yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 01:12:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

microRTPS: client: show diagnostic of average bandwidth usage on the 'status' option

Browse Source
This commit is contained in:
TSC21
2021-05-05 18:57:49 +02:00
committed by Nuno Marques
parent 40462bfc1f
commit d6ee15596d
3 changed files with 67 additions and 46 deletions
Download Patch File Download Diff File Expand all files Collapse all files

67
msg/templates/uorb_microcdr/microRTPS_client.cpp.em
View File

@@ -76,8 +76,6 @@ receive_base_types = [s.short_name for idx, s in enumerate(spec) if scope[idx] =
#include <uORB_microcdr/topics/@(topic).h>
@[end for]@
void *send(void *data);
uint8_t last_remote_msg_seq = 0;
uint8_t last_msg_seq = 0;
@@ -100,13 +98,24 @@ struct SendTopicsSubs {
@[end if]@
@[if send_topics]@
void *send(void * /*unused*/)
struct SendThreadArgs {
uint64_t &total_sent;
uint64_t &sent;
int &sent_loop;
SendThreadArgs(uint64_t &total_sent_, uint64_t &sent_, int &sent_loop_)
: total_sent(total_sent_),
sent(sent_),
sent_loop(sent_loop_) {}
};
void *send(void *args)
{
char data_buffer[BUFFER_SIZE] = {};
uint64_t sent = 0, total_sent = 0;
int loop = 0, read = 0;
int read = 0;
uint32_t length = 0;
size_t header_length = 0;
struct SendThreadArgs *data = reinterpret_cast<struct SendThreadArgs *>(args);
SendTopicsSubs *subs = new SendTopicsSubs();
// ucdrBuffer to serialize using the user defined buffer
@@ -114,9 +123,6 @@ void *send(void * /*unused*/)
header_length = transport_node->get_header_length();
ucdr_init_buffer(&writer, reinterpret_cast<uint8_t *>(&data_buffer[header_length]), BUFFER_SIZE - header_length);
struct timespec begin;
px4_clock_gettime(CLOCK_REALTIME, &begin);
while (!_should_exit_task) {
@[ for idx, topic in enumerate(send_topics)]@
{
@@ -140,8 +146,8 @@ void *send(void * /*unused*/)
serialize_@(send_base_types[idx])(&writer, &@(topic)_data, &data_buffer[header_length], &length);
if (0 < (read = transport_node->write(static_cast<char>(@(rtps_message_id(ids, topic))), data_buffer, length))) {
total_sent += read;
++sent;
data->total_sent += read;
++data->sent;
}
@[ if topic == 'Timesync' or topic == 'timesync']@
@@ -152,24 +158,15 @@ void *send(void * /*unused*/)
}
@[ end for]@
px4_usleep(_options.sleep_ms * 1000);
++loop;
++data->sent_loop;
}
struct timespec end;
px4_clock_gettime(CLOCK_REALTIME, &end);
double elapsed_secs = end.tv_sec - begin.tv_sec + (end.tv_nsec - begin.tv_nsec) / 1e9;
PX4_INFO("SENT: %" PRIu64 " messages in %d LOOPS, %" PRIu64 " bytes in %.03f seconds - %.02fKB/s",
sent, loop, total_sent, elapsed_secs, total_sent / (1e3 * elapsed_secs));
delete subs;
return nullptr;
}
static int launch_send_thread(pthread_t &sender_thread)
static int launch_send_thread(pthread_t &sender_thread, struct SendThreadArgs &args)
{
pthread_attr_t sender_thread_attr;
pthread_attr_init(&sender_thread_attr);
@@ -178,12 +175,16 @@ static int launch_send_thread(pthread_t &sender_thread)
(void)pthread_attr_getschedparam(&sender_thread_attr, &param);
param.sched_priority = SCHED_PRIORITY_DEFAULT;
(void)pthread_attr_setschedparam(&sender_thread_attr, &param);
pthread_create(&sender_thread, &sender_thread_attr, send, nullptr);
int rc = pthread_setname_np(sender_thread, "urtpsclient_snd");
if (rc != 0)
{
int rc = pthread_create(&sender_thread, &sender_thread_attr, &send, (void *)&args);
if (rc != 0) {
errno = rc;
PX4_ERR("Could not set pthread name (%d)", errno);
PX4_ERR("Could not create send thread (%d)", errno);
return -1;
}
rc = pthread_setname_np(sender_thread, "micrortps_client_send");
if (pthread_setname_np(sender_thread, "micrortps_client_send")) {
errno = rc;
PX4_ERR("Could not set pthread name for the send thread (%d)", errno);
}
pthread_attr_destroy(&sender_thread_attr);
@@ -191,7 +192,8 @@ static int launch_send_thread(pthread_t &sender_thread)
}
@[end if]@
void micrortps_start_topics(struct timespec &begin, uint64_t &total_read, uint64_t &received, int &loop)
void micrortps_start_topics(struct timespec &begin, uint64_t &total_read, uint64_t &total_sent, uint64_t &received,
uint64_t &sent, int &rcvd_loop, int &sent_loop)
{
@[if recv_topics]@
char data_buffer[BUFFER_SIZE] = {};
@@ -211,10 +213,12 @@ void micrortps_start_topics(struct timespec &begin, uint64_t &total_read, uint64
px4_clock_gettime(CLOCK_REALTIME, &begin);
_should_exit_task = false;
@[if send_topics]@
// var struct to be updated on the thread
SendThreadArgs *sender_thread_args = new SendThreadArgs(total_sent, sent, sent_loop);
// create a thread for sending data to the simulator
// create a thread for sending data
pthread_t sender_thread;
launch_send_thread(sender_thread);
launch_send_thread(sender_thread, (*sender_thread_args));
@[end if]@
while (!_should_exit_task) {
@@ -248,16 +252,17 @@ void micrortps_start_topics(struct timespec &begin, uint64_t &total_read, uint64
@[end if]@
// loop forever if informed loop number is negative
if (_options.loops >= 0 && loop >= _options.loops) { break; }
if (_options.loops >= 0 && rcvd_loop >= _options.loops) { break; }
px4_usleep(_options.sleep_ms * 1000);
++loop;
++rcvd_loop;
}
@[if recv_topics]@
delete pubs;
@[end if]@
@[if send_topics]@
delete sender_thread_args;
_should_exit_task = true;
pthread_join(sender_thread, nullptr);
@[end if]@

