/**************************************************************************/
/* CAN latency tester */
-/* Copyright (C) 2010 Michal Sojka, DCE FEE CTU Prague */
+/* Copyright (C) 2010, 2011 Michal Sojka, DCE FEE CTU Prague */
/* License: GPLv2 */
/**************************************************************************/
#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 "histogram.h"
+//#define FTRACE
+
#ifndef DEBUG
#define dbg(level, fmt, arg...) do {} while (0)
#else
volatile sig_atomic_t finish_flag = 0; /* Threads should terminate. */
sem_t finish_sem; /* Thread signals a termination */
-#define MAX_INTERFACES 4
-
/* Command line options */
-char *option_interface[MAX_INTERFACES];
+struct options {
+ char **interface;
+ canid_t id;
+ unsigned period_us;
+ unsigned timeout_ms;
+ unsigned count;
+ unsigned oneattime;
+ char *name;
+ int length;
+ int userhist;
+ int quiet;
+
+ /* Temporary variables */
+ FILE *f_msgs;
+ FILE *f_hist;
+ FILE *f_stat;
+};
+
+struct options opt = {
+ .id = 10,
+ .period_us = 0,
+ .timeout_ms = 1000,
+ .length = 2,
+};
+
+struct {
+ unsigned enobufs;
+ unsigned overrun;
+ unsigned lost;
+ struct timespec tic, tac;
+ unsigned timeouts;
+ unsigned invalid_frame;
+} stats;
+
int num_interfaces = 0;
-canid_t option_id;
-unsigned option_period_us = 100000;
+int count = 0; /* Number of sent messages */
+unsigned msg_in_progress = 0;
+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;
-static inline struct msg_info *frame2info(struct can_frame *frame)
+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 uint16_t frame_index(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];
+ }
+ return idx;
}
-static inline char *tstamp_str(char *buf, struct timespec *tstamp)
+static inline struct msg_info *frame2info(struct can_frame *frame)
{
- sprintf(buf, "%ld.%06ld", tstamp->tv_sec, tstamp->tv_nsec/1000);
+ return &msg_infos[frame_index(frame)];
}
-void print_msg_info(struct msg_info *mi)
+static inline char *tstamp_str(const void *ctx, struct timespec *tstamp)
{
- struct timespec ts_diff1, ts_diff2;
- char str_sent[32], str_kern[32], str_user[32], str_diff1[32], str_diff2[32];
- timespec_subtract(&ts_diff1, &mi->ts_rx_final_kern, &mi->ts_sent);
- timespec_subtract(&ts_diff2, &mi->ts_rx_final, &mi->ts_sent);
- tstamp_str(str_sent, &mi->ts_sent);
- tstamp_str(str_kern, &mi->ts_rx_final_kern);
- tstamp_str(str_user, &mi->ts_rx_final);
- tstamp_str(str_diff1, &ts_diff1);
- tstamp_str(str_diff2, &ts_diff2);
- printf("%s -> %s (%s) = %s (%s)\n", str_sent, str_user, str_kern, str_diff1, str_diff2);
+ return talloc_asprintf(ctx, "%ld.%06ld",
+ tstamp->tv_sec, tstamp->tv_nsec/1000);
}
+/* Functions and types for CRC checks.
+ *
+ * Generated on Wed Sep 21 22:30:11 2011,
+ * by pycrc v0.7.8, http://www.tty1.net/pycrc/
+ * using the configuration:
+ * Width = 15
+ * Poly = 0x4599
+ * XorIn = 0x0000
+ * ReflectIn = False
+ * XorOut = 0x0000
+ * ReflectOut = False
+ * Algorithm = table-driven
+ *****************************************************************************/
