Measure wall time in ping tests

examples/unix/c11/z_ping.c

@@ -22,6 +22,11 @@
 #include "zenoh-pico/system/platform.h"
 
 #if Z_FEATURE_SUBSCRIPTION == 1 && Z_FEATURE_PUBLICATION == 1
+
+#define DEFAULT_PKT_SIZE 8
+#define DEFAULT_PING_NB 100
+#define DEFAULT_WARMUP_MS 1000
+
 // WARNING: for the sake of this example we are using "internal" structs and functions (starting with "_").
 //          Synchronisation primitives are planned to be added to the API in the future.
 _z_condvar_t cond;
@@ -50,11 +55,12 @@ int main(int argc, char** argv) {
     if (args.help_requested) {
         printf(
             "\
-		-n (optional, int, default=4): the number of pings to be attempted\n\
-		-s (optional, int, default=8): the size of the payload embedded in the ping and repeated by the pong\n\
-		-w (optional, int, default=0): the warmup time in ms during which pings will be emitted but not measured\n\
+		-n (optional, int, default=%d): the number of pings to be attempted\n\
+		-s (optional, int, default=%d): the size of the payload embedded in the ping and repeated by the pong\n\
+		-w (optional, int, default=%d): the warmup time in ms during which pings will be emitted but not measured\n\
 		-c (optional, string): the path to a configuration file for the session. If this option isn't passed, the default configuration will be used.\n\
-		");
+		",
+            DEFAULT_PKT_SIZE, DEFAULT_PING_NB, DEFAULT_WARMUP_MS);
         return 1;
     }
     _z_mutex_init(&mutex);
@@ -94,23 +100,23 @@ int main(int argc, char** argv) {
     _z_mutex_lock(&mutex);
     if (args.warmup_ms) {
         printf("Warming up for %dms...\n", args.warmup_ms);
-        clock_t warmup_end = clock() + CLOCKS_PER_SEC * args.warmup_ms / 1000;
-        for (clock_t now = clock(); now < warmup_end; now = clock()) {
+        z_clock_t warmup_start = z_clock_now();
+        unsigned long elapsed_us = 0;
+        while (elapsed_us < args.warmup_ms * 1000) {
             z_publisher_put(z_loan(pub), data, args.size, NULL);
             _z_condvar_wait(&cond, &mutex);
+            elapsed_us = z_clock_elapsed_us(&warmup_start);
         }
     }
-    clock_t* results = z_malloc(sizeof(clock_t) * args.number_of_pings);
+    unsigned long* results = z_malloc(sizeof(unsigned long) * args.number_of_pings);
     for (unsigned int i = 0; i < args.number_of_pings; i++) {
-        clock_t start = clock();
+        z_clock_t measure_start = z_clock_now();
         z_publisher_put(z_loan(pub), data, args.size, NULL);
         _z_condvar_wait(&cond, &mutex);
-        clock_t end = clock();
-        results[i] = end - start;
+        results[i] = z_clock_elapsed_us(&measure_start);
     }
     for (unsigned int i = 0; i < args.number_of_pings; i++) {
-        clock_t rtt = results[i] * 1000000 / CLOCKS_PER_SEC;
-        printf("%d bytes: seq=%d rtt=%ldµs lat=%ldµs\n", args.size, i, rtt, rtt / 2);
+        printf("%d bytes: seq=%d rtt=%luµs, lat=%luµs\n", args.size, i, results[i], results[i] / 2);
     }
     _z_mutex_unlock(&mutex);
     z_free(results);
@@ -145,17 +151,17 @@ struct args_t parse_args(int argc, char** argv) {
         }
     }
     char* arg = getopt(argc, argv, 's');
-    unsigned int size = 8;
+    unsigned int size = DEFAULT_PKT_SIZE;
     if (arg) {
         size = atoi(arg);
     }
     arg = getopt(argc, argv, 'n');
-    unsigned int number_of_pings = 4;
+    unsigned int number_of_pings = DEFAULT_PING_NB;
     if (arg) {
         number_of_pings = atoi(arg);
     }
     arg = getopt(argc, argv, 'w');
-    unsigned int warmup_ms = 0;
+    unsigned int warmup_ms = DEFAULT_WARMUP_MS;
     if (arg) {
         warmup_ms = atoi(arg);
     }

examples/unix/c99/z_ping.c

@@ -23,6 +23,11 @@
 #include "zenoh-pico/system/platform.h"
 
