/* File: vca_canping.c - utility to test CAN functionality and throughput */
/* */
/* LibVCA - Versatile CAN/CANopen API library */
-/* Copyright (C) 2005-2006 Michal Sojka, DCE FEE CTU Prague */
-/* Copyright (C) 2006-20
09 Pavel Pisa <pisa@cmp.felk.cvut.cz> */
+/* Copyright (C) 2005-2009 Michal Sojka, DCE FEE CTU Prague */
+/* Copyright (C) 2006-20
23 Pavel Pisa <pisa@cmp.felk.cvut.cz> */
/* */
/* LibVCA is free software; you can redistribute it and/or modify it */
/* under terms of the GNU General Public License as published by the */
#include <signal.h>
#include <sys/types.h>
#include <sys/time.h>
+#include <sys/select.h>
#include <ul_list.h>
#include <errno.h>
#include <semaphore.h>
#include <stdbool.h>
+#ifndef OMK_FOR_TARGET
#include <error.h>
+#define error_with_status error
+#else /*OMK_FOR_TARGET*/
+#include <stdarg.h>
+static inline void error_with_status (int __status, int __errnum, const char *__format, ...)
+{
+ va_list ap;
+ va_start (ap, __format);
+ vfprintf (stderr, __format, ap);
+ va_end (ap);
+}
+#endif
/* TODO: Handle the case where there are more canping slaves running
* on one CAN bus. */
#define dbg(level, fmt, arg...) do { if (level <= DEBUG) { printf("candping: " fmt, ## arg); } } while (0)
#endif
+#if !defined(OMK_FOR_TARGET) || defined(ERESTART)
#define NOT_INTERRUPTED_SYSCALL (errno != EINTR && errno != ERESTART)
+#else /*OMK_FOR_TARGET*/
+#define NOT_INTERRUPTED_SYSCALL (errno != EINTR)
+#endif /*OMK_FOR_TARGET*/
+
#define IS_FINISH_FLAG() (finish_flag)
/* Exit codes */
/* Command line options */
-char *option_device = "/dev/can0";
+char *option_device = VCA_DEV_NAME;
int option_masters = 0;
long int option_first_id = 1000;
int option_slaves = 0;
int option_synch_start = 0;
bool option_background = false;
char *option_histogram = NULL;
-
+int option_msg_to_ignore = 0;
+char *option_save_all_times = NULL;
/* Lists */
typedef struct threads {
ul_list_head_t head;
int timeout; /* number of timeouts */
struct histogram hist;
+ unsigned *times; /* Array of all measured times */
ul_list_node_t node;
} thread_data_t;
sum += h->data[i];
cum = sum;
for (i = 0; i < h->allocated; i++) {
- if (h->data[i] != 0)
- fprintf(f, "%d %lld\n", i*h->resolution, cum);
+ if (h->data[i] != 0) {
+ if (!getenv("CANPING_MS"))
+ fprintf(f, "%d %lld\n", i*h->resolution, cum);
+ else
+ fprintf(f, "%g %lld\n", 1e-3*(i*h->resolution), cum);
+ }
cum -= h->data[i];
}
}
struct canfilt_t canfilt; /* filter for received messages */
if (!option_open_once) {
- /* Open can driver */
- if(vca_open_handle(&vcah, option_device, NULL, 0) < 0) {
+ /* Open the CAN driver and disable (D) reception of
+ * all messages until we setup a filter below. */
+ if(vca_open_handle(&vcah, option_device, "D", 0) < 0) {
perror("open");
fprintf(stderr, "Error opening %s (for id %d)\n", option_device, ping_id);
exit(EXIT_CANNOT_OPEN);
if (option_histogram)
histogram_init(&td->hist, 1000*1000/*max [us]*/, 5/*resolution [us]*/);
+
+ if (option_save_all_times) {
+ td->times = malloc(sizeof(*td->times)*option_count);
+ if (!td->times)
+ error_with_status(1, errno, "malloc times");
+ }
/* Prepare data structures for the select syscall. */
FD_ZERO (&rdset);
pthread_mutex_unlock(&mut_start);
}
- while (!IS_FINISH_FLAG() && (option_count == 0 || ping_count++ < option_count)) {
+ while (!IS_FINISH_FLAG() && (option_count == 0 || ping_count++ < option_count + option_msg_to_ignore)) {
/* Send a ping message */
pingmsg.flags=0;
pingmsg.id=ping_id;
printf("%d:%ld\n", ping_id, time);
break;
case 3:
- printf("Pong response for id %d received in %ld us\n", ping_id, time);
+ printf("Pong response %d for id %d received in %ld us\n", ping_count, ping_id, time);
break;
}
/* Update statistics */
- td->count++;
