# Effect of packege-loss on drone choreography
## introduction
## Why use Docker
Using containeriztion facilitates the deployment on different machines by a lot since the configuration file just needs to be downloaded and deployed.
Furthermore it increases reproducability due to no side effects to the host system.
Ros melodic is used in a Docker container. The Image is based on the `ros:melodic` image.
The Dockerfile can be found
## Installation of drone ROS1 (melodic)
The system consists of three individual parts
- **master** uses it own docker container based on the `ros:melodic` directly
- **connector** uses a self-build image with the compiled connector for the Bebop Drone
- **controller** also self-build image in which the controlling software is running
all this containers are in the same docker network, and exchange data between the containers
for the connector container it was nessecary to export the port `43210:43210/udp` for connectivity from the drone to the ros notelet
otherwise we got the error:
```log
connector | [ERROR] [1673947830.046306262]: [ARNETWORK_Sender] 09:30:30:045 | ARNETWORK_Sender_ProcessBufferToSend:405 - [0xffff7c0033d0] Timeout waiting for ack in buffer 11
connector | [ERROR] [1673947830.046451179]: [ARNETWORK_Sender] 09:30:30:046 | ARNETWORK_Sender_ProcessBufferToSend:421 - [0xffff7c0033d0] Will retry sending data of buffer 11
connector | [ERROR] [1673947830.198080554]: [ARNETWORK_Sender] 09:30:30:197 | ARNETWORK_Sender_ProcessBufferToSend:405 - [0xffff7c0033d0] Timeout waiting for ack in buffer 11
connector | [ERROR] [1673947830.198203429]: [ARNETWORK_Sender] 09:30:30:198 | ARNETWORK_Sender_ProcessBufferToSend:421 - [0xffff7c0033d0] Will retry sending data of buffer 11
```
## First takeoff
after the docker containers where working and correctly configured you just had to start all the docker containers
```bash!
docker compose up
```
the first test was done using the `rostopic` command. So we published an empty message to the `/bebop/takeoff` topic using the `controller` container
```bash!
docker exec -it controller /bin/bash -c "source /entrypoint.sh; rostopic pub --once /bebop/takeoff std_msgs/Empty"
```
and to land the drone
```bash!
docker exec -it controller /bin/bash -c "source /entrypoint.sh; rostopic pub --once /bebop/land std_msgs/Empty"
```
If this doesn't work we have a checklist what to check:
- is the drone on and green light
- restart docker container (stop them compleatly and restart using `docker compose up`)
- are there
Now we where sure that our docker installation worked, we could procced to run our first python tests
## Basic drone navigation with matlab
https://fr.mathworks.com/help/supportpkg/parrotio/drone-navigation.html?s_tid=CRUX_topnav
This works with Matlab, simulink (?) and parrot drone addon
# 1. Project objective
The aim of this project is to analyze the effects of different types of interference on a drone's behaviour.
# 2. Contribution summary
# 3. Robotic equipment used
Parrot drones
Inflatable net cage
Square rubber mats
laptops
# 4. Robot behaviour and decision making
Our parrot drones will follow a choreography and we will study the effects of interference on their ability to keep doing the choreography
## 4.1. Behaviour strategy
## 4.2. Technical and software development
Learning and using iperf3
sender : from the client : upload speed
receiver : download speed
# 5. Experiments and validation
## 5.1. Experimental protocol
!!!Passage à traduire en anglais
Schéma à dessiner : drone D, PC de contrôle PCC, PC de Brouillage Wi-Fi PCB
Avec iperf, mettre en place un serveur sur PCC et un client sur PCB pour inonder la bande passante et détériorer le contôle du drone en atterrissage au début.
Pour déterminer le seuil de saturation de la bande passante, on utilise iperf en mode tcp d'abord.
Première expérience :
Tester en saturation complète et observer si aucun changement, délai plus ou moins sévère ou échec total de la commande.
Selon le cas obtenu, tester avec charge moins importante progressivement.
Seconde expérience :
Tester l'interférence en cas de chorégraphie du robot : influence d'une charge plus ou moins importante sur la trajectoire et/ou la menée à bien ou non de la choré.
