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 can driver */
 252                 if(vca_open_handle(&vcah, option_device, NULL, 0) < 0) {
 253                         perror("open");
 254                         fprintf(stderr, "Error opening %s (for id %d)\n", option_device, ping_id);
 255                         exit(EXIT_CANNOT_OPEN);
 256                 }
 257         } else {
 258                 vcah = global_vcah;
 259         }
 260
 261         /* setup filtering of received messages */
 262         memset(&canfilt, 0, sizeof(canfilt));
 263         canfilt.mask = 0xfffffff;
 264         canfilt.id = pong_id;   /* pong responces with increased id */
 265         ret = vca_set_filt(vcah, &canfilt);
 266         if(ret<0) {
 267                 perror("ioctl CANQUE_FILTER");
 268                 exit(EXIT_FILTER_ERROR);
 269         }
 270         ret = vca_queue_flush(vcah, 0);
 271         if(ret<0) {
 272                 perror("ioctl CANQUE_QUEUE_FLUSH");
 273                 exit(EXIT_FLUSH_ERROR);
 274         }
 275
 276         if (option_histogram)
 277                 histogram_init(&td->hist, 1000*1000/*max [us]*/, 5/*resolution [us]*/);
 278
 279         if (option_save_all_times) {
 280                 td->times = malloc(sizeof(*td->times)*option_count);
 281                 if (!td->times)
 282                         error(1, errno, "malloc times");
 283         }
 284
 285         /* Prepare data structures for the select syscall. */
 286         FD_ZERO (&rdset);
 287
 288         /* Signal that I'm ready */
 289         sem_post(&ready_sem);
 290
 291         if (option_synch_start) {
 292                 /* Wait for other threads to initialize */
 293                 pthread_mutex_lock(&mut_start);
 294                 while (!start_flag) pthread_cond_wait(&cond_start, &mut_start);
 295                 pthread_mutex_unlock(&mut_start);
 296         }
 297
 298         while (!IS_FINISH_FLAG() && (option_count == 0 || ping_count++ < option_count + option_msg_to_ignore)) {
 299                 /* Send a ping message */
 300                 pingmsg.flags=0;
 301                 pingmsg.id=ping_id;
 302                 pingmsg.length = option_length;
 303                 for (i=0; i < option_length; i++) pingmsg.data[i] = i;
 304                 gettimeofday(&pingtime, NULL);
 305
 306                 ret = vca_send_msg_seq(vcah, &pingmsg, 1);
 307                 if (ret < 0) {
 308                         if (NOT_INTERRUPTED_SYSCALL) {
 309                                 perror("write");
 310                                 exit(EXIT_WRITE_ERROR);
 311                         }
 312                         else continue;
 313                 }
 314
 315                 /* Wait for a pong responce */
 316                 FD_SET (vca_h2fd(vcah), &rdset);
 317
 318                 timeout.tv_sec = option_timeout;
 319                 timeout.tv_usec = 0;
 320
 321                 ret = select(FD_SETSIZE, &rdset, NULL, NULL, &timeout);
 322                 if (ret > 0) {
 323                         /* Read the message */
 324                         pongmsg.flags=0;
 325                         ret = vca_rec_msg_seq(vcah, &pongmsg, 1);
 326                         if (ret < 0) {
 327                                 if (NOT_INTERRUPTED_SYSCALL) {
 328                                         perror("read");
 329                                         exit(EXIT_READ_ERROR);
 330                                 }
 331                                 else continue;
 332                         }
 333                         else {  /* A pong message received */
 334                                 long int time;
 335                                 gettimeofday(&pongtime, NULL);
 336                                 if (ret == 0) {
 337                                         fprintf(stderr, "read returned zero\n");
 338                                         exit(EXIT_READ_ERROR);
 339                                 }
 340                                 if (pongmsg.id != pong_id) {
 341                                         fprintf(stderr, "Filter error (expected: %d, received %ld)\n", pong_id, pongmsg.id);
 342                                         exit(EXIT_FILTER_ERROR);
 343                                 }
 344                                 timeval_subtract(&pongtime, &pongtime, &pingtime);
