Switched WiFi timing script to perf_counter and enabled TCP_NODELAY

wifi_bridge/test_scripts/tcp_timer.py

@@ -8,7 +8,7 @@ TCP_PORT = 8080
 
 # sock.bind(('', UDP_PORT))
 
-message = bytes(range(32))
+message = bytes(range(36))
 times_full = []
 times_network = []
 times = [0.0]*100
@@ -19,6 +19,7 @@ recvd_data = []
 for i in range(100):
     if dropped:
         sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
         sock.settimeout(2)
         sock.connect((TCP_IP, TCP_PORT))
         dropped = False
@@ -26,9 +27,8 @@ for i in range(100):
     send_msg[0] = i
     send_msg = bytes(send_msg)
 
-    send_time = time.clock()
+    send_time = time.perf_counter()
     times[i] = send_time
-    # send_time = time.clock()
     sock.send(send_msg)
     try:
         response = sock.recv(1024)
@@ -36,10 +36,10 @@ for i in range(100):
     except:
         print("timed out")
         dropped = True
-    if len(recvd_data) >= 32:
-        end_time = time.clock()
-        response = bytes(recvd_data[0:32])
-        recvd_data = recvd_data[32:]
+    if len(recvd_data) >= 36:
+        end_time = time.perf_counter()
+        response = bytes(recvd_data[0:36])
+        recvd_data = recvd_data[36:]
         msg_id = int(response[0])
         latency = end_time - times[msg_id]
         # serial_time = int.from_bytes(response[0:4], byteorder='big') / 1000
@@ -48,7 +48,8 @@ for i in range(100):
         times_full.append(1000 * latency)
         times_network.append(1000 * (end_time - send_time) - serial_time)
         print("received " + str(response) + " in " + str(times_full[-1]) + " from " + str(addr))
-        time.sleep(0.1)
+    while time.perf_counter() - send_time < 0.01:
+        pass
 
 # with open("tcp_dist.csv", 'w', newline='') as f:
 #     writer = csv.writer(f)