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chore(autoware_universe_utils): update document (autowarefoundation#7907)
* update readme Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * refactoring Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * remove string reporter Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * fix readme.md Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * change node name of example Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * update readme Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> --------- Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
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‎common/autoware_universe_utils/README.md

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@@ -49,56 +49,80 @@ explicit TimeKeeper(Reporters... reporters);
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- Ends tracking the processing time of a function.
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- `func_name`: Name of the function to end tracking.
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##### Note
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- It's possible to start and end time measurements using `start_track` and `end_track` as shown below:
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```cpp
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time_keeper.start_track("example_function");
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// Your function code here
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time_keeper.end_track("example_function");
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```
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- For safety and to ensure proper tracking, it is recommended to use `ScopedTimeTrack`.
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##### Example
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```cpp
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#include "autoware/universe_utils/system/time_keeper.hpp"
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#include <rclcpp/rclcpp.hpp>
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#include <std_msgs/msg/string.hpp>
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#include <chrono>
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#include <iostream>
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#include <memory>
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#include <thread>
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class ExampleNode : public rclcpp::Node
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{
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public:
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ExampleNode() : Node("time_keeper_example")
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{
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publisher_ =
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create_publisher<autoware::universe_utils::ProcessingTimeDetail>("processing_time", 1);
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time_keeper_ = std::make_shared<autoware::universe_utils::TimeKeeper>(publisher_, &std::cerr);
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// You can also add a reporter later by add_reporter.
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// time_keeper_->add_reporter(publisher_);
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// time_keeper_->add_reporter(&std::cerr);
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timer_ = create_wall_timer(std::chrono::seconds(1), std::bind(&ExampleNode::func_a, this));
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}
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private:
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std::shared_ptr<autoware::universe_utils::TimeKeeper> time_keeper_;
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rclcpp::Publisher<autoware::universe_utils::ProcessingTimeDetail>::SharedPtr publisher_;
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rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_str_;
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rclcpp::TimerBase::SharedPtr timer_;
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void func_a()
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{
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// Start constructing ProcessingTimeTree (because func_a is the root function)
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autoware::universe_utils::ScopedTimeTrack st("func_a", *time_keeper_);
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std::this_thread::sleep_for(std::chrono::milliseconds(1));
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func_b();
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// End constructing ProcessingTimeTree. After this, the tree will be reported (publishing
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// message and outputting to std::cerr)
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}
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void func_b()
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{
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autoware::universe_utils::ScopedTimeTrack st("func_b", *time_keeper_);
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std::this_thread::sleep_for(std::chrono::milliseconds(2));
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func_c();
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}
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void func_c()
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{
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autoware::universe_utils::ScopedTimeTrack st("func_c", *time_keeper_);
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std::this_thread::sleep_for(std::chrono::milliseconds(3));
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}
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};
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int main(int argc, char ** argv)
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{
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rclcpp::init(argc, argv);
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auto node = std::make_shared<rclcpp::Node>("time_keeper_example");
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auto time_keeper = std::make_shared<autoware::universe_utils::TimeKeeper>();
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time_keeper->add_reporter(&std::cout);
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auto publisher =
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node->create_publisher<autoware::universe_utils::ProcessingTimeDetail>("processing_time", 10);
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time_keeper->add_reporter(publisher);
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auto publisher_str = node->create_publisher<std_msgs::msg::String>("processing_time_str", 10);
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time_keeper->add_reporter(publisher_str);
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auto funcA = [&time_keeper]() {
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time_keeper->start_track("funcA");
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std::this_thread::sleep_for(std::chrono::seconds(1));
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time_keeper->end_track("funcA");
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};
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auto funcB = [&time_keeper, &funcA]() {
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time_keeper->start_track("funcB");
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std::this_thread::sleep_for(std::chrono::seconds(2));
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funcA();
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time_keeper->end_track("funcB");
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};
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auto funcC = [&time_keeper, &funcB]() {
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time_keeper->start_track("funcC");
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std::this_thread::sleep_for(std::chrono::seconds(3));
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funcB();
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time_keeper->end_track("funcC");
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};
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funcC();
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auto node = std::make_shared<ExampleNode>();
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rclcpp::spin(node);