Etape avancée : capter les trames wifi correspondant aux commandes ros avec wireshark.
En cas de chorégraphie, calculer (sans interférence) le volume de données transmis.
Ensuite ajouter des interférences et comparer le volume d'infos transmises dans ce cas là. Y a-t-il évolution ???
Expériences hors iperf :
Eloigner l'ordi de contrôle (pendant une choré ?) et observer le comportement du drone : maintien, retards ou arrêt de la chorégraphie...
Capturer les trames pendant l'expérience pour analyse ?
## 5.2. Experiments results
first experiment : 30M -> overloaded wifi network resulting in command not coming through to the drone. The bebop did not land.
iperf3 -c 192.168.42.4 -u -t 30 -b 30M
flooded for 30 seconds (interrupted) at a target bandwidth of 30Mb
Concern about safety protocol being overrun....
## results
we noticed that the package loss increased after
**TODO!**
while leaving we noticed that the glass had a big influence
```log!
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 48900
[ 5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 59890
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[ 5] 0.00-1.00 sec 115 KBytes 936 Kbits/sec 12.274 ms 0/81 (0%)
[ 5] 1.00-2.00 sec 124 KBytes 1.02 Mbits/sec 11.890 ms 0/88 (0%)
[ 5] 2.00-3.00 sec 120 KBytes 984 Kbits/sec 11.433 ms 0/85 (0%)
[ 5] 3.00-4.00 sec 119 KBytes 972 Kbits/sec 13.984 ms 0/84 (0%)
[ 5] 4.00-5.00 sec 113 KBytes 924 Kbits/sec 8.776 ms 0/80 (0%)
[ 5] 5.00-6.00 sec 132 KBytes 1.08 Mbits/sec 9.209 ms 0/93 (0%)
[ 5] 6.00-7.00 sec 123 KBytes 1.01 Mbits/sec 7.658 ms 0/87 (0%)
[ 5] 7.00-8.00 sec 123 KBytes 1.01 Mbits/sec 12.111 ms 1/88 (1.1%)
[ 5] 8.00-9.00 sec 119 KBytes 972 Kbits/sec 10.762 ms 0/84 (0%)
[ 5] 9.00-10.00 sec 126 KBytes 1.03 Mbits/sec 11.754 ms 0/89 (0%)
[ 5] 10.00-10.08 sec 5.66 KBytes 580 Kbits/sec 11.189 ms 0/4 (0%)
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[ 5] 0.00-10.08 sec 1.19 MBytes 991 Kbits/sec 11.189 ms 1/863 (0.12%) receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 51282
[ 5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 50245
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[ 5] 0.00-1.00 sec 132 KBytes 1.07 Mbits/sec 11.660 ms 4/97 (4.1%)
[ 5] 1.00-2.00 sec 311 KBytes 2.55 Mbits/sec 9.076 ms 3/223 (1.3%)
[ 5] 2.00-3.00 sec 264 KBytes 2.16 Mbits/sec 7.555 ms 0/187 (0%)
[ 5] 3.00-4.00 sec 249 KBytes 2.05 Mbits/sec 6.963 ms 0/176 (0%)
[ 5] 4.00-5.01 sec 206 KBytes 1.68 Mbits/sec 8.105 ms 1/147 (0.68%)
[ 5] 5.01-6.00 sec 279 KBytes 2.29 Mbits/sec 6.039 ms 3/200 (1.5%)
[ 5] 6.00-7.00 sec 236 KBytes 1.93 Mbits/sec 7.612 ms 0/167 (0%)
[ 5] 7.00-8.00 sec 236 KBytes 1.94 Mbits/sec 9.359 ms 0/167 (0%)