 345                                 time = pongtime.tv_sec*1000000 + pongtime.tv_usec;
 346                                 switch (option_verbose) {
 347                                 case 2:
 348                                         printf("%d:%ld\n", ping_id, time);
 349                                         break;
 350                                 case 3:
 351                                         printf("Pong response %d for id %d received in %ld us\n", ping_count, ping_id, time);
 352                                         break;
 353                                 }
 354                                 /* Update statistics */
 355                                 if (ping_count > option_msg_to_ignore) {
 356                                         td->count++;
 357                                         td->mean =
 358                                                 td->mean * ((double)(td->count - 1) / td->count) +
 359                                                 (double)time / td->count;
 360                                         td->moment2nd =
 361                                                 td->moment2nd * ((double)(td->count - 1) / td->count) +
 362                                                 (double)time*time  / td->count;
 363                                         if (time > td->max) td->max = time;
 364                                         if (time < td->min) td->min = time;
 365                                         if (option_histogram)
 366                                                 histogram_add(&td->hist, time);
 367                                         if (option_save_all_times)
 368                                                 td->times[ping_count - 1 - option_msg_to_ignore] = time;
 369                                 }
 370                                 total_count++;
 371                         } /* read */
 372                 }
 373                 else if (ret == 0) { /* select */
 374                         if (option_verbose >= 2)
 375                                 printf("Timeout encountered (id %d)\n", ping_id);
 376                         td->timeout++;
 377                         total_timeout++;
 378                 }
 379                 else {
 380                         if (NOT_INTERRUPTED_SYSCALL) {
 381                                 perror("select");
 382                                 exit(EXIT_SELECT_ERROR);
 383                         }
 384                         else continue;
 385                 }
 386                 usleep(option_wait_ms * 1000);
 387         }
 388
 389         if (!option_open_once) {
 390                 /* Close the can driver */
 391                 vca_close_handle(vcah);
 392         }
 393
 394         if (option_histogram) {
 395                 FILE *f;
 396                 char buf[100];
 397                 snprintf(buf, sizeof(buf), "%s-%d.dat", option_histogram, ping_id);
 398                 f = fopen(buf, "w");
 399                 histogram_fprint(&td->hist, f);
 400                 fclose(f);
 401         }
 402
 403         if (option_save_all_times) {
 404                 FILE *f;
 405                 char buf[100];
 406                 int i;
 407                 snprintf(buf, sizeof(buf), "%s-%d.dat", option_save_all_times, ping_id);
 408                 f = fopen(buf, "w");
 409                 for (i=0; i<option_count; i++) {
 410                         if (!getenv("CANPING_MS"))
 411                                 fprintf(f, "%u\n", td->times[i]);
 412                         else
 413                                 fprintf(f, "%g\n", 1e-3*td->times[i]);
 414                 }
 415                 fclose(f);
 416         }
 417
 418         sem_post(&finish_sem);
 419         return (void *)ret;
 420 }
 421
 422 void start_masters(int masters, int first_id)
 423 {
 424         int id = first_id;
 425         int i;
 426
 427         dbg(1, "Starting %d master threads\n", masters);
 428
 429         for (i = 0; i < masters; i++, id += 2) {
 430                 thread_data_t *td;
 431
 432                 td = malloc(sizeof(*td));
 433                 if (!td) {
 434                         printf("Can't allocate memory");
 435                         exit(EXIT_NO_MEM);
 436                 }
 437                 memset(td, 0, sizeof(*td));
 438                 td->canid = id;
 439                 td->min = 0x7fffffff;
