X-Git-Url: http://rtime.felk.cvut.cz/gitweb/can-benchmark.git/blobdiff_plain/4d12a04740d8e01ce0e9f6129487a6efd456229b..0050e301dae44fac57f8b30a22f07ec870618c2d:/latester/latester.c diff --git a/latester/latester.c b/latester/latester.c index f418567..ff627dc 100644 --- a/latester/latester.c +++ b/latester/latester.c @@ -1,9 +1,10 @@ -/**************************************************************************/ -/* 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 #include #include @@ -30,11 +31,14 @@ #include #include +#include "canframelen.h" #include #include #include "histogram.h" +//#define FTRACE + #ifndef DEBUG #define dbg(level, fmt, arg...) do {} while (0) #else @@ -57,10 +61,16 @@ struct options { 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 = { @@ -70,8 +80,18 @@ struct options opt = { .length = 2, }; +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 { @@ -81,12 +101,13 @@ 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 */ @@ -116,7 +137,7 @@ void sprint_canframe(char *buf , struct can_frame *cf, int sep) { } } -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) { @@ -124,10 +145,15 @@ static inline struct msg_info *frame2info(struct can_frame *frame) 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) @@ -136,62 +162,56 @@ 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. */ @@ -225,20 +245,27 @@ 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) +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_kern, &mi->ts_rx_onwire_kern); - else timespec_subtract(&diff, &mi->ts_rx_final, &mi->ts_rx_onwire); - else + 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); - 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) @@ -273,11 +300,74 @@ static inline int sock_get_if_index(int s, const char *if_name) 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; + +void 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; @@ -289,7 +379,7 @@ int send_frame(int socket) 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; @@ -311,32 +401,60 @@ int send_frame(int socket) 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; } -void msg_info_free(struct msg_info *mi) +static inline void send_and_check(int s) { - mi->id = -1; + 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) +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; @@ -379,9 +497,12 @@ void receive(int s, struct can_frame *frame, struct timespec *ts_kern, struct ti 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; + } } } @@ -393,31 +514,36 @@ void process_tx(int s) 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) @@ -430,8 +556,7 @@ void *measure_thread(void *arg) 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); @@ -471,26 +596,20 @@ void *measure_thread(void *arg) pfd[i].events = POLLIN; } - set_sched_policy_and_prio(SCHED_FIFO, 99); + set_sched_policy_and_prio(SCHED_FIFO, 40); -#define SEND() \ - do { \ - ret = send_frame(pfd[0].fd); \ - if (ret != sizeof(struct can_frame)) \ - error(1, errno, "send_frame (line %d)", __LINE__); \ - count++; \ - msg_in_progress++; \ - } while (0) +#define SEND() send_and_check(pfd[0].fd) - if (opt.oneattime) { + 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); @@ -505,7 +624,13 @@ void *measure_thread(void *arg) 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 @@ -518,13 +643,16 @@ void *measure_thread(void *arg) } 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; @@ -533,9 +661,13 @@ void *measure_thread(void *arg) 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"); @@ -572,16 +705,6 @@ int parse_options(int argc, const char *argv[]) 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) @@ -589,22 +712,59 @@ int parse_options(int argc, const char *argv[]) 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); @@ -617,9 +777,8 @@ int main(int argc, const char *argv[]) for (i=0; i= 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) { + struct histogram_stats hs; + fprintf(opt.f_stat, "cmdline='"); + for (i=0; i