[ 5] 8.00-9.01 sec 242 KBytes 1.97 Mbits/sec 4.637 ms 0/171 (0%)
[ 5] 9.01-10.01 sec 255 KBytes 2.09 Mbits/sec 6.157 ms 0/180 (0%)
[ 5] 10.01-10.09 sec 11.3 KBytes 1.05 Mbits/sec 10.066 ms 0/8 (0%)
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[ 5] 0.00-10.09 sec 2.36 MBytes 1.96 Mbits/sec 10.066 ms 11/1723 (0.64%) receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 43834
[ 5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 54586
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[ 5] 0.00-1.00 sec 349 KBytes 2.85 Mbits/sec 3.575 ms 0/247 (0%)
[ 5] 1.00-2.00 sec 372 KBytes 3.05 Mbits/sec 4.507 ms 0/263 (0%)
[ 5] 2.00-3.00 sec 366 KBytes 3.00 Mbits/sec 4.406 ms 3/262 (1.1%)
[ 5] 3.00-4.00 sec 236 KBytes 1.93 Mbits/sec 11.172 ms 0/167 (0%)
[ 5] 4.00-5.00 sec 443 KBytes 3.63 Mbits/sec 7.632 ms 6/319 (1.9%)
[ 5] 5.00-6.00 sec 385 KBytes 3.14 Mbits/sec 2.694 ms 0/272 (0%)
[ 5] 6.00-7.00 sec 379 KBytes 3.10 Mbits/sec 4.480 ms 2/270 (0.74%)
[ 5] 7.00-8.00 sec 375 KBytes 3.08 Mbits/sec 3.561 ms 0/265 (0%)
[ 5] 8.00-9.00 sec 361 KBytes 2.96 Mbits/sec 4.470 ms 0/255 (0%)
[ 5] 9.00-10.00 sec 348 KBytes 2.85 Mbits/sec 3.944 ms 0/246 (0%)
[ 5] 10.00-10.09 sec 31.1 KBytes 2.95 Mbits/sec 4.841 ms 0/22 (0%)
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[ 5] 0.00-10.09 sec 3.56 MBytes 2.96 Mbits/sec 4.841 ms 11/2588 (0.43%) receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 36758
[ 5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 42251
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[ 5] 0.00-1.00 sec 315 KBytes 2.58 Mbits/sec 8.383 ms 0/223 (0%)
[ 5] 1.00-2.00 sec 212 KBytes 1.73 Mbits/sec 3.990 ms 31/181 (17%)
[ 5] 2.00-3.01 sec 163 KBytes 1.33 Mbits/sec 4.455 ms 207/322 (64%)
[ 5] 3.01-4.00 sec 588 KBytes 4.84 Mbits/sec 6.004 ms 57/473 (12%)
[ 5] 4.00-5.00 sec 0.00 Bytes 0.00 bits/sec 6.004 ms 0/0 (0%)
[ 5] 5.00-6.00 sec 35.4 KBytes 290 Kbits/sec 16.008 ms 3/28 (11%)
[ 5] 6.00-7.00 sec 0.00 Bytes 0.00 bits/sec 16.008 ms 0/0 (0%)
[ 5] 7.00-8.00 sec 462 KBytes 3.79 Mbits/sec 5.267 ms -16/311 (-5.1%)
[ 5] 8.00-9.00 sec 489 KBytes 4.02 Mbits/sec 7.210 ms -88/258 (-34%)
[ 5] 9.00-10.00 sec 428 KBytes 3.51 Mbits/sec 6.055 ms -66/237 (-28%)
[ 5] 10.00-10.21 sec 79.2 KBytes 3.13 Mbits/sec 4.384 ms 0/56 (0%)
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[SUM] 0.0-10.2 sec 310 datagrams received out-of-order
[ 5] 0.00-10.21 sec 2.71 MBytes 2.23 Mbits/sec 4.384 ms 128/2089 (6.1%) receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 52546
[ 5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 39954
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[ 5] 0.00-1.00 sec 361 KBytes 2.95 Mbits/sec 2.942 ms 0/226 (0%)
