1 /**************************************************************************/
2 /* File: vca_canping.c - utility to test CAN functionality and throughput */
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> */
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 /**************************************************************************/
29 #include <sys/types.h>
33 #include <semaphore.h>
37 /* TODO: Handle the case where there are more canping slaves running
50 int sched_policy = SCHED_OTHER;
57 #define dbg(level, fmt, arg...) do {} while (0)
59 #define dbg(level, fmt, arg...) do { if (level <= DEBUG) { printf("candping: " fmt, ## arg); } } while (0)
62 #define NOT_INTERRUPTED_SYSCALL (errno != EINTR && errno != ERESTART)
63 #define IS_FINISH_FLAG() (finish_flag)
67 #define EXIT_BAD_PARAM 1
68 #define EXIT_CANNOT_OPEN 2
69 #define EXIT_FILTER_ERROR 3
71 #define EXIT_READ_ERROR 5
72 #define EXIT_WRITE_ERROR 6
73 #define EXIT_SELECT_ERROR 7
74 #define EXIT_FLUSH_ERROR 8
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;
82 int total_timeout = 0;
84 pthread_mutex_t mut_start = PTHREAD_MUTEX_INITIALIZER;
85 pthread_cond_t cond_start = PTHREAD_COND_INITIALIZER;
87 sem_t ready_sem; /* Thread is ready for execution */
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 -
98 int option_length = 8;
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;
109 typedef struct threads {
119 typedef struct thread_data {
124 double mean; /* mean value of responses */
125 double moment2nd; /* used to compute variance of
127 int min, max; /* min/max response times */
128 int timeout; /* number of timeouts */
130 struct histogram hist;
131 unsigned *times; /* Array of all measured times */
136 UL_LIST_CUST_DEC(thread_list, threads_t, thread_data_t, head, node);
138 threads_t master_threads;
139 threads_t slave_threads;
141 int histogram_init(struct histogram *h,
146 h->allocated = max_value/resolution + 1;
147 h->resolution = resolution;
148 mem = h->allocated*sizeof(*h->data);
149 h->data = malloc(mem);
151 memset(h->data, 0, mem);
157 void histogram_add(struct histogram *h, unsigned value)
159 unsigned index = value / h->resolution;
160 if (index >= h->allocated)
161 index = h->allocated - 1;
165 void histogram_fprint(struct histogram *h, FILE *f)
167 unsigned long long sum = 0, cum;
169 for (i = 0; i < h->allocated; i++)
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);
177 fprintf(f, "%g %lld\n", 1e-3*(i*h->resolution), cum);
183 /* Subtract the `struct timeval' values X and Y, storing the result in
184 RESULT. Return 1 if the difference is negative, otherwise 0. */
186 int timeval_subtract (struct timeval *result, struct timeval *x, struct timeval *y)
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;
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;
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;
205 /* Return 1 if result is negative. */
206 return x->tv_sec < y->tv_sec;
209 void dbg_print_timeval(char *msg, struct timeval *tv)
212 printf("%s sec=%ld usec=%ld\n", msg, tv->tv_sec, tv->tv_usec);
214 void kill_all_threads(int signum)
218 ul_list_for_each(thread_list, &master_threads, td) {
219 pthread_kill(td->tid, signum);
221 ul_list_for_each(thread_list, &slave_threads, td) {
222 pthread_kill(td->tid, signum);
225 void term_handler(int signum)
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");
232 kill_all_threads(signum);
236 void *master_thread(void *arg)
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;
244 vca_handle_t vcah = VCA_HANDLE_INVALID; /* File descriptor of CAN driver. */
246 fd_set rdset; /* read set for select syscall */
247 struct timeval timeout, pingtime, pongtime;
248 struct canfilt_t canfilt; /* filter for received messages */
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) {
255 fprintf(stderr, "Error opening %s (for id %d)\n", option_device, ping_id);
256 exit(EXIT_CANNOT_OPEN);
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);
268 perror("ioctl CANQUE_FILTER");
269 exit(EXIT_FILTER_ERROR);
271 ret = vca_queue_flush(vcah, 0);
273 perror("ioctl CANQUE_QUEUE_FLUSH");
274 exit(EXIT_FLUSH_ERROR);
277 if (option_histogram)
278 histogram_init(&td->hist, 1000*1000/*max [us]*/, 5/*resolution [us]*/);
280 if (option_save_all_times) {
281 td->times = malloc(sizeof(*td->times)*option_count);
283 error(1, errno, "malloc times");
286 /* Prepare data structures for the select syscall. */
289 /* Signal that I'm ready */
290 sem_post(&ready_sem);
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);
