1 /**************************************************************************/
2 /* CAN latency tester */
3 /* Copyright (C) 2010 Michal Sojka, DCE FEE CTU Prague */
5 /**************************************************************************/
14 #include <semaphore.h>
21 #include <sys/ioctl.h>
23 #include <sys/types.h>
24 //#include <ul_list.h>
28 #include <sys/socket.h>
29 #include <linux/can.h>
30 #include <linux/can/raw.h>
35 #include "histogram.h"
38 #define dbg(level, fmt, arg...) do {} while (0)
40 #define dbg(level, fmt, arg...) do { if (level <= DEBUG) { printf("candping: " fmt, ## arg); } } while (0)
43 #define INTERRUPTED_SYSCALL(errno) (errno == EINTR || errno == ERESTART)
45 #define MEMSET_ZERO(obj) memset(&(obj), 0, sizeof(obj))
47 /* Global variables */
48 volatile sig_atomic_t finish_flag = 0; /* Threads should terminate. */
49 sem_t finish_sem; /* Thread signals a termination */
51 /* Command line options */
66 int num_interfaces = 0;
71 struct timespec ts_sent, ts_sent_kern;
72 struct timespec ts_rx_onwire, ts_rx_onwire_kern;
73 struct timespec ts_rx_final, ts_rx_final_kern;
76 #define MAX_INFOS 10000
77 struct msg_info msg_infos[MAX_INFOS];
78 uint16_t curr_msg = 0;
80 static inline struct msg_info *frame2info(struct can_frame *frame)
83 if (frame->can_dlc == 2) {
84 memcpy(&idx, frame->data, sizeof(idx));
86 error(1, 0, "%s idx too high", __FUNCTION__);
88 error(1, 0, "%s error", __FUNCTION__);
89 return &msg_infos[idx];
92 static inline char *tstamp_str(const void *ctx, struct timespec *tstamp)
94 return talloc_asprintf(ctx, "%ld.%06ld",
95 tstamp->tv_sec, tstamp->tv_nsec/1000);
98 void print_msg_info(struct msg_info *mi)
100 struct timespec diff;
101 void *local = talloc_new (NULL);
103 #define S(ts) tstamp_str(local, &ts)
104 #define DIFF(a, b) (timespec_subtract(&diff, &b, &a), S(diff))
106 if (num_interfaces == 2)
107 printf("%s -> %s (%s) = %s (%s)\n",
108 S(mi->ts_sent), S(mi->ts_rx_final_kern), S(mi->ts_rx_final),
109 DIFF(mi->ts_sent, mi->ts_rx_onwire_kern),
110 DIFF(mi->ts_sent, mi->ts_rx_onwire));
112 printf("%s -> %s (%s) -> %s (%s) = %s (%s), %s (%s)\n",
114 S(mi->ts_rx_onwire_kern), S(mi->ts_rx_onwire),
115 S(mi->ts_rx_final_kern), S(mi->ts_rx_final),
116 DIFF(mi->ts_sent, mi->ts_rx_onwire_kern),
117 DIFF(mi->ts_sent, mi->ts_rx_onwire),
118 DIFF(mi->ts_rx_onwire_kern, mi->ts_rx_final_kern),
119 DIFF(mi->ts_rx_onwire, mi->ts_rx_final));
126 /* Subtract the `struct timespec' values X and Y, storing the result in
127 RESULT. Return 1 if the difference is negative, otherwise 0. */
129 int timespec_subtract (struct timespec *result, struct timespec *x, struct timespec *yy)
131 struct timespec ylocal = *yy, *y = &ylocal;
132 /* Perform the carry for the later subtraction by updating Y. */
133 if (x->tv_nsec < y->tv_nsec) {
134 int nsec = (y->tv_nsec - x->tv_nsec) / 1000000000 + 1;
135 y->tv_nsec -= 1000000000 * nsec;
138 if (x->tv_nsec - y->tv_nsec > 1000000000) {
139 int nsec = (x->tv_nsec - y->tv_nsec) / 1000000000;
140 y->tv_nsec += 1000000000 * nsec;
144 /* Compute the time remaining to wait.
