From e102d9a74cbcfc503e1635a80f928d35335d76fd Mon Sep 17 00:00:00 2001
From: "Matthias P. Braendli" <matthias.braendli@mpb.li>
Date: Fri, 12 Jun 2015 21:28:11 +0200
Subject: Move GPS check out of UHDWorker
---
src/OutputUHD.cpp | 448 +++++++++++++++++++++++++++++-------------------------
src/OutputUHD.h | 59 ++++---
2 files changed, 264 insertions(+), 243 deletions(-)
(limited to 'src')
diff --git a/src/OutputUHD.cpp b/src/OutputUHD.cpp
index fdf9cda..b815a4c 100644
--- a/src/OutputUHD.cpp
+++ b/src/OutputUHD.cpp
@@ -61,6 +61,28 @@ void uhd_msg_handler(uhd::msg::type_t type, const std::string &msg)
}
}
+// Check function for GPS fixtype
+bool check_gps_fix_ok(uhd::usrp::multi_usrp::sptr usrp)
+{
+ try {
+ std::string fixtype(
+ usrp->get_mboard_sensor("gps_fixtype", 0).to_pp_string());
+
+ if (fixtype.find("3d fix") == std::string::npos) {
+ etiLog.level(warn) << "OutputUHD: " << fixtype;
+
+ return false;
+ }
+
+ return true;
+ }
+ catch (uhd::lookup_error &e) {
+ etiLog.level(warn) << "OutputUHD: no gps_fixtype sensor";
+ return false;
+ }
+}
+
+
OutputUHD::OutputUHD(
const OutputUHDConfig& config) :
ModOutput(ModFormat(1), ModFormat(0)),
@@ -69,13 +91,21 @@ OutputUHD::OutputUHD(
// Since we don't know the buffer size, we cannot initialise
// the buffers at object initialisation.
first_run(true),
+ gps_fix_verified(false),
activebuffer(1),
myDelayBuf(0)
{
- myMuting = 0; // is remote-controllable
+ myMuting = true; // is remote-controllable, and reset by the GPS fix check
myStaticDelayUs = 0; // is remote-controllable
+ // Variables needed for GPS fix check
+ num_checks_without_gps_fix = 1;
+ first_gps_fix_check.tv_sec = 0;
+ last_gps_fix_check.tv_sec = 0;
+ time_last_frame.tv_sec = 0;
+
+
#if FAKE_UHD
MDEBUG("OutputUHD:Using fake UHD output");
#else
@@ -168,59 +198,7 @@ OutputUHD::OutputUHD(
MDEBUG("OutputUHD:Mute on missing timestamps: %s ...\n",
myConf.muteNoTimestamps ? "enabled" : "disabled");
- if (myConf.enableSync && (myConf.pps_src == "none")) {
- etiLog.level(warn) <<
- "OutputUHD: WARNING:"
- " you are using synchronous transmission without PPS input!";
-
- struct timespec now;
- if (clock_gettime(CLOCK_REALTIME, &now)) {
- perror("OutputUHD:Error: could not get time: ");
- etiLog.level(error) << "OutputUHD: could not get time";
- }
- else {
- myUsrp->set_time_now(uhd::time_spec_t(now.tv_sec));
- etiLog.level(info) << "OutputUHD: Setting USRP time to " <<
- uhd::time_spec_t(now.tv_sec).get_real_secs();
- }
- }
-
- if (myConf.pps_src != "none") {
- /* handling time for synchronisation: wait until the next full
- * second, and set the USRP time at next PPS */
- struct timespec now;
- time_t seconds;
- if (clock_gettime(CLOCK_REALTIME, &now)) {
- etiLog.level(error) << "OutputUHD: could not get time :" <<
- strerror(errno);
- throw std::runtime_error("OutputUHD: could not get time.");
- }
- else {
- seconds = now.tv_sec;
-
- MDEBUG("OutputUHD:sec+1: %ld ; now: %ld ...\n", seconds+1, now.tv_sec);
- while (seconds + 1 > now.tv_sec) {
- usleep(1);
- if (clock_gettime(CLOCK_REALTIME, &now)) {
- etiLog.level(error) << "OutputUHD: could not get time :" <<
- strerror(errno);
- throw std::runtime_error("OutputUHD: could not get time.");
