On 10.10.19 10:26, Jan Kiszka wrote:
> On 10.10.19 10:07, Wolfgang Grandegger via Xenomai wrote:
>> The test runs for about 10 seconds!
>>
>> Use "smokey --verbose=2" or higher to turn on traces.
>>
>> Signed-off-by: Wolfgang Grandegger <w...@grandegger.com>
>> ---
>> configure.ac | 1 +
>> testsuite/smokey/Makefile.am | 1 +
>> testsuite/smokey/rtcan/Makefile.am | 10 ++
>> testsuite/smokey/rtcan/rtcan.c | 198
>> +++++++++++++++++++++++++++++++++++++
>> 4 files changed, 210 insertions(+)
>> create mode 100644 testsuite/smokey/rtcan/Makefile.am
>> create mode 100644 testsuite/smokey/rtcan/rtcan.c
>>
>> diff --git a/configure.ac b/configure.ac
>> index 45e222b..1166f18 100644
>> --- a/configure.ac
>> +++ b/configure.ac
>> @@ -883,6 +883,7 @@ AC_CONFIG_FILES([ \
>> testsuite/smokey/sched-quota/Makefile \
>> testsuite/smokey/sched-tp/Makefile \
>> testsuite/smokey/setsched/Makefile \
>> + testsuite/smokey/rtcan/Makefile \
>> testsuite/smokey/rtdm/Makefile \
>> testsuite/smokey/vdso-access/Makefile \
>> testsuite/smokey/posix-cond/Makefile \
>> diff --git a/testsuite/smokey/Makefile.am b/testsuite/smokey/Makefile.am
>> index e6abdb8..ea8c610 100644
>> --- a/testsuite/smokey/Makefile.am
>> +++ b/testsuite/smokey/Makefile.am
>> @@ -20,6 +20,7 @@ COBALT_SUBDIRS = \
>> posix-fork \
>> posix-mutex \
>> posix-select \
>> + rtcan \
>> rtdm \
>> sched-quota \
>> sched-tp \
>> diff --git a/testsuite/smokey/rtcan/Makefile.am
>> b/testsuite/smokey/rtcan/Makefile.am
>> new file mode 100644
>> index 0000000..8e2e083
>> --- /dev/null
>> +++ b/testsuite/smokey/rtcan/Makefile.am
>> @@ -0,0 +1,10 @@
>> +
>> +noinst_LIBRARIES = librtcan.a
>> +
>> +librtcan_a_SOURCES = rtcan.c
>> +
>> +CCLD = $(top_srcdir)/scripts/wrap-link.sh $(CC)
>> +
>> +librtcan_a_CPPFLAGS = \
>> + @XENO_USER_CFLAGS@ \
>> + -I$(top_srcdir)/include
>> diff --git a/testsuite/smokey/rtcan/rtcan.c b/testsuite/smokey/rtcan/rtcan.c
>> new file mode 100644
>> index 0000000..0725b72
>> --- /dev/null
>> +++ b/testsuite/smokey/rtcan/rtcan.c
>> @@ -0,0 +1,198 @@
>> +/*
>> + * RTCAN test.
>> + *
>> + * Copyright (C) Wolfgang Grandegger <w...@grandegger.com>
>> + *
>> + * Released under the terms of GPLv2.
>> + */
>> +#include <stdio.h>
>> +#include <stdlib.h>
>> +#include <unistd.h>
>> +#include <signal.h>
>> +#include <string.h>
>> +#include <pthread.h>
>> +#include <fcntl.h>
>> +#include <errno.h>
>> +#include <netinet/in.h>
>> +#include <net/if.h>
>> +#include <sys/ioctl.h>
>> +#include <smokey/smokey.h>
>> +#include <rtdm/can.h>
>> +
>> +smokey_test_plugin(rtcan,
>> + SMOKEY_NOARGS,
>> + "Check RTCAN interface."