[ 5] 1.00-2.00 sec 385 KBytes 3.14 Mbits/sec 6.538 ms 0/235 (0%)
[ 5] 2.00-3.00 sec 727 KBytes 5.97 Mbits/sec 5.781 ms 3/456 (0.66%)
[ 5] 3.00-4.00 sec 677 KBytes 5.53 Mbits/sec 3.637 ms -3/404 (-0.74%)
[ 5] 4.00-5.00 sec 682 KBytes 5.57 Mbits/sec 3.327 ms 0/411 (0%)
[ 5] 5.00-6.00 sec 370 KBytes 3.05 Mbits/sec 15.434 ms 0/220 (0%)
[ 5] 6.00-7.00 sec 320 KBytes 2.62 Mbits/sec 3.746 ms 0/190 (0%)
[ 5] 7.00-8.00 sec 363 KBytes 2.98 Mbits/sec 3.033 ms 0/253 (0%)
[ 5] 8.00-9.00 sec 653 KBytes 5.35 Mbits/sec 2.895 ms 0/460 (0%)
[ 5] 9.00-10.00 sec 574 KBytes 4.71 Mbits/sec 8.203 ms 12/379 (3.2%)
[ 5] 10.00-10.17 sec 91.9 KBytes 4.38 Mbits/sec 3.338 ms -12/53 (-23%)
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[SUM] 0.0-10.2 sec 875 datagrams received out-of-order
[ 5] 0.00-10.17 sec 5.08 MBytes 4.19 Mbits/sec 3.338 ms 0/3287 (0%) receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 51756
[ 5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 44052
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[ 5] 0.00-1.00 sec 670 KBytes 5.49 Mbits/sec 3.855 ms 3/462 (0.65%)
[ 5] 1.00-2.00 sec 665 KBytes 5.44 Mbits/sec 7.770 ms 3/426 (0.7%)
[ 5] 2.00-3.00 sec 484 KBytes 3.95 Mbits/sec 20.795 ms -6/218 (-2.8%)
[ 5] 3.00-4.00 sec 0.00 Bytes 0.00 bits/sec 20.795 ms 0/0 (0%)
[ 5] 4.00-5.00 sec 0.00 Bytes 0.00 bits/sec 20.795 ms 0/0 (0%)
[ 5] 5.00-6.00 sec 11.3 KBytes 93.0 Kbits/sec 135.049 ms 19/27 (70%)
[ 5] 6.00-7.01 sec 31.1 KBytes 254 Kbits/sec 50.307 ms 9/31 (29%)
[ 5] 7.01-8.00 sec 625 KBytes 5.14 Mbits/sec 3.991 ms -4/438 (-0.91%)
[ 5] 8.00-9.00 sec 542 KBytes 4.44 Mbits/sec 3.445 ms -19/364 (-5.2%)
[ 5] 9.00-10.00 sec 469 KBytes 3.84 Mbits/sec 1.914 ms -5/303 (-1.7%)
[ 5] 10.00-10.64 sec 433 KBytes 5.55 Mbits/sec 5.859 ms 0/258 (0%)
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[SUM] 0.0-10.6 sec 773 datagrams received out-of-order
[ 5] 0.00-10.64 sec 3.84 MBytes 3.03 Mbits/sec 5.859 ms 0/2527 (0%) receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 60756
[ 5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 59129
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[ 5] 0.00-1.00 sec 385 KBytes 3.15 Mbits/sec 16.122 ms 51/321 (16%)
[ 5] 1.00-2.00 sec 823 KBytes 6.71 Mbits/sec 2.844 ms -51/495 (-10%)
[ 5] 2.00-3.00 sec 506 KBytes 4.17 Mbits/sec 54.806 ms 51/409 (12%)
[ 5] 3.00-4.00 sec 591 KBytes 4.84 Mbits/sec 126.426 ms -7/336 (-2.1%)
[ 5] 4.00-5.00 sec 745 KBytes 6.10 Mbits/sec 93.059 ms -44/400 (-11%)
[ 5] 5.00-6.00 sec 732 KBytes 6.00 Mbits/sec 1.786 ms 32/365 (8.8%)
[ 5] 6.00-7.00 sec 645 KBytes 5.28 Mbits/sec 12.852 ms -32/371 (-8.6%)
[ 5] 7.00-8.00 sec 809 KBytes 6.62 Mbits/sec 8.632 ms 28/449 (6.2%)
