#include <fcntl.h>
#include <math.h>
#include <net/if.h>
+#include <poll.h>
+#include <popt.h>
#include <pthread.h>
#include <semaphore.h>
+#include <sched.h>
#include <signal.h>
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <sys/ioctl.h>
+#include <sys/mman.h>
+#include <sys/socket.h>
+#include <sys/stat.h>
#include <sys/time.h>
#include <sys/types.h>
-//#include <ul_list.h>
+#include <talloc.h>
#include <unistd.h>
-#include <sched.h>
-#include <sys/mman.h>
-#include <sys/socket.h>
+
#include <linux/can.h>
#include <linux/can/raw.h>
-#include <poll.h>
-#include <talloc.h>
-#include <popt.h>
#include "histogram.h"
+//#define FTRACE
+
#ifndef DEBUG
#define dbg(level, fmt, arg...) do {} while (0)
#else
unsigned timeout_ms;
unsigned count;
unsigned oneattime;
- char *file;
- char *histogram_fn;
-} opt = {
+ FILE *file;
+ FILE *histogram;
+ int length;
+ int userhist;
+};
+
+struct options opt = {
.id = 10,
.period_us = 0,
.timeout_ms = 1000,
-
+ .length = 2,
};
int num_interfaces = 0;
+int count = 0; /* Number of sent messages */
+int completion_pipe[2];
struct msg_info {
canid_t id;
struct timespec ts_sent, ts_sent_kern;
struct timespec ts_rx_onwire, ts_rx_onwire_kern;
struct timespec ts_rx_final, ts_rx_final_kern;
+ struct can_frame sent, received;
};
#define MAX_INFOS 10000
struct msg_info msg_infos[MAX_INFOS];
-uint16_t curr_msg = 0;
struct histogram histogram;
+void sprint_canframe(char *buf , struct can_frame *cf, int sep) {
+ /* documentation see lib.h */
+
+ int i,offset;
+ int dlc = (cf->can_dlc > 8)? 8 : cf->can_dlc;
+
+ if (cf->can_id & CAN_ERR_FLAG) {
+ sprintf(buf, "%08X#", cf->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG));
+ offset = 9;
+ } else if (cf->can_id & CAN_EFF_FLAG) {
+ sprintf(buf, "%08X#", cf->can_id & CAN_EFF_MASK);
+ offset = 9;
+ } else {
+ sprintf(buf, "%03X#", cf->can_id & CAN_SFF_MASK);
+ offset = 4;
+ }
+
+ if (cf->can_id & CAN_RTR_FLAG) /* there are no ERR frames with RTR */
+ sprintf(buf+offset, "R");
+ else
+ for (i = 0; i < dlc; i++) {
+ sprintf(buf+offset, "%02X", cf->data[i]);
+ offset += 2;
+ if (sep && (i+1 < dlc))
+ sprintf(buf+offset++, ".");
+ }
+}
+
static inline struct msg_info *frame2info(struct can_frame *frame)
{
uint16_t idx;
- if (frame->can_dlc == 2) {
+ if (frame->can_dlc >= 2) {
memcpy(&idx, frame->data, sizeof(idx));
if (idx >= MAX_INFOS)
error(1, 0, "%s idx too high", __FUNCTION__);
- } else
+ } else {
+
error(1, 0, "%s error", __FUNCTION__);
+ }
return &msg_infos[idx];
}
tstamp->tv_sec, tstamp->tv_nsec/1000);
}
-void print_msg_info(struct msg_info *mi)
