Merge pull request #28 from bitcraze/improved_stats

Bug fixes and features regarding packet statistics
bitcraze · Mar 13, 2023 · fc92573 · fc92573
2 parents 1d908d1 + 0e45798
commit fc92573
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Showing 3 changed files with 18 additions and 4 deletions.
diff --git a/include/crazyflieLinkCpp/Connection.h b/include/crazyflieLinkCpp/Connection.h
@@ -29,16 +29,24 @@ class Connection
     }
 
     Statistics(const Statistics& other)
+    {
+      *this = other;
+    }
+
+    Statistics& operator=(const Statistics& other)
     {
       std::atomic_store(&sent_count, std::atomic_load(&other.sent_count));
+      std::atomic_store(&sent_ping_count, std::atomic_load(&other.sent_ping_count));
       std::atomic_store(&receive_count, std::atomic_load(&other.receive_count));
       std::atomic_store(&enqueued_count, std::atomic_load(&other.enqueued_count));
-      std::atomic_store(&ack_count, std::atomic_load(&other.ack_count));
+      std::atomic_store(&ack_count, std::atomic_load(&other.ack_count));      
+      return *this;
     }
 
     void reset()
     {
       sent_count = 0;
+      sent_ping_count = 0;
       receive_count = 0;
       enqueued_count = 0;
       ack_count = 0;
@@ -49,6 +57,7 @@ class Connection
     {
       out << "Statistics(";
       out << "sent_count=" << s.sent_count;
+      out << "sent_ping_count=" << s.sent_ping_count;
       out << ",receive_count=" << s.receive_count;
       out << ",enqueued_count=" << s.enqueued_count;
       out << ",ack_count=" << s.ack_count;
@@ -59,6 +68,7 @@ class Connection
     }
 
     std::atomic_size_t sent_count;
+    std::atomic_size_t sent_ping_count;
     std::atomic_size_t receive_count;
     std::atomic_size_t enqueued_count;
     std::atomic_size_t ack_count;
@@ -96,7 +106,7 @@ class Connection
 
   const std::string& uri() const;
 
-  Connection::Statistics statistics();
+  const Connection::Statistics statistics() const;
 
   friend std::ostream& operator<<(std::ostream& out, const Connection& p);
 

diff --git a/src/Connection.cpp b/src/Connection.cpp
@@ -305,7 +305,7 @@ const std::string& Connection::uri() const
   return impl_->uri_;
 }
 
-Connection::Statistics Connection::statistics()
+const Connection::Statistics Connection::statistics() const
 {
   if (!impl_->runtime_error_.empty()) {
     throw std::runtime_error(impl_->runtime_error_);

diff --git a/src/CrazyradioThread.cpp b/src/CrazyradioThread.cpp
@@ -199,6 +199,7 @@ void CrazyradioThread::run()
 
                     if (con->retry_) {
                         p = con->retry_;
+                        --con->statistics_.enqueued_count;
                     } else {
                         const std::lock_guard<std::mutex> lock(con->queue_send_mutex_);
                         if (!con->queue_send_.empty())
@@ -209,6 +210,9 @@ void CrazyradioThread::run()
                         } else if (!con->useAutoPing_)
                         {
                             continue;
+                        } else {
+                            // We are now proceeding with sending the ping
+                            ++con->statistics_.sent_ping_count;
                         }
                     }
 
@@ -221,7 +225,6 @@ void CrazyradioThread::run()
                         con->safelinkUp_ = !con->safelinkUp_;
                         if (con->retry_) {
                             con->retry_ = Packet();
-                            --con->statistics_.enqueued_count;
                         }
                     } else {
                         con->retry_ = p;
@@ -264,6 +267,7 @@ void CrazyradioThread::run()
                 {
                     ack = radio.sendPacket(ping, sizeof(ping));
                     ++con->statistics_.sent_count;
+                    ++con->statistics_.sent_ping_count;
                 }
             }