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>
24 #define FRAME_SIZE 256
25 #define BLOCK_SIZE 4096
27 #define FRAME_NR (BLOCK_NR*(BLOCK_SIZE/FRAME_SIZE))
29 #define STRINGIFY(val) #val
30 #define TOSTRING(val) STRINGIFY(val)
31 #define CHECK(cmd) ({ int ret = (cmd); if (ret == -1) { perror(#cmd " line " TOSTRING(__LINE__)); exit(1); }; ret; })
32 #define CHECKPTR(cmd) ({ void *ptr = (cmd); if (ptr == (void*)-1) { perror(#cmd " line " TOSTRING(__LINE__)); exit(1); }; ptr; })
35 char *devout = "can1";
36 enum { IN_READ, IN_RECVMMSG, IN_MMAP, IN_MMAPBUSY } in_method = IN_READ;
37 enum { WRITE, OUT_MMAP } out_method = WRITE;
46 #define VERBOSE(format, ...) do { if (!quiet) fprintf(stderr, format, ##__VA_ARGS__); } while (0)
53 enum in2out (*in_fn)(struct in_ctx *ctx, struct can_frame *cf);
62 int (*out_fn)(struct out_ctx *ctx, struct can_frame *cf);
65 enum in2out in_read(struct in_ctx *ctx, struct can_frame *cf)
67 int ret = read(ctx->s, cf, sizeof(*cf));
68 if (ret != sizeof(*cf)) {
75 void init_read(struct in_ctx *ctx)
78 struct sockaddr_can addr;
81 s = CHECK(socket(PF_CAN, SOCK_RAW, CAN_RAW));
83 strncpy(ifr.ifr_name, devin, sizeof(ifr.ifr_name));
84 if (-1 == ioctl(s, SIOCGIFINDEX, &ifr)) {
89 addr.can_family = AF_CAN;
90 addr.can_ifindex = ifr.ifr_ifindex;
92 CHECK(bind(s, (struct sockaddr *)&addr, sizeof(addr)));
98 enum in2out in_packet_rx(struct in_ctx *ctx, struct can_frame *cf)
100 volatile struct tpacket2_hdr *hdr = ctx->ptr + ctx->current*FRAME_SIZE;
103 while (hdr->tp_status == TP_STATUS_KERNEL) {
104 if (in_method != IN_MMAPBUSY) {
105 struct pollfd pfd = {.fd = ctx->s, .revents = 0,
106 .events = POLLIN|POLLRDNORM|POLLERR };
107 ret = CHECK(poll(&pfd, 1, -1));
110 //struct sockaddr_ll *addr = (void*)hdr + TPACKET_ALIGN(ctx->hdrlen);
112 struct can_frame *cf_mmap = (void*)hdr + hdr->tp_mac;
113 //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);
116 ctx->current = (ctx->current + 1) % FRAME_NR;
117 hdr = ctx->ptr + ctx->current*FRAME_SIZE;
118 return (hdr->tp_status == TP_STATUS_KERNEL) ? SEND : STORE_ONLY;
122 void init_packet_rx(struct in_ctx *ctx)
125 struct sockaddr_ll my_addr;
128 s = CHECK(socket(PF_PACKET, SOCK_RAW, htons(ETH_P_ALL)));
130 int val = TPACKET_V2;
131 CHECK(setsockopt(s, SOL_PACKET, PACKET_VERSION, &val, sizeof(val)));
132 socklen_t len = sizeof(ctx->hdrlen);
133 CHECK(getsockopt(s, SOL_PACKET, PACKET_HDRLEN, &ctx->hdrlen, &len));
135 strncpy (ifr.ifr_name, devin, sizeof(ifr.ifr_name));
136 CHECK(ioctl(s, SIOCGIFINDEX, &ifr));
138 my_addr.sll_family = AF_PACKET;
139 my_addr.sll_protocol = htons(ETH_P_ALL);
140 my_addr.sll_ifindex = ifr.ifr_ifindex;
142 CHECK(bind(s, (struct sockaddr *)&my_addr, sizeof(struct sockaddr_ll)));
144 struct tpacket_req req = {
145 .tp_block_size = BLOCK_SIZE,
146 .tp_frame_size = FRAME_SIZE,
147 .tp_block_nr = BLOCK_NR,
148 .tp_frame_nr = FRAME_NR,
150 CHECK(setsockopt(s, SOL_PACKET, PACKET_RX_RING, (char *)&req, sizeof(req)));
152 ctx->ptr = (char*)CHECKPTR(mmap(0, BLOCK_SIZE*BLOCK_NR, PROT_READ|PROT_WRITE, MAP_SHARED, s, 0));
155 ctx->in_fn = in_packet_rx;
159 int out_write(struct out_ctx *ctx, struct can_frame *cf)
161 int ret = write(ctx->s, cf, sizeof(*cf));
162 if (ret != sizeof(*cf)) {
169 void init_write(struct out_ctx *ctx)
