void Logging::logUcLinkTransmission(stc_frame f)
{
//#time,src,frame_id,mac_src, mac_dst,time_sent,time_ack,retransmissions
#ifndef PERFORMANCE_LOGGING_UC_LINK_FRAMES
return;
#endif
string entry = getIntAsString(getMillisecondsTime()) + ",";
/* src hostname */
entry += f.hostname_source + ",";
/* frame id */
entry += getIntAsString(f.frame_id) + ",";
/* mac src */
entry += ",";
/* mac dst */
entry += getMacAsStr(f.mac) + ",";
/* time_sent*/
entry += getIntAsString(f.ts) + ",";
/* time_ack*/
entry += getIntAsString(getMillisecondsTime()) + ",";
/*retransmissions*/
entry += getIntAsString(f.retransmitted) + ",";
entries_link_frames.push_back(entry);
}
void Logging::logRRequestIntermediate(RouteRequest* r)
{
#ifndef PERFORMANCE_LOGGING
return;
#endif
/*rreq_intermediate.csv (log upon every received route request):
#time,rreq_id,src,rcvd_from
time : timestamp (ms)
rreq_id : ID of the route request
src : source of the route request
rcvd_from : robot the route request was received from*/
std::string entry = "";
/* time stamp */
entry += getIntAsString(getMillisecondsTime()) + ",";
/* rreq_id */
entry += getIntAsString(r->header_.id) + ",";
/* src host */
entry += r->hostname_source_ + ",";
/* rcvd_from */
entry += getMacAsStr(r->eh_h_.eh_source).c_str();
entries_rreq_interm.push_back(entry);
}
Packet::Packet(RoutedFrame frame)
{
this->id_ = frame.header_.packet_id;
this->size_ = frame.header_.packet_size;
this->data_type_ = frame.header_.payload_type;
this->ts_ = getMillisecondsTime();
this->frames_l_.clear();
this->topic_ = frame.topic_;
this->hostname_source_ = frame.hostname_source_;
this->mc_group_ = frame.mc_g_name_;
this->missed_sequences_l_.clear();
highest_seq = 0;
ts_last_frame_request = 0;
}
void Logging::logRRequestReceiver(std::string h_src, uint32_t id, uint16_t counter, uint16_t hobs, bool selected, std::list<mac> path_l)
{
#ifndef PERFORMANCE_LOGGING
return;
#endif
/*rreq_receiver.csv (log upon every received route request):
#time,rreq_id,counter,route_length,selected,route
time : timestamp (ms)
rreq_id : The unique ID of the route request
* src
counter : the 'counter' received route request
route_length : If route received, length of the route
selected : If this route is selected and returned to the source
route : The route received in the form 'src|robot_A|robot_B|dst'
*/
std::string entry = "";
/* time stamp */
entry += getIntAsString(getMillisecondsTime()) + ",";
/* rreq_id */
entry += getIntAsString(id) + ",";
/* src host */
entry += h_src + ",";
/* counter */
entry += getIntAsString(counter) + ",";
/* route_length */
entry += getIntAsString(hobs) + ",";
/* selected */
if (selected)
entry += "1,";
else
entry += "0,";
/* path list */
entry += getPathAsStr(path_l);
entries_rreq_recv.push_back(entry);
}
void Logging::logRoutingTable(std::list<routing_entry>* u_entries, std::list<McTree*>* m_entries)
{
#ifndef PERFORMANCE_LOGGING
return;
#endif
uint32_t num_cr_entries = 0, num_unicast_entries = 0, num_multicast_entries = m_entries->size();
std::size_t size = 0;
for (std::list<routing_entry>::iterator i = u_entries->begin(); i != u_entries->end(); i++)
{
routing_entry r = *i;
size += sizeof (r);
if (r.cr_entry)
num_cr_entries++;
else
{
num_unicast_entries++;
}
}
for (std::list<McTree*>::iterator i = m_entries->begin(); i != m_entries->end(); i++)
{
McTree* m = *i;
size += sizeof (*m);
}
entries_r_table.push_back(getIntAsString(getMillisecondsTime()) + "," + getIntAsString(num_cr_entries) + "," + getIntAsString(num_unicast_entries) + "," + getIntAsString(num_multicast_entries) + "," + getIntAsString(size));
}
void Logging::logTransportFrame(stc_RoutedFrame* f, routing_entry* route, unsigned long start_time, unsigned long end_time, bool success)
{
// #time,id,dst,retransmissions,start_time,end_time,success,route_length,route,multicast ;
string entry = getIntAsString(getMillisecondsTime()) + ",";
/* id */
entry += getIntAsString(f->frame.header_.frame_id) + ",";
/* dst */
entry += route->hostname_destination + ",";
/* retransmissions */
entry += getIntAsString(f->retransmitted)+",";
/* start_time */
entry += getIntAsString(start_time) + ",";
/* end_time */
entry += getIntAsString(end_time) + ",";
/* success */
entry += getBoolAsString(success) + ",";
/*route_length*/
entry += getIntAsString(route->hobs) + ",";
/* route*/
entry += getPathAsStr(route->mac_path_l) + ",";
/* multicast */
entry += getIntAsString(f->frame.mc_flag) + ",";
entries_transport_frames.push_back(entry);
}
bool Packet::addFrame(RoutedFrame f)
{
/* Description:
* Add the frame to the frame list of the packet, if the frame belongs to
* the packet.
