From 0f02b307e4f8f7e4467935871ec3f58b09a899c8 Mon Sep 17 00:00:00 2001
From: Kris Burney <burneykb@iastate.edu>
Date: Fri, 2 Dec 2016 20:09:02 -0600
Subject: [PATCH] loging wifi latency
---
groundStation/src/backend/backend.c | 36 ++++++++++++++++++-----------
1 file changed, 23 insertions(+), 13 deletions(-)
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index 5c4dc9fa6..df97a2299 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -114,7 +114,6 @@ modular_structs_t structs;
// in the future.
static void cb(struct ucart_vrpn_TrackerData * td) {
static int count = 0;
-
if(!(count % 10)) {
sendVrpnPacket(td);
//updateLogFile(td);
@@ -233,31 +232,32 @@ int main(int argc, char **argv)
if(wasDisconnected(fd)){
break;
}
-
if (fd == fileno(stdin)) {
/**
* Ignore stdin from the backend
*/
} else if (fd == zyboSocket) {
- printf("recieving from quad\n");
-
+ //printf("recieving from quad\n");
/**
* Read the response from the control loop
*/
int available;
ioctl(fd, FIONREAD, &available);
if (available < 12) {
+ //printf("only %d available\n", available);
continue;
}
+
+ //printf("recieving more than 12\n");
int respLen = readQuad(respBuf, CMD_MAX_LENGTH);
if(respLen <= 0) {
perror("ERROR reading from quad...\n");
}
- //int id = getInt((unsigned char *)respBuf, 7);
- //findTimeDiff(id);
+ int id = getInt((unsigned char *)respBuf, 7);
+ findTimeDiff(id);
- quad_recv(respBuf, respLen);
+ //quad_recv(respBuf, respLen);
// if(respLen == 11) {
// int id = getInt((unsigned char *)respBuf, 7);
// findTimeDiff(id);
@@ -337,19 +337,27 @@ void sendStartPacket() {
}
void sendVrpnPacket(struct ucart_vrpn_TrackerData *info) {
- int pSize = sizeof(struct ucart_vrpn_TrackerData) + 8;
+ int pSize = 36;//sizeof(struct ucart_vrpn_TrackerData) + 8;
int n;
unsigned char packet[pSize];
currMessageID++;
packet[0] = 0xBE; // BEGIN //PACKET_START_BYTE;
- packet[1] = 0x04; // UPDATE //'U'; // U for vrpn camera update, C for command
+ packet[1] = 0x04; // UPDATE //'U'; // U for vrpn camera update, C for command
packet[2] = 0x00; // N/A
//TODO Figure out Packet ID with this new ucar_vrpn_TrackerData struct
packet[3] = (currMessageID & 0x000000ff); // MSG ID(1)
packet[4] = ((currMessageID >> 8) & 0x000000ff); // MSG ID(2)
- packet[5] = (sizeof(struct ucart_vrpn_TrackerData) & 0x000000ff); // DATALEN(1)
- packet[6] = ((sizeof(struct ucart_vrpn_TrackerData) >> 8) & 0x00000ff); // DATALEN(2)
- memcpy(&packet[7], &info, sizeof(struct ucart_vrpn_TrackerData));
+ packet[5] = (28 & 0x000000ff); // DATALEN(1)
+ packet[6] = ((28) >> 8 & 0x00000ff); // DATALEN(2)
+ //memcpy(&packet[7], &info, sizeof(struct ucart_vrpn_TrackerData));
+
+ memset(&packet[7], 0, 4);
+ memcpy(&packet[11], &info[4], 4);
+ memcpy(&packet[15], &info[0], 4);
+ memcpy(&packet[19], &info[8], 4);
+ memcpy(&packet[23], &info[16], 4);
+ memcpy(&packet[27], &info[12], 4);
+ memcpy(&packet[31], &info[20], 4);
char checksum = 0;
int i;
@@ -363,6 +371,7 @@ void sendVrpnPacket(struct ucart_vrpn_TrackerData *info) {
perror("vrpnhandler: ERROR writing to socket");
keepRunning = 0;
}
+
struct timeval tstart;
gettimeofday(&tstart, NULL);
timeArr[currMessageID%MAX_HASH_SIZE] = tstart;
@@ -766,7 +775,8 @@ void findTimeDiff(int respID) {
struct timeval result, tend;
gettimeofday(&tend, NULL);
timeval_subtract(&result, &tend, &timeArr[respID%MAX_HASH_SIZE]);
- printf("elapsed time = %ld ms\n", result.tv_usec/1000);
+ printf("(BackEnd): Elapsed time = %ld ms\n", result.tv_usec/1000);
+ // printf("print to log\n");
// char tmp[8];
// snprintf(tmp, 8, "%ld \tms\n", result.tv_usec/1000);
// writeStringToLog(tmp);
--
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