--- /dev/null
+#!/bin/sh
+N=100
+MODE=oneattime
+SLEEP=1
+LOGANDPRINT="tee -a result | cut -c 2-"
+RESULTFILE=/dev/null
+SENDRES=0
+
+if test $# -eq 1; then
+ RESULTFILE=$1
+ SENDRES=1
+fi
+
+#-----------------
+# bench kernel
+#-----------------
+
+sleep $SLEEP
+echo "#kernel udp->can: " | tee -a result | cut -c 2-
+cegwbench -s udp@127.0.0.1:10501 -d can@vcan0 -n $N -m $MODE -t 1 >> $RESULTFILE
+
+sleep $SLEEP
+echo "#kernel can->udp: " | tee -a result | cut -c 2-
+cegwbench -s can@vcan0 -d udp@127.0.0.1:10502 -n $N -m $MODE -t 1 >> $RESULTFILE
+
--- /dev/null
+all:
+ powerpc-linux-gnu-gcc -Wall -ggdb -ocegw -I../../kernel cegw.c
+install: all
+ scp cegw glab:/srv/nfs/root-shark/home/matejra4
+
--- /dev/null
+#include <stdio.h>
+#include <stdlib.h>
+#include <libgen.h>
+#include <string.h>
+#include <getopt.h>
+#include <errno.h>
+#include <sys/socket.h>
+#include <net/if.h>
+//#include <libnetlink.h>
+#include <linux/netlink.h>
+#include <linux/rtnetlink.h>
+#include <arpa/inet.h>
+#include <linux/can.h>
+#include <linux/types.h>
+#include <unistd.h>
+#include "canethgw.h"
+
+/**
+ * ToDo:
+ * [ ] print usage, on -h and plain execution
+ * [ ] start/stop listening
+ * [ ] split to files
+ */
+
+#define CEGW_CMD_ADD 1
+#define CEGW_CMD_LIST 2
+#define CEGW_CMD_FLUSH 4
+#define CEGW_CMD_LISTEN 8
+
+/* PowerPC encore */
+#define RTCAN_RTA(r) ((struct rtattr*)(((char*)(r)) + NLMSG_ALIGN(sizeof(struct rtcanmsg))))
+#define RTCAN_PAYLOAD(n) NLMSG_PAYLOAD(n,sizeof(struct rtcanmsg))
+
+/* some netlink helpers stolen from iproute2 package */
+#define NLMSG_TAIL(nmsg) \
+ ((struct rtattr *)(((void *) (nmsg)) + NLMSG_ALIGN((nmsg)->nlmsg_len)))
+#define AF_CAN 29
+
+int addattr_l(struct nlmsghdr *n, int maxlen, int type, const void *data,
+ int alen)
+{
+ int len = RTA_LENGTH(alen);
+ struct rtattr *rta;
+
+ if (NLMSG_ALIGN(n->nlmsg_len) + RTA_ALIGN(len) > maxlen) {
+ fprintf(stderr, "addattr_l: message exceeded bound of %d\n",
+ maxlen);
+ return -1;
+ }
+ rta = NLMSG_TAIL(n);
+ rta->rta_type = type;
+ rta->rta_len = len;
+ memcpy(RTA_DATA(rta), data, alen);
+ n->nlmsg_len = NLMSG_ALIGN(n->nlmsg_len) + RTA_ALIGN(len);
+ return 0;
+}
+
+int addattr32(struct nlmsghdr *n, int maxlen, int type, __u32 data)
+{
+ return addattr_l(n, maxlen, type, &data, sizeof(__u32));
+}
+
+enum
+{
+ IF_UNDEF,
+ IF_CAN,
+ IF_ETH_UDP
+};
+
+struct cegw_data
+{
+ int content;
+ int src_if, dst_if;
+ int can_ifidx;
+ struct in_addr eth_addr;
+ unsigned short eth_port;
+ struct in_addr eth_listen_addr;
+ unsigned short eth_listen_port;
+};
+
+struct cegw_nlmsg
+{
+ struct nlmsghdr nh;
+ struct rtmsg rt;
+ char buf[768]; /* enough? */
+};
+
+struct list_item
+{
+ int type;
+ int can;
+ struct in_addr ip;
+ unsigned short port;
+};
+
+unsigned int cegw_errno = 0;
+
+enum
+{
+ CEGW_ERR_UNKNOWN,
+ CEGW_ERR_IF_UNSPEC,
+ CEGW_ERR_IF_SAME,
+ CEGW_ERR_IF_TYPE,
+ CEGW_ERR_IF_CAN,
+ CEGW_ERR_IF_ETH,
+ CEGW_ERR_COLON,
+ CEGW_ERR_ATON,
+ CEGW_ERR_PORT
+};
+
+char* cegw_errlist[] =
+{
+ [ CEGW_ERR_UNKNOWN ] = "",
+ [ CEGW_ERR_IF_UNSPEC ] = "source or destination not specified",
+ [ CEGW_ERR_IF_SAME ] = "source and destination have same interface type",
+ [ CEGW_ERR_IF_TYPE ] = "unknown interface type",
+ [ CEGW_ERR_IF_CAN ] = "invalid can interface",
+ [ CEGW_ERR_IF_ETH ] = "invalid eth interface",
+ [ CEGW_ERR_COLON ] = "expected ':' (<ip>:<port>)",
+ [ CEGW_ERR_ATON ] = "ip address mismatch",
+ [ CEGW_ERR_PORT ] = "port number"
+};
+
+static void perr( char* s )
+{
+ if( s )
+ {
+ if( cegw_errno == 0 )
+ {
+ fprintf( stderr, "error: %s\n", s );
+
+ } else
+ {
+ fprintf( stderr, "error: %s, %s\n", s,
+ cegw_errlist[ cegw_errno ] );
+ }
+ return;
+ }
+
+ fprintf( stderr, "error: %s\n", cegw_errlist[ cegw_errno ] );
+}
+
+/**
+ * read_addrport - parses @in for eth address.
+ * Valid input is e.g. udp@127.0.0.1:10502 or can@vcan0.
