-/**************************************************************************/
-/* CAN latency tester */
-/* Copyright (C) 2010 Michal Sojka, DCE FEE CTU Prague */
-/* License: GPLv2 */
-/**************************************************************************/
+/*******************************************************************************/
+/* CAN latency tester */
+/* Copyright (C) 2010, 2011, 2012, 2013, 2014 Michal Sojka, DCE FEE CTU Prague */
+/* License: GPLv2 */
+/*******************************************************************************/
+#define _GNU_SOURCE
#include <ctype.h>
#include <errno.h>
#include <error.h>
#include <talloc.h>
#include <unistd.h>
+#include "canframelen.h"
#include <linux/can.h>
#include <linux/can/raw.h>
unsigned timeout_ms;
unsigned count;
unsigned oneattime;
- FILE *file;
- FILE *histogram;
+ char *name;
int length;
int userhist;
+ int quiet;
+
+ /* Temporary variables */
+ FILE *f_msgs;
+ FILE *f_hist;
+ FILE *f_hist_gw;
+ FILE *f_stat;
};
struct options opt = {
struct {
unsigned enobufs;
+ unsigned overrun;
+ unsigned lost;
+ struct timespec tic, tac;
+ unsigned timeouts;
+ unsigned invalid_frame;
} stats;
int num_interfaces = 0;
int count = 0; /* Number of sent messages */
+unsigned msg_in_progress = 0;
int completion_pipe[2];
struct msg_info {
struct timespec ts_rx_onwire, ts_rx_onwire_kern;
struct timespec ts_rx_final, ts_rx_final_kern;
struct can_frame sent, received;
+ unsigned lat_measured_us, tx_time_us;
};
#define MAX_INFOS 10000
struct msg_info msg_infos[MAX_INFOS];
-struct histogram histogram;
+struct histogram histogram, histogram_gw;
void sprint_canframe(char *buf , struct can_frame *cf, int sep) {
/* documentation see lib.h */
}
}
-static inline struct msg_info *frame2info(struct can_frame *frame)
+static inline uint16_t frame_index(struct can_frame *frame)
{
uint16_t idx;
if (frame->can_dlc >= 2) {
if (idx >= MAX_INFOS)
error(1, 0, "%s idx too high", __FUNCTION__);
} else {
-
+
error(1, 0, "%s error", __FUNCTION__);
}
- return &msg_infos[idx];
+ return idx;
+}
+
+static inline struct msg_info *frame2info(struct can_frame *frame)
+{
+ return &msg_infos[frame_index(frame)];
}
static inline char *tstamp_str(const void *ctx, struct timespec *tstamp)
tstamp->tv_sec, tstamp->tv_nsec/1000);
}
+int timespec_subtract (struct timespec *result, struct timespec *x, struct timespec *yy);
+
void msg_info_print(FILE *f, struct msg_info *mi)
{
- struct timespec diff;
+ struct timespec diff, routing_delay, tx_time;
void *local = talloc_new (NULL);
static long num = 0;
char sent[64], received[64];
+ if (!f)
+ return;
+
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)
- fprintf(f, "%ld: %s %s -> %s (%s) %s = %s (%s)\n",
+ switch (num_interfaces) {
+ case 2:
+ fprintf(f, "%ld: %s %s -> %s (%s) %s = %s (%s) %d\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
- fprintf(f, "%ld: %s %s -> %s (%s) -> %s (%s) %s = %s (%s), %s (%s)\n",
+ DIFF(mi->ts_sent, mi->ts_rx_final_kern),
+ DIFF(mi->ts_sent, mi->ts_rx_final),
