apollo::common::LatencyRecorder类 参考

#include <latency_recorder.h>

apollo::common::LatencyRecorder 的协作图:

Public 成员函数
	LatencyRecorder (const std::string &module_name)
void	AppendLatencyRecord (const uint64_t message_id, const apollo::cyber::Time &begin_time, const apollo::cyber::Time &end_time)

详细描述

在文件 latency_recorder.h 第 30 行定义.

构造及析构函数说明

LatencyRecorder()

apollo::common::LatencyRecorder::LatencyRecorder ( const std::string &  module_name )

explicit

在文件 latency_recorder.cc 第 28 行定义.

    : module_name_(module_name) {
  records_.reset(new LatencyRecordMap);
}

成员函数说明

AppendLatencyRecord()

void apollo::common::LatencyRecorder::AppendLatencyRecord	(	const uint64_t	message_id,
		const apollo::cyber::Time &	begin_time,
		const apollo::cyber::Time &	end_time
	)

在文件 latency_recorder.cc 第 33 行定义.

                                                                {
  // TODO(michael): ALERT for now for trouble shooting,
  // CHECK_LT(begin_time, end_time) in the future to enforce the validation
  if (begin_time >= end_time) {
    // In Simulation mode, there might be large number of cases where
    // begin_time == end_time, reduce the error frequency in this mode
    static const int kErrorReduceBase = 1000;
 
    // FIXME(storypku): IsRealityMode|MockTime
    if (!cyber::common::GlobalData::Instance()->IsRealityMode()) {
      AERROR_EVERY(kErrorReduceBase) << "latency begin_time: " << begin_time
                                     << " >= end_time: " << end_time << ", "
                                     << kErrorReduceBase << " times";
      return;
    }
    AERROR << "latency begin_time: " << begin_time
           << " >= end_time: " << end_time;
    return;
  }
 
  static auto writer = CreateWriter();
  if (writer == nullptr || message_id == 0) {
    return;
  }
 
  std::lock_guard<std::mutex> lock(mutex_);
 
  auto* latency_record = records_->add_latency_records();
  latency_record->set_begin_time(begin_time.ToNanosecond());
  latency_record->set_end_time(end_time.ToNanosecond());
  latency_record->set_message_id(message_id);
 
  const auto now = Clock::Now();
  const apollo::cyber::Duration kPublishInterval(3.0);
  if (now - current_time_ > kPublishInterval) {
    PublishLatencyRecords(writer);
    current_time_ = now;
  }
}

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该类的文档由以下文件生成:

• modules/common/latency_recorder/latency_recorder.h
• modules/common/latency_recorder/latency_recorder.cc