+ *
+ * @param[in] in string to search in
+ * @param[out] addr ip address
+ * @param[out] port transport layer port
+ * @return 0 on success, -1 otherwise
+ */
+int read_addrport( char* in, struct in_addr* addr, unsigned short* port )
+{
+ char* delim = NULL;
+ char addrstr[16];
+ int addrlen;
+
+ if( (delim = strchr( in, ':' )) == NULL )
+ {
+ cegw_errno = CEGW_ERR_COLON;
+ return -1;
+ }
+
+ /* get address */
+ /* ToDo: overflow */
+ addrlen = delim - in;
+ memcpy( addrstr, in, addrlen );
+ addrstr[addrlen] = '\0';
+ if( inet_aton( addrstr, addr ) == 0 )
+ {
+ cegw_errno = CEGW_ERR_ATON;
+ return -1;
+ }
+
+ /* get port */
+ if( sscanf( delim, ":%hu", port ) != 1 ) /* ToDo: handle overflow */
+ {
+ cegw_errno = CEGW_ERR_PORT;
+ return -1;
+ }
+
+ return 0;
+}
+
+/**
+ * read_iftype - reads @in for iftype
+ * Iftype type is e.g. "can@" or "udp@".
+ *
+ * @param[in] in string to search in
+ * @param[out] iftype iftype detected
+ * @return pointer to @in after iftype on success, NULL otherwise
+ */
+char* read_iftype( char* in, int* iftype )
+{
+ char* ret = in+4;
+
+ if( strncmp( "udp@", optarg, 4 ) == 0 )
+ {
+ *iftype = IF_ETH_UDP;
+ return ret;
+ }
+ /*
+ if( strncmp( "tcp@", optarg, 4 ) == 0 )
+ {
+ return NULL;
+ }
+ */
+ if( strncmp( "can@", optarg, 4 ) == 0 )
+ {
+ *iftype = IF_CAN;
+ return ret;
+ }
+
+ cegw_errno = CEGW_ERR_IF_TYPE;
+ return NULL;
+}
+
+/* ToDo: move to common */
+
+/**
+ * read_if - reads interface from @in
+ * Function analyzes @in for interface specification in format
+ * <if>@<ip>:<port>, where <if> is can or udp, <ip> is address in dotted
+ * format
+ *
+ * @param[in] in string to search in
+ * @param[out] iftype interface type (IF_CAN or IF_ETH_UDP)
+ * @param[out] d ip and port is stored to @d
+ */
+int read_if( char* in, int* iftype, struct cegw_data* d )
+{
+ char* optstr = NULL;
+
+ if( (optstr = read_iftype( in, iftype )) == NULL )
+ {
+ return -1;
+ }
+
+ switch( *iftype )
+ {
+ case IF_CAN:
+ d->can_ifidx = if_nametoindex( optstr );
+ if( d->can_ifidx == 0 )
+ {
+ cegw_errno = CEGW_ERR_IF_CAN;
+ return -1;
+ }
+ break;
+ case IF_ETH_UDP:
+ if( read_addrport( optstr, &d->eth_addr, &d->eth_port ) != 0 )
+ {
+ return -1;
+ }
+ break;
+ default:
+ return -1;
+ break;
+ }
+
+ return 0;
+}
+
+inline static int cegw_add( struct cegw_nlmsg* req, struct cegw_data* d )
+{
+ int gwtype = 0;
+
+ req->nh.nlmsg_type = RTM_NEWROUTE;
+ if( (d->src_if == 0 || d->dst_if == 0) )
+ {
+ cegw_errno = CEGW_ERR_IF_UNSPEC;
+ return -cegw_errno;
+ }
+
+ if( d->src_if == d->dst_if )
+ {
+ cegw_errno = CEGW_ERR_IF_SAME;
+ return -cegw_errno;
+ }
+
+ gwtype = (d->src_if == IF_CAN) ? CEGW_RULE_CAN_ETH : CEGW_RULE_ETH_CAN;
+ addattr_l( &req->nh, sizeof(*req), CEGW_CAN_IFINDEX, &d->can_ifidx, sizeof(d->can_ifidx) );
+ addattr_l( &req->nh, sizeof(*req), CEGW_ETH_IP, &d->eth_addr, sizeof(d->eth_addr) );
+ addattr_l( &req->nh, sizeof(*req), CEGW_ETH_PORT, &d->eth_port, sizeof(d->eth_port) );
+ addattr32( &req->nh, sizeof(*req), CEGW_CMD_INFO, gwtype );
+
+ return 0;
+}
+
+inline static int cegw_listen( struct cegw_nlmsg* req, struct cegw_data* d )
+{
+ req->nh.nlmsg_type = RTM_NEWROUTE;
+ addattr32( &req->nh, sizeof(*req), CEGW_CMD_INFO, CEGW_LISTEN );
+ addattr_l( &req->nh, sizeof(*req), CEGW_ETH_IP, &d->eth_listen_addr, sizeof(d->eth_listen_addr) );
+ addattr_l( &req->nh, sizeof(*req), CEGW_ETH_PORT, &d->eth_listen_port, sizeof(d->eth_listen_port) );
+
+ return 0;
+}
+
+inline static int cegw_list( struct cegw_nlmsg* req, struct cegw_data* d )
+{
+ req->nh.nlmsg_type = RTM_GETROUTE;
+ req->nh.nlmsg_flags = NLM_F_REQUEST | NLM_F_DUMP;
+
+ return 0;
+}
+
+inline static int cegw_flush( struct cegw_nlmsg* req, struct cegw_data* d )
+{
+ addattr32( &req->nh, sizeof(*req), CEGW_CMD_INFO, CEGW_FLUSH );
+ req->nh.nlmsg_type = RTM_DELROUTE;
+ return 0;
+}
+
+void print_list_item( struct list_item* li )
+{
+ char ifname[IF_NAMESIZE];
+ const char src_width = 21;
+ char* dotaddr;
+ int tmp;
+
+ if( if_indextoname( li->can, ifname ) == NULL )
+ {
+ strncpy( ifname, "unknown", IF_NAMESIZE );
+ }
+
+ /* ToDo listening at */
+ switch( li->type )
+ {
+ case CEGW_RULE_CAN_ETH:
+ printf( "can@%-*s -> udp@%s:%hu\n", src_width, ifname, \
+ inet_ntoa(li->ip), li->port );
+ break;
+ case CEGW_RULE_ETH_CAN:
+ dotaddr = inet_ntoa(li->ip);
