planning: support running in profiling mode

modules/planning/common/planning_gflags.cc

@@ -18,6 +18,10 @@
 
 DEFINE_bool(planning_test_mode, false, "Enable planning test mode.");
 
+DEFINE_double(test_duration, -1.0,
+              "The runtime duration in test mode. There is no runtime limit if "
+              "the value is not positive");
+
 DEFINE_int32(planning_loop_rate, 10, "Loop rate for planning node");
 
 DEFINE_string(planning_adapter_config_filename,

modules/planning/common/planning_gflags.h

@@ -20,6 +20,7 @@
 #include "gflags/gflags.h"
 
 DECLARE_bool(planning_test_mode);
+DECLARE_double(test_duration);
 
 DECLARE_string(planning_config_file);
 DECLARE_string(planning_adapter_config_filename);

modules/planning/planning.cc

@@ -135,11 +135,18 @@ Status Planning::Start() {
   timer_ = AdapterManager::CreateTimer(
       ros::Duration(1.0 / FLAGS_planning_loop_rate), &Planning::OnTimer, this);
   ReferenceLineProvider::instance()->Start();
+  start_time_ = Clock::NowInSeconds();
   AINFO << "Planning started";
   return Status::OK();
 }
 
-void Planning::OnTimer(const ros::TimerEvent&) { RunOnce(); }
+void Planning::OnTimer(const ros::TimerEvent&) {
+  RunOnce();
+  if (FLAGS_planning_test_mode && FLAGS_test_duration > 0.0 &&
+      Clock::NowInSeconds() - start_time_ > FLAGS_test_duration) {
+    ros::shutdown();
+  }
+}
 
 void Planning::PublishPlanningPb(ADCTrajectory* trajectory_pb,
                                  double timestamp) {

modules/planning/planning.h

@@ -107,6 +107,8 @@ class Planning : public PlanningInterface {
   bool IsVehicleStateValid(const common::VehicleState& vehicle_state);
   void ExportReferenceLineDebug(planning_internal::Debug* debug);
 
+  double start_time_ = 0.0;
+
   apollo::common::util::Factory<PlanningConfig::PlannerType, Planner>
       planner_factory_;