67 lines
2.0 KiB
Python
67 lines
2.0 KiB
Python
#!/usr/bin/env python
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'''
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check bandwidth of link
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'''
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from __future__ import print_function
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import time
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from pymavlink import mavutil
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#using argparse to receive options from the command line
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from argparse import ArgumentParser
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parser = ArgumentParser(description=__doc__)
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parser.add_argument("--baudrate", type=int,
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help="master port baud rate", default=115200)
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parser.add_argument("--device", required=True, help="serial device")
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args = parser.parse_args()
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### MAV related code starts here ###
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# create a mavlink serial instance
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master = mavutil.mavlink_connection(args.device, baud=args.baudrate)
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t1 = time.time()
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counts = {}
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bytes_sent = 0
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bytes_recv = 0
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while True:
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#send some messages to the target system with dummy data
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master.mav.heartbeat_send(1, 1)
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master.mav.sys_status_send(1, 2, 3, 4, 5, 6, 7)
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master.mav.gps_raw_send(1, 2, 3, 4, 5, 6, 7, 8, 9)
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master.mav.attitude_send(1, 2, 3, 4, 5, 6, 7)
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master.mav.vfr_hud_send(1, 2, 3, 4, 5, 6)
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#Check for incoming data on the serial port and count
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#how many messages of each type have been received
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while master.port.inWaiting() > 0:
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#recv_msg will try parsing the serial port buffer
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#and return a new message if available
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m = master.recv_msg()
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if m is None: break #No new message
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if m.get_type() not in counts:
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#if no messages of this type received, add this type to the counts dict
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counts[m.get_type()] = 0
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counts[m.get_type()] += 1
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#Print statistics every second
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t2 = time.time()
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if t2 - t1 > 1.0:
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print("%u sent, %u received, %u errors bwin=%.1f kB/s bwout=%.1f kB/s" % (
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master.mav.total_packets_sent,
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master.mav.total_packets_received,
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master.mav.total_receive_errors,
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0.001*(master.mav.total_bytes_received-bytes_recv)/(t2-t1),
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0.001*(master.mav.total_bytes_sent-bytes_sent)/(t2-t1)))
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bytes_sent = master.mav.total_bytes_sent
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bytes_recv = master.mav.total_bytes_received
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t1 = t2
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