+ tmp = src_width - strlen(dotaddr) - 1;
+ printf( "udp@%s:%-*hu -> can@%s\n", inet_ntoa(li->ip), \
+ tmp, li->port, ifname );
+ break;
+ }
+}
+
+int main( int argc, char* argv[] )
+{
+ int s;
+ int tmp = 0;
+ int cmd = 0;
+ char* optstr;
+ char opt;
+ struct sockaddr_nl nladdr;
+ int err = 0;
+ struct cegw_nlmsg req;
+ struct cegw_data d;
+ char rxbuf[8192]; /* ToDo: /linux/netlink.h? */
+ int rsize = 0;
+ struct nlmsghdr* nlh;
+ struct nlmsgerr* rte;
+ struct rtattr* rta;
+ int len;
+ struct list_item li;
+
+ memset( &d, 0, sizeof(d) );
+
+ struct option long_opt[] =
+ {
+ { "add" , 0, NULL, 'A' },
+ { "flush" , 0, NULL, 'F' },
+ { "list" , 0, NULL, 'L' },
+ { "listen", 1, NULL, 'l' },
+ { 0, 0, 0, 0 }
+ };
+
+ while( 1 )
+ {
+ opt = getopt_long( argc, argv, "AFLl:s:d:", long_opt, NULL );
+ if( opt == -1 )
+ break;
+
+ //printf( "optarg=%s\n", optarg );
+ switch( opt )
+ {
+ case 'A':
+ cmd |= CEGW_CMD_ADD;
+ break;
+ case 'F':
+ cmd |= CEGW_CMD_FLUSH;
+ break;
+ case 'L':
+ cmd |= CEGW_CMD_LIST;
+ break;
+ case 'l':
+ cmd |= CEGW_CMD_LISTEN;
+ if( (optstr = read_iftype( optarg, &tmp )) == NULL )
+ {
+ perr( "'--listen'" );
+ return -1;
+ }
+ if( tmp != IF_ETH_UDP )
+ {
+ perr( "'--listen' expects udp interface" );
+ return -1;
+ }
+ if( read_addrport( optstr, &d.eth_listen_addr, &d.eth_listen_port ) )
+ {
+ perr( "'--listen'" );
+ return -1;
+ }
+ break;
+ case 's':
+ if( read_if( optarg, &d.src_if, &d ) != 0 )
+ {
+ perr( "'-s'" );
+ return -1;
+ }
+ break;
+ case 'd':
+ if( read_if( optarg, &d.dst_if, &d ) != 0 )
+ {
+ perr( "'-d'" );
+ return -1;
+ }
+ break;
+ case '?':
+ return -1;
+ break;
+ default:
+ //fprintf( stderr, "unknown option: %u\n", opt );
+ goto while_break;
+ //return -1;
+ break;
+ }
+ }
+
+ while_break:
+
+ /* prepare netlink message */
+ req.nh.nlmsg_len = NLMSG_LENGTH( sizeof(struct rtmsg) );
+ //req.nh.nlmsg_type;
+ req.nh.nlmsg_flags = NLM_F_REQUEST | NLM_F_ACK;
+ req.nh.nlmsg_seq = 0;
+ req.nh.nlmsg_pid = 0; /* ? */
+
+ memset( &req.rt, 0, sizeof(req.rt) );
+ req.rt.rtm_family = AF_CAN;
+
+ switch( cmd )
+ {
+ case 0:
+ perr( "command not specified" );
+ return -1;
+ break;
+ case CEGW_CMD_ADD:
+ if( cegw_add( &req, &d ) != 0 )
+ {
+ perr( "'--add'" );
+ return -1;
+ }
+ break;
+ case CEGW_CMD_FLUSH:
+ cegw_flush( &req, &d );
+ break;
+ case CEGW_CMD_LIST:
+ cegw_list( &req, &d );
+ break;
+ case CEGW_CMD_LISTEN:
+ cegw_listen( &req, &d );
+ break;
+ default:
+ perr( "command mismatch" );
+ break;
+ }
+
+ /* send over netlink socket */
+ s = socket( PF_NETLINK, SOCK_RAW, NETLINK_ROUTE ); /* chck */
+
+ memset( &nladdr, 0, sizeof(nladdr) );
+ nladdr.nl_family = AF_NETLINK;
+ nladdr.nl_pad = 0;
+ nladdr.nl_pid = 0;
+ nladdr.nl_groups = 0;
+
+ err = sendto( s, &req, req.nh.nlmsg_len, 0,
+ (struct sockaddr*)&nladdr, sizeof(nladdr) );
+ if( err < 0 )
+ {
+ perror( "netlink sendto" );
+ return -1;
+ }
+
+ /* recv */
+ rsize = recv( s, &rxbuf, sizeof(rxbuf), 0 );
+ if( rsize < 0 )
+ {
+ perr( "recv" );
+ return -1;
+ }
+ nlh = (struct nlmsghdr*)rxbuf;
+
+ if( nlh->nlmsg_type == NLMSG_ERROR )
+ {
+ rte = (struct nlmsgerr*)NLMSG_DATA( nlh );
+ err = rte->error;
+
+ if( err == 0 )
+ {
+ printf( "%s\n", strerror(abs(err)) );
+ return 0;
+ } else
+ {
+ printf( "netlink error: %s\n", strerror(abs(err)) );
+ return -1;
+ }
+ }
+
+ if( cmd & CEGW_CMD_LIST )
+ {
+ /* ToDo recv while */
+ printf( "%10ssource%20sdestination\n", "", "" );
+ while( 1 )
+ {
+ if( !NLMSG_OK( nlh, rsize ) )
+ {
+ break;
+ }
+ if( nlh->nlmsg_type == NLMSG_DONE )
+ {
+ break;
+ }
+ /* ToDo: NLMSG_ERR */
+ rta = NLMSG_DATA( nlh );
+ len = NLMSG_PAYLOAD( nlh, 0 );
+ for( ;RTA_OK(rta, len); rta = RTA_NEXT(rta,len) )
+ {
+ switch( rta->rta_type )
+ {
+ case CEGW_TYPE:
+ li.type = *(int*)RTA_DATA(rta);
+ break;
+ case CEGW_CAN_IFINDEX:
+ li.can = *(int*)RTA_DATA(rta);
+ break;
+ case CEGW_ETH_IP:
+ li.ip = *(struct in_addr*)RTA_DATA(rta);
+ break;
+ case CEGW_ETH_PORT:
+ li.port = *(unsigned short*)RTA_DATA(rta);
+ break;
+ /* case CGW_ETH_PROTO */
+ }
+ }
+
+ print_list_item( &li );
+
+ nlh = NLMSG_NEXT( nlh, rsize );
+ }
+ }
+
+ return 0;
+}
+
--- /dev/null
+all:
+ gcc -Wall -ocesend cesend.c
+
--- /dev/null
+/*
+ * cesend.c - simple command line tool to send CAN-frames via udp
+ * cesend is a fork of cansend from Socket-CAN project.
