X-Git-Url: http://rtime.felk.cvut.cz/gitweb/sojka/can-utils.git/blobdiff_plain/0df736ca51138e2fadfab78f9eebcee686c40f9a..HEAD:/cangen.c diff --git a/cangen.c b/cangen.c index 2da061e..db4c803 100644 --- a/cangen.c +++ b/cangen.c @@ -1,7 +1,3 @@ -/* - * $Id$ - */ - /* * cangen.c - CAN frames generator for testing purposes * @@ -41,7 +37,7 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH * DAMAGE. * - * Send feedback to + * Send feedback to * */ @@ -51,6 +47,7 @@ #include #include #include +#include #include #include #include @@ -80,306 +77,414 @@ static unsigned long long enobufs_count; void print_usage(char *prg) { - fprintf(stderr, "\n%s: generate CAN frames\n\n", prg); - fprintf(stderr, "Usage: %s [options] \n", prg); - fprintf(stderr, "Options: -g (gap in milli seconds " - "- default: %d ms)\n", DEFAULT_GAP); - fprintf(stderr, " -e (generate extended frame mode " - "(EFF) CAN frames)\n"); - fprintf(stderr, " -I (CAN ID" - " generation mode - see below)\n"); - fprintf(stderr, " -L (CAN data length code (dlc)" - " generation mode - see below)\n"); - fprintf(stderr, " -D (CAN data (payload)" - " generation mode - see below)\n"); - fprintf(stderr, " -i (ignore -ENOBUFS return values on" - " write() syscalls)\n"); - fprintf(stderr, " -x (disable local loopback of " - "generated CAN frames)\n"); - fprintf(stderr, " -v (increment verbose level for " - "printing sent CAN frames)\n\n"); - fprintf(stderr, "Generation modes:\n"); - fprintf(stderr, "'r' => random values (default)\n"); - fprintf(stderr, "'i' => increment values\n"); - fprintf(stderr, " => fix value using \n\n"); - fprintf(stderr, "When incrementing the CAN data the data length code " - "minimum is set to 1.\n"); - fprintf(stderr, "CAN IDs and data content are given and expected in hexadecimal values.\n\n"); - fprintf(stderr, "Examples:\n"); - fprintf(stderr, "%s vcan0 -g 4 -I 42A -L 1 -D i -v -v ", prg); - fprintf(stderr, "(fixed CAN ID and length, inc. data)\n"); - fprintf(stderr, "%s vcan0 -e -L i -v -v -v ", prg); - fprintf(stderr, "(generate EFF frames, incr. length)\n"); - fprintf(stderr, "%s vcan0 -D 11223344DEADBEEF -L 8 ", prg); - fprintf(stderr, "(fixed CAN data payload and length)\n"); - fprintf(stderr, "%s vcan0 -g 0 -i -x ", prg); - fprintf(stderr, "(full load test ignoring -ENOBUFS)\n"); - fprintf(stderr, "%s vcan0 ", prg); - fprintf(stderr, "(my favourite default :)\n\n"); + fprintf(stderr, "\n%s: generate CAN frames\n\n", prg); + fprintf(stderr, "Usage: %s [options] \n", prg); + fprintf(stderr, "Options: -g (gap in milli seconds " + "- default: %d ms)\n", DEFAULT_GAP); + fprintf(stderr, " -e (generate extended frame mode " + "(EFF) CAN frames)\n"); + fprintf(stderr, " -f (generate CAN FD CAN frames)\n"); + fprintf(stderr, " -R (send RTR frame)\n"); + fprintf(stderr, " -m (mix -e -f -R frames)\n"); + fprintf(stderr, " -I (CAN ID" + " generation mode - see below)\n"); + fprintf(stderr, " -L (CAN data length code (dlc)" + " generation mode - see below)\n"); + fprintf(stderr, " -D (CAN data (payload)" + " generation mode - see below)\n"); + fprintf(stderr, " -p (poll on -ENOBUFS to write frames" + " with ms)\n"); + fprintf(stderr, " -n (terminate after CAN frames " + "- default infinite)\n"); + fprintf(stderr, " -i (ignore -ENOBUFS return values on" + " write() syscalls)\n"); + fprintf(stderr, " -x (disable local loopback of " + "generated CAN frames)\n"); + fprintf(stderr, " -v (increment verbose level for " + "printing sent CAN frames)\n\n"); + fprintf(stderr, "Generation modes:\n"); + fprintf(stderr, "'r' => random values (default)\n"); + fprintf(stderr, "'i' => increment values\n"); + fprintf(stderr, " => fix value using \n\n"); + fprintf(stderr, "When incrementing the CAN data the data length code " + "minimum is set to 1.