def bandwidth_latency_loss_test(self, direction, bw_tx, bw_limit, latency, loss,
expected_bw = None, expected_loss = None, expected_latency = None):
self.reset_tc_rules_via_dynreconf()
config = self.dynclient.update_configuration({ "bandwidth_" + direction: bw_limit,
"latency_" + direction: latency,
"loss_" + direction: loss })
self.assertTrue(config['status'] == "OK",
"Operation FAILed: " + config['errmsg'])
test = self.srcnode.create_test(bw = bw_tx, pktsize = 1500, duration = 5.0,
sink_ip = "127.0.0.1", sink_port = 12345,
bw_type = LinktestGoal.BW_CONSTANT, max_return_time = 0.01)
test.start()
time.sleep(5.5)
self.assertTrue(test.done, "Test should have finished already")
(expected_bw, expected_latency, expected_loss) = get_projected_link_metrics(bw_limit, latency, loss, 1500.0, bw_tx)
print "bw_limit: ", bw_limit, "loss: ", loss, "latency: ", latency, "bw_tx: ", bw_tx
print "meas_bw: ", test.bandwidth.avg(), " meas_latency: ", test.latency.avg()*1e3, " meas_loss: ", test.loss.avg()
print "exp_bw", expected_bw, " exp_latency: ", expected_latency * 1e3, " exp_loss: ", expected_loss
self.assertTrue(test.bandwidth.avg() > expected_bw * 0.75 and test.bandwidth.avg() < expected_bw * 1.25,
"Expected measured bandwidth to be ~%.2fMbit/s, instead it was %.2fMbit/s"%
(expected_bw/1e6, test.bandwidth.avg()/1e6))
self.assertTrue(test.latency.avg() > expected_latency - 0.015 and test.latency.avg() < expected_latency + 0.015,
"Expected latency to be ~%.2fms, instead it was %.2fms"%
(expected_latency * 1e3, test.latency.avg() * 1e3))
self.assertTrue((test.loss.avg() < 4.0 and expected_loss < 2.0) or
(test.loss.avg() > expected_loss - 10.0 and test.latency.avg() < expected_loss + 10.0),
"Expected loss to be ~%.2f%%, instead it was %.2f%%"%
(expected_loss, test.loss.avg()))
def measure_link(tx_bandwidth, bandwidth_limit, latency, loss,
packet_size, max_allowed_latency, max_return_time,
sink_ip, direction, duration):
(proj_bandwidth, proj_latency, proj_loss) = get_projected_link_metrics(bandwidth_limit, latency, loss, \
packet_size, tx_bandwidth)
if proj_latency > max_allowed_latency:
rospy.logerr("Max allowed latency %.2fms is smaller than projected latency %.2fms,"
"results will be flawed, exiting", max_allowed_latency * 1e3, proj_latency * 1e3)
exit(1)
dynclient = dynamic_reconfigure.client.Client("tc")
config = dynclient.update_configuration({"bandwidth_egress" : 0.0, "bandwidth_ingress" : 0.0,
"latency_egress" : 0.0, "latency_ingress" : 0.0,
"loss_egress" : 0.0, "loss_ingress" : 0.0 })
if config['status'] != "OK":
rospy.logerr("Initalizing tc node failed: " + config['errmsg'])
exit(1)
config = dynclient.update_configuration({"bandwidth_" + direction: bandwidth_limit,
"latency_" + direction: latency,
"loss_" + direction: loss })
if config['status'] != "OK":
rospy.logerr("Setting tc node config failed: " + config['errmsg'])
srcnode = UdpmonsourceHandle('performance_test')
test = srcnode.create_test(bw = tx_bandwidth, pktsize = packet_size, duration = duration,
sink_ip = sink_ip, sink_port = 12345,
bw_type = LinktestGoal.BW_CONSTANT, max_return_time = max_return_time,
latencybins = [ max_allowed_latency/4, max_allowed_latency/2, max_allowed_latency])
test.start()
time.sleep(duration + 0.5)
rospy.loginfo("Link measurement completed!")
rospy.loginfo("Link parameters: bandwidth_limit %.2fkbit/s latency %.2fms loss %.2f%% tx_bandwidth %.2fkbit/s\n"
" packet_size %dbytes max_allowed_latency %.2fms max_return_time %.2fms\n"
" direction %s duration %.2fs",
bandwidth_limit/1e3, latency*1e3, loss, tx_bandwidth/1e3, packet_size, max_allowed_latency*1e3,
max_return_time*1e3, direction, duration)
rospy.loginfo("\nRESULTS: measured_bandwidth %.2fkbit/s measured_latency %.2fms measured_loss %.2f%%",
test.bandwidth.avg()/1e3, test.latency.avg() * 1e3, test.loss.avg())
def measure_link(
tx_bandwidth,
bandwidth_limit,
latency,
loss,
packet_size,
max_allowed_latency,
max_return_time,
sink_ip,
direction,
duration,
):
(proj_bandwidth, proj_latency, proj_loss) = get_projected_link_metrics(
bandwidth_limit, latency, loss, packet_size, tx_bandwidth
)
if proj_latency > max_allowed_latency:
rospy.logerr(
"Max allowed latency %.2fms is smaller than projected latency %.2fms," "results will be flawed, exiting",
max_allowed_latency * 1e3,
proj_latency * 1e3,
)
exit(1)
dynclient = dynamic_reconfigure.client.Client("tc")
config = dynclient.update_configuration(
{
"bandwidth_egress": 0.0,
"bandwidth_ingress": 0.0,
"latency_egress": 0.0,
"latency_ingress": 0.0,
"loss_egress": 0.0,
"loss_ingress": 0.0,
}
)
if config["status"] != "OK":
rospy.logerr("Initalizing tc node failed: " + config["errmsg"])
exit(1)
config = dynclient.update_configuration(
{"bandwidth_" + direction: bandwidth_limit, "latency_" + direction: latency, "loss_" + direction: loss}
)
if config["status"] != "OK":
rospy.logerr("Setting tc node config failed: " + config["errmsg"])
srcnode = UdpmonsourceHandle("performance_test")
test = srcnode.create_test(
bw=tx_bandwidth,
pktsize=packet_size,
duration=duration,
sink_ip=sink_ip,
sink_port=12345,
bw_type=LinktestGoal.BW_CONSTANT,
max_return_time=max_return_time,
latencybins=[max_allowed_latency / 4, max_allowed_latency / 2, max_allowed_latency],
)
test.start()
time.sleep(duration + 0.5)
rospy.loginfo("Link measurement completed!")
rospy.loginfo(
"Link parameters: bandwidth_limit %.2fkbit/s latency %.2fms loss %.2f%% tx_bandwidth %.2fkbit/s\n"
" packet_size %dbytes max_allowed_latency %.2fms max_return_time %.2fms\n"
" direction %s duration %.2fs",
bandwidth_limit / 1e3,
latency * 1e3,
loss,
tx_bandwidth / 1e3,
packet_size,
max_allowed_latency * 1e3,
max_return_time * 1e3,
direction,
duration,
)
rospy.loginfo(
"\nRESULTS: measured_bandwidth %.2fkbit/s measured_latency %.2fms measured_loss %.2f%%",
test.bandwidth.avg() / 1e3,
test.latency.avg() * 1e3,
test.loss.avg(),
)
