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microRTPS: client: add TX rate limiter

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This commit is contained in:
TSC21
2021-05-07 13:32:25 +02:00
committed by Nuno Marques
parent ac2b38603c
commit 6d5f12d2a2
3 changed files with 104 additions and 104 deletions
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src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
+15 -13
View File
@@ -33,7 +33,7 @@
#pragma once
#include "microRTPS_transport.h"
#include <microRTPS_transport.h>
#include <inttypes.h>
#include <cstdio>
@@ -49,21 +49,22 @@
#include <px4_platform_common/time.h>
#include <uORB/uORB.h>
#define LOOPS -1
#define SLEEP_US 1
#define BAUDRATE 460800
#define DEVICE "/dev/ttyACM0"
#define POLL_MS 1
#define IP "127.0.0.1"
#define DEFAULT_RECV_PORT 2019
#define DEFAULT_SEND_PORT 2020
#define LOOPS -1
#define SLEEP_US 1000
#define BAUDRATE 460800
#define MAX_DATA_RATE 10000000
#define DEVICE "/dev/ttyACM0"
#define POLL_MS 1
#define IP "127.0.0.1"
#define DEFAULT_RECV_PORT 2019
#define DEFAULT_SEND_PORT 2020
#define MIN_TX_INTERVAL_US 1000.f
#define MAX_TX_INTERVAL_US 1000000.f
void *send(void *args);
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,
void micrortps_start_topics(const uint32_t &datarate, 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 {
@@ -83,6 +84,7 @@ struct options {
uint16_t send_port = DEFAULT_SEND_PORT;
uint32_t sleep_us = SLEEP_US;
uint32_t baudrate = BAUDRATE;
uint32_t datarate = 0;
uint32_t poll_ms = POLL_MS;
int loops = LOOPS;
bool sw_flow_control = false;
src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
+27 -11
View File
@@ -31,8 +31,8 @@
*
****************************************************************************/
#include "microRTPS_transport.h"
#include "microRTPS_client.h"
#include <microRTPS_transport.h>
#include <microRTPS_client.h>
#include <inttypes.h>
#include <cstdio>
@@ -75,10 +75,11 @@ static void usage(const char *name)
PRINT_MODULE_USAGE_PARAM_STRING('t', "UART", "UART|UDP", "Transport protocol", true);
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyACM0", "<file:dev>", "Select Serial Device", true);
PRINT_MODULE_USAGE_PARAM_INT('b', 460800, 9600, 3000000, "Baudrate (can also be p:<param_name>)", true);
PRINT_MODULE_USAGE_PARAM_INT('m', 0, 10, 10000000, "Maximum sending data rate in B/s", true);
PRINT_MODULE_USAGE_PARAM_INT('p', -1, 1, 1000, "Poll timeout for UART in ms", true);
PRINT_MODULE_USAGE_PARAM_INT('l', 10000, -1, 100000, "Limit number of iterations until the program exits (-1=infinite)",
true);
PRINT_MODULE_USAGE_PARAM_INT('w', 1, 1, 1000000, "Time in us for which each iteration sleeps", true);
PRINT_MODULE_USAGE_PARAM_INT('w', 1, 1, 1000000, "Time in us for which each read from the link iteration sleeps", true);
PRINT_MODULE_USAGE_PARAM_INT('r', 2019, 0, 65536, "Select UDP Network Port for receiving (local)", true);
PRINT_MODULE_USAGE_PARAM_INT('s', 2020, 0, 65536, "Select UDP Network Port for sending (remote)", true);
PRINT_MODULE_USAGE_PARAM_STRING('i', "127.0.0.1", "<x.x.x.x>", "Select IP address (remote)", true);
@@ -96,7 +97,7 @@ static int parse_options(int argc, char *argv[])
int myoptind = 1;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "t:d:l:w:b:p:r:s:i:fhv", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "t:d:l:w:b:m:p:r:s:i:fhv", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 't': _options.transport = strcmp(myoptarg, "UDP") == 0 ?
options::eTransports::UDP
@@ -120,6 +121,8 @@ static int parse_options(int argc, char *argv[])
break;
}
case 'm': _options.datarate = strtoul(myoptarg, nullptr, 10); break;
case 'p': _options.poll_ms = strtoul(myoptarg, nullptr, 10); break;
case 'r': _options.recv_port = strtoul(myoptarg, nullptr, 10); break;
@@ -140,9 +143,13 @@ static int parse_options(int argc, char *argv[])
}
}
if (_options.datarate > MAX_DATA_RATE) {
_options.datarate = MAX_DATA_RATE;
PX4_WARN("Invalid data rate. Using max datarate of %ul B/s", MAX_DATA_RATE);
}
if (_options.poll_ms < 1) {
_options.poll_ms = 1;
PX4_ERR("poll timeout too low, using 1 ms");
PX4_WARN("Poll timeout too low, using %ul ms", POLL_MS);
}
if (_options.hw_flow_control && _options.sw_flow_control) {
@@ -193,7 +200,8 @@ static int micrortps_start(int argc, char *argv[])
return -1;
}
micrortps_start_topics(begin, total_rcvd, total_sent, sent_last_sec, rcvd_last_sec, received, sent, rcv_loop,
micrortps_start_topics(_options.datarate, begin, total_rcvd, total_sent, sent_last_sec, rcvd_last_sec, received, sent,
rcv_loop,
send_loop);
px4_clock_gettime(CLOCK_REALTIME, &end);
@@ -262,10 +270,18 @@ int micrortps_client_main(int argc, char *argv[])
printf("\ttotal data read: %" PRIu64 " bytes\n", total_rcvd);
printf("\ttotal data sent: %" PRIu64 " bytes\n", total_sent);
printf("\trates:\n");
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)));
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", total_rcvd / (1e3 * elapsed_secs));
printf("\t avg tx: %.3f kB/s\n", total_sent / (1e3 * elapsed_secs));
printf("\t tx rate max:");
if (_options.datarate != 0) {
printf(" %.1f kB/s\n", _options.datarate / 1e3);
} else {
printf(" Unlimited\n");
}
}
return 0;