 440                 /* TODO use mutexes and signal blocking */
 441                 thread_list_ins_tail(&master_threads, td);
 442                 pthread_create(&td->tid, NULL, master_thread, (void *)td);
 443                 dbg(2, "Master thread: %p\n", (void *)td->tid);
 444         }
 445
 446
 447         /* Wait for all threads beeing ready */
 448         for (i = 0; i < masters; i++) sem_wait(&ready_sem);
 449
 450         /* Start threads */
 451         pthread_mutex_lock(&mut_start);
 452         start_flag = 1;
 453         pthread_cond_broadcast(&cond_start);
 454         pthread_mutex_unlock(&mut_start);
 455 }
 456
 457 void *slave_thread(void *arg)
 458 {
 459         thread_data_t *td = (thread_data_t *)arg;
 460         int ping_id = td->canid;
 461         int pong_id = ping_id + 1;
 462         struct canmsg_t pingmsg, pongmsg;
 463         int ret = 0;
 464         vca_handle_t vcah = VCA_HANDLE_INVALID; /* File descriptor of CAN driver. */
 465         int i;
 466         struct canfilt_t canfilt; /* filter for received messages */
 467
 468         if (!option_open_once) {
 469                 /* Open the CAN driver */
 470                 if(vca_open_handle(&vcah, option_device, NULL, 0) < 0) {
 471                         perror("open");
 472                         printf("Error opening %s (for id %d)\n", option_device, ping_id);
 473                         exit(EXIT_CANNOT_OPEN);
 474                 }
 475         } else {
 476                 vcah = global_vcah;
 477         }
 478
 479         /* setup filtering of received messages */
 480         memset(&canfilt, 0, sizeof(canfilt));
 481         canfilt.mask = 0xfffffff;
 482         canfilt.id = ping_id;   /* receive only our ping messages */
 483         ret = vca_set_filt(vcah, &canfilt);
 484         if (ret < 0) {
 485                 perror("ioctl CANQUE_FILTER");
 486                 exit(EXIT_FILTER_ERROR);
 487         }
 488         /* If there are some messages already, delete them. These may
 489          * not processed by our filter and thus may have a wrong
 490          * ID. */
 491         ret = vca_queue_flush(vcah, 0);
 492         if (ret < 0) {
 493                 perror("ioctl CANQUE_QUEUE_FLUSH");
 494                 exit(EXIT_FLUSH_ERROR);
 495         }
 496
 497         /* Prepare a pong message */
 498         pongmsg.flags = 0;
 499         pongmsg.id = pong_id;
 500         pongmsg.length = option_length;
 501         for (i=0; i < option_length; i++) pongmsg.data[i] = i;
 502
 503         /* Signal that I'm ready */
 504         sem_post(&ready_sem);
 505
 506         while (!IS_FINISH_FLAG()) {
 507                 /* Receive a ping message */
 508                 pingmsg.flags=0;
 509                 ret = vca_rec_msg_seq(vcah, &pingmsg, 1);
 510                 if (ret < 0) {
 511                         if (NOT_INTERRUPTED_SYSCALL) {
 512                                 printf("%d\n", errno);
 513                                 perror("read");
 514                                 exit(EXIT_READ_ERROR);
 515                         }
 516                 }
 517                 if (NOT_INTERRUPTED_SYSCALL && pingmsg.id != ping_id) {
 518                         fprintf(stderr, "Filter error (expected: %d, received %ld)\n", ping_id, pingmsg.id);
 519                         exit(EXIT_FILTER_ERROR);
 520                 }
 521                 /* Answer immendiately with a pong message */
 522                 if (NOT_INTERRUPTED_SYSCALL) {
 523                         ret = vca_send_msg_seq(vcah, &pongmsg, 1);
 524                         if (ret < 0) {
 525                                 if (NOT_INTERRUPTED_SYSCALL) {
 526                                         perror("write");
 527                                         exit(EXIT_WRITE_ERROR);
 528                                 }
 529                         }
 530                 }
 531
 532                 if (ret >= 0) total_count++;
 533
 534                 if (option_verbose >= 2)
 535                         /* This drasticly slows down the pong
 536                          * response. Why??? */
 537                         printf("Replying to ping id %lu\n", pingmsg.id);
 538
 539         }
 540
 541         if (!option_open_once) {
 542                 /* Close can driver */
 543                 vca_close_handle(vcah);
 544         }
 545
 546         dbg(2, "Slave thread for id %d is going to finish\n", ping_id);
