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feat: add latency_tester to test comms latency

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David
2025-09-10 23:00:40 -05:00
parent abcb9b9a4d
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27
src/latency_tester/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(latency_tester)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
# Add embedded ping node
add_executable(embedded_ping src/embedded_ping.cpp)
ament_target_dependencies(embedded_ping rclcpp std_msgs)
install(TARGETS
embedded_ping
DESTINATION lib/${PROJECT_NAME}
)
ament_package()

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src/latency_tester/LICENSE Normal file
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src/latency_tester/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>latency_tester</name>
<version>0.0.0</version>
<description>Tests latency in ASTRA's comms.</description>
<maintainer email="ds0196@uah.edu">David</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>std_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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src/latency_tester/src/embedded_ping.cpp Normal file
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#include <chrono>
#include <functional>
#include <memory>
#include <string>
#include <iomanip>
#include <locale>
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
using namespace std::chrono_literals;
/**
* `input` into `args` separated by `delim`; equivalent to Python's `.split`;
* Example: "ctrl,led,on" => `{"ctrl","led","on"}`
* @param input String to be separated
* @param delim char which separates parts of input
* @author David Sharpe, for ASTRA
* @deprecated Use function without delim parameter
*/
std::vector<std::string> split(const std::string& input, const char delim = ',');
class LatencyTester : public rclcpp::Node
{
public:
LatencyTester()
: Node("latency_tester"), count_(0), target_mcu_("core")
{
publisher_ = this->create_publisher<std_msgs::msg::String>("/anchor/relay", 10);
timer_ = this->create_wall_timer(
1000ms, std::bind(&LatencyTester::timer_callback, this));
subscriber_ = this->create_subscription<std_msgs::msg::String>(
"/anchor/debug",
10,
std::bind(&LatencyTester::response_callback, this, std::placeholders::_1));
}
private:
void timer_callback() // Send ping to embedded at 1 Hz
{
auto message = std_msgs::msg::String();
message.data = "core_relay_tovic," + target_mcu_ + ",1," + std::to_string(count_++) + '\n';
publisher_->publish(message);
RCLCPP_INFO(this->get_logger(), "Sending ping #%ld to %s", count_, target_mcu_.c_str());
last_send_stamp_ = this->get_clock()->now();
}
void response_callback(const std_msgs::msg::String::SharedPtr msg)
{
auto now = this->now();
std::vector<std::string> args = split(msg->data, ',');
if (args.size() < 3 || args[0] != "can_relay_fromvic" || args[2] != "1")
return;
if (args[1] != target_mcu_) {
RCLCPP_INFO(this->get_logger(), "Received pong from different MCU: %s", args[1].c_str());
return;
}
RCLCPP_INFO(this->get_logger(), "Received pong from %s after %lf ms", target_mcu_.c_str(),
(now - last_send_stamp_).nanoseconds() / 1000000.0);
}
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscriber_;
rclcpp::TimerBase::SharedPtr timer_;
size_t count_;
rclcpp::Time last_send_stamp_;
std::string target_mcu_;
};
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<LatencyTester>());
rclcpp::shutdown();
return 0;
}
std::vector<std::string> split(const std::string& input, const char delim) {
// Modified from
// https://stackoverflow.com/questions/14265581/parse-split-a-string-in-c-using-string-delimiter-standard-c
std::vector<std::string> args;
// if empty input for some reason, don't do anything
if (input.length() == 0)
return args;
size_t last = 0;
size_t next = 0;
while ((next = input.find(delim, last)) != std::string::npos)
{
args.push_back(input.substr(last, next-last));
last = next + 1;
}
args.push_back(input.substr(last));
return args;
}