172 struct sockaddr_can addr;
175 s = CHECK(socket(PF_CAN, SOCK_RAW, CAN_RAW));
177 strncpy(ifr.ifr_name, devout, sizeof(ifr.ifr_name));
178 if (-1 == ioctl(s, SIOCGIFINDEX, &ifr)) {
183 addr.can_family = AF_CAN;
184 addr.can_ifindex = ifr.ifr_ifindex;
186 CHECK(bind(s, (struct sockaddr *)&addr, sizeof(addr)));
189 ctx->out_fn = out_write;
192 int out_packet_tx(struct out_ctx *ctx, struct can_frame *cf)
194 volatile struct tpacket2_hdr *hdr = ctx->ptr + ctx->current*FRAME_SIZE;
197 while (hdr->tp_status != TP_STATUS_AVAILABLE) {
198 struct pollfd pfd = {.fd = ctx->s, .revents = 0,
199 .events = POLLIN|POLLRDNORM|POLLERR };
200 ret = CHECK(poll(&pfd, 1, -1));
203 //struct sockaddr_ll *addr = (void*)hdr + TPACKET_HDRLEN - sizeof(struct sockaddr_ll);
204 struct can_frame *cf_mmap = (void*)hdr + TPACKET_HDRLEN - sizeof(struct sockaddr_ll);
206 hdr->tp_len = sizeof(*cf);
207 hdr->tp_status = TP_STATUS_SEND_REQUEST;
208 ctx->current = (ctx->current + 1) % FRAME_NR;
210 if (ctx->from_in == SEND){
211 ret = CHECK(send(ctx->s, NULL, 0, 0));
218 void init_packet_tx(struct out_ctx *ctx)
221 struct sockaddr_ll my_addr;
224 s = CHECK(socket(PF_PACKET, SOCK_RAW, htons(ETH_P_ALL)));
226 int val = TPACKET_V2;
227 CHECK(setsockopt(s, SOL_PACKET, PACKET_VERSION, &val, sizeof(val)));
228 socklen_t len = sizeof(ctx->hdrlen);
229 CHECK(getsockopt(s, SOL_PACKET, PACKET_HDRLEN, &ctx->hdrlen, &len));
231 strncpy (ifr.ifr_name, devout, sizeof(ifr.ifr_name));
232 CHECK(ioctl(s, SIOCGIFINDEX, &ifr));
234 my_addr.sll_family = AF_PACKET;
235 my_addr.sll_protocol = htons(ETH_P_CAN);
236 my_addr.sll_ifindex = ifr.ifr_ifindex;
238 CHECK(bind(s, (struct sockaddr *)&my_addr, sizeof(struct sockaddr_ll)));
240 struct tpacket_req req = {
241 .tp_block_size = BLOCK_SIZE,
242 .tp_frame_size = FRAME_SIZE,
243 .tp_block_nr = BLOCK_NR,
244 .tp_frame_nr = FRAME_NR,
246 CHECK(setsockopt(s, SOL_PACKET, PACKET_TX_RING, (char *)&req, sizeof(req)));
248 ctx->ptr = (char*)CHECKPTR(mmap(0, BLOCK_SIZE*BLOCK_NR, PROT_READ|PROT_WRITE, MAP_SHARED, s, 0));
251 ctx->out_fn = out_packet_tx;
255 void init_in(struct in_ctx *in)
257 memset(in, 0, sizeof(*in));
267 fprintf(stderr, "Unknown \"in method\" %d\n", in_method);
272 int in(struct in_ctx *ctx, struct can_frame *cf)
274 return ctx->in_fn(ctx, cf);
277 void init_out(struct out_ctx *out)
279 memset(out, 0, sizeof(*out));
280 switch (out_method) {
281 case WRITE: init_write(out); break;
282 case OUT_MMAP: init_packet_tx(out); break;
284 fprintf(stderr, "Unknown \"out method\" %d\n", out_method);
289 int out(struct out_ctx *ctx, struct can_frame *cf)
291 return ctx->out_fn(ctx, cf);
303 VERBOSE("UGW started\n");
306 oc.from_in = in(&ic, &cf);
312 int main(int argc, char *argv[])
316 while ((opt = getopt(argc, argv, "qr:t:")) != -1) {
322 if (strcmp(optarg, "read") == 0)
324 else if (strcmp(optarg, "mmap") == 0)
326 else if (strcmp(optarg, "mmapbusy") == 0)
327 in_method = IN_MMAPBUSY;
329 fprintf(stderr, "Unsuported RX method: %s\n", optarg);
334 if (strcmp(optarg, "write") == 0)
336 else if (strcmp(optarg, "mmap") == 0)
337 out_method = OUT_MMAP;
339 fprintf(stderr, "Unsuported TX method: %s\n", optarg);
344 fprintf(stderr, "Usage: %s [in_interface out_interface]\n",
351 devin = argv[optind];
353 devout = argv[optind+1];