src/vca_canping.c

   1 /**************************************************************************/
   2 /* File: vca_canping.c - utility to test CAN functionality and throughput */
   3 /*                                                                        */
   4 /* LibVCA - Versatile CAN/CANopen API library                             */
   5 /* Copyright (C) 2005-2009 Michal Sojka, DCE FEE CTU Prague               */
   6 /* Copyright (C) 2006-2009 Pavel Pisa <pisa@cmp.felk.cvut.cz>             */
   7 /*                                                                        */
   8 /* LibVCA is free software; you can redistribute it and/or modify it      */
   9 /* under terms of the GNU General Public License as published by the      */
  10 /* Free Software Foundation; either version 2, or (at your option) any    */
  11 /* later version.  LinCAN is distributed in the hope that it will be      */
  12 /* useful, but WITHOUT ANY WARRANTY; without even the implied warranty    */
  13 /* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU    */
  14 /* General Public License for more details. You should have received a    */
  15 /* copy of the GNU General Public License along with LinCAN; see file     */
  16 /* COPYING. If not, write to the Free Software Foundation, 675 Mass Ave,  */
  17 /* Cambridge, MA 02139, USA.                                              */
  18 /**************************************************************************/
  19
  20 #include <string.h>
  21 #include <math.h>
  22 #include <stdio.h>
  23 #include <unistd.h>
  24 #include <fcntl.h>
  25 #include <stdlib.h>
  26 #include <ctype.h>
  27 #include <pthread.h>
  28 #include <signal.h>
  29 #include <sys/types.h>
  30 #include <sys/time.h>
  31 #include <ul_list.h>
  32 #include <errno.h>
  33 #include <semaphore.h>
  34 #include <stdbool.h>
  35 #include <error.h>
  36
  37 /* TODO: Handle the case where there are more canping slaves running
  38  * on one CAN bus. */
  39
  40 #include <can_vca.h>
  41
  42 //#define DEBUG 1
  43 //#define DEBUG 2
  44 #define WITH_RTPRIO
  45
  46 #ifdef WITH_RTPRIO
  47 #include <sched.h>
  48 #include <sys/mman.h>
  49
  50 int sched_policy = SCHED_OTHER;
  51 int sched_rtprio;
  52
  53 #endif
  54
  55
  56 #ifndef DEBUG
  57 #define dbg(level, fmt, arg...) do {} while (0)
  58 #else
  59 #define dbg(level, fmt, arg...) do { if (level <= DEBUG) { printf("candping: " fmt, ## arg); } } while (0)
  60 #endif
  61
  62 #define NOT_INTERRUPTED_SYSCALL (errno != EINTR && errno != ERESTART)
  63 #define IS_FINISH_FLAG() (finish_flag)
  64
  65 /* Exit codes */
  66 #define EXIT_OK 0
  67 #define EXIT_BAD_PARAM 1
  68 #define EXIT_CANNOT_OPEN 2
  69 #define EXIT_FILTER_ERROR 3
  70 #define EXIT_NO_MEM 4
  71 #define EXIT_READ_ERROR 5
  72 #define EXIT_WRITE_ERROR 6
  73 #define EXIT_SELECT_ERROR 7
  74 #define EXIT_FLUSH_ERROR 8
  75
  76 /* Global variables */
  77 sig_atomic_t finish_flag = 0;   /* Threads should terminate. */
  78 sem_t finish_sem;               /* Thread signals a termination */
  79 vca_handle_t global_vcah = VCA_HANDLE_INVALID;
  80
  81 int total_count = 0;
  82 int total_timeout = 0;
  83
  84 pthread_mutex_t mut_start = PTHREAD_MUTEX_INITIALIZER;
  85 pthread_cond_t cond_start = PTHREAD_COND_INITIALIZER;
  86 int start_flag = 0;
  87 sem_t ready_sem;                /* Thread is ready for execution */
  88
  89
  90 /* Command line options */
  91 char *option_device = "/dev/can0";
  92 int option_masters = 0;
  93 long int option_first_id = 1000;
  94 int option_slaves = 0;
  95 int option_verbose = 0;         /* 0 - nothing, 1 - only global
  96                                  * statistics, 2 - simple times, 3 -