>> +);
>> +
>> +#define RTCAN_SMOKEY_DEVICE "rtcan0"
>> +#define RTCAN_SMOKEY_DELAY 10000000 /* 10 ms */
>> +#define RTCAN_SMOKEY_LOOPS 1000
>> +#define RTCAN_SMOKEY_BITRATE 1000000 /* 1 MB/s */
>> +#define RTCAN_SMOKEY_TIMEOUT 1000000000ll /* 1 sec */
>> +
>> +static int sock;
>> +static uint32_t txcount;
>> +static uint32_t rxcount;
>> +
>> +static pthread_t txtid, rxtid;
>> +
>> +static void fail(const char *reason)
>> +{
>> + perror(reason);
>> + exit(EXIT_FAILURE);
>> +}
>> +
>> +static void *transmitter(void *arg)
>> +{
>> + struct can_frame frame;
>> + struct timespec ts;
>> + int loops = RTCAN_SMOKEY_LOOPS;
>> + int ret;
>> +
>> + pthread_setname_np(pthread_self(), "RTCAN transmitter");
>> +
>> + while (--loops) {
>> + frame.can_id = txcount & CAN_SFF_MASK;
>> + frame.can_dlc = sizeof(txcount);
>> + memcpy(frame.data, &txcount, sizeof(txcount));
>> +
>> + ret = send(sock, (void *)&frame, sizeof(struct can_frame), 0);
>> + if (ret < 0) {
>> + close(sock);
>> + if (errno == EBADF)
>> + fail("terminating transmitter thread\n");
>> + else
>> + fail("send");
>> + }
>> + txcount++;
>> +
>> + smokey_trace("%s: send %d bytes, id %#x data txcount %d",
>> + __func__, ret, frame.can_id, txcount);
>> +
>> + ts.tv_sec = 0;
>> + ts.tv_nsec = RTCAN_SMOKEY_DELAY;
>> + clock_nanosleep(CLOCK_REALTIME, 0, &ts, NULL);
>> + }
>> +
>> + return NULL;
>> +}
>> +
>> +static void *receiver(void *arg)
>> +{
>> + struct can_frame frame;
>> + uint32_t count;
>> + int ret;
>> +
>> + pthread_setname_np(pthread_self(), "RTCAN receiver");
>> +
>> + while (rxcount < RTCAN_SMOKEY_LOOPS - 1) {
>> + ret = recv(sock, (void *)&frame, sizeof(struct can_frame), 0);
>> + if (ret < 0) {
>> + close(sock);
>> + if (errno == EBADF)
>> + fail("terminating receiver thread\n");
>> + else
>> + fail("recv");
>> + }
>> +
>> + memcpy(&count, frame.data, sizeof(count));
>> +
>> + smokey_trace("%s: received %d bytes, id %#x data count %d",
>> + __func__, ret, frame.can_id, count);
>> +
>> + if (frame.can_id != (count & CAN_SFF_MASK) ||
>> + frame.can_dlc != sizeof(count) ||
>> + count != rxcount) {
>> + close(sock);
>> + smokey_note("CAN frame does not match");
>> + errno = -EINVAL;
>> + fail("frame mismatch");
>> + }
>> +
>> + rxcount++;
>> + }
>> +
>> + return NULL;
>> +}
>> +
>> +static int run_rtcan(struct smokey_test *t, int argc, char *const argv[])
>> +{
>> + struct sched_param txparam = {.sched_priority = 70 };
>> + struct sched_param rxparam = {.sched_priority = 70 };
>> + pthread_attr_t txattr, rxattr;
>> + nanosecs_rel_t timeout = RTCAN_SMOKEY_TIMEOUT;
>> + struct sockaddr_can saddr;
>> + struct can_ifreq ifr;
>> + int ret;
>> +
>> + sock = socket(PF_CAN, SOCK_RAW, CAN_RAW);
