/* procedure to compare rReceive methods with read and recv parameters include read 1 character at a time and as many as can be read at once rReceiveA: original version of rReceive, use read, up to 1 byte at a time rReceiveB: use read, read as many bytes as available until all obtained rReceiveC: use recv, blocking, 1 byte at a time rReceiveD: use recv, blocking, all bytes requested at once for accurate timings, mutex semaphores not used in this program */ #include #include "../MyroC-utilities.h" #include // for read #include // for recv #include // for errno #include // for printf #include #include // for time int socket_num; /* variables to count number of loop iterations in each receive version */ int iterA; int iterB; int iterC; int iterD; /** * Receives data via bluetooth * @param message a pointer to allocated space, where the data will be stored * @param numberOfEchoBytes number of bytes to be received from the Scribbler * @pew space pointed to by message >= numberOfEchoBytes */ void rReceiveA (unsigned char * message, int numberOfBytes) { int total_read; iterA = 0; for (total_read=0; total_read 0) { // printf("received '%u'\n", message[total_read]&255); total_read++; } iterA++; } } void rReceiveB (unsigned char * message, int numberOfBytes) { int total_read = 0; iterB = 0; while (total_read < numberOfBytes) { total_read += read (socket_num, message+total_read, numberOfBytes-total_read); iterB++; } } void rReceiveC (unsigned char * message, int numberOfBytes) { int total_read; iterC = 0; for (total_read=0; total_read 0) { printf("received '%u'\n", message[total_read]&255); total_read++; } iterA++; printf ("recv return: %d \n", i); if (errno == EAGAIN) printf ("EAGAIN error\n"); if (errno == EBADF) printf ("EBADF error\n"); if (errno == ECONNRESET) printf ("ECONNRESET error\n"); if (errno == EFAULT) printf ("EFAULT error\n"); if (errno == EINTR) printf ("EINTR error\n"); if (errno == EINVAL) printf ("EINVAL error\n"); if (errno == ENOBUFS) printf ("ENOBUFS error\n"); if (errno == ENOTCONN) printf ("ENOTCONN error\n"); if (errno == ENOTSOCK) printf ("ENOTSOCK error\n"); if (errno == EOPNOTSUPP) printf ("EOPNOTSUPP error\n"); if (errno == ETIMEDOUT) printf ("ETIMEDOUT error\n"); } iterC = 0; } void rReceiveD (unsigned char * message, int numberOfBytes) { int total_read = 0; iterD = 0; while (total_read < numberOfBytes) { /* MSG_WAITALL: wait for full request or error */ total_read += recv (socket_num, message+total_read, numberOfBytes-total_read, MSG_WAITALL); iterD++; } } /* test and compare all rReceive options @parm message: the command to be issued @parm numberOfBytes: number of response bytes expected @printResult: 0 - do not print returned data; 1 - print returned data */ void testMethods (char * message, int COMMAND_ECHO, int DATA_ECHO, int numberOfBytes, int printResult) { unsigned char * newNameA = malloc (sizeof(char) * numberOfBytes); unsigned char * newNameB = malloc (sizeof(char) * numberOfBytes); unsigned char * newNameC = malloc (sizeof(char) * numberOfBytes); unsigned char * newNameD = malloc (sizeof(char) * numberOfBytes); clock_t start_time, end_time; double elapsed_time; rSend (message, 9, COMMAND_ECHO, DATA_ECHO, "Command"); start_time = clock (); rReceiveA (newNameA, numberOfBytes); end_time = clock (); printf ("%3d", iterA); elapsed_time = (end_time - start_time) / (double) CLOCKS_PER_SEC; printf (" %7.5lf ", elapsed_time); rSend (message, 9, COMMAND_ECHO, DATA_ECHO, "Command"); start_time = clock (); rReceiveB (newNameB, numberOfBytes); end_time = clock (); printf ("%3d", iterB); elapsed_time = (end_time - start_time) / (double) CLOCKS_PER_SEC; printf (" %7.5lf ", elapsed_time); rSend (message, 9, COMMAND_ECHO, DATA_ECHO, "Command"); start_time = clock (); rReceiveC (newNameC, numberOfBytes); end_time = clock (); printf ("%3d", iterC); elapsed_time = (end_time - start_time) / (double) CLOCKS_PER_SEC; printf (" %7.5lf\n", elapsed_time); rSend (message, 9, COMMAND_ECHO, DATA_ECHO, "Command"); start_time = clock (); rReceiveD (newNameD, numberOfBytes); end_time = clock (); printf ("%3d", iterD); elapsed_time = (end_time - start_time) / (double) CLOCKS_PER_SEC; printf (" %7.5lf\n", elapsed_time); int diffB = 0; int diffC = 0; int diffD = 0; int i; for (i = 0; i < numberOfBytes; i++) { if (newNameA[i] != newNameB[i]) diffB++; if (newNameA[i] != newNameC[i]) diffC++; if (newNameA[i] != newNameD[i]) diffD++; } char sep = '\0'; if (diffB > 0) { printf ("%c B", sep); sep = ','; } if (diffC > 0) { printf ("%c C", sep); sep = ','; } if (diffD > 0) { printf ("%c D", sep); sep = ','; } printf ("\n"); free (newNameA); free (newNameB); free (newNameC); free (newNameD); } int main () { printf ("program to test time and effort for different rReceive versions\n"); socket_num = rConnect ("/dev/tty.IPRE6-365877-DevB"); char message[9]; /* print heading of results */ printf (" rReceiveA rReceiveB rReceiveC rReceiveD Different\n"); printf ("Command iter. time iter. time iter. time iter. time from RecA\n"); /* rGetName (bytes 0-7) */ //Message 78 recieves 9 bytes of echo, and 8 bytes of message. message[0]= 78; // get first 8 bytes of the robot's 16-byte name message[1]= 0; // not used message[2]= 0; // not used message[3]= 0; // not used message[4]= 0; // not used message[5]= 0; // not used message[6]= 0; // not used message[7]= 0; // not used message[8]= 0; // not used printf ("getName1: "); testMethods (message, ECHO_COMMAND_ON, ECHO_SENSOR_OFF, 8, 1); /* rGetName (bytes 8-15) */ message[0]= 64; // get last 8 bytes of the robot's 16-byte name message[1]= 0; // not used message[2]= 0; // not used message[3]= 0; // not used message[4]= 0; // not used message[5]= 0; // not used message[6]= 0; // not used message[7]= 0; // not used message[8]= 0; // not used printf ("getName2: "); testMethods (message, ECHO_COMMAND_ON, ECHO_SENSOR_OFF, 8, 1); return 0; }