[ 5] 8.00-9.00 sec 824 KBytes 6.75 Mbits/sec 56.647 ms -26/464 (-5.6%)
[ 5] 9.00-10.00 sec 751 KBytes 6.15 Mbits/sec 202.084 ms -2/436 (-0.46%)
[ 5] 10.00-11.00 sec 1.08 MBytes 8.99 Mbits/sec 20.375 ms 128/837 (15%)
[ 5] 11.00-12.00 sec 793 KBytes 6.53 Mbits/sec 36.430 ms 237/798 (30%)
[ 5] 12.00-12.13 sec 255 KBytes 16.4 Mbits/sec 135.114 ms -165/15 (-1.1e+03%)
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[SUM] 0.0-12.1 sec 3126 datagrams received out-of-order
[ 5] 0.00-12.13 sec 8.75 MBytes 6.05 Mbits/sec 135.114 ms 200/5696 (3.5%) receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 34760
[ 5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 55326
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[ 5] 0.00-1.00 sec 663 KBytes 5.43 Mbits/sec 2.947 ms 0/437 (0%)
[ 5] 1.00-2.00 sec 805 KBytes 6.59 Mbits/sec 4.302 ms 0/532 (0%)
[ 5] 2.00-3.00 sec 509 KBytes 4.17 Mbits/sec 25.540 ms 113/438 (26%)
[ 5] 3.00-4.00 sec 313 KBytes 2.56 Mbits/sec 6.600 ms 28/249 (11%)
[ 5] 4.00-5.00 sec 424 KBytes 3.47 Mbits/sec 29.911 ms -5/295 (-1.7%)
[ 5] 5.00-6.00 sec 269 KBytes 2.20 Mbits/sec 103.341 ms 54/244 (22%)
[ 5] 6.00-7.00 sec 351 KBytes 2.87 Mbits/sec 133.007 ms 16/264 (6.1%)
[ 5] 7.00-8.00 sec 409 KBytes 3.35 Mbits/sec 662.383 ms -17/272 (-6.2%)
[ 5] 8.00-9.00 sec 827 KBytes 6.78 Mbits/sec 10.978 ms -189/352 (-54%)
[ 5] 9.00-10.00 sec 708 KBytes 5.80 Mbits/sec 2.945 ms 0/397 (0%)
[ 5] 10.00-11.00 sec 930 KBytes 7.62 Mbits/sec 10.442 ms 12/566 (2.1%)
[ 5] 11.00-12.00 sec 1.01 MBytes 8.50 Mbits/sec 2.651 ms 45/664 (6.8%)
[ 5] 12.00-12.12 sec 117 KBytes 8.32 Mbits/sec 9.913 ms -57/10 (-5.7e+02%)
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[SUM] 0.0-12.1 sec 2201 datagrams received out-of-order
[ 5] 0.00-12.12 sec 7.19 MBytes 4.98 Mbits/sec 9.913 ms 0/4720 (0%) receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 57408
[ 5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 34705
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[ 5] 0.00-1.00 sec 628 KBytes 5.14 Mbits/sec 6.115 ms 0/410 (0%)
[ 5] 1.00-2.00 sec 486 KBytes 3.97 Mbits/sec 2.371 ms 116/437 (27%)
[ 5] 2.00-3.00 sec 639 KBytes 5.25 Mbits/sec 15.591 ms -115/292 (-39%)
[ 5] 3.00-4.00 sec 400 KBytes 3.28 Mbits/sec 23.571 ms 97/369 (26%)
[ 5] 4.00-5.00 sec 411 KBytes 3.37 Mbits/sec 7.478 ms -98/118 (-83%)
[ 5] 5.00-6.00 sec 769 KBytes 6.31 Mbits/sec 21.757 ms 74/618 (12%)
[ 5] 6.00-7.00 sec 765 KBytes 6.27 Mbits/sec 51.255 ms -42/456 (-9.2%)
[ 5] 7.00-8.00 sec 662 KBytes 5.42 Mbits/sec 33.385 ms 1/434 (0.23%)
[ 5] 8.00-9.00 sec 731 KBytes 5.99 Mbits/sec 12.591 ms -33/352 (-9.4%)
[ 5] 9.00-10.00 sec 785 KBytes 6.43 Mbits/sec 33.107 ms 94/456 (21%)