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <arpa/inet.h>
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+#define CANID_DELIM '#'
+#define DATA_SEPERATOR '.'
+
+unsigned char asc2nibble(char c) {
+
+ if ((c >= '0') && (c <= '9'))
+ return c - '0';
+
+ if ((c >= 'A') && (c <= 'F'))
+ return c - 'A' + 10;
+
+ if ((c >= 'a') && (c <= 'f'))
+ return c - 'a' + 10;
+
+ return 16; /* error */
+}
+
+int parse_canframe(char *cs, struct can_frame *cf) {
+ /* documentation see lib.h */
+
+ int i, idx, dlc, len;
+ unsigned char tmp;
+
+ len = strlen(cs);
+ //printf("'%s' len %d\n", cs, len);
+
+ memset(cf, 0, sizeof(*cf)); /* init CAN frame, e.g. DLC = 0 */
+
+ if (len < 4)
+ return 1;
+
+ if (cs[3] == CANID_DELIM) { /* 3 digits */
+
+ idx = 4;
+ for (i=0; i<3; i++){
+ if ((tmp = asc2nibble(cs[i])) > 0x0F)
+ return 1;
+ cf->can_id |= (tmp << (2-i)*4);
+ }
+
+ } else if (cs[8] == CANID_DELIM) { /* 8 digits */
+
+ idx = 9;
+ for (i=0; i<8; i++){
+ if ((tmp = asc2nibble(cs[i])) > 0x0F)
+ return 1;
+ cf->can_id |= (tmp << (7-i)*4);
+ }
+ if (!(cf->can_id & CAN_ERR_FLAG)) /* 8 digits but no errorframe? */
+ cf->can_id |= CAN_EFF_FLAG; /* then it is an extended frame */
+
+ } else
+ return 1;
+
+ if((cs[idx] == 'R') || (cs[idx] == 'r')){ /* RTR frame */
+ cf->can_id |= CAN_RTR_FLAG;
+ return 0;
+ }
+
+ for (i=0, dlc=0; i<8; i++){
+
+ if(cs[idx] == DATA_SEPERATOR) /* skip (optional) seperator */
+ idx++;
+
+ if(idx >= len) /* end of string => end of data */
+ break;
+
+ if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
+ return 1;
+ cf->data[i] = (tmp << 4);
+ if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
+ return 1;
+ cf->data[i] |= tmp;
+ dlc++;
+ }
+
+ cf->can_dlc = dlc;
+
+ return 0;
+}
+
+int main(int argc, char **argv)
+{
+ int s; /* can raw socket */
+ int nbytes;
+ struct sockaddr_in addr;
+ struct can_frame frame;
+
+ /* check command line options */
+ if (argc != 2) {
+ fprintf(stderr, "Usage: %s <can_frame>.\n", argv[0]);
+ return 1;
+ }
+
+ /* parse CAN frame */
+ if (parse_canframe(argv[1], &frame)){
+ fprintf(stderr, "\nWrong CAN-frame format!\n\n");
+ fprintf(stderr, "Try: <can_id>#{R|data}\n");
+ fprintf(stderr, "can_id can have 3 (SFF) or 8 (EFF) hex chars\n");
+ fprintf(stderr, "data has 0 to 8 hex-values that can (optionally)");
+ fprintf(stderr, " be seperated by '.'\n\n");
+ fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / ");
+ fprintf(stderr, "5AA# /\n 1F334455#1122334455667788 / 123#R ");
+ fprintf(stderr, "for remote transmission request.\n\n");
+ return 1;
+ }
+
+ /* open socket */
+ if(( s = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP)) < 0 ) {
+ perror("socket");
+ return 1;
+ }
+
+ addr.sin_family = AF_INET;
+ inet_aton( "192.168.2.3", &addr.sin_addr );
+ addr.sin_port = htons( 10501 );
+
+ /* send frame */
+ if ((nbytes = sendto(s, &frame, sizeof(frame), 0, (struct sockaddr*)&addr, sizeof(addr))) != sizeof(frame)) {
+ perror("write");
+ return 1;
+ }
+
+ close(s);
+
+ return 0;
+}
+
--- /dev/null
+# setup kernel canethgw
+
+insmod canethgw.ko
+
+./cegw --listen udp@127.0.0.1:10501
+./cegw --add -s can@can0 -d udp@127.0.0.1:10502
+./cegw --add -s udp@127.0.0.1:10502 -d can@can0
+
--- /dev/null
+#!/bin/sh
+
+# user
+canethgw -s can@can0 -d udp@127.0.0.1:10502 -l udp@127.0.0.1:10501
+
--- /dev/null
+#!/bin/bash
+PORT=10600
+ID=`ls -1 result | tail -1 | grep -o "[0-9]*\." | sed "s/\.//"`
+echo -n "nc listening on $PORT: "
+nc -l -p $PORT > res
+
+if [ -z $ID ]; then
+ let id=1
+else
+ let id=ID+1
+fi;
+
+FILENAME=result$id
+mv res result/$FILENAME.dat
+cd result
+sed /^#/d $FILENAME.dat > $FILENAME.raw
+echo "done"
+
--- /dev/null
+function [] = plotres( filename )
+% plots canethgw benchmark data
+data = dlmread( ["result/" filename ".raw"] );
+
+figure;
+hold on;
+semilogy( data(1,:), "r" );
+semilogy( data(2,:), "g" );
+semilogy( data(3,:), "b" );
+semilogy( data(4,:), "m" );
+axis tight;
+
+title( 'can-eth-gw performance' );
+legend( "kernel udp->can", "kernel can->udp", "user udp->can",\
+ "user can->udp");
+xlabel( "can frame [id]" );
+ylabel( "transmission duration [ns]" );
+
+kern_udp_can_mean = mean( data(1,:), 2 );
+kern_can_udp_mean = mean( data(2,:), 2 );
+user_udp_can_mean = mean( data(3,:), 2 );
+user_can_udp_mean = mean( data(4,:), 2 );
+printf( "kern_udp_can_mean/user_udp_can_mean=%f\n", kern_udp_can_mean/user_udp_can_mean );
+printf( "kern_can_udp_mean/user_can_udp_mean=%f\n", kern_can_udp_mean/user_can_udp_mean );
+
+kern_mean = mean( [data(1,:) data(2,:)], 2 )
+user_mean = mean( [data(3,:) data(4,:)], 2 )
+printf( "kern_mean/user_mean=%f\n", kern_mean/user_mean );
+
+end
+
--- /dev/null
+#./cegwbench -s udp@192.168.2.3:10501 -d can@can0 -n 64 -m oneattime -t 1