\n"); + fprintf(stderr, "CAN IDs and data content are given and expected in hexadecimal values.\n\n"); + fprintf(stderr, "Examples:\n"); + fprintf(stderr, "%s vcan0 -g 4 -I 42A -L 1 -D i -v -v ", prg); + fprintf(stderr, "(fixed CAN ID and length, inc. data)\n"); + fprintf(stderr, "%s vcan0 -e -L i -v -v -v ", prg); + fprintf(stderr, "(generate EFF frames, incr. length)\n"); + fprintf(stderr, "%s vcan0 -D 11223344DEADBEEF -L 8 ", prg); + fprintf(stderr, "(fixed CAN data payload and length)\n"); + fprintf(stderr, "%s vcan0 -g 0 -i -x ", prg); + fprintf(stderr, "(full load test ignoring -ENOBUFS)\n"); + fprintf(stderr, "%s vcan0 -g 0 -p 10 -x ", prg); + fprintf(stderr, "(full load test with polling, 10ms timeout)\n"); + fprintf(stderr, "%s vcan0 ", prg); + fprintf(stderr, "(my favourite default :)\n\n"); } void sigterm(int signo) { - running = 0; + running = 0; } int main(int argc, char **argv) { - unsigned long gap = DEFAULT_GAP; - unsigned char ignore_enobufs = 0; - unsigned char extended = 0; - unsigned char id_mode = MODE_RANDOM; - unsigned char data_mode = MODE_RANDOM; - unsigned char dlc_mode = MODE_RANDOM; - unsigned char loopback_disable = 0; - unsigned char verbose = 0; - uint64_t incdata = 0; - - int opt; - int s; /* socket */ - - struct sockaddr_can addr; - static struct can_frame frame; - int nbytes; - int i; - struct ifreq ifr; - - struct timespec ts; - - signal(SIGTERM, sigterm); - signal(SIGHUP, sigterm); - signal(SIGINT, sigterm); - - while ((opt = getopt(argc, argv, "ig:eI:L:D:xvh?")) != -1) { - switch (opt) { - - case 'i': - ignore_enobufs = 1; - break; - - case 'g': - gap = strtoul(optarg, NULL, 10); - break; - - case 'e': - extended = 1; - break; - - case 'I': - if (optarg[0] == 'r') { - id_mode = MODE_RANDOM; - } else if (optarg[0] == 'i') { - id_mode = MODE_INCREMENT; - } else { - id_mode = MODE_FIX; - frame.can_id = strtoul(optarg, NULL, 16); - } - break; - - case 'L': - if (optarg[0] == 'r') { - dlc_mode = MODE_RANDOM; - } else if (optarg[0] == 'i') { - dlc_mode = MODE_INCREMENT; - } else { - dlc_mode = MODE_FIX; - frame.can_dlc = atoi(optarg)%9; - } - break; - - case 'D': - if (optarg[0] == 'r') { - data_mode = MODE_RANDOM; - } else if (optarg[0] == 'i') { - data_mode = MODE_INCREMENT; - } else { - data_mode = MODE_FIX; - incdata = strtoull(optarg, NULL, 16); - for (i=0; i<8 ;i++) - frame.data[i] = (incdata >> (7-i)*8) & 0xFFULL; - } - break; - - case 'v': - verbose++; - break; - - case 'x': - loopback_disable = 1; - break; - - case '?': - case 'h': - default: - print_usage(basename(argv[0])); - return 1; - break; + double gap = DEFAULT_GAP; + unsigned long polltimeout = 0; + unsigned char ignore_enobufs = 0; + unsigned char extended = 0; + unsigned char canfd = 0; + unsigned char mix = 0; + unsigned char id_mode = MODE_RANDOM; + unsigned char data_mode = MODE_RANDOM; + unsigned char dlc_mode = MODE_RANDOM; + unsigned char loopback_disable = 0; + unsigned char verbose = 0; + unsigned char rtr_frame = 0; + int count = 0; + int mtu, maxdlen; + uint64_t incdata = 0; + int incdlc = 0; + unsigned char fixdata[CANFD_MAX_DLEN]; + + int opt; + int