[ 5] 10.00-11.00 sec 807 KBytes 6.61 Mbits/sec 112.445 ms -94/405 (-23%)
[ 5] 11.00-12.00 sec 1001 KBytes 8.20 Mbits/sec 79.294 ms 59/505 (12%)
[ 5] 12.00-12.33 sec 375 KBytes 9.36 Mbits/sec 3.973 ms -59/147 (-40%)
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[SUM] 0.0-12.3 sec 2869 datagrams received out-of-order
[ 5] 0.00-12.33 sec 8.26 MBytes 5.62 Mbits/sec 3.973 ms 0/4999 (0%) receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 44160
[ 5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 51105
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[ 5] 0.00-1.00 sec 471 KBytes 3.85 Mbits/sec 6.919 ms 0/312 (0%)
[ 5] 1.00-2.00 sec 519 KBytes 4.25 Mbits/sec 4.314 ms 0/350 (0%)
[ 5] 2.00-3.00 sec 557 KBytes 4.55 Mbits/sec 5.564 ms 0/373 (0%)
[ 5] 3.00-4.00 sec 441 KBytes 3.62 Mbits/sec 7.633 ms 0/293 (0%)
[ 5] 4.00-5.00 sec 556 KBytes 4.56 Mbits/sec 5.331 ms 0/376 (0%)
[ 5] 5.00-6.00 sec 481 KBytes 3.94 Mbits/sec 3.477 ms 0/330 (0%)
[ 5] 6.00-7.00 sec 587 KBytes 4.80 Mbits/sec 3.133 ms 0/398 (0%)
[ 5] 7.00-8.00 sec 457 KBytes 3.75 Mbits/sec 5.902 ms 0/307 (0%)
[ 5] 8.00-9.00 sec 619 KBytes 5.07 Mbits/sec 15.027 ms 3/417 (0.72%)
[ 5] 9.00-10.00 sec 574 KBytes 4.71 Mbits/sec 3.208 ms -2/353 (-0.57%)
[ 5] 10.00-10.26 sec 123 KBytes 3.88 Mbits/sec 8.430 ms 0/78 (0%)
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[SUM] 0.0-10.3 sec 656 datagrams received out-of-order
[ 5] 0.00-10.26 sec 5.26 MBytes 4.30 Mbits/sec 8.430 ms 1/3587 (0.028%) receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 51658
[ 5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 51726
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[ 5] 0.00-1.00 sec 549 KBytes 4.49 Mbits/sec 5.277 ms 1/342 (0.29%)
[ 5] 1.00-2.00 sec 510 KBytes 4.19 Mbits/sec 3.727 ms 0/324 (0%)
[ 5] 2.00-3.00 sec 356 KBytes 2.91 Mbits/sec 7.008 ms -1/231 (-0.43%)
[ 5] 3.00-4.00 sec 516 KBytes 4.24 Mbits/sec 3.019 ms 0/343 (0%)
[ 5] 4.00-5.00 sec 580 KBytes 4.74 Mbits/sec 3.800 ms 0/371 (0%)
[ 5] 5.00-6.00 sec 494 KBytes 4.05 Mbits/sec 8.112 ms 0/334 (0%)
[ 5] 6.00-7.00 sec 591 KBytes 4.84 Mbits/sec 3.700 ms 0/386 (0%)
[ 5] 7.00-8.00 sec 363 KBytes 2.97 Mbits/sec 36.808 ms 60/302 (20%)
[ 5] 8.00-9.00 sec 716 KBytes 5.85 Mbits/sec 3.459 ms -60/420 (-14%)
[ 5] 9.00-10.00 sec 397 KBytes 3.26 Mbits/sec 8.163 ms 0/274 (0%)
[ 5] 10.00-10.40 sec 103 KBytes 2.10 Mbits/sec 5.080 ms 0/67 (0%)
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[SUM] 0.0-10.4 sec 737 datagrams received out-of-order
[ 5] 0.00-10.40 sec 5.05 MBytes 4.08 Mbits/sec 5.080 ms 0/3394 (0%) receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 36202
