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fix(planner_manager): output total time #732

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Aug 19, 2023
Merged

fix(planner_manager): output total time #732

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13 changes: 10 additions & 3 deletions planning/behavior_path_planner/src/planner_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,7 @@ PlannerManager::PlannerManager(rclcpp::Node & node, const bool verbose)
verbose_{verbose}
{
processing_time_.emplace("total_time", 0.0);
processing_time_.emplace("common_process", 0.0);
}

BehaviorModuleOutput PlannerManager::run(const std::shared_ptr<PlannerData> & data)
Expand Down Expand Up @@ -88,7 +89,6 @@ BehaviorModuleOutput PlannerManager::run(const std::shared_ptr<PlannerData> & da
* STEP3: if there is no module that need to be launched, return approved modules' output
*/
if (request_modules.empty()) {
processing_time_.at("total_time") = stop_watch_.toc("total_time", true);
return approved_modules_output;
}

Expand All @@ -98,7 +98,6 @@ BehaviorModuleOutput PlannerManager::run(const std::shared_ptr<PlannerData> & da
const auto [highest_priority_module, candidate_modules_output] =
runRequestModules(request_modules, data, approved_modules_output);
if (!highest_priority_module) {
processing_time_.at("total_time") = stop_watch_.toc("total_time", true);
return approved_modules_output;
}

Expand All @@ -109,7 +108,6 @@ BehaviorModuleOutput PlannerManager::run(const std::shared_ptr<PlannerData> & da
* profile modification.
*/
if (highest_priority_module->isWaitingApproval()) {
processing_time_.at("total_time") = stop_watch_.toc("total_time", true);
return candidate_modules_output;
}

Expand All @@ -125,6 +123,8 @@ BehaviorModuleOutput PlannerManager::run(const std::shared_ptr<PlannerData> & da

generateCombinedDrivableArea(result_output, data);

processing_time_.at("total_time") = stop_watch_.toc("total_time", true);

return result_output;
}

Expand All @@ -133,8 +133,11 @@ BehaviorModuleOutput PlannerManager::run(const std::shared_ptr<PlannerData> & da
void PlannerManager::generateCombinedDrivableArea(
BehaviorModuleOutput & output, const std::shared_ptr<PlannerData> & data) const
{
stop_watch_.tic("common_process");

if (!output.path || output.path->points.empty()) {
RCLCPP_ERROR_STREAM(logger_, "[generateCombinedDrivableArea] Output path is empty!");
processing_time_.at("common_process") += stop_watch_.toc("common_process", true);
return;
}

Expand Down Expand Up @@ -168,6 +171,8 @@ void PlannerManager::generateCombinedDrivableArea(

// extract obstacles from drivable area
utils::extractObstaclesFromDrivableArea(*output.path, di.obstacles);

processing_time_.at("common_process") += stop_watch_.toc("common_process", true);
}

std::vector<SceneModulePtr> PlannerManager::getRequestModules(
Expand Down Expand Up @@ -429,7 +434,9 @@ BehaviorModuleOutput PlannerManager::runApprovedModules(const std::shared_ptr<Pl
const bool has_any_running_candidate_module = hasAnyRunningCandidateModule();

std::unordered_map<std::string, BehaviorModuleOutput> results;
stop_watch_.tic("common_process");
BehaviorModuleOutput output = getReferencePath(data);
processing_time_.at("common_process") += stop_watch_.toc("common_process", true);
results.emplace("root", output);

/**
Expand Down
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