use tier4_autoware_utils::StopWatch

Signed-off-by: ito-san <fumihito.ito@tier4.jp>
autowarefoundation · May 23, 2022 · 8f02967 · 8f02967
1 parent fa9328a
commit 8f02967
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Showing 3 changed files with 8 additions and 5 deletions.
diff --git a/system/system_monitor/include/system_monitor/process_monitor/process_monitor.hpp b/system/system_monitor/include/system_monitor/process_monitor/process_monitor.hpp
@@ -122,7 +122,7 @@ class ProcessMonitor : public rclcpp::Node
   rclcpp::TimerBase::SharedPtr timer_;  //!< @brief timer to execute top command
   std::string top_output_;              //!< @brief output from top command
   bool is_top_error_;                   //!< @brief flag if an error occurs
-  float elapsed_ms_;                    //!< @brief Execution time of top command
+  double elapsed_ms_;                   //!< @brief Execution time of top command
 };
 
 #endif  // SYSTEM_MONITOR__PROCESS_MONITOR__PROCESS_MONITOR_HPP_
diff --git a/system/system_monitor/package.xml b/system/system_monitor/package.xml
@@ -18,6 +18,7 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
+  <depend>tier4_autoware_utils</depend>
   <depend>tier4_external_api_msgs</depend>
 
   <exec_depend>chrony</exec_depend>

diff --git a/system/system_monitor/src/process_monitor/process_monitor.cpp b/system/system_monitor/src/process_monitor/process_monitor.cpp
@@ -21,6 +21,8 @@
 
 #include "system_monitor/system_monitor_utility.hpp"
 
+#include <tier4_autoware_utils/system/stop_watch.hpp>
+
 #include <fmt/format.h>
 
 #include <memory>
@@ -304,8 +306,9 @@ void ProcessMonitor::onTimer()
 {
   is_top_error_ = false;
 
-  // Remember start time to measure elapsed time
-  const auto t_start = std::chrono::high_resolution_clock::now();
+  // Start to measure elapsed time
+  tier4_autoware_utils::StopWatch<std::chrono::milliseconds> stop_watch;
+  stop_watch.tic("execution_time");
 
   bp::ipstream is_err;
   bp::ipstream is_out;
@@ -324,8 +327,7 @@ void ProcessMonitor::onTimer()
   is_out >> os.rdbuf();
   top_output_ = os.str();
 
-  const auto t_end = std::chrono::high_resolution_clock::now();
-  elapsed_ms_ = std::chrono::duration<float, std::milli>(t_end - t_start).count();
+  elapsed_ms_ = stop_watch.toc("execution_time");
 }
 
 #include <rclcpp_components/register_node_macro.hpp>