X-Git-Url: http://rtime.felk.cvut.cz/gitweb/can-benchmark.git/blobdiff_plain/dbb691424bb0deac8e111b6fbcb395b3f569515e..4c67ef4ac4a3ccd23642f58a3d65cbf0a178b874:/latester/latester.c

diff --git a/latester/latester.c b/latester/latester.c
index 469b794..4bf186e 100644
--- a/latester/latester.c
+++ b/latester/latester.c
@@ -56,14 +56,19 @@ struct options {
 	unsigned timeout_ms;
 	unsigned count;
 	unsigned oneattime;
-} opt = {
+	char *file;
+	char *histogram_fn;
+};
+
+struct options opt = {
 	.id = 10,
 	.period_us = 0,
 	.timeout_ms = 1000,
-	
+
 };
 
 int num_interfaces = 0;
+int count = 0;			/* Number of sent messages */
 
 struct msg_info {
 	canid_t id;
@@ -75,7 +80,8 @@ 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)
 {
@@ -99,15 +105,15 @@ void print_msg_info(struct msg_info *mi)
 {
 	struct timespec diff;
 	void *local = talloc_new (NULL);
-	
+
 #define S(ts) tstamp_str(local, &ts)
 #define DIFF(a, b) (timespec_subtract(&diff, &b, &a), S(diff))
-	
-	if (num_interfaces == 2) 
+
+	if (num_interfaces == 2)
 		printf("%s -> %s (%s) = %s (%s)\n",
 		       S(mi->ts_sent), 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_sent, mi->ts_rx_final_kern),
+		       DIFF(mi->ts_sent, mi->ts_rx_final));
 	else
 		printf("%s -> %s (%s) -> %s (%s) = %s (%s), %s (%s)\n",
 		       S(mi->ts_sent),
@@ -125,7 +131,7 @@ void print_msg_info(struct msg_info *mi)
 
 /* 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;
@@ -140,12 +146,12 @@ 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;
 }
@@ -156,6 +162,16 @@ 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;
@@ -181,7 +197,7 @@ 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 '%s'", if_name);
@@ -198,24 +214,47 @@ 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 = 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;
 	if (opt.period_us != 0) {
@@ -224,7 +263,7 @@ static inline void get_next_timeout(struct timespec *timeout)
 		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;
@@ -252,7 +291,7 @@ 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);
@@ -302,7 +341,12 @@ void process_final_rx(int s)
 	mi->ts_rx_final_kern = ts_kern;
 	mi->ts_rx_final = ts_user;
 
-	print_msg_info(mi);
+	if (opt.histogram_fn)
+		histogram_add(&histogram, get_msg_latency_us(mi));
+
+	if (0 && !opt.file)
+		print_msg_info(mi);
+	msg_info_free(mi);
 }
 
 void *measure_thread(void *arg)
@@ -312,11 +356,10 @@ void *measure_thread(void *arg)
 	struct timespec timeout;
 	struct sockaddr_can addr;
 	sigset_t set;
-	int count = 0;
 	unsigned msg_in_progress = 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");
@@ -341,14 +384,14 @@ void *measure_thread(void *arg)
 			       &timestamp_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;
 		if (i == 0)
-			pfd[i].events = POLLIN | POLLERR | (opt.period_us == 0 ? POLLOUT : 0);
+			pfd[i].events = POLLIN | POLLERR | ((opt.period_us == 0 && !opt.oneattime) ? POLLOUT : 0);
 		else
 			pfd[i].events = POLLIN;
 	}
@@ -359,14 +402,23 @@ void *measure_thread(void *arg)
 	do {						\
 		ret = send_frame(pfd[0].fd);		\
 		if (ret != sizeof(struct can_frame))	\
-			error(1, errno, "send_frame");	\
+			error(1, errno, "send_frame (line %d)", __LINE__); \
+		count++;				\
 		msg_in_progress++;			\
 	} while (0)
 
