Add rate limiter to Radio link #259
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| @@ -641,6 +649,11 @@ def run(self): | |||
| else: | |||
| waitTime = 0 | |||
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| # If there is a rate limit setup, sleep here to force the rate limit | |||
| if self.rate_limit: | |||
| time.sleep(1.0/self.rate_limit) | |||
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Just a thought, nowhere in the code does anything state that rate_limit is in Hz ... should this be more explicit?
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An SI rate is normally Hz so I did not think about precising it. Are you envisioning a comment or renaming the variable with "_hz" in the name?
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I am not sure, perhaps just some cognitive help while reading this part:
# If there is a rate limit setup, sleep here to force the rate limit (Hz)
if self.rate_limit:
time.sleep(1.0/self.rate_limit)
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Good questions!
My though was to document it in the p2p page of the firmware: https://github.com/bitcraze/crazyflie-firmware/blob/master/docs/functional-areas/p2p_api.md, This should solve both questions. |
So this does only make sense for p2p? Should it then be explicit? |
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Looks great - thanks! I also added bitcraze/crazyflie-link-cpp#19, perhaps you want to create a similar one for the rust link. @jonasdn: The idea of having a configurable limit is to allow a user-defined trade-off between p2p packets and host-computer packets. The rate_limit flag might also be useful in automated tests or benchmark to simulate a slow computer or lossy link. |
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I added a PR to add documentation to the firmware here: bitcraze/crazyflie-firmware#853 |
This will help with P2P connection by making the radio leave some air-time for P2P packets.
A new query "rate_limit=" is added to the radio URI. For example to limit the radio polling rate to 100Hz the uri would be:
radio://0/80/2M?rate_limit=100Fixes #257