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Chapter 5.

Evaluation

This chapter deals with the evaluation of diﬀerent parts of the system. Two test scenarios are

described, one oﬃce and one home environment as well as various simulations to test the system’s

performance.

5.1. Benchmarking

The individual components of the software were tested in terms of their latency, processing time

and memory usage. All tests were performed on an Asus UL30VT-QX061V laptop with an Intel

U7300 processor with 2 x 1.3 GHz and 4 GB Memory, running the Ubuntu 12.04 LTS operating

system. Figure 5.1 shows the structure of the test system.

gateway driver

devicemanager

device

operations

visualization &

namespace

simulation

node

protocol

ns/device

operations

Figure 5.1.: The structure of the software chain for testing the performance of the diﬀerent nodes.

An additional ROS node was implemented to inject artiﬁcial data into the diﬀerent topics, as

well as calling all services with any speed or repetition number. This simulation node allows

custom data structures to testing special cases and the robustness of the system with regard

to faulty data. However, the actual performance tests are done within the three main nodes

and not within the simulation node in order to achieve accurate measurements. Otherwise, the

processing and communication time of the simulation node would distort the benchmark results.

All times are measured with Qt’s QTime class, which oﬀers functions for absolute and relative

time measurements with 1 ms resolution.

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RFXCOM RFXtrx433 Especificaciones Pagina 72