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feat: add diagnostic handler to warn the processing time excess #10219

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feat: add diagnostic handler to warn the processing time excess #10219

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4 changes: 4 additions & 0 deletions .../autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@

#include <autoware_utils/geometry/geometry.hpp>
#include <autoware_utils/ros/debug_publisher.hpp>
#include <autoware_utils/ros/diagnostics_interface.hpp>
#include <autoware_utils/ros/polling_subscriber.hpp>
#include <autoware_utils/ros/published_time_publisher.hpp>
#include <autoware_utils/ros/transform_listener.hpp>
Expand Down Expand Up @@ -115,6 +116,9 @@ class MapBasedPredictionNode : public rclcpp::Node
// Predictor
std::shared_ptr<PredictorVru> predictor_vru_;

// Diagnostics handler
std::unique_ptr<autoware_utils::DiagnosticsInterface> diagnostics_interface_ptr_;

////// Parameters

//// Vehicle Parameters
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19 changes: 19 additions & 0 deletions perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@
#include <autoware_utils/ros/uuid_helper.hpp>

#include <autoware_perception_msgs/msg/detected_objects.hpp>
#include <diagnostic_msgs/msg/diagnostic_status.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

#include <boost/geometry.hpp>
Expand All @@ -50,6 +51,7 @@
#include <functional>
#include <limits>
#include <memory>
#include <sstream>
#include <string>
#include <utility>
#include <vector>
Expand Down Expand Up @@ -497,6 +499,10 @@
time_keeper_ = std::make_shared<autoware_utils::TimeKeeper>(time_keeper);
path_generator_->setTimeKeeper(time_keeper_);
predictor_vru_->setTimeKeeper(time_keeper_);

// diagnostics handler
diagnostics_interface_ptr_ =
std::make_unique<autoware_utils::DiagnosticsInterface>(this, "map_based_prediction");

Check warning on line 505 in perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Large Method 

MapBasedPredictionNode::MapBasedPredictionNode increases from 120 to 122 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
}

if (use_debug_marker) {
Expand Down Expand Up @@ -671,6 +677,19 @@
"debug/cyclic_time_ms", cyclic_time_ms);
processing_time_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
"debug/processing_time_ms", processing_time_ms);

diagnostics_interface_ptr_->clear();
constexpr double processing_time_threshold_ms = 500.0; // TODO(ktro2828): Use parameter value
bool is_processing_time = processing_time_ms > processing_time_threshold_ms;
diagnostics_interface_ptr_->add_key_value("is_processing_time", is_processing_time);
if (is_processing_time) {
std::ostringstream oss;
oss << "Processing time exceeded " << processing_time_threshold_ms << "[ms] < "
<< processing_time_ms << "[ms]";
diagnostics_interface_ptr_->update_level_and_message(
diagnostic_msgs::msg::DiagnosticStatus::WARN, oss.str());
}

Check warning on line 691 in perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp

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Codecov / codecov/patch

perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp#L690-L691 

Added lines #L690 - L691 were not covered by tests
diagnostics_interface_ptr_->publish(output.header.stamp);

Check warning on line 692 in perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

MapBasedPredictionNode::objectsCallback increases in cyclomatic complexity from 20 to 21, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
}
}

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