+ mi->tx_time_us);
+ break;
+ case 3:
+ tx_time.tv_sec = 0;
+ tx_time.tv_nsec = mi->tx_time_us*1000;
+ timespec_subtract(&routing_delay, &mi->ts_rx_final_kern, &mi->ts_rx_onwire_kern);
+ timespec_subtract(&routing_delay, &routing_delay, &tx_time);
+
+ fprintf(f, "%ld: %s %s -> %s (%s) -> %s (%s) %s = %s (%s), %s (%s) %d %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));
+ DIFF(mi->ts_rx_onwire, mi->ts_rx_final),
+ mi->tx_time_us,
+ S(routing_delay));
+ break;
+ }
#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. */
printf("%s sec=%ld nsec=%ld\n", msg, tv->tv_sec, tv->tv_nsec);
}
-static inline unsigned get_msg_latency_us(struct msg_info *mi)
+static inline void calc_msg_latencies(struct msg_info *mi)
{
struct timespec diff;
- if (num_interfaces == 3)
+ switch (num_interfaces) {
+ case 3:
if (opt.userhist)
timespec_subtract(&diff, &mi->ts_rx_final, &mi->ts_rx_onwire);
else
timespec_subtract(&diff, &mi->ts_rx_final_kern, &mi->ts_rx_onwire_kern);
- else
+ break;
+ case 2:
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;
+ break;
+ default:
+ return;
+ }
+ mi->lat_measured_us = diff.tv_sec * 1000000 + diff.tv_nsec/1000;
+ mi->tx_time_us = calc_frame_length(&mi->received);
}
void set_sched_policy_and_prio(int policy, int rtprio)
return ifr.ifr_ifindex;
}
-static inline get_tstamp(struct timespec *ts)
+static inline void get_tstamp(struct timespec *ts)
{
clock_gettime(CLOCK_REALTIME, ts);
}
int trace_fd = -1;
int marker_fd = -1;
-int init_ftrace()
+void init_ftrace()
{
#ifdef FTRACE
char *debugfs;
char path[256];
FILE *f;
-
+
debugfs = "/sys/kernel/debug";
if (debugfs) {
strcpy(path, debugfs);
write(trace_fd, "0", 1);
}
-void msg_info_free(struct msg_info *mi)
+static inline void msg_info_free(struct msg_info *mi)
{
mi->id = -1;
}
+static inline bool msg_info_used(struct msg_info *mi)
+{
+ return mi->id != -1;
+}
+
int send_frame(int socket)
{
struct can_frame frame;
MEMSET_ZERO(frame);
i = curr_msg+1;
- while (msg_infos[i].id != -1 && i != curr_msg) {
+ while (msg_info_used(&msg_infos[i]) && i != curr_msg) {
i++;
if (i >= MAX_INFOS)
i = 0;
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)
+ if (ret == -1 || num_interfaces == 1)
msg_info_free(mi);
return ret;
}
-static inline void get_next_timeout(struct timespec *timeout)
+static inline void send_and_check(int s)
+{
+ int ret;
+ ret = send_frame(s);
+ if (ret != sizeof(struct can_frame)) {
+/* if (ret == -1 && errno == ENOBUFS && opt.period_us == 0 && !opt.oneattime) { */
+/* stats.enobufs++; */
+/* /\* Ignore this error - pfifo_fast qeuue is full *\/ */
+/* } else */
+ error(1, errno, "send_frame (line %d)", __LINE__);
+ } else {
+ count++;
+ msg_in_progress++;
+ }
+}
+
+static inline void get_next_timeout(struct timespec *timeout, bool advance)
{
struct timespec now;
static struct timespec last = {-1, 0 };
clock_gettime(CLOCK_MONOTONIC, &now);
- if (last.tv_sec == -1)
+ if (last.tv_sec == -1) {
last = now;
+ last.tv_nsec = last.tv_nsec/1000000*1000000;
+ }
if (opt.period_us != 0) {