 #if Z_FEATURE_SUBSCRIPTION == 1 && Z_FEATURE_PUBLICATION == 1
+
+#define DEFAULT_PKT_SIZE 8
+#define DEFAULT_PING_NB 100
+#define DEFAULT_WARMUP_MS 1000
+
 _z_condvar_t cond;
 _z_mutex_t mutex;
 
@@ -49,11 +54,12 @@ int main(int argc, char** argv) {
     if (args.help_requested) {
         printf(
             "\
-		-n (optional, int, default=4): the number of pings to be attempted\n\
-		-s (optional, int, default=8): the size of the payload embedded in the ping and repeated by the pong\n\
-		-w (optional, int, default=0): the warmup time in ms during which pings will be emitted but not measured\n\
+		-n (optional, int, default=%d): the number of pings to be attempted\n\
+		-s (optional, int, default=%d): the size of the payload embedded in the ping and repeated by the pong\n\
+		-w (optional, int, default=%d): the warmup time in ms during which pings will be emitted but not measured\n\
 		-c (optional, string): the path to a configuration file for the session. If this option isn't passed, the default configuration will be used.\n\
-		");
+		",
+            DEFAULT_PKT_SIZE, DEFAULT_PING_NB, DEFAULT_WARMUP_MS);
         return 1;
     }
     _z_mutex_init(&mutex);
@@ -94,23 +100,23 @@ int main(int argc, char** argv) {
     _z_mutex_lock(&mutex);
     if (args.warmup_ms) {
         printf("Warming up for %dms...\n", args.warmup_ms);
-        clock_t warmup_end = clock() + CLOCKS_PER_SEC * args.warmup_ms / 1000;
-        for (clock_t now = clock(); now < warmup_end; now = clock()) {
+        z_clock_t warmup_start = z_clock_now();
+        unsigned long elapsed_us = 0;
+        while (elapsed_us < args.warmup_ms * 1000) {
             z_publisher_put(z_publisher_loan(&pub), data, args.size, NULL);
             _z_condvar_wait(&cond, &mutex);
+            elapsed_us = z_clock_elapsed_us(&warmup_start);
         }
     }
-    clock_t* results = z_malloc(sizeof(clock_t) * args.number_of_pings);
+    unsigned long* results = z_malloc(sizeof(unsigned long) * args.number_of_pings);
     for (unsigned int i = 0; i < args.number_of_pings; i++) {
-        clock_t start = clock();
+        z_clock_t measure_start = z_clock_now();
         z_publisher_put(z_publisher_loan(&pub), data, args.size, NULL);
         _z_condvar_wait(&cond, &mutex);
-        clock_t end = clock();
-        results[i] = end - start;
+        results[i] = z_clock_elapsed_us(&measure_start);
     }
     for (unsigned int i = 0; i < args.number_of_pings; i++) {
-        clock_t rtt = results[i] * 1000000 / CLOCKS_PER_SEC;
-        printf("%d bytes: seq=%d rtt=%ldµs lat=%ldµs\n", args.size, i, rtt, rtt / 2);
+        printf("%d bytes: seq=%d rtt=%luµs, lat=%luµs\n", args.size, i, results[i], results[i] / 2);
     }
     _z_mutex_unlock(&mutex);
     z_free(results);
@@ -145,17 +151,17 @@ struct args_t parse_args(int argc, char** argv) {
         }
     }
     char* arg = getopt(argc, argv, 's');
-    unsigned int size = 8;
+    unsigned int size = DEFAULT_PKT_SIZE;
     if (arg) {
         size = atoi(arg);
     }
     arg = getopt(argc, argv, 'n');
-    unsigned int number_of_pings = 4;
+    unsigned int number_of_pings = DEFAULT_PING_NB;
     if (arg) {
         number_of_pings = atoi(arg);
     }
     arg = getopt(argc, argv, 'w');
-    unsigned int warmup_ms = 0;
+    unsigned int warmup_ms = DEFAULT_WARMUP_MS;
     if (arg) {
         warmup_ms = atoi(arg);
     }

