#include <linux/can.h>
#include <linux/can/raw.h>
#include <poll.h>
+#include <talloc.h>
+#include <popt.h>
#include "histogram.h"
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;
+} opt = {
+ .id = 10,
+ .period_us = 0,
+ .timeout_ms = 1000,
+
+};
+
int num_interfaces = 0;
-canid_t option_id;
-unsigned option_period_us = 100000;
struct msg_info {
canid_t id;
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)
{
- 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);
+
+#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));
+ else
+ printf("%s -> %s (%s) -> %s (%s) = %s (%s), %s (%s)\n",
+ 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
+ talloc_free (local);
}
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;
}
struct msg_info *mi;
int ret;
- frame.can_id = option_id;
+ frame.can_id = opt.id;
frame.can_dlc = 2;
memcpy(frame.data, &curr_msg, sizeof(curr_msg));
mi = frame2info(&frame);
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)
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;
}
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;
+ int count = 0;
+ unsigned msg_in_progress = 0;
MEMSET_ZERO(pfd);
error(1, errno, "socket");
addr.can_family = AF_CAN;
- addr.can_ifindex = sock_get_if_index(s, option_interface[i]);
+ addr.can_ifindex = sock_get_if_index(s, opt.interface[i]);
if (i == 0) { /* TX socket */
/* disable default receive filter on this RAW socket */
// error(1, errno, "setsockopt SO_RXQ_OVFL not supported by your Linux Kernel");
pfd[i].fd = s;
- pfd[i].events = (i == 0) ? POLLERR : POLLIN;
+ if (i == 0)
+ pfd[i].events = POLLIN | POLLERR | (opt.period_us == 0 ? POLLOUT : 0);
+ else
+ pfd[i].events = POLLIN;
}
set_sched_policy_and_prio(SCHED_FIFO, 99);
- while (!finish_flag) {
+#define SEND() \
+ do { \
+ ret = send_frame(pfd[0].fd); \
+ if (ret != sizeof(struct can_frame)) \
+ error(1, errno, "send_frame"); \
+ msg_in_progress++; \
+ } while (0)
+
+ while (!finish_flag &&
+ (opt.count == 0 || count < opt.count || msg_in_progress != 0)) {
get_next_timeout(&timeout);
ret = ppoll(pfd, num_interfaces, &timeout, NULL);
switch (ret) {
- case -1:
+ case -1: // Error
if (!INTERRUPTED_SYSCALL(errno))
error(1, errno, "ppoll");
break;
- case 0:
- ret = send_frame(pfd[0].fd);
- if (ret != sizeof(struct can_frame))
- error(1, errno, "send_frame");
+ case 0: // Timeout
+ if (opt.period_us) {
+ if (opt.count == 0 || count++ < opt.count) {
+ SEND();
+ } else {
+ error(1, 0, "poll timeout");
+ }
+ }
break;
- default:
- if (pfd[0].revents != 0) {
+ default: // Event
+ if (pfd[0].revents & (POLLIN|POLLERR)) {
process_tx(pfd[0].fd);
}
- if (pfd[1].revents != 0) {
- switch (num_interfaces) {
- case 2: process_final_rx(pfd[1].fd); break;
- case 3: process_on_wire_rx(pfd[1].fd); break;
+ if (pfd[0].revents & POLLOUT) {
+ if ((opt.count == 0 || count++ < opt.count) &&
+ !opt.oneattime) {
+ SEND();
}
}
- if (pfd[2].revents != 0) {
- process_final_rx(pfd[2].fd);
+ pfd[0].revents = 0;
+
+ if (num_interfaces == 3 && pfd[1].revents != 0) {
+ process_on_wire_rx(pfd[1].fd);
+ pfd[1].revents = 0;
+ }
+
+ i = (num_interfaces == 2) ? 1 : 2;
+ if (pfd[i].revents != 0) {
+ process_final_rx(pfd[i].fd);
+ msg_in_progress--;
+ pfd[i].revents = 0;
+ if ((opt.count == 0 || count++ < opt.count) &&
+ opt.oneattime) {
+ SEND();
+ }
}
}
}
return NULL;
}
-void print_help(void)
-{
- printf("Usage: latester -d <interface> -d <interface> ... [other options]\n"
- "Other options:\n"
- " -d <interface> 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"},
+ POPT_AUTOHELP
+ { NULL, 0, 0, NULL, 0 }
+};
+
+int parse_options(int argc, const char *argv[])
{
int c;
+ poptContext optCon; /* context for parsing command-line options */
- opterr = 0;
- while ((c = getopt (argc, argv, "d:h")) != -1)
- switch (c)
- {
+ optCon = poptGetContext(NULL, argc, argv, optionsTable, 0);
+ //poptSetOtherOptionHelp(optCon, "[OPTIONS]* <port>");
+
+ /* 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");
- break;
- case 'h':
- print_help();
- exit(0);
+ num_interfaces++;
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");
+
+ 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);
+ parse_options(argc, argv);
+
mlockall(MCL_CURRENT | MCL_FUTURE);
signal(SIGINT, term_handler);
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