145 `tv_nsec' is certainly positive. */
146 result->tv_sec = x->tv_sec - y->tv_sec;
147 result->tv_nsec = x->tv_nsec - y->tv_nsec;
149 /* Return 1 if result is negative. */
150 return x->tv_sec < y->tv_sec;
153 void dbg_print_timespec(char *msg, struct timespec *tv)
156 printf("%s sec=%ld nsec=%ld\n", msg, tv->tv_sec, tv->tv_nsec);
159 void set_sched_policy_and_prio(int policy, int rtprio)
161 struct sched_param scheduling_parameters;
162 int maxprio=sched_get_priority_max(policy);
163 int minprio=sched_get_priority_min(policy);
165 if((rtprio < minprio) || (rtprio > maxprio))
166 error(1, 0, "The priority for requested policy is out of <%d, %d> range\n",
169 scheduling_parameters.sched_priority = rtprio;
171 if (0 != pthread_setschedparam(pthread_self(), policy, &scheduling_parameters))
172 error(1, errno, "pthread_setschedparam error");
175 void term_handler(int signum)
180 static inline int sock_get_if_index(int s, const char *if_name)
185 strcpy(ifr.ifr_name, if_name);
186 if (ioctl(s, SIOCGIFINDEX, &ifr) < 0)
187 error(1, errno, "SIOCGIFINDEX '%s'", if_name);
188 return ifr.ifr_ifindex;
191 static inline get_tstamp(struct timespec *ts)
193 clock_gettime(CLOCK_REALTIME, ts);
196 int send_frame(int socket)
198 struct can_frame frame;
202 frame.can_id = opt.id;
204 memcpy(frame.data, &curr_msg, sizeof(curr_msg));
205 mi = frame2info(&frame);
207 get_tstamp(&mi->ts_sent);
208 ret = write(socket, &frame, sizeof(frame));
212 static inline void get_next_timeout(struct timespec *timeout)
215 static struct timespec last = {-1, 0 };
217 clock_gettime(CLOCK_MONOTONIC, &now);
219 if (last.tv_sec == -1)
221 if (opt.period_us != 0) {
222 last.tv_sec += opt.period_us/1000000;
223 last.tv_nsec += (opt.period_us%1000000)*1000;
224 while (last.tv_nsec >= 1000000000) {
225 last.tv_nsec -= 1000000000;
228 timespec_subtract(timeout, &last, &now);
229 } else if (opt.timeout_ms != 0) {
230 timeout->tv_sec = opt.timeout_ms/1000;
231 timeout->tv_nsec = (opt.timeout_ms%1000)*1000000;
233 error(1, 0, "Timeout and period cannot be both zero");
236 void receive(int s, struct can_frame *frame, struct timespec *ts_kern, struct timespec *ts_user)
238 char ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))];
241 struct cmsghdr *cmsg;
242 struct sockaddr_can addr;
244 static uint64_t dropcnt = 0;
246 iov.iov_base = frame;
247 msg.msg_name = &addr;
250 msg.msg_control = &ctrlmsg;
252 /* these settings may be modified by recvmsg() */
253 iov.iov_len = sizeof(*frame);
254 msg.msg_namelen = sizeof(addr);
255 msg.msg_controllen = sizeof(ctrlmsg);
258 nbytes = recvmsg(s, &msg, 0);
260 error(1, errno, "recvmsg");
262 if (nbytes < sizeof(struct can_frame))
263 error(1, 0, "recvmsg: incomplete CAN frame\n");
266 MEMSET_ZERO(*ts_kern);
267 for (cmsg = CMSG_FIRSTHDR(&msg);
268 cmsg && (cmsg->cmsg_level == SOL_SOCKET);
269 cmsg = CMSG_NXTHDR(&msg,cmsg)) {
270 if (cmsg->cmsg_type == SO_TIMESTAMPNS)
271 *ts_kern = *(struct timespec *)CMSG_DATA(cmsg);
272 else if (cmsg->cmsg_type == SO_RXQ_OVFL)
273 dropcnt += *(__u32 *)CMSG_DATA(cmsg);
278 void process_tx(int s)
280 error(1, 0, "%s: not implemented", __FUNCTION__);
283 void process_on_wire_rx(int s)
285 struct timespec ts_kern, ts_user, ts_diff;
286 struct can_frame frame;
288 receive(s, &frame, &ts_kern, &ts_user);
289 mi = frame2info(&frame);
290 mi->ts_rx_onwire_kern = ts_kern;
291 mi->ts_rx_onwire = ts_user;
295 void process_final_rx(int s)
297 struct timespec ts_kern, ts_user, ts_diff;
298 struct can_frame frame;
300 receive(s, &frame, &ts_kern, &ts_user);
301 mi = frame2info(&frame);
302 mi->ts_rx_final_kern = ts_kern;
303 mi->ts_rx_final = ts_user;
308 void *measure_thread(void *arg)
311 struct pollfd pfd[3];
312 struct timespec timeout;
313 struct sockaddr_can addr;
316 unsigned msg_in_progress = 0;
320 for (i=0; i<num_interfaces; i++) {
321 if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