  97                                  * verbose times */
  98 int option_length = 8;
  99 int option_count = 0;
 100 int option_wait_ms = 1000;
 101 int option_timeout = 4;
 102 int option_open_once = 0;
 103 int option_synch_start = 0;
 104 bool option_background = false;
 105 char *option_histogram = NULL;
 106 int option_msg_to_ignore = 0;
 107 char *option_save_all_times = NULL;
 108 /* Lists */
 109 typedef struct threads {
 110         ul_list_head_t head;
 111 } threads_t;
 112
 113 struct histogram {
 114         unsigned *data;
 115         unsigned allocated;
 116         unsigned resolution;
 117 };
 118
 119 typedef struct thread_data {
 120         pthread_t tid;
 121         long int canid;
 122
 123         int count;
 124         double mean;            /* mean value of responses */
 125         double moment2nd;       /* used to compute variance of
 126                                  * responses */
 127         int min, max;           /* min/max response times */
 128         int timeout;            /* number of timeouts */
 129
 130         struct histogram hist;
 131         unsigned *times;        /* Array of all measured times */
 132
 133         ul_list_node_t node;
 134 } thread_data_t;
 135
 136 UL_LIST_CUST_DEC(thread_list, threads_t, thread_data_t, head, node);
 137
 138 threads_t master_threads;
 139 threads_t slave_threads;
 140
 141 int histogram_init(struct histogram *h,
 142                    unsigned max_value,
 143                    unsigned resolution)
 144 {
 145         size_t mem;
 146         h->allocated = max_value/resolution + 1;
 147         h->resolution = resolution;
 148         mem = h->allocated*sizeof(*h->data);
 149         h->data = malloc(mem);
 150         if (h->data) {
 151                 memset(h->data, 0, mem);
 152                 return 0;
 153         } else
 154                 return -1;
 155 }
 156
 157 void histogram_add(struct histogram *h, unsigned value)
 158 {
 159         unsigned index = value / h->resolution;
 160         if (index >= h->allocated)
 161                 index = h->allocated - 1;
 162         h->data[index]++;
 163 }
 164
 165 void histogram_fprint(struct histogram *h, FILE *f)
 166 {
 167         unsigned long long sum = 0, cum;
 168         unsigned i;
 169         for (i = 0; i < h->allocated; i++)
 170                 sum += h->data[i];
 171         cum = sum;
 172         for (i = 0; i < h->allocated; i++) {
 173                 if (h->data[i] != 0) {
 174                         if (!getenv("CANPING_MS"))
 175                                 fprintf(f, "%d %lld\n", i*h->resolution, cum);
 176                         else
 177                                 fprintf(f, "%g %lld\n", 1e-3*(i*h->resolution), cum);
 178                 }
 179                 cum -= h->data[i];
 180         }
 181 }
 182
 183 /* Subtract the `struct timeval' values X and Y, storing the result in
 184    RESULT.  Return 1 if the difference is negative, otherwise 0.  */
 185
 186 int timeval_subtract (struct timeval *result, struct timeval *x, struct timeval *y)
 187 {
 188         /* Perform the carry for the later subtraction by updating Y. */
 189         if (x->tv_usec < y->tv_usec) {
 190                 int nsec = (y->tv_usec - x->tv_usec) / 1000000 + 1;
 191                 y->tv_usec -= 1000000 * nsec;
 192                 y->tv_sec += nsec;
 193         }
 194         if (x->tv_usec - y->tv_usec > 1000000) {
 195                 int nsec = (x->tv_usec - y->tv_usec) / 1000000;
 196                 y->tv_usec += 1000000 * nsec;
 197                 y->tv_sec -= nsec;
 198         }
 199
 200         /* Compute the time remaining to wait.
