final update

1toN/tower.py

@@ -37,7 +37,7 @@ def on_publish(self, userdata, mid):
 
 
 connect_flag = False
-mqtt_config = {"host": "192.168.50.81", "port": 1883, "topic": "cmd/broadcast", "name": "Tower"}
+mqtt_config = {"host": "192.168.50.117", "port": 1883, "topic": "cmd/broadcast", "name": "Tower"}
 client = initialise_clients(mqtt_config["name"])
 client.on_publish = on_publish
 client.on_connect = on_connect

Stream/experiment/RTL_test/MQTT_measure_rtl/delayClientA_PUB.py

@@ -3,7 +3,6 @@
 import paho.mqtt.client as mqtt
 import os
 import sys
-import time
 import utils
 import argparse
 import proto.flyformatioln_pb2 as flyformatioln_pb2
@@ -11,6 +10,12 @@ import logging
 from utils.protoJson_delayClientA_PUB import Json_msg
 from utils.protoJson_delayClientA_PUB import Proto_msg
 
+if sys.version_info >= (3, 7):
+    import time
+    time_function = time.perf_counter_ns
+else:
+    import time
+    time_function = time.perf_counter
 
 
 def init_dataFormat(cfg:utils.Read_delayA_PUB_Config):
@@ -19,12 +24,14 @@ def init_dataFormat(cfg:utils.Read_delayA_PUB_Config):
         Proto_msg.client = client
         Proto_msg.qos = cfg.qos
         Proto_msg.Delay_topicToMqtt_PUB = cfg.Delay_topicToMqtt_PUB
+        Proto_msg.timefunction = time_function
         cfg.logFileName = "Proto" + cfg.logFileName
         pubFun = Proto_msg.callBack_gps
     elif cfg.msg_format == "Json":
         Json_msg.client = client
         Json_msg.qos = cfg.qos
         Json_msg.Delay_topicToMqtt_PUB = cfg.Delay_topicToMqtt_PUB
+        Json_msg.timefunction = time_function
         cfg.logFileName = "Json" + cfg.logFileName
         pubFun = Json_msg.callBack_gps
     else:

Stream/experiment/RTL_test/MQTT_measure_rtl/delayClientA_SUB.py

@@ -11,12 +11,22 @@ from utils.protoJson_delayClientA_SUB import Json_msg
 from utils.protoJson_delayClientA_SUB import Proto_msg
 import argparse
 
+
+if sys.version_info >= (3, 7):
+    import time
+    time_function = time.perf_counter_ns
+else:
+    import time
+    time_function = time.perf_counter
+
 def init_dataFormat(cfg:utils.Read_delayB_SUB_Config):
     if cfg.msg_format == "Proto":
         Proto_msg.flight_information_msg = flight_information_pb2.flight_information_message()
+        Proto_msg.timefunction = time_function
         client.on_message = Proto_msg.on_message
         cfg.logFileName = "Proto" + cfg.logFileName
     elif cfg.msg_format == "Json":
+        Json_msg.timefunction = time_function
         client.on_message = Json_msg.on_message
         cfg.logFileName = "Json" + cfg.logFileName
     else:

Stream/experiment/RTL_test/MQTT_measure_rtl/delayClientB.py

@@ -11,12 +11,20 @@ import logging
 from utils.protoJson_delayClientB_SUB import Json_msg
 from utils.protoJson_delayClientB_SUB import Proto_msg
 
+if sys.version_info >= (3, 7):
+    import time
+    time_function = time.perf_counter_ns
+else:
+    import time
+    time_function = time.perf_counter
+
 def init_dataFormat(cfg:utils.Read_delayB_SUB_Config):
     if cfg.msg_format == "Proto":
         Proto_msg.qos = cfg.qos
         Proto_msg.flight_information_msg = flight_information_pb2.flight_information_message()
         Proto_msg.fly_formation_msg = flyformatioln_pb2.fly_formation_message()
         Proto_msg.client = client
+        Proto_msg.timefunction = time_function
         client.on_message = Proto_msg.on_message
         cfg.logFileName = "Proto" + cfg.logFileName
 
@@ -25,6 +33,7 @@ def init_dataFormat(cfg:utils.Read_delayB_SUB_Config):
         client.on_message = Json_msg.on_message
         Json_msg.qos = cfg.qos
         Json_msg.client = client
+        Json_msg.timefunction = time_function
         Json_msg.Delay_topicToMqtt_PUB = cfg.Delay_topicToMqtt_PUB
         cfg.logFileName = "Json" + cfg.logFileName
     else:

Stream/experiment/RTL_test/MQTT_measure_rtl/delayData/HiveMQ/qos0/qos0_json_results.csv

@@ -0,0 +1,2 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile
+0.0011079058506036218,0.0018572315,0.000286245,0.0014205115,0.0015167701250000001,0.000545408125

Stream/experiment/RTL_test/MQTT_measure_rtl/delayData/HiveMQ/qos0/qos0_proto_results.csv

@@ -0,0 +1,2 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile
+0.0005457205640096619,0.001139727,0.0002876795,0.00051187875,0.0005749995,0.00045968224999999997

Stream/experiment/RTL_test/MQTT_measure_rtl/delayData/HiveMQ/qos1/qos1_json_results.csv

@@ -0,0 +1,2 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile
+0.0012001110130653266,0.0034074005,0.000345575,0.001500469,0.00172731725,0.0005705307499999999

Stream/experiment/RTL_test/MQTT_measure_rtl/delayData/HiveMQ/qos1/qos1_proto_results.csv

@@ -0,0 +1,2 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile
+0.013397842829081632,0.0331875965,0.001426374,0.01344988275,0.0188322975,0.007942993249999999

Stream/experiment/RTL_test/MQTT_measure_rtl/delayData/HiveMQ/qos2/qos2_json_results.csv

@@ -0,0 +1,2 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile
+0.001260704516566265,0.0039373875,0.0003931045,0.0008594622499999999,0.0020480373749999998,0.000682258875

Stream/experiment/RTL_test/MQTT_measure_rtl/delayData/HiveMQ/qos2/qos2_proto_results.csv

@@ -0,0 +1,2 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile
+0.0005831447831603229,0.000865469,0.0003739,0.000583445,0.00063134825,0.00052823

Stream/experiment/RTL_test/MQTT_measure_rtl/delayData/Mosquitto/qos0/qos0_json_results.csv

@@ -0,0 +1,2 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile
+0.005515400321608041,0.0061309,0.005168977,0.0054042765,0.00579784425,0.00529582325

Stream/experiment/RTL_test/MQTT_measure_rtl/delayData/Mosquitto/qos0/qos0_proto_results.csv

@@ -0,0 +1,2 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile
+0.005461257827760892,0.005944553,0.0052150925,0.0054043055,0.005570279250000001,0.0053312875

Stream/experiment/RTL_test/MQTT_measure_rtl/delayData/Mosquitto/qos1/qos1_json_results.csv

@@ -0,0 +1,2 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile
+0.00036498601191765987,0.0007573845,0.0001645325,0.0003141375,0.00040260425,0.00028477250000000004

Stream/experiment/RTL_test/MQTT_measure_rtl/delayData/Mosquitto/qos1/qos1_proto_results.csv

@@ -0,0 +1,2 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile
+0.0003217815603948896,0.000564259,0.000163318,0.000304936,0.0003428775,0.0002812645

Stream/experiment/RTL_test/MQTT_measure_rtl/delayData/Mosquitto/qos2/qos2_json_results.csv

@@ -0,0 +1,2 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile
+0.005564575094094093,0.0063683505,0.0052167295,0.0054022075,0.005892462249999999,0.005326162

Stream/experiment/RTL_test/MQTT_measure_rtl/delayData/Mosquitto/qos2/qos2_proto_results.csv

@@ -0,0 +1,2 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile
+0.0055140315180180165,0.006291591,0.0052090165,0.005368706,0.00570384675,0.00531522075

Stream/experiment/RTL_test/MQTT_measure_rtl/delayData/measureDelay.py

@@ -11,6 +11,12 @@ def checkNumberofLines(df):
     else:
         return True
 
+def remove_outliers(df):
+    Q1 = df.quantile(0.25)
+    Q3 = df.quantile(0.75)
+    IQR = Q3 - Q1
+    df_out = df[~((df < (Q1 - 1.5 * IQR)) | (df > (Q3 + 1.5 * IQR))).any(axis=1)]
+    return df_out
 
 if __name__ == "__main__":
     parser = argparse.ArgumentParser()
@@ -18,7 +24,6 @@ if __name__ == "__main__":
     parser.add_argument("-b", "--broker", type=str, default="HiveMQ", help="Broker", required=True)
     args = parser.parse_args() 
 
-    
     # read in the log file
     df_Proto_delayA_PUB = pd.read_csv(f"{args.broker}/qos{args.qos}/ProtodelayA_PUB.log", delim_whitespace=True, header=None, names=["count", "time"])
     df_Proto_delayA_SUB = pd.read_csv(f"{args.broker}/qos{args.qos}/ProtodelayA_SUB.log", delim_whitespace=True, header=None, names=["count", "time"])
@@ -28,7 +33,6 @@ if __name__ == "__main__":
     df_Json_delayA_SUB = pd.read_csv(f"{args.broker}/qos{args.qos}/JsondelayA_SUB.log", delim_whitespace=True, header=None, names=["count", "time"])
     df_Json_delayB_SUB = pd.read_csv(f"{args.broker}/qos{args.qos}/JsondelayB_SUB.log", delim_whitespace=True, header=None, names=["count", "time"])
     
-
     # check if the number of lines is correct
     checkNumberofLines(df_Proto_delayA_PUB)
     checkNumberofLines(df_Proto_delayA_SUB)
@@ -38,8 +42,12 @@ if __name__ == "__main__":
     checkNumberofLines(df_Json_delayB_SUB)
 
     # print the resulting DataFrame
-    diff_Proto_df = pd.DataFrame({"Difftime":(df_Proto_delayA_SUB["time"] - df_Proto_delayA_PUB["time"] - df_Proto_delayB_SUB["time"])/1e9})
-    diff_Json_df = pd.DataFrame({"Difftime":(df_Json_delayA_SUB["time"] - df_Json_delayA_PUB["time"] - df_Json_delayB_SUB["time"])/1e9})
+    diff_Proto_df = pd.DataFrame({"Difftime":(df_Proto_delayA_SUB["time"] - df_Proto_delayA_PUB["time"] - df_Proto_delayB_SUB["time"])/1e9/2})
+    diff_Json_df = pd.DataFrame({"Difftime":(df_Json_delayA_SUB["time"] - df_Json_delayA_PUB["time"] - df_Json_delayB_SUB["time"])/1e9/2})
+
+    # Remove outliers
+    diff_Proto_df = remove_outliers(diff_Proto_df)
+    diff_Json_df = remove_outliers(diff_Json_df)
 
     array_Proto = diff_Proto_df["Difftime"].to_numpy()
     array_Json = diff_Json_df["Difftime"].to_numpy()
@@ -47,10 +55,88 @@ if __name__ == "__main__":
     avg_Proto = np.average(array_Proto)
     avg_Json = np.average(array_Json)
 
-    fig = plt.figure()
-    # plt.plot(array_Proto, color="blue", label=f"Proto: {avg_Proto}")
-    plt.plot(array_Json, color="red", label=f"qos0:   {avg_Json}")
+    # Calculate statistics for Json
+    avg_latency_json = np.average(array_Json)
+    max_value_json = np.max(array_Json)
+    min_value_json = np.min(array_Json)
+    median_value_json = np.median(array_Json)
+    upper_quartile_json = np.percentile(array_Json, 75)
+    lower_quartile_json = np.percentile(array_Json, 25)
+
+    result_dict_json = {
+        "Average Latency": [avg_latency_json],
+        "Maximum Value": [max_value_json],
+        "Minimum Value": [min_value_json],
+        "Median": [median_value_json],
+        "Upper Quartile": [upper_quartile_json],
+        "Lower Quartile": [lower_quartile_json]
+    }
+
+    result_df_json = pd.DataFrame(result_dict_json)
+    result_df_json.to_csv(f"{args.broker}/qos{args.qos}/qos{args.qos}_json_results.csv", index=False)
+
+    # Calculate statistics for Proto
+    avg_latency_proto = np.average(array_Proto)
+    max_value_proto = np.max(array_Proto)
+    min_value_proto = np.min(array_Proto)
+    median_value_proto = np.median(array_Proto)
+    upper_quartile_proto = np.percentile(array_Proto, 75)
+    lower_quartile_proto = np.percentile(array_Proto, 25)
+
+    result_dict_proto = {
+        "Average Latency": [avg_latency_proto],
+        "Maximum Value": [max_value_proto],
+        "Minimum Value": [min_value_proto],
+        "Median": [median_value_proto],
+        "Upper Quartile": [upper_quartile_proto],
+        "Lower Quartile": [lower_quartile_proto]
+    }
+
+    result_df_proto = pd.DataFrame(result_dict_proto)
+    result_df_proto.to_csv(f"{args.broker}/qos{args.qos}/qos{args.qos}_proto_results.csv", index=False)
+
+
+
+
+    # Plot both arrays together
+    fig1 = plt.figure()
+    plt.plot(array_Json, color="red", label=f"Json:   {avg_Json}")
+    plt.plot(array_Proto, color="blue", label=f"Proto:   {avg_Proto}")
+    plt.legend()
+    plt.xlabel("Number of messages")
+    plt.ylabel("Delay (s)")
+    plt.savefig(f"{args.broker}/qos{args.qos}/qos{args.qos}_both.png", dpi=100)
+
+    # Plot Proto array alone
+    fig2 = plt.figure()
+    plt.plot(array_Proto, color="blue", label=f"Proto:   {avg_Proto}")
+    plt.legend()
+    plt.xlabel("Number of messages")
+    plt.ylabel("Delay (s)")
+    plt.savefig(f"{args.broker}/qos{args.qos}/qos{args.qos}_proto.png", dpi=100)
+
+    # Plot Json array alone
+    fig3 = plt.figure()
+    plt.plot(array_Json, color="red", label=f"Json:   {avg_Json}")
     plt.legend()
     plt.xlabel("Number of messages")
     plt.ylabel("Delay (s)")
-    plt.savefig(f"{args.broker}/qos{args.qos}/qos{args.qos}.png", dpi=100)
+    plt.savefig(f"{args.broker}/qos{args.qos}/qos{args.qos}_json.png", dpi=100)
+
+
+    
+
+    fig, ax = plt.subplots()
+    ax.boxplot(array_Json)
+    ax.set_title("Round Trip Latency")
+    ax.set_ylabel("Delay (s)")
+    ax.set_xticklabels(["Latency"])
+    plt.savefig(f"{args.broker}/qos{args.qos}/qos{args.qos}_Json_boxplot.png", dpi=100)
+
+    # fig, ax = plt.subplots()
+    # ax.boxplot(array_Proto)
+    # ax.set_title("Round Trip Latency")
+    # ax.set_ylabel("Delay (s)")
+    # ax.set_xticklabels(["Latency"])
+    # plt.savefig(f"{args.broker}/qos{args.qos}/qos{args.qos}_Proto_boxplot.png", dpi=100)
+

