to them as needed.

For developers

autoware_universe_utils.hpp header file was removed because the source files that directly/indirectly include this file took a long time for preprocessing.

autoware::universe_utils

systems

autoware::universe_utils::TimeKeeper

Constructor

cpp template <typename... Reporters> explicit TimeKeeper(Reporters... reporters);

• Initializes the TimeKeeper with a list of reporters.

Methods

• void add_reporter(std::ostream * os);
  • Adds a reporter to output processing times to an ostream.
  • os: Pointer to the ostream object.

• void add_reporter(rclcpp::Publisher<ProcessingTimeDetail>::SharedPtr publisher);
  • Adds a reporter to publish processing times to an rclcpp publisher.
  • publisher: Shared pointer to the rclcpp publisher.

• void add_reporter(rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher);
  • Adds a reporter to publish processing times to an rclcpp publisher with std_msgs::msg::String.
  • publisher: Shared pointer to the rclcpp publisher.

• void start_track(const std::string & func_name);
  • Starts tracking the processing time of a function.
  • func_name: Name of the function to be tracked.

• void end_track(const std::string & func_name);
  • Ends tracking the processing time of a function.
  • func_name: Name of the function to end tracking.

• void comment(const std::string & comment);
  • Adds a comment to the current function being tracked.
  • comment: Comment to be added.

Note

• It's possible to start and end time measurements using start_track and end_track as shown below:

  cpp time_keeper.start_track("example_function"); // Your function code here time_keeper.end_track("example_function");

• For safety and to ensure proper tracking, it is recommended to use ScopedTimeTrack.

Example

```cpp

include

include

include

include

include

include

class ExampleNode : public rclcpp::Node { public: ExampleNode() : Node("time_keeper_example") { publisher_ = create_publisher("processing_time", 1);

time_keeper_ = std::make_shared<autoware::universe_utils::TimeKeeper>(publisher_, &std::cerr);
// You can also add a reporter later by add_reporter.
// time_keeper_->add_reporter(publisher_);
// time_keeper_->add_reporter(&std::cerr);

timer_ =
  create_wall_timer(std::chrono::seconds(1), std::bind(&ExampleNode::func_a, this));

}

private: std::shared_ptr time_keeper_; rclcpp::Publisher::SharedPtr publisher_; rclcpp::Publisher::SharedPtr publisher_str_; rclcpp::TimerBase::SharedPtr timer_;

void func_a() { // Start constructing ProcessingTimeTree (because func_a is the root function) autoware::universe_utils::ScopedTimeTrack st("func_a", *time_keeper_); std::this_thread::sleep_for(std::chrono::milliseconds(1)); time_keeper_->comment("This is a comment for func_a"); func_b(); // End constructing ProcessingTimeTree. After this, the tree will be reported (publishing // message and outputting to std::cerr) }

void func_b() { autoware::universe_utils::ScopedTimeTrack st("func_b", *time_keeper_); std::this_thread::sleep_for(std::chrono::milliseconds(2)); time_keeper_->comment("This is a comment for func_b"); func_c(); }

void func_c() { autoware::universe_utils::ScopedTimeTrack st("func_c", *time_keeper_); std::this_thread::sleep_for(std::chrono::milliseconds(3)); time_keeper_->comment("This is a comment for func_c"); } };

int main(int argc, char ** argv) { rclcpp::init(argc, argv); auto node = std::make_shared(); rclcpp::spin(node); rclcpp::shutdown(); return 0; } ```

• Output (console)

  ```text

  func_a (6.243ms) : This is a comment for func_a └── func_b (5.116ms) : This is a comment for func_b └── func_c (3.055ms) : This is a comment for func_c ```

• Output (ros2 topic echo /processing_time)

  ```text

  nodes: - id: 1 name: func_a processing_time: 6.366 parent_id: 0 comment: This is a comment for func_a - id: 2 name: func_b processing_time: 5.237 parent_id: 1 comment: This is a comment for func_b - id: 3 name: func_c processing_time: 3.156 parent_id: 2 comment: This is a comment for func_c ```

autoware::universe_utils::ScopedTimeTrack

Description

Class for automatically tracking the processing time of a function within a scope.

Constructor

cpp ScopedTimeTrack(const std::string & func_name, TimeKeeper & time_keeper);

• func_name: Name of the function to be tracked.
• time_keeper: Reference to the TimeKeeper object.

Destructor

cpp ~ScopedTimeTrack();

• Destroys the ScopedTimeTrack object, ending the tracking of the function.