 547
 548         sem_post(&finish_sem);
 549         return (void *)ret;
 550 }
 551
 552 void start_slaves(int slaves, int first_id)
 553 {
 554         int id = first_id;
 555         int i;
 556
 557         dbg(1, "Starting %d slave threads\n", slaves);
 558
 559         for (i = 0; i < slaves; i++, id += 2) {
 560                 thread_data_t *td;
 561
 562                 td = malloc(sizeof(*td));
 563                 if (!td) {
 564                         printf("Can't allocate memory");
 565                         exit(EXIT_NO_MEM);
 566                 }
 567                 memset(td, 0, sizeof(*td));
 568                 td->canid = id;
 569                 /* TODO use mutexes and signal blocking */
 570                 thread_list_ins_tail(&slave_threads, td);
 571                 pthread_create(&td->tid, NULL, slave_thread, (void *)td);
 572                 dbg(2, "Slave thread: %p\n", (void *)td->tid);
 573         }
 574
 575         /* Wait for all threads beeing ready */
 576         for (i = 0; i < slaves; i++) sem_wait(&ready_sem);
 577 }
 578
 579 #ifdef WITH_RTPRIO
 580 int set_sched_policy_and_prio(int policy, int rtprio)
 581 {
 582         struct sched_param scheduling_parameters;
 583         int maxprio=sched_get_priority_max(policy);
 584         int minprio=sched_get_priority_min(policy);
 585
 586         if((rtprio < minprio) || (rtprio > maxprio)) {
 587                 fprintf(stderr, "The priority for requested policy is out of <%d, %d> range\n",
 588                                 minprio, maxprio);
 589                 return -1;
 590         }
 591
 592         scheduling_parameters.sched_priority = rtprio;
 593
 594         if (0 != pthread_setschedparam(pthread_self(), policy, &scheduling_parameters)) {
 595                 perror("pthread_setschedparam error");
 596         }
 597         return 0;
 598 }
 599 #endif
 600
 601 void print_help(void)
 602 {
 603         printf("Usage: canping -m <master threads> [other options]\n"
 604                "       canping -s <slave threads> [other options]\n\n"
 605                "Other options:\n"
 606                "  -b            go to background (fork) after initialization, prints child PID\n"
 607                "  -c count      how many messages each master sends\n"
 608                "  -d dev        device (e.g. /dev/can1)\n"
 609                "  -e prefix     save all measured times in file <prefix>-<id>.dat\n"
 610                "  -g prefix     store cumulative histogram in file <prefix>-<id>.dat\n"
 611                "  -h            print this help\n"
 612                "  -i id         id of first master message\n"
 613                "  -l length     length of the messages (0..8)\n"
 614                "  -n number     ignore first <number> messages\n"
 615                "  -o            open a device only once for all threads (doesn't work)\n" /* due to filters */
 616                "  -t timeout    timeout in seconds (default 4 s)\n"
 617                "  -v            be verbose (use more than once to increase verbosity)\n"
 618                "  -w ms         wait ms miliseconds between sending pings\n"
 619                "  -y            synchronize threads before start (doesn't test race conditions\n"
 620                "                between open and read/write)\n"
 621 #ifdef WITH_RTPRIO
 622                "  -r            run at realtime priority\n"
 623                "  -R P:prio     run at realtime priority prio, policy RR or FF\n"
 624 #endif
 625                "\n"
 626                "Example: canping -m 10 -vv\n"
 627                 );
 628 }
 629
 630 int parse_options(int argc, char *argv[])
 631 {
 632         int c;
 633
 634         opterr = 0;
 635         while ((c = getopt (argc, argv, "bc:d:e:g:hi:l:m:n:os:t:vw:yrR:")) != -1)
 636                 switch (c)
 637                 {
 638                 case 'b':
 639                         option_background = true;
 640                         break;
 641                 case 'c':
 642                         option_count = atoi(optarg);
 643                         break;
 644                 case 'd':
 645                         option_device = optarg;
 646                         break;
 647                 case 'e':
 648                         option_save_all_times = optarg;
 649                         break;
 650                 case 'g':