+typedef uint16_t crc_t;
+
+static const crc_t crc_table[2] = {
+ 0x0000, 0x4599
+};
+
+crc_t crc_update(crc_t crc, uint32_t data, size_t bit_len)
+{
+ unsigned int tbl_idx;
+/* crc_t bc = crc; */
+/* uint32_t bd = data; */
+/* size_t bl = bit_len; */
+
+ while (bit_len--) {
+ tbl_idx = (crc >> 14) ^ (data >> 31);
+ crc = crc_table[tbl_idx & 0x01] ^ (crc << 1);
+ data <<= 1;
+ }
+ crc = crc & 0x7fff;
+/* printf("crc: 0x%04x -> 0x%04x data: 0x%08x len: %d\n", */
+/* bc, crc, bd, bl); */
+ return crc;
+}
+
+unsigned calc_stuff_bits(struct can_frame *frame) {
+ uint32_t bitmap[4];
+ unsigned start = 0, end;
+ uint32_t mask, ones = 0, basemask = 0xf8000000;
+ unsigned stuffed = 0;
+ memset(bitmap, 0, sizeof(bitmap));
+ crc_t crc = 0;
+ uint32_t crcx;
+
+ if (frame->can_id & CAN_EFF_FLAG) {
+ bitmap[0] =
+ ((frame->can_id & CAN_EFF_MASK) >> 25);
+ bitmap[1] =
+ ((frame->can_id & CAN_EFF_MASK) >> 18) << 25 |
+ 3 << 23 |
+ ((frame->can_id & CAN_EFF_MASK) & 0x3ffff) << 7 |
+ (!!(frame->can_id & CAN_RTR_FLAG)) << 6 |
+ 0 << 4 |
+ frame->can_dlc & 0xf;
+ bitmap[2] = htonl(((uint32_t*)frame->data)[0]);
+ bitmap[3] = htonl(((uint32_t*)frame->data)[1]);
+ start = 27;
+ end = 64 + 8*frame->can_dlc;
+ crc = crc_update(crc, bitmap[0] << start, 32-start);
+ crc = crc_update(crc, bitmap[1], 32);
+ crc = crc_update(crc, bitmap[2], end - 64 > 32 ? 32 : end - 64);
+ crc = crc_update(crc, bitmap[3], end > 96 ? end - 96 : 0);
+ crcx = (uint32_t)htons(crc) << 17;
+ if (frame->can_dlc < 4)
+ bitmap[2] |= crcx >> (frame->can_dlc*8);
+ if (frame->can_dlc = 3)
+ bitmap[3] |= crcx << 8;
+ if (frame->can_dlc >= 4)
+ bitmap[3] |= crcx >> (frame->can_dlc*8);
+ } else {
+ bitmap[0] =
+ (frame->can_id << 7) |
+ (!!(frame->can_id & CAN_RTR_FLAG)) << 6 |
+ 0 << 4 |
+ frame->can_dlc & 0xf;
+ bitmap[1] = htonl(((uint32_t*)frame->data)[0]);
+ bitmap[2] = htonl(((uint32_t*)frame->data)[1]);
+ start = 13;
+ end = 32 + 8*frame->can_dlc;
+ }
+ /* TODO: Calc stuff bits in CRC */
+ while (start < end) {
+ mask = basemask >> (start & 0x1f);
+ while (1) {
+ ones = ones ? mask : 0;
+ uint32_t chunk = (bitmap[start >> 5] & mask) ^ ones;
+ //printf("start=%d bitmap=0x%08x mask=0x%08x ones=0x%08x chunk=0x%08x\n", start, bitmap[start >> 5], mask, ones, chunk);
+ if (chunk) {
+ unsigned change = __builtin_clz(chunk);
+ start = start & ~0x1f | change;
+ basemask = 0xf8000000;
+ } else {
+ unsigned oldstart = start;
+ start += __builtin_popcount(mask);
+ mask = (oldstart & 0x1f) ? basemask << (-oldstart & 0x1f) : 0;
+ //printf("oldstart=%d shl=%d mask=0x%08x\n", oldstart, -oldstart & 0x1f, mask);
+ if (mask && start < end)
+ continue;
+ if (start <= end && !mask) {
+ stuffed++;
+ basemask = 0xf0000000;
+ //printf("stuffed %d\n", !ones);
+ }
+ }
+ break;
+ }
+ ones = !ones;
+ }
+ //printf ("STUFFED %d BITS\n", stuffed);
+}
+
+unsigned calc_frame_txtime(struct can_frame *frame) {
+ return calc_stuff_bits(frame) +
+ 1 + /* SOF */
+ 11 + /* ID A */
+ ((frame->can_id & CAN_EFF_FLAG) ?