+508509.000000 366680.000000 369080.000000 381298.000000 369731.000000 366255.000000 370514.000000 371171.000000 369407.000000 371704.000000 369084.000000 368790.000000 369425.000000 466102.000000 369236.000000 369278.000000 371878.000000 369913.000000 372870.000000 370063.000000 369894.000000 369238.000000 372297.000000 368651.000000 382257.000000 373439.000000 373781.000000 371012.000000 374773.000000 370796.000000 371468.000000 371678.000000 368997.000000 364622.000000 453608.000000 366568.000000 364999.000000 365181.000000 365014.000000 363227.000000 370870.000000 365133.000000 363718.000000 364894.000000 364267.000000 370624.000000 361623.000000 362974.000000 378344.000000 364764.000000 365786.000000 365943.000000 364707.000000 361852.000000 364319.000000 470610.000000 364886.000000 363546.000000 361827.000000 363505.000000 365344.000000 363767.000000 365673.000000 363737.000000
+#./cegwbench -s can@can0 -d udp@0.0.0.0:10502 -n 64 -m oneattime -t 1
+472405.000000 382137.000000 383320.000000 381887.000000 442729.000000 378265.000000 383522.000000 382792.000000 382956.000000 382642.000000 383235.000000 382159.000000 383241.000000 383060.000000 415087.000000 384347.000000 381718.000000 382535.000000 383793.000000 382822.000000 383273.000000 383608.000000 395475.000000 378440.000000 414958.000000 383323.000000 382788.000000 393884.000000 378269.000000 383472.000000 383899.000000 382597.000000 383577.000000 382869.000000 699382.000000 405599.000000 383151.000000 383817.000000 384809.000000 382853.000000 383912.000000 382419.000000 384268.000000 383471.000000 298357.000000 377119.000000 385298.000000 385216.000000 385242.000000 385878.000000 386027.000000 385597.000000 386266.000000 384709.000000 416221.000000 383715.000000 382596.000000 382802.000000 384368.000000 382677.000000 383860.000000 383526.000000 383937.000000 383295.000000
--- /dev/null
+#./cegwbench -s udp@192.168.2.3:10501 -d can@can0 -n 64 -m oneattime -t 1
+500260.000000 365021.000000 372033.000000 387458.000000 368296.000000 365707.000000 386015.000000 483808.000000 344690.000000 343036.000000 340453.000000 338133.000000 339172.000000 385992.000000 373235.000000 365865.000000 369685.000000 367056.000000 398233.000000 368394.000000 370864.000000 370586.000000 370965.000000 374419.000000 372999.000000 370180.000000 371710.000000 369308.000000 459231.000000 370657.000000 376748.000000 368383.000000 367916.000000 367834.000000 365449.000000 363782.000000 363776.000000 363733.000000 364341.000000 402966.000000 360782.000000 367260.000000 365210.000000 364919.000000 363833.000000 363570.000000 364026.000000 362874.000000 364844.000000 363593.000000 339372.000000 367485.000000 366399.000000 363945.000000 365195.000000 362742.000000 364344.000000 365187.000000 364465.000000 375529.000000 453635.000000 364567.000000 371492.000000 365629.000000
+#./cegwbench -s can@can0 -d udp@0.0.0.0:10502 -n 64 -m oneattime -t 1
+478155.000000 387482.000000 388466.000000 389489.000000 388966.000000 389578.000000 387678.000000 390322.000000 475484.000000 401216.000000 389009.000000 389742.000000 389658.000000 389767.000000 388703.000000 385375.000000 387442.000000 389856.000000 475104.000000 395687.000000 385354.000000 388908.000000 389711.000000 389453.000000 402621.000000 384565.000000 388038.000000 389544.000000 420445.000000 391400.000000 388940.000000 389805.000000 388660.000000 390145.000000 400934.000000 382027.000000 388426.000000 390410.000000 420732.000000 391938.000000 388925.000000 390831.000000 389303.000000 389658.000000 401676.000000 382205.000000 391506.000000 392286.000000 422484.000000 392848.000000 391315.000000 392313.000000 392428.000000 390653.000000 390728.000000 389022.000000 388530.000000 390065.000000 420130.000000 390541.000000 389121.000000 390083.000000 389024.000000 390111.000000
--- /dev/null
+#./cegwbench -s udp@192.168.2.3:10501 -d can@can0 -n 64 -m oneattime -t 1
+474596.000000 367429.000000 368155.000000 371446.000000 377213.000000 369393.000000 369757.000000 379663.000000 463456.000000 375854.000000 370329.000000 367949.000000 368000.000000 365562.000000 372220.000000 367093.000000 370200.000000 368279.000000 369815.000000 380477.000000 383617.000000 364807.000000 368976.000000 368178.000000 389906.000000 368600.000000 369475.000000 369867.000000 368989.000000 398289.000000 373103.000000 369835.000000 371471.000000 362925.000000 366396.000000 366023.000000 365509.000000 362832.000000 365325.000000 362404.000000 401411.000000 361977.000000 365241.000000 365943.000000 364765.000000 361749.000000 363387.000000 360916.000000 367526.000000 363239.000000 458649.000000 364484.000000 365791.000000 366359.000000 365432.000000 365579.000000 365552.000000 374369.000000 364921.000000 363723.000000 367383.000000 406038.000000 366299.000000 363605.000000