- }
- }
- MDEBUG("OutputUHD:sec+1: %ld ; now: %ld ...\n", seconds+1, now.tv_sec);
- /* We are now shortly after the second change. */
-
- usleep(200000); // 200ms, we want the PPS to be later
- myUsrp->set_time_unknown_pps(uhd::time_spec_t(seconds + 2));
- etiLog.level(info) << "OutputUHD: Setting USRP time next pps to " <<
- uhd::time_spec_t(seconds + 2).get_real_secs();
- }
-
- usleep(1e6);
- etiLog.log(info, "OutputUHD: USRP time %f\n",
- myUsrp->get_time_now().get_real_secs());
- }
-
+ set_usrp_time();
// preparing output thread worker data
uwd.myUsrp = myUsrp;
@@ -246,8 +224,6 @@ OutputUHD::OutputUHD(
uwd.check_gpsfix = false;
}
- uwd.max_gps_holdover = myConf.maxGPSHoldoverTime;
-
SetDelayBuffer(myConf.dabMode);
shared_ptr<barrier> b(new barrier(2));
@@ -271,7 +247,7 @@ OutputUHD::~OutputUHD()
int transmission_frame_duration_ms(unsigned int dabMode)
{
switch (dabMode) {
- // could happen when called from constructor and we take the mode from ETI
+ // could happen when called from constructor and we take the mode from ETI
case 0: return 0;
case 1: return 96;
@@ -305,7 +281,22 @@ int OutputUHD::process(Buffer* dataIn, Buffer* dataOut)
// the first buffer
// We will only wait on the barrier on the subsequent calls to
// OutputUHD::process
- if (first_run) {
+ if (not gps_fix_verified) {
+ if (uwd.check_gpsfix) {
+ initial_gps_check();
+
+ if (num_checks_without_gps_fix == 0) {
+ set_usrp_time();
+ gps_fix_verified = true;
+ myMuting = false;
+ }
+ }
+ else {
+ gps_fix_verified = true;
+ myMuting = false;
+ }
+ }
+ else if (first_run) {
etiLog.level(debug) << "OutputUHD: UHD initialising...";
worker.start(&uwd);
@@ -353,6 +344,16 @@ int OutputUHD::process(Buffer* dataIn, Buffer* dataOut)
throw std::runtime_error("Non-constant input length!");
}
+ if (uwd.check_gpsfix) {
+ try {
+ check_gps();
+ }
+ catch (std::runtime_error& e) {
+ uwd.running = false;
+ etiLog.level(error) << e.what();
+ }
+ }
+
mySyncBarrier.get()->wait();
if (!uwd.running) {
@@ -407,43 +408,192 @@ int OutputUHD::process(Buffer* dataIn, Buffer* dataOut)
}
return uwd.bufsize;
+}
+
+void OutputUHD::set_usrp_time()
+{
+ if (myConf.enableSync && (myConf.pps_src == "none")) {
+ etiLog.level(warn) <<
+ "OutputUHD: WARNING:"
+ " you are using synchronous transmission without PPS input!";
+
+ struct timespec now;
+ if (clock_gettime(CLOCK_REALTIME, &now)) {
+ perror("OutputUHD:Error: could not get time: ");
+ etiLog.level(error) << "OutputUHD: could not get time";
+ }
+ else {
+ myUsrp->set_time_now(uhd::time_spec_t(now.tv_sec));
+ etiLog.level(info) << "OutputUHD: Setting USRP time to " <<
+ uhd::time_spec_t(now.tv_sec).get_real_secs();
+ }
+ }
+
+ if (myConf.pps_src != "none") {
+ /* handling time for synchronisation: wait until the next full
+ * second, and set the USRP time at next PPS */
+ struct timespec now;
+ time_t seconds;
+ if (clock_gettime(CLOCK_REALTIME, &now)) {
+ etiLog.level(error) << "OutputUHD: could not get time :" <<
+ strerror(errno);
+ throw std::runtime_error("OutputUHD: could not get time.");
+ }
+ else {
+ seconds = now.tv_sec;
+
+ MDEBUG("OutputUHD:sec+1: %ld ; now: %ld ...\n", seconds+1, now.tv_sec);
