forked from linux-can/can-utils
-
Notifications
You must be signed in to change notification settings - Fork 0
/
cansequence.c
367 lines (307 loc) · 8.19 KB
/
cansequence.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
/* SPDX-License-Identifier: GPL-2.0-only */
// Copyright (c) 2007, 2008, 2009, 2010, 2014, 2015, 2019 Pengutronix,
// Marc Kleine-Budde <[email protected]>
// Copyright (c) 2005 Pengutronix,
// Sascha Hauer <[email protected]>
#include <errno.h>
#include <getopt.h>
#include <libgen.h>
#include <limits.h>
#include <poll.h>
#include <signal.h>
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <sys/types.h>
#include <sys/uio.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#define CAN_ID_DEFAULT (2)
extern int optind, opterr, optopt;
static int s = -1;
static bool running = true;
static bool infinite = true;
static unsigned int drop_until_quit;
static unsigned int drop_count;
static bool use_poll = false;
static unsigned int loopcount = 1;
static int verbose;
static struct can_frame frame = {
.can_dlc = 1,
};
static struct can_filter filter[] = {
{ .can_id = CAN_ID_DEFAULT, },
};
static void print_usage(char *prg)
{
fprintf(stderr, "Usage: %s [<can-interface>] [Options]\n"
"\n"
"cansequence sends CAN messages with a rising sequence number as payload.\n"
"When the -r option is given, cansequence expects to receive these messages\n"
"and prints an error message if a wrong sequence number is encountered.\n"
"The main purpose of this program is to test the reliability of CAN links.\n"
"\n"
"Options:\n"
" -e, --extended send extended frame\n"
" -i, --identifier=ID CAN Identifier (default = %u)\n"
" --loop=COUNT send message COUNT times\n"
" -p, --poll use poll(2) to wait for buffer space while sending\n"
" -q, --quit <num> quit if <num> wrong sequences are encountered\n"
" -r, --receive work as receiver\n"
" -v, --verbose be verbose (twice to be even more verbose\n"
" -h, --help this help\n"
" --version print version information and exit\n",
prg, CAN_ID_DEFAULT);
}
static void sig_handler(int signo)
{
running = false;
}
static void do_receive()
{
uint8_t ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))];
struct iovec iov = {
.iov_base = &frame,
};
struct msghdr msg = {
.msg_iov = &iov,
.msg_iovlen = 1,
.msg_control = &ctrlmsg,
};
const int dropmonitor_on = 1;
bool sequence_init = true;
unsigned int sequence_wrap = 0;
uint32_t sequence_mask = 0xff;
uint32_t sequence_rx = 0;
uint32_t sequence_delta = 0;
uint32_t sequence = 0;
unsigned int overflow_old = 0;
can_err_mask_t err_mask = CAN_ERR_MASK;
if (setsockopt(s, SOL_SOCKET, SO_RXQ_OVFL,
&dropmonitor_on, sizeof(dropmonitor_on)) < 0) {
perror("setsockopt() SO_RXQ_OVFL not supported by your Linux Kernel");
}
/* enable recv. of error messages */
if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_ERR_FILTER, &err_mask, sizeof(err_mask))) {
perror("setsockopt()");
exit(EXIT_FAILURE);
}
/* enable recv. now */
if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, filter, sizeof(filter))) {
perror("setsockopt()");
exit(EXIT_FAILURE);
}
while ((infinite || loopcount--) && running) {
ssize_t nbytes;
msg.msg_iov[0].iov_len = sizeof(frame);
msg.msg_controllen = sizeof(ctrlmsg);
msg.msg_flags = 0;
nbytes = recvmsg(s, &msg, 0);
if (nbytes < 0) {
perror("read()");
exit(EXIT_FAILURE);
}
if (frame.can_id & CAN_ERR_FLAG) {
fprintf(stderr,
"sequence CNT: %6u, ERRORFRAME %7x %02x %02x %02x %02x %02x %02x %02x %02x\n",
sequence, frame.can_id,
frame.data[0], frame.data[1], frame.data[2], frame.data[3],
frame.data[4], frame.data[5], frame.data[6], frame.data[7]);
continue;
}
sequence_rx = frame.data[0];
if (sequence_init) {
sequence_init = false;
sequence = sequence_rx;
}
sequence_delta = (sequence_rx - sequence) & sequence_mask;
if (sequence_delta) {
struct cmsghdr *cmsg;
uint32_t overflow = 0;
uint32_t overflow_delta;
drop_count++;