 201            `tv_usec' is certainly positive. */
 202         result->tv_sec = x->tv_sec - y->tv_sec;
 203         result->tv_usec = x->tv_usec - y->tv_usec;
 204
 205         /* Return 1 if result is negative. */
 206         return x->tv_sec < y->tv_sec;
 207 }
 208
 209 void dbg_print_timeval(char *msg, struct timeval *tv)
 210 {
 211
 212         printf("%s sec=%ld usec=%ld\n", msg, tv->tv_sec, tv->tv_usec);
 213 }
 214 void kill_all_threads(int signum)
 215 {
 216         thread_data_t *td;
 217
 218         ul_list_for_each(thread_list, &master_threads, td) {
 219                 pthread_kill(td->tid, signum);
 220         }
 221         ul_list_for_each(thread_list, &slave_threads, td) {
 222                 pthread_kill(td->tid, signum);
 223         }
 224 }
 225 void term_handler(int signum)
 226 {
 227         dbg(1, "Thread %p got a signal %d\n", (void *)pthread_self(), signum);
 228         if (!IS_FINISH_FLAG()) {
 229                 dbg(1, "Terminating threads\n");
 230                 finish_flag = 1;
 231
 232                 kill_all_threads(signum);
 233         }
 234 }
 235
 236 void *master_thread(void *arg)
 237 {
 238         thread_data_t *td = (thread_data_t *)arg;
 239         int ping_id = td->canid;
 240         int pong_id = ping_id + 1;
 241         struct canmsg_t pingmsg, pongmsg;
 242         int ping_count = 0;
 243         int ret = 0;
 244         vca_handle_t vcah = VCA_HANDLE_INVALID; /* File descriptor of CAN driver. */
 245         int i;
 246         fd_set rdset;           /* read set for select syscall */
 247         struct timeval timeout, pingtime, pongtime;
 248         struct canfilt_t canfilt; /* filter for received messages */
 249
 250         if (!option_open_once) {
 251                 /* Open the CAN driver and disable (D) reception of
 252                  * all messages until we setup a filter below. */
 253                 if(vca_open_handle(&vcah, option_device, "D", 0) < 0) {
 254                         perror("open");
 255                         fprintf(stderr, "Error opening %s (for id %d)\n", option_device, ping_id);
 256                         exit(EXIT_CANNOT_OPEN);
 257                 }
 258         } else {
 259                 vcah = global_vcah;
 260         }
 261
 262         /* setup filtering of received messages */
 263         memset(&canfilt, 0, sizeof(canfilt));
 264         canfilt.mask = 0xfffffff;
 265         canfilt.id = pong_id;   /* pong responces with increased id */
 266         ret = vca_set_filt(vcah, &canfilt);
 267         if(ret<0) {
 268                 perror("ioctl CANQUE_FILTER");
 269                 exit(EXIT_FILTER_ERROR);
 270         }
 271         ret = vca_queue_flush(vcah, 0);
 272         if(ret<0) {
 273                 perror("ioctl CANQUE_QUEUE_FLUSH");
 274                 exit(EXIT_FLUSH_ERROR);
 275         }
 276
 277         if (option_histogram)
 278                 histogram_init(&td->hist, 1000*1000/*max [us]*/, 5/*resolution [us]*/);
 279
 280         if (option_save_all_times) {
 281                 td->times = malloc(sizeof(*td->times)*option_count);
 282                 if (!td->times)
 283                         error(1, errno, "malloc times");
 284         }
 285
 286         /* Prepare data structures for the select syscall. */
 287         FD_ZERO (&rdset);
 288
 289         /* Signal that I'm ready */
 290         sem_post(&ready_sem);
 291
 292         if (option_synch_start) {
 293                 /* Wait for other threads to initialize */
 294                 pthread_mutex_lock(&mut_start);
 295                 while (!start_flag) pthread_cond_wait(&cond_start, &mut_start);
 296                 pthread_mutex_unlock(&mut_start);
 297         }
 298
 299         while (!IS_FINISH_FLAG() && (option_count == 0 || ping_count++ < option_count + option_msg_to_ignore)) {
 300                 /* Send a ping message */
 301                 pingmsg.flags=0;
 302                 pingmsg.id=ping_id;
 303                 pingmsg.length = option_length;
 304                 for (i=0; i < option_length; i++) pingmsg.data[i] = i;
 305                 gettimeofday(&pingtime, NULL);
 306
 307                 ret = vca_send_msg_seq(vcah, &pingmsg, 1);
 308                 if (ret < 0) {
 309                         if (NOT_INTERRUPTED_SYSCALL) {
 310                                 perror("write");
 311                                 exit(EXIT_WRITE_ERROR);
 312                         }
 313                         else continue;
 314                 }
 315
 316                 /* Wait for a pong responce */
 317                 FD_SET (vca_h2fd(vcah), &rdset);
 318
 319                 timeout.tv_sec = option_timeout;
 320                 timeout.tv_usec = 0;
