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fix(autoware_planning_evaluator): fix bugprone-exception-escape (#9730)
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fix: bugprone-exception-escape

Signed-off-by: kobayu858 <[email protected]>
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@kobayu858
kobayu858 authored Dec 23, 2024
1 parent 07db183 commit 3bb2df2
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Showing 2 changed files with 86 additions and 73 deletions.
80 changes: 43 additions & 37 deletions evaluator/autoware_planning_evaluator/src/motion_evaluator_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
#include <chrono>
#include <filesystem>
#include <fstream>
#include <iostream>
#include <memory>
#include <string>
#include <vector>
Expand Down Expand Up @@ -50,47 +51,52 @@ MotionEvaluatorNode::~MotionEvaluatorNode()
if (!output_metrics_) {
return;
}

// generate json data
using json = nlohmann::json;
json j;
for (Metric metric : metrics_) {
const std::string base_name = metric_to_str.at(metric) + "/";
const auto & stat = metrics_calculator_.calculate(metric, accumulated_trajectory_);
if (stat) {
j[base_name + "min"] = stat->min();
j[base_name + "max"] = stat->max();
j[base_name + "mean"] = stat->mean();
try {
// generate json data
using json = nlohmann::json;
json j;
for (Metric metric : metrics_) {
const std::string base_name = metric_to_str.at(metric) + "/";
const auto & stat = metrics_calculator_.calculate(metric, accumulated_trajectory_);
if (stat) {
j[base_name + "min"] = stat->min();
j[base_name + "max"] = stat->max();
j[base_name + "mean"] = stat->mean();
}
}
}

// get output folder
const std::string output_folder_str =
rclcpp::get_logging_directory().string() + "/autoware_metrics";
if (!std::filesystem::exists(output_folder_str)) {
if (!std::filesystem::create_directories(output_folder_str)) {
RCLCPP_ERROR(
this->get_logger(), "Failed to create directories: %s", output_folder_str.c_str());
return;
// get output folder
const std::string output_folder_str =
rclcpp::get_logging_directory().string() + "/autoware_metrics";
if (!std::filesystem::exists(output_folder_str)) {
if (!std::filesystem::create_directories(output_folder_str)) {
RCLCPP_ERROR(
this->get_logger(), "Failed to create directories: %s", output_folder_str.c_str());
return;
}
}
}

// get time stamp
std::time_t now_time_t = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now());
std::tm * local_time = std::localtime(&now_time_t);
std::ostringstream oss;
oss << std::put_time(local_time, "%Y-%m-%d-%H-%M-%S");
std::string cur_time_str = oss.str();

// Write metrics .json to file
const std::string output_file_str =
output_folder_str + "/autoware_motion_evaluator-" + cur_time_str + ".json";
std::ofstream f(output_file_str);
if (f.is_open()) {
f << j.dump(4);
f.close();
} else {
RCLCPP_ERROR(this->get_logger(), "Failed to open file: %s", output_file_str.c_str());
// get time stamp
std::time_t now_time_t = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now());
std::tm * local_time = std::localtime(&now_time_t);
std::ostringstream oss;
oss << std::put_time(local_time, "%Y-%m-%d-%H-%M-%S");
std::string cur_time_str = oss.str();

// Write metrics .json to file
const std::string output_file_str =
output_folder_str + "/autoware_motion_evaluator-" + cur_time_str + ".json";
std::ofstream f(output_file_str);
if (f.is_open()) {
f << j.dump(4);
f.close();
} else {
RCLCPP_ERROR(this->get_logger(), "Failed to open file: %s", output_file_str.c_str());
}
} catch (const std::exception & e) {
std::cerr << "Exception in MotionEvaluatorNode destructor: " << e.what() << std::endl;
} catch (...) {
std::cerr << "Unknown exception in MotionEvaluatorNode destructor" << std::endl;
}
}

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79 changes: 43 additions & 36 deletions evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@
#include <chrono>
#include <filesystem>
#include <fstream>
#include <iostream>
#include <limits>
#include <memory>
#include <string>
Expand Down Expand Up @@ -74,45 +75,51 @@ PlanningEvaluatorNode::~PlanningEvaluatorNode()
return;
}

// generate json data
using json = nlohmann::json;
json j;
for (Metric metric : metrics_) {
const std::string base_name = metric_to_str.at(metric) + "/";
j[base_name + "min"] = metric_accumulators_[static_cast<size_t>(metric)][0].min();
j[base_name + "max"] = metric_accumulators_[static_cast<size_t>(metric)][1].max();
j[base_name + "mean"] = metric_accumulators_[static_cast<size_t>(metric)][2].mean();
j[base_name + "count"] = metric_accumulators_[static_cast<size_t>(metric)][2].count();
j[base_name + "description"] = metric_descriptions.at(metric);
}
try {
// generate json data
using json = nlohmann::json;
json j;
for (Metric metric : metrics_) {
const std::string base_name = metric_to_str.at(metric) + "/";
j[base_name + "min"] = metric_accumulators_[static_cast<size_t>(metric)][0].min();
j[base_name + "max"] = metric_accumulators_[static_cast<size_t>(metric)][1].max();
j[base_name + "mean"] = metric_accumulators_[static_cast<size_t>(metric)][2].mean();
j[base_name + "count"] = metric_accumulators_[static_cast<size_t>(metric)][2].count();
j[base_name + "description"] = metric_descriptions.at(metric);
}

// get output folder
const std::string output_folder_str =
rclcpp::get_logging_directory().string() + "/autoware_metrics";
if (!std::filesystem::exists(output_folder_str)) {
if (!std::filesystem::create_directories(output_folder_str)) {
RCLCPP_ERROR(
this->get_logger(), "Failed to create directories: %s", output_folder_str.c_str());
return;
// get output folder
const std::string output_folder_str =
rclcpp::get_logging_directory().string() + "/autoware_metrics";
if (!std::filesystem::exists(output_folder_str)) {
if (!std::filesystem::create_directories(output_folder_str)) {
RCLCPP_ERROR(
this->get_logger(), "Failed to create directories: %s", output_folder_str.c_str());
return;
}
}
}

// get time stamp
std::time_t now_time_t = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now());
std::tm * local_time = std::localtime(&now_time_t);
std::ostringstream oss;
oss << std::put_time(local_time, "%Y-%m-%d-%H-%M-%S");
std::string cur_time_str = oss.str();

// Write metrics .json to file
const std::string output_file_str =
output_folder_str + "/autoware_planning_evaluator-" + cur_time_str + ".json";
std::ofstream f(output_file_str);
if (f.is_open()) {
f << j.dump(4);
f.close();
} else {
RCLCPP_ERROR(this->get_logger(), "Failed to open file: %s", output_file_str.c_str());
// get time stamp
std::time_t now_time_t = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now());
std::tm * local_time = std::localtime(&now_time_t);
std::ostringstream oss;
oss << std::put_time(local_time, "%Y-%m-%d-%H-%M-%S");
std::string cur_time_str = oss.str();

// Write metrics .json to file
const std::string output_file_str =
output_folder_str + "/autoware_planning_evaluator-" + cur_time_str + ".json";
std::ofstream f(output_file_str);
if (f.is_open()) {
f << j.dump(4);
f.close();
} else {
RCLCPP_ERROR(this->get_logger(), "Failed to open file: %s", output_file_str.c_str());
}
} catch (const std::exception & e) {
std::cerr << "Exception in MotionEvaluatorNode destructor: " << e.what() << std::endl;
} catch (...) {
std::cerr << "Unknown exception in MotionEvaluatorNode destructor" << std::endl;
}
}

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