- last.tv_sec += opt.period_us/1000000;
- last.tv_nsec += (opt.period_us%1000000)*1000;
- while (last.tv_nsec >= 1000000000) {
- last.tv_nsec -= 1000000000;
- last.tv_sec++;
+ if (advance) {
+ last.tv_sec += opt.period_us/1000000;
+ last.tv_nsec += (opt.period_us%1000000)*1000;
+ while (last.tv_nsec >= 1000000000) {
+ last.tv_nsec -= 1000000000;
+ last.tv_sec++;
+ }
}
- timespec_subtract(timeout, &last, &now);
+ if (timespec_subtract(timeout, &last, &now) /* is negative */) {
+ stats.overrun++;
+ memset(timeout, 0, sizeof(*timeout));
+ }
+/* printf("next %ld.%06ld now %ld.%06ld --> timeout %ld.%06ld\n", */
+/* last.tv_sec, last.tv_nsec/1000, */
+/* now.tv_sec, now.tv_nsec/1000, */
+/* timeout->tv_sec, timeout->tv_nsec/1000); */
} else if (opt.timeout_ms != 0) {
timeout->tv_sec = opt.timeout_ms/1000;
timeout->tv_nsec = (opt.timeout_ms%1000)*1000000;
cmsg && (cmsg->cmsg_level == SOL_SOCKET);
cmsg = CMSG_NXTHDR(&msg,cmsg)) {
if (cmsg->cmsg_type == SO_TIMESTAMPNS)
- *ts_kern = *(struct timespec *)CMSG_DATA(cmsg);
- else if (cmsg->cmsg_type == SO_RXQ_OVFL)
- dropcnt += *(__u32 *)CMSG_DATA(cmsg);
+ memcpy(ts_kern, CMSG_DATA(cmsg), sizeof(struct timespec));
+ else if (cmsg->cmsg_type == SO_RXQ_OVFL) {
+ uint32_t ovfl;
+ memcpy(&ovfl, CMSG_DATA(cmsg), sizeof(ovfl));
+ dropcnt += ovfl;
+ }
}
}
void process_on_wire_rx(int s)
{
- struct timespec ts_kern, ts_user, ts_diff;
+ struct timespec ts_kern, ts_user;
struct can_frame frame;
struct msg_info *mi;
receive(s, &frame, &ts_kern, &ts_user);
mi = frame2info(&frame);
- mi->ts_rx_onwire_kern = ts_kern;
- mi->ts_rx_onwire = ts_user;
+ if (msg_info_used(mi)) {
+ mi->ts_rx_onwire_kern = ts_kern;
+ mi->ts_rx_onwire = ts_user;
+ } else
+ stats.invalid_frame++;
}
void process_final_rx(int s)
{
- struct timespec ts_kern, ts_user, ts_diff;
+ struct timespec ts_kern, ts_user;
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)
- histogram_add(&histogram, get_msg_latency_us(mi));
+ calc_msg_latencies(mi);
+
+ histogram_add(&histogram, mi->lat_measured_us);
+ histogram_add(&histogram_gw, mi->lat_measured_us - mi->tx_time_us);
ret = write(completion_pipe[1], &mi, sizeof(mi));
if (ret == -1)
struct pollfd pfd[3];
struct timespec timeout;
struct sockaddr_can addr;
- sigset_t set;
- unsigned msg_in_progress = 0;
+ int consecutive_timeouts = 0;
MEMSET_ZERO(pfd);
set_sched_policy_and_prio(SCHED_FIFO, 40);
-#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) { \
- stats.enobufs++; \
- /* 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) {
+#define SEND() send_and_check(pfd[0].fd)
+
+ if (opt.oneattime)
SEND();
- count = 1;
- }
+ get_tstamp(&stats.tic);
+ ret = 0;
while (!finish_flag &&
(opt.count == 0 || count < opt.count || msg_in_progress != 0)) {
- get_next_timeout(&timeout);
+ get_next_timeout(&timeout, ret == 0);
+ //printf("timeout %ld.%06ld\n", timeout.tv_sec, timeout.tv_nsec/1000);
//printf("ppoll"); fflush(stdout);
ret = ppoll(pfd, num_interfaces, &timeout, NULL);
//printf("=%d\n", ret);
SEND();
}
} else {
- error(1, 0, "poll timeout");