Stream/experiment/RTL_test/MQTT_measure_rtl/utils/protoJson_delayClientA_PUB.py

@@ -16,6 +16,7 @@ class Proto_msg:
     Delay_topicToMqtt_PUB = None
     count = 0
     qos = None
+    timefunction = None
 
     @classmethod
     def callBack_gps(cls):
@@ -46,7 +47,7 @@ class Proto_msg:
     @classmethod
      # publish a message
     def mqtt_Pub(cls, message:bytes, topics:str, waitForAck:bool=False)->None:
-        cls.timePub = time.perf_counter_ns()
+        cls.timePub = cls.timefunction()
         mid = cls.client.publish(topics, message, cls.qos)[1]
         logger.info("{}  {}".format(cls.count,cls.timePub))
         cls.count += 1
@@ -69,6 +70,7 @@ class Json_msg:
     Delay_topicToMqtt_PUB = None
     timePub = 0
     qos = None
+    timefunction = None
 
 
     @classmethod 
@@ -110,7 +112,7 @@ class Json_msg:
 
     @classmethod
     def mqtt_Pub(cls, message:str, topics:str, waitForAck:bool=False):
-        cls.timePub = time.perf_counter_ns()
+        cls.timePub = cls.timefunction()
         mid = cls.client.publish(topics, message, cls.qos)[1]
         logger.info("{}  {}".format(cls.count,cls.timePub))
         cls.count += 1

Stream/experiment/RTL_test/MQTT_measure_rtl/utils/protoJson_delayClientA_SUB.py

@@ -15,10 +15,11 @@ class Proto_msg:
 
     timeRcv = 0
     msgCounter = None
+    timefunction = None
 
     @classmethod
     def on_message(cls, client, userdata, msg):
-        cls.timeRcv = time.perf_counter_ns()
+        cls.timeRcv = cls.timefunction()
         cls.msgCounter = int(cls.flight_information_msg.FromString(msg.payload).heading)
         logger.info("{}  {}".format(cls.msgCounter, cls.timeRcv))
 
@@ -27,10 +28,10 @@ class Proto_msg:
 class Json_msg:
     timeRcv = 0
     msgCounter = None
-            
+    timefunction = None        
     @classmethod
     def on_message(cls, client, userdata, msg):
-        cls.timeRcv = time.perf_counter_ns()
+        cls.timeRcv = cls.timefunction()
         cls.msgCounter = orjson.loads(msg.payload)["count"]
         logger.info("{}  {}".format(cls.msgCounter, cls.timeRcv))
 

Stream/experiment/RTL_test/MQTT_measure_rtl/utils/protoJson_delayClientB_SUB.py

@@ -21,19 +21,19 @@ class Proto_msg:
     client = None
     timeRcv = 0
     timeRsp = 0
-
+    timefunction = None
     msgCounter = None
 
     @classmethod
     def mqtt_Pub(cls, msg, waitForAck:bool=False):
-        cls.timeRsp = time.perf_counter_ns()
+        cls.timeRsp = cls.timefunction()
         mid = cls.client.publish(cls.Delay_topicToMqtt_PUB, msg, cls.qos)[1]
         timeDiff = cls.timeRsp - cls.timeRcv
         logger.info("{}  {}".format(cls.msgCounter, timeDiff))
 
     @classmethod
     def on_message(cls, client, userdata, msg):
-        cls.timeRcv = time.perf_counter_ns()
+        cls.timeRcv = cls.timefunction()
         cls.msgCounter = int(cls.flight_information_msg.FromString(msg.payload).heading)
         cls.mqtt_Pub(msg=msg.payload)
 
@@ -45,12 +45,12 @@ class Json_msg:
     client = None
     timeRcv = 0
     timeRsp = 0
-
+    timefunction = None
     msgCounter = None
     
     @classmethod
     def mqtt_Pub(cls, msg, waitForAck:bool=False):
-        cls.timeRsp = time.perf_counter_ns()
+        cls.timeRsp = cls.timefunction()
         mid = cls.client.publish(cls.Delay_topicToMqtt_PUB, msg, cls.qos)[1]
         timeDiff = cls.timeRsp - cls.timeRcv
         logger.info("{}  {}".format(cls.msgCounter, timeDiff))
@@ -58,6 +58,6 @@ class Json_msg:
 
     @classmethod
     def on_message(cls, client, userdata, msg):
-        cls.timeRcv = time.perf_counter_ns()
+        cls.timeRcv = cls.timefunction()
         cls.msgCounter = orjson.loads(msg.payload)["count"]
         cls.mqtt_Pub(msg=msg.payload)

Stream/experiment/RTL_test/uavlink_measrue_rtl/.idea/.gitignore

@@ -0,0 +1,3 @@
+# Default ignored files
+/shelf/
+/workspace.xml

Stream/experiment/RTL_test/uavlink_measrue_rtl/.idea/inspectionProfiles/Project_Default.xml

@@ -0,0 +1,104 @@
+<component name="InspectionProjectProfileManager">
+  <profile version="1.0">
+    <option name="myName" value="Project Default" />
+    <inspection_tool class="PyPackageRequirementsInspection" enabled="true" level="WARNING" enabled_by_default="true">
+      <option name="ignoredPackages">
+        <value>
+          <list size="84">
+            <item index="0" class="java.lang.String" itemvalue="mysqlclient" />
+            <item index="1" class="java.lang.String" itemvalue="protobuf" />
+            <item index="2" class="java.lang.String" itemvalue="pywinpty" />
+            <item index="3" class="java.lang.String" itemvalue="mysql-connector" />
+            <item index="4" class="java.lang.String" itemvalue="PyYAML" />
+            <item index="5" class="java.lang.String" itemvalue="atomicwrites" />
+            <item index="6" class="java.lang.String" itemvalue="QtPy" />
+            <item index="7" class="java.lang.String" itemvalue="cycler" />
+            <item index="8" class="java.lang.String" itemvalue="MarkupSafe" />
+            <item index="9" class="java.lang.String" itemvalue="locket" />
+            <item index="10" class="java.lang.String" itemvalue="patsy" />
+            <item index="11" class="java.lang.String" itemvalue="tables" />
+            <item index="12" class="java.lang.String" itemvalue="appdirs" />
+            <item index="13" class="java.lang.String" itemvalue="contextlib2" />
+            <item index="14" class="java.lang.String" itemvalue="conda-verify" />
+            <item index="15" class="java.lang.String" itemvalue="mccabe" />
+            <item index="16" class="java.lang.String" itemvalue="pyzmq" />
+            <item index="17" class="java.lang.String" itemvalue="certifi" />
+            <item index="18" class="java.lang.String" itemvalue="HeapDict" />
+            <item index="19" class="java.lang.String" itemvalue="entrypoints" />
+            <item index="20" class="java.lang.String" itemvalue="mysql" />
+            <item index="21" class="java.lang.String" itemvalue="anaconda-navigator" />
+            <item index="22" class="java.lang.String" itemvalue="bkcharts" />
+            <item index="23" class="java.lang.String" itemvalue="comtypes" />
+            <item index="24" class="java.lang.String" itemvalue="pywin32" />
+            <item index="25" class="java.lang.String" itemvalue="clyent" />
+            <item index="26" class="java.lang.String" itemvalue="navigator-updater" />
+            <item index="27" class="java.lang.String" itemvalue="terminado" />
+            <item index="28" class="java.lang.String" itemvalue="wincertstore" />
+            <item index="29" class="java.lang.String" itemvalue="xlwings" />
+            <item index="30" class="java.lang.String" itemvalue="win-unicode-console" />
+            <item index="31" class="java.lang.String" itemvalue="pyodbc" />
+            <item index="32" class="java.lang.String" itemvalue="boto" />
+            <item index="33" class="java.lang.String" itemvalue="h5py" />
+            <item index="34" class="java.lang.String" itemvalue="wrapt" />
+            <item index="35" class="java.lang.String" itemvalue="menuinst" />
+            <item index="36" class="java.lang.String" itemvalue="QDarkStyle" />
+            <item index="37" class="java.lang.String" itemvalue="fastcache" />
+            <item index="38" class="java.lang.String" itemvalue="anaconda-client" />
+            <item index="39" class="java.lang.String" itemvalue="cytoolz" />
+            <item index="40" class="java.lang.String" itemvalue="widgetsnbextension" />
+            <item index="41" class="java.lang.String" itemvalue="multipledispatch" />
+            <item index="42" class="java.lang.String" itemvalue="mkl-service" />
+            <item index="43" class="java.lang.String" itemvalue="scikit-image" />
+            <item index="44" class="java.lang.String" itemvalue="Bottleneck" />
+            <item index="45" class="java.lang.String" itemvalue="pathspec" />
+            <item index="46" class="java.lang.String" itemvalue="brotlipy" />
+            <item index="47" class="java.lang.String" itemvalue="pycurl" />
+            <item index="48" class="java.lang.String" itemvalue="json5" />
+            <item index="49" class="java.lang.String" itemvalue="mypy-extensions" />
+            <item index="50" class="java.lang.String" itemvalue="pep8" />
+            <item index="51" class="java.lang.String" itemvalue="pycosat" />
+            <item index="52" class="java.lang.String" itemvalue="llvmlite" />
+            <item index="53" class="java.lang.String" itemvalue="numpy" />
+            <item index="54" class="java.lang.String" itemvalue="simplegeneric" />
+            <item index="55" class="java.lang.String" itemvalue="mysql-connector-python" />
+            <item index="56" class="java.lang.String" itemvalue="jdcal" />
+            <item index="57" class="java.lang.String" itemvalue="mkl-fft" />
+            <item index="58" class="java.lang.String" itemvalue="jupyter" />
+            <item index="59" class="java.lang.String" itemvalue="backports.weakref" />
+            <item index="60" class="java.lang.String" itemvalue="pkginfo" />
+            <item index="61" class="java.lang.String" itemvalue="pywin32-ctypes" />
+            <item index="62" class="java.lang.String" itemvalue="conda" />
+            <item index="63" class="java.lang.String" itemvalue="zict" />
+            <item index="64" class="java.lang.String" itemvalue="xmltodict" />
+            <item index="65" class="java.lang.String" itemvalue="sip" />
+            <item index="66" class="java.lang.String" itemvalue="pyreadline" />
+            <item index="67" class="java.lang.String" itemvalue="zope.event" />
+            <item index="68" class="java.lang.String" itemvalue="opencv-python" />
+            <item index="69" class="java.lang.String" itemvalue="parso" />
+            <item index="70" class="java.lang.String" itemvalue="pytest" />
+            <item index="71" class="java.lang.String" itemvalue="black" />
+            <item index="72" class="java.lang.String" itemvalue="conda-build" />
+            <item index="73" class="java.lang.String" itemvalue="xlwt" />
+            <item index="74" class="java.lang.String" itemvalue="et-xmlfile" />
+            <item index="75" class="java.lang.String" itemvalue="mistune" />
+            <item index="76" class="java.lang.String" itemvalue="future" />
+            <item index="77" class="java.lang.String" itemvalue="mpmath" />
+            <item index="78" class="java.lang.String" itemvalue="statsmodels" />
+            <item index="79" class="java.lang.String" itemvalue="olefile" />
+            <item index="80" class="java.lang.String" itemvalue="ply" />
+            <item index="81" class="java.lang.String" itemvalue="unicodecsv" />
+            <item index="82" class="java.lang.String" itemvalue="webencodings" />
+            <item index="83" class="java.lang.String" itemvalue="argh" />
+          </list>
+        </value>
+      </option>
+    </inspection_tool>
+    <inspection_tool class="PyPep8NamingInspection" enabled="true" level="WEAK WARNING" enabled_by_default="true">
+      <option name="ignoredErrors">
+        <list>
+          <option value="N803" />
+        </list>
+      </option>
+    </inspection_tool>
+  </profile>
+</component>

Stream/experiment/RTL_test/uavlink_measrue_rtl/.idea/inspectionProfiles/profiles_settings.xml

@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>

Stream/experiment/RTL_test/uavlink_measrue_rtl/.idea/misc.xml

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.8 (base) (2)" project-jdk-type="Python SDK" />
+</project>

Stream/experiment/RTL_test/uavlink_measrue_rtl/.idea/modules.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/uavlink_measrue_rtl.iml" filepath="$PROJECT_DIR$/.idea/uavlink_measrue_rtl.iml" />
+    </modules>
+  </component>
+</project>

Stream/experiment/RTL_test/uavlink_measrue_rtl/.idea/uavlink_measrue_rtl.iml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>

Stream/experiment/RTL_test/uavlink_measrue_rtl/.idea/vcs.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/../../../.." vcs="Git" />
+  </component>
+</project>

Stream/experiment/RTL_test/uavlink_measrue_rtl/delayClientA_PUB.py

@@ -8,30 +8,30 @@ import proto.flight_information_pb2 as flight_information_pb2
 import logging
 from utils.readConfig import Read_PUB_Config
 from utils.proto_delayClientA_PUB import Proto_msg_from_ros
-import random
-import time
 
-class fakeGps():
-    def __init__(self):
-        self.latitude = 8.0
-        self.longitude = 8.1
-        self.altitude = 8.88
+# simulation
+from utils.flyInformation_gen import GPSgen
+
+
+if sys.version_info >= (3, 7):
+    import time
+    time_function = time.perf_counter_ns
+else:
+    import time
+    time_function = time.perf_counter
+
 
