summaryrefslogtreecommitdiffstats
path: root/src/OutputUHD.cpp
blob: 21e236e455a351a1d998b777041c2112cfbcc9c9 (plain)
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
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
/*
   Copyright (C) 2005, 2006, 2007, 2008, 2009, 2010 Her Majesty the
   Queen in Right of Canada (Communications Research Center Canada)

   Includes modifications for which no copyright is claimed
   2012, Matthias P. Braendli, matthias.braendli@mpb.li
 */
/*
   This file is part of CRC-DADMOD.

   CRC-DADMOD is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as
   published by the Free Software Foundation, either version 3 of the
   License, or (at your option) any later version.

   CRC-DADMOD is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with CRC-DADMOD.  If not, see <http://www.gnu.org/licenses/>.
 */

#define ENABLE_UHD 1

#include "OutputUHD.h"
#include "PcDebug.h"
#include "Log.h"
#include "RemoteControl.h"

#include <iostream>
#include <assert.h>
#include <stdexcept>
#include <stdio.h>
#include <time.h>
#include <errno.h>
#include <unistd.h>

typedef std::complex<float> complexf;

OutputUHD::OutputUHD(
        OutputUHDConfig& config,
        Logger& logger) :
    ModOutput(ModFormat(1), ModFormat(0)),
    RemoteControllable("uhd"),
    myLogger(logger)
{

    mySampleRate = config.sampleRate;
    myTxGain = config.txgain;
    myFrequency = config.frequency;
    mute_no_timestamps = config.muteNoTimestamps;
    enable_sync = config.enableSync;
    myDevice = config.device;
    myMuting = 0;

    MDEBUG("OutputUHD::OutputUHD(device: %s) @ %p\n",
            myDevice.c_str(), this);

    /* register the parameters that can be remote controlled */
    RC_ADD_PARAMETER(txgain, "UHD analog daughterboard TX gain");
    RC_ADD_PARAMETER(freq,   "UHD transmission frequency");
    RC_ADD_PARAMETER(muting, "mute the output by stopping the transmitter");

    
#if ENABLE_UHD
    uhd::set_thread_priority_safe();

    //create a usrp device
    MDEBUG("OutputUHD:Creating the usrp device with: %s...\n",
            myDevice.c_str());

    myUsrp = uhd::usrp::multi_usrp::make(myDevice);

    MDEBUG("OutputUHD:Using device: %s...\n", myUsrp->get_pp_string().c_str());

    MDEBUG("OutputUHD:Setting REFCLK and PPS input...\n");

    myUsrp->set_clock_source(config.refclk_src);
    myUsrp->set_time_source(config.pps_src);

    std::cerr << "UHD clock source is " <<
        myUsrp->get_clock_source(0) << std::endl;

    std::cerr << "UHD time source is " <<
        myUsrp->get_time_source(0) << std::endl;

    //set the tx sample rate
    MDEBUG("OutputUHD:Setting rate to %d...\n", mySampleRate);
    myUsrp->set_tx_rate(mySampleRate);
    MDEBUG("OutputUHD:Actual TX Rate: %f Msps...\n", myUsrp->get_tx_rate());

    //set the centre frequency
    MDEBUG("OutputUHD:Setting freq to %f...\n", myFrequency);
    myUsrp->set_tx_freq(myFrequency);
    myFrequency = myUsrp->get_tx_freq();
    MDEBUG("OutputUHD:Actual frequency: %f\n", myFrequency);

    myUsrp->set_tx_gain(myTxGain);
    MDEBUG("OutputUHD:Actual TX Gain: %f ...\n", myUsrp->get_tx_gain());

    MDEBUG("OutputUHD:Mute on missing timestamps: %s ...\n", mute_no_timestamps ? "enabled" : "disabled");

    if (enable_sync && (config.pps_src == "none")) {
        myLogger.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: ");
            myLogger.level(error) << "OutputUHD: could not get time";
        }
        else {
            myUsrp->set_time_now(uhd::time_spec_t(now.tv_sec));
            myLogger.level(info) << "OutputUHD: Setting USRP time to " <<
                    uhd::time_spec_t(now.tv_sec).get_real_secs();
        }
    }

    if (config.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)) {
            perror("OutputUHD:Error: could not get time: ");
            myLogger.level(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)) {
                    fprintf(stderr, "errno: %d\n", errno);
                    perror("OutputUHD:Error: could not get time: ");
                    myLogger.level(error) << "OutputUHD: could not get time";
                    break;
                }
            }
            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));
            myLogger.level(info) << "OutputUHD: Setting USRP time next pps to " <<
                    uhd::time_spec_t(seconds + 2).get_real_secs();
        }

        usleep(1e6);
        fprintf(stderr, "OutputUHD: USRP time %f\n",
                myUsrp->get_time_now().get_real_secs());
    }


    // preparing output thread worker data
    uwd.myUsrp = myUsrp;
#else
    fprintf(stderr, "OutputUHD: UHD initialisation disabled at compile-time\n");
    myLogger.level(error) << "OutputUHD: UHD initialisation disabled at compile-time";
#endif

    uwd.frame0.ts.timestamp_valid = false;
    uwd.frame1.ts.timestamp_valid = false;
    uwd.sampleRate = mySampleRate;
    uwd.sourceContainsTimestamp = false;
    uwd.muteNoTimestamps = mute_no_timestamps;
    uwd.logger = &myLogger;
    uwd.refclk_lock_loss_behaviour = config.refclk_lock_loss_behaviour;

    // Since we don't know the buffer size, we cannot initialise
    // the buffers here
    first_run = true;

    shared_ptr<barrier> b(new barrier(2));
    my_sync_barrier = b;
    uwd.sync_barrier = b;

    worker.start(&uwd);