+	if (opt.oneattime) {
+		SEND();
+		count = 1;
+	}
+
 	while (!finish_flag &&
 	       (opt.count == 0 || count < opt.count || msg_in_progress != 0)) {
+
 		get_next_timeout(&timeout);
+		//printf("ppoll"); fflush(stdout);
 		ret = ppoll(pfd, num_interfaces, &timeout, NULL);
+		//printf("=%d\n", ret);
 		switch (ret) {
 		case -1: // Error
 			if (!INTERRUPTED_SYSCALL(errno))
@@ -374,11 +426,11 @@ void *measure_thread(void *arg)
 			break;
 		case 0: // Timeout
 			if (opt.period_us) {
-				if (opt.count == 0 || count++ < opt.count) {
+				if (opt.count == 0 || count < opt.count) {
 					SEND();
-				} else {
-					error(1, 0, "poll timeout");
 				}
+			} else {
+				error(1, 0, "poll timeout");
 			}
 			break;
 		default: // Event
@@ -386,10 +438,8 @@ void *measure_thread(void *arg)
 				process_tx(pfd[0].fd);
 			}
 			if (pfd[0].revents & POLLOUT) {
-				if ((opt.count == 0 || count++ < opt.count) &&
-				    !opt.oneattime) {
+				if (opt.count == 0 || count < opt.count)
 					SEND();
-				}
 			}
 			pfd[0].revents = 0;
 
@@ -403,7 +453,7 @@ void *measure_thread(void *arg)
 				process_final_rx(pfd[i].fd);
 				msg_in_progress--;
 				pfd[i].revents = 0;
-				if ((opt.count == 0 || count++ < opt.count) &&
+				if ((opt.count == 0 || count < opt.count) &&
 				    opt.oneattime) {
 					SEND();
 				}
@@ -421,10 +471,12 @@ 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"},
+	{ "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, 			  &opt.file,    0,   "File where to store results", "filename"},
+	{ "histogram", 'h', POPT_ARG_STRING, 			  &opt.histogram_fn, 0, "Store histogram in file", "filename"},
 	POPT_AUTOHELP
 	{ NULL, 0, 0, NULL, 0 }
 };
@@ -433,7 +485,7 @@ int parse_options(int argc, const char *argv[])
 {
 	int c;
 	poptContext optCon;   /* context for parsing command-line options */
-	
+
 	optCon = poptGetContext(NULL, argc, argv, optionsTable, 0);
 	//poptSetOtherOptionHelp(optCon, "[OPTIONS]* <port>");
 
@@ -449,10 +501,13 @@ int parse_options(int argc, const char *argv[])
 		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;
@@ -464,22 +519,41 @@ int main(int argc, const char *argv[])
 	pthread_t thread;
 	sigset_t set;
 	int ret;
+	FILE *fhist;
 
 	parse_options(argc, argv);
-			   
+
 	mlockall(MCL_CURRENT | MCL_FUTURE);
 
 	signal(SIGINT, term_handler);
 	signal(SIGTERM, term_handler);
 
+	if (opt.histogram_fn) {
+		histogram_init(&histogram, 1000000, 1);
+		fhist = fopen(opt.histogram_fn, "w");
+		if (fhist == NULL)
+			error(1, errno, "open %s", opt.histogram_fn);
+	}
+
 
 	pthread_create(&thread, 0, measure_thread, NULL);
 
-	while (!finish_flag) {
-		sleep(1);
+	while (!finish_flag && (opt.count == 0 || count < opt.count)) {
+		if (1 || opt.file) {
+			printf("\rMessage %d", count);
+			fflush(stdout);
+		}
+		usleep(100000);
 	}
+	if (1 || opt.file)
+		printf("\rMessage %d\n", count);
 
 	pthread_join(thread, NULL);
 
+	if (opt.histogram_fn) {
+		histogram_fprint(&histogram, fhist);
+		fclose(fhist);
+	}
+
 	return 0;
 }