+ 1 + /* SRR */
+ 1 + /* IDE */
+ 18 + /* ID B */
+ 1 + /* RTR */
+ 2 /* r1, r0 */
+ :
+ 1 + /* rtr */
+ 2) + /* ide, r0 */
+ 4 + /* dlc */
+ 8*frame->can_dlc +
+ 15 + /* CRC */
+ 3 + /* CRC del, ACK, ACK del */
+ 7; /* EOF */
+}
+
+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))
+
+ 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),
+ calc_frame_txtime(&mi->received));
+ break;
+ case 3:
+ fprintf(f, "%ld: %s %s -> %s (%s) -> %s (%s) %s = %s (%s), %s (%s) %d\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),
+ calc_frame_txtime(&mi->received));
+ break;
+ }
+#undef S
+#undef DIFF
+ num++;
+ 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;
}
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)
+{
+ struct timespec diff;
+ 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);
+ 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);
+ break;
+ default:
+ return 0;
+ }
+ return diff.tv_sec * 1000000 + diff.tv_nsec/1000;
+}
+
void set_sched_policy_and_prio(int policy, int rtprio)
{
struct sched_param scheduling_parameters;
{
struct ifreq ifr;
MEMSET_ZERO(ifr);
-
+
strcpy(ifr.ifr_name, if_name);
if (ioctl(s, SIOCGIFINDEX, &ifr) < 0)
- error(1, errno, "SIOCGIFINDEX");
+ error(1, errno, "SIOCGIFINDEX '%s'", if_name);
return ifr.ifr_ifindex;
}
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);
+}
+
+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;
struct msg_info *mi;
int ret;
+ static int curr_msg = -1;
+ int i;
+ uint16_t idx;
- frame.can_id = option_id;
- frame.can_dlc = 2;
- memcpy(frame.data, &curr_msg, sizeof(curr_msg));
+ MEMSET_ZERO(frame);
+ i = curr_msg+1;
+ while (msg_info_used(&msg_infos[i]) && 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;
+ 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 || num_interfaces == 1)
+ msg_info_free(mi);
return ret;
}
+static inline 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)
{
struct timespec now;
static struct timespec last = {-1, 0 };
clock_gettime(CLOCK_MONOTONIC, &now);
-
+
if (last.tv_sec == -1)
last = now;
- last.tv_sec += option_period_us/1000000;
- last.tv_nsec += (option_period_us%1000000)*1000;
- while (last.tv_nsec >= 1000000000) {
- last.tv_nsec -= 1000000000;
- last.tv_sec++;
- }
- timespec_subtract(timeout, &last, &now);
+ 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 (timespec_subtract(timeout, &last, &now) /* is negative */) {
+ stats.overrun++;
+ memset(timeout, 0, sizeof(*timeout));
+ }
+ } else if (opt.timeout_ms != 0) {
+ timeout->tv_sec = opt.timeout_ms/1000;
+ timeout->tv_nsec = (opt.timeout_ms%1000)*1000000;
+ } else
+ error(1, 0, "Timeout and period cannot be both zero");
}
void receive(int s, struct can_frame *frame, struct timespec *ts_kern, struct timespec *ts_user)
/* 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);
void process_on_wire_rx(int s)
{
- error(1, 0, "%s: not implemented", __FUNCTION__);
+ struct timespec ts_kern, ts_user, ts_diff;
+ struct can_frame frame;
+ struct msg_info *mi;
+ receive(s, &frame, &ts_kern, &ts_user);
+ mi = frame2info(&frame);
+ if (msg_info_used(mi)) {
+ mi->ts_rx_onwire_kern = ts_kern;
+ mi->ts_rx_onwire = ts_user;
+ } else
+ stats.invalid_frame++;
}
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;
- print_msg_info(mi);
+ histogram_add(&histogram, get_msg_latency_us(mi));
+
+ ret = write(completion_pipe[1], &mi, sizeof(mi));
+ if (ret == -1)
+ error(1, errno, "completion_pipe write");
}
void *measure_thread(void *arg)
{
int s, i, ret;
- struct pollfd pfd[MAX_INTERFACES];
+ struct pollfd pfd[3];
struct timespec timeout;
struct sockaddr_can addr;
sigset_t set;
+ int consecutive_timeouts = 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");
addr.can_family = AF_CAN;
- addr.can_ifindex = sock_get_if_index(s, option_interface[i]);
+ addr.can_ifindex = sock_get_if_index(s, opt.interface[i]);
if (i == 0) { /* TX socket */
/* disable default receive filter on this RAW 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;
- pfd[i].events = (i == 0) ? POLLERR : POLLIN;
+ if (i == 0)
+ pfd[i].events = POLLIN | POLLERR | ((opt.period_us == 0 && !opt.oneattime) ? POLLOUT : 0);
+ else
+ pfd[i].events = POLLIN;
}
- set_sched_policy_and_prio(SCHED_FIFO, 99);
+ set_sched_policy_and_prio(SCHED_FIFO, 40);
+
+#define SEND() send_and_check(pfd[0].fd)
+
+ if (opt.oneattime)
+ SEND();
+
+ get_tstamp(&stats.tic);
+
+ while (!finish_flag &&
+ (opt.count == 0 || count < opt.count || msg_in_progress != 0)) {
- while (!finish_flag) {
get_next_timeout(&timeout);
+ //printf("ppoll"); fflush(stdout);
