watchrobot/modules/mavlink/pymavlink/examples/bwtest.py

#!/usr/bin/env python

'''
check bandwidth of link
'''
from __future__ import print_function
import time

from pymavlink import mavutil

#using argparse to receive options from the command line
from argparse import ArgumentParser
parser = ArgumentParser(description=__doc__)

parser.add_argument("--baudrate", type=int,
                  help="master port baud rate", default=115200)
parser.add_argument("--device", required=True, help="serial device")
args = parser.parse_args()

### MAV related code starts here ###

# create a mavlink serial instance
master = mavutil.mavlink_connection(args.device, baud=args.baudrate)

t1 = time.time()

counts = {}

bytes_sent = 0
bytes_recv = 0

while True:
    #send some messages to the target system with dummy data
    master.mav.heartbeat_send(1, 1)
    master.mav.sys_status_send(1, 2, 3, 4, 5, 6, 7)
    master.mav.gps_raw_send(1, 2, 3, 4, 5, 6, 7, 8, 9)
    master.mav.attitude_send(1, 2, 3, 4, 5, 6, 7)
    master.mav.vfr_hud_send(1, 2, 3, 4, 5, 6)

    #Check for incoming data on the serial port and count
    #how many mesages of each type have been received
    while master.port.inWaiting() > 0:
        #recv_msg will try parsing the serial port buffer
        #and return a new message if available
        m = master.recv_msg()

        if m is None: break  #No new message
        
        if m.get_type() not in counts:
        #if no messages of this type received, add this type to the counts dict
            counts[m.get_type()] = 0

        counts[m.get_type()] += 1

    #Print statistics every second
    t2 = time.time()
    if t2 - t1 > 1.0:
        print("%u sent, %u received, %u errors bwin=%.1f kB/s bwout=%.1f kB/s" % (
            master.mav.total_packets_sent,
            master.mav.total_packets_received,
            master.mav.total_receive_errors,
            0.001*(master.mav.total_bytes_received-bytes_recv)/(t2-t1),
            0.001*(master.mav.total_bytes_sent-bytes_sent)/(t2-t1)))
        bytes_sent = master.mav.total_bytes_sent
        bytes_recv = master.mav.total_bytes_received
        t1 = t2