X-Git-Url: http://rtime.felk.cvut.cz/gitweb/can-benchmark.git/blobdiff_plain/12c9e87e0b64091e2d35f5abcb5007ecb8a0d115..674c0ded83b6568e54048a405e5c9876702090e8:/latester/latester.c diff --git a/latester/latester.c b/latester/latester.c index 6b5c7ed..55234dd 100644 --- a/latester/latester.c +++ b/latester/latester.c @@ -10,8 +10,11 @@ #include #include #include +#include +#include #include #include +#include #include #include #include @@ -19,16 +22,16 @@ #include #include #include +#include +#include +#include #include #include -//#include +#include #include -#include -#include -#include + #include #include -#include #include "histogram.h" @@ -46,13 +49,28 @@ 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; + FILE *file; + FILE *histogram; +}; + +struct options opt = { + .id = 10, + .period_us = 0, + .timeout_ms = 1000, + +}; + int num_interfaces = 0; -canid_t option_id; -unsigned option_period_us = 100000; +int count = 0; /* Number of sent messages */ +int completion_pipe[2]; struct msg_info { canid_t id; @@ -64,7 +82,8 @@ struct msg_info { #define MAX_INFOS 10000 struct msg_info msg_infos[MAX_INFOS]; -uint16_t curr_msg = 0; + +struct histogram histogram; static inline struct msg_info *frame2info(struct can_frame *frame) { @@ -78,29 +97,67 @@ static inline struct msg_info *frame2info(struct can_frame *frame) return &msg_infos[idx]; } -static inline char *tstamp_str(char *buf, struct timespec *tstamp) +static inline char *tstamp_str(const void *ctx, struct timespec *tstamp) { - sprintf(buf, "%ld.%06ld", tstamp->tv_sec, tstamp->tv_nsec/1000); + return talloc_asprintf(ctx, "%ld.%06ld", + 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 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); + 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: %s -> %s (%s) = %s (%s)\n", + num, S(mi->ts_sent), S(mi->ts_rx_final_kern), S(mi->ts_rx_final), + 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)\n", + num, 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)); +#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; @@ -115,12 +172,12 @@ int timespec_subtract (struct timespec *result, struct timespec *x, struct times 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; } @@ -131,6 +188,16 @@ void dbg_print_timespec(char *msg, struct timespec *tv) 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; + if (num_interfaces == 3) + timespec_subtract(&diff, &mi->ts_rx_final_kern, &mi->ts_rx_onwire_kern); + else + timespec_subtract(&diff, &mi->ts_rx_final_kern, &mi->ts_sent); + return diff.tv_sec * 1000000 + diff.tv_nsec/1000; +} + void set_sched_policy_and_prio(int policy, int rtprio) { struct sched_param scheduling_parameters; @@ -156,10 +223,10 @@ static inline int sock_get_if_index(int s, const char *if_name) { 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; } @@ -173,33 +240,61 @@ 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; + + i = curr_msg+1; + while (msg_infos[i].id != 0 && 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 = option_id; + frame.can_id = opt.id; frame.can_dlc = 2; - memcpy(frame.data, &curr_msg, sizeof(curr_msg)); + 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); ret = write(socket, &frame, sizeof(frame)); return ret; } +void msg_info_free(struct msg_info *mi) +{ + mi->id = 0; +} + 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++; + } + timespec_subtract(timeout, &last, &now); + } 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) @@ -221,7 +316,7 @@ void receive(int s, struct can_frame *frame, struct timespec *ts_kern, struct ti /* 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); @@ -251,7 +346,13 @@ void process_tx(int s) 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); + mi->ts_rx_onwire_kern = ts_kern; + mi->ts_rx_onwire = ts_user; } @@ -260,30 +361,38 @@ void process_final_rx(int s) 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; - print_msg_info(mi); + if (opt.histogram) + 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; + unsigned msg_in_progress = 0; MEMSET_ZERO(pfd); - + for (i=0; i -d ... [other options]\n" - "Other options:\n" - " -d 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"}, + { "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"}, + 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 */ + + optCon = poptGetContext(NULL, argc, argv, optionsTable, 0); + //poptSetOtherOptionHelp(optCon, "[OPTIONS]* "); + + /* 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 'f': + opt.file = fopen(poptGetOptArg(optCon), "w"); + if (!opt.file) + error(1, errno, "fopen: %s", poptGetOptArg(optCon)); break; case 'h': - print_help(); - exit(0); + opt.histogram = fopen(poptGetOptArg(optCon), "w"); + if (!opt.histogram) + error(1, errno, "fopen: %s", poptGetOptArg(optCon)); 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 (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"); + + if (opt.oneattime && opt.period_us) + error(1, 0, "oneattime and period cannot be specified at the same time"); + + poptFreeContext(optCon); + return 0; } -int main(int argc, char *argv[]) + +int main(int argc, const char *argv[]) { pthread_t thread; sigset_t set; int ret; - + parse_options(argc, argv); mlockall(MCL_CURRENT | MCL_FUTURE); @@ -401,14 +564,65 @@ int main(int argc, char *argv[]) signal(SIGINT, term_handler); signal(SIGTERM, term_handler); + 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"); + 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); + 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; }