 321
 322                 ret = select(FD_SETSIZE, &rdset, NULL, NULL, &timeout);
 323                 if (ret > 0) {
 324                         /* Read the message */
 325                         pongmsg.flags=0;
 326                         ret = vca_rec_msg_seq(vcah, &pongmsg, 1);
 327                         if (ret < 0) {
 328                                 if (NOT_INTERRUPTED_SYSCALL) {
 329                                         perror("read");
 330                                         exit(EXIT_READ_ERROR);
 331                                 }
 332                                 else continue;
 333                         }
 334                         else {  /* A pong message received */
 335                                 long int time;
 336                                 gettimeofday(&pongtime, NULL);
 337                                 if (ret == 0) {
 338                                         fprintf(stderr, "read returned zero\n");
 339                                         exit(EXIT_READ_ERROR);
 340                                 }
 341                                 if (pongmsg.id != pong_id) {
 342                                         fprintf(stderr, "Filter error (expected: %d, received %ld)\n", pong_id, pongmsg.id);
 343                                         exit(EXIT_FILTER_ERROR);
 344                                 }
 345                                 timeval_subtract(&pongtime, &pongtime, &pingtime);
 346                                 time = pongtime.tv_sec*1000000 + pongtime.tv_usec;
 347                                 switch (option_verbose) {
 348                                 case 2:
 349                                         printf("%d:%ld\n", ping_id, time);
 350                                         break;
 351                                 case 3:
 352                                         printf("Pong response %d for id %d received in %ld us\n", ping_count, ping_id, time);
 353                                         break;
 354                                 }
 355                                 /* Update statistics */
 356                                 if (ping_count > option_msg_to_ignore) {
 357                                         td->count++;
 358                                         td->mean =
 359                                                 td->mean * ((double)(td->count - 1) / td->count) +
 360                                                 (double)time / td->count;
 361                                         td->moment2nd =
 362                                                 td->moment2nd * ((double)(td->count - 1) / td->count) +
 363                                                 (double)time*time  / td->count;
 364                                         if (time > td->max) td->max = time;
 365                                         if (time < td->min) td->min = time;
 366                                         if (option_histogram)
 367                                                 histogram_add(&td->hist, time);
 368                                         if (option_save_all_times)
 369                                                 td->times[ping_count - 1 - option_msg_to_ignore] = time;
 370                                 }
 371                                 total_count++;
 372                         } /* read */
 373                 }
 374                 else if (ret == 0) { /* select */
 375                         if (option_verbose >= 2)
 376                                 printf("Timeout encountered (id %d)\n", ping_id);
 377                         td->timeout++;
 378                         total_timeout++;
 379                 }
 380                 else {
 381                         if (NOT_INTERRUPTED_SYSCALL) {
 382                                 perror("select");
 383                                 exit(EXIT_SELECT_ERROR);
 384                         }
 385                         else continue;
 386                 }
 387                 usleep(option_wait_ms * 1000);
 388         }
 389
 390         if (!option_open_once) {
 391                 /* Close the can driver */
 392                 vca_close_handle(vcah);
 393         }
 394
 395         if (option_histogram) {
 396                 FILE *f;
 397                 char buf[100];
 398                 snprintf(buf, sizeof(buf), "%s-%d.dat", option_histogram, ping_id);
 399                 f = fopen(buf, "w");
 400                 histogram_fprint(&td->hist, f);
 401                 fclose(f);
 402         }
 403
 404         if (option_save_all_times) {
 405                 FILE *f;
 406                 char buf[100];
 407                 int i;