>> + if (sock < 0)
>> + fail("socket");
>> +
>> + ret = ioctl(sock, RTCAN_RTIOC_RCV_TIMEOUT, &timeout);
>> + if (ret)
>> + fail("ioctl RCV_TIMEOUT");
>> +
>> + ret = ioctl(sock, RTCAN_RTIOC_SND_TIMEOUT, &timeout);
>> + if (ret)
>> + fail("ioctl SND_TIMEOUT");
>> +
>> + namecpy(ifr.ifr_name, RTCAN_SMOKEY_DEVICE);
>> + ret = ioctl(sock, SIOCGIFINDEX, &ifr);
>> + if (ret < 0)
>> + fail("ioctl SIOCGIFINDEX");
>> +
>> + ifr.ifr_ifru.mode = CAN_MODE_STOP;
>> + ret = ioctl(sock, SIOCSCANMODE, &ifr);
>> + if (ret < 0)
>> + fail("ioctl SIOCSCANCTRLMODE STOP");
>> +
>> + ifr.ifr_ifru.baudrate = RTCAN_SMOKEY_BITRATE;
>> + ret = ioctl(sock, SIOCSCANBAUDRATE, &ifr);
>> + if (ret < 0)
>> + fail("ioctl SIOCSCANBAUDRATE");
>> +
>> + ifr.ifr_ifru.ctrlmode = CAN_CTRLMODE_LOOPBACK;;
>> + ret = ioctl(sock, SIOCSCANCTRLMODE, &ifr);
>> + if (ret < 0)
>> + fail("ioctl SIOCSCANCTRLMODE LOOPBACK");
>> +
>> + ifr.ifr_ifru.mode = CAN_MODE_START;
>> + ret = ioctl(sock, SIOCSCANMODE, &ifr);
>> + if (ret < 0)
>> + fail("ioctl SIOCSCANCTRLMODE START");
>> +
>> + memset(&saddr, 0, sizeof(saddr));
>> + saddr.can_ifindex = ifr.ifr_ifindex;
>> + saddr.can_family = AF_CAN;
>> +
>> + ret = bind(sock, (struct sockaddr *)&saddr, sizeof(saddr));
>> + if (ret < 0)
>> + fail("bind");
>> +
>> + pthread_attr_init(&txattr);
>> + pthread_attr_setdetachstate(&txattr, PTHREAD_CREATE_JOINABLE);
>> + pthread_attr_setinheritsched(&txattr, PTHREAD_EXPLICIT_SCHED);
>> + pthread_attr_setschedpolicy(&txattr, SCHED_FIFO);
>> + pthread_attr_setschedparam(&txattr, &txparam);
>> +
>> + errno = pthread_create(&txtid, &txattr, &transmitter, NULL);
>> + if (errno)
>> + fail("pthread_create for tx");
>> +
>> + pthread_attr_init(&rxattr);
>> + pthread_attr_setdetachstate(&rxattr, PTHREAD_CREATE_JOINABLE);
>> + pthread_attr_setinheritsched(&rxattr, PTHREAD_EXPLICIT_SCHED);
>> + pthread_attr_setschedpolicy(&rxattr, SCHED_FIFO);
>> + pthread_attr_setschedparam(&rxattr, &rxparam);
>> +
>> + errno = pthread_create(&rxtid, &rxattr, &receiver, NULL);
>> + if (errno)
>> + fail("pthread_create for rx");
>> +
>> + pthread_join(rxtid, NULL);
>> + pthread_cancel(txtid);
>> + pthread_join(txtid, NULL);
>> +
>> + return 0;
>> +}
>>
>
> I thinks this lacks two things:
>
> - testing for availability of the feature, not failing, just warning if
> missing
>
> - loading of possibly needed modules, including the virtual CAN driver
> (most test machines will not have a phyisical interface)
>
i.e. basically the same things that the RTnet test does.
> Thanks for kicking this off!
> Jan
>
--
Siemens AG, Corporate Technology, CT RDA IOT SES-DE
Corporate Competence Center Embedded Linux
