Prediction: added timestamp track

modules/data/proto/recorder_info.proto

+syntax = "proto2";
+
 package apollo.data.data_recorder;
 
 message RecorderInfo {

modules/prediction/BUILD

@@ -14,6 +14,7 @@ cc_library(
         "//modules/common/adapters:adapter_manager",
         "//modules/common/adapters/proto:adapter_config_proto",
         "//modules/common/util",
+        "//modules/common/time",
         "//modules/common/proto:pnc_point_proto",
         "//modules/localization/proto:localization_proto",
         "//modules/perception/proto:perception_proto",

modules/prediction/prediction.cc

@@ -19,6 +19,7 @@
 #include <cmath>
 
 #include "modules/common/adapters/adapter_manager.h"
+#include "modules/common/time/time.h"
 #include "modules/common/util/file.h"
 #include "modules/prediction/common/prediction_gflags.h"
 #include "modules/prediction/container/container_manager.h"
@@ -36,6 +37,7 @@ using ::apollo::common::Status;
 using ::apollo::common::TrajectoryPoint;
 using ::apollo::common::adapter::AdapterConfig;
 using ::apollo::common::adapter::AdapterManager;
+using ::apollo::common::time::Clock;
 using ::apollo::localization::LocalizationEstimate;
 using ::apollo::perception::PerceptionObstacle;
 using ::apollo::perception::PerceptionObstacles;
@@ -110,6 +112,7 @@ void Prediction::OnLocalization(const LocalizationEstimate& localization) {
 }
 
 void Prediction::OnPerception(const PerceptionObstacles& perception_obstacles) {
+  double start_timestamp = Clock::NowInSecond();
   ObstaclesContainer* obstacles_container = dynamic_cast<ObstaclesContainer*>(
       ContainerManager::instance()->GetContainer(
           AdapterConfig::PERCEPTION_OBSTACLES));
@@ -121,15 +124,10 @@ void Prediction::OnPerception(const PerceptionObstacles& perception_obstacles) {
   auto prediction_obstacles =
       PredictorManager::instance()->prediction_obstacles();
   AdapterManager::FillPredictionHeader(Name(), &prediction_obstacles);
+  prediction_obstacles.set_start_timestamp(start_timestamp);
+  prediction_obstacles.set_end_timestamp(Clock::NowInSecond());
   AdapterManager::PublishPrediction(prediction_obstacles);
-  for (auto const& prediction_obstacle :
-       prediction_obstacles.prediction_obstacle()) {
-    for (auto const& trajectory : prediction_obstacle.trajectory()) {
-      for (auto const& trajectory_point : trajectory.trajectory_point()) {
-        CHECK(IsValidTrajectoryPoint(trajectory_point));
-      }
-    }
-  }
+
   ADEBUG << "Received a perception message ["
          << perception_obstacles.ShortDebugString() << "].";
 }

modules/prediction/proto/prediction_obstacle.proto

@@ -22,9 +22,18 @@ message PredictionObstacle {
 }
 
 message PredictionObstacles {
-  optional apollo.common.Header header = 1;  // timestamp is included in header
+  // timestamp is included in header
+  optional apollo.common.Header header = 1;
+
   // make prediction for multiple obstacles
   repeated PredictionObstacle prediction_obstacle = 2;
+
   // perception error code
   optional apollo.common.ErrorCode perception_error_code = 3;
+
+  // start timestamp
+  optional double start_timestamp = 4;
+
+  // end timestamp
+  optional double end_timestamp = 5;
 }