+ while (seconds + 1 > now.tv_sec) {
+ usleep(1);
+ if (clock_gettime(CLOCK_REALTIME, &now)) {
+ etiLog.level(error) << "OutputUHD: could not get time :" <<
+ strerror(errno);
+ throw std::runtime_error("OutputUHD: could not get time.");
+ }
+ }
+ MDEBUG("OutputUHD:sec+1: %ld ; now: %ld ...\n", seconds+1, now.tv_sec);
+ /* We are now shortly after the second change. */
+
+ usleep(200000); // 200ms, we want the PPS to be later
+ myUsrp->set_time_unknown_pps(uhd::time_spec_t(seconds + 2));
+ etiLog.level(info) << "OutputUHD: Setting USRP time next pps to " <<
+ uhd::time_spec_t(seconds + 2).get_real_secs();
+ }
+
+ usleep(1e6);
+ etiLog.log(info, "OutputUHD: USRP time %f\n",
+ myUsrp->get_time_now().get_real_secs());
+ }
}
-void UHDWorker::process_errhandler()
+void OutputUHD::initial_gps_check()
{
- try {
- process();
+ if (first_gps_fix_check.tv_sec == 0) {
+ etiLog.level(info) << "Waiting for GPS fix";
+
+ if (clock_gettime(CLOCK_MONOTONIC, &first_gps_fix_check) != 0) {
+ stringstream ss;
+ ss << "clock_gettime failure: " << strerror(errno);
+ throw std::runtime_error(ss.str());
+ }
}
- catch (fct_discontinuity_error& e) {
- etiLog.level(warn) << e.what();
- uwd->failed_due_to_fct = true;
+
+ check_gps();
+
+ if (last_gps_fix_check.tv_sec >
+ first_gps_fix_check.tv_sec + initial_gps_fix_wait) {
+ stringstream ss;
+ ss << "GPS did not fix in " << initial_gps_fix_wait << " seconds";
+ throw std::runtime_error(ss.str());
}
- uwd->running = false;
- uwd->sync_barrier.get()->wait();
- etiLog.level(warn) << "UHD worker terminated";
+ if (time_last_frame.tv_sec == 0) {
+ if (clock_gettime(CLOCK_MONOTONIC, &time_last_frame) != 0) {
+ stringstream ss;
+ ss << "clock_gettime failure: " << strerror(errno);
+ throw std::runtime_error(ss.str());
+ }
+ }
+
+ struct timespec now;
+ if (clock_gettime(CLOCK_MONOTONIC, &now) != 0) {
+ stringstream ss;
+ ss << "clock_gettime failure: " << strerror(errno);
+ throw std::runtime_error(ss.str());
+ }
+
+ long delta_us = timespecdiff_us(time_last_frame, now);
+ long wait_time_us = transmission_frame_duration_ms(myConf.dabMode);
+
+ if (wait_time_us - delta_us > 0) {
+ usleep(wait_time_us - delta_us);
+ }
+
+ time_last_frame.tv_nsec += wait_time_us * 1000;
+ if (time_last_frame.tv_nsec >= 1000000000L) {
+ time_last_frame.tv_nsec -= 1000000000L;
+ time_last_frame.tv_sec++;
+ }
}
-// Check function for GPS fixtype
-bool check_gps_fix_ok(struct UHDWorkerData *uwd)
+void OutputUHD::check_gps()
{
- try {
- std::string fixtype(
- uwd->myUsrp->get_mboard_sensor("gps_fixtype", 0).to_pp_string());
+ struct timespec time_now;
+ if (clock_gettime(CLOCK_MONOTONIC, &time_now) != 0) {
+ stringstream ss;
+ ss << "clock_gettime failure: " << strerror(errno);
+ throw std::runtime_error(ss.str());
+ }
- if (fixtype.find("3d fix") == std::string::npos) {
- etiLog.level(warn) << "OutputUHD: " << fixtype;
+ // Divide interval by two because we alternate between
+ // launch and check
+ if (uwd.check_gpsfix and
+ last_gps_fix_check.tv_sec + gps_fix_check_interval/2.0 <
+ time_now.tv_sec) {
+ last_gps_fix_check = time_now;
- return false;
+ // Alternate between launching thread and checking the
+ // result.
