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

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This commit is contained in:
TSC21
2021-05-06 17:36:18 +02:00
committed by Nuno Marques
parent d6ee15596d
commit 0cc79f3e48
3 changed files with 83 additions and 17 deletions
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src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
+7 -3
View File
@@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
@@ -58,9 +58,13 @@
#define DEFAULT_RECV_PORT 2019
#define DEFAULT_SEND_PORT 2020
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);
void *tx_per_second(void *sent_last_sec);
void *rx_per_second(void *rcvd_last_sec);
void micrortps_start_topics(struct timespec &begin, uint64_t &total_rcvd, uint64_t &total_sent, uint64_t &sent_last_sec,
uint64_t &rcvd_last_sec, uint64_t &received, uint64_t &sent, int &rcvd_loop, int &sent_loop);
struct baudtype {
speed_t code;
src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
+11 -6
View File
@@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
@@ -58,8 +58,10 @@ struct options _options;
struct timespec begin;
struct timespec end;
uint64_t total_read{0};
uint64_t total_rcvd{0};
uint64_t total_sent{0};
uint64_t rcvd_last_sec{0};
uint64_t sent_last_sec{0};
uint64_t received{0};
uint64_t sent{0};
int rcv_loop{0};
@@ -189,14 +191,15 @@ static int micrortps_start(int argc, char *argv[])
return -1;
}
micrortps_start_topics(begin, total_read, total_sent, received, sent, rcv_loop, send_loop);
micrortps_start_topics(begin, total_rcvd, total_sent, sent_last_sec, rcvd_last_sec, received, sent, rcv_loop,
send_loop);
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);
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)));
received, rcv_loop, total_rcvd, elapsed_secs, static_cast<double>(total_rcvd / (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));
@@ -254,10 +257,12 @@ int micrortps_client_main(int argc, char *argv[])
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 read: %" PRIu64 " bytes\n", total_rcvd);
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 rx: %.3f kB/s\n", rcvd_last_sec / 1E3);
printf("\t tx: %.3f kB/s\n", sent_last_sec / 1E3);
printf("\t avg rx: %.3f kB/s\n", static_cast<double>(total_rcvd / (1e3 * elapsed_secs)));
printf("\t avg tx: %.3f kB/s\n", static_cast<double>(total_sent / (1e3 * elapsed_secs)));
}