* This method is needed to build up the packet on the receiver side.
* The method also checks, if frames are received in the right order.
*
*
* Returns:
* (true) if packet is complete and ready to publish
*
* (false) in every other case
*/
this->ts_ = getMillisecondsTime();
if (this->size_ == this->frames_l_.size())
return true;
if (this->highest_seq < f.header_.packet_sequence_num)
this->highest_seq = f.header_.packet_sequence_num;
if (this->isMcFrame() && this->frameAlreadyExsits(f) == true)
{
this->refreshLists();
return false;
}
if (frames_l_.size() == 0 && f.header_.packet_sequence_num != 0)
{
for (uint32_t mis_seq = 0; mis_seq < f.header_.packet_sequence_num;
mis_seq++)
missed_sequences_l_.push_back(mis_seq);
}
if (f.header_.packet_id != this->id_)
{
ROS_ERROR("packet error");
exit(22);
}
if ((unsigned)frames_l_.size() < size_)
{
bool missed_sequence_frame = false;
/* check if frame is on with a missed sequence*/
for (std::list<uint32_t>::iterator it = missed_sequences_l_.begin();
it != missed_sequences_l_.end(); ++it)
{
if (f.header_.packet_sequence_num == *it)
{
// ROS_ERROR("Frame was in missed squ
// %u",f.header_.packet_sequence_num);
missed_sequence_frame = true;
missed_sequences_l_.erase(it); // todo try remove
break;
}
}
if (!missed_sequence_frame)
{
// std::list<RoutedFrame>::reverse_iterator iter =
// frames_l_.rbegin(); //points to the last instered frame
RoutedFrame &last_frame(*frames_l_.rbegin());
/*Check if the new frame has the expected sequence*/
if (last_frame.header_.packet_sequence_num ==
f.header_.packet_sequence_num - 1 ||
frames_l_.size() == 0)
{
frames_l_.push_back(f);
}
else if (last_frame.header_.packet_sequence_num <
f.header_.packet_sequence_num)
{
/*Insert all sequence numbers between the current incoming frame
* and the last inserted one*/
for (uint32_t i = 1;
i < f.header_.packet_sequence_num -
last_frame.header_.packet_sequence_num;
i++)
{
missed_sequences_l_.push_front(
last_frame.header_.packet_sequence_num + i);
}
frames_l_.push_back(f);
}
else
{
// this->refreshLists();
// return this->addFrame(f);
}
}
/*Missed sequence frame*/
else
{
frames_l_.push_front(f);
}
if (frames_l_.size() == size_)
{
this->wrong_sequence_ = true;
sortFrameList();
return frames_l_.size() == size_;
}
else
return false;
}
return false;
}
void Logging::logUcPacketsSummary(unsigned long interval_ms)
{
#ifndef PERFORMANCE_LOGGING
return;
#endif
#ifndef PERFORMANCE_LOGGING_UC_LINK_SUMMARY
return;
#endif
while (ros::ok())
{
sleepMS(interval_ms);
string entry = getIntAsString(getMillisecondsTime()) + ",";
{
boost::unique_lock<boost::mutex> lock(Logging::mtx_logging);
uint32_properties["num_total_frames_sent"] = 0;
uint32_properties["num_total_frames_received"] = 0;
}
/* num_unique_data_frames_sent */
entry += getIntAsString(getProperty("num_unique_data_frames_sent")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_unique_data_frames_sent"));
/* getProperty("num_unique_data_frames_forwarded*/
entry += getIntAsString(getProperty("num_unique_data_frames_forwarded")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_unique_data_frames_forwarded"));
/* num_data_frames_resent*/
entry += getIntAsString(getProperty("num_data_frames_resent")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_data_frames_resent"));
/* num_data_frames_reforwarded*/
entry += getIntAsString(getProperty("num_data_frames_reforwarded")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_data_frames_reforwarded"));
/* num_data_frames_relayed*/
entry += getIntAsString(getProperty("num_data_frames_relayed")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_data_frames_relayed"));
/*num_acknowledgments_sent */
entry += getIntAsString(getProperty("num_acknowledgments_sent")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_acknowledgments_sent"));
/* getProperty("num_acknowledgments_relayed*/
entry += getIntAsString(getProperty("num_acknowledgments_relayed")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_acknowledgments_relayed"));
/* num_rreq_sent*/
entry += getIntAsString(getProperty("num_rreq_sent")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_rreq_sent"));