 408                 snprintf(buf, sizeof(buf), "%s-%d.dat", option_save_all_times, ping_id);
 409                 f = fopen(buf, "w");
 410                 for (i=0; i<option_count; i++) {
 411                         if (!getenv("CANPING_MS"))
 412                                 fprintf(f, "%u\n", td->times[i]);
 413                         else
 414                                 fprintf(f, "%g\n", 1e-3*td->times[i]);
 415                 }
 416                 fclose(f);
 417         }
 418
 419         sem_post(&finish_sem);
 420         return (void *)ret;
 421 }
 422
 423 void start_masters(int masters, int first_id)
 424 {
 425         int id = first_id;
 426         int i;
 427
 428         dbg(1, "Starting %d master threads\n", masters);
 429
 430         for (i = 0; i < masters; i++, id += 2) {
 431                 thread_data_t *td;
 432
 433                 td = malloc(sizeof(*td));
 434                 if (!td) {
 435                         printf("Can't allocate memory");
 436                         exit(EXIT_NO_MEM);
 437                 }
 438                 memset(td, 0, sizeof(*td));
 439                 td->canid = id;
 440                 td->min = 0x7fffffff;
 441                 /* TODO use mutexes and signal blocking */
 442                 thread_list_ins_tail(&master_threads, td);
 443                 pthread_create(&td->tid, NULL, master_thread, (void *)td);
 444                 dbg(2, "Master thread: %p\n", (void *)td->tid);
 445         }
 446
 447
 448         /* Wait for all threads beeing ready */
 449         for (i = 0; i < masters; i++) sem_wait(&ready_sem);
 450
 451         /* Start threads */
 452         pthread_mutex_lock(&mut_start);
 453         start_flag = 1;
 454         pthread_cond_broadcast(&cond_start);
 455         pthread_mutex_unlock(&mut_start);
 456 }
 457
 458 void *slave_thread(void *arg)
 459 {
 460         thread_data_t *td = (thread_data_t *)arg;
 461         int ping_id = td->canid;
 462         int pong_id = ping_id + 1;
 463         struct canmsg_t pingmsg, pongmsg;
 464         int ret = 0;
 465         vca_handle_t vcah = VCA_HANDLE_INVALID; /* File descriptor of CAN driver. */
 466         int i;
 467         struct canfilt_t canfilt; /* filter for received messages */
 468
 469         if (!option_open_once) {
 470                 /* Open the CAN driver and disable (D) reception of
 471                  * all messages until we setup a filter below. */
 472                 if(vca_open_handle(&vcah, option_device, "D", 0) < 0) {
 473                         perror("open");
 474                         printf("Error opening %s (for id %d)\n", option_device, ping_id);
 475                         exit(EXIT_CANNOT_OPEN);
 476                 }
 477         } else {
 478                 vcah = global_vcah;
 479         }
 480
 481         /* setup filtering of received messages */
 482         memset(&canfilt, 0, sizeof(canfilt));
 483         canfilt.mask = 0xfffffff;
 484         canfilt.id = ping_id;   /* receive only our ping messages */
 485         ret = vca_set_filt(vcah, &canfilt);
 486         if (ret < 0) {
 487                 perror("ioctl CANQUE_FILTER");
 488                 exit(EXIT_FILTER_ERROR);
 489         }
 490         /* If there are some messages already, delete them. These may
 491          * not processed by our filter and thus may have a wrong
 492          * ID. */
 493         ret = vca_queue_flush(vcah, 0);
 494         if (ret < 0) {
 495                 perror("ioctl CANQUE_QUEUE_FLUSH");
 496                 exit(EXIT_FLUSH_ERROR);
 497         }
 498
 499         /* Prepare a pong message */
 500         pongmsg.flags = 0;
 501         pongmsg.id = pong_id;
 502         pongmsg.length = option_length;
 503         for (i=0; i < option_length; i++) pongmsg.data[i] = i;
 504
 505         /* Signal that I'm ready */
 506         sem_post(&ready_sem);
 507
 508         while (!IS_FINISH_FLAG()) {
 509                 /* Receive a ping message */
 510                 pingmsg.flags=0;
 511                 ret = vca_rec_msg_seq(vcah, &pingmsg, 1);
 512                 if (ret < 0) {
 513                         if (NOT_INTERRUPTED_SYSCALL) {
 514                                 printf("%d\n", errno);
 515                                 perror("read");
 516                                 exit(EXIT_READ_ERROR);
 517                         }
 518                 }
 519                 if (NOT_INTERRUPTED_SYSCALL && pingmsg.id != ping_id) {
 520                         fprintf(stderr, "Filter error (expected: %d, received %ld)\n", ping_id, pingmsg.id);
 521                         exit(EXIT_FILTER_ERROR);
 522                 }
 523                 /* Answer immendiately with a pong message */
 524                 if (NOT_INTERRUPTED_SYSCALL) {