[ 5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 35054
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[ 5] 0.00-1.00 sec 300 KBytes 2.45 Mbits/sec 10.877 ms 1/209 (0.48%)
[ 5] 1.00-2.00 sec 532 KBytes 4.36 Mbits/sec 16.831 ms -1/317 (-0.32%)
[ 5] 2.00-3.00 sec 598 KBytes 4.90 Mbits/sec 6.694 ms 0/391 (0%)
[ 5] 3.00-4.00 sec 469 KBytes 3.84 Mbits/sec 3.164 ms 0/321 (0%)
[ 5] 4.00-5.00 sec 591 KBytes 4.83 Mbits/sec 7.669 ms 0/372 (0%)
[ 5] 5.00-6.00 sec 740 KBytes 6.08 Mbits/sec 2.437 ms 1/508 (0.2%)
[ 5] 6.00-7.00 sec 858 KBytes 7.02 Mbits/sec 2.469 ms -1/577 (-0.17%)
[ 5] 7.00-8.00 sec 1.03 MBytes 8.63 Mbits/sec 1.931 ms 0/703 (0%)
[ 5] 8.00-9.00 sec 988 KBytes 8.10 Mbits/sec 2.100 ms 0/638 (0%)
[ 5] 9.00-10.00 sec 727 KBytes 5.95 Mbits/sec 2.717 ms 1/504 (0.2%)
[ 5] 10.00-10.08 sec 69.3 KBytes 7.28 Mbits/sec 2.304 ms 0/49 (0%)
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[SUM] 0.0-10.1 sec 1085 datagrams received out-of-order
[ 5] 0.00-10.08 sec 6.76 MBytes 5.63 Mbits/sec 2.304 ms 1/4589 (0.022%) receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 51752
[ 5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 43191
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[ 5] 0.00-1.00 sec 856 KBytes 7.01 Mbits/sec 3.261 ms 0/574 (0%)
[ 5] 1.00-2.00 sec 769 KBytes 6.28 Mbits/sec 6.615 ms 58/602 (9.6%)
[ 5] 2.00-3.00 sec 1.30 MBytes 11.0 Mbits/sec 1.922 ms -58/730 (-7.9%)
[ 5] 3.00-4.00 sec 954 KBytes 7.81 Mbits/sec 3.215 ms 0/652 (0%)
[ 5] 4.00-5.00 sec 963 KBytes 7.90 Mbits/sec 7.064 ms 17/691 (2.5%)
[ 5] 5.00-6.00 sec 942 KBytes 7.71 Mbits/sec 6.856 ms -17/600 (-2.8%)
[ 5] 6.00-7.00 sec 1.11 MBytes 9.32 Mbits/sec 2.792 ms 4/722 (0.55%)
[ 5] 7.00-8.01 sec 798 KBytes 6.50 Mbits/sec 3.978 ms -4/519 (-0.77%)
[ 5] 8.01-9.00 sec 1.00 MBytes 8.43 Mbits/sec 4.562 ms 0/627 (0%)
[ 5] 9.00-10.00 sec 1.02 MBytes 8.55 Mbits/sec 1.658 ms 0/666 (0%)
[ 5] 10.00-10.14 sec 74.9 KBytes 4.26 Mbits/sec 4.574 ms 0/52 (0%)
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[SUM] 0.0-10.1 sec 1623 datagrams received out-of-order
[ 5] 0.00-10.14 sec 9.67 MBytes 7.99 Mbits/sec 4.574 ms 0/6435 (0%) receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 53042
[ 5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 39270
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[ 5] 0.00-1.00 sec 1.16 MBytes 9.72 Mbits/sec 1.708 ms 0/805 (0%)
[ 5] 1.00-2.00 sec 1.13 MBytes 9.50 Mbits/sec 3.265 ms 1/761 (0.13%)
[ 5] 2.00-3.00 sec 943 KBytes 7.71 Mbits/sec 5.291 ms 0/604 (0%)
[ 5] 3.00-4.00 sec 829 KBytes 6.81 Mbits/sec 11.620 ms 0/537 (0%)
[ 5] 4.00-5.00 sec 611 KBytes 5.01 Mbits/sec 37.545 ms 3/435 (0.69%)
[ 5] 5.00-6.00 sec 452 KBytes 3.69 Mbits/sec 8.107 ms -4/175 (-2.3%)
