add processor time stats.

modules/planning/planner/em/BUILD

@@ -15,6 +15,7 @@ cc_library(
         "//modules/common:log",
         "//modules/common/proto:path_point_proto",
         "//modules/common/status",
+        "//modules/common/time",
         "//modules/common/util",
         "//modules/common/util:factory",
         "//modules/common/vehicle_state",

modules/planning/planner/em/em_planner.cc

@@ -21,6 +21,7 @@
 
 #include "modules/common/adapters/adapter_manager.h"
 #include "modules/common/log.h"
+#include "modules/common/time/time.h"
 #include "modules/common/util/string_tokenizer.h"
 #include "modules/common/util/string_util.h"
 #include "modules/common/vehicle_state/vehicle_state.h"
@@ -41,6 +42,7 @@ namespace planning {
 
 using common::Status;
 using common::adapter::AdapterManager;
+using common::time::Clock;
 using common::ErrorCode;
 using common::TrajectoryPoint;
 using common::VehicleState;
@@ -99,7 +101,11 @@ Status EMPlanner::Plan(const TrajectoryPoint& start_point,
 
   planning_data->set_decision_data(decision_data);
   for (auto& optimizer : optimizers_) {
+    const double start_timestamp = apollo::common::time::ToSecond(Clock::Now());
     optimizer->Optimize(planning_data);
+    const double end_timestamp = apollo::common::time::ToSecond(Clock::Now());
+    const double time_diff_ms = (end_timestamp - start_timestamp) * 1000;
+
     ADEBUG << "after optimizer " << optimizer->name() << ":"
            << planning_data->DebugString();
 
@@ -116,6 +122,9 @@ Status EMPlanner::Plan(const TrajectoryPoint& start_point,
         optimized_path->mutable_path_point()->CopyFrom(
             {path_points.begin(), path_points.end()});
       }
+      auto stats = trajectory_pb->mutable_latency_stats()->add_processor_stats();
+      stats->set_name(optimizer->name());
+      stats->set_time_ms(time_diff_ms);
     }
   }
   PublishableTrajectory computed_trajectory;

modules/planning/proto/planning.proto

@@ -70,8 +70,14 @@ message EStop {
   optional bool is_estop = 1;
 }
 
+message ProcessorStats {
+  optional string name = 1;
+  optional double time_ms = 2;
+}
+
 message LatencyStats {
   optional double total_time_ms = 1;
+  repeated ProcessorStats processor_stats = 2;
 }
 
 // next id: 16