 525                         ret = vca_send_msg_seq(vcah, &pongmsg, 1);
 526                         if (ret < 0) {
 527                                 if (NOT_INTERRUPTED_SYSCALL) {
 528                                         perror("write");
 529                                         exit(EXIT_WRITE_ERROR);
 530                                 }
 531                         }
 532                 }
 533
 534                 if (ret >= 0) total_count++;
 535
 536                 if (option_verbose >= 2)
 537                         /* This drasticly slows down the pong
 538                          * response. Why??? */
 539                         printf("Replying to ping id %lu\n", pingmsg.id);
 540
 541         }
 542
 543         if (!option_open_once) {
 544                 /* Close can driver */
 545                 vca_close_handle(vcah);
 546         }
 547
 548         dbg(2, "Slave thread for id %d is going to finish\n", ping_id);
 549
 550         sem_post(&finish_sem);
 551         return (void *)ret;
 552 }
 553
 554 void start_slaves(int slaves, int first_id)
 555 {
 556         int id = first_id;
 557         int i;
 558
 559         dbg(1, "Starting %d slave threads\n", slaves);
 560
 561         for (i = 0; i < slaves; i++, id += 2) {
 562                 thread_data_t *td;
 563
 564                 td = malloc(sizeof(*td));
 565                 if (!td) {
 566                         printf("Can't allocate memory");
 567                         exit(EXIT_NO_MEM);
 568                 }
 569                 memset(td, 0, sizeof(*td));
 570                 td->canid = id;
 571                 /* TODO use mutexes and signal blocking */
 572                 thread_list_ins_tail(&slave_threads, td);
 573                 pthread_create(&td->tid, NULL, slave_thread, (void *)td);
 574                 dbg(2, "Slave thread: %p\n", (void *)td->tid);
 575         }
 576
 577         /* Wait for all threads beeing ready */
 578         for (i = 0; i < slaves; i++) sem_wait(&ready_sem);
 579 }
 580
 581 #ifdef WITH_RTPRIO
 582 int set_sched_policy_and_prio(int policy, int rtprio)
 583 {
 584         struct sched_param scheduling_parameters;
 585         int maxprio=sched_get_priority_max(policy);
 586         int minprio=sched_get_priority_min(policy);
 587
 588         if((rtprio < minprio) || (rtprio > maxprio)) {
 589                 fprintf(stderr, "The priority for requested policy is out of <%d, %d> range\n",
 590                                 minprio, maxprio);
 591                 return -1;
 592         }
 593
 594         scheduling_parameters.sched_priority = rtprio;
 595
 596         if (0 != pthread_setschedparam(pthread_self(), policy, &scheduling_parameters)) {
 597                 perror("pthread_setschedparam error");
 598         }
 599         return 0;
 600 }
 601 #endif
 602
 603 void print_help(void)
 604 {
 605         printf("Usage: canping -m <master threads> [other options]\n"
 606                "       canping -s <slave threads> [other options]\n\n"
 607                "Other options:\n"
 608                "  -b            go to background (fork) after initialization, prints child PID\n"
 609                "  -c count      how many messages each master sends\n"
 610                "  -d dev        device (e.g. /dev/can1)\n"
 611                "  -e prefix     save all measured times in file <prefix>-<id>.dat\n"
 612                "  -g prefix     store cumulative histogram in file <prefix>-<id>.dat\n"
 613                "  -h            print this help\n"
 614                "  -i id         id of first master message\n"
 615                "  -l length     length of the messages (0..8)\n"
 616                "  -n number     ignore first <number> messages\n"
 617                "  -o            open a device only once for all threads (doesn't work)\n" /* due to filters */
 618                "  -t timeout    timeout in seconds (default 4 s)\n"
 619                "  -v            be verbose (use more than once to increase verbosity)\n"
 620                "  -w ms         wait ms miliseconds between sending pings\n"
 621                "  -y            synchronize threads before start (doesn't test race conditions\n"
 622                "                between open and read/write)\n"
 623 #ifdef WITH_RTPRIO
 624                "  -r            run at realtime priority\n"
 625                "  -R P:prio     run at realtime priority prio, policy RR or FF\n"
 626 #endif
 627                "\n"
 628                "Example: canping -m 10 -vv\n"
 629                 );
 630 }
 631
 632 int parse_options(int argc, char *argv[])
 633 {
 634         int c;
 635
 636         opterr = 0;
 637         while ((c = getopt (argc, argv, "bc:d:e:g:hi:l:m:n:os:t:vw:yrR:")) != -1)
