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Micro RTPS 吞吐量测试

This a simple test to measure the throughput of the PX4-FastRTPS Bridge. It sends and receives 256-byte messages (simultaneously) at maximum rate, and then outputs the result. 最大速率下，同时收发 256 字节的报文，并且输出结果。

First create a new uORB message for this test in the folder /Firmware/msg/. The message file will be called throughput_256.msg and have the following content: 可以命名为 throughput_256.msg 并包含如下内容：

使用 uORB 报文

First create a new uORB message for this test in the folder /PX4-Autopilot/msg/. The message file will be called throughput_256.msg and have the following content:

uint8[256] data

Register the new message adding it to the list of messages in the file: /Firmware/msg/CMakeLists.txt:

cd /path/to/PX4/Firmware/msg
echo uint8[256] data > throughput_256.msg

Give the message a topic id by adding a line in the /Firmware/Tools/message_id.py script:

...
...
wind_estimate.msg
throughput_256.msg
)
...

找到对应的目标平台（cmake/configs/），通过设置 .cmake 文件中的变量 GENERATE_RTPS_BRIDGE 来禁用自动桥接代码生成（作为 PX4 构建进程的一部分）：

...
    ...
    'wind_estimate': 94,
    'throughput_256': 95,
}
...

禁用自动桥接代码生成

使用 generate_microRTPS_bridge.py 手动生成桥接代码（代码会发送和接收我们刚刚加入的 throughput_256 uORB 话题报文）：

set(GENERATE_RTPS_BRIDGE off)

生成桥接代码

Client 源代码生成在 src/modules/micrortps_bridge/micrortps_client/，Agent 则在 src/modules/micrortps_bridge/micrortps_agent/。

cd /path/to/PX4/Firmware
python Tools/generate_microRTPS_bridge.py --send msg/throughput_256.msg --receive msg/throughput_256.msg

The Client source code is generated in src/modules/micrortps_bridge/micrortps_client/ and the Agent in src/modules/micrortps_bridge/micrortps_agent/.

更改客户端代码

Open the file src/modules/micrortps_bridge/micrortps_client/microRTPS_client.cpp. Update the while loop in the send() function to look like this: 更新 send() 函数中的 while 循环，使其如下所示:

Open the file src/modules/micrortps_bridge/micrortps_client/microRTPS_client.cpp. Update the while loop in the send() function to look like this:

...
...
while (!_should_exit_task)
{
    //bool updated;
    //orb_check(fds[0], &updated);
    //if (updated)
    {
        // obtained data for the file descriptor
        struct throughput_256_s data = {};
        // copy raw data into local buffer
        //orb_copy(ORB_ID(throughput_256), fds[0], &data);
        data.data[0] = loop%256;
        serialize_throughput_256(&data, data_buffer, &length, &microCDRWriter);
        if (0 < (read = transport_node->write((char)95, data_buffer, length)))
        {
            total_sent += read;
            ++sent;
        }
    }
     usleep(_options.sleep_ms*1000);
    ++loop;
}
...

The test was executed with PX4 running on Pixracer, connected via a UART to an ordinary PC running Ubuntu 16.04. The default configuration was used for both the Client/Agent. 默认配置用于两个客户/代理。 As the Agent is an RTPS publisher and subscriber, it will automatically get notified of the RTPS messages it sends, and will then mirror these back to the client. :::

吞吐量可以在 shell 窗口中观察到的结果如下：

结果

The test was executed with PX4 running on Pixracer, connected via a UART to an ordinary PC running Ubuntu 16.04. The default configuration was used for both the Client/Agent.

The throughput that was observed in the client shell window on completion is shown below:

SENT:     13255 messages in 13255 LOOPS, 3512575 bytes in 30.994 seconds - 113.33KB/s
RECEIVED: 13251 messages in 10000 LOOPS, 3511515 bytes in 30.994 seconds - 113.30KB/s