/* num_rrep_sent*/
entry += getIntAsString(getProperty("num_rrep_sent")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_rrep_sent"));
/*num_beacons_sent */
entry += getIntAsString(getProperty("num_beacons_sent")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_beacons_sent"));
/*num_relay_selection_sent */
entry += getIntAsString(getProperty("num_relay_selection_sent")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_relay_selection_sent"));
/*num_relay_detection_sent */
entry += getIntAsString(getProperty("num_relay_detection_sent")) + ",";
increaseProperty("num_total_frames_sent", getProperty("num_relay_detection_sent"));
/*num_total_frames_sent */
entry += getIntAsString(getProperty("num_total_frames_sent")) + ",";
// num_total_frames_received = 0;
/*num_unique_data_frames_received_directly */
entry += getIntAsString(getProperty("num_unique_data_frames_received_directly")) + ",";
/*num_unique_data_frames_received_relay */
increaseProperty("num_total_frames_received", getProperty("num_unique_data_frames_received_relay"));
entry += getIntAsString(getProperty("num_unique_data_frames_received_relay")) + ",";
/*num_data_frames_received_directly */
increaseProperty("num_total_frames_received", getProperty("num_data_frames_received_directly"));
entry += getIntAsString(getProperty("num_data_frames_received_directly")) + ",";
/*num_data_frames_received_relay */
increaseProperty("num_total_frames_received", getProperty("num_data_frames_received_relay"));
entry += getIntAsString(getProperty("num_data_frames_received_relay")) + ",";
/*num_acknowledgments_received_directly */
increaseProperty("num_total_frames_received", getProperty("num_acknowledgments_received_directly"));
entry += getIntAsString(getProperty("num_acknowledgments_received_directly")) + ",";
/*num_acknowledgments_received_relay */
increaseProperty("num_total_frames_received", getProperty("num_acknowledgments_received_relay"));
entry += getIntAsString(getProperty("num_acknowledgments_received_relay")) + ",";
/*num_rreq_received */
increaseProperty("num_total_frames_received", getProperty("num_rreq_received"));
entry += getIntAsString(getProperty("num_rreq_received")) + ",";
/*num_rrep_received */
increaseProperty("num_total_frames_received", getProperty("num_rrep_received"));
entry += getIntAsString(getProperty("num_rrep_received")) + ",";
/*num_relay_selection_received */
increaseProperty("num_total_frames_received", getProperty("num_relay_selection_received"));
entry += getIntAsString(getProperty("num_relay_selection_received")) + ",";
/*num_relay_detection_received */
increaseProperty("num_total_frames_received", getProperty("num_relay_detection_received"));
entry += getIntAsString(getProperty("num_relay_detection_received")) + ",";
/*num_duplicate_frames_received */
increaseProperty("num_total_frames_received", getProperty("num_duplicate_frames_received"));
entry += getIntAsString(getProperty("num_duplicate_frames_received")) + ",";
/*num_beacons_received */
increaseProperty("num_total_frames_received", getProperty("num_beacons_received"));
entry += getIntAsString(getProperty("num_beacons_received")) + ",";
/*um_total_frames_received */
entry += getIntAsString(getProperty("num_total_frames_received")) + ",";
/*num_total_bytes_sent */
entry += getIntAsString(getProperty("num_total_bytes_sent")) + ",";
/*num_total_bytes_received */
entry += getIntAsString(getProperty("num_total_bytes_received")) + ",";
entries_uc_frames.push_back(entry);
}
}
void Logging::logMemoryConsumptionPackets(unsigned long interval_ms, boost::mutex* mtx_pack, list<Packet>* packets, boost::mutex* mtx_cached_mc, list<Packet>* cached_mc, boost::mutex* mtx_unack_link_frames, list<stc_frame>* unack_link_frames, boost::mutex* mtx_unack_cr_frames, list<ack_cr_info>* unack_cr_frames)
{
#ifndef PERFORMANCE_LOGGING
return;
#endif
while (ros::ok())
{
sleepMS(interval_ms);
string entry = getIntAsString(getMillisecondsTime()) + ",";
std::size_t size_uc_pack = 0, size_mc_pack = 0, size_cached_mc_packets = 0, size_unack_l_f = 0, size_unack_cr_f = 0;
{ /* size_cached_multicast_packets complete */
