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

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:

  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

#include <rclcpp/rclcpp.hpp>

#include <std_msgs/msg/string.hpp>

#include <chrono>
#include <iostream>
#include <memory>
#include <thread>

class ExampleNode : public rclcpp::Node
{
public:
  ExampleNode() : Node("time_keeper_example")
  {
    publisher_ =
      create_publisher<autoware::universe_utils::ProcessingTimeDetail>("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<autoware::universe_utils::TimeKeeper> time_keeper_;
  rclcpp::Publisher<autoware::universe_utils::ProcessingTimeDetail>::SharedPtr publisher_;
  rclcpp::Publisher<std_msgs::msg::String>::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<ExampleNode>();
  rclcpp::spin(node);
  rclcpp::shutdown();
  return 0;
}

• Output (console)

  ==========================
  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)

  ---
  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

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

~ScopedTimeTrack();

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