examples/windows/z_ping.c

@@ -22,6 +22,11 @@
 #include "zenoh-pico/system/platform.h"
 
 #if Z_FEATURE_SUBSCRIPTION == 1 && Z_FEATURE_PUBLICATION == 1
+
+#define DEFAULT_PKT_SIZE 8
+#define DEFAULT_PING_NB 100
+#define DEFAULT_WARMUP_MS 1000
+
 _z_condvar_t cond;
 _z_mutex_t mutex;
 
@@ -48,11 +53,12 @@ int main(int argc, char** argv) {
     if (args.help_requested) {
         printf(
             "\
-		-n (optional, int, default=4): the number of pings to be attempted\n\
-		-s (optional, int, default=8): the size of the payload embedded in the ping and repeated by the pong\n\
-		-w (optional, int, default=0): the warmup time in ms during which pings will be emitted but not measured\n\
+		-n (optional, int, default=%d): the number of pings to be attempted\n\
+		-s (optional, int, default=%d): the size of the payload embedded in the ping and repeated by the pong\n\
+		-w (optional, int, default=%d): the warmup time in ms during which pings will be emitted but not measured\n\
 		-c (optional, string): the path to a configuration file for the session. If this option isn't passed, the default configuration will be used.\n\
-		");
+		",
+            DEFAULT_PKT_SIZE, DEFAULT_PING_NB, DEFAULT_WARMUP_MS);
         return 1;
     }
     _z_mutex_init(&mutex);
@@ -91,23 +97,23 @@ int main(int argc, char** argv) {
     _z_mutex_lock(&mutex);
     if (args.warmup_ms) {
         printf("Warming up for %dms...\n", args.warmup_ms);
-        clock_t warmup_end = clock() + CLOCKS_PER_SEC * args.warmup_ms / 1000;
-        for (clock_t now = clock(); now < warmup_end; now = clock()) {
+        z_clock_t warmup_start = z_clock_now();
+        unsigned long elapsed_us = 0;
+        while (elapsed_us < args.warmup_ms * 1000) {
             z_publisher_put(z_loan(pub), data, args.size, NULL);
             _z_condvar_wait(&cond, &mutex);
+            elapsed_us = z_clock_elapsed_us(&warmup_start);
         }
     }
-    clock_t* results = z_malloc(sizeof(clock_t) * args.number_of_pings);
+    unsigned long* results = z_malloc(sizeof(unsigned long) * args.number_of_pings);
     for (unsigned int i = 0; i < args.number_of_pings; i++) {
-        clock_t start = clock();
+        z_clock_t measure_start = z_clock_now();
         z_publisher_put(z_loan(pub), data, args.size, NULL);
         _z_condvar_wait(&cond, &mutex);
-        clock_t end = clock();
-        results[i] = end - start;
+        results[i] = z_clock_elapsed_us(&measure_start);
     }
     for (unsigned int i = 0; i < args.number_of_pings; i++) {
-        clock_t rtt = results[i] * 1000000 / CLOCKS_PER_SEC;
-        printf("%d bytes: seq=%d rtt=%ldµs lat=%ldµs\n", args.size, i, rtt, rtt / 2);
+        printf("%d bytes: seq=%d rtt=%luµs, lat=%luµs\n", args.size, i, results[i], results[i] / 2);
     }
     _z_mutex_unlock(&mutex);
     z_free(results);
@@ -142,17 +148,17 @@ struct args_t parse_args(int argc, char** argv) {
         }
     }
     char* arg = getopt(argc, argv, 's');
-    unsigned int size = 8;
+    unsigned int size = DEFAULT_PKT_SIZE;
     if (arg) {
         size = atoi(arg);
     }
     arg = getopt(argc, argv, 'n');
-    unsigned int number_of_pings = 4;
+    unsigned int number_of_pings = DEFAULT_PING_NB;
     if (arg) {
         number_of_pings = atoi(arg);
     }
     arg = getopt(argc, argv, 'w');
-    unsigned int warmup_ms = 0;
+    unsigned int warmup_ms = DEFAULT_WARMUP_MS;
     if (arg) {
         warmup_ms = atoi(arg);
     }