 638                 switch (c)
 639                 {
 640                 case 'b':
 641                         option_background = true;
 642                         break;
 643                 case 'c':
 644                         option_count = atoi(optarg);
 645                         break;
 646                 case 'd':
 647                         option_device = optarg;
 648                         break;
 649                 case 'e':
 650                         option_save_all_times = optarg;
 651                         break;
 652                 case 'g':
 653                         option_histogram = optarg;
 654                         break;
 655                 case 'h':
 656                         print_help();
 657                         exit(EXIT_OK);
 658                         break;
 659                 case 'i':
 660                         option_first_id = atoi(optarg);
 661                         break;
 662                 case 'l':
 663                         option_length = atoi(optarg);
 664                         if (option_length > 8) option_length = 8;
 665                         if (option_length < 0) option_length = 0;
 666                         break;
 667                 case 'm':
 668                         option_masters = atoi(optarg);
 669                         break;
 670                 case 'n':
 671                         option_msg_to_ignore = atoi(optarg);
 672                         break;
 673                 case 'o':
 674                         option_open_once = 1;
 675                         break;
 676                 case 's':
 677                         option_slaves = atoi(optarg);
 678                         break;
 679                 case 't':
 680                         option_timeout = atoi(optarg);
 681                         break;
 682                 case 'v':
 683                         option_verbose++;
 684                         break;
 685                 case 'w':
 686                         option_wait_ms = atoi(optarg);
 687                         break;
 688                 case 'y':
 689                         option_synch_start = 1;
 690                         break;
 691 #ifdef WITH_RTPRIO
 692                 case 'r':
 693                         sched_policy = SCHED_FIFO;
 694                         sched_rtprio = (sched_get_priority_min(SCHED_FIFO) +
 695                                         sched_get_priority_max(SCHED_FIFO)) / 2;
 696                         break;
 697                 case 'R':
 698                         if(!isalpha(*optarg)) {
 699                                 sched_policy = SCHED_FIFO;
 700                         } else if(!strncmp(optarg,"FF:",3)) {
 701                                 sched_policy = SCHED_FIFO;
 702                                 optarg += 3;
 703                         } else if(!strncmp(optarg,"RR:",3)) {
 704                                 sched_policy = SCHED_RR;
 705                                 optarg += 3;
 706                         } else {
 707                                 fprintf (stderr, "Unknown policy %s\n", optarg);
 708                                 exit(EXIT_BAD_PARAM);
 709                         }
 710                         sched_rtprio = atoi(optarg);
 711                         break;
 712 #endif
 713                 case '?':
 714                         if (isprint (optopt))
 715                                 fprintf (stderr, "Unknown option `-%c'.\n", optopt);
 716                         else
 717                                 fprintf (stderr,
 718                                          "Unknown option character `\\x%x'.\n",
 719                                          optopt);
 720                         return 1;
 721                 default:
 722                         exit(EXIT_BAD_PARAM);
 723                 }
 724         if (!(option_masters || option_slaves) || (option_masters && option_slaves))
 725                 exit(EXIT_BAD_PARAM);
 726         return 0;
 727 }
 728
 729 void print_stats(thread_data_t *td)
 730 {
 731         char std[20];
 732         int count = td->count + td->timeout;
 733
 734         if (td->count >= 2) {
 735                 snprintf(std, 19, "%7.2f", sqrt((td->count/(td->count - 1)) *
 736                                                 (td->moment2nd - td->mean*td->mean)));
 737         } else {
 738                 strncpy(std, "N/A", 19);
 739         }
 740         printf("Id %4ld: count = %5d"
 741                " mean = %7.2f stddev = %s"
 742                " min = %5d max = %5d [us]"
 743                " loss = %d%% (%d)\n",
 744                td->canid, count, td->mean,