s; /* socket */ + struct pollfd fds; + + struct sockaddr_can addr; + static struct canfd_frame frame; + int nbytes; + int i; + struct ifreq ifr; + + struct timespec ts; + struct timeval now; + + /* set seed value for pseudo random numbers */ + gettimeofday(&now, NULL); + srandom(now.tv_usec); + + signal(SIGTERM, sigterm); + signal(SIGHUP, sigterm); + signal(SIGINT, sigterm); + + while ((opt = getopt(argc, argv, "ig:efmI:L:D:xp:n:vRh?")) != -1) { + switch (opt) { + + case 'i': + ignore_enobufs = 1; + break; + + case 'g': + gap = strtod(optarg, NULL); + break; + + case 'e': + extended = 1; + break; + + case 'f': + canfd = 1; + break; + + case 'm': + mix = 1; + canfd = 1; /* to switch the socket into CAN FD mode */ + break; + + case 'I': + if (optarg[0] == 'r') { + id_mode = MODE_RANDOM; + } else if (optarg[0] == 'i') { + id_mode = MODE_INCREMENT; + } else { + id_mode = MODE_FIX; + frame.can_id = strtoul(optarg, NULL, 16); + } + break; + + case 'L': + if (optarg[0] == 'r') { + dlc_mode = MODE_RANDOM; + } else if (optarg[0] == 'i') { + dlc_mode = MODE_INCREMENT; + } else { + dlc_mode = MODE_FIX; + frame.len = atoi(optarg) & 0xFF; /* is cut to 8 / 64 later */ + } + break; + + case 'D': + if (optarg[0] == 'r') { + data_mode = MODE_RANDOM; + } else if (optarg[0] == 'i') { + data_mode = MODE_INCREMENT; + } else { + data_mode = MODE_FIX; + if (hexstring2data(optarg, fixdata, CANFD_MAX_DLEN)) { + printf ("wrong fix data definition\n"); + return 1; + } + } + break; + + case 'v': + verbose++; + break; + + case 'x': + loopback_disable = 1; + break; + + case 'R': + rtr_frame = 1; + break; + + case 'p': + polltimeout = strtoul(optarg, NULL, 10); + break; + + case 'n': + count = atoi(optarg); + if (count < 1) { + print_usage(basename(argv[0])); + return 1; + } + break; + + case '?': + case 'h': + default: + print_usage(basename(argv[0])); + return 1; + break; + } } - } - - if (optind == argc) { - print_usage(basename(argv[0])); - return 1; - } - - ts.tv_sec = gap / 1000; - ts.tv_nsec = (gap % 1000) * 1000000; + if (optind == argc) { + print_usage(basename(argv[0])); + return 1; + } - if (id_mode == MODE_FIX) { + ts.tv_sec = gap / 1000; + ts.tv_nsec = (long)(((long long)(gap * 1000000)) % 1000000000ll); /* recognize obviously missing commandline option */ - if ((frame.can_id > 0x7FF) && !extended) { - printf("The given CAN-ID is greater than 0x7FF and " - "the '-e' option is not set.\n"); - return 1; + if (id_mode == MODE_FIX && frame.can_id > 0x7FF && !extended) { + printf("The given CAN-ID is greater than 0x7FF and " + "the '-e' option is not set.\n"); + return 1; } - if (extended) - frame.can_id &= CAN_EFF_MASK; - else - frame.can_id &= CAN_SFF_MASK; - } - - if (extended) - frame.can_id |= CAN_EFF_FLAG; - - if ((data_mode == MODE_INCREMENT) && !frame.can_dlc) - frame.can_dlc = 1; /* min dlc value for incr. data */ - - if (strlen(argv[optind]) >= IFNAMSIZ) { - printf("Name of CAN device '%s' is too long!