dragonpilot - 基於 openpilot 的開源駕駛輔助系統
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#include <iostream>
#include <cassert>
#include <chrono>
#include <thread>
#include <nng/nng.h>
#include <nng/protocol/pubsub0/pub.h>
#include <nng/protocol/pubsub0/sub.h>
#define N 1024
#define MSGS 1e5
nng_socket sub_sock(const char *endpoint) {
nng_socket sock;
int r;
r = nng_sub0_open(&sock);
assert(r == 0);
nng_setopt(sock, NNG_OPT_SUB_SUBSCRIBE, "", 0);
nng_setopt_ms(sock, NNG_OPT_RECVTIMEO, 100);
while (true){
r = nng_dial(sock, endpoint, NULL, 0);
if (r == 0){
break;
}
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
return sock;
}
nng_socket pub_sock(const char *endpoint){
nng_socket sock;
int r;
r = nng_pub0_open(&sock);
assert(r == 0);
r = nng_listen(sock, endpoint, NULL, 0);
assert(r == 0);
return sock;
}
int main(int argc, char *argv[]) {
// auto p_sock = pub_sock("tcp://*:10003");
// auto s_sock = sub_sock("tcp://127.0.0.1:10004");
auto p_sock = pub_sock("ipc:///tmp/feeds/3");
auto s_sock = sub_sock("ipc:///tmp/feeds/2");
auto start = std::chrono::steady_clock::now();
for (int i = 0; i < MSGS; i++){
nng_msg *msg;
nng_msg_alloc(&msg, N);
nng_sendmsg(p_sock, msg, 0);
nng_msg *rmsg;
int r = nng_recvmsg(s_sock, &rmsg, 0);
if (r) {
std::cout << "Timeout" << std::endl;
}
}
auto end = std::chrono::steady_clock::now();
double elapsed = std::chrono::duration_cast<std::chrono::nanoseconds>(end - start).count() / 1e9;
double throughput = ((double) MSGS / (double) elapsed);
std::cout << "Elapsed: " << elapsed << " s" << std::endl;
std::cout << "Throughput: " << throughput << " msg/s" << std::endl;
return 0;
}