boost::unique_lock<boost::mutex> lock_g(*mtx_cached_mc);
for (list<Packet>::iterator i = cached_mc->begin(); i != cached_mc->end(); i++)
{
size_cached_mc_packets += (*i).getSize();
}
entry += getIntAsString(size_cached_mc_packets) + ",";
}
{ /* size_multicast_packets_incomplete + size_unicast_packets_incomplete */
boost::unique_lock<boost::mutex> lock_g(*mtx_pack);
for (list<Packet>::iterator i = packets->begin(); i != packets->end(); i++)
{
if ((*i).isMcFrame())
size_mc_pack += (*i).getSize();
else
size_uc_pack += (*i).getSize();
}
entry += getIntAsString(size_mc_pack) + ",";
entry += getIntAsString(size_uc_pack) + ",";
}
{ /* size unack link frames */
boost::unique_lock<boost::mutex> lock_g(*mtx_unack_link_frames);
for (list<stc_frame>::iterator i = unack_link_frames->begin(); i != unack_link_frames->end(); i++)
size_unack_l_f += sizeof (*i);
entry += getIntAsString(size_unack_l_f) + ",";
}
{ /* size unack cr frames */
boost::unique_lock<boost::mutex> lock_g(*mtx_unack_cr_frames);
for (list<ack_cr_info>::iterator i = unack_cr_frames->begin(); i != unack_cr_frames->end(); i++)
size_unack_cr_f += sizeof (*i);
entry += getIntAsString(size_unack_cr_f) + ",";
}
entry += getIntAsString(getProperty("running_unicast_link_threads")) + ",";
entry += getIntAsString(getProperty("running_multicast_threads")) + ",";
entry += getIntAsString(getProperty("running_unicast_cr_threads")) + ",";
entry += getIntAsString(getProperty("running_unicast_transport_threads")) + ",";
entries_mem_consumption.push_back(entry);
}
}
void Logging::logRRequestInitiater(route_request* req, routing_entry* route)
{
#ifndef PERFORMANCE_LOGGING
return;
#endif
/*rreq_initiater.csv (log upon every initiated route request):
#time,rreq_id,dst,start_time,end_time,num_rrep_rcvd,num_rreq_sent,route_length,route, multicast
time : timestamp (ms)
rreq_id : The unique ID of the route request
dst : destination of the route request
start_time : Time the rreq was sent (ms)
end_time : Time the rrep was received (if any, otherwise empty/0)
num_rrep_rcvd : Number of received routes
num_rreq_sent : Number of route request sent, if multiple where unsuccessful
route_length : If route received, length of the route
route : The route selected in the form of the mac path
multicast : true if multicast, unicast false*/
std::string entry = "";
/* time stamp */
entry += getIntAsString(getMillisecondsTime()) + ",";
/* rreq_id */
entry += getIntAsString(req->id) + ",";
/* dst */
entry += req->hostname_destination + ",";
/* time sent */
entry += getIntAsString(req->ts) + ",";
/* time recv */
if (route != NULL)
entry += getIntAsString(route->ts) + ",";
else
entry += ",";
/* num_rrep_rcvd */
entry += "1,";
/* num_rreq_sent */
entry += getIntAsString(req->retransmitted) + ",";
/* route len */
if (route != NULL)
entry += getIntAsString(route->hobs) + ",";
else
entry += ",";
/* path list */
if (route != NULL)
{
entry += getPathAsStr(route->mac_path_l);
}
/* multicast*/
entry += "," + getIntAsString(req->is_mc);
entries_rreq_initi.push_back(entry);
}
void Logging::logServiceCalls(string service_name, unsigned long time_call, unsigned long time_res, unsigned long size, bool ret_val)
{
entries_service_calls.push_back(getIntAsString(getMillisecondsTime()) + "," + service_name.c_str() + "," + getIntAsString(time_call) + "," + getIntAsString(time_res) + "," + getIntAsString(size) + "," + getIntAsString(ret_val));
}
void Logging::logMcPacketsSummary(unsigned long interval_ms)
{
#ifndef PERFORMANCE_LOGGING
return;
#endif
#ifndef PERFORMANCE_LOGGING_MC_LINK_SUMMARY
return;
#endif
while (ros::ok())
{
sleepMS(interval_ms);
string entry = getIntAsString(getMillisecondsTime()) + ",";
/*num_mc_unique_data_frames_sent */
entry += getIntAsString(getProperty("num_mc_unique_data_frames_sent")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_unique_data_frames_sent"));
/* num_mc_unique_data_frames_forwarded*/
entry += getIntAsString(getProperty("num_mc_unique_data_frames_forwarded")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_unique_data_frames_forwarded"));
/* num_mc_data_frames_resent*/
