X-Git-Url: http://rtime.felk.cvut.cz/gitweb/can-benchmark.git/blobdiff_plain/6cc9e721dbd2334e35ddb8a9e4d547eea94c47dd..869acdaf3491ca1072f6284a260e6e648af2c271:/latester/latester.c diff --git a/latester/latester.c b/latester/latester.c index d09b1ab..72e123b 100644 --- a/latester/latester.c +++ b/latester/latester.c @@ -1,9 +1,10 @@ -/**************************************************************************/ -/* CAN latency tester */ -/* Copyright (C) 2010, 2011 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 @@ -30,6 +31,7 @@ #include #include +#include "canframelen.h" #include #include @@ -67,6 +69,7 @@ struct options { /* Temporary variables */ FILE *f_msgs; FILE *f_hist; + FILE *f_hist_gw; FILE *f_stat; }; @@ -98,12 +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 */ @@ -158,146 +162,18 @@ static inline char *tstamp_str(const void *ctx, struct timespec *tstamp) 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 */ -} +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); @@ -310,10 +186,15 @@ void msg_info_print(FILE *f, struct msg_info *mi) 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)); + mi->tx_time_us); break; case 3: - fprintf(f, "%ld: %s %s -> %s (%s) -> %s (%s) %s = %s (%s), %s (%s) %d\n", + 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, @@ -321,7 +202,8 @@ void msg_info_print(FILE *f, struct msg_info *mi) 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)); + mi->tx_time_us, + S(routing_delay)); break; } #undef S @@ -363,7 +245,7 @@ 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; switch (num_interfaces) { @@ -380,9 +262,10 @@ static inline unsigned get_msg_latency_us(struct msg_info *mi) timespec_subtract(&diff, &mi->ts_rx_final_kern, &mi->ts_sent); break; default: - return 0; + return; } - return diff.tv_sec * 1000000 + diff.tv_nsec/1000; + 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) @@ -417,7 +300,7 @@ 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); } @@ -426,7 +309,7 @@ static inline get_tstamp(struct timespec *ts) int trace_fd = -1; int marker_fd = -1; -int init_ftrace() +void init_ftrace() { #ifdef FTRACE char *debugfs; @@ -528,7 +411,7 @@ int send_frame(int socket) return ret; } -static inline send_and_check(int s) +static inline void send_and_check(int s) { int ret; ret = send_frame(s); @@ -544,26 +427,34 @@ static inline send_and_check(int s) } } -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++; + } } 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; @@ -606,9 +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; + } } } @@ -620,7 +514,7 @@ 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); @@ -635,7 +529,7 @@ void process_on_wire_rx(int s) 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; @@ -646,7 +540,10 @@ void process_final_rx(int s) mi->ts_rx_final = ts_user; mi->received = frame; - 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) @@ -659,7 +556,6 @@ void *measure_thread(void *arg) struct pollfd pfd[3]; struct timespec timeout; struct sockaddr_can addr; - sigset_t set; int consecutive_timeouts = 0; MEMSET_ZERO(pfd); @@ -708,11 +604,12 @@ void *measure_thread(void *arg) SEND(); 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); @@ -765,7 +662,7 @@ void *measure_thread(void *arg) } } if (pfd[i].revents & ~POLLIN) - error(1, 0, "Unexpected pfd[%d].revents: 0x%04x\n", pfd[i].revents); + error(1, 0, "Unexpected pfd[%d].revents: 0x%04x\n", i, pfd[i].revents); } } @@ -829,12 +726,19 @@ int parse_options(int argc, const char *argv[]) } if (opt.name) { - char *f = talloc_asprintf(local, "%s-hist.txt", 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"); @@ -861,7 +765,6 @@ void print_progress() int main(int argc, const char *argv[]) { pthread_t thread; - sigset_t set; int ret, i; parse_options(argc, argv); @@ -875,6 +778,7 @@ int main(int argc, const char *argv[]) msg_infos[i].id = -1; histogram_init(&histogram, 5000000, 1); + histogram_init(&histogram_gw, 5000000, 1); ret = pipe(completion_pipe); if (ret == -1) @@ -884,6 +788,13 @@ int main(int argc, const char *argv[]) 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); @@ -933,40 +844,63 @@ int main(int argc, const char *argv[]) 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]); histogram_fprint(&histogram, opt.f_hist); - fclose(opt.f_hist); - fclose(opt.f_msgs); - - - fprintf(opt.f_stat, "cmdline='"); - for (i=0; i