latency_statistic_component.h

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/******************************************************************************
 * Copyright 2023 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <map>
#include <memory>
#include <regex>
#include <string>
#include <vector>
 
#include "modules/statistics_msgs/latency_statistic.pb.h"
 
#include "cyber/component/timer_component.h"
#include "cyber/cyber.h"
 
namespace apollo {
namespace latency_statistic {
 
struct Metric {
    uint64_t compensator = 0;
    uint64_t perception = 0;
    uint64_t prediction = 0;
    uint64_t planning = 0;
    uint64_t control = 0;
};
 
struct Result {
    std::vector<uint64_t> compensator_chain_list;
    std::vector<uint64_t> compensator_proc_list;
    std::vector<uint64_t> perception_chain_list;
    std::vector<uint64_t> perception_proc_list;
    std::vector<uint64_t> prediction_chain_list;
    std::vector<uint64_t> prediction_proc_list;
    std::vector<uint64_t> planning_chain_list;
    std::vector<uint64_t> planning_proc_list;
    std::vector<uint64_t> control_chain_list;
    std::vector<uint64_t> control_proc_list;
};
 
class LatencyStatisticComponent : public apollo::cyber::TimerComponent {
public:
    bool Init() override;
    bool Proc() override;
 
private:
    void CreateReaders();
 
    template <class T>
    void CreateReader(const std::string& channel_name);
    void FillResult(const uint64_t& lidar_timestamp, const Metric& metric, Result* result);
    void CalculateLatency(const Result& result, std::shared_ptr<LatencyMetrics> metrics);
 
    void GetLatencyMetric(const std::vector<uint64_t>& items, LatencyMetrics_Metric* metric);
 
    std::map<uint64_t, Metric> latency_map_;
    uint64_t latest_stamp_ = 0;
    std::mutex lock_;
 
    std::shared_ptr<cyber::Writer<LatencyMetrics>> metric_writer_;
 
    std::string compensator_topic;
    std::string perception_topic;
    std::string prediction_topic;
    std::string planning_topic;
    std::string control_topic;
};
 
CYBER_REGISTER_COMPONENT(LatencyStatisticComponent)
 
}  // namespace latency_statistic
}  // namespace apollo