ret = ppoll(pfd, num_interfaces, &timeout, NULL);
+ //printf("=%d\n", ret);
switch (ret) {
- case -1:
+ case -1: // Error
if (!INTERRUPTED_SYSCALL(errno))
error(1, errno, "ppoll");
break;
- case 0:
- ret = send_frame(pfd[0].fd);
- if (ret != sizeof(struct can_frame))
- error(1, errno, "send_frame");
+ case 0: // Timeout
+ if (opt.period_us) {
+ if (opt.count == 0 || count < opt.count) {
+ SEND();
+ }
+ } else {
+ /* 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:
- if (pfd[0].revents != 0) {
+ default: // Event
+ if (pfd[0].revents & (POLLIN|POLLERR)) {
process_tx(pfd[0].fd);
}
- if (pfd[1].revents != 0) {
- switch (num_interfaces) {
- case 2: process_final_rx(pfd[1].fd); break;
- case 3: process_on_wire_rx(pfd[1].fd); break;
- }
+ if (pfd[0].revents & POLLOUT) {
+ if (opt.count == 0 || count < opt.count)
+ SEND();
+ }
+ pfd[0].revents = 0;
+
+ if (num_interfaces == 3 && pfd[1].revents & POLLIN) {
+ process_on_wire_rx(pfd[1].fd);
+ pfd[1].revents = 0;
}
- if (pfd[2].revents != 0) {
- process_final_rx(pfd[2].fd);
+ 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 & POLLIN) {
+ consecutive_timeouts = 0;
+ process_final_rx(pfd[i].fd);
+ msg_in_progress--;
+ pfd[i].revents = 0;
+ if ((opt.count == 0 || count < opt.count) &&
+ opt.oneattime) {
+ SEND();
+ }
}
+ if (pfd[i].revents & ~POLLIN)
+ error(1, 0, "Unexpected pfd[%d].revents: 0x%04x\n", pfd[i].revents);
}
}
+ get_tstamp(&stats.tac);
+
for (i=0; i<num_interfaces; i++)
close(pfd[i].fd);
return NULL;
}
-void print_help(void)
-{
- printf("Usage: latester -d <interface> -d <interface> ... [other options]\n"
- "Other options:\n"
- " -d <interface> Interface to use. Must be given two times (tx, rx) or three times (tx, rx1, rx2).\n"
- );
-}
-
-int parse_options(int argc, char *argv[])
+struct poptOption optionsTable[] = {
+ { "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" },
+ { "count", 'c', POPT_ARG_INT|POPT_ARGFLAG_SHOW_DEFAULT, &opt.count, 0, "The count of messages to send, zero corresponds to infinity", "num"},
+ { "id", 'i', POPT_ARG_INT|POPT_ARGFLAG_SHOW_DEFAULT, &opt.id, 0, "CAN ID of sent messages", "id"},
+ { "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"},
+ { "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"},
+ { "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 parse_options(int argc, const char *argv[])
{
int c;
-
- opterr = 0;
- while ((c = getopt (argc, argv, "d:h")) != -1)
- switch (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>");
+
+ /* Now do options processing */
+ while ((c = poptGetNextOpt(optCon)) >= 0) {
+ switch (c) {
case 'd':
- if (num_interfaces < MAX_INTERFACES) {
- option_interface[num_interfaces] = optarg;
- num_interfaces++;
- } else
- error(1, 0, "error: Too many -d options");
+ num_interfaces++;
break;
- case 'h':
- print_help();
- exit(0);
- break;
- case '?':
- if (isprint (optopt))
- error (1, 0, "Unknown option `-%c'.\n", optopt);
- else
- error (1, 0, "Unknown option character `\\x%x'.\n", optopt);
- default:
- error(1, 0, "Unhandled parameter");
}
- if (num_interfaces < 2 || num_interfaces > 3)
- error(1, 0, "-d option must be given exactly 2 or 3 times");
+ }
+ if (c < -1)
+ error(1, 0, "%s: %s\n",
+ poptBadOption(optCon, POPT_BADOPTION_NOALIAS),
+ poptStrerror(c));
+
+ 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");
+
+ 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.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-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;
}
-int main(int argc, char *argv[])
+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;
-
+ int ret, i;
+
parse_options(argc, argv);
mlockall(MCL_CURRENT | MCL_FUTURE);
signal(SIGINT, term_handler);
signal(SIGTERM, term_handler);
+ for (i=0; i<MAX_INFOS; i++)
+ msg_infos[i].id = -1;
+
+ 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, allsent = {0,0};
+ 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);
+ msg_info_print(opt.f_msgs, mi);
+ msg_info_free(mi);
+ completed++;
+ }
+
+ clock_gettime(CLOCK_MONOTONIC, &now);
+ if (timespec_subtract(&diff, &next, &now)) {
+ 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;
+ }
}
+ print_progress();
+ if (!opt.quiet)
+ printf("\n");
+
+ stats.lost = msg_in_progress;
pthread_join(thread, NULL);
+ close(completion_pipe[0]);
+ close(completion_pipe[1]);
+
+ histogram_fprint(&histogram, opt.f_hist);
+ fclose(opt.f_hist);
+ fclose(opt.f_msgs);
+
+
+ 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);
+
return 0;
}
projects / can-benchmark.git / blobdiff