+ if (gps_fix_task.joinable()) {
+ if (gps_fix_future.has_value()) {
+
+ gps_fix_future.wait();
+
+ gps_fix_task.join();
+
+ if (not gps_fix_future.get()) {
+ if (num_checks_without_gps_fix == 0) {
+ etiLog.level(alert) <<
+ "OutputUHD: GPS Fix lost";
+ }
+ num_checks_without_gps_fix++;
+ }
+ else {
+ if (num_checks_without_gps_fix) {
+ etiLog.level(info) <<
+ "OutputUHD: GPS Fix recovered";
+ }
+ num_checks_without_gps_fix = 0;
+ }
+
+ if (gps_fix_check_interval * num_checks_without_gps_fix >
+ myConf.maxGPSHoldoverTime) {
+ std::stringstream ss;
+ ss << "Lost GPS fix for " << gps_fix_check_interval *
+ num_checks_without_gps_fix << " seconds";
+ throw std::runtime_error(ss.str());
+ }
+ }
+ }
+ else {
+ // Checking the sensor here takes too much
+ // time, it has to be done in a separate thread.
+ gps_fix_pt = boost::packaged_task<bool>(
+ boost::bind(check_gps_fix_ok, myUsrp) );
+
+ gps_fix_future = gps_fix_pt.get_future();
+
+ gps_fix_task = boost::thread(boost::move(gps_fix_pt));
}
+ }
+}
- return true;
+//============================ UHD Worker ========================
+
+void UHDWorker::process_errhandler()
+{
+ try {
+ process();
}
- catch (uhd::lookup_error &e) {
- etiLog.level(warn) << "OutputUHD: no gps_fixtype sensor";
- return false;
+ catch (fct_discontinuity_error& e) {
+ etiLog.level(warn) << e.what();
+ uwd->failed_due_to_fct = true;
}
+
+ uwd->running = false;
+ uwd->sync_barrier.get()->wait();
+ etiLog.level(warn) << "UHD worker terminated";
}
void UHDWorker::process()
@@ -453,12 +603,6 @@ void UHDWorker::process()
pps_offset = 0.0;
last_pps = 2.0;
- // Variables needed for GPS fix check
- num_checks_without_gps_fix = 1;
- first_gps_fix_check.tv_sec = 0;
- last_gps_fix_check.tv_sec = 0;
- time_last_frame.tv_sec = 0;
-
#if FAKE_UHD == 0
uhd::stream_args_t stream_args("fc32"); //complex floats
myTxStream = uwd->myUsrp->get_tx_stream(stream_args);
@@ -472,8 +616,6 @@ void UHDWorker::process()
num_underflows = 0;
num_late_packets = 0;
- bool wait_for_gps = uwd->check_gpsfix;
-
while (uwd->running) {
fct_discontinuity = false;
md.has_time_spec = false;
@@ -497,19 +639,7 @@ void UHDWorker::process()
"UHDWorker.process: workerbuffer is neither 0 nor 1 !");
}
- // Don't start transmitting before we confirm the GPS is locked.