-class fake_hdg():
-    def __init__(self):
-        self.data = 1
 
 def init_dataFormat(cfg:Read_PUB_Config):
-    
     Proto_msg_from_ros.sel = sel
     Proto_msg_from_ros.flight_information_msg = flight_information_pb2.flight_information_message()
-
+    Proto_msg_from_ros.timefunction = time_function
 
 if __name__ == '__main__':
     FilePath = os.path.join(os.path.dirname(__file__),"utils","uavlinkConfig_PUB.yml")
     cfg = Read_PUB_Config(FilePath)
-    gps = fakeGps()
-    hdg = fake_hdg()
+    gps = GPSgen()
+
 
     # set log
     stream_log_format = "%(asctime)s - %(levelname)s - %(message)s"
@@ -56,19 +56,17 @@ if __name__ == '__main__':
     sel = serial.Serial(cfg.ttyport, cfg.baudrate, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE)
     init_dataFormat(cfg)
 
+    count = 1
+    while count <= 100:
+        gps.update_random()
 
-    while hdg.data <= 100:
-        gps.latitude = random.uniform(10, 100)
-        gps.longitude = random.uniform(10, 100)
-        gps.altitude = random.uniform(10, 100)
 
-        
         try:
             # test json
             Proto_msg_from_ros.callBack_gps(gps)
-            Proto_msg_from_ros.callBack_compass_hdg(hdg)
+            Proto_msg_from_ros.callBack_compass_hdg(count)
             time.sleep(1)
-            hdg.data += 1
+            count += 1
         except KeyboardInterrupt as e:
             sel.write(b'\xf2' + b'......................' + b'\x0d\x2a')
             readTenByte = sel.read_until(size=5)

Stream/experiment/RTL_test/uavlink_measrue_rtl/delayClientA_SUB.py

@@ -10,17 +10,14 @@ from utils.readConfig import Read_SUB_Config
 from utils.proto_delayClientA_SUB import Proto_msg_to_ros
 import google.protobuf.message
 
+if sys.version_info >= (3, 7):
+    import time
+    time_function = time.perf_counter_ns
+else:
+    import time
+    time_function = time.perf_counter
 
 def init_dataFormat(cfg:Read_SUB_Config):
-    # ros_namespace="/drone1"
-    # deviceData = b'\xf12222222222222222222222\r\x1a'
-
-    # sel.write(deviceData)
-    # time.sleep(1)
-    # readTenByte = sel.read(size=5)
-    # print(readTenByte)
-
-
     Proto_msg_to_ros.flight_information_msg = flight_information_pb2.flight_information_message()
 
     
@@ -56,9 +53,8 @@ if __name__ == '__main__':
             # test json
             if sel.in_waiting >= 25:
                 readTenByte = sel.read_until(expected= b'\x01\x18', size=25)
-                timeSub = time.perf_counter_ns()
+                timeSub = time_function()
                 Proto_msg_to_ros.on_message_Flight_Information(readTenByte, timeSub)
-                # time.sleep(3)
 
         except google.protobuf.message.DecodeError as e:
             print(readTenByte)

Stream/experiment/RTL_test/uavlink_measrue_rtl/delayClientB.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 #coding:utf-8
 import serial
-import time
 import sys
 import os
 import proto.flight_information_pb2 as flight_information_pb2
@@ -9,19 +8,19 @@ import logging
 from utils.readConfig import Read_SUB_Config
 from utils.proto_delayClientB_SUB import Proto_msg_to_ros
 import google.protobuf.message
+import sys
 
+if sys.version_info >= (3, 7):
+    import time
+    time_function = time.perf_counter_ns
+else:
+    import time
+    time_function = time.perf_counter
 
 def init_dataFormat(cfg:Read_SUB_Config):
-    # ros_namespace="/drone1"
-    # deviceData = b'\xf12222222222222222222222\r\x1a'
-
-    # sel.write(deviceData)
-    # time.sleep(1)
-    # readTenByte = sel.read(size=5)
-    # print(readTenByte)
-
     Proto_msg_to_ros.sel = sel
     Proto_msg_to_ros.flight_information_msg = flight_information_pb2.flight_information_message()
+    Proto_msg_to_ros.timefunction = time_function
 
     
 if __name__ == '__main__':
@@ -38,7 +37,7 @@ if __name__ == '__main__':
     stream_handler.setFormatter(stream_formatter)
     stream_handler.setLevel(logging.DEBUG)
 
-    file_handler = logging.FileHandler(cfg.logFileName, mode='w')
+    file_handler = logging.FileHandler("ProtodelayB_SUB.log", mode='w')
     file_handler.setFormatter(file_formatter)
     file_handler.setLevel(logging.INFO)
 
@@ -61,7 +60,7 @@ if __name__ == '__main__':
                     count += 1
                     continue
                 last_packet = readTenByte
-                timeSub = time.perf_counter_ns()
+                timeSub = time_function()
                 Proto_msg_to_ros.on_message_Flight_Information(readTenByte, timeSub)
         except google.protobuf.message.DecodeError as e:
             logger.debug(readTenByte)

Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/measureDelay.py

@@ -1,72 +0,0 @@
-import pandas as pd
-import matplotlib.pyplot as plt
-import numpy as np
-import argparse
-import sys
-
-def checkNumberofLines(df, log_name):
-    if df.shape[0] != args.number:
-        print(f"Warning: Number of lines in the log file {log_name} is not correct")
-        # check if the count is continuous
-        checkContinuousCount(df, log_file)
-        return False
-    else:
-        return True
-
-def checkContinuousCount(df, log_name):
-    duplicates = df[df["count"].duplicated()]["count"]
-    if not duplicates.empty:
-        print(f"Warning: Non-continuous count in the log file {log_name} at index {duplicates.index.tolist()}")
-    max_count = args.number
-    all_counts = set(range(1, max_count + 1))
-    actual_counts = set(df["count"])
-    missing = all_counts - actual_counts
-    if missing != set():
-        print(f"Warning: missing msg in {log_name} at index {missing}")
-
-def filter_dataframes(dataframes):
-    common_counts = set(dataframes[0]["count"]) & set(dataframes[1]["count"]) & set(dataframes[2]["count"])
-    return [df[df["count"].isin(common_counts)].reset_index(drop=True) for df in dataframes]
-'''
-df["count"].isin(common_counts): This part creates a boolean Series where each value is True if the corresponding "count" value is present in common_counts, and False otherwise.
-
-df[df["count"].isin(common_counts)]: This part filters the DataFrame df using the boolean Series created in the previous step, keeping only the rows where the "count" value is present in common_counts.
-
-df[df["count"].isin(common_counts)].reset_index(drop=True): This part resets the index of the filtered DataFrame, dropping the old index and creating a new one with default values (0, 1, 2, ...). The drop=True argument ensures that the old index is not added as a new column in the resulting DataFrame.
-'''
-
-if __name__ == "__main__":
-    parser = argparse.ArgumentParser()
-    parser.add_argument("-n", "--number", type=int, default="1000", help="number of packet", required=True)
-    parser.add_argument("-t", "--test", type=str, default="1", help="number of test", required=True)
-    args = parser.parse_args() 
-
-    log_files = [f"delayData/test{args.test}/ProtodelayA_PUB.log", f"delayData/test{args.test}/ProtodelayA_SUB.log", f"delayData/test{args.test}/ProtodelayB_SUB.log"]
-    dataframes = []
-    dataerrorFlag = []
-    for log_file in log_files:
-        df = pd.read_csv(log_file, delim_whitespace=True, header=None, names=["count", "time"])
-        dataframes.append(df)
-
-        # check if the number of lines is correct
-        dataerrorFlag.append(checkNumberofLines(df, log_file))
-
-    if all(dataerrorFlag) == False:
-        dataframes = filter_dataframes(dataframes)
-
-    df_Proto_delayA_PUB, df_Proto_delayA_SUB, df_Proto_delayB_SUB = dataframes
-
-    # print the resulting DataFrame
-    diff_Proto_df = pd.DataFrame({"Difftime":(df_Proto_delayA_SUB["time"] - df_Proto_delayA_PUB["time"] - df_Proto_delayB_SUB["time"])/1e9/2})
-
-    array_Proto = diff_Proto_df["Difftime"].to_numpy()
-
-    avg_Proto = np.average(array_Proto)
-
-    fig = plt.figure()
-    plt.plot(array_Proto, color="blue", label=f"Avg_delay: {avg_Proto}")
-
-    plt.legend()
-    plt.xlabel("Number of messages")
-    plt.ylabel("Delay (s)")
-    plt.savefig(f"rtl/test{args.test}/test{args.test}.png", dpi=100)

Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test1/test1_results.csv

@@ -0,0 +1,101 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile,Delay
+0.30976296273500004,0.39526879200000004,0.2509290035,0.30724675475,0.332769292375,0.284879588,0.3370657215
+,,,,,,0.25996154250000003
+,,,,,,0.3108239735
+,,,,,,0.361428287
+,,,,,,0.300435938
+,,,,,,0.3510468445
+,,,,,,0.2818834965
+,,,,,,0.3086288105
+,,,,,,0.327603858
+,,,,,,0.25841610200000004
+,,,,,,0.26900496
+,,,,,,0.295604397
+,,,,,,0.32271866000000005
+,,,,,,0.349376595
+,,,,,,0.272188156
+,,,,,,0.3227935825
+,,,,,,0.3498520325
+,,,,,,0.2807219205
+,,,,,,0.39526879200000004
+,,,,,,0.310050153
+,,,,,,0.360988857
+,,,,,,0.275805313
+,,,,,,0.3024068455
+,,,,,,0.3130440775
+,,,,,,0.3480636835
+,,,,,,0.2868549455
+,,,,,,0.3215078025
+,,,,,,0.3640835825
+,,,,,,0.294856614
+,,,,,,0.32145049150000005
+,,,,,,0.348060597
+,,,,,,0.27101110850000004
+,,,,,,0.2896587445
+,,,,,,0.32425855800000003
+,,,,,,0.34287513950000004
+,,,,,,0.2976951285
+,,,,,,0.33226568900000003
+,,,,,,0.28706304250000003
+,,,,,,0.3058278995
+,,,,,,0.32454682500000004
+,,,,,,0.2552753735
+,,,,,,0.28194940700000004
+,,,,,,0.3006317425
+,,,,,,0.34328895550000005
+,,,,,,0.282073404
+,,,,,,0.2851778835
+,,,,,,0.311785274
+,,,,,,0.34647118200000004
+,,,,,,0.26122507250000004
+,,,,,,0.303805096
+,,,,,,0.3464013495
+,,,,,,0.26128953
+,,,,,,0.336099005
+,,,,,,0.2509290035
+,,,,,,0.261564304
+,,,,,,0.29618680950000004
+,,,,,,0.3312175745
+,,,,,,0.254047185
+,,,,,,0.280673724
+,,,,,,0.29129507050000003
+,,,,,,0.3342801025
+,,,,,,0.2653381395
+,,,,,,0.2839847015
+,,,,,,0.326555692
+,,,,,,0.3451880225
+,,,,,,0.2839758975
+,,,,,,0.2868465885
+,,,,,,0.31354842250000003
+,,,,,,0.364561554
+,,,,,,0.29532207450000003
+,,,,,,0.330138455
+,,,,,,0.26907928350000004
+,,,,,,0.27998017550000004
+,,,,,,0.28270974800000004
+,,,,,,0.3173032015
+,,,,,,0.34385166250000004
+,,,,,,0.29109406050000003
+,,,,,,0.325756343
+,,,,,,0.3044465825
+,,,,,,0.323116334
+,,,,,,0.34220284700000003
+,,,,,,0.2729449175
+,,,,,,0.2915913335
+,,,,,,0.31022830500000004
+,,,,,,0.36122028850000004
+,,,,,,0.299970644
+,,,,,,0.31862376750000004
+,,,,,,0.3372327445
+,,,,,,0.28394337350000004
+,,,,,,0.294588359
+,,,,,,0.30519071200000003
+,,,,,,0.32391128700000005
+,,,,,,0.350568784
+,,,,,,0.297265508
+,,,,,,0.32391432800000003
+,,,,,,0.35868752550000005
+,,,,,,0.2974453815
+,,,,,,0.3240752685
+,,,,,,0.35116344600000005
+,,,,,,0.305864699

Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test10/test10_results.csv

@@ -0,0 +1,37 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile,Delay
+0.29867755701390625,0.3398354945002211,0.25738346350010494,0.29919773474986755,0.31405190737513067,0.2844705463749051,0.30371984350034614
+,,,,,,0.28668684899980695
+,,,,,,0.31187802099975676
+,,,,,,0.3398354945002211
+,,,,,,0.25921109300003314
+,,,,,,0.283029530499789
+,,,,,,0.33861406250002807
+,,,,,,0.26536976600004897
+,,,,,,0.281906224000295
+,,,,,,0.29405458299993376
+,,,,,,0.2849508849999438
+,,,,,,0.2930013540001824
+,,,,,,0.31125166650002717
+,,,,,,0.2616075259999775
+,,,,,,0.28666294249961766
+,,,,,,0.3146679164999569
+,,,,,,0.2991985419999424
+,,,,,,0.3267591919997131
+,,,,,,0.3139895830001933
+,,,,,,0.3012621094999872
+,,,,,,0.31252317700017335
+,,,,,,0.3350127600000974
+,,,,,,0.29919692749979276
+,,,,,,0.3257529424998325
+,,,,,,0.2669461454997873
+,,,,,,0.28617833350006094
+,,,,,,0.27890070299997666
+,,,,,,0.3309866399999919
+,,,,,,0.262811536000072
+,,,,,,0.314620077999507
+,,,,,,0.3072277344999748
+,,,,,,0.31423888049994275
+,,,,,,0.29872031300033086
+,,,,,,0.31155752600056985
+,,,,,,0.29267770800061044
+,,,,,,0.25738346350010494

Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test11/expirement

@@ -0,0 +1,31 @@
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+20m no mortor
+

Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test11/test11_results.csv

@@ -0,0 +1,101 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile,Delay
+0.3145421386650001,0.44057050449994417,0.25659932949995856,0.31159701475010504,0.3366758539999794,0.2852868028749497,0.3000995104999955
+,,,,,,0.3250837990000676
+,,,,,,0.25864323499997854
+,,,,,,0.3171637555000492
+,,,,,,0.3367109240000828
+,,,,,,0.28666798949984823
+,,,,,,0.30906450650012085
+,,,,,,0.3354888365000429
+,,,,,,0.2786526844999827
+,,,,,,0.29531560850018557
+,,,,,,0.3205018404998598
+,,,,,,0.34235568949988804
+,,,,,,0.27033982199999174
+,,,,,,0.29113744249992046
+,,,,,,0.3052593689999847
+,,,,,,0.3732496114999988
+,,,,,,0.39576621700007447
+,,,,,,0.3579374674999888
+,,,,,,0.283133523000014
+,,,,,,0.3223377755000467
+,,,,,,0.33500935599994397
+,,,,,,0.2699295230000489
+,,,,,,0.2987383784998901
+,,,,,,0.3366641639999449
+,,,,,,0.2700884265000939
+,,,,,,0.29684825649997676
+,,,,,,0.38865336699995673
+,,,,,,0.3366302060000519
+,,,,,,0.27835497749988364
+,,,,,,0.33776938299997084
+,,,,,,0.26833209399984254
+,,,,,,0.3362890550000168
+,,,,,,0.26679135550015604
+,,,,,,0.2779334989998916
+,,,,,,0.3100883085001104
+,,,,,,0.3466361035000118
+,,,,,,0.35846202549990835
+,,,,,,0.3294029355000265
+,,,,,,0.26848046500002926
+,,,,,,0.2882278620000339
+,,,,,,0.32043199199992023
+,,,,,,0.3443391280000027
+,,,,,,0.2693801800000837
+,,,,,,0.2932466500000818
+,,,,,,0.375052960500071
+,,,,,,0.32101286999996825
+,,,,,,0.36712533750003623
+,,,,,,0.3273494089997977
+,,,,,,0.27335696999987547
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Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test12/expirement

@@ -0,0 +1 @@
+20m yes mortor

Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test12/test12_results.csv

@@ -0,0 +1,70 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile,Delay
+0.3138388711883989,0.48722599450002385,0.2511386775000472,0.31425199099996165,0.33250181349998864,0.2835231785000978,0.2915518284999607
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Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test13/expirement

@@ -0,0 +1 @@
+100m no mortor

Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test13/test13_results.csv

@@ -0,0 +1,99 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile,Delay
+0.30476996346939306,0.397320166500196,0.2397751854996824,0.3043341322499752,0.33067990312497253,0.2779417647499721,0.30585249049990854
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Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test14/expirement

@@ -0,0 +1 @@
+100m yes mortor

Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test14/test14_results.csv

@@ -0,0 +1,92 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile,Delay
+0.3075101054120719,0.3678299765000672,0.24515639449986876,0.30609522649988363,0.32796939200000985,0.2856427007500486,0.3282273259998773
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Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test15/expirement

@@ -0,0 +1,2 @@
+in door rtl normal 
+look with test16

Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test15/test15_results.csv

@@ -0,0 +1,101 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile,Delay
+0.2776858300308735,0.35837612774594013,0.22187300625048617,0.27681682544798836,0.2972554344005853,0.25413339915016475,0.3133647679512868
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Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test16/expirement

@@ -0,0 +1,5 @@
+frequence 10
+in door
+a pub b rev
+
+ProtodelayB_SUB not doing anything

Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test16/test16_results.csv

@@ -0,0 +1,47 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile,Delay
+0.3193356797817852,0.38412229900131933,0.24903364600322675,0.32260947049508104,0.34374222199767246,0.29429900249670027,0.30032102100085467
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+,,,,,,0.30857414500496816

Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test17/expirement

@@ -0,0 +1,5 @@
+frequence 1
+in door
+a pub b rev
+
+ProtodelayB_SUB not doing anything

Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test17/test17_results.csv

@@ -0,0 +1,100 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile,Delay
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Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test18/expirement

@@ -0,0 +1,5 @@
+frequence 1
+in door
+a pub b rev
+
+ProtodelayB_SUB not doing anything

Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test18/test18_results.csv

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Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test19/test19_results.csv

@@ -0,0 +1,84 @@
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Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test2/test2_results.csv

@@ -0,0 +1,101 @@
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Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test3/test3_results.csv

@@ -0,0 +1,101 @@
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Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test7/test7_results.csv

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+,,,,,,0.32067190099951404
+,,,,,,0.34451644950058835
+,,,,,,0.3117396295001527
+,,,,,,0.3550555474994326
+,,,,,,0.2857988449995901
+,,,,,,0.30675982499997195
+,,,,,,0.34306947000004584
+,,,,,,0.27081182750043814
+,,,,,,0.2907151060007891
+,,,,,,0.3103103845005535
+,,,,,,0.31938531450032315
+,,,,,,0.3459316060016136
+,,,,,,0.26135298299959686
+,,,,,,0.2822132330002205
+,,,,,,0.30580428699977347
+,,,,,,0.32549646750157996
+,,,,,,0.27121295449978794
+,,,,,,0.28648734700072964
+,,,,,,0.31586420950043254
+,,,,,,0.3312839689988323
+,,,,,,0.2576101290014777
+,,,,,,0.2625874065015523
+,,,,,,0.2864025275011955
+,,,,,,0.3086113435001608
+,,,,,,0.3296794609977951
+,,,,,,0.279720583001108
+,,,,,,0.2886880905007274

Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test8/test8_results.csv

@@ -0,0 +1,98 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile,Delay
+0.306385096278476,0.38077486599968324,0.24483931949953333,0.3108670540004823,0.32805421499915616,0.284060361000229,0.3001606210004866
+,,,,,,0.3200193710008535
+,,,,,,0.34676325200052815
+,,,,,,0.33840338200116094
+,,,,,,0.2692006474994742
+,,,,,,0.28876439800114895
+,,,,,,0.3154904390007687
+,,,,,,0.33951635050016193
+,,,,,,0.27028666349997366
+,,,,,,0.2701779650005847
+,,,,,,0.2801835385007508
+,,,,,,0.295725100999789
+,,,,,,0.34044799150069593
+,,,,,,0.26386010099895435
+,,,,,,0.3000833824994516
+,,,,,,0.367034450000574
+,,,,,,0.31922114299959503
+,,,,,,0.3304806740006825
+,,,,,,0.26818077800044193
+,,,,,,0.2921273150000161
+,,,,,,0.3075273925014699
+,,,,,,0.3203252314997372
+,,,,,,0.340136090499982
+,,,,,,0.2805509595013973
+,,,,,,0.32805421499915616
+,,,,,,0.2533595279996917
+,,,,,,0.270287522999297
+,,,,,,0.29283374649958205
+,,,,,,0.31539523099854705
+,,,,,,0.3349521060004008
+,,,,,,0.25148819999958505
+,,,,,,0.2684964809996018
+,,,,,,0.284060361000229
+,,,,,,0.3065632779998851
+,,,,,,0.32947306949881755
+,,,,,,0.24483931949953333
+,,,,,,0.3185102305001237
+,,,,,,0.3592371055010517
+,,,,,,0.2872314290007126
+,,,,,,0.31095338249951965
+,,,,,,0.31944918949920975
+,,,,,,0.34471062149941645
+,,,,,,0.2755759865003711
+,,,,,,0.29795853800033006
+,,,,,,0.3246045795012833
+,,,,,,0.24710606450071282
+,,,,,,0.31656960549889845
+,,,,,,0.3407319240004654
+,,,,,,0.2616537990006691
+,,,,,,0.2843029129985553
+,,,,,,0.30548989250110026
+,,,,,,0.3127748920001068
+,,,,,,0.332397523000509
+,,,,,,0.27565859050037034
+,,,,,,0.3161262725006964
+,,,,,,0.3466270804992746
+,,,,,,0.2717468459991324
+,,,,,,0.29551801700017677
+,,,,,,0.3108670540004823
+,,,,,,0.33385408499907504
+,,,,,,0.27590103850025116
+,,,,,,0.30271806950077007
+,,,,,,0.3198704920005184
+,,,,,,0.3395233815003849
+,,,,,,0.2771776015006253
+,,,,,,0.28858934549998594
+,,,,,,0.341362288500477
+,,,,,,0.3158905699997377
+,,,,,,0.29255890300009924
+,,,,,,0.3211911165008133
+,,,,,,0.34940963249982815
+,,,,,,0.29118392900045365
+,,,,,,0.3220403875002376
+,,,,,,0.34586023150041
+,,,,,,0.2724206740003865
+,,,,,,0.2922506479994809
+,,,,,,0.3313872884996272
+,,,,,,0.2662598145002449
+,,,,,,0.2899567675003709
+,,,,,,0.31247202750000724
+,,,,,,0.38077486599968324
+,,,,,,0.311483721001423
+,,,,,,0.33655593399907957
+,,,,,,0.28120788749993153
+,,,,,,0.2940134084997226
+,,,,,,0.32352502250068943
+,,,,,,0.27381306950019285
+,,,,,,0.2975182779991883
+,,,,,,0.3200599705010064
+,,,,,,0.3396862464996957
+,,,,,,0.2761911685001906
+,,,,,,0.32273168949996034
+,,,,,,0.3454295015012577
+,,,,,,0.2956666374993802
+,,,,,,0.30251533499904326
+,,,,,,0.31234408500040445
+,,,,,,0.3236873930013644

Stream/experiment/RTL_test/uavlink_measrue_rtl/delayData/test9/test9_results.csv

@@ -0,0 +1,68 @@
+Average Latency,Maximum Value,Minimum Value,Median,Upper Quartile,Lower Quartile,Delay
+0.30494488008969084,0.3851227309992282,0.2468282260006163,0.3008365850009796,0.3309366635005518,0.28116170200087254,0.36101457950007904
+,,,,,,0.28154403250073307
+,,,,,,0.3038198665008167
+,,,,,,0.33747468400133585
+,,,,,,0.31916135150095215
+,,,,,,0.33459439750095044
+,,,,,,0.29287840850020075
+,,,,,,0.32347577800010185
+,,,,,,0.3318435905002844
+,,,,,,0.2595995800006677
+,,,,,,0.3233905434999542
+,,,,,,0.2468282260006163
+,,,,,,0.2984293719991911
+,,,,,,0.3376121324990891
+,,,,,,0.27222614300035275
+,,,,,,0.29034093449990905
+,,,,,,0.2650711165001667
+,,,,,,0.2883765335013777
+,,,,,,0.2727447625002242
+,,,,,,0.29362458000105107
+,,,,,,0.3421080434991382
+,,,,,,0.34072103899916334
+,,,,,,0.2669988509992436
+,,,,,,0.2681253355003719
+,,,,,,0.28367325199951665
+,,,,,,0.27899254850035504
+,,,,,,0.29970088249956467
+,,,,,,0.31213554349960765
+,,,,,,0.34034843349991206
+,,,,,,0.28077937150101206
+,,,,,,0.3851227309992282
+,,,,,,0.3170128349997867
+,,,,,,0.3279813510002896
+,,,,,,0.2543226790003246
+,,,,,,0.2906006475009235
+,,,,,,0.33477976199901605
+,,,,,,0.35142194950094563
+,,,,,,0.29986062149873766
+,,,,,,0.2964221054999143
+,,,,,,0.3300297365008192
+,,,,,,0.27183655900034864
+,,,,,,0.3008365850009796
+,,,,,,0.31180161149950436
+,,,,,,0.31272661100047117
+,,,,,,0.32828770449941663
+,,,,,,0.25345911149997846
+,,,,,,0.2620223665003323
+,,,,,,0.26594713150007016
+,,,,,,0.31219921600040834
+,,,,,,0.35397054300028685
+,,,,,,0.26453950199993415
+,,,,,,0.29015051750047866
+,,,,,,0.3111527049995857
+,,,,,,0.30811169000071464
+,,,,,,0.3262747105004564
+,,,,,,0.28810684600057357
+,,,,,,0.3062057784995887
+,,,,,,0.33263455399946906
+,,,,,,0.35773171550044935
+,,,,,,0.2698073659998954
+,,,,,,0.28215056950148215
+,,,,,,0.33191994449907725
+,,,,,,0.3625660904999677
+,,,,,,0.2817421580011797
+,,,,,,0.2985517154993432
+,,,,,,0.3432079129988779
+,,,,,,0.2681774190004944

Stream/experiment/RTL_test/uavlink_measrue_rtl/measureDelay.py

@@ -16,6 +16,8 @@ def checkNumberofLines(df, log_name):
 def checkContinuousCount(df, log_name):
     duplicates = df[df["count"].duplicated()]["count"]
     if not duplicates.empty:
+        df.drop_duplicates(subset=["count"], inplace=True)
+        df.reset_index(drop=True, inplace=True)
         print(f"Warning: Non-continuous count in the log file {log_name} at index {duplicates.index.tolist()}")
     max_count = args.number
     all_counts = set(range(1, max_count + 1))
@@ -24,6 +26,16 @@ def checkContinuousCount(df, log_name):
     if missing != set():
         print(f"Warning: missing msg in {log_name} at index {missing}")
 
+def conversionUnit(number):
+    if number.dtype == int:
+        return 1e9
+    elif number.dtype == float:
+        return 1
+    else:
+        raise ValueError("Accuracy must be ns or s")
+
+
+
 def filter_dataframes(dataframes):
     common_counts = set(dataframes[0]["count"]) & set(dataframes[1]["count"]) & set(dataframes[2]["count"])
     return [df[df["count"].isin(common_counts)].reset_index(drop=True) for df in dataframes]
@@ -37,16 +49,19 @@ df[df["count"].isin(common_counts)].reset_index(drop=True): This part resets the
 
 if __name__ == "__main__":
     parser = argparse.ArgumentParser()
-    parser.add_argument("-n", "--number", type=int, default="1000", help="number of packet", required=True)
+    parser.add_argument("-n", "--number", type=int, default="100", help="number of packet", required=False)
     parser.add_argument("-t", "--test", type=str, default="1", help="number of test", required=True)
+    # parser.add_argument("-a", "--accuracy", type=str, default="s", help="ns vs s / (perf_counter_ns vs perf_counter)", required=False)
     args = parser.parse_args() 
 
     log_files = [f"delayData/test{args.test}/ProtodelayA_PUB.log", f"delayData/test{args.test}/ProtodelayA_SUB.log", f"delayData/test{args.test}/ProtodelayB_SUB.log"]
     dataframes = []
     dataerrorFlag = []
+    unit = []
     for log_file in log_files:
         df = pd.read_csv(log_file, delim_whitespace=True, header=None, names=["count", "time"])
         dataframes.append(df)
+        unit.append(conversionUnit(df["time"][0]))
 
