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Add gauge metric for pose graph work queue size. (#1727) 

Signed-off-by: Michael Grupp <grupp@magazino.eu>
master
Michael Grupp 2020-07-29 11:53:14 +02:00 committed by GitHub
parent 340a9ac21a
commit 1cae11593d
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2 changed files with 14 additions and 0 deletions
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7
cartographer/mapping/internal/2d/pose_graph_2d.cc
View File

@ -42,6 +42,7 @@ namespace cartographer {
namespace mapping { namespace mapping {
static auto* kWorkQueueDelayMetric = metrics::Gauge::Null(); static auto* kWorkQueueDelayMetric = metrics::Gauge::Null();
static auto* kWorkQueueSizeMetric = metrics::Gauge::Null();
static auto* kConstraintsSameTrajectoryMetric = metrics::Gauge::Null(); static auto* kConstraintsSameTrajectoryMetric = metrics::Gauge::Null();
static auto* kConstraintsDifferentTrajectoryMetric = metrics::Gauge::Null(); static auto* kConstraintsDifferentTrajectoryMetric = metrics::Gauge::Null();
static auto* kActiveSubmapsMetric = metrics::Gauge::Null(); static auto* kActiveSubmapsMetric = metrics::Gauge::Null();
@ -181,6 +182,7 @@ void PoseGraph2D::AddWorkItem(
} }
const auto now = std::chrono::steady_clock::now(); const auto now = std::chrono::steady_clock::now();
work_queue_->push_back({now, work_item}); work_queue_->push_back({now, work_item});
kWorkQueueSizeMetric->Set(work_queue_->size());
kWorkQueueDelayMetric->Set( kWorkQueueDelayMetric->Set(
std::chrono::duration_cast<std::chrono::duration<double>>( std::chrono::duration_cast<std::chrono::duration<double>>(
now - work_queue_->front().time) now - work_queue_->front().time)
@ -529,6 +531,7 @@ void PoseGraph2D::DrainWorkQueue() {
work_item = work_queue_->front().task; work_item = work_queue_->front().task;
work_queue_->pop_front(); work_queue_->pop_front();
work_queue_size = work_queue_->size(); work_queue_size = work_queue_->size();
kWorkQueueSizeMetric->Set(work_queue_size);
} }
process_work_queue = work_item() == WorkItem::Result::kDoNotRunOptimization; process_work_queue = work_item() == WorkItem::Result::kDoNotRunOptimization;
} }
@ -1288,6 +1291,10 @@ void PoseGraph2D::RegisterMetrics(metrics::FamilyFactory* family_factory) {
"mapping_2d_pose_graph_work_queue_delay", "mapping_2d_pose_graph_work_queue_delay",
"Age of the oldest entry in the work queue in seconds"); "Age of the oldest entry in the work queue in seconds");
kWorkQueueDelayMetric = latency->Add({}); kWorkQueueDelayMetric = latency->Add({});
auto* queue_size =
family_factory->NewGaugeFamily("mapping_2d_pose_graph_work_queue_size",
"Number of items in the work queue");
kWorkQueueSizeMetric = queue_size->Add({});
auto* constraints = family_factory->NewGaugeFamily( auto* constraints = family_factory->NewGaugeFamily(
"mapping_2d_pose_graph_constraints", "mapping_2d_pose_graph_constraints",
"Current number of constraints in the pose graph"); "Current number of constraints in the pose graph");

7
cartographer/mapping/internal/3d/pose_graph_3d.cc
View File

@ -40,6 +40,7 @@ namespace cartographer {
namespace mapping { namespace mapping {
static auto* kWorkQueueDelayMetric = metrics::Gauge::Null(); static auto* kWorkQueueDelayMetric = metrics::Gauge::Null();
static auto* kWorkQueueSizeMetric = metrics::Gauge::Null();
static auto* kConstraintsSameTrajectoryMetric = metrics::Gauge::Null(); static auto* kConstraintsSameTrajectoryMetric = metrics::Gauge::Null();
static auto* kConstraintsDifferentTrajectoryMetric = metrics::Gauge::Null(); static auto* kConstraintsDifferentTrajectoryMetric = metrics::Gauge::Null();
static auto* kActiveSubmapsMetric = metrics::Gauge::Null(); static auto* kActiveSubmapsMetric = metrics::Gauge::Null();
@ -169,6 +170,7 @@ void PoseGraph3D::AddWorkItem(
} }
const auto now = std::chrono::steady_clock::now(); const auto now = std::chrono::steady_clock::now();
work_queue_->push_back({now, work_item}); work_queue_->push_back({now, work_item});
kWorkQueueSizeMetric->Set(work_queue_->size());
kWorkQueueDelayMetric->Set( kWorkQueueDelayMetric->Set(
std::chrono::duration_cast<std::chrono::duration<double>>( std::chrono::duration_cast<std::chrono::duration<double>>(
now - work_queue_->front().time) now - work_queue_->front().time)
@ -516,6 +518,7 @@ void PoseGraph3D::DrainWorkQueue() {
work_item = work_queue_->front().task; work_item = work_queue_->front().task;
work_queue_->pop_front(); work_queue_->pop_front();
work_queue_size = work_queue_->size(); work_queue_size = work_queue_->size();
kWorkQueueSizeMetric->Set(work_queue_size);
} }
process_work_queue = work_item() == WorkItem::Result::kDoNotRunOptimization; process_work_queue = work_item() == WorkItem::Result::kDoNotRunOptimization;
} }
@ -1268,6 +1271,10 @@ void PoseGraph3D::RegisterMetrics(metrics::FamilyFactory* family_factory) {
"mapping_3d_pose_graph_work_queue_delay", "mapping_3d_pose_graph_work_queue_delay",
"Age of the oldest entry in the work queue in seconds"); "Age of the oldest entry in the work queue in seconds");
kWorkQueueDelayMetric = latency->Add({}); kWorkQueueDelayMetric = latency->Add({});
auto* queue_size =
family_factory->NewGaugeFamily("mapping_3d_pose_graph_work_queue_size",
"Number of items in the work queue");
kWorkQueueSizeMetric = queue_size->Add({});
auto* constraints = family_factory->NewGaugeFamily( auto* constraints = family_factory->NewGaugeFamily(
"mapping_3d_pose_graph_constraints", "mapping_3d_pose_graph_constraints",
"Current number of constraints in the pose graph"); "Current number of constraints in the pose graph");