 745                std,
 746                td->min, td->max,
 747                (count > 0) ? 100 * td->timeout / count : 0, td->timeout
 748                 );
 749 }
 750
 751 void wait_for_threads(void)
 752 {
 753         thread_data_t *td;
 754         void *thread_ret;
 755         int thread_count = option_slaves + option_masters;
 756         int ret;
 757
 758         while (thread_count > 0) {
 759                 if (option_verbose != 1) {
 760                         ret = sem_wait(&finish_sem);
 761                         dbg(2, "Main thread sem_wait() exited with ret=%d.\n", ret);
 762
 763                         /* If the sem_wait is successful i.e. not
 764                          * interrupted by a signal, decrease the
 765                          * thread_count*/
 766                         if (ret == 0) thread_count--;
 767                 } else {
 768                         if (!IS_FINISH_FLAG()) {
 769                                 printf("Total count: %6d, Timeouts: %6d\r", total_count, total_timeout);
 770                                 fflush(stdout);
 771                                 usleep(1000000);
 772                         }
 773                         while (sem_trywait(&finish_sem) == 0) thread_count--;
 774                 }
 775         }
 776         if (option_verbose == 1) {
 777                 printf("\n");
 778         }
 779
 780         ul_list_for_each(thread_list, &master_threads, td) {
 781                 pthread_join(td->tid, &thread_ret);
 782                 dbg(2, "Master thread for id %ld finished; exit code %d\n", td->canid, (int)thread_ret);
 783         }
 784
 785         ul_list_for_each(thread_list, &slave_threads, td) {
 786                 pthread_join(td->tid, &thread_ret);
 787                 dbg(2, "Slave thread for id %ld finished; exit code %d\n", td->canid, (int)thread_ret);
 788         }
 789
 790         if (option_masters) printf("Summary statistics:\n");
 791
 792         ul_list_for_each_cut(thread_list, &master_threads, td) {
 793                 print_stats(td);
 794                 free(td);
 795         }
 796
 797
 798         ul_list_for_each_cut(thread_list, &slave_threads, td)
 799                 free(td);
 800 }
 801
 802 int main(int argc, char *argv[])
 803 {
 804         parse_options(argc, argv);
 805
 806 #ifdef WITH_RTPRIO
 807         if(sched_policy != SCHED_OTHER) {
 808                 if(set_sched_policy_and_prio(sched_policy, sched_rtprio) <0)
 809                         exit(EXIT_BAD_PARAM);
 810                 mlockall(MCL_CURRENT | MCL_FUTURE);
 811         }
 812 #endif
 813
 814
 815         thread_list_init_head(&master_threads);
 816         thread_list_init_head(&slave_threads);
 817
 818         sem_init(&finish_sem, 0, 0);
 819         sem_init(&ready_sem, 0, 0);
 820
 821         siginterrupt(SIGINT, 1);
 822         signal(SIGINT, term_handler);
 823         siginterrupt(SIGTERM, 1);
 824         signal(SIGTERM, term_handler);
 825
 826         dbg(2, "Main thread: %p\n", (void *)pthread_self());
 827
 828         if (option_open_once) {
 829                 /* Open the CAN driver */
 830                 if(vca_open_handle(&global_vcah, option_device, NULL, 0) < 0) {
 831                         perror("open");
 832                         printf("Error opening %s\n", option_device);
 833                         exit(EXIT_CANNOT_OPEN);
 834                 }
 835         }
 836
 837         sem_t *child_ready;
 838         int fork_ret = 0;
 839         if ((child_ready = sem_open("canping", O_CREAT)) == NULL)
 840                 error(1, errno, "sem_open");
 841         if (option_background) {
 842                 /* Go to background when everything is ready */
 843                 fork_ret = fork();
 844                 if (fork_ret < 0)
 845                         error(1, errno, "Cannot go to background");
 846                 if (fork_ret == 0) {
 847                         int devnull = open("/dev/null", O_WRONLY);
 848                         dup2(devnull, 1);
 849                 }
 850         }
 851
 852         if (fork_ret == 0) {
 853                 /* Child */
 854                 if (option_masters) start_masters(option_masters, option_first_id);
 855                 if (option_slaves) start_slaves(option_slaves, option_first_id);
 856                 sem_post(child_ready);
 857         } else {
 858                 /* Parent */
 859                 sem_wait(child_ready);
 860                 printf("%d\n", fork_ret);
 861                 exit(0);
 862         }
 863
 864         wait_for_threads();
 865
 866         if (option_open_once) {
 867                 vca_close_handle(global_vcah);
 868         }
 869
 870         return 0;
 871 }