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autowarefoundation / autoware.universe

https://autowarefoundation.github.io/autoware.universe/
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feat(mission_planner): add processing time publisher #9342

Closed Kazunori-Nakajima closed 4 days ago

Kazunori-Nakajima commented 1 week ago

Description

The processing time of mission_planner and route_selector ware measured and made to Pub.

Sometimes the processing time is pubbed twice during route generation. This is once for on_clear_route() and once for route on_set_lanelet_route().

(TIER IV internal usecase) This output is then read by the Basic scenario and tested daily for cycle failures.

Related links

How was this PR tested?

https://github.com/user-attachments/assets/821baeb7-799f-47a3-a8ce-cfeb7fe0fdf4

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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Kazunori-Nakajima commented 1 week ago

I would like to have the processing time output even in the case of an exception. We have moved the process of pubbing processing_time to handle_exception in service_utils. This allows us to output processing time even in the case of an exception.

Kazunori-Nakajima commented 1 week ago

- Codes are confusing and dirty. - In case of error, it is not necessary to have it. Because of the above two points, the processing time is not output in case of errors.

Kazunori-Nakajima commented 4 days ago

I'm committing various things, but I'm trying to output processing time both in error and in normal operation.

codecov[bot] commented 4 days ago

Codecov Report

Attention: Patch coverage is 0% with 14 lines in your changes missing coverage. Please review.

Project coverage is 29.04%. Comparing base (badf8ca) to head (b1f9b32). Report is 2 commits behind head on main.

Files with missing lines Patch % Lines
...on_planner/src/mission_planner/mission_planner.cpp 0.00% 6 Missing :warning:
...ion_planner/src/mission_planner/route_selector.cpp 0.00% 6 Missing :warning:
...sion_planner/src/mission_planner/service_utils.hpp 0.00% 2 Missing :warning:
Additional details and impacted files ```diff @@ Coverage Diff @@ ## main #9342 +/- ## ========================================== - Coverage 29.06% 29.04% -0.03% ========================================== Files 1438 1446 +8 Lines 108434 108517 +83 Branches 41516 41519 +3 ========================================== Hits 31515 31515 - Misses 73879 73962 +83 Partials 3040 3040 ``` | [Flag](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9342/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | Coverage Δ | | *Carryforward flag | |---|---|---|---| | [differential](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9342/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `9.74% <0.00%> (?)` | | | | [total](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9342/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `29.06% <ø> (ø)` | | Carriedforward from [badf8ca](https://app.codecov.io/gh/autowarefoundation/autoware.universe/commit/badf8ca728f098735ded4f802b57e9e8011ee802?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | *This pull request uses carry forward flags. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) to find out more.

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