+#./cegwbench -s can@can0 -d udp@0.0.0.0:10502 -n 64 -m oneattime -t 1
+460820.000000 384512.000000 385838.000000 407754.000000 382736.000000 384663.000000 488640.000000 380106.000000 386253.000000 385823.000000 385113.000000 385955.000000 385807.000000 387643.000000 384018.000000 386253.000000 477010.000000 387663.000000 385508.000000 386029.000000 386890.000000 396456.000000 381902.000000 387371.000000 383811.000000 385328.000000 428820.000000 381787.000000 386112.000000 385706.000000 386679.000000 385377.000000 385629.000000 387057.000000 384043.000000 386464.000000 471948.000000 387701.000000 386662.000000 386481.000000 386329.000000 397635.000000 379800.000000 387458.000000 384717.000000 387483.000000 430649.000000 381611.000000 387860.000000 388770.000000 388056.000000 389123.000000 387609.000000 387737.000000 385021.000000 385686.000000 470605.000000 389097.000000 386284.000000 385150.000000 386393.000000 392780.000000 382870.000000 386906.000000
--- /dev/null
+#./cegwbench -s udp@192.168.2.3:10501 -d can@can0 -n 64 -m oneattime -t 1
+569117.000000 445029.000000 406026.000000 450723.000000 412977.000000 403275.000000 404396.000000 398667.000000 405548.000000 404127.000000 529507.000000 534719.000000 421538.000000 405489.000000 404986.000000 402724.000000 404648.000000 400519.000000 403534.000000 496821.000000 414321.000000 404835.000000 401422.000000 404789.000000 407624.000000 407788.000000 404842.000000 404570.000000 420453.000000 453340.000000 417036.000000 411885.000000 404864.000000 401060.000000 402221.000000 397697.000000 404325.000000 401678.000000 495466.000000 404493.000000 403394.000000 398816.000000 399600.000000 401035.000000 405883.000000 403005.000000 403009.000000 398826.000000 430346.000000 397971.000000 403027.000000 396967.000000 404594.000000 417999.000000 400145.000000 397699.000000 401815.000000 403035.000000 400283.000000 413487.000000 412221.000000 403473.000000 399506.000000 402272.000000
+#./cegwbench -s can@can0 -d udp@0.0.0.0:10502 -n 64 -m oneattime -t 1
+501823.000000 447632.000000 452955.000000 454020.000000 453817.000000 453735.000000 484704.000000 462224.000000 444710.000000 451900.000000 455313.000000 452260.000000 453549.000000 453692.000000 454835.000000 470707.000000 458149.000000 451630.000000 454100.000000 454887.000000 454681.000000 455154.000000 454050.000000 532459.000000 455581.000000 453478.000000 453077.000000 453833.000000 454764.000000 453515.000000 455714.000000 454427.000000 370950.000000 456705.000000 452922.000000 453302.000000 454434.000000 454039.000000 454081.000000 453643.000000 454800.000000 340729.000000 455031.000000 452959.000000 454275.000000 452304.000000 465016.000000 441042.000000 454640.000000 549677.000000 443658.000000 454118.000000 452257.000000 453022.000000 454409.000000 453581.000000 454850.000000 453386.000000 485272.000000 464241.000000 444426.000000 454427.000000 453272.000000 452758.000000
--- /dev/null
+#./cegwbench -s udp@192.168.2.3:10501 -d can@can0 -n 64 -m oneattime -t 1
+529349.000000 451935.000000 405628.000000 413999.000000 417903.000000 401221.000000 407650.000000 401703.000000 405608.000000 407901.000000 493503.000000 422558.000000 418304.000000 413734.000000 411335.000000 410023.000000 410523.000000 403459.000000 423850.000000 412875.000000 437524.000000 406296.000000 404971.000000 404238.000000 405918.000000 405934.000000 407110.000000 401808.000000 403102.000000 499924.000000 406670.000000 415484.000000 414733.000000 400769.000000 402363.000000 397852.000000 402063.000000 414556.000000 411774.000000 425500.000000 397573.000000 401783.000000 401167.000000 399955.000000 401291.000000 399005.000000 403280.000000 400938.000000 401046.000000 367056.000000 404718.000000 402843.000000 402014.000000 401951.000000 402931.000000 402552.000000 403219.000000 401931.000000 493074.000000 406797.000000 418271.000000 405870.000000 399057.000000 406051.000000
+#./cegwbench -s can@can0 -d udp@0.0.0.0:10502 -n 64 -m oneattime -t 1
+502779.000000 437088.000000 448443.000000 448987.000000 449350.000000 533099.000000 446495.000000 448844.000000 449794.000000 448188.000000 449629.000000 448719.000000 448765.000000 448591.000000 479926.000000 450402.000000 450717.000000 450216.000000 449044.000000 451006.000000 450339.000000 450598.000000 449161.000000 453954.000000 450456.000000 452221.000000 446443.000000 449961.000000 449182.000000 449337.000000 450482.000000 450570.000000 339469.000000 449061.000000 451426.000000 448661.000000 450207.000000 449550.000000 450506.000000 449415.000000 449233.000000 339977.000000 449856.000000 450870.000000 449059.000000 449188.000000 450571.000000 450107.000000 449731.000000 449766.000000 339663.000000 449004.000000 449874.000000 448032.000000 449933.000000 450289.000000 449109.000000 449821.000000 448899.000000 337417.000000 448688.000000 449713.000000 447722.000000 448302.000000