 651                         option_histogram = optarg;
 652                         break;
 653                 case 'h':
 654                         print_help();
 655                         exit(EXIT_OK);
 656                         break;
 657                 case 'i':
 658                         option_first_id = atoi(optarg);
 659                         break;
 660                 case 'l':
 661                         option_length = atoi(optarg);
 662                         if (option_length > 8) option_length = 8;
 663                         if (option_length < 0) option_length = 0;
 664                         break;
 665                 case 'm':
 666                         option_masters = atoi(optarg);
 667                         break;
 668                 case 'n':
 669                         option_msg_to_ignore = atoi(optarg);
 670                         break;
 671                 case 'o':
 672                         option_open_once = 1;
 673                         break;
 674                 case 's':
 675                         option_slaves = atoi(optarg);
 676                         break;
 677                 case 't':
 678                         option_timeout = atoi(optarg);
 679                         break;
 680                 case 'v':
 681                         option_verbose++;
 682                         break;
 683                 case 'w':
 684                         option_wait_ms = atoi(optarg);
 685                         break;
 686                 case 'y':
 687                         option_synch_start = 1;
 688                         break;
 689 #ifdef WITH_RTPRIO
 690                 case 'r':
 691                         sched_policy = SCHED_FIFO;
 692                         sched_rtprio = (sched_get_priority_min(SCHED_FIFO) +
 693                                         sched_get_priority_max(SCHED_FIFO)) / 2;
 694                         break;
 695                 case 'R':
 696                         if(!isalpha(*optarg)) {
 697                                 sched_policy = SCHED_FIFO;
 698                         } else if(!strncmp(optarg,"FF:",3)) {
 699                                 sched_policy = SCHED_FIFO;
 700                                 optarg += 3;
 701                         } else if(!strncmp(optarg,"RR:",3)) {
 702                                 sched_policy = SCHED_RR;
 703                                 optarg += 3;
 704                         } else {
 705                                 fprintf (stderr, "Unknown policy %s\n", optarg);
 706                                 exit(EXIT_BAD_PARAM);
 707                         }
 708                         sched_rtprio = atoi(optarg);
 709                         break;
 710 #endif
 711                 case '?':
 712                         if (isprint (optopt))
 713                                 fprintf (stderr, "Unknown option `-%c'.\n", optopt);
 714                         else
 715                                 fprintf (stderr,
 716                                          "Unknown option character `\\x%x'.\n",
 717                                          optopt);
 718                         return 1;
 719                 default:
 720                         exit(EXIT_BAD_PARAM);
 721                 }
 722         if (!(option_masters || option_slaves) || (option_masters && option_slaves))
 723                 exit(EXIT_BAD_PARAM);
 724         return 0;
 725 }
 726
 727 void print_stats(thread_data_t *td)
 728 {
 729         char std[20];
 730         int count = td->count + td->timeout;
 731
 732         if (td->count >= 2) {
 733                 snprintf(std, 19, "%7.2f", sqrt((td->count/(td->count - 1)) *
 734                                                 (td->moment2nd - td->mean*td->mean)));
 735         } else {
 736                 strncpy(std, "N/A", 19);
 737         }
 738         printf("Id %4ld: count = %5d"
 739                " mean = %7.2f stddev = %s"
 740                " min = %5d max = %5d [us]"
 741                " loss = %d%% (%d)\n",
 742                td->canid, count, td->mean,
 743                std,
 744                td->min, td->max,
 745                (count > 0) ? 100 * td->timeout / count : 0, td->timeout
 746                 );
 747 }
 748
 749 void wait_for_threads(void)
 750 {
 751         thread_data_t *td;
 752         void *thread_ret;
 753         int thread_count = option_slaves + option_masters;