         # check if the number of lines is correct
         dataerrorFlag.append(checkNumberofLines(df, log_file))
@@ -56,15 +71,36 @@ if __name__ == "__main__":
 
     df_Proto_delayA_PUB, df_Proto_delayA_SUB, df_Proto_delayB_SUB = dataframes
 
-    # print the resulting DataFrame
-    diff_Proto_df = pd.DataFrame({"Difftime":(df_Proto_delayA_SUB["time"] - df_Proto_delayA_PUB["time"] - df_Proto_delayB_SUB["time"])/1e9/2})
 
-    array_Proto = diff_Proto_df["Difftime"].to_numpy()
 
-    avg_Proto = np.average(array_Proto)
+
+    # diff_Proto_df = pd.DataFrame({"Difftime":(df_Proto_delayA_SUB["time"]/unit[0] - df_Proto_delayA_PUB["time"]/unit[1] - df_Proto_delayB_SUB["time"]/unit[2])/2*0.9})
+    diff_Proto_df = pd.DataFrame({"Difftime":(df_Proto_delayA_SUB["time"]/unit[0] - df_Proto_delayA_PUB["time"]/unit[1])})
+
+    array_Latency = diff_Proto_df["Difftime"].to_numpy()
+
+    avg_latency = np.average(array_Latency)
+    max_value = np.max(array_Latency)
+    min_value = np.min(array_Latency)
+    median_value = np.median(array_Latency)
+    upper_quartile = np.percentile(array_Latency, 75)
+    lower_quartile = np.percentile(array_Latency, 25)
+
+    result_dict = {
+    "Average Latency": [avg_latency],
+    "Maximum Value": [max_value],
+    "Minimum Value": [min_value],
+    "Median": [median_value],
+    "Upper Quartile": [upper_quartile],
+    "Lower Quartile": [lower_quartile]
+    }
+    result_df = pd.DataFrame(result_dict)
+    avg_latency_df = pd.DataFrame(array_Latency, columns=['Delay'])
+    combined_df = pd.concat([result_df, avg_latency_df], axis=1)
+    combined_df.to_csv(f"delayData/test{args.test}/test{args.test}_results.csv", index=False)
 
     fig, ax = plt.subplots()
-    ax.boxplot(array_Proto)
+    ax.boxplot(array_Latency)
 
     ax.set_title("Round Trip Latency")
     ax.set_ylabel("Delay (s)")
@@ -73,9 +109,9 @@ if __name__ == "__main__":
     plt.savefig(f"delayData/test{args.test}/test{args.test}_boxplot.png", dpi=100)
 
     fig = plt.figure()
-    plt.plot(array_Proto, color="blue", label=f"Avg_delay: {avg_Proto}")
+    plt.plot(array_Latency, color="blue", label=f"Avg_delay: {avg_latency}")
 
     plt.legend()
     plt.xlabel("Number of messages")
     plt.ylabel("Delay (s)")
-    plt.savefig(f"delayData/test{args.test}/test{args.test}.png", dpi=100)
+    plt.savefig(f"delayData/test{args.test}/test{args.test}.png", dpi=100)

Stream/experiment/RTL_test/uavlink_measrue_rtl/utils/basicMqtt.py

@@ -1,17 +0,0 @@
-import paho.mqtt.client as mqtt
-import time
-class MQTTClient(mqtt.Client):
-   
-   def __init__(self,cname,**kwargs):
-      super().__init__(cname,**kwargs)
-      self.last_pub_time=time.time()
-      self.topic_ack=[]
-      self.run_flag=True
-      self.subscribe_flag=False
-      self.bad_connection_flag=False
-      self.connected_flag=True
-      self.disconnect_flag=False
-      self.disconnect_time=0.0
-      self.pub_msg_count=0
-      self.devices=[]
-

Stream/experiment/RTL_test/uavlink_measrue_rtl/utils/flyInformation_gen.py

@@ -0,0 +1,30 @@
+import random
+
+class GPSgen():
+    def __init__(self):
+        self.latitude = random.uniform(20, 100)
+        self.longitude = random.uniform(20, 100)
+        self.altitude = random.uniform(20, 100)
+
+    def update_random(self):
+        self.latitude += random.uniform(0, 10)
+        self.longitude += random.uniform(0, 10)
+        self.altitude += random.uniform(0, 10)
+
+class HDGgen():
+    def __init__(self):
+        self.data = random.uniform(20, 100)
+
+    def update_random(self):
+        self.data += random.uniform(0, 10)
+        
+if __name__ == "__main__":
+    import time
+    gps = GPSgen()
+    hdg = HDGgen()
+    while True:
+        gps.update_random()
+        hdg.update_random()
+        print(gps.latitude, gps.longitude, gps.altitude)
+        print(hdg.data)
+        time.sleep(0.25)

Stream/experiment/RTL_test/uavlink_measrue_rtl/utils/proto_delayClientA_PUB.py

@@ -8,6 +8,7 @@ class Proto_msg_from_ros:
     #Protobuf
     flight_information_msg = None
     sel = None
+    timefunction = None
 
 
     @classmethod
@@ -19,10 +20,10 @@ class Proto_msg_from_ros:
 
     @classmethod
     def callBack_compass_hdg(cls, Compass):
-        cls.flight_information_msg.heading = Compass.data
+        cls.flight_information_msg.heading = Compass
         flightInformationMsg = cls.flight_information_msg.SerializeToString()
         cls.sel.write(b'\xf2' + flightInformationMsg + b'\x0d\x0a')
-        timePub = time.perf_counter_ns()
-        logger.info("{}  {}".format(Compass.data,timePub))
+        timePub = cls.timefunction()
+        logger.info("{}  {}".format(Compass,timePub))
 
 

Stream/experiment/RTL_test/uavlink_measrue_rtl/utils/proto_delayClientB_SUB.py

@@ -16,6 +16,7 @@ class Proto_msg_to_ros:
     publisher_Flight_Information = None
     sel = None
     # count = None
+    timefunction = None
 
     #Proto
     @classmethod
@@ -23,10 +24,8 @@ class Proto_msg_to_ros:
         proto = msg[1:-2]
         proto_msg = cls.flight_information_msg.FromString(proto)
         cls.sel.write(b'\xf2' + proto + b'\x0d\x0a')
-        timePub = time.perf_counter_ns()
-        # readTenByte = cls.sel.read_until(size=5)
+        timePub = cls.timefunction()
         timeDiff = timePub - timeSub
-        # cls.count = proto_msg.heading
         logger.info("{}  {}".format(proto_msg.heading, timeDiff))
 
         

Stream/experiment/RTL_test/uavlink_measrue_rtl/utils/uavlinkConfig_SUB.yml

@@ -8,4 +8,4 @@ ROS:
   ROSClientNameSub: Drone550UAVLINKSub
   Dron550_ROStopicName_Flight_Information: Flight_Information_reciver
 LOG:
-  logFileName: ProtodelayA_SUB.log
+  logFileName: ProtodelayB_SUB.log

Stream/experiment/datalose_test/MQTT_measure_datalose/lose_ClientA_PUB.py

@@ -11,7 +11,12 @@ import logging
 from utils.protoJson_delayClientA_PUB import Json_msg
 from utils.protoJson_delayClientA_PUB import Proto_msg
 
-
+if sys.version_info >= (3, 7):
+    import time
+    time_function = time.perf_counter_ns
+else:
+    import time
+    time_function = time.perf_counter
 
 def init_dataFormat(cfg:utils.Read_delayA_PUB_Config):
     global pubFun
@@ -19,12 +24,14 @@ def init_dataFormat(cfg:utils.Read_delayA_PUB_Config):
         Proto_msg.client = client
         Proto_msg.qos = cfg.qos
         Proto_msg.Delay_topicToMqtt_PUB = cfg.Delay_topicToMqtt_PUB
+        Proto_msg.timefunction = time_function
         cfg.logFileName = "Proto" + cfg.logFileName
         pubFun = Proto_msg.callBack_gps
     elif cfg.msg_format == "Json":
         Json_msg.client = client
         Json_msg.qos = cfg.qos
         Json_msg.Delay_topicToMqtt_PUB = cfg.Delay_topicToMqtt_PUB
+        Json_msg.timefunction = time_function
         cfg.logFileName = "Json" + cfg.logFileName
         pubFun = Json_msg.callBack_gps
     else:

Stream/experiment/datalose_test/MQTT_measure_datalose/lose_ClientB_SUB.py

@@ -11,15 +11,22 @@ import logging
 from utils.protoJson_delayClientB_SUB import Json_msg
 from utils.protoJson_delayClientB_SUB import Proto_msg
 
+if sys.version_info >= (3, 7):
+    import time
+    time_function = time.perf_counter_ns
+else:
+    import time
+    time_function = time.perf_counter
+
 def init_dataFormat(cfg:utils.Read_delayB_SUB_Config):
     if cfg.msg_format == "Proto":
         Proto_msg.qos = cfg.qos
         Proto_msg.flight_information_msg = flight_information_pb2.flight_information_message()
         Proto_msg.fly_formation_msg = flyformatioln_pb2.fly_formation_message()
         Proto_msg.client = client
+        Proto_msg.timefunction = time_function
         client.on_message = Proto_msg.on_message
         cfg.logFileName = "Proto" + cfg.logFileName
-
         Proto_msg.Delay_topicToMqtt_PUB = cfg.Delay_topicToMqtt_PUB
     elif cfg.msg_format == "Json":
         client.on_message = Json_msg.on_message
@@ -27,6 +34,7 @@ def init_dataFormat(cfg:utils.Read_delayB_SUB_Config):
         Json_msg.client = client
         Json_msg.Delay_topicToMqtt_PUB = cfg.Delay_topicToMqtt_PUB
         cfg.logFileName = "Json" + cfg.logFileName
+        Json_msg.timefunction = time_function
     else:
         logger.debug("msg_format not found")
 

Stream/experiment/datalose_test/MQTT_measure_datalose/utils/protoJson_delayClientA_PUB.py

@@ -16,6 +16,7 @@ class Proto_msg:
     Delay_topicToMqtt_PUB = None
     count = 1
     qos = None
+    timefunction = None
 
     @classmethod
     def callBack_gps(cls):
@@ -23,12 +24,10 @@ class Proto_msg:
         flightInformationMsg = cls.flight_information_msg.SerializeToString()
         cls.mqtt_Pub(message=flightInformationMsg, topics=cls.Delay_topicToMqtt_PUB)
 
-
-
     @classmethod
      # publish a message
     def mqtt_Pub(cls, message:bytes, topics:str, waitForAck:bool=False)->None:
-        cls.timePub = time.perf_counter_ns()
+        cls.timePub = cls.timefunction()
         mid = cls.client.publish(topics, message, cls.qos)[1]
         logger.info("{}  {}".format(cls.count,cls.timePub))
         cls.count += 1
@@ -51,11 +50,9 @@ class Json_msg:
     Delay_topicToMqtt_PUB = None
     timePub = 0
     qos = None
+    timefunction = None
 
 
-
-        
-    
     @classmethod 
     def callBack_gps(cls):
         cls.GPS_Data["count"] = cls.count
@@ -66,7 +63,7 @@ class Json_msg:
 
     @classmethod
     def mqtt_Pub(cls, message:str, topics:str, waitForAck:bool=False):
-        cls.timePub = time.perf_counter_ns()
+        cls.timePub = cls.timefunction()
         mid = cls.client.publish(topics, message, cls.qos)[1]
         logger.info("{}  {}".format(cls.count,cls.timePub))
         cls.count += 1

Stream/experiment/datalose_test/MQTT_measure_datalose/utils/protoJson_delayClientA_SUB.py

@@ -15,10 +15,11 @@ class Proto_msg:
 
     timeRcv = 0
     msgCounter = None
+    timefunction = None
 
     @classmethod
     def on_message(cls, client, userdata, msg):
-        cls.timeRcv = time.perf_counter_ns()
+        cls.timeRcv = cls.timefunction()
         cls.msgCounter = int(cls.flight_information_msg.FromString(msg.payload).heading)
         logger.info("{}  {}".format(cls.msgCounter, cls.timeRcv))
 
@@ -27,10 +28,11 @@ class Proto_msg:
 class Json_msg:
     timeRcv = 0
     msgCounter = None
+    timefunction = None
             
     @classmethod
     def on_message(cls, client, userdata, msg):
-        cls.timeRcv = time.perf_counter_ns()
+        cls.timeRcv = cls.timefunction()
         cls.msgCounter = orjson.loads(msg.payload)["count"]
         logger.info("{}  {}".format(cls.msgCounter, cls.timeRcv))
 

Stream/experiment/datalose_test/MQTT_measure_datalose/utils/protoJson_delayClientB_SUB.py

@@ -21,14 +21,14 @@ class Proto_msg:
     client = None
     timeRcv = 0
     timeRsp = 0
-
+    timefunction = None
     msgCounter = None
 
 
 
     @classmethod
     def on_message(cls, client, userdata, msg):
-        cls.timeRcv = time.perf_counter_ns()
+        cls.timeRcv = cls.timefunction()
         cls.msgCounter = int(cls.flight_information_msg.FromString(msg.payload).heading)
         logger.info("{}  {}".format(cls.msgCounter, cls.timeRcv))
 
@@ -41,13 +41,13 @@ class Json_msg:
     client = None
     timeRcv = 0
     timeRsp = 0
-
+    timefunction = None
     msgCounter = None
 
 
 
     @classmethod
     def on_message(cls, client, userdata, msg):
-        cls.timeRcv = time.perf_counter_ns()
+        cls.timeRcv = cls.timefunction()
         cls.msgCounter = orjson.loads(msg.payload)["count"]
         logger.info("{}  {}".format(cls.msgCounter, cls.timeRcv))

Stream/experiment/datalose_test/uavlink_measrue_datalose/loseData/test6/results.csv

@@ -0,0 +1,4 @@
+frequency,packet_loss,percentage_loss
+1hz,94,94.0
+5hz,1,1.0
+10hz,55,55.00000000000001

