prediction: added performance profiling support

modules/common/apollo_app.cc

@@ -17,6 +17,7 @@
 #include "modules/common/apollo_app.h"
 
 #include <csignal>
+#include <memory>
 #include <string>
 #include <vector>
 
@@ -44,7 +45,7 @@ void ApolloApp::ExportFlags() const {
 
   std::vector<gflags::CommandLineFlagInfo> flags;
   gflags::GetAllFlags(&flags);
-  for (const auto &flag : flags) {
+  for (const auto& flag : flags) {
     fout << "# " << flag.type << ", default=" << flag.default_value << "\n"
          << "# " << flag.description << "\n"
          << "--" << flag.name << "=" << flag.current_value << "\n"
@@ -53,7 +54,11 @@ void ApolloApp::ExportFlags() const {
 }
 
 int ApolloApp::Spin() {
-  ros::AsyncSpinner spinner(callback_thread_num_);
+  std::unique_ptr<ros::AsyncSpinner> spinner;
+  if (callback_thread_num_ > 1) {
+    spinner = std::unique_ptr<ros::AsyncSpinner>(
+        new ros::AsyncSpinner(callback_thread_num_));
+  }
   auto status = Init();
   if (!status.ok()) {
     AERROR << Name() << " Init failed: " << status;
@@ -65,7 +70,11 @@ int ApolloApp::Spin() {
     return -2;
   }
   ExportFlags();
-  spinner.start();
+  if (spinner) {
+    spinner->start();
+  } else {
+    ros::spin();
+  }
   ros::waitForShutdown();
   Stop();
   AINFO << Name() << " exited.";

modules/prediction/common/prediction_gflags.cc

@@ -27,6 +27,11 @@ DEFINE_string(prediction_conf_file,
 DEFINE_string(prediction_adapter_config_filename,
               "modules/prediction/conf/adapter.conf",
               "Default conf file for prediction");
+DEFINE_bool(prediction_test_mode, false, "Set prediction to test mode");
+DEFINE_double(
+    prediction_test_duration, -1.0,
+    "The runtime duration in test mode (in seconds). Negative value will not "
+    "restrict the runtime duration.");
 
 DEFINE_double(prediction_duration, 5.0, "Prediction duration (in seconds)");
 DEFINE_double(prediction_period, 0.1, "Prediction period (in seconds");

modules/prediction/common/prediction_gflags.h

@@ -24,6 +24,9 @@ DECLARE_string(prediction_module_name);
 DECLARE_string(prediction_conf_file);
 DECLARE_string(prediction_adapter_config_filename);
 
+DECLARE_bool(prediction_test_mode);
+DECLARE_double(prediction_test_duration);
+
 DECLARE_double(prediction_duration);
 DECLARE_double(prediction_period);
 DECLARE_double(double_precision);

modules/prediction/prediction.cc

@@ -48,6 +48,8 @@ using ::apollo::perception::PerceptionObstacles;
 std::string Prediction::Name() const { return FLAGS_prediction_module_name; }
 
 Status Prediction::Init() {
+  start_time_ = Clock::NowInSeconds();
+
   // Load prediction conf
   prediction_conf_.Clear();
   if (!common::util::GetProtoFromFile(FLAGS_prediction_conf_file,
@@ -129,6 +131,11 @@ void Prediction::OnPlanning(const planning::ADCTrajectory& adc_trajectory) {
 }
 
 void Prediction::RunOnce(const PerceptionObstacles& perception_obstacles) {
+  if (FLAGS_prediction_test_mode && FLAGS_prediction_test_duration > 0 &&
+      (Clock::NowInSeconds() - start_time_ > FLAGS_prediction_test_duration)) {
+    AINFO << "Prediction finished running in test mode";
+    ros::shutdown();
+  }
   ADEBUG << "Received a perception message ["
          << perception_obstacles.ShortDebugString() << "].";
 

modules/prediction/prediction.h

@@ -80,12 +80,13 @@ class Prediction : public PredictionInterface {
 
   void OnLocalization(const localization::LocalizationEstimate &localization);
 
-  void OnPlanning(const planning::ADCTrajectory& adc_trajectory);
+  void OnPlanning(const planning::ADCTrajectory &adc_trajectory);
 
   bool IsValidTrajectoryPoint(
       const ::apollo::common::TrajectoryPoint &trajectory_point);
 
  private:
+  double start_time_ = 0.0;
   PredictionConf prediction_conf_;
   common::adapter::AdapterManagerConfig adapter_conf_;
 };