for (cmsg = CMSG_FIRSTHDR(&msg);
cmsg && (cmsg->cmsg_level == SOL_SOCKET);
cmsg = CMSG_NXTHDR(&msg,cmsg)) {
if (cmsg->cmsg_type == SO_RXQ_OVFL) {
memcpy(&overflow, CMSG_DATA(cmsg), sizeof(overflow));
break;
}
}
overflow_delta = overflow - overflow_old;
fprintf(stderr,
"sequence CNT: %6u, RX: %6u expected: %3u missing: %4u skt overfl d: %4u a: %4u delta: %3u incident: %u\n",
sequence, sequence_rx,
sequence & sequence_mask, sequence_delta,
overflow_delta, overflow,
sequence_delta - overflow_delta,
drop_count);
if (drop_count == drop_until_quit)
exit(EXIT_FAILURE);
sequence = sequence_rx;
overflow_old = overflow;
} else if (verbose > 1) {
printf("sequence CNT: %6u, RX: %6u\n", sequence, sequence_rx);
}
sequence++;
if (verbose && !(sequence & sequence_mask))
printf("sequence wrap around (%d)\n", sequence_wrap++);
}
}
static void do_send()
{
unsigned int seq_wrap = 0;
uint8_t sequence = 0;
while ((infinite || loopcount--) && running) {
ssize_t len;
if (verbose > 1)
printf("sending frame. sequence number: %d\n", sequence);
again:
len = write(s, &frame, sizeof(frame));
if (len == -1) {
switch (errno) {
case ENOBUFS: {
int err;
struct pollfd fds[] = {
{
.fd = s,
.events = POLLOUT,
},
};
if (!use_poll) {
perror("write");
exit(EXIT_FAILURE);
}
err = poll(fds, 1, 1000);
if (err == 0 || (err == -1 && errno != -EINTR)) {
perror("poll()");
exit(EXIT_FAILURE);
}
}
case EINTR: /* fallthrough */
goto again;
default:
perror("write");
exit(EXIT_FAILURE);
}
}
frame.data[0]++;
sequence++;
if (verbose && !sequence)
printf("sequence wrap around (%d)\n", seq_wrap++);
}
}
int main(int argc, char **argv)
{
struct sigaction act = {
.sa_handler = sig_handler,
};
struct ifreq ifr;
struct sockaddr_can addr;
char *interface = "can0";
int family = PF_CAN, type = SOCK_RAW, proto = CAN_RAW;
int extended = 0;
int receive = 0;
int opt;
sigaction(SIGINT, &act, NULL);
sigaction(SIGTERM, &act, NULL);
sigaction(SIGHUP, &act, NULL);
struct option long_options[] = {
{ "extended", no_argument, 0, 'e' },
{ "identifier", required_argument, 0, 'i' },
{ "loop", required_argument, 0, 'l' },
{ "poll", no_argument, 0, 'p' },
{ "quit", optional_argument, 0, 'q' },
{ "receive", no_argument, 0, 'r' },
{ "verbose", no_argument, 0, 'v' },
{ "help", no_argument, 0, 'h' },
{ 0, 0, 0, 0},
};
while ((opt = getopt_long(argc, argv, "ei:pq::rvh", long_options, NULL)) != -1) {
switch (opt) {
case 'e':
extended = true;
break;
case 'i':
filter->can_id = strtoul(optarg, NULL, 0);
break;
case 'r':
receive = true;
break;
case 'l':
if (optarg) {
loopcount = strtoul(optarg, NULL, 0);
infinite = false;
} else {
infinite = true;
}
break;
case 'p':
use_poll = true;
break;
case 'q':
if (optarg)
drop_until_quit = strtoul(optarg, NULL, 0);
else
drop_until_quit = 1;
break;
case 'v':
verbose++;
break;
case 'h':
print_usage(basename(argv[0]));
exit(EXIT_SUCCESS);
break;
default:
print_usage(basename(argv[0]));
exit(EXIT_FAILURE);
break;
}
}
if (argv[optind] != NULL)
interface = argv[optind];
if (extended) {
filter->can_mask = CAN_EFF_MASK;
filter->can_id &= CAN_EFF_MASK;
filter->can_id |= CAN_EFF_FLAG;
} else {
filter->can_mask = CAN_SFF_MASK;
filter->can_id &= CAN_SFF_MASK;
}
frame.can_id = filter->can_id;
filter->can_mask |= CAN_EFF_FLAG;
printf("interface = %s, family = %d, type = %d, proto = %d\n",
interface, family, type, proto);
s = socket(family, type, proto);
if (s < 0) {
perror("socket()");
exit(EXIT_FAILURE);
}
addr.can_family = family;
strncpy(ifr.ifr_name, interface, sizeof(ifr.ifr_name));
if (ioctl(s, SIOCGIFINDEX, &ifr)) {
perror("ioctl()");
exit(EXIT_FAILURE);
}
addr.can_ifindex = ifr.ifr_ifindex;
/* first don't recv. any msgs */
if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0)) {
perror("setsockopt()");
exit(EXIT_FAILURE);
}
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind()");
exit(EXIT_FAILURE);
}
if (receive)
do_receive();
else
do_send();
exit(EXIT_SUCCESS);
}