--- /dev/null
+#./cegwbench -s udp@192.168.2.3:10501 -d can@can0 -n 64 -m oneattime -t 1
+695094.000000 423695.000000 405358.000000 418025.000000 414250.000000 400623.000000 405460.000000 400753.000000 403548.000000 498053.000000 406373.000000 405727.000000 405458.000000 400538.000000 407129.000000 399950.000000 417364.000000 413604.000000 408999.000000 433658.000000 404857.000000 402937.000000 405438.000000 401953.000000 403295.000000 402603.000000 404633.000000 400570.000000 496332.000000 384544.000000 383630.000000 398434.000000 378124.000000 387190.000000 378600.000000 377577.000000 377274.000000 377641.000000 376861.000000 436961.000000 398959.000000 400046.000000 401326.000000 413157.000000 413517.000000 397229.000000 403240.000000 400614.000000 493555.000000 380917.000000 380047.000000 380281.000000 380706.000000 377072.000000 375401.000000 375862.000000 375885.000000 376532.000000 533943.000000 404556.000000 411914.000000 409720.000000 401314.000000 400437.000000
+#./cegwbench -s can@can0 -d udp@0.0.0.0:10502 -n 64 -m oneattime -t 1
+495020.000000 428264.000000 440632.000000 455448.000000 431200.000000 442588.000000 714755.000000 462081.000000 443047.000000 454305.000000 430635.000000 443390.000000 442610.000000 444052.000000 474234.000000 444617.000000 443340.000000 445032.000000 441325.000000 444522.000000 444167.000000 443013.000000 443401.000000 373511.000000 390381.000000 388182.000000 390410.000000 391070.000000 389230.000000 389655.000000 389333.000000 389567.000000 389306.000000 533271.000000 465790.000000 443877.000000 444340.000000 441586.000000 442002.000000 443691.000000 442513.000000 535594.000000 434522.000000 454517.000000 442867.000000 431694.000000 442458.000000 443362.000000 442284.000000 442940.000000 533714.000000 447634.000000 442829.000000 444551.000000 442213.000000 443303.000000 443418.000000 442979.000000 442876.000000 487455.000000 442772.000000 441957.000000 443595.000000 442114.000000
--- /dev/null
+508509.000000 366680.000000 369080.000000 381298.000000 369731.000000 366255.000000 370514.000000 371171.000000 369407.000000 371704.000000 369084.000000 368790.000000 369425.000000 466102.000000 369236.000000 369278.000000 371878.000000 369913.000000 372870.000000 370063.000000 369894.000000 369238.000000 372297.000000 368651.000000 382257.000000 373439.000000 373781.000000 371012.000000 374773.000000 370796.000000 371468.000000 371678.000000 368997.000000 364622.000000 453608.000000 366568.000000 364999.000000 365181.000000 365014.000000 363227.000000 370870.000000 365133.000000 363718.000000 364894.000000 364267.000000 370624.000000 361623.000000 362974.000000 378344.000000 364764.000000 365786.000000 365943.000000 364707.000000 361852.000000 364319.000000 470610.000000 364886.000000 363546.000000 361827.000000 363505.000000 365344.000000 363767.000000 365673.000000 363737.000000
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--- /dev/null
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--- /dev/null
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--- /dev/null
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--- /dev/null
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--- /dev/null
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--- /dev/null
+#!/bin/sh
+N=10
+MODE=oneattime
+
+evalmsg()
+{
+ if test $1 -eq 0; then
+ echo -e "\033[32mOK"
+ else
+ echo -e "\033[31mFAIL"
+ fi;
+ echo -ne "\033[0m"
+}
+
+if test $# -ne 0; then
+ N=$1;
+fi
+
+echo -n "Testing eth->can: "
+cegwbench -s udp@192.168.2.3:10501 -d can@can0 -n $N -m $MODE -t 1 &> /dev/zero
+evalmsg $?
+
+echo -n "Testing can->eth: "
+cegwbench -s can@vcan0 -d udp@127.0.0.1:10502 -n $N -m $MODE -t 1 &> /dev/zero
+evalmsg $?
+
--- /dev/null
+PROGRAM=canethgw
+
+all:
+ powerpc-linux-gnu-gcc -Wall -o${PROGRAM} -I../../utils/common/include/ canethgw.c ../../utils/common/cegwerr.c ../../utils/common/readif.c
+
--- /dev/null
+#include <stdio.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <netinet/in.h>
+#include <signal.h>
+#include <getopt.h>
+#include <sys/ioctl.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <arpa/inet.h>
+#include <net/if.h>
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <poll.h>
+#include "readif.h"
+#include "cegwerr.h"
+
+/**
+ * ToDo:
+ * [ ] print usage
+ */
+//#define GW_DEBUG
+
+/* powerpc encore */
+#define AF_CAN 29