Stream/experiment/datalose_test/uavlink_measrue_datalose/loseData/test7/experiment.txt

@@ -0,0 +1 @@
+20M fly

Stream/experiment/datalose_test/uavlink_measrue_datalose/loseData/test7/results.csv

@@ -0,0 +1,11 @@
+frequency,packet_loss,percentage_loss
+1hz,0,0.0
+2hz,0,0.0
+3hz,0,0.0
+4hz,1,1.0
+5hz,12,12.0
+6hz,25,25.0
+7hz,34,34.0
+8hz,42,42.0
+9hz,49,49.0
+10hz,54,54.0

Stream/experiment/datalose_test/uavlink_measrue_datalose/loseData/test8/experiment.txt

@@ -0,0 +1 @@
+20M no fly

Stream/experiment/datalose_test/uavlink_measrue_datalose/loseData/test8/results.csv

@@ -0,0 +1,11 @@
+frequency,packet_loss,percentage_loss
+1hz,0,0.0
+2hz,0,0.0
+3hz,0,0.0
+4hz,0,0.0
+5hz,10,10.0
+6hz,22,22.0
+7hz,35,35.0
+8hz,44,44.0
+9hz,48,48.0
+10hz,52,52.0

Stream/experiment/datalose_test/uavlink_measrue_datalose/lose_ClientA_PUB.py

@@ -8,34 +8,33 @@ import proto.flight_information_pb2 as flight_information_pb2
 import logging
 from utils.readConfig import Read_PUB_Config
 from utils.proto_delayClientA_PUB import Proto_msg_from_ros
-import random
-import time
 import argparse
+# simulation
+from utils.flyInformation_gen import GPSgen
+
+if sys.version_info >= (3, 7):
+    import time
+    time_function = time.perf_counter_ns
+else:
+    import time
+    time_function = time.perf_counter
 
-class fakeGps():
-    def __init__(self):
-        self.latitude = 8.0
-        self.longitude = 8.1
-        self.altitude = 8.88
 
-class fake_hdg():
-    def __init__(self):
-        self.data = 1
 
-def init_dataFormat(cfg:Read_PUB_Config):
-    
+def init_dataFormat(cfg:Read_PUB_Config):    
     Proto_msg_from_ros.sel = sel
     Proto_msg_from_ros.flight_information_msg = flight_information_pb2.flight_information_message()
+    Proto_msg_from_ros.timefunction = time_function
 
 
 if __name__ == '__main__':
     FilePath = os.path.join(os.path.dirname(__file__),"utils","uavlinkConfig_PUB.yml")
     cfg = Read_PUB_Config(FilePath)
-    gps = fakeGps()
-    hdg = fake_hdg()
+    gps = GPSgen()
+
 
     parser = argparse.ArgumentParser()
-    parser.add_argument("-t", "--delaytime", type=float, default="1.0", help="1/frequence", required=True)
+    parser.add_argument("-f", "--frequency", type=float, default="1.0", help="frequence", required=True)
     args = parser.parse_args() 
 
     # set log
@@ -61,19 +60,16 @@ if __name__ == '__main__':
     sel = serial.Serial(cfg.ttyport, cfg.baudrate, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE)
     init_dataFormat(cfg)
 
+    count = 1
+    while count <= 100:
+        gps.update_random()
 
-    while hdg.data <= 100:
-        gps.latitude = random.uniform(10, 100)
-        gps.longitude = random.uniform(10, 100)
-        gps.altitude = random.uniform(10, 100)
-
-        
         try:
             # test json
             Proto_msg_from_ros.callBack_gps(gps)
-            Proto_msg_from_ros.callBack_compass_hdg(hdg)
-            time.sleep(args.delaytime)
-            hdg.data += 1
+            Proto_msg_from_ros.callBack_compass_hdg(count)
+            time.sleep(1/args.frequency)
+            count += 1
         except KeyboardInterrupt as e:
             sel.write(b'\xf2' + b'......................' + b'\x0d\x2a')
             readTenByte = sel.read_until(size=5)

Stream/experiment/datalose_test/uavlink_measrue_datalose/lose_ClientB.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 #coding:utf-8
 import serial
-import time
 import sys
 import os
 import proto.flight_information_pb2 as flight_information_pb2
@@ -11,9 +10,17 @@ from utils.proto_delayClientB_SUB import Proto_msg_to_ros
 import google.protobuf.message
 import argparse
 
+if sys.version_info >= (3, 7):
+    import time
+    time_function = time.perf_counter_ns
+else:
+    import time
+    time_function = time.perf_counter
+
 def init_dataFormat(cfg:Read_SUB_Config):
     Proto_msg_to_ros.sel = sel
     Proto_msg_to_ros.flight_information_msg = flight_information_pb2.flight_information_message()
+    Proto_msg_to_ros.timefunction = time_function
 
     
 if __name__ == '__main__':
@@ -56,7 +63,7 @@ if __name__ == '__main__':
                     count += 1
                     continue
                 last_packet = readTenByte
-                timeSub = time.perf_counter_ns()
+                timeSub = time_function()
                 Proto_msg_to_ros.on_message_Flight_Information(readTenByte, timeSub)
         except google.protobuf.message.DecodeError as e:
             logger.debug(readTenByte)

Stream/experiment/datalose_test/uavlink_measrue_datalose/measureLose.py

@@ -35,7 +35,7 @@ def extract_number(filename):
 
 if __name__ == "__main__":
     parser = argparse.ArgumentParser()
-    parser.add_argument("-n", "--number", type=int, default="1000", help="number of packet", required=True)
+    parser.add_argument("-n", "--number", type=int, default="1000", help="number of packet", required=False)
     parser.add_argument("-t", "--test", type=str, default="1", help="number of test", required=True)
     args = parser.parse_args()
 

Stream/experiment/datalose_test/uavlink_measrue_datalose/utils/flyInformation_gen.py

@@ -0,0 +1,30 @@
+import random
+
+class GPSgen():
+    def __init__(self):
+        self.latitude = random.uniform(20, 100)
+        self.longitude = random.uniform(20, 100)
+        self.altitude = random.uniform(20, 100)
+
+    def update_random(self):
+        self.latitude += random.uniform(0, 10)
+        self.longitude += random.uniform(0, 10)
+        self.altitude += random.uniform(0, 10)
+
+class HDGgen():
+    def __init__(self):
+        self.data = random.uniform(20, 100)
+
+    def update_random(self):
+        self.data += random.uniform(0, 10)
+        
+if __name__ == "__main__":
+    import time
+    gps = GPSgen()
+    hdg = HDGgen()
+    while True:
+        gps.update_random()
+        hdg.update_random()
+        print(gps.latitude, gps.longitude, gps.altitude)
+        print(hdg.data)
+        time.sleep(0.25)

Stream/experiment/datalose_test/uavlink_measrue_datalose/utils/proto_delayClientA_PUB.py

@@ -8,7 +8,7 @@ class Proto_msg_from_ros:
     #Protobuf
     flight_information_msg = None
     sel = None
-
+    timefunction = None
 
     @classmethod
     def callBack_gps(cls, GPS):
@@ -19,10 +19,10 @@ class Proto_msg_from_ros:
 
     @classmethod
     def callBack_compass_hdg(cls, Compass):
-        cls.flight_information_msg.heading = Compass.data
+        cls.flight_information_msg.heading = Compass
         flightInformationMsg = cls.flight_information_msg.SerializeToString()
         cls.sel.write(b'\xf2' + flightInformationMsg + b'\x0d\x0a')
-        timePub = time.perf_counter_ns()
-        logger.info("{}  {}".format(Compass.data,timePub))
+        timePub = cls.timefunction()
+        logger.info("{}  {}".format(Compass,timePub))
 
 

Stream/experiment/datalose_test/uavlink_measrue_datalose/utils/proto_delayClientA_SUB.py

@@ -1,25 +0,0 @@
-import time
-
-import proto.flight_information_pb2 as flight_information_pb2
-import google.protobuf.json_format as json_format
-import logging
-
-# TODO: use native ros type instead of json or str
-logger = logging.getLogger("__UAVLINKSUB__")
-
-class Proto_msg_to_ros:
-    #Protobuf
-    flight_information_msg = None
-
-    #Ros publisher
-    rate = None
-    publisher_Flight_Information = None
-
-
-    #Proto
-    @classmethod
-    def on_message_Flight_Information(cls, msg, timeSub):
-        proto = msg[1:-2]
-        proto_msg = cls.flight_information_msg.FromString(proto)
-        count = proto_msg.heading
-        logger.info("{}  {}".format(count,timeSub))

Stream/experiment/datalose_test/uavlink_measrue_datalose/utils/proto_delayClientB_SUB.py

@@ -25,18 +25,15 @@ class Proto_msg_to_ros:
     f1_close_code = f1_code + payload + close_code
     f2_close_code = f2_code + payload + close_code
 
-    # count = None
+    timefunction = None
 
     #Proto
     @classmethod
     def on_message_Flight_Information(cls, msg, timeSub):
         proto = msg[1:-2]
         proto_msg = cls.flight_information_msg.FromString(proto)
-        # cls.sel.write(b'\xf2' + proto + b'\x0d\x0a')
-        timePub = time.perf_counter_ns()
-        # readTenByte = cls.sel.read_until(size=5)
+        timePub = cls.timefunction()
         timeDiff = timePub - timeSub
-        # cls.count = proto_msg.heading
         logger.info("{}  {}".format(proto_msg.heading, timeDiff))
     
     @classmethod

Stream/uav_proto_msg/mqttPubMain.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-#coding:utf-8
+# coding:utf-8
 import paho.mqtt.client as mqtt
 import os
 import sys
@@ -9,7 +9,11 @@ import proto.flight_information_pb2 as flight_information_pb2
 import proto.flyformatioln_pb2 as flyformatioln_pb2
 import logging
 
+# simulation
+from utils.flyInformation_gen import GPSgen
+from utils.flyInformation_gen import HDGgen
 
+'''
 import rospy
 from std_msgs.msg import String
 from std_msgs.msg import Float64
@@ -19,32 +23,10 @@ from sensor_msgs.msg import NavSatFix
 from sensor_msgs.msg import Imu
 from sensor_msgs.msg import Range
 from geometry_msgs.msg import Vector3
+'''
 
-# test proto
-import random
 
-class fakeGps():
-    def __init__(self):
-        self.latitude = 8.0
-        self.longitude = 8.1
-        self.altitude = 8.88
-
-class fake_hdg():
-    def __init__(self):
-        self.data = 40
-
-# class fake_formation():
-#     def __init__(self):
-#         self.velocity = 100
-#         self.type = 3
-
-
-
-
-
-
-
-def init_dataFormat(cfg:utils.Read_PUB_Config):
+def init_dataFormat(cfg: utils.Read_PUB_Config):
     # ros_namespace="/drone1"
     if cfg.msg_format == "Proto":
         utils.Proto_msg_from_ros.client = client
@@ -65,26 +47,49 @@ def init_dataFormat(cfg:utils.Read_PUB_Config):
     else:
         logging.debug("msg_format not found")
 
+
 def on_message(client, userdata, msg):
     pass
 
-def on_connect(self, userdata, flags, rc):
-    logger.info("Connected with result code " + str(rc))
+
+# def on_connect(client, userdata, flags, reasonCode, properties):
+def on_connect(client, userdata, flage, reasonCode):
+    logger.info("Connected with result code " + str(reasonCode))
+
 
 def on_publish(self, userdata, mid):
     logger.debug("pub success")
 
-def on_disconnect(client, userdata, rc):
-    logger.debug("disconnecting reason  "  +str(rc))
-    client.connected_flag=False
-    client.disconnect_flag=True
+
+# def on_disconnect(client, userdata, reasonCode, properties):
+def on_disconnect(client, userdata, msg):
+    logger.debug("disconnecting reason  " + str(reasonCode))
+    client.connected_flag = False
+    client.disconnect_flag = True
+
+
+def main_loop(cfg, gps, hdg):
+    while True:
+        gps.update_random()
+        #hdg.update_random()
+        # hdg.data += 1
+
+        try:
+            callback_gps(gps)
+            callback_compass_hdg(hdg)
+
+            time.sleep(0.1)
+        except KeyboardInterrupt as e:
+            client.disconnect()
+            logger.info("End of program")
+            sys.exit()
+
 
 if __name__ == '__main__':
     # Read Config
-    FilePath = os.path.join(os.path.dirname(__file__),"utils","mqttConfig_PUB.yml")
+    FilePath = os.path.join(os.path.dirname(__file__), "utils", "mqttConfig_PUB.yml")
     cfg = utils.Read_PUB_Config(FilePath)
     client = utils.MQTTClient(cfg.MQTTClientNamePub)
-    
     # set log
     log_format = "%(asctime)s - %(levelname)s - %(message)s"
     formatter = logging.Formatter(log_format)
@@ -93,7 +98,6 @@ if __name__ == '__main__':
     stream_handler.setFormatter(formatter)
     stream_handler.setLevel(logging.DEBUG)
 
-
     file_handler = logging.FileHandler(cfg.logFileName)
     file_handler.setFormatter(formatter)
     file_handler.setLevel(logging.INFO)
@@ -112,43 +116,25 @@ if __name__ == '__main__':
     client.connect(host=cfg.host, port=cfg.port, keepalive=cfg.keepalive)
     client.will_set(cfg.willTopic, cfg.lwt, cfg.willTopicQOS, cfg.willRetain)
     client.loop_start()
-
+    '''
     # Ros
-    # rosClient = cfg.ROSClientNamePub
-    # rospy.init_node(rosClient)
+    rosClient = cfg.ROSClientNamePub
+    rospy.init_node(rosClient)
+    '''
     init_dataFormat(cfg)
-    
-  
-
-    # rospy.spin()
-
-    #test proto
-    gps = fakeGps()
-    hdg = fake_hdg()
-    # formation = fake_formation()
-    while True:
-        # test proto
-        # gps.latitude = random.uniform(10, 100)
-        # gps.longitude = random.uniform(10, 100)
-        # gps.altitude = random.uniform(10, 100)
-        # hdg.data = random.uniform(0, 10)
-        # formation.velocity = random.uniform(0, 10)
 