5
src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
View File

@@ -58,8 +58,9 @@
#define DEFAULT_RECV_PORT 2019
#define DEFAULT_SEND_PORT 2020
void *send(void *data);
void micrortps_start_topics(struct timespec &begin, uint64_t &total_read, uint64_t &received, int &loop);
void *send(void *args);
void micrortps_start_topics(struct timespec &begin, uint64_t &total_read, uint64_t &total_sent, uint64_t &received,
uint64_t &sent, int &rcvd_loop, int &sent_loop);
struct baudtype {
speed_t code;

41
src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
View File

@@ -55,6 +55,16 @@ bool _should_exit_task = false;
Transport_node *transport_node = nullptr;
struct options _options;
struct timespec begin;
struct timespec end;
uint64_t total_read{0};
uint64_t total_sent{0};
uint64_t received{0};
uint64_t sent{0};
int rcv_loop{0};
int send_loop{0};
static void usage(const char *name)
{
PRINT_MODULE_USAGE_NAME("micrortps_client", "communication");
@@ -179,22 +189,16 @@ static int micrortps_start(int argc, char *argv[])
return -1;
}
struct timespec begin;
struct timespec end;
uint64_t total_read = 0, received = 0;
int loop = 0;
micrortps_start_topics(begin, total_read, received, loop);
micrortps_start_topics(begin, total_read, total_sent, received, sent, rcv_loop, send_loop);
px4_clock_gettime(CLOCK_REALTIME, &end);
double elapsed_secs = static_cast<double>(end.tv_sec - begin.tv_sec + (end.tv_nsec - begin.tv_nsec) / 1e9);
const double elapsed_secs = static_cast<double>(end.tv_sec - begin.tv_sec + (end.tv_nsec - begin.tv_nsec) / 1e9);
PX4_INFO("RECEIVED: %" PRIu64 " messages in %d LOOPS, %" PRIu64 " bytes in %.03f seconds - %.02fKB/s",
received, loop, total_read, elapsed_secs, static_cast<double>(total_read / (1e3 * elapsed_secs)));
PX4_INFO("RECEIVED: %" PRIu64 " messages in %d LOOPS, %" PRIu64 " bytes in %.03f seconds - avg %.02fKB/s",
received, rcv_loop, total_read, elapsed_secs, static_cast<double>(total_read / (1e3 * elapsed_secs)));
PX4_INFO("SENT: %" PRIu64 " messages in %d LOOPS, %" PRIu64 " bytes in %.03f seconds - avg %.02fKB/s",
sent, send_loop, total_sent, elapsed_secs, total_sent / (1e3 * elapsed_secs));
delete transport_node;
@@ -243,7 +247,18 @@ int micrortps_client_main(int argc, char *argv[])
PX4_INFO("Not running");
} else {
PX4_INFO("Running");
px4_clock_gettime(CLOCK_REALTIME, &end);
const double elapsed_secs = static_cast<double>(end.tv_sec - begin.tv_sec + (end.tv_nsec - begin.tv_nsec) / 1e9);
printf("\tup and running for %.03f seconds\n", elapsed_secs);
printf("\tnr. of messages received: %" PRIu64 "\n", received);
printf("\tnr. of messages sent: %" PRIu64 "\n", sent);
printf("\ttotal data read: %" PRIu64 " bytes\n", total_read);
printf("\ttotal data sent: %" PRIu64 " bytes\n", total_sent);
printf("\trates:\n");
printf("\t avg rx: %.3f kB/s\n", static_cast<double>(total_read / (1e3 * elapsed_secs)));
printf("\t avg tx: %.3f kB/s\n", static_cast<double>(total_sent / (1e3 * elapsed_secs)));
}
return 0;