X-Git-Url: http://rtime.felk.cvut.cz/gitweb/can-benchmark.git/blobdiff_plain/dbb691424bb0deac8e111b6fbcb395b3f569515e..674c0ded83b6568e54048a405e5c9876702090e8:/latester/latester.c

diff --git a/latester/latester.c b/latester/latester.c
index 469b794..55234dd 100644
--- a/latester/latester.c
+++ b/latester/latester.c
@@ -10,8 +10,11 @@
 #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>
@@ -19,18 +22,16 @@
 #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 <talloc.h>
-#include <popt.h>
 
 #include "histogram.h"
 
@@ -56,14 +57,20 @@ struct options {
 	unsigned timeout_ms;
 	unsigned count;
 	unsigned oneattime;
-} opt = {
+	FILE *file;
+	FILE *histogram;
+};
+
+struct options opt = {
 	.id = 10,
 	.period_us = 0,
 	.timeout_ms = 1000,
-	
+
 };
 
 int num_interfaces = 0;
+int count = 0;			/* Number of sent messages */
+int completion_pipe[2];
 
 struct msg_info {
 	canid_t id;
@@ -75,7 +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)
 {
@@ -95,22 +103,23 @@ static inline char *tstamp_str(const void *ctx, struct timespec *tstamp)
 			       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 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) 
-		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));
+
+	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
-		printf("%s -> %s (%s) -> %s (%s) = %s (%s), %s (%s)\n",
-		       S(mi->ts_sent),
+		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),
@@ -118,6 +127,29 @@ void print_msg_info(struct msg_info *mi)
 		       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);
 }
@@ -125,7 +157,7 @@ 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 +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;
 }
@@ -156,6 +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;
@@ -181,7 +223,7 @@ 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 +240,46 @@ 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 +288,7 @@ 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 +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);
@@ -297,12 +361,19 @@ 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)
@@ -312,11 +383,10 @@ 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 +411,14 @@ 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 +429,23 @@ 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 +453,11 @@ 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 +465,8 @@ 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 +480,7 @@ 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 +498,12 @@ 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, 			  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 }
 };
@@ -433,7 +512,7 @@ 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>");
 
@@ -443,16 +522,29 @@ 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)
 		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;
@@ -466,20 +558,71 @@ int main(int argc, const char *argv[])
 	int ret;
 
 	parse_options(argc, argv);
-			   
+
 	mlockall(MCL_CURRENT | MCL_FUTURE);
 
 	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;
 }