299 while (!IS_FINISH_FLAG() && (option_count == 0 || ping_count++ < option_count + option_msg_to_ignore)) {
300 /* Send a ping message */
303 pingmsg.length = option_length;
304 for (i=0; i < option_length; i++) pingmsg.data[i] = i;
305 gettimeofday(&pingtime, NULL);
307 ret = vca_send_msg_seq(vcah, &pingmsg, 1);
309 if (NOT_INTERRUPTED_SYSCALL) {
311 exit(EXIT_WRITE_ERROR);
316 /* Wait for a pong responce */
317 FD_SET (vca_h2fd(vcah), &rdset);
319 timeout.tv_sec = option_timeout;
322 ret = select(FD_SETSIZE, &rdset, NULL, NULL, &timeout);
324 /* Read the message */
326 ret = vca_rec_msg_seq(vcah, &pongmsg, 1);
328 if (NOT_INTERRUPTED_SYSCALL) {
330 exit(EXIT_READ_ERROR);
334 else { /* A pong message received */
336 gettimeofday(&pongtime, NULL);
338 fprintf(stderr, "read returned zero\n");
339 exit(EXIT_READ_ERROR);
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);
345 timeval_subtract(&pongtime, &pongtime, &pingtime);
346 time = pongtime.tv_sec*1000000 + pongtime.tv_usec;
347 switch (option_verbose) {
349 printf("%d:%ld\n", ping_id, time);
352 printf("Pong response %d for id %d received in %ld us\n", ping_count, ping_id, time);
355 /* Update statistics */
356 if (ping_count > option_msg_to_ignore) {
359 td->mean * ((double)(td->count - 1) / td->count) +
360 (double)time / td->count;
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;
374 else if (ret == 0) { /* select */
375 if (option_verbose >= 2)
376 printf("Timeout encountered (id %d)\n", ping_id);
381 if (NOT_INTERRUPTED_SYSCALL) {
383 exit(EXIT_SELECT_ERROR);
387 usleep(option_wait_ms * 1000);
390 if (!option_open_once) {
391 /* Close the can driver */
392 vca_close_handle(vcah);
395 if (option_histogram) {
398 snprintf(buf, sizeof(buf), "%s-%d.dat", option_histogram, ping_id);
400 histogram_fprint(&td->hist, f);
404 if (option_save_all_times) {
408 snprintf(buf, sizeof(buf), "%s-%d.dat", option_save_all_times, ping_id);
410 for (i=0; i<option_count; i++) {
411 if (!getenv("CANPING_MS"))
412 fprintf(f, "%u\n", td->times[i]);
414 fprintf(f, "%g\n", 1e-3*td->times[i]);
419 sem_post(&finish_sem);
423 void start_masters(int masters, int first_id)
428 dbg(1, "Starting %d master threads\n", masters);
430 for (i = 0; i < masters; i++, id += 2) {
433 td = malloc(sizeof(*td));
435 printf("Can't allocate memory");
438 memset(td, 0, sizeof(*td));
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);
448 /* Wait for all threads beeing ready */
449 for (i = 0; i < masters; i++) sem_wait(&ready_sem);
452 pthread_mutex_lock(&mut_start);
454 pthread_cond_broadcast(&cond_start);
455 pthread_mutex_unlock(&mut_start);
458 void *slave_thread(void *arg)
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;
465 vca_handle_t vcah = VCA_HANDLE_INVALID; /* File descriptor of CAN driver. */
467 struct canfilt_t canfilt; /* filter for received messages */
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) {
474 printf("Error opening %s (for id %d)\n", option_device, ping_id);
475 exit(EXIT_CANNOT_OPEN);
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);
487 perror("ioctl CANQUE_FILTER");
488 exit(EXIT_FILTER_ERROR);
490 /* If there are some messages already, delete them. These may
491 * not processed by our filter and thus may have a wrong
493 ret = vca_queue_flush(vcah, 0);
495 perror("ioctl CANQUE_QUEUE_FLUSH");
496 exit(EXIT_FLUSH_ERROR);
499 /* Prepare a pong message */
501 pongmsg.id = pong_id;
502 pongmsg.length = option_length;
503 for (i=0; i < option_length; i++) pongmsg.data[i] = i;
505 /* Signal that I'm ready */
506 sem_post(&ready_sem);
508 while (!IS_FINISH_FLAG()) {
509 /* Receive a ping message */
511 ret = vca_rec_msg_seq(vcah, &pingmsg, 1);
513 if (NOT_INTERRUPTED_SYSCALL) {
514 printf("%d\n", errno);
516 exit(EXIT_READ_ERROR);
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);
523 /* Answer immendiately with a pong message */
524 if (NOT_INTERRUPTED_SYSCALL) {
525 ret = vca_send_msg_seq(vcah, &pongmsg, 1);
527 if (NOT_INTERRUPTED_SYSCALL) {
529 exit(EXIT_WRITE_ERROR);
534 if (ret >= 0) total_count++;
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);
543 if (!option_open_once) {
544 /* Close can driver */
545 vca_close_handle(vcah);
548 dbg(2, "Slave thread for id %d is going to finish\n", ping_id);
550 sem_post(&finish_sem);
554 void start_slaves(int slaves, int first_id)
559 dbg(1, "Starting %d slave threads\n", slaves);
561 for (i = 0; i < slaves; i++, id += 2) {
564 td = malloc(sizeof(*td));
566 printf("Can't allocate memory");