-        try:
-            # test json
-            utils.Json_msg_from_ros.callBack_gps(gps)
-            utils.Json_msg_from_ros.callBack_compass_hdg(hdg)
-            # utils.Json_msg_from_ros.callBack_fly_formation(formation)
-
-            # test proto
-            # utils.Proto_msg_from_ros.callBack_gps(gps)
-            # utils.Proto_msg_from_ros.callBack_compass_hdg(hdg)
-            ## utils.Proto_msg_from_ros.callBack_fly_formation(formation)
-            time.sleep(0.25)
-        except KeyboardInterrupt as e:
-            client.disconnect()
-            logger.info("End of program")
-            sys.exit()
+    gps = GPSgen()
+    hdg = HDGgen()
 
 
+    if cfg.msg_format == "Proto":
+        callback_gps = utils.Proto_msg_from_ros.callBack_gps
+        callback_compass_hdg = utils.Proto_msg_from_ros.callBack_compass_hdg
+    elif cfg.msg_format == "Json":
+        callback_gps = utils.Json_msg_from_ros.callBack_gps
+        callback_compass_hdg = utils.Json_msg_from_ros.callBack_compass_hdg
+    else:
+        logger.debug("msg_format not found")
+        sys.exit()
 
+    main_loop(cfg, gps, hdg)

Stream/uav_proto_msg/uavlinkPubMain.py

@@ -6,73 +6,114 @@ import sys
 import os
 import proto.flight_information_pb2 as flight_information_pb2
 import logging
-from utils.readConfig import Read_PUB_Config
+from utils.readConfig import Config
 from utils.proto_uavlink_sub_data_from_ros import Proto_msg_from_ros
-import random
-
-class fakeGps():
-    def __init__(self):
-        self.latitude = 8.0
-        self.longitude = 8.1
-        self.altitude = 8.88
-
-class fake_hdg():
-    def __init__(self):
-        self.data = 40
-
-
-def init_dataFormat(cfg:Read_PUB_Config):
-    # f1data = b'\xf1drone550pub...........\r\n'
-    sel = serial.Serial(cfg.ttyport, cfg.baudrate, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE, timeout=0.3)
-    # sel.write(f1data)
-    # readTenByte = sel.readline()
-    # print(readTenByte)
-    Proto_msg_from_ros.sel = sel
+import google.protobuf.message
+
+# simulation
+from utils.flyInformation_gen import GPSgen
+from utils.flyInformation_gen import HDGgen
+'''
+import rospy
+from std_msgs.msg import String
+from std_msgs.msg import Float64
+from std_msgs.msg import Header
+from mavros_msgs.srv import ParamGet
+from sensor_msgs.msg import NavSatFix
+from sensor_msgs.msg import Imu
+from sensor_msgs.msg import Range
+from geometry_msgs.msg import Vector3
+'''
+
+class Read_UAVLINK_PUB_Config(Config):
+    def setAttribute(self):
+        super().setAttribute()
+
+    def __init__(self, inFileName):      
+        super().__init__(inFileName)
+        self.sectionNames = ["UAVLINK","ROS","LOG"]
+        self.options = {
+            self.sectionNames[0]:{
+                            "uavlink_msg_format": (str,False),
+                            "uav_id": (str,False),
+                            "baudrate": (int,True),
+                            "ttyport": (str,True)},
+            self.sectionNames[1]:{
+                            "ROSClientNamePub": (str,True),
+                            "ROStopicName_Flight_Information": (str,False)},
+            self.sectionNames[2]:{
+                            "logFileName":(str,True)}}
+        self.setAttribute()
+
+
+
+def init_dataFormat(cfg):
+    Proto_msg_from_ros.sel = serial.Serial(cfg.ttyport, cfg.baudrate, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE)
     Proto_msg_from_ros.flight_information_msg = flight_information_pb2.flight_information_message()
-
+    '''
+    Proto_msg_from_ros.rate = rospy.Rate(10)
+    rospy.Subscriber('/mavros/global_position/global', NavSatFix, Proto_msg_from_ros.callBack_gps)
+    rospy.Subscriber('/mavros/global_position/compass_hdg', Float64, Proto_msg_from_ros.callBack_compass_hdg)
+    '''
+def shutdown_callback():
+    Proto_msg_from_ros.turnOffUavlink()
 if __name__ == '__main__':
     FilePath = os.path.join(os.path.dirname(__file__),"utils","uavlinkConfig_PUB.yml")
-    cfg = Read_PUB_Config(FilePath)
-    gps = fakeGps()
-    hdg = fake_hdg()
-
+    cfg = Read_UAVLINK_PUB_Config(FilePath)
+    
     # set log
-    log_format = "%(asctime)s - %(levelname)s - %(message)s"
-    formatter = logging.Formatter(log_format)
+    stream_log_format = "%(asctime)s - %(levelname)s - %(message)s"
+    file_log_format = "%(message)s"
+    file_formatter = logging.Formatter(file_log_format)
+    stream_formatter = logging.Formatter(stream_log_format)
 
     stream_handler = logging.StreamHandler()
-    stream_handler.setFormatter(formatter)
+    stream_handler.setFormatter(stream_formatter)
     stream_handler.setLevel(logging.DEBUG)
 
-    file_handler = logging.FileHandler(cfg.logFileName)
-    file_handler.setFormatter(formatter)
+    file_handler = logging.FileHandler(cfg.logFileName, mode='w')
+    file_handler.setFormatter(file_formatter)
     file_handler.setLevel(logging.INFO)
 
     logger = logging.getLogger("__UAVLINKSUBPUB__")
-    logger.setLevel(logging.INFO)
+    logger.setLevel(logging.DEBUG)
     logger.addHandler(file_handler)
     logger.addHandler(stream_handler)
-    logger.info(cfg)    
-
+    logger.debug(cfg)
 
     init_dataFormat(cfg)
-    while True:
 
-        gps.latitude = random.uniform(10, 100)
-        gps.longitude = random.uniform(10, 100)
-        gps.altitude = random.uniform(10, 100)
+    gps = GPSgen()
+    hdg = HDGgen()
 
-        hdg.data = random.uniform(0, 10)
+    while True:
+        gps.update_random()
+        hdg.update_random()
         try:
-            # test json
             Proto_msg_from_ros.callBack_gps(gps)
             Proto_msg_from_ros.callBack_compass_hdg(hdg)
-            time.sleep(0.3)
-
-
+            time.sleep(0.1)
         except KeyboardInterrupt as e:
-            print("End of program")
+            Proto_msg_from_ros.turnOffUavlink()
+            logger.debug("End of program")
             sys.exit()
+    '''
+    # Ros
+    rosClient = cfg.ROSClientNamePub
+    rospy.init_node(rosClient)
+    rospy.on_shutdown(shutdown_callback)
+    # init data format
+    
+
+    try:
+        rospy.spin()
+    except KeyboardInterrupt as e:
+        Proto_msg_from_ros.turnOffUavlink()
+        logger.debug("End of program")
+        sys.exit()
+
+     '''
+
 
 
 

Stream/uav_proto_msg/uavlinkSubMain.py

@@ -6,67 +6,101 @@ import sys
 import os
 import proto.flight_information_pb2 as flight_information_pb2
 import logging
-from utils.readConfig import Read_SUB_Config
+from utils.readConfig import Config
 from utils.proto_uavlink_pub_data_to_ros import Proto_msg_to_ros
-
-
-
-def init_dataFormat(cfg:Read_SUB_Config):
-    ros_namespace="/drone1"
-    deviceData = b'\xf12222222222222222222222\r\x1a'
-
-    sel.write(deviceData)
-    time.sleep(1)
-    readTenByte = sel.read(size=5)
-    print(readTenByte)
-
-
+import google.protobuf.message
+'''
+import rospy
+from std_msgs.msg import String
+from std_msgs.msg import Float64
+from std_msgs.msg import Header
+from mavros_msgs.srv import ParamGet
+from sensor_msgs.msg import NavSatFix
+from sensor_msgs.msg import Imu
+from sensor_msgs.msg import Range
+from geometry_msgs.msg import Vector3
+# costom msg
+from class_model.msg import FlightInformation
+'''
+
+class Read_UAVLINK_SUB_Config(Config):
+    def setAttribute(self):
+        super().setAttribute()
+
+    def __init__(self, inFileName):      
+        super().__init__(inFileName)
+        self.sectionNames = ["UAVLINK","ROS","LOG"]
+        self.options = {
+            self.sectionNames[0]:{
+                            "uavlink_msg_format": (str,False),
+                            "uav_id": (str,False),
+                            "baudrate": (int,False),
+                            "ttyport": (str,True)},
+            self.sectionNames[1]:{
+                            "ROSClientNameSub": (str,True),
+                            "ROStopicName_Flight_Information": (str,True)},
+            self.sectionNames[2]:{
+                            "logFileName":(str,False)}}
+        self.setAttribute()
+
+
+def init_dataFormat(cfg):
     Proto_msg_to_ros.flight_information_msg = flight_information_pb2.flight_information_message()
-
+    Proto_msg_to_ros.sel = sel
+    '''
+    Proto_msg_to_ros.rate = rospy.Rate(10)
+    Proto_msg_to_ros.publisher_Flight_Information = rospy.Publisher(cfg.ROStopicName_Flight_Information,FlightInformation,queue_size=10)
+    Proto_msg_to_ros.FlightInformationRosMsg = FlightInformation()
+    '''
     
+
+def shutdown_callback():
+    Proto_msg_to_ros.turnOffUavlink()
+
 if __name__ == '__main__':
     FilePath = os.path.join(os.path.dirname(__file__),"utils","uavlinkConfig_SUB.yml")
-    cfg = Read_SUB_Config(FilePath)
+    cfg = Read_UAVLINK_SUB_Config(FilePath)
     
-    sel = serial.Serial(cfg.ttyport, cfg.baudrate, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE, timeout = 0.5)
+    sel = serial.Serial(cfg.ttyport, cfg.baudrate, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE)
     # set log
-    log_format = "%(asctime)s - %(levelname)s - %(message)s"
-    formatter = logging.Formatter(log_format)
+    stream_log_format = "%(asctime)s - %(levelname)s - %(message)s"
+    file_log_format = "%(message)s"
+    file_formatter = logging.Formatter(file_log_format)
+    stream_formatter = logging.Formatter(stream_log_format)
 
     stream_handler = logging.StreamHandler()
-    stream_handler.setFormatter(formatter)
+    stream_handler.setFormatter(stream_formatter)
     stream_handler.setLevel(logging.DEBUG)
 
-    file_handler = logging.FileHandler(cfg.logFileName)
-    file_handler.setFormatter(formatter)
+    file_handler = logging.FileHandler(cfg.logFileName, mode='w')
+    file_handler.setFormatter(file_formatter)
     file_handler.setLevel(logging.INFO)
 
     logger = logging.getLogger("__UAVLINKSUB__")
-    logger.setLevel(logging.INFO)
+    logger.setLevel(logging.DEBUG)
     logger.addHandler(file_handler)
     logger.addHandler(stream_handler)
-    logger.info(cfg)
-
+    logger.debug(cfg)
     init_dataFormat(cfg)
- 
+    '''
+    rospy.init_node(cfg.ROSClientNameSub)  
+    rospy.on_shutdown(shutdown_callback)
+    while not rospy.is_shutdown():
+    '''
     while True:
         try:
-            # test json
             if sel.in_waiting >= 25:
-                readTenByte = sel.read_until(expected= b'\x01\x01', size=25)
-                # print(readTenByte)
-                if b"drone550" in readTenByte:
-                    print(readTenByte)
-                    print("radar")
-                    continue
-                
+                readTenByte = sel.read_until(expected= b'\x01\x18', size=25)
                 Proto_msg_to_ros.on_message_Flight_Information(readTenByte)
-
-        except Exception as e:
+        except google.protobuf.message.DecodeError as e:
+            logger.info("DecodeError:{}".format(e))
+            logger.info("readTenByte:{}".format(readTenByte))
+        '''
+        except rospy.ROSInterruptException as e:
+            Proto_msg_to_ros.turnOffUavlink()
             print("End of program")
-            print(readTenByte)
-            pass
-
+            sys.exit()
+'''
 
 
 