entry += getIntAsString(getProperty("num_mc_data_frames_resent")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_data_frames_resent"));
/* num_mc_data_frames_reforwarded*/
entry += getIntAsString(getProperty("num_mc_data_frames_reforwarded")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_data_frames_reforwarded"));
/* num_mc_data_frames_relayed*/
entry += getIntAsString(getProperty("num_mc_data_frames_relayed")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_data_frames_relayed"));
/*num_mc_acknowledgments_sent */
entry += getIntAsString(getProperty("num_mc_acknowledgments_sent")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_acknowledgments_sent"));
/* num_mc_acknowledgments_relayed*/
entry += getIntAsString(getProperty("num_mc_acknowledgments_relayed")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_acknowledgments_relayed"));
/* num_mc_rreq_sent*/
entry += getIntAsString(getProperty("num_mc_rreq_sent")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_rreq_sent"));
/* num_mc_rrep_sent*/
entry += getIntAsString(getProperty("num_mc_rrep_sent")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_rrep_sent"));
/*num_mc_ract_sent */
entry += getIntAsString(getProperty("num_mc_ract_sent")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_ract_sent"));
/*num_mc_relay_selection_sent */
entry += getIntAsString(getProperty("num_mc_relay_selection_sent")) + ",";
increaseProperty("num_mc_total_frames_sent", getProperty("num_mc_relay_selection_sent"));
/*num_mc_total_frames_sent */
entry += getIntAsString(getProperty("num_mc_total_frames_sent")) + ",";
/*num_mc_unique_data_frames_received_directly */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_unique_data_frames_received_directly"));
entry += getIntAsString(getProperty("num_mc_unique_data_frames_received_directly")) + ",";
/*num_mc_unique_data_frames_received_relay */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_unique_data_frames_received_relay"));
entry += getIntAsString(getProperty("num_mc_unique_data_frames_received_relay")) + ",";
/*num_mc_data_frames_received_directly */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_data_frames_received_directly"));
entry += getIntAsString(getProperty("num_mc_data_frames_received_directly")) + ",";
/*num_mc_data_frames_received_relay */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_data_frames_received_relay"));
entry += getIntAsString(getProperty("num_mc_data_frames_received_relay")) + ",";
/*num_mc_acknowledgments_received_directly */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_acknowledgments_received_directly"));
entry += getIntAsString(getProperty("num_mc_acknowledgments_received_directly")) + ",";
/*num_mc_acknowledgments_received_relay */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_acknowledgments_received_relay"));
entry += getIntAsString(getProperty("num_mc_acknowledgments_received_relay")) + ",";
/*num_mc_rreq_received */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_rreq_received"));
entry += getIntAsString(getProperty("num_mc_rreq_received")) + ",";
/*num_mc_rrep_received */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_rrep_received"));
entry += getIntAsString(getProperty("num_mc_rrep_received")) + ",";
/*num_mc_ract_received */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_ract_received"));
entry += getIntAsString(getProperty("num_mc_ract_received")) + ",";
/*num_mc_relay_selection_received */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_relay_selection_received"));
entry += getIntAsString(getProperty("num_mc_relay_selection_received")) + ",";
/*num_mc_duplicate_frames_received */
increaseProperty("num_mc_total_frames_received", getProperty("num_mc_duplicate_frames_received"));
entry += getIntAsString(getProperty("num_mc_duplicate_frames_received")) + ",";
/*num_mc_total_frames_received */
entry += getIntAsString(getProperty("num_mc_total_frames_received")) + ",";
/*num_mc_total_frames_received */
entry += getIntAsString(getProperty("num_mc_total_bytes_sent")) + ",";
/*num_mc_total_frames_received */
entry += getIntAsString(getProperty("num_mc_total_bytes_received")) + ",";
entries_mc_frames.push_back(entry);
}
}