- if (wait_for_gps) {
- initial_gps_check();
-
- if (num_checks_without_gps_fix == 0) {
- wait_for_gps = false;
- }
- }
- else {
- handle_frame(frame);
-
- check_gps();
- }
+ handle_frame(frame);
// swap buffers
workerbuffer = (workerbuffer + 1) % 2;
@@ -518,6 +648,9 @@ void UHDWorker::process()
void UHDWorker::handle_frame(const struct UHDWorkerFrameData *frame)
{
+ // Transmit timeout
+ static const double tx_timeout = 20.0;
+
pps_offset = frame->ts.timestamp_pps_offset;
// Tx second from MNSC
@@ -641,6 +774,7 @@ void UHDWorker::handle_frame(const struct UHDWorkerFrameData *frame)
void UHDWorker::tx_frame(const struct UHDWorkerFrameData *frame)
{
+ const double tx_timeout = 20.0;
const size_t sizeIn = uwd->bufsize / sizeof(complexf);
const complexf* in_data = reinterpret_cast<const complexf*>(frame->buf);
@@ -690,117 +824,6 @@ void UHDWorker::tx_frame(const struct UHDWorkerFrameData *frame)
}
}
-void UHDWorker::initial_gps_check()
-{
- if (first_gps_fix_check.tv_sec == 0) {
- etiLog.level(info) << "Waiting for GPS fix";
-
- if (clock_gettime(CLOCK_MONOTONIC, &first_gps_fix_check) != 0) {
- stringstream ss;
- ss << "clock_gettime failure: " << strerror(errno);
- throw std::runtime_error(ss.str());
- }
- }
-
- check_gps();
-
- if (last_gps_fix_check.tv_sec > first_gps_fix_check.tv_sec + initial_gps_fix_wait) {
- stringstream ss;
- ss << "GPS did not fix in " << initial_gps_fix_wait << " seconds";
- throw std::runtime_error(ss.str());
- }
-
- if (time_last_frame.tv_sec == 0) {
- if (clock_gettime(CLOCK_MONOTONIC, &time_last_frame) != 0) {
- stringstream ss;
- ss << "clock_gettime failure: " << strerror(errno);
- throw std::runtime_error(ss.str());
- }
- }
-
- struct timespec now;
- if (clock_gettime(CLOCK_MONOTONIC, &now) != 0) {
- stringstream ss;
- ss << "clock_gettime failure: " << strerror(errno);
- throw std::runtime_error(ss.str());
- }
-
- long delta_us = timespecdiff_us(time_last_frame, now);
- long wait_time_us = uwd->fct_increment * 24000L; // TODO ugly
-
- if (wait_time_us - delta_us > 0) {
- usleep(wait_time_us - delta_us);
- }
-
- time_last_frame.tv_nsec += wait_time_us * 1000;
- if (time_last_frame.tv_nsec >= 1000000000L) {
- time_last_frame.tv_nsec -= 1000000000L;
- time_last_frame.tv_sec++;
- }
-
-}
-
-void UHDWorker::check_gps()
-{
- struct timespec time_now;
- if (clock_gettime(CLOCK_MONOTONIC, &time_now) != 0) {
- stringstream ss;
- ss << "clock_gettime failure: " << strerror(errno);
- throw std::runtime_error(ss.str());
- }
-
- // Divide interval by two because we alternate between
- // launch and check
- if (uwd->check_gpsfix and
- last_gps_fix_check.tv_sec + gps_fix_check_interval/2.0 < time_now.tv_sec) {
- last_gps_fix_check = time_now;
-
- // Alternate between launching thread and checking the
- // result.
- if (gps_fix_task.joinable()) {
- if (gps_fix_future.has_value()) {
-
- gps_fix_future.wait();
-
- gps_fix_task.join();
-
- if (not gps_fix_future.get()) {
- if (num_checks_without_gps_fix == 0) {
- etiLog.level(alert) <<
- "OutputUHD: GPS Fix lost";
- }
- num_checks_without_gps_fix++;
- }
- else {
- if (num_checks_without_gps_fix) {
- etiLog.level(info) <<
- "OutputUHD: GPS Fix recovered";
- }
- num_checks_without_gps_fix = 0;
- }
-
- if (gps_fix_check_interval * num_checks_without_gps_fix >
- uwd->max_gps_holdover) {
- std::stringstream ss;
- ss << "Lost GPS fix for " << gps_fix_check_interval *
- num_checks_without_gps_fix << " seconds";
- throw std::runtime_error(ss.str());
- }
- }
- }
- else {
- // Checking the sensor here takes too much
- // time, it has to be done in a separate thread.