+ /* Lost message - send a new one */
+ stats.timeouts++;
+ consecutive_timeouts++;
+ if (consecutive_timeouts < 10)
+ SEND();
+ else /* Something is really broken */
+ finish_flag = 1;
}
break;
default: // Event
}
pfd[0].revents = 0;
- if (num_interfaces == 3 && pfd[1].revents != 0) {
+ if (num_interfaces == 3 && pfd[1].revents & POLLIN) {
process_on_wire_rx(pfd[1].fd);
pfd[1].revents = 0;
}
+ if (num_interfaces == 3 && pfd[1].revents & ~POLLIN)
+ error(1, 0, "Unexpected pfd[1].revents: 0x%04x\n", pfd[1].revents);
i = (num_interfaces == 2) ? 1 : 2;
- if (pfd[i].revents != 0) {
+ if (pfd[i].revents & POLLIN) {
+ consecutive_timeouts = 0;
process_final_rx(pfd[i].fd);
msg_in_progress--;
pfd[i].revents = 0;
SEND();
}
}
+ if (pfd[i].revents & ~POLLIN)
+ error(1, 0, "Unexpected pfd[%d].revents: 0x%04x\n", i, pfd[i].revents);
}
}
+ get_tstamp(&stats.tac);
+
for (i=0; i<num_interfaces; i++)
close(pfd[i].fd);
{ "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, NULL, 'f', "File where to store results", "filename"},
- { "histogram", 'h', POPT_ARG_STRING, NULL, 'h', "Store histogram in file", "filename"},
+ { "name", 'n', POPT_ARG_STRING, &opt.name, 0, "Prefix of the generated files"},
{ "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"},
+ { "quiet", 'q', POPT_ARG_NONE, &opt.quiet, 0, "Do not print progress and statistics"},
POPT_AUTOHELP
{ NULL, 0, 0, NULL, 0 }
};
{
int c;
poptContext optCon; /* context for parsing command-line options */
+ void *local = talloc_new (NULL);
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)
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");
+ if (num_interfaces < 1 || num_interfaces > 3)
+ error(1, 0, "-d option must only be given one, two or three times");
if (opt.oneattime && opt.period_us)
error(1, 0, "oneattime and period cannot be specified at the same time");
- poptFreeContext(optCon);
+ if (opt.name) {
+ char *f = talloc_asprintf(local, "%s-msgs.txt", opt.name);
+ opt.f_msgs = fopen(f, "w");
+ if (!opt.f_msgs)
+ error(1, errno, "fopen: %s", f);
+ }
+ if (opt.name) {
+ char *f = talloc_asprintf(local, "%s-hist-raw.txt", opt.name);
+ opt.f_hist = fopen(f, "w");
+ if (!opt.f_hist)
+ error(1, errno, "fopen: %s", f);
+ }
+
+ if (opt.name) {
+ char *f = talloc_asprintf(local, "%s-hist.txt", opt.name);
+ opt.f_hist_gw = fopen(f, "w");
+ if (!opt.f_hist_gw)
+ error(1, errno, "fopen: %s", f);
+ }
+
+ if (opt.name) {
+ char *f = talloc_asprintf(local, "%s-stat.txt", opt.name);
+ opt.f_stat = fopen(f, "w");
+ if (!opt.f_stat)
+ error(1, errno, "fopen: %s", f);
+ }
+
+ poptFreeContext(optCon);
+ talloc_free(local);
return 0;
}
+void print_progress()
+{
+ if (! opt.quiet) {
+ if (num_interfaces > 1)
+ printf("\rSent %5d, in progress %5d", count, msg_in_progress);
+ else
+ printf("\rSent %5d", count);
+ fflush(stdout);
+ }
+}
int main(int argc, const char *argv[])
{
pthread_t thread;
- sigset_t set;
int ret, i;
parse_options(argc, argv);
for (i=0; i<MAX_INFOS; i++)
msg_infos[i].id = -1;
- if (opt.histogram) {
