diff options
Diffstat (limited to 'mavlink/share/pyshared/pymavlink/examples/bwtest.py')
-rw-r--r-- | mavlink/share/pyshared/pymavlink/examples/bwtest.py | 58 |
1 files changed, 58 insertions, 0 deletions
diff --git a/mavlink/share/pyshared/pymavlink/examples/bwtest.py b/mavlink/share/pyshared/pymavlink/examples/bwtest.py new file mode 100644 index 000000000..de56d4f8c --- /dev/null +++ b/mavlink/share/pyshared/pymavlink/examples/bwtest.py @@ -0,0 +1,58 @@ +#!/usr/bin/env python + +''' +check bandwidth of link +''' + +import sys, struct, time, os + +# allow import from the parent directory, where mavlink.py is +sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..')) + +import mavutil + +from optparse import OptionParser +parser = OptionParser("bwtest.py [options]") + +parser.add_option("--baudrate", dest="baudrate", type='int', + help="master port baud rate", default=115200) +parser.add_option("--device", dest="device", default=None, help="serial device") +(opts, args) = parser.parse_args() + +if opts.device is None: + print("You must specify a serial device") + sys.exit(1) + +# create a mavlink serial instance +master = mavutil.mavlink_connection(opts.device, baud=opts.baudrate) + +t1 = time.time() + +counts = {} + +bytes_sent = 0 +bytes_recv = 0 + +while True: + master.mav.heartbeat_send(1, 1) + master.mav.sys_status_send(1, 2, 3, 4, 5, 6, 7) + master.mav.gps_raw_send(1, 2, 3, 4, 5, 6, 7, 8, 9) + master.mav.attitude_send(1, 2, 3, 4, 5, 6, 7) + master.mav.vfr_hud_send(1, 2, 3, 4, 5, 6) + while master.port.inWaiting() > 0: + m = master.recv_msg() + if m == None: break + if m.get_type() not in counts: + counts[m.get_type()] = 0 + counts[m.get_type()] += 1 + t2 = time.time() + if t2 - t1 > 1.0: + print("%u sent, %u received, %u errors bwin=%.1f kB/s bwout=%.1f kB/s" % ( + master.mav.total_packets_sent, + master.mav.total_packets_received, + master.mav.total_receive_errors, + 0.001*(master.mav.total_bytes_received-bytes_recv)/(t2-t1), + 0.001*(master.mav.total_bytes_sent-bytes_sent)/(t2-t1))) + bytes_sent = master.mav.total_bytes_sent + bytes_recv = master.mav.total_bytes_received + t1 = t2 |