diff --git a/quad/scripts/tcp_stress_tests.py b/quad/scripts/tcp_stress_tests.py
new file mode 100644
index 0000000000000000000000000000000000000000..7619a75147ea695fee2b444fc53ba0744c169313
--- /dev/null
+++ b/quad/scripts/tcp_stress_tests.py
@@ -0,0 +1,85 @@
+import socket
+import time
+import uart_stress_tests
+
+TCP_IP = "192.168.1.1"
+TCP_PORT = 8080
+
+send_delay = 0.001
+TEST_ITERS = 100000
+REPORT_STEP = int(TEST_ITERS / 10)
+payload_size = 28
+
+received = []
+def read_n(n_to_read):
+ global received
+ while len(received) < n_to_read:
+ try:
+ just_received = sock.recv(1024)
+ if len(just_received) == 0:
+ print("Socket broken")
+ quit()
+ received.extend(just_received)
+ except:
+ pass
+ to_ret = bytes(received[0:n_to_read])
+ received = received[n_to_read:]
+ return to_ret
+
+def read_packet(raw=False):
+ header = read_n(7)
+ length = int.from_bytes(header[5:7], byteorder='little')
+ data = read_n(length)
+ checksum = read_n(1)
+ if raw:
+ return header + data + checksum
+ else:
+ return data
+
+def get_quad_status():
+ print("Getting quad status...")
+ query_msg = uart_stress_tests.create_msg(2, 0, b'')
+ sock.send(query_msg)
+ resp = read_packet()
+ return uart_stress_tests.parse_query_response(resp)
+ print("Got quad status")
+
+
+if __name__ == '__main__':
+ # connect
+ print("Connecting...")
+ sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ sock.settimeout(2)
+ try:
+ sock.connect((TCP_IP, TCP_PORT))
+ sock.setblocking(True)
+ except:
+ print("Failed to connect")
+ quit()
+ print("connected")
+
+ initial_status = get_quad_status()
+
+ message = uart_stress_tests.create_test_packet(payload_size)
+ overall_start_time = time.perf_counter()
+ for i in range(TEST_ITERS):
+ if i % REPORT_STEP == 0:
+ print("Sent {} messages".format(i))
+ start_time = time.perf_counter()
+ sock.send(message)
+ # Busy waiting
+ # to_sleep_for = send_delay - (time.time() - start_time)
+ # if to_sleep_for > 1e-6:
+ # time.sleep(to_sleep_for)
+ while (time.perf_counter() - start_time <= send_delay):
+ pass
+ # Reporting
+ avg_time = (time.perf_counter() - overall_start_time) / TEST_ITERS
+ print("Average send time was {}".format(avg_time))
+
+ after_status = get_quad_status()
+ diff_messages = after_status[0] - initial_status[0]
+ diff_payload = after_status[1] - initial_status[1]
+ print("Sent {} messages, total payload of {}".format(TEST_ITERS, TEST_ITERS*payload_size))
+ print("Recv {} messages, total payload of {}".format(diff_messages, diff_payload))
+ print("Lost {} messages, {} bytes".format(TEST_ITERS - diff_messages, (TEST_ITERS*payload_size) - diff_payload))
diff --git a/quad/scripts/stress_tests.py b/quad/scripts/uart_stress_tests.py
similarity index 97%
rename from quad/scripts/stress_tests.py
rename to quad/scripts/uart_stress_tests.py
index b038c8af18a2a29245afc4773ef226b2a67dd7b9..ecbb27b246b7732cd514aa2299f7eb575d8b00ce 100755
--- a/quad/scripts/stress_tests.py
+++ b/quad/scripts/uart_stress_tests.py
@@ -14,7 +14,7 @@ def create_msg(msg_type, msg_id, data):
msg += msg_id.to_bytes(2, 'little')
msg += len(data).to_bytes(2, 'little')
msg += data
-
+
checksum = 0
for b in msg:
checksum ^= b
@@ -35,6 +35,13 @@ def read_packet(ser, raw=False):
else:
return data
+def parse_query_response(data):
+ received_str = data[:-1].decode('ascii')
+ if len(received_str) == 0:
+ print("Timed out")
+ return (-1,-1)
+ return tuple(map(int, received_str.split(',')))
+
def query_received(ser):
# Send request
query_msg = create_msg(2, 0, b'')
@@ -42,11 +49,7 @@ def query_received(ser):
ser.flush()
sleep(0.1)
resp = read_packet(ser)
- received_str = resp[:-1].decode('ascii')
- if len(received_str) == 0:
- print("Timed out")
- return (-1,-1)
- return tuple(map(int, received_str.split(',')))
+ return parse_query_response(resp)
def check_test(ser, n_sent, size_sent, old_status):
new_n, new_size = query_received(ser)
@@ -68,7 +71,7 @@ def test_checksum(ser):
computed_checksum = 0
for i in range(len(raw_data) - 1):
computed_checksum ^= raw_data[i]
-
+
valid = computed_checksum == given_checksum
ret_status = query_received(ser)
if not valid:
@@ -124,27 +127,26 @@ def test_get_set(ser):
resp_cntl = resp[0]
resp_cnst = resp[1]
resp_val = struct.unpack('f', resp[2:6])[0]
-
+
if resp_cntl != cntl_id or resp_cnst != const_id or abs(resp_val - to_set) > 1e-5:
- print("Failed get/set test. Expected controller " +
+ print("Failed get/set test. Expected controller " +
str(cntl_id) + ", constant " + str(const_id) + ", value " + str(to_set))
print(" Received " + str(resp_cntl) + ", constant " + str(resp_cnst) + ", value " + str(resp_val))
passed = False
ret_status = query_received(ser)
return passed, ret_status
-
+
if __name__ == '__main__':
with serial.Serial('/dev/ttyUSB0', 921600, timeout=5) as ser:
ser.reset_input_buffer()
while (ser.in_waiting != 0):
ser.read()
status = query_received(ser)
-
+
passed, status = test_partial_packet(ser, status)
passed, status = test_blast(ser, status)
passed, status = test_blast(ser, status, 150, 80)
passed, status = test_bad_checksum(ser, status)
passed, status = test_checksum(ser)
passed, status = test_get_set(ser)
-