Prediction: use absl time for submodules

modules/prediction/prediction_component.cc

@@ -110,7 +110,7 @@ bool PredictionComponent::Proc(
 
 bool PredictionComponent::ContainerSubmoduleProcess(
     const std::shared_ptr<PerceptionObstacles>& perception_obstacles) {
-  const double frame_start_time = apollo::cyber::Time::Now().ToNanosecond();
+  const auto frame_start_time = absl::Now();
   // Read localization info. and call OnLocalization to update
   // the PoseContainer.
   localization_reader_->Observe();

modules/prediction/prediction_component.h

@@ -24,6 +24,8 @@
 #include <string>
 #include <utility>
 
+#include "absl/time/time.h"
+
 #include "cyber/component/component.h"
 #include "modules/prediction/common/message_process.h"
 #include "modules/prediction/container/adc_trajectory/adc_trajectory_container.h"

modules/prediction/submodules/BUILD

@@ -14,6 +14,7 @@ cc_library(
         "//modules/perception/proto:perception_proto",
         "//modules/prediction/common:prediction_gflags",
         "//modules/prediction/container/obstacles:obstacle",
+        "@com_google_absl//absl/time",
     ],
 )
 

modules/prediction/submodules/evaluator_submodule.cc

@@ -46,7 +46,7 @@ bool EvaluatorSubmodule::Init() {
 
 bool EvaluatorSubmodule::Proc(
     const std::shared_ptr<SubmoduleOutput>& container_output) {
-  const double frame_start_time = container_output->frame_start_time();
+  const auto frame_start_time = container_output->frame_start_time();
   ObstaclesContainer obstacles_container(*container_output);
   EvaluatorManager::Instance()->Run(&obstacles_container);
   SubmoduleOutput submodule_output = obstacles_container.GetSubmoduleOutput();

modules/prediction/submodules/predictor_submodule.cc

@@ -18,6 +18,8 @@
 
 #include <utility>
 
+#include "absl/time/time.h"
+
 #include "modules/common/adapters/adapter_gflags.h"
 #include "modules/common/adapters/proto/adapter_config.pb.h"
 #include "modules/common/time/time.h"
@@ -54,7 +56,7 @@ bool PredictorSubmodule::Proc(
       perception_obstacles->header();
   const apollo::common::ErrorCode& perception_error_code =
       perception_obstacles->error_code();
-  const double frame_start_time = submodule_output->frame_start_time();
+  const absl::Time& frame_start_time = submodule_output->frame_start_time();
   ObstaclesContainer obstacles_container(*submodule_output);
   PredictorManager::Instance()->Run(
       *perception_obstacles, adc_trajectory_container.get(),
@@ -70,15 +72,14 @@ bool PredictorSubmodule::Proc(
   prediction_obstacles.mutable_header()->set_radar_timestamp(
       perception_header.radar_timestamp());
   prediction_obstacles.set_perception_error_code(perception_error_code);
-  prediction_obstacles.set_start_timestamp(frame_start_time);
 
   common::util::FillHeader(node_->Name(), &prediction_obstacles);
   predictor_writer_->Write(
       std::make_shared<PredictionObstacles>(prediction_obstacles));
 
-  double end_time = apollo::cyber::Time::Now().ToNanosecond();
-  double start_time = submodule_output->frame_start_time();
-  ADEBUG << "End to end time = " << (end_time - start_time) / 1e6 << " ms";
+  const absl::Time& end_time = absl::Now();
+  ADEBUG << "End to end time = "
+         << absl::ToDoubleMilliseconds(end_time - frame_start_time) << " ms";
 
   return true;
 }

modules/prediction/submodules/submodule_output.cc

@@ -43,7 +43,7 @@ void SubmoduleOutput::set_curr_frame_considered_obstacle_ids(
   curr_frame_considered_obstacle_ids_ = curr_frame_considered_obstacle_ids;
 }
 
-void SubmoduleOutput::set_frame_start_time(const double frame_start_time) {
+void SubmoduleOutput::set_frame_start_time(const absl::Time& frame_start_time) {
   frame_start_time_ = frame_start_time;
 }
 
@@ -65,7 +65,9 @@ std::vector<int> SubmoduleOutput::curr_frame_considered_obstacle_ids() const {
   return curr_frame_considered_obstacle_ids_;
 }
 
-double SubmoduleOutput::frame_start_time() const { return frame_start_time_; }
+const absl::Time& SubmoduleOutput::frame_start_time() const {
+  return frame_start_time_;
+}
 
 }  // namespace prediction
 }  // namespace apollo

modules/prediction/submodules/submodule_output.h

@@ -23,6 +23,8 @@
 
 #include <vector>
 
+#include "absl/time/time.h"
+
 #include "modules/common/util/lru_cache.h"
 #include "modules/perception/proto/perception_obstacle.pb.h"
 #include "modules/prediction/container/obstacles/obstacle.h"
@@ -55,7 +57,7 @@ class SubmoduleOutput {
   void set_curr_frame_considered_obstacle_ids(
       const std::vector<int>& curr_frame_considered_obstacle_ids);
 
-  void set_frame_start_time(const double frame_start_time);
+  void set_frame_start_time(const absl::Time& frame_start_time);
 
   const std::vector<Obstacle>& curr_frame_obstacles() const;
 
@@ -70,7 +72,7 @@ class SubmoduleOutput {
 
   std::vector<int> curr_frame_considered_obstacle_ids() const;
 
-  double frame_start_time() const;
+  const absl::Time& frame_start_time() const;
 
  protected:
   std::vector<Obstacle> curr_frame_obstacles_;
@@ -78,7 +80,7 @@ class SubmoduleOutput {
   std::vector<int> curr_frame_movable_obstacle_ids_;
   std::vector<int> curr_frame_unmovable_obstacle_ids_;
   std::vector<int> curr_frame_considered_obstacle_ids_;
-  double frame_start_time_;
+  absl::Time frame_start_time_;
 };
 
 }  // namespace prediction