+void msg_info_print(FILE *f, struct msg_info *mi)
{
struct timespec diff;
void *local = talloc_new (NULL);
-
+ static long num = 0;
+ char sent[64], received[64];
+
+ sprint_canframe(sent, &mi->sent, true);
+ sprint_canframe(received, &mi->received, true);
+
#define S(ts) tstamp_str(local, &ts)
#define DIFF(a, b) (timespec_subtract(&diff, &b, &a), S(diff))
-
- if (num_interfaces == 2)
- printf("%s -> %s (%s) = %s (%s)\n",
- S(mi->ts_sent), S(mi->ts_rx_final_kern), S(mi->ts_rx_final),
- DIFF(mi->ts_sent, mi->ts_rx_onwire_kern),
- DIFF(mi->ts_sent, mi->ts_rx_onwire));
+
+ if (num_interfaces == 2)
+ fprintf(f, "%ld: %s %s -> %s (%s) %s = %s (%s)\n",
+ num, S(mi->ts_sent), sent, S(mi->ts_rx_final_kern), S(mi->ts_rx_final), received,
+ DIFF(mi->ts_sent, mi->ts_rx_final_kern),
+ DIFF(mi->ts_sent, mi->ts_rx_final));
else
- printf("%s -> %s (%s) -> %s (%s) = %s (%s), %s (%s)\n",
- S(mi->ts_sent),
- S(mi->ts_rx_onwire_kern), S(mi->ts_rx_onwire),
- S(mi->ts_rx_final_kern), S(mi->ts_rx_final),
- DIFF(mi->ts_sent, mi->ts_rx_onwire_kern),
- DIFF(mi->ts_sent, mi->ts_rx_onwire),
- DIFF(mi->ts_rx_onwire_kern, mi->ts_rx_final_kern),
- DIFF(mi->ts_rx_onwire, mi->ts_rx_final));
+ fprintf(f, "%ld: %s %s -> %s (%s) -> %s (%s) %s = %s (%s), %s (%s)\n",
+ num, S(mi->ts_sent), sent,
+ S(mi->ts_rx_onwire_kern), S(mi->ts_rx_onwire),
+ S(mi->ts_rx_final_kern), S(mi->ts_rx_final), received,
+ DIFF(mi->ts_sent, mi->ts_rx_onwire_kern),
+ DIFF(mi->ts_sent, mi->ts_rx_onwire),
+ DIFF(mi->ts_rx_onwire_kern, mi->ts_rx_final_kern),
+ DIFF(mi->ts_rx_onwire, mi->ts_rx_final));
+#undef S
+#undef DIFF
+ num++;
+ talloc_free (local);
+}
+
+int msg_info_store(FILE *f, struct msg_info *mi)
+{
+ struct timespec diff;
+ void *local = talloc_new (NULL);
+ static long num = 0;
+
+#define S(ts) tstamp_str(local, &ts)
+#define DIFF(a, b) (timespec_subtract(&diff, &b, &a), S(diff))
+
+ if (num_interfaces == 2)
+ fprintf(f, "%ld %d %d %s\n",
+ num, mi->id, mi->length,
+ DIFF(mi->ts_sent, mi->ts_rx_final_kern));
+ else
+ fprintf(f, "%ld %d %d %s\n",
+ num, mi->id, mi->length,
+ DIFF(mi->ts_rx_onwire_kern, mi->ts_rx_final_kern));
#undef S
#undef DIFF
talloc_free (local);
/* Subtract the `struct timespec' values X and Y, storing the result in
RESULT. Return 1 if the difference is negative, otherwise 0. */
-
+
int timespec_subtract (struct timespec *result, struct timespec *x, struct timespec *yy)
{
struct timespec ylocal = *yy, *y = &ylocal;
y->tv_nsec += 1000000000 * nsec;
y->tv_sec -= nsec;
}
-
+
/* Compute the time remaining to wait.