 754         int ret;
 755
 756         while (thread_count > 0) {
 757                 if (option_verbose != 1) {
 758                         ret = sem_wait(&finish_sem);
 759                         dbg(2, "Main thread sem_wait() exited with ret=%d.\n", ret);
 760
 761                         /* If the sem_wait is successful i.e. not
 762                          * interrupted by a signal, decrease the
 763                          * thread_count*/
 764                         if (ret == 0) thread_count--;
 765                 } else {
 766                         if (!IS_FINISH_FLAG()) {
 767                                 printf("Total count: %6d, Timeouts: %6d\r", total_count, total_timeout);
 768                                 fflush(stdout);
 769                                 usleep(1000000);
 770                         }
 771                         while (sem_trywait(&finish_sem) == 0) thread_count--;
 772                 }
 773         }
 774         if (option_verbose == 1) {
 775                 printf("\n");
 776         }
 777
 778         ul_list_for_each(thread_list, &master_threads, td) {
 779                 pthread_join(td->tid, &thread_ret);
 780                 dbg(2, "Master thread for id %ld finished; exit code %d\n", td->canid, (int)thread_ret);
 781         }
 782
 783         ul_list_for_each(thread_list, &slave_threads, td) {
 784                 pthread_join(td->tid, &thread_ret);
 785                 dbg(2, "Slave thread for id %ld finished; exit code %d\n", td->canid, (int)thread_ret);
 786         }
 787
 788         if (option_masters) printf("Summary statistics:\n");
 789
 790         ul_list_for_each_cut(thread_list, &master_threads, td) {
 791                 print_stats(td);
 792                 free(td);
 793         }
 794
 795
 796         ul_list_for_each_cut(thread_list, &slave_threads, td)
 797                 free(td);
 798 }
 799
 800 int main(int argc, char *argv[])
 801 {
 802         parse_options(argc, argv);
 803
 804 #ifdef WITH_RTPRIO
 805         if(sched_policy != SCHED_OTHER) {
 806                 if(set_sched_policy_and_prio(sched_policy, sched_rtprio) <0)
 807                         exit(EXIT_BAD_PARAM);
 808                 mlockall(MCL_CURRENT | MCL_FUTURE);
 809         }
 810 #endif
 811
 812
 813         thread_list_init_head(&master_threads);
 814         thread_list_init_head(&slave_threads);
 815
 816         sem_init(&finish_sem, 0, 0);
 817         sem_init(&ready_sem, 0, 0);
 818
 819         siginterrupt(SIGINT, 1);
 820         signal(SIGINT, term_handler);
 821         siginterrupt(SIGTERM, 1);
 822         signal(SIGTERM, term_handler);
 823
 824         dbg(2, "Main thread: %p\n", (void *)pthread_self());
 825
 826         if (option_open_once) {
 827                 /* Open the CAN driver */
 828                 if(vca_open_handle(&global_vcah, option_device, NULL, 0) < 0) {
 829                         perror("open");
 830                         printf("Error opening %s\n", option_device);
 831                         exit(EXIT_CANNOT_OPEN);
 832                 }
 833         }
 834
 835         sem_t *child_ready;
 836         int fork_ret = 0;
 837         if ((child_ready = sem_open("canping", O_CREAT)) == NULL)
 838                 error(1, errno, "sem_open");
 839         if (option_background) {
 840                 /* Go to background when everything is ready */
 841                 fork_ret = fork();
 842                 if (fork_ret < 0)
 843                         error(1, errno, "Cannot go to background");
 844                 if (fork_ret == 0) {
 845                         int devnull = open("/dev/null", O_WRONLY);
 846                         dup2(devnull, 1);
 847                 }
 848         }
 849
 850         if (fork_ret == 0) {
 851                 /* Child */
 852                 if (option_masters) start_masters(option_masters, option_first_id);
 853                 if (option_slaves) start_slaves(option_slaves, option_first_id);
 854                 sem_post(child_ready);
 855         } else {
 856                 /* Parent */
 857                 sem_wait(child_ready);
 858                 printf("%d\n", fork_ret);
 859                 exit(0);
 860         }
 861
 862         wait_for_threads();
 863
 864         if (option_open_once) {
 865                 vca_close_handle(global_vcah);
 866         }
 867
 868         return 0;
 869 }