569 memset(td, 0, sizeof(*td));
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);
577 /* Wait for all threads beeing ready */
578 for (i = 0; i < slaves; i++) sem_wait(&ready_sem);
582 int set_sched_policy_and_prio(int policy, int rtprio)
584 struct sched_param scheduling_parameters;
585 int maxprio=sched_get_priority_max(policy);
586 int minprio=sched_get_priority_min(policy);
588 if((rtprio < minprio) || (rtprio > maxprio)) {
589 fprintf(stderr, "The priority for requested policy is out of <%d, %d> range\n",
594 scheduling_parameters.sched_priority = rtprio;
596 if (0 != pthread_setschedparam(pthread_self(), policy, &scheduling_parameters)) {
597 perror("pthread_setschedparam error");
603 void print_help(void)
605 printf("Usage: canping -m <master threads> [other options]\n"
606 " canping -s <slave threads> [other options]\n\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"
624 " -r run at realtime priority\n"
625 " -R P:prio run at realtime priority prio, policy RR or FF\n"
628 "Example: canping -m 10 -vv\n"
632 int parse_options(int argc, char *argv[])
637 while ((c = getopt (argc, argv, "bc:d:e:g:hi:l:m:n:os:t:vw:yrR:")) != -1)
641 option_background = true;
644 option_count = atoi(optarg);
647 option_device = optarg;
650 option_save_all_times = optarg;
653 option_histogram = optarg;
660 option_first_id = atoi(optarg);
663 option_length = atoi(optarg);
664 if (option_length > 8) option_length = 8;
665 if (option_length < 0) option_length = 0;
668 option_masters = atoi(optarg);
671 option_msg_to_ignore = atoi(optarg);
674 option_open_once = 1;
677 option_slaves = atoi(optarg);
680 option_timeout = atoi(optarg);
686 option_wait_ms = atoi(optarg);
689 option_synch_start = 1;
693 sched_policy = SCHED_FIFO;
694 sched_rtprio = (sched_get_priority_min(SCHED_FIFO) +
695 sched_get_priority_max(SCHED_FIFO)) / 2;
698 if(!isalpha(*optarg)) {
699 sched_policy = SCHED_FIFO;
700 } else if(!strncmp(optarg,"FF:",3)) {
701 sched_policy = SCHED_FIFO;
703 } else if(!strncmp(optarg,"RR:",3)) {
704 sched_policy = SCHED_RR;
707 fprintf (stderr, "Unknown policy %s\n", optarg);
708 exit(EXIT_BAD_PARAM);
710 sched_rtprio = atoi(optarg);
714 if (isprint (optopt))
715 fprintf (stderr, "Unknown option `-%c'.\n", optopt);
718 "Unknown option character `\\x%x'.\n",
722 exit(EXIT_BAD_PARAM);
724 if (!(option_masters || option_slaves) || (option_masters && option_slaves))
725 exit(EXIT_BAD_PARAM);
729 void print_stats(thread_data_t *td)
732 int count = td->count + td->timeout;
734 if (td->count >= 2) {
735 snprintf(std, 19, "%7.2f", sqrt((td->count/(td->count - 1)) *
736 (td->moment2nd - td->mean*td->mean)));
738 strncpy(std, "N/A", 19);
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,
747 (count > 0) ? 100 * td->timeout / count : 0, td->timeout
751 void wait_for_threads(void)
755 int thread_count = option_slaves + option_masters;
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);
763 /* If the sem_wait is successful i.e. not
764 * interrupted by a signal, decrease the
766 if (ret == 0) thread_count--;
768 if (!IS_FINISH_FLAG()) {
769 printf("Total count: %6d, Timeouts: %6d\r", total_count, total_timeout);
773 while (sem_trywait(&finish_sem) == 0) thread_count--;
776 if (option_verbose == 1) {
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);
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);
790 if (option_masters) printf("Summary statistics:\n");
792 ul_list_for_each_cut(thread_list, &master_threads, td) {
798 ul_list_for_each_cut(thread_list, &slave_threads, td)
802 int main(int argc, char *argv[])
804 parse_options(argc, argv);
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);
815 thread_list_init_head(&master_threads);
816 thread_list_init_head(&slave_threads);
818 sem_init(&finish_sem, 0, 0);
819 sem_init(&ready_sem, 0, 0);
821 siginterrupt(SIGINT, 1);
822 signal(SIGINT, term_handler);
823 siginterrupt(SIGTERM, 1);
824 signal(SIGTERM, term_handler);
826 dbg(2, "Main thread: %p\n", (void *)pthread_self());
828 if (option_open_once) {
829 /* Open the CAN driver */
830 if(vca_open_handle(&global_vcah, option_device, NULL, 0) < 0) {
832 printf("Error opening %s\n", option_device);
833 exit(EXIT_CANNOT_OPEN);
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 */
845 error(1, errno, "Cannot go to background");
847 int devnull = open("/dev/null", O_WRONLY);
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);
859 sem_wait(child_ready);
860 printf("%d\n", fork_ret);
866 if (option_open_once) {
867 vca_close_handle(global_vcah);