- gps_fix_pt = boost::packaged_task<bool>(
- boost::bind(check_gps_fix_ok, uwd) );
-
- gps_fix_future = gps_fix_pt.get_future();
-
- gps_fix_task = boost::thread(boost::move(gps_fix_pt));
- }
- }
-}
-
void UHDWorker::print_async_metadata(const struct UHDWorkerFrameData *frame)
{
#if FAKE_UHD == 0
@@ -847,6 +870,9 @@ void UHDWorker::print_async_metadata(const struct UHDWorkerFrameData *frame)
#endif
}
+// =======================================
+// Remote Control for UHD
+// =======================================
void OutputUHD::set_parameter(const string& parameter, const string& value)
{
diff --git a/src/OutputUHD.h b/src/OutputUHD.h
index bc01223..633de04 100644
--- a/src/OutputUHD.h
+++ b/src/OutputUHD.h
@@ -50,6 +50,7 @@ DESCRIPTION:
#include <boost/thread/thread.hpp>
#include <boost/thread/barrier.hpp>
#include <boost/shared_ptr.hpp>
+#include <boost/atomic.hpp>
#include <list>
#include <string>
@@ -94,7 +95,7 @@ struct fct_discontinuity_error : public std::exception
enum refclk_lock_loss_behaviour_t { CRASH, IGNORE };
struct UHDWorkerData {
- bool running;
+ boost::atomic<bool> running;
bool failed_due_to_fct;
#if FAKE_UHD == 0
@@ -123,10 +124,6 @@ struct UHDWorkerData {
// If we want to check for the gps_fixtype sensor
bool check_gpsfix;
- // After how much time without fix we abort
- int max_gps_holdover; // seconds
-
-
// muting set by remote control
bool muting;
@@ -171,42 +168,18 @@ class UHDWorker {
double pps_offset;
double last_pps;
- // GPS Fix check variables
- int num_checks_without_gps_fix;
- struct timespec first_gps_fix_check;
- struct timespec last_gps_fix_check;
- struct timespec time_last_frame;
- boost::packaged_task<bool> gps_fix_pt;
- boost::unique_future<bool> gps_fix_future;
- boost::thread gps_fix_task;
-
- // Transmit timeout
- static const double tx_timeout = 20.0;
-
- // Wait time in seconds to get fix
- static const int initial_gps_fix_wait = 60;
-
- // Interval for checking the GPS at runtime
- static const double gps_fix_check_interval = 10.0; // seconds
-
-
- void process();
- void process_errhandler();
-
void print_async_metadata(const struct UHDWorkerFrameData *frame);
void handle_frame(const struct UHDWorkerFrameData *frame);
void tx_frame(const struct UHDWorkerFrameData *frame);
- void check_gps();
-
- void set_usrp_time_gps();
-
- void initial_gps_check();
struct UHDWorkerData *uwd;
boost::thread uhd_thread;
uhd::tx_streamer::sptr myTxStream;
+
+ void process();
+ void process_errhandler();
};
/* This structure is used as initial configuration for OutputUHD */
@@ -278,6 +251,7 @@ class OutputUHD: public ModOutput, public RemoteControllable {
boost::shared_ptr<boost::barrier> mySyncBarrier;
UHDWorker worker;
bool first_run;
+ bool gps_fix_verified;
struct UHDWorkerData uwd;
int activebuffer;
@@ -294,6 +268,27 @@ class OutputUHD: public ModOutput, public RemoteControllable {
int myTFDurationMs; // TF duration in milliseconds
std::vector<complexf> myDelayBuf;
size_t lastLen;
+
+ // GPS Fix check variables
+ int num_checks_without_gps_fix;
+ struct timespec first_gps_fix_check;
+ struct timespec last_gps_fix_check;
+ struct timespec time_last_frame;
+ boost::packaged_task<bool> gps_fix_pt;
+ boost::unique_future<bool> gps_fix_future;
+ boost::thread gps_fix_task;
+
+ // Wait time in seconds to get fix
+ static const int initial_gps_fix_wait = 60;
+
+ // Interval for checking the GPS at runtime
+ static const double gps_fix_check_interval = 10.0; // seconds
+
+ void check_gps();
+
+ void set_usrp_time();
+
+ void initial_gps_check();
};
#endif // HAVE_OUTPUT_UHD
--
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