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#!/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
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