Merge branch 'controller-network' of git.ece.iastate.edu:danc/MicroCART_17-18...

Merge branch 'controller-network' of git.ece.iastate.edu:danc/MicroCART_17-18 into controller-network

groundStation/src/backend/backend.c

@@ -422,6 +422,13 @@ int connectToZybo() {
 		printf("Connecting to Quad @ %s:%u\n", inet_ntoa(addr.sin_addr), ntohs(addr.sin_port));
 
 		status = connect(sock, (struct sockaddr *)&addr, sizeof(addr));
+
+		int flag = 1;
+		int result = setsockopt(sock,    /* socket affected */
+                        IPPROTO_TCP,     /* set option at TCP level */
+                        TCP_NODELAY,     /* name of option */
+                        (char *) &flag,  /* the cast is historical cruft */
+                        sizeof(int));    /* length of option value */
 	}
 
 	// connection failed

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)