1 /**************************************************************************/
2 /* CAN user space gateway for performance benchmarks */
3 /* Copyright (C) 2013, 2014 Michal Sojka, DCE, FEE, CTU Prague */
5 /**************************************************************************/
8 #include <sys/socket.h>
10 #include <sys/ioctl.h>
18 #include <linux/if_ether.h>
19 #include <linux/if_packet.h>
22 #include <arpa/inet.h>
25 #define SO_BUSY_POLL 46
28 #define FRAME_SIZE 256
29 #define BLOCK_SIZE 4096
31 #define FRAME_NR (BLOCK_NR*(BLOCK_SIZE/FRAME_SIZE))
33 #define STRINGIFY(val) #val
34 #define TOSTRING(val) STRINGIFY(val)
35 #define CHECK(cmd) ({ int ret = (cmd); if (ret == -1) { perror(#cmd " line " TOSTRING(__LINE__)); exit(1); }; ret; })
36 #define CHECKPTR(cmd) ({ void *ptr = (cmd); if (ptr == (void*)-1) { perror(#cmd " line " TOSTRING(__LINE__)); exit(1); }; ptr; })
39 char *devout = "can1";
40 enum { IN_READ, IN_RECVMMSG, IN_MMAP, IN_MMAPBUSY } in_method = IN_READ;
41 enum { WRITE, OUT_MMAP } out_method = WRITE;
51 #define VERBOSE(format, ...) do { if (!quiet) fprintf(stderr, format, ##__VA_ARGS__); } while (0)
58 enum in2out (*in_fn)(struct in_ctx *ctx, struct can_frame *cf);
67 int (*out_fn)(struct out_ctx *ctx, struct can_frame *cf);
70 enum in2out in_read(struct in_ctx *ctx, struct can_frame *cf)
72 int ret = read(ctx->s, cf, sizeof(*cf));
73 if (ret != sizeof(*cf)) {
80 void init_read(struct in_ctx *ctx)
83 struct sockaddr_can addr;
86 s = CHECK(socket(PF_CAN, SOCK_RAW, CAN_RAW));
89 CHECK(setsockopt(s, SOL_SOCKET, SO_BUSY_POLL,
90 &busy_poll_us, sizeof(busy_poll_us)));
93 strncpy(ifr.ifr_name, devin, sizeof(ifr.ifr_name));
94 if (-1 == ioctl(s, SIOCGIFINDEX, &ifr)) {
99 addr.can_family = AF_CAN;
100 addr.can_ifindex = ifr.ifr_ifindex;
102 CHECK(bind(s, (struct sockaddr *)&addr, sizeof(addr)));
105 ctx->in_fn = in_read;
108 enum in2out in_packet_rx(struct in_ctx *ctx, struct can_frame *cf)
110 volatile struct tpacket2_hdr *hdr = ctx->ptr + ctx->current*FRAME_SIZE;
113 while (hdr->tp_status == TP_STATUS_KERNEL) {
114 if (in_method != IN_MMAPBUSY) {
115 struct pollfd pfd = {.fd = ctx->s, .revents = 0,
116 .events = POLLIN|POLLRDNORM|POLLERR };
117 ret = CHECK(poll(&pfd, 1, -1));
120 //struct sockaddr_ll *addr = (void*)hdr + TPACKET_ALIGN(ctx->hdrlen);
122 struct can_frame *cf_mmap = (void*)hdr + hdr->tp_mac;
123 //printf("ret:%d st:%#08x m:%d RX in frame %2d, CAN ID %#3x\n", ret, hdr->tp_status, hdr->tp_mac, ctx->current, cf_mmap->can_id);
126 ctx->current = (ctx->current + 1) % FRAME_NR;
127 hdr = ctx->ptr + ctx->current*FRAME_SIZE;
128 return (hdr->tp_status == TP_STATUS_KERNEL) ? SEND : STORE_ONLY;
132 void init_packet_rx(struct in_ctx *ctx)
135 struct sockaddr_ll my_addr;
138 s = CHECK(socket(PF_PACKET, SOCK_RAW, htons(ETH_P_ALL)));
140 int val = TPACKET_V2;
141 CHECK(setsockopt(s, SOL_PACKET, PACKET_VERSION, &val, sizeof(val)));
142 socklen_t len = sizeof(ctx->hdrlen);
143 CHECK(getsockopt(s, SOL_PACKET, PACKET_HDRLEN, &ctx->hdrlen, &len));
145 strncpy (ifr.ifr_name, devin, sizeof(ifr.ifr_name));
146 CHECK(ioctl(s, SIOCGIFINDEX, &ifr));
148 my_addr.sll_family = AF_PACKET;
149 my_addr.sll_protocol = htons(ETH_P_ALL);
150 my_addr.sll_ifindex = ifr.ifr_ifindex;
152 CHECK(bind(s, (struct sockaddr *)&my_addr, sizeof(struct sockaddr_ll)));
154 struct tpacket_req req = {
155 .tp_block_size = BLOCK_SIZE,
156 .tp_frame_size = FRAME_SIZE,
157 .tp_block_nr = BLOCK_NR,
158 .tp_frame_nr = FRAME_NR,
160 CHECK(setsockopt(s, SOL_PACKET, PACKET_RX_RING, (char *)&req, sizeof(req)));