`tv_nsec' is certainly positive. */
result->tv_sec = x->tv_sec - y->tv_sec;
result->tv_nsec = x->tv_nsec - y->tv_nsec;
-
+
/* Return 1 if result is negative. */
return x->tv_sec < y->tv_sec;
}
static inline unsigned get_msg_latency_us(struct msg_info *mi)
{
struct timespec diff;
- timespec_subtract(&diff, &mi->ts_rx_final_kern, &mi->ts_rx_onwire_kern);
+ if (num_interfaces == 3)
+ if (opt.userhist)
+ timespec_subtract(&diff, &mi->ts_rx_final_kern, &mi->ts_rx_onwire_kern);
+ else
+ timespec_subtract(&diff, &mi->ts_rx_final, &mi->ts_rx_onwire);
+ else
+ if (opt.userhist)
+ timespec_subtract(&diff, &mi->ts_rx_final, &mi->ts_sent);
+ else
+ timespec_subtract(&diff, &mi->ts_rx_final_kern, &mi->ts_sent);
return diff.tv_sec * 1000000 + diff.tv_nsec/1000;
}
{
struct ifreq ifr;
MEMSET_ZERO(ifr);
-
+
strcpy(ifr.ifr_name, if_name);
if (ioctl(s, SIOCGIFINDEX, &ifr) < 0)
error(1, errno, "SIOCGIFINDEX '%s'", if_name);
clock_gettime(CLOCK_REALTIME, ts);
}
+
+int trace_fd = -1;
+int marker_fd = -1;
+
+int init_ftrace()
+{
+#ifdef FTRACE
+ char *debugfs;
+ char path[256];
+ FILE *f;
+
+ debugfs = "/sys/kernel/debug";
+ if (debugfs) {
+ strcpy(path, debugfs);
+ strcat(path,"/tracing/tracing_on");
+ trace_fd = open(path, O_WRONLY);
+ if (trace_fd >= 0)
+ write(trace_fd, "1", 1);
+
+ strcpy(path, debugfs);
+ strcat(path,"/tracing/trace_marker");
+ marker_fd = open(path, O_WRONLY);
+
+ strcpy(path, debugfs);
+ strcat(path,"/tracing/set_ftrace_pid");
+ f = fopen(path, "w");
+ fprintf(f, "%d\n", getpid());
+ fclose(f);
+ system("echo function_graph > /sys/kernel/debug/tracing/current_tracer");
+ system("echo can_send > /sys/kernel/debug/tracing/set_graph_function");
+ system("echo > /sys/kernel/debug/tracing/trace");
+ system("echo 1 > /sys/kernel/debug/tracing/tracing_enabled");
+ }
+#endif /* FTRACE */
+}
+
+static inline void trace_on()
+{
+ if (trace_fd >= 0)
+ write(trace_fd, "1", 1);
+}
+
+static inline void trace_off(int ret)
+{
+ if (marker_fd >= 0) {
+ char marker[100];
+ sprintf(marker, "write returned %d\n", ret);
+ write(marker_fd, marker, strlen(marker));
+ }
+ if (trace_fd >= 0)
+ write(trace_fd, "0", 1);
+}
+
+void msg_info_free(struct msg_info *mi)
+{
+ mi->id = -1;
+}
+
int send_frame(int socket)
{
struct can_frame frame;
struct msg_info *mi;
int ret;
+ static int curr_msg = -1;
+ int i;
+ uint16_t idx;
+
+ MEMSET_ZERO(frame);
+ i = curr_msg+1;
+ while (msg_infos[i].id != -1 && i != curr_msg) {
+ i++;
+ if (i >= MAX_INFOS)
+ i = 0;
+ }
+ if (i == curr_msg)
+ error(1, 0, "Msg info table is full! Probably, many packets were lost.");
+ else
+ curr_msg = i;
frame.can_id = opt.id;
- frame.can_dlc = 2;
- memcpy(frame.data, &curr_msg, sizeof(curr_msg));
+ if (opt.length < 2)
+ error(1, 0, "Length < 2 is not yet supported");
+ frame.can_dlc = opt.length;
+ idx = curr_msg;
+ memcpy(frame.data, &idx, sizeof(idx));
mi = frame2info(&frame);
+ mi->id = frame.can_id;
+ mi->length = frame.can_dlc;
get_tstamp(&mi->ts_sent);
+ mi->sent = frame;
+
+ trace_on();
ret = write(socket, &frame, sizeof(frame));
+ trace_off(ret);
+
+ if (ret == -1)
+ msg_info_free(mi);
return ret;
}
static struct timespec last = {-1, 0 };
clock_gettime(CLOCK_MONOTONIC, &now);
-
+
if (last.tv_sec == -1)
last = now;
if (opt.period_us != 0) {
while (last.tv_nsec >= 1000000000) {
last.tv_nsec -= 1000000000;
last.tv_sec++;
- }
+ }