\n\n", argv[optind]); - return 1; - } - - if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) { - perror("socket"); - return 1; - } - - addr.can_family = AF_CAN; - - strcpy(ifr.ifr_name, argv[optind]); - if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) { - perror("SIOCGIFINDEX"); - return 1; - } - addr.can_ifindex = ifr.ifr_ifindex; - - /* disable default receive filter on this RAW socket */ - /* This is obsolete as we do not read from the socket at all, but for */ - /* this reason we can remove the receive list in the Kernel to save a */ - /* little (really a very little!) CPU usage. */ - setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0); - - if (loopback_disable) { - int loopback = 0; - - setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK, - &loopback, sizeof(loopback)); - } - - if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) { - perror("bind"); - return 1; - } - - while (running) { - - if (id_mode == MODE_RANDOM) { - - frame.can_id = random(); - - if (extended) { - frame.can_id &= CAN_EFF_MASK; - frame.can_id |= CAN_EFF_FLAG; - } else - frame.can_id &= CAN_SFF_MASK; + if (strlen(argv[optind]) >= IFNAMSIZ) { + printf("Name of CAN device '%s' is too long!\n\n", argv[optind]); + return 1; } - if (dlc_mode == MODE_RANDOM) { - - frame.can_dlc = random() & 0xF; - - if (frame.can_dlc & 8) - frame.can_dlc = 8; /* for about 50% of the frames */ - - if ((data_mode == MODE_INCREMENT) && !frame.can_dlc) - frame.can_dlc = 1; /* min dlc value for incr. data */ + if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) { + perror("socket"); + return 1; } - if (data_mode == MODE_RANDOM) { + addr.can_family = AF_CAN; - /* that's what the 64 bit alignment of data[] is for ... :) */ - *(unsigned long*)(&frame.data[0]) = random(); - *(unsigned long*)(&frame.data[4]) = random(); + strcpy(ifr.ifr_name, argv[optind]); + if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) { + perror("SIOCGIFINDEX"); + return 1; } + addr.can_ifindex = ifr.ifr_ifindex; - if (verbose) { + /* disable default receive filter on this RAW socket */ + /* This is obsolete as we do not read from the socket at all, but for */ + /* this reason we can remove the receive list in the Kernel to save a */ + /* little (really a very little!) CPU usage. */ + setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0); - printf(" %s ", argv[optind]); + if (loopback_disable) { + int loopback = 0; - if (verbose > 1) - fprint_long_canframe(stdout, &frame, "\n", (verbose > 2)?1:0); - else - fprint_canframe(stdout, &frame, "\n", 1); + setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK, + &loopback, sizeof(loopback)); } - nbytes = write(s, &frame, sizeof(struct can_frame)); - if (nbytes < 0) { - if (errno != ENOBUFS) { - perror("write"); - return 1; - } - if (!ignore_enobufs) { - perror("write"); + if (canfd) { + int enable_canfd = 1; + + /* check if the frame fits into the CAN netdevice */ + if (ioctl(s, SIOCGIFMTU, &ifr) < 0) { + perror("SIOCGIFMTU"); + return 1; + } + + if (ifr.ifr_mtu != CANFD_MTU) { + printf("CAN interface ist not CAN FD capable - sorry.\n"); + return 1; + } + + /* interface is ok - try to switch the socket into CAN FD mode */ + if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &enable_canfd, sizeof(enable_canfd))){ + printf("error when enabling CAN FD support\n"); + return 1; + } + + /* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */ + frame.len = can_dlc2len(can_len2dlc(frame.len)); + } else { + /* sanitize CAN 2.0 frame length */ + if (frame.len > 8) + frame.len = 8; + } + + if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) { + perror("bind"); return 1; - } - enobufs_count++; + } - } else if (nbytes < sizeof(struct can_frame)) { - fprintf(stderr, "write: incomplete CAN frame\n"); - return 1; + if (polltimeout) { + fds.fd = s; + fds.events = POLLOUT; } - if (gap) /* gap == 0 => performance test :-] */ - if (nanosleep(&ts, NULL)) - return 1; + while (running) { + + if (count && (--count == 0)) + running = 0; + + if (canfd){ + mtu = CANFD_MTU; + maxdlen = CANFD_MAX_DLEN; + } else { + mtu = CAN_MTU; + maxdlen = CAN_MAX_DLEN; + } + + if (id_mode == MODE_RANDOM) + frame.can_id = random(); + + if (extended) { + frame.can_id &= CAN_EFF_MASK; + frame.can_id |= CAN_EFF_FLAG; + } else + frame.can_id &= CAN_SFF_MASK; + + if (rtr_frame && !canfd) + frame.can_id |= CAN_RTR_FLAG; + + if (dlc_mode == MODE_RANDOM) { + + if (canfd) + frame.len = can_dlc2len(random() & 0xF); + else { + frame.len = random() & 0xF; + if (frame.len & 8) + frame.len = 8; /* for about 50% of the frames */ + } + } + + if (data_mode == MODE_INCREMENT && !frame.len) + frame.len = 1; /* min dlc value for incr. data */ + + if (data_mode == MODE_RANDOM) { + + /* that's what the 64 bit alignment of data[] is for ... :) */ + *(unsigned long*)(&frame.data[0]) = random(); + *(unsigned long*)(&frame.data[4]) = random(); + + /* omit extra random number generation for CAN FD */ + if (canfd && frame.len > 8) { + memcpy(&frame.data[8], &frame.data[0], 8); + memcpy(&frame.data[16], &frame.data[0], 16); + memcpy(&frame.data[32], &frame.data[0], 32); + } + } + + if (data_mode == MODE_FIX) + memcpy(frame.data, fixdata, CANFD_MAX_DLEN); + + /* set unused payload data to zero like the CAN driver does it on rx */ + if (frame.len < maxdlen) + memset(&frame.data[frame.len], 0, maxdlen - frame.len); + + if (verbose) { + + printf(" %s ", argv[optind]); + + if (verbose > 1) + fprint_long_canframe(stdout, &frame, "\n", (verbose > 2)?1:0, maxdlen); + else + fprint_canframe(stdout, &frame, "\n", 1, maxdlen); + } + +resend: + nbytes = write(s, &frame, mtu); + if (nbytes < 0) { + if (errno != ENOBUFS) { + perror("write"); + return 1; + } + if (!ignore_enobufs && !polltimeout) { + perror("write"); + return 1; + } + if (polltimeout) { + /* wait for the write socket (with timeout) */ + if (poll(&fds, 1, polltimeout) < 0) { + perror("poll"); + return 1; + } else + goto resend; + } else + enobufs_count++; + + } else if (nbytes < mtu) { + fprintf(stderr, "write: incomplete CAN frame\n"); + return 1; + } + + if (gap) /* gap == 0 => performance test :-] */ + if (nanosleep(&ts, NULL)) + return 1; - if (id_mode == MODE_INCREMENT) { - - frame.can_id++; + if (id_mode == MODE_INCREMENT) + frame.can_id++; - if (extended) { - frame.can_id &= CAN_EFF_MASK; - frame.can_id |= CAN_EFF_FLAG; - } else - frame.can_id &= CAN_SFF_MASK; - } + if (dlc_mode == MODE_INCREMENT) { - if (dlc_mode == MODE_INCREMENT) { + incdlc++; - frame.can_dlc++; - frame.can_dlc %= 9; + if (canfd && !mix) { + incdlc &= 0xF; + frame.len = can_dlc2len(incdlc); + } else { + incdlc %= 9; + frame.len = incdlc; + } + } - if ((data_mode == MODE_INCREMENT) && !frame.can_dlc) - frame.can_dlc = 1; /* min dlc value for incr. data */ - } + if (data_mode == MODE_INCREMENT) { - if (data_mode == MODE_INCREMENT) { + incdata++; - incdata++; + for (i=0; i<8 ;i++) + frame.data[i] = (incdata >> i*8) & 0xFFULL; + } - for (i=0; i<8 ;i++) - frame.data[i] = (incdata >> i*8) & 0xFFULL; + if (mix) { + i = random(); + extended = i&1; + canfd = i&2; + rtr_frame = ((i&12) == 12); /* reduce RTR frames to 1/4 */ + } } - } - if (enobufs_count) - printf("\nCounted %llu ENOBUFS return values on write().\n\n", - enobufs_count); + if (enobufs_count) + printf("\nCounted %llu ENOBUFS return values on write().\n\n", + enobufs_count); - close(s); + close(s); - return 0; + return 0; }