src/system/arduino/esp32/system.c

@@ -135,29 +135,29 @@ int z_sleep_s(size_t time) { return sleep(time); }
 /*------------------ Instant ------------------*/
 z_clock_t z_clock_now(void) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
     return now;
 }
 
 unsigned long z_clock_elapsed_us(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = (1000000 * (now.tv_sec - instant->tv_sec) + (now.tv_nsec - instant->tv_nsec) / 1000);
     return elapsed;
 }
 
 unsigned long z_clock_elapsed_ms(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = (1000 * (now.tv_sec - instant->tv_sec) + (now.tv_nsec - instant->tv_nsec) / 1000000);
     return elapsed;
 }
 
 unsigned long z_clock_elapsed_s(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = now.tv_sec - instant->tv_sec;
     return elapsed;

src/system/espidf/system.c

@@ -136,29 +136,29 @@ int z_sleep_s(size_t time) { return sleep(time); }
 /*------------------ Instant ------------------*/
 z_clock_t z_clock_now(void) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
     return now;
 }
 
 unsigned long z_clock_elapsed_us(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = (1000000 * (now.tv_sec - instant->tv_sec) + (now.tv_nsec - instant->tv_nsec) / 1000);
     return elapsed;
 }
 
 unsigned long z_clock_elapsed_ms(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = (1000 * (now.tv_sec - instant->tv_sec) + (now.tv_nsec - instant->tv_nsec) / 1000000);
     return elapsed;
 }
 
 unsigned long z_clock_elapsed_s(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = now.tv_sec - instant->tv_sec;
     return elapsed;

src/system/unix/system.c

@@ -156,29 +156,29 @@ int z_sleep_s(size_t time) { return sleep(time); }
 /*------------------ Instant ------------------*/
 z_clock_t z_clock_now(void) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
     return now;
 }
 
 unsigned long z_clock_elapsed_us(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = (1000000 * (now.tv_sec - instant->tv_sec) + (now.tv_nsec - instant->tv_nsec) / 1000);
     return elapsed;
 }
 
 unsigned long z_clock_elapsed_ms(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = (1000 * (now.tv_sec - instant->tv_sec) + (now.tv_nsec - instant->tv_nsec) / 1000000);
     return elapsed;
 }
 
 unsigned long z_clock_elapsed_s(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = now.tv_sec - instant->tv_sec;
     return elapsed;

src/system/zephyr/system.c

@@ -150,29 +150,29 @@ int z_sleep_s(size_t time) {
 /*------------------ Instant ------------------*/
 z_clock_t z_clock_now(void) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
     return now;
 }
 
 unsigned long z_clock_elapsed_us(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = (1000000 * (now.tv_sec - instant->tv_sec) + (now.tv_nsec - instant->tv_nsec) / 1000);
     return elapsed;
 }
 
 unsigned long z_clock_elapsed_ms(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = (1000 * (now.tv_sec - instant->tv_sec) + (now.tv_nsec - instant->tv_nsec) / 1000000);
     return elapsed;
 }
 
 unsigned long z_clock_elapsed_s(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = now.tv_sec - instant->tv_sec;
     return elapsed;