timespec_subtract(timeout, &last, &now);
} else if (opt.timeout_ms != 0) {
timeout->tv_sec = opt.timeout_ms/1000;
/* these settings may be modified by recvmsg() */
iov.iov_len = sizeof(*frame);
msg.msg_namelen = sizeof(addr);
- msg.msg_controllen = sizeof(ctrlmsg);
+ msg.msg_controllen = sizeof(ctrlmsg);
msg.msg_flags = 0;
nbytes = recvmsg(s, &msg, 0);
struct timespec ts_kern, ts_user, ts_diff;
struct can_frame frame;
struct msg_info *mi;
+ int ret;
+
receive(s, &frame, &ts_kern, &ts_user);
mi = frame2info(&frame);
mi->ts_rx_final_kern = ts_kern;
mi->ts_rx_final = ts_user;
+ mi->received = frame;
- if (opt.histogram_fn)
+ if (opt.histogram)
histogram_add(&histogram, get_msg_latency_us(mi));
- if (!opt.file)
- print_msg_info(mi);
+ ret = write(completion_pipe[1], &mi, sizeof(mi));
+ if (ret == -1)
+ error(1, errno, "completion_pipe write");
}
void *measure_thread(void *arg)
struct timespec timeout;
struct sockaddr_can addr;
sigset_t set;
- int count = 0;
unsigned msg_in_progress = 0;
MEMSET_ZERO(pfd);
-
+
for (i=0; i<num_interfaces; i++) {
if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
error(1, errno, "socket");
×tamp_on, sizeof(timestamp_on)) < 0)
error(1, errno, "setsockopt SO_TIMESTAMP");
-// const int dropmonitor_on = 1;
-// if (setsockopt(s, SOL_SOCKET, SO_RXQ_OVFL,
-// &dropmonitor_on, sizeof(dropmonitor_on)) < 0)
-// error(1, errno, "setsockopt SO_RXQ_OVFL not supported by your Linux Kernel");
+ const int dropmonitor_on = 1;
+ if (setsockopt(s, SOL_SOCKET, SO_RXQ_OVFL,
+ &dropmonitor_on, sizeof(dropmonitor_on)) < 0)
+ error(1, errno, "setsockopt SO_RXQ_OVFL not supported by your Linux Kernel");
pfd[i].fd = s;
if (i == 0)
set_sched_policy_and_prio(SCHED_FIFO, 99);
-#define SEND() \
- do { printf("send\n"); \
- ret = send_frame(pfd[0].fd); \
- if (ret != sizeof(struct can_frame)) \
- error(1, errno, "send_frame %d", __LINE__); \
- count++; \
- msg_in_progress++; \
+#define SEND() \
+ do { \
+ ret = send_frame(pfd[0].fd); \
+ if (ret != sizeof(struct can_frame)) { \
+ if (ret == -1 && errno == ENOBUFS && opt.period_us == 0 && !opt.oneattime) { \
+ /* Ignore this error - pfifo_fast qeuue is full */ \
+ } else \
+ error(1, errno, "send_frame (line %d)", __LINE__); \
+ } \
+ else { \
+ count++; \
+ msg_in_progress++; \
+ } \
} while (0)
if (opt.oneattime) {
(opt.count == 0 || count < opt.count || msg_in_progress != 0)) {
get_next_timeout(&timeout);
- printf("ppoll");
- fflush(stdout);
+ //printf("ppoll"); fflush(stdout);
ret = ppoll(pfd, num_interfaces, &timeout, NULL);
- printf("=%d\n", ret);
+ //printf("=%d\n", ret);
switch (ret) {
case -1: // Error
if (!INTERRUPTED_SYSCALL(errno))
if (opt.period_us) {
if (opt.count == 0 || count < opt.count) {
SEND();
- } else {
- error(1, 0, "poll timeout");
}
+ } else {
+ error(1, 0, "poll timeout");
}
break;
default: // Event
{ "timeout",'t', POPT_ARG_INT|POPT_ARGFLAG_SHOW_DEFAULT, &opt.timeout_ms,0, "Timeout when period is zero", "ms"},
{ "oneattime",'o', POPT_ARG_NONE, &opt.oneattime,0, "Send the next message only when the previous was finally received"},
{ "verbose",'v', POPT_ARG_NONE, NULL, 'v', "Send the next message only when the previous was finally received"},
- { "file", 'f', POPT_ARG_STRING, &opt.file, 0, "File where to store results", "filename"},
- { "histogram", 'h', POPT_ARG_STRING, &opt.histogram_fn, 0, "Store histogram in file", "filename"},