- td->mean =
- td->mean * ((double)(td->count - 1) / td->count) +
- (double)time / td->count;
- td->moment2nd =
- td->moment2nd * ((double)(td->count - 1) / td->count) +
- (double)time*time / td->count;
- if (time > td->max) td->max = time;
- if (time < td->min) td->min = time;
- if (option_histogram)
- histogram_add(&td->hist, time);
+ if (ping_count > option_msg_to_ignore) {
+ td->count++;
+ td->mean =
+ td->mean * ((double)(td->count - 1) / td->count) +
+ (double)time / td->count;
+ td->moment2nd =
+ td->moment2nd * ((double)(td->count - 1) / td->count) +
+ (double)time*time / td->count;
+ if (time > td->max) td->max = time;
+ if (time < td->min) td->min = time;
+ if (option_histogram)
+ histogram_add(&td->hist, time);
+ if (option_save_all_times)
+ td->times[ping_count - 1 - option_msg_to_ignore] = time;
+ }
total_count++;
} /* read */
}
fclose(f);
}
+ if (option_save_all_times) {
+ FILE *f;
+ char buf[100];
+ int i;
+ snprintf(buf, sizeof(buf), "%s-%d.dat", option_save_all_times, ping_id);
+ f = fopen(buf, "w");
+ for (i=0; i<option_count; i++) {
+ if (!getenv("CANPING_MS"))
+ fprintf(f, "%u\n", td->times[i]);
+ else
+ fprintf(f, "%g\n", 1e-3*td->times[i]);
+ }
+ fclose(f);
+ }
+
sem_post(&finish_sem);
return (void *)ret;
}
struct canfilt_t canfilt; /* filter for received messages */
if (!option_open_once) {
- /* Open the CAN driver */
- if(vca_open_handle(&vcah, option_device, NULL, 0) < 0) {
+ /* Open the CAN driver and disable (D) reception of
+ * all messages until we setup a filter below. */
+ if(vca_open_handle(&vcah, option_device, "D", 0) < 0) {
perror("open");
printf("Error opening %s (for id %d)\n", option_device, ping_id);
exit(EXIT_CANNOT_OPEN);
" -b go to background (fork) after initialization, prints child PID\n"
" -c count how many messages each master sends\n"
" -d dev device (e.g. /dev/can1)\n"
+ " -e prefix save all measured times in file <prefix>-<id>.dat\n"
" -g prefix store cumulative histogram in file <prefix>-<id>.dat\n"
" -h print this help\n"
" -i id id of first master message\n"
" -l length length of the messages (0..8)\n"
+ " -n number ignore first <number> messages\n"
" -o open a device only once for all threads (doesn't work)\n" /* due to filters */
" -t timeout timeout in seconds (default 4 s)\n"
" -v be verbose (use more than once to increase verbosity)\n"
{
int c;
+#ifndef OMK_FOR_TARGET
opterr = 0;
- while ((c = getopt (argc, argv, "bc:d:g:hi:l:m:os:t:vw:yrR:")) != -1)
+#endif /*OMK_FOR_TARGET*/
+ while ((c = getopt (argc, argv, "bc:d:e:g:hi:l:m:n:os:t:vw:yrR:")) != -1)
switch (c)
{
case 'b':
case 'd':
option_device = optarg;
break;
+ case 'e':
+ option_save_all_times = optarg;
+ break;
case 'g':
option_histogram = optarg;
break;
case 'm':
option_masters = atoi(optarg);
break;
+ case 'n':
+ option_msg_to_ignore = atoi(optarg);
+ break;
case 'o':
option_open_once = 1;
break;
if(sched_policy != SCHED_OTHER) {
if(set_sched_policy_and_prio(sched_policy, sched_rtprio) <0)
exit(EXIT_BAD_PARAM);
+#if !defined(OMK_FOR_TARGET) || (defined(MCL_CURRENT) && defined(MCL_FUTURE))
mlockall(MCL_CURRENT | MCL_FUTURE);
+#endif /*OMK_FOR_TARGET*/
}
#endif
sem_t *child_ready;
int fork_ret = 0;
if ((child_ready = sem_open("canping", O_CREAT)) == NULL)
- error(1, errno, "sem_open");
+ error_with_status(1, errno, "sem_open");
+#ifndef OMK_FOR_TARGET
if (option_background) {
/* Go to background when everything is ready */
fork_ret = fork();
if (fork_ret < 0)
- error(1, errno, "Cannot go to background");
+ error_with_status(1, errno, "Cannot go to background");
if (fork_ret == 0) {
int devnull = open("/dev/null", O_WRONLY);
dup2(devnull, 1);
}
}
+#endif /*OMK_FOR_TARGET*/
if (fork_ret == 0) {
/* Child */
projects / canping.git / blobdiff