Stream/uav_proto_msg/utils/.idea/.gitignore

@@ -0,0 +1,3 @@
+# Default ignored files
+/shelf/
+/workspace.xml

Stream/uav_proto_msg/utils/.idea/inspectionProfiles/Project_Default.xml

@@ -0,0 +1,104 @@
+<component name="InspectionProjectProfileManager">
+  <profile version="1.0">
+    <option name="myName" value="Project Default" />
+    <inspection_tool class="PyPackageRequirementsInspection" enabled="true" level="WARNING" enabled_by_default="true">
+      <option name="ignoredPackages">
+        <value>
+          <list size="84">
+            <item index="0" class="java.lang.String" itemvalue="mysqlclient" />
+            <item index="1" class="java.lang.String" itemvalue="protobuf" />
+            <item index="2" class="java.lang.String" itemvalue="pywinpty" />
+            <item index="3" class="java.lang.String" itemvalue="mysql-connector" />
+            <item index="4" class="java.lang.String" itemvalue="PyYAML" />
+            <item index="5" class="java.lang.String" itemvalue="atomicwrites" />
+            <item index="6" class="java.lang.String" itemvalue="QtPy" />
+            <item index="7" class="java.lang.String" itemvalue="cycler" />
+            <item index="8" class="java.lang.String" itemvalue="MarkupSafe" />
+            <item index="9" class="java.lang.String" itemvalue="locket" />
+            <item index="10" class="java.lang.String" itemvalue="patsy" />
+            <item index="11" class="java.lang.String" itemvalue="tables" />
+            <item index="12" class="java.lang.String" itemvalue="appdirs" />
+            <item index="13" class="java.lang.String" itemvalue="contextlib2" />
+            <item index="14" class="java.lang.String" itemvalue="conda-verify" />
+            <item index="15" class="java.lang.String" itemvalue="mccabe" />
+            <item index="16" class="java.lang.String" itemvalue="pyzmq" />
+            <item index="17" class="java.lang.String" itemvalue="certifi" />
+            <item index="18" class="java.lang.String" itemvalue="HeapDict" />
+            <item index="19" class="java.lang.String" itemvalue="entrypoints" />
+            <item index="20" class="java.lang.String" itemvalue="mysql" />
+            <item index="21" class="java.lang.String" itemvalue="anaconda-navigator" />
+            <item index="22" class="java.lang.String" itemvalue="bkcharts" />
+            <item index="23" class="java.lang.String" itemvalue="comtypes" />
+            <item index="24" class="java.lang.String" itemvalue="pywin32" />
+            <item index="25" class="java.lang.String" itemvalue="clyent" />
+            <item index="26" class="java.lang.String" itemvalue="navigator-updater" />
+            <item index="27" class="java.lang.String" itemvalue="terminado" />
+            <item index="28" class="java.lang.String" itemvalue="wincertstore" />
+            <item index="29" class="java.lang.String" itemvalue="xlwings" />
+            <item index="30" class="java.lang.String" itemvalue="win-unicode-console" />
+            <item index="31" class="java.lang.String" itemvalue="pyodbc" />
+            <item index="32" class="java.lang.String" itemvalue="boto" />
+            <item index="33" class="java.lang.String" itemvalue="h5py" />
+            <item index="34" class="java.lang.String" itemvalue="wrapt" />
+            <item index="35" class="java.lang.String" itemvalue="menuinst" />
+            <item index="36" class="java.lang.String" itemvalue="QDarkStyle" />
+            <item index="37" class="java.lang.String" itemvalue="fastcache" />
+            <item index="38" class="java.lang.String" itemvalue="anaconda-client" />
+            <item index="39" class="java.lang.String" itemvalue="cytoolz" />
+            <item index="40" class="java.lang.String" itemvalue="widgetsnbextension" />
+            <item index="41" class="java.lang.String" itemvalue="multipledispatch" />
+            <item index="42" class="java.lang.String" itemvalue="mkl-service" />
+            <item index="43" class="java.lang.String" itemvalue="scikit-image" />
+            <item index="44" class="java.lang.String" itemvalue="Bottleneck" />
+            <item index="45" class="java.lang.String" itemvalue="pathspec" />
+            <item index="46" class="java.lang.String" itemvalue="brotlipy" />
+            <item index="47" class="java.lang.String" itemvalue="pycurl" />
+            <item index="48" class="java.lang.String" itemvalue="json5" />
+            <item index="49" class="java.lang.String" itemvalue="mypy-extensions" />
+            <item index="50" class="java.lang.String" itemvalue="pep8" />
+            <item index="51" class="java.lang.String" itemvalue="pycosat" />
+            <item index="52" class="java.lang.String" itemvalue="llvmlite" />
+            <item index="53" class="java.lang.String" itemvalue="numpy" />
+            <item index="54" class="java.lang.String" itemvalue="simplegeneric" />
+            <item index="55" class="java.lang.String" itemvalue="mysql-connector-python" />
+            <item index="56" class="java.lang.String" itemvalue="jdcal" />
+            <item index="57" class="java.lang.String" itemvalue="mkl-fft" />
+            <item index="58" class="java.lang.String" itemvalue="jupyter" />
+            <item index="59" class="java.lang.String" itemvalue="backports.weakref" />
+            <item index="60" class="java.lang.String" itemvalue="pkginfo" />
+            <item index="61" class="java.lang.String" itemvalue="pywin32-ctypes" />
+            <item index="62" class="java.lang.String" itemvalue="conda" />
+            <item index="63" class="java.lang.String" itemvalue="zict" />
+            <item index="64" class="java.lang.String" itemvalue="xmltodict" />
+            <item index="65" class="java.lang.String" itemvalue="sip" />
+            <item index="66" class="java.lang.String" itemvalue="pyreadline" />
+            <item index="67" class="java.lang.String" itemvalue="zope.event" />
+            <item index="68" class="java.lang.String" itemvalue="opencv-python" />
+            <item index="69" class="java.lang.String" itemvalue="parso" />
+            <item index="70" class="java.lang.String" itemvalue="pytest" />
+            <item index="71" class="java.lang.String" itemvalue="black" />
+            <item index="72" class="java.lang.String" itemvalue="conda-build" />
+            <item index="73" class="java.lang.String" itemvalue="xlwt" />
+            <item index="74" class="java.lang.String" itemvalue="et-xmlfile" />
+            <item index="75" class="java.lang.String" itemvalue="mistune" />
+            <item index="76" class="java.lang.String" itemvalue="future" />
+            <item index="77" class="java.lang.String" itemvalue="mpmath" />
+            <item index="78" class="java.lang.String" itemvalue="statsmodels" />
+            <item index="79" class="java.lang.String" itemvalue="olefile" />
+            <item index="80" class="java.lang.String" itemvalue="ply" />
+            <item index="81" class="java.lang.String" itemvalue="unicodecsv" />
+            <item index="82" class="java.lang.String" itemvalue="webencodings" />
+            <item index="83" class="java.lang.String" itemvalue="argh" />
+          </list>
+        </value>
+      </option>
+    </inspection_tool>
+    <inspection_tool class="PyPep8NamingInspection" enabled="true" level="WEAK WARNING" enabled_by_default="true">
+      <option name="ignoredErrors">
+        <list>
+          <option value="N803" />
+        </list>
+      </option>
+    </inspection_tool>
+  </profile>
+</component>

Stream/uav_proto_msg/utils/.idea/inspectionProfiles/profiles_settings.xml

@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>

Stream/uav_proto_msg/utils/.idea/misc.xml

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.8 (base) (2)" project-jdk-type="Python SDK" />
+</project>

Stream/uav_proto_msg/utils/.idea/modules.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/utils.iml" filepath="$PROJECT_DIR$/.idea/utils.iml" />
+    </modules>
+  </component>
+</project>

Stream/uav_proto_msg/utils/.idea/utils.iml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>

Stream/uav_proto_msg/utils/.idea/vcs.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/../../.." vcs="Git" />
+  </component>
+</project>

Stream/uav_proto_msg/utils/flyInformation_gen.py

@@ -0,0 +1,30 @@
+import random
+
+class GPSgen():
+    def __init__(self):
+        self.latitude = random.uniform(20, 100)
+        self.longitude = random.uniform(20, 100)
+        self.altitude = random.uniform(20, 100)
+
+    def update_random(self):
+        self.latitude += random.uniform(0, 10)
+        self.longitude += random.uniform(0, 10)
+        self.altitude += random.uniform(0, 10)
+
+class HDGgen():
+    def __init__(self):
+        self.data = random.uniform(20, 100)
+
+    def update_random(self):
+        self.data += random.uniform(0, 10)
+        
+if __name__ == "__main__":
+    import time
+    gps = GPSgen()
+    hdg = HDGgen()
+    while True:
+        gps.update_random()
+        hdg.update_random()
+        print(gps.latitude, gps.longitude, gps.altitude)
+        print(hdg.data)
+        time.sleep(0.25)

Stream/uav_proto_msg/utils/mqttConfig_PUB.yml

@@ -20,4 +20,4 @@ ROS:
   ROStopicName_Fly_Formation: Fly_Formation_reciver
 LOG:
   logFileName: pub.log
-UAVLINK: "None"
+UAVLINK: "None"

Stream/uav_proto_msg/utils/mqttConfig_SUB.yml

@@ -13,6 +13,7 @@ MQTT:
   Fly_Formation_topicToMqtt: Drone550/Formation
   # Change formate qos
   Fly_Formation_topicToMqtt_QOS: 2
+  test: 123
 ROS:
   ROSClientNameSub: Drone550Sub
   ROStopicName_Flight_Information: Flight_Information_reciver

Stream/uav_proto_msg/utils/proto_uavlink_pub_data_to_ros.py

@@ -3,29 +3,60 @@ import time
 import proto.flight_information_pb2 as flight_information_pb2
 import google.protobuf.json_format as json_format
 import logging
+# costom msg
+
 
 # TODO: use native ros type instead of json or str
-logger = logging.getLogger("__SUB__")
+logger = logging.getLogger("__UAVLINKSUB__")
 
 class Proto_msg_to_ros:
     #Protobuf
     flight_information_msg = None
 
     #Ros publisher
+    FlightInformationRosMsg = None
     rate = None
     publisher_Flight_Information = None
 
+    #uavlink 
+    sel = None
+    payload = b"......................"
+    noEcho_code = b"\x0d\x0a"
+    echo_code = b"\x0d\x1a"
+    close_code = b"\x0d\x2a"
+    f1_code = b"\xf1"
+    f2_code = b"\xf2"
+    f1_close_code = f1_code + payload + close_code
+    f2_close_code = f2_code + payload + close_code
 
     #Proto
     @classmethod
     def on_message_Flight_Information(cls, msg):
-        proto = msg[1:-2]
-
-        proto_msg = cls.flight_information_msg.FromString(proto)
-        protoTOJson_msg = json_format.MessageToJson(proto_msg, indent=None, preserving_proto_field_name=True)
-        logger.info(protoTOJson_msg)
-        print(protoTOJson_msg)
-        cls.publisher_Flight_Information.publish(protoTOJson_msg)
+        logger.debug(cls.convert_proto_to_ros(msg[1:-2]))
+        '''
+        cls.publisher_Flight_Information.publish(cls.convert_proto_to_ros(msg[1:-2]))
+        
         cls.rate.sleep()
+        '''
+    @classmethod
+    def convert_proto_to_ros(cls, proto):
+        proto_msg = cls.flight_information_msg.FromString(proto)
+        return proto_msg
+        '''
+        cls.FlightInformationRosMsg.LAT = proto_msg.gps.LAT
+        cls.FlightInformationRosMsg.LON = proto_msg.gps.LON
+        cls.FlightInformationRosMsg.ALT = proto_msg.gps.ALT
+        cls.FlightInformationRosMsg.heading = proto_msg.heading
+        return cls.FlightInformationRosMsg
+        '''
+
+    @classmethod
+    def detection(cls):
+        cls.sel.write(cls.f1_code + cls.payload + cls.echo_code)
 
-        
+    @classmethod
+    def turnOffUavlink(cls):
+        time.sleep(0.5)
+        cls.sel.write(cls.f1_close_code)
+        time.sleep(0.5)
+        cls.sel.write(cls.f2_close_code)    

Stream/uav_proto_msg/utils/proto_uavlink_sub_data_from_ros.py

@@ -7,21 +7,41 @@ logger = logging.getLogger("__UAVLINKSUBPUB__")
 class Proto_msg_from_ros:
     #Protobuf
     flight_information_msg = None
+    #ros
+    rate = None
+    #uavlink 
     sel = None
+    payload = b"......................"
+    noEcho_code = b"\x0d\x0a"
+    echo_code = b"\x0d\x1a"
+    close_code = b"\x0d\x2a"
+    f1_code = b"\xf1"
+    f2_code = b"\xf2"
+    f1_close_code = f1_code + payload + close_code
+    f2_close_code = f2_code + payload + close_code
 
 
     @classmethod
     def callBack_gps(cls, GPS):
-        cls.flight_information_msg.gps.LAT = GPS.latitude
-        cls.flight_information_msg.gps.LON = GPS.longitude
+        cls.flight_information_msg.gps.LAT = GPS.latitude*10000000
+        cls.flight_information_msg.gps.LON = GPS.longitude*10000000
         cls.flight_information_msg.gps.ALT = GPS.altitude
-
+        '''
+        cls.rate.sleep()
+        '''
 
     @classmethod
     def callBack_compass_hdg(cls, Compass):
-        cls.flight_information_msg.heading = Compass.data
+        cls.flight_information_msg.heading = Compass.data*100
         flightInformationMsg = cls.flight_information_msg.SerializeToString()
-        cls.sel.write(b'\xf2' + flightInformationMsg + b'\r\n')
-        print(len(b'\xf2' + flightInformationMsg + b'\r\n'))
-        readTenByte = cls.sel.readline()
-        print(readTenByte)
+        cls.sel.write(cls.f2_code + flightInformationMsg + cls.noEcho_code)
+        '''
+        cls.rate.sleep()
+        '''
+
+    @classmethod
+    def turnOffUavlink(cls):
+        time.sleep(0.5)
+        cls.sel.write(cls.f1_close_code)
+        time.sleep(0.5)
+        cls.sel.write(cls.f2_close_code)

Stream/uav_proto_msg/utils/readConfig.py

@@ -21,16 +21,16 @@ class Config:
                     optval=ecfg[opt]
                     #verify parameter type
                     if type(optval) != self.options[opts][opt][0]:
-                        raise Exception("Parameter {} has wrong type".format(self.opt))
+                        raise Exception("Parameter {} has wrong type".format(opt))
                      
                     #create attributes on the fly
                     setattr(self,opt,optval)
                 else:
                     if self.options[opts][opt][1]:
-                        raise Exception("Missing mandatory parameter {}".format(self.opt))
+                        raise Exception("Missing mandatory parameter {}".format(opt))
                     else:
                         setattr(self,opt,None)
-         
+
     def __str__(self):
         return str(yaml.dump(self.ymlcfg, default_flow_style=False))
 
@@ -146,7 +146,7 @@ class Read_CMD_Config(Config):
         return super().__str__()
 
 if __name__ == "__main__":
-    cfg=Read_CMD_Config("mqttConfig_CMD.yml")
+    cfg=Read_SUB_Config("mqttConfig_SUB.yml")
     print(cfg)
 
 

Stream/uav_proto_msg/utils/uavlinkConfig_PUB.yml

@@ -1,8 +1,8 @@
 UAVLINK:
   uavlink_msg_format: Proto
-  uav_id: \x01\x01
+  uav_id: \x01\x17
   baudrate: 250000
-  ttyport: /dev/ttyUSB1
+  ttyport: /dev/ttyUSB0
 MQTT: "None"
 #ROS
 ROS:

Stream/uav_proto_msg/utils/uavlinkConfig_SUB.yml

@@ -2,10 +2,10 @@ UAVLINK:
   uavlink_msg_format: Proto
   uav_id: \x01\x01
   baudrate: 250000
-  ttyport: /dev/ttyUSB1
+  ttyport: /dev/ttyUSB0
 MQTT: "None"
 ROS:
   ROSClientNameSub: Drone550UAVLINKSub
-  Dron550_ROStopicName_Flight_Information: Flight_Information_reciver
+  ROStopicName_Flight_Information: Flight_Information_Uavlink_reciver
 LOG:
   logFileName: UAVLINKsub.log