162 ctx->ptr = (char*)CHECKPTR(mmap(0, BLOCK_SIZE*BLOCK_NR, PROT_READ|PROT_WRITE, MAP_SHARED, s, 0));
165 ctx->in_fn = in_packet_rx;
169 int out_write(struct out_ctx *ctx, struct can_frame *cf)
171 int ret = write(ctx->s, cf, sizeof(*cf));
172 if (ret != sizeof(*cf)) {
179 void init_write(struct out_ctx *ctx)
182 struct sockaddr_can addr;
185 s = CHECK(socket(PF_CAN, SOCK_RAW, CAN_RAW));
187 strncpy(ifr.ifr_name, devout, sizeof(ifr.ifr_name));
188 if (-1 == ioctl(s, SIOCGIFINDEX, &ifr)) {
193 addr.can_family = AF_CAN;
194 addr.can_ifindex = ifr.ifr_ifindex;
196 CHECK(bind(s, (struct sockaddr *)&addr, sizeof(addr)));
199 ctx->out_fn = out_write;
202 int out_packet_tx(struct out_ctx *ctx, struct can_frame *cf)
204 volatile struct tpacket2_hdr *hdr = ctx->ptr + ctx->current*FRAME_SIZE;
207 while (hdr->tp_status != TP_STATUS_AVAILABLE) {
208 struct pollfd pfd = {.fd = ctx->s, .revents = 0,
209 .events = POLLIN|POLLRDNORM|POLLERR };
210 ret = CHECK(poll(&pfd, 1, -1));
213 //struct sockaddr_ll *addr = (void*)hdr + TPACKET_HDRLEN - sizeof(struct sockaddr_ll);
214 struct can_frame *cf_mmap = (void*)hdr + TPACKET_HDRLEN - sizeof(struct sockaddr_ll);
216 hdr->tp_len = sizeof(*cf);
217 hdr->tp_status = TP_STATUS_SEND_REQUEST;
218 ctx->current = (ctx->current + 1) % FRAME_NR;
220 if (ctx->from_in == SEND){
221 ret = CHECK(send(ctx->s, NULL, 0, 0));
228 void init_packet_tx(struct out_ctx *ctx)
231 struct sockaddr_ll my_addr;
234 s = CHECK(socket(PF_PACKET, SOCK_RAW, htons(ETH_P_ALL)));
236 int val = TPACKET_V2;
237 CHECK(setsockopt(s, SOL_PACKET, PACKET_VERSION, &val, sizeof(val)));
238 socklen_t len = sizeof(ctx->hdrlen);
239 CHECK(getsockopt(s, SOL_PACKET, PACKET_HDRLEN, &ctx->hdrlen, &len));
241 strncpy (ifr.ifr_name, devout, sizeof(ifr.ifr_name));
242 CHECK(ioctl(s, SIOCGIFINDEX, &ifr));
244 my_addr.sll_family = AF_PACKET;
245 my_addr.sll_protocol = htons(ETH_P_CAN);
246 my_addr.sll_ifindex = ifr.ifr_ifindex;
248 CHECK(bind(s, (struct sockaddr *)&my_addr, sizeof(struct sockaddr_ll)));
250 struct tpacket_req req = {
251 .tp_block_size = BLOCK_SIZE,
252 .tp_frame_size = FRAME_SIZE,
253 .tp_block_nr = BLOCK_NR,
254 .tp_frame_nr = FRAME_NR,
256 CHECK(setsockopt(s, SOL_PACKET, PACKET_TX_RING, (char *)&req, sizeof(req)));
258 ctx->ptr = (char*)CHECKPTR(mmap(0, BLOCK_SIZE*BLOCK_NR, PROT_READ|PROT_WRITE, MAP_SHARED, s, 0));
261 ctx->out_fn = out_packet_tx;
265 void init_in(struct in_ctx *in)
267 memset(in, 0, sizeof(*in));
277 fprintf(stderr, "Unknown \"in method\" %d\n", in_method);
282 int in(struct in_ctx *ctx, struct can_frame *cf)
284 return ctx->in_fn(ctx, cf);
287 void init_out(struct out_ctx *out)
289 memset(out, 0, sizeof(*out));
290 switch (out_method) {
291 case WRITE: init_write(out); break;
292 case OUT_MMAP: init_packet_tx(out); break;
294 fprintf(stderr, "Unknown \"out method\" %d\n", out_method);
299 int out(struct out_ctx *ctx, struct can_frame *cf)
301 return ctx->out_fn(ctx, cf);
313 VERBOSE("UGW started\n");
316 oc.from_in = in(&ic, &cf);
322 int main(int argc, char *argv[])
326 while ((opt = getopt(argc, argv, "b:qr:t:")) != -1) {
329 busy_poll_us = atoi(optarg);
335 if (strcmp(optarg, "read") == 0)
337 else if (strcmp(optarg, "mmap") == 0)
339 else if (strcmp(optarg, "mmapbusy") == 0)
340 in_method = IN_MMAPBUSY;
342 fprintf(stderr, "Unsuported RX method: %s\n", optarg);
347 if (strcmp(optarg, "write") == 0)
349 else if (strcmp(optarg, "mmap") == 0)
350 out_method = OUT_MMAP;
352 fprintf(stderr, "Unsuported TX method: %s\n", optarg);
357 fprintf(stderr, "Usage: %s [in_interface out_interface]\n",
364 devin = argv[optind];
366 devout = argv[optind+1];