322 error(1, errno, "socket");
324 addr.can_family = AF_CAN;
325 addr.can_ifindex = sock_get_if_index(s, opt.interface[i]);
327 if (i == 0) { /* TX socket */
328 /* disable default receive filter on this RAW socket */
329 /* This is obsolete as we do not read from the socket at all, but for */
330 /* this reason we can remove the receive list in the Kernel to save a */
331 /* little (really a very little!) CPU usage. */
332 if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0) == -1)
333 error(1, errno, "SOL_CAN_RAW");
336 if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0)
337 error(1, errno, "bind");
339 const int timestamp_on = 1;
340 if (setsockopt(s, SOL_SOCKET, SO_TIMESTAMPNS,
341 ×tamp_on, sizeof(timestamp_on)) < 0)
342 error(1, errno, "setsockopt SO_TIMESTAMP");
344 // const int dropmonitor_on = 1;
345 // if (setsockopt(s, SOL_SOCKET, SO_RXQ_OVFL,
346 // &dropmonitor_on, sizeof(dropmonitor_on)) < 0)
347 // error(1, errno, "setsockopt SO_RXQ_OVFL not supported by your Linux Kernel");
351 pfd[i].events = POLLIN | POLLERR | (opt.period_us == 0 ? POLLOUT : 0);
353 pfd[i].events = POLLIN;
356 set_sched_policy_and_prio(SCHED_FIFO, 99);
360 ret = send_frame(pfd[0].fd); \
361 if (ret != sizeof(struct can_frame)) \
362 error(1, errno, "send_frame"); \
366 while (!finish_flag &&
367 (opt.count == 0 || count < opt.count || msg_in_progress != 0)) {
368 get_next_timeout(&timeout);
369 ret = ppoll(pfd, num_interfaces, &timeout, NULL);
372 if (!INTERRUPTED_SYSCALL(errno))
373 error(1, errno, "ppoll");
377 if (opt.count == 0 || count++ < opt.count) {
380 error(1, 0, "poll timeout");
385 if (pfd[0].revents & (POLLIN|POLLERR)) {
386 process_tx(pfd[0].fd);
388 if (pfd[0].revents & POLLOUT) {
389 if ((opt.count == 0 || count++ < opt.count) &&
396 if (num_interfaces == 3 && pfd[1].revents != 0) {
397 process_on_wire_rx(pfd[1].fd);
401 i = (num_interfaces == 2) ? 1 : 2;
402 if (pfd[i].revents != 0) {
403 process_final_rx(pfd[i].fd);
406 if ((opt.count == 0 || count++ < opt.count) &&
414 for (i=0; i<num_interfaces; i++)
420 struct poptOption optionsTable[] = {
421 { "device", 'd', POPT_ARG_ARGV, &opt.interface, 'd', "Interface to use. Must be given two times (tx, rx) or three times (tx, rx1, rx2)", "interface" },
422 { "count", 'c', POPT_ARG_INT|POPT_ARGFLAG_SHOW_DEFAULT, &opt.count, 0, "The count of messages to send, zero corresponds to infinity", "num"},
423 { "id", 'i', POPT_ARG_INT|POPT_ARGFLAG_SHOW_DEFAULT, &opt.id, 0, "CAN ID of sent messages", "id"},
424 { "period", 'p', POPT_ARG_INT|POPT_ARGFLAG_SHOW_DEFAULT, &opt.period_us, 0, "Period for sending messages or zero (default) to send as fast as possible", "us"},
425 { "timeout",'t', POPT_ARG_INT|POPT_ARGFLAG_SHOW_DEFAULT, &opt.timeout_ms,0, "Timeout when period is zero", "ms"},
426 { "oneattime",'o', POPT_ARG_NONE, &opt.oneattime,0, "Send the next message only when the previous was finally received"},
427 { "verbose",'v', POPT_ARG_NONE, NULL, 'v', "Send the next message only when the previous was finally received"},
429 { NULL, 0, 0, NULL, 0 }
432 int parse_options(int argc, const char *argv[])
435 poptContext optCon; /* context for parsing command-line options */
437 optCon = poptGetContext(NULL, argc, argv, optionsTable, 0);
438 //poptSetOtherOptionHelp(optCon, "[OPTIONS]* <port>");
440 /* Now do options processing */
441 while ((c = poptGetNextOpt(optCon)) >= 0) {
449 error(1, 0, "%s: %s\n",
450 poptBadOption(optCon, POPT_BADOPTION_NOALIAS),
453 if (num_interfaces < 2 || num_interfaces > 3)
454 error(1, 0, "-d option must be given exactly 2 or 3 times");
456 poptFreeContext(optCon);
462 int main(int argc, const char *argv[])
468 parse_options(argc, argv);
470 mlockall(MCL_CURRENT | MCL_FUTURE);
472 signal(SIGINT, term_handler);
473 signal(SIGTERM, term_handler);
476 pthread_create(&thread, 0, measure_thread, NULL);
478 while (!finish_flag) {
482 pthread_join(thread, NULL);