+#define PF_CAN AF_CAN
+
+#ifdef GW_DEBUG
+#define printdbg(x) printf(x)
+#else
+#define printdbg(x)
+#endif
+
+#define GW_POLL_ETH 0
+#define GW_POLL_CAN 1
+
+#define GW_FLAG_SRC 1
+#define GW_FLAG_DST 2
+#define GW_FLAG_LISTEN 4
+#define GW_FLAG_FILTER 8
+
+unsigned int opt_flag = 0;
+int sock_udp;
+int sock_can;
+struct can_filter flt;
+struct sockaddr_in udp_dest;
+
+/**
+ * filter_check
+ * @return true if frame should be dropped
+ */
+bool filter_check( struct can_frame* cf )
+{
+ if( !(opt_flag & GW_FLAG_FILTER) )
+ return false;
+
+ return ( (cf->can_id & flt.can_mask) == (flt.can_id & flt.can_mask) );
+}
+
+void send_to_can()
+{
+ struct can_frame cf;
+
+ read( sock_udp, &cf, sizeof(cf) );
+
+ if( filter_check( &cf ) )
+ {
+ printdbg( "filter: drop\n" );
+ return;
+ }
+
+ write( sock_can, &cf, sizeof(cf) );
+
+ printdbg( "eth -> can\n" );
+}
+
+void send_to_eth()
+{
+ struct can_frame cf;
+
+ read( sock_can, &cf, sizeof(cf) );
+
+ if( filter_check( &cf ) )
+ {
+ printdbg( "filter: drop\n" );
+ return;
+ }
+
+ sendto( sock_udp, &cf, sizeof(cf), 0, (struct sockaddr*) &udp_dest, sizeof(udp_dest) );
+
+ printdbg( "can -> eth\n" );
+}
+
+void signal_exit( int sig )
+{
+ close( sock_udp );
+ close( sock_can );
+ printf( "exiting\n" );
+
+ exit( 0 );
+}
+
+int main( int argc, char* argv[] )
+{
+ struct sockaddr_in udp_addr;
+ struct sockaddr_can can_addr;
+ struct pollfd pfd[2];
+ int polret;
+ int opt;
+ struct cegw_if ceif[2], iflisten;
+ struct cegw_if* ifcan,* ifeth;
+
+ flt.can_id = 0;
+ flt.can_mask = 0;
+
+ struct option longopt[] =
+ {
+ {"listen", 1, NULL, 'l'},
+ { 0, 0, 0, 0 }
+ };
+
+ while( (opt = getopt_long( argc, argv, "s:d:l:f:i:", longopt, NULL )) != -1 )
+ {
+ switch( opt )
+ {
+ case 's':
+ if( read_if(optarg, &ceif[0]) != 0 )
+ {
+ perr( "'-s'" );
+ return -1;
+ }
+ opt_flag |= GW_FLAG_SRC;
+ break;
+ case 'd':
+ if( read_if(optarg, &ceif[1]) != 0 )
+ {
+ perr( "'-d'" );
+ return -1;
+ }
+ opt_flag |= GW_FLAG_DST;
+ break;
+ case 'l':
+ if( read_if(optarg, &iflisten) != 0 )
+ {
+ perr( "'-l'" );
+ return -1;
+ }
+ if( iflisten.type != IF_ETH_UDP )
+ {
+ perr( "'-l' udp interface expected" );
+ return -1;
+ }
+ opt_flag |= GW_FLAG_LISTEN;
+ break;
+ case 'f':
+ if( sscanf( optarg, "%x:%x", &flt.can_id,
+ &flt.can_mask ) != 2 )
+ {
+ perr( "bad filter format");
+ return -1;
+ }
+ opt_flag |= GW_FLAG_FILTER;
+ break;
+ case '?':
+ return -1;
+ break;
+ }
+ }
+
+ if( !((opt_flag & GW_FLAG_SRC) && (opt_flag & GW_FLAG_DST)
+ && (opt_flag & GW_FLAG_LISTEN)) )
+ {
+ perr( "'s', 'd' and 'l' are mandatory" );
+ /* ToDo: usage? */
+ return -1;
+ }
+
+ if( !(ceif[0].type == IF_CAN && ceif[1].type == IF_ETH_UDP) &&
+ !(ceif[0].type == IF_ETH_UDP && ceif[1].type == IF_CAN ) )
+ {
+ perr( "'-s' and '-d' should be different interface type" );
+ return -1;
+ }
+
+ if( ceif[0].type == IF_CAN )
+ {
+ ifcan = &ceif[0];
+ ifeth = &ceif[1];
+ } else
+ {
+ ifcan = &ceif[1];
+ ifeth = &ceif[0];
+ }
+
+ signal( SIGINT, signal_exit );
+
+ /* prepare udp destination */
+ udp_dest.sin_family = AF_INET;
+ udp_dest.sin_port = htons(ifeth->eth.port);
+ udp_dest.sin_addr = ifeth->eth.ip;
+
+ /* udp socket */
+ sock_udp = socket( PF_INET, SOCK_DGRAM, IPPROTO_UDP );
+ if( sock_udp < 0 )
+ {
+ perr( "udp socket creation failed" );
+ return -1;
+ }
+
+ udp_addr.sin_family = AF_INET;
+ udp_addr.sin_port = htons(iflisten.eth.port);
+ udp_addr.sin_addr = iflisten.eth.ip;
+
+ if( bind( sock_udp, (struct sockaddr*) &udp_addr, sizeof(udp_addr) ) < 0 )
+ {
+ perr( "udp socket binding failed" );
+ close( sock_udp );
+ return -1;
+ }
+
+ /* can socket */
+ sock_can = socket( PF_CAN, SOCK_RAW, CAN_RAW );
+ if( sock_can < 0 )
+ {
+ perr( "can socket creation failed");
+ close( sock_can );
+ return -1;
+ }
+
+ can_addr.can_family = AF_CAN;
+ can_addr.can_ifindex = ifcan->can.ifindex;
+
+ if( bind( sock_can, (struct sockaddr*) &can_addr, sizeof(can_addr) ) < 0 )
+ {
+ perr( "can socket binding failed" );
+ return -1;
+ }
+
+ /* poll */
+ pfd[GW_POLL_ETH].fd = sock_udp;
+ pfd[GW_POLL_ETH].events = POLLIN | POLLPRI;
+ pfd[GW_POLL_ETH].revents = 0;
+
+ pfd[GW_POLL_CAN].fd = sock_can;
+ pfd[GW_POLL_CAN].events = POLLIN | POLLPRI;
+ pfd[GW_POLL_CAN].revents = 0;
+
+ printf( "canethgw is running\n" );
+
+ while( 1 )
+ {
+ printdbg( "polling\n" );
+ polret = poll( pfd, 2, -1 );
+ if( polret < 0 )
+ {
+ perr( "poll(..) failed" );
+ close( sock_udp );
+ close( sock_can );
+ return -1;
+ }
+
+ if( pfd[GW_POLL_ETH].revents != 0 )
+ {
+ send_to_can();
+ }
+ if( pfd[GW_POLL_CAN].revents != 0 )
+ {
+ send_to_eth();
+ }
+
+ pfd[GW_POLL_ETH].revents = 0;
+ pfd[GW_POLL_CAN].revents = 0;
+ }
+
+ return 0;
+}
+
projects / can-eth-gw.git / commitdiff