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rclcpp::shutdown();
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return 0;
@@ -109,38 +133,28 @@ int main(int argc, char ** argv)
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```text
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==========================
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funcC (6000.7ms)
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└── funcB (3000.44ms)
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└── funcA (1000.19ms)
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func_a (6.382ms)
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└── func_b (5.243ms)
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└── func_c (3.146ms)
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```
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- Output (`ros2 topic echo /processing_time`)
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```text
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---
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nodes:
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- id: 1
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name: funcC
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processing_time: 6000.659
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name: func_a
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processing_time: 6.397
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parent_id: 0
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- id: 2
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name: funcB
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processing_time: 3000.415
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name: func_b
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processing_time: 5.263
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parent_id: 1
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- id: 3
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name: funcA
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processing_time: 1000.181
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name: func_c
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processing_time: 3.129
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parent_id: 2
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---
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```
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- Output (`ros2 topic echo /processing_time_str --field data`)
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```text
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funcC (6000.67ms)
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└── funcB (3000.42ms)
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└── funcA (1000.19ms)
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---
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```
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#### `autoware::universe_utils::ScopedTimeTrack`
@@ -165,94 +179,3 @@ ScopedTimeTrack(const std::string & func_name, TimeKeeper & time_keeper);
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```
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- Destroys the `ScopedTimeTrack` object, ending the tracking of the function.
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##### Example
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```cpp
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#include "autoware/universe_utils/system/time_keeper.hpp"
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#include <rclcpp/rclcpp.hpp>
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#include <iostream>
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#include <memory>
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int main(int argc, char ** argv)
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{
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rclcpp::init(argc, argv);
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auto node = std::make_shared<rclcpp::Node>("scoped_time_track_example");
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auto time_keeper = std::make_shared<autoware::universe_utils::TimeKeeper>();
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time_keeper->add_reporter(&std::cout);
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auto publisher =
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node->create_publisher<autoware::universe_utils::ProcessingTimeDetail>("processing_time", 10);
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time_keeper->add_reporter(publisher);
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auto publisher_str = node->create_publisher<std_msgs::msg::String>("processing_time_str", 10);
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time_keeper->add_reporter(publisher_str);
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auto funcA = [&time_keeper]() {
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autoware::universe_utils::ScopedTimeTrack st("funcA", *time_keeper);
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std::this_thread::sleep_for(std::chrono::seconds(1));
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};
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auto funcB = [&time_keeper, &funcA]() {
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autoware::universe_utils::ScopedTimeTrack st("funcB", *time_keeper);
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std::this_thread::sleep_for(std::chrono::seconds(2));
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funcA();
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};
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auto funcC = [&time_keeper, &funcB]() {
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autoware::universe_utils::ScopedTimeTrack st("funcC", *time_keeper);
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std::this_thread::sleep_for(std::chrono::seconds(3));
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funcB();
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};
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funcC();
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rclcpp::spin(node);
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rclcpp::shutdown();
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return 0;
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}
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```
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- Output (console)
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```text
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==========================
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funcC (6000.7ms)
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└── funcB (3000.44ms)
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└── funcA (1000.19ms)
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```
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- Output (`ros2 topic echo /processing_time`)
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```text
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nodes:
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- id: 1
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name: funcC
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processing_time: 6000.659
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parent_id: 0
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- id: 2
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name: funcB
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processing_time: 3000.415
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parent_id: 1
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- id: 3
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name: funcA
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processing_time: 1000.181
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parent_id: 2
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---
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```
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- Output (`ros2 topic echo /processing_time_str --field data`)
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```text
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funcC (6000.67ms)
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└── funcB (3000.42ms)
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└── funcA (1000.19ms)
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---
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```

‎common/autoware_universe_utils/examples/example_scoped_time_track.cpp

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