feat(autoware_dubug_tools): add function to report worst time when r is pressed at the end

common/autoware_debug_tools/autoware_debug_tools/processing_time_visualizer/node.py

@@ -1,4 +1,5 @@
 import curses
+import json
 import time
 from typing import Dict
 import uuid
@@ -20,6 +21,7 @@ class ProcessingTimeVisualizer(Node):
     def __init__(self):
         super().__init__("processing_time_visualizer" + str(uuid.uuid4()).replace("-", "_"))
         self.subscriber = self.subscribe_processing_time_tree()
+        self.quit_option = None
         self.trees: Dict[str, ProcessingTimeTree] = {}
         self.worst_case_tree: Dict[str, ProcessingTimeTree] = {}
         self.stdcscr = init_curses()
@@ -73,6 +75,10 @@ def update_screen(self):
         if key == ord("y"):
             pyperclip.copy(logs)
         if key == ord("q"):
+            self.quit_option = "q"
+            raise KeyboardInterrupt
+        if key == ord("r"):
+            self.quit_option = "r"
             raise KeyboardInterrupt
 
     def callback(self, msg: ProcessingTimeTreeMsg):
@@ -100,6 +106,8 @@ def main(args=None):
     except (KeyboardInterrupt, rclpy.executors.ExternalShutdownException):
         node.destroy_node()
         exit_curses()
+        if node.quit_option == "r":
+            pyperclip.copy(json.dumps([v.__dict__() for v in node.worst_case_tree.values()]))
         if len(node.worst_case_tree) == 0:
             exit(1)
         print("⏰ Worst Case Execution Time ⏰")

common/autoware_debug_tools/autoware_debug_tools/processing_time_visualizer/print_tree.py

@@ -25,7 +25,13 @@ def print_trees(
     tree_lines = wrap_lines(tree_lines, width, height - 2)
     for i, line in enumerate(tree_lines):
         stdscr.addstr(i + 2, 1, line)
-    stdscr.addstr(height - 1, 0, "'q' => quit. 'c' => show comment. 'y' => copy."[: width - 2])
+    stdscr.addstr(
+        height - 1,
+        0,
+        "'q' => quit. 'r' => quit & output json report to clipboard. 'c' => show comment. 'y' => copy."[
+            : width - 2
+        ],
+    )
     stdscr.refresh()
 
     return "".join([line + "\n" for line in tree_lines])

common/autoware_debug_tools/autoware_debug_tools/processing_time_visualizer/tree.py

@@ -68,6 +68,14 @@ def construct_string(
         construct_string(self, lines, "", True, True)
         return lines
 
+    def __dict__(self) -> dict:
+        return {
+            "name": self.name,
+            "processing_time": self.processing_time,
+            "comment": self.comment,
+            "children": [child.__dict__() for child in self.children],
+        }
+
     def __str__(self) -> str:
         return "".join([line + "\n" for line in self.to_lines()])