- histogram_init(&histogram, 5000000, 1);
- }
+ histogram_init(&histogram, 5000000, 1);
+ histogram_init(&histogram_gw, 5000000, 1);
ret = pipe(completion_pipe);
if (ret == -1)
error(1, errno, "pipe fcntl");
init_ftrace();
-
+ if (getenv("LATESTER_CONTROL_HACKBENCH")) {
+ char cmd[1000];
+ sprintf(cmd, "ssh -x -a -S $HOME/.ssh/cangw-connection root@192.168.2.3 'kill -CONT -%s'",
+ getenv("LATESTER_CONTROL_HACKBENCH"));
+ printf("Running: %s\n", cmd);
+ system(cmd);
+ }
+
pthread_create(&thread, 0, measure_thread, NULL);
- struct timespec next, now, diff;
+ struct timespec next, now, diff, allsent = {0,0};
clock_gettime(CLOCK_MONOTONIC, &next);
int completed = 0;
while (!finish_flag && (opt.count == 0 || completed < opt.count)) {
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_print(opt.f_msgs, 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;
+ print_progress();
+ next.tv_nsec += 100000000;
while (next.tv_nsec >= 1000000000) {
next.tv_nsec -= 1000000000;
next.tv_sec++;
}
}
+ if (opt.count != 0 && count >= opt.count) {
+ if (allsent.tv_sec == 0)
+ allsent = now;
+ timespec_subtract(&diff, &now, &allsent);
+ if (diff.tv_sec >= 1)
+ finish_flag = 1;
+ }
}
- printf("\rMessage %d\n", count);
+ print_progress();
+ if (!opt.quiet)
+ printf("\n");
+
+ stats.lost = msg_in_progress;
pthread_join(thread, NULL);
+ if (getenv("LATESTER_CONTROL_HACKBENCH")) {
+ char cmd[1000];
+ sprintf(cmd, "ssh -x -a -S $HOME/.ssh/cangw-connection root@192.168.2.3 'kill -STOP -%s'",
+ getenv("LATESTER_CONTROL_HACKBENCH"));
+ printf("Running: %s\n", cmd);
+ system(cmd);
+ }
+
close(completion_pipe[0]);
close(completion_pipe[1]);
- if (opt.histogram) {
- histogram_fprint(&histogram, opt.histogram);
- fclose(opt.histogram);
+ histogram_fprint(&histogram, opt.f_hist);
+ histogram_fprint(&histogram_gw, opt.f_hist_gw);
+ if (opt.f_hist)
+ fclose(opt.f_hist);
+ if (opt.f_hist_gw)
+ fclose(opt.f_hist_gw);
+ if (opt.f_msgs)
+ fclose(opt.f_msgs);
+
+ if (opt.f_stat) {
+ fprintf(opt.f_stat, "cmdline='");
+ for (i=0; i<argc; i++)
+ fprintf(opt.f_stat, "%s%s", argv[i], i < argc-1 ? " " : "");
+ fprintf(opt.f_stat, "'\n");
+
+ timespec_subtract(&diff, &stats.tac, &stats.tic);
+ fprintf(opt.f_stat, "duration=%s # seconds\n", tstamp_str(NULL, &diff));
+
+ fprintf(opt.f_stat, "sent=%d\n", count);
+ fprintf(opt.f_stat, "overrun=%d\n", stats.overrun);
+ if (stats.overrun && !opt.quiet)
+ printf("overrun=%d\n", stats.overrun);
+ fprintf(opt.f_stat, "enobufs=%d\n", stats.enobufs);
+ if (stats.enobufs && !opt.quiet)
+ printf("enobufs=%d\n", stats.enobufs);
+ fprintf(opt.f_stat, "lost=%d\n", stats.lost);
+ if (stats.lost && !opt.quiet)
+ printf("lost=%d\n", stats.lost);
+ fprintf(opt.f_stat, "timeouts=%d\n", stats.timeouts);
+ if (stats.timeouts && !opt.quiet)
+ printf("timeouts=%d\n", stats.timeouts);
+ fprintf(opt.f_stat, "invalid_frame=%d\n", stats.timeouts);
+ if (stats.timeouts && !opt.quiet)
+ printf("invalid_frame=%d\n", stats.timeouts);
+
+ fclose(opt.f_stat);
}
- if (opt.file)
- fclose(opt.file);
return 0;
}