+ { "file", 'f', POPT_ARG_STRING, NULL, 'f', "File where to store results", "filename"},
+ { "histogram", 'h', POPT_ARG_STRING, NULL, 'h', "Store histogram in file", "filename"},
+ { "length", 'l', POPT_ARG_INT|POPT_ARGFLAG_SHOW_DEFAULT, &opt.length, 0, "The length of generated messages", "bytes"},
+ { "userhist", 'u', POPT_ARG_NONE, &opt.userhist, 0, "Generate histogram from userspace timestamps"},
POPT_AUTOHELP
{ NULL, 0, 0, NULL, 0 }
};
{
int c;
poptContext optCon; /* context for parsing command-line options */
-
+
optCon = poptGetContext(NULL, argc, argv, optionsTable, 0);
//poptSetOtherOptionHelp(optCon, "[OPTIONS]* <port>");
case 'd':
num_interfaces++;
break;
+ case 'f':
+ opt.file = fopen(poptGetOptArg(optCon), "w");
+ if (!opt.file)
+ error(1, errno, "fopen: %s", poptGetOptArg(optCon));
+ break;
+ case 'h':
+ opt.histogram = fopen(poptGetOptArg(optCon), "w");
+ if (!opt.histogram)
+ error(1, errno, "fopen: %s", poptGetOptArg(optCon));
+ break;
}
}
if (c < -1)
error(1, 0, "%s: %s\n",
poptBadOption(optCon, POPT_BADOPTION_NOALIAS),
poptStrerror(c));
-
+
if (num_interfaces < 2 || num_interfaces > 3)
error(1, 0, "-d option must be given exactly 2 or 3 times");
{
pthread_t thread;
sigset_t set;
- int ret;
- FILE *fhist;
-
+ int ret, i;
+
parse_options(argc, argv);
-
+
mlockall(MCL_CURRENT | MCL_FUTURE);
signal(SIGINT, term_handler);
signal(SIGTERM, term_handler);
- if (opt.histogram_fn) {
- histogram_init(&histogram, 1000000, 5);
- fhist = fopen(opt.histogram_fn, "w");
- if (fhist == NULL)
- error(1, errno, "open %s", opt.histogram_fn);
+ for (i=0; i<MAX_INFOS; i++)
+ msg_infos[i].id = -1;
+
+ if (opt.histogram) {
+ histogram_init(&histogram, 5000000, 1);
}
+ ret = pipe(completion_pipe);
+ if (ret == -1)
+ error(1, errno, "pipe");
+ ret = fcntl(completion_pipe[1], F_SETFL, O_NONBLOCK);
+ if (ret == -1)
+ error(1, errno, "pipe fcntl");
+ init_ftrace();
+
pthread_create(&thread, 0, measure_thread, NULL);
-/* while (!finish_flag) { */
-/* sleep(1); */
-/* } */
+ struct timespec next, now, diff;
+ clock_gettime(CLOCK_MONOTONIC, &next);
+ int completed = 0;
+ while (!finish_flag && (opt.count == 0 || completed < opt.count)) {
+ struct pollfd pfd[1];
+ pfd[0].fd = completion_pipe[0];
+ pfd[0].events = POLLIN;
+ ret = poll(pfd, 1, 100);
+ if (ret == -1 && !INTERRUPTED_SYSCALL(errno))
+ error(1, errno, "poll main");
+ if (ret > 0 && (pfd[0].revents & POLLIN)) {
+ struct msg_info *mi;
+ int ret;
+ ret = read(completion_pipe[0], &mi, sizeof(mi));
+ if (ret < sizeof(mi))
+ error(1, errno, "read completion returned %d", ret);
+ if (opt.file)
+ msg_info_print(opt.file, mi);
+ msg_info_free(mi);
+ completed++;
+ }
+
+ clock_gettime(CLOCK_MONOTONIC, &now);
+ if (timespec_subtract(&diff, &next, &now)) {
+ printf("\rMessage %d", count);
+ fflush(stdout);
+ next.tv_nsec += 100000000;
+ while (next.tv_nsec >= 1000000000) {
+ next.tv_nsec -= 1000000000;
+ next.tv_sec++;
+ }
+ }
+ }
+ printf("\rMessage %d\n", count);
pthread_join(thread, NULL);
- if (opt.histogram_fn) {
- histogram_fprint(&histogram, fhist);
- fclose(fhist);
+ close(completion_pipe[0]);
+ close(completion_pipe[1]);
+
+ if (opt.histogram) {
+ histogram_fprint(&histogram, opt.histogram);
+ fclose(opt.histogram);
}
-
+ if (opt.file)
+ fclose(opt.file);
+
return 0;
}
projects / can-benchmark.git / blobdiff