[ 5] 6.00-7.00 sec 1.02 MBytes 8.58 Mbits/sec 2.525 ms 0/692 (0%)
[ 5] 7.00-8.00 sec 1.01 MBytes 8.48 Mbits/sec 3.564 ms 0/647 (0%)
[ 5] 8.00-9.00 sec 872 KBytes 7.13 Mbits/sec 9.504 ms 12/574 (2.1%)
[ 5] 9.00-10.00 sec 682 KBytes 5.57 Mbits/sec 154.656 ms -12/330 (-3.6%)
[ 5] 10.00-11.01 sec 1.08 MBytes 9.02 Mbits/sec 23.377 ms 34/464 (7.3%)
[ 5] 11.01-11.62 sec 803 KBytes 10.7 Mbits/sec 37.818 ms -34/160 (-21%)
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[SUM] 0.0-11.6 sec 2885 datagrams received out-of-order
[ 5] 0.00-11.62 sec 10.5 MBytes 7.56 Mbits/sec 37.818 ms 0/6184 (0%) receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
Accepted connection from 192.168.42.4, port 39740
[ 5] local 192.168.42.43 port 5201 connected to 192.168.42.4 port 41207
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[ 5] 0.00-1.00 sec 566 KBytes 4.63 Mbits/sec 6.754 ms 60/401 (15%)
[ 5] 1.00-2.00 sec 1.02 MBytes 8.56 Mbits/sec 42.444 ms -34/514 (-6.6%)
[ 5] 2.00-3.00 sec 822 KBytes 6.72 Mbits/sec 11.850 ms -26/431 (-6%)
[ 5] 3.00-4.00 sec 304 KBytes 2.49 Mbits/sec 3.551 ms 109/286 (38%)
[ 5] 4.00-5.00 sec 525 KBytes 4.31 Mbits/sec 5.929 ms -69/302 (-23%)
[ 5] 5.00-6.00 sec 397 KBytes 3.25 Mbits/sec 26.393 ms 70/296 (24%)
[ 5] 6.00-7.01 sec 365 KBytes 2.98 Mbits/sec 21.559 ms -82/176 (-47%)
[ 5] 7.01-8.00 sec 284 KBytes 2.34 Mbits/sec 6.810 ms 6/203 (3%)
[ 5] 8.00-9.00 sec 313 KBytes 2.55 Mbits/sec 53.293 ms 4/130 (3.1%)
[ 5] 9.00-10.00 sec 293 KBytes 2.41 Mbits/sec 8.222 ms -38/31 (-1.2e+02%)
[ 5] 10.00-11.00 sec 687 KBytes 5.63 Mbits/sec 5.349 ms 0/449 (0%)
[ 5] 11.00-12.00 sec 720 KBytes 5.89 Mbits/sec 55.068 ms 17/526 (3.2%)
[ 5] 12.00-12.82 sec 611 KBytes 6.11 Mbits/sec 9.048 ms 1426/1810 (79%)
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval Transfer Bitrate Jitter Lost/Total Datagrams
[SUM] 0.0-12.8 sec 2675 datagrams received out-of-order
[ 5] 0.00-12.82 sec 6.77 MBytes 4.43 Mbits/sec 9.048 ms 1443/5555 (26%) receiver
-----------------------------------------------------------
Server listening on 5201
-----------------------------------------------------------
^Ciperf3: interrupt - the server has terminated
```
# 6. Conclusion
# 7. References
# 8. Technical Appendices
3-5 slides 10 min pour expliquer ce qu'on a fait including choix (eventuellement questions ) puis démonstration 10min
rapport à rédiger + archive de code et readme
notes de dernière ligne droite
surchage 30Mbit premier crash
expérience 2
charge croissante
Expérience éloignement plusieurs dizaines de mètres
demander envoyer stat a freq regu et observer délai créé...
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