    MDEBUG("OutputUHD:UHD ready.\n");
}


OutputUHD::~OutputUHD()
{
    MDEBUG("OutputUHD::~OutputUHD() @ %p\n", this);
    worker.stop();
}

int OutputUHD::process(Buffer* dataIn, Buffer* dataOut)
{
    struct frame_timestamp ts;

    uwd.muting = myMuting;


    // On the first call, we must do some allocation and we must fill
    // the first buffer
    // We will only wait on the barrier on the subsequent calls to 
    // OutputUHD::process
    if (first_run) {
        fprintf(stderr, "OutUHD.process:Initialising...\n");
        myLogger.level(debug) << "OutputUHD: UHD initialising...";

        uwd.bufsize = dataIn->getLength();
        uwd.frame0.buf = malloc(uwd.bufsize);
        uwd.frame1.buf = malloc(uwd.bufsize);

        uwd.sourceContainsTimestamp = enable_sync && myEtiReader->sourceContainsTimestamp();

        // The worker begins by transmitting buf0
        memcpy(uwd.frame0.buf, dataIn->getData(), uwd.bufsize);

        myEtiReader->calculateTimestamp(ts);
        uwd.frame0.ts = ts;
        uwd.frame0.fct = myEtiReader->getFCT();

        activebuffer = 1;

        lastLen = uwd.bufsize;
        first_run = false;
        fprintf(stderr, "OutUHD.process:Initialising complete.\n");
        myLogger.level(debug) << "OutputUHD: UHD initialising complete";
    }
    else {

        if (lastLen != dataIn->getLength()) {
            // I expect that this never happens.
            fprintf(stderr,
                    "OutUHD.process:AAAAH PANIC input length changed from %zu to %zu !\n",
                    lastLen, dataIn->getLength());
            myLogger.level(emerg) << "OutputUHD: Fatal error, input length changed !";
            throw std::runtime_error("Non-constant input length!");
        }
        //fprintf(stderr, "OutUHD.process:Waiting for barrier\n");
        my_sync_barrier.get()->wait();

        // write into the our buffer while
        // the worker sends the other.

        myEtiReader->calculateTimestamp(ts);
        uwd.sourceContainsTimestamp = enable_sync && myEtiReader->sourceContainsTimestamp();

        if (activebuffer == 0) {
            memcpy(uwd.frame0.buf, dataIn->getData(), uwd.bufsize);

            uwd.frame0.ts = ts;
            uwd.frame0.fct = myEtiReader->getFCT();
        }
        else if (activebuffer == 1) {
            memcpy(uwd.frame1.buf, dataIn->getData(), uwd.bufsize);

            uwd.frame1.ts = ts;
            uwd.frame1.fct = myEtiReader->getFCT();
        }

        activebuffer = (activebuffer + 1) % 2;
    }

    return uwd.bufsize;

}

void UHDWorker::process(struct UHDWorkerData *uwd)
{
    int workerbuffer  = 0;
    time_t tx_second = 0;
    double pps_offset = 0;
    double last_pps   = 2.0;
    double usrp_time;

    //const struct timespec hundred_nano = {0, 100};

    size_t sizeIn;
    struct UHDWorkerFrameData* frame;

    size_t num_acc_samps; //number of accumulated samples
    int write_fail_count;

#if ENABLE_UHD
    // Transmit timeout
    const double timeout = 0.2;

    uhd::stream_args_t stream_args("fc32"); //complex floats
    uhd::tx_streamer::sptr myTxStream = uwd->myUsrp->get_tx_stream(stream_args);
    size_t bufsize = myTxStream->get_max_num_samps();
#endif

    bool check_refclk_loss = true;
    const complexf* in;

    uhd::tx_metadata_t md;
    md.start_of_burst = false;
    md.end_of_burst = false;

    while (running) {
        md.has_time_spec = false;
        md.time_spec = uhd::time_spec_t(0.0);
        num_acc_samps = 0;
        write_fail_count = 0;

        /* Wait for barrier */
        // this wait will hopefully always be the second one
        // because modulation should be quicker than transmission
        //fprintf(stderr, "Worker:Waiting for barrier\n");
        uwd->sync_barrier.get()->wait();

        if (workerbuffer == 0) {
            frame = &(uwd->frame0);
        }
        else if (workerbuffer == 1) {
            frame = &(uwd->frame1);
        }
        else {
            fprintf(stderr, "UHDWorker.process: workerbuffer: %d\n", workerbuffer);
            perror("UHDWorker.process: workerbuffer is neither 0 nor 1!\n");
        }

        in = reinterpret_cast<const complexf*>(frame->buf);
        pps_offset = frame->ts.timestamp_pps_offset;
        //
        // Tx second from MNSC
        tx_second = frame->ts.timestamp_sec;

        sizeIn = uwd->bufsize / sizeof(complexf);

#if ENABLE_UHD
        // Check for ref_lock 
        if (check_refclk_loss)
        {
            try {
                if (! uwd->myUsrp->get_mboard_sensor("ref_locked", 0).to_bool()) {
                    fprintf(stderr, "UHDWorker: RefLock lost !\n");
                    uwd->logger->log(alert, "OutputUHD: External reference clock lock lost !");
                    if (uwd->refclk_lock_loss_behaviour == CRASH) {
                        throw std::runtime_error("OutputUHD: External reference clock lock lost.");
                    }
                }
            }
            catch (uhd::lookup_error &e) {
                check_refclk_loss = false;
                uwd->logger->log(warn, "OutputUHD: This USRP does not have mboard sensor for ext clock loss. Check disabled.");
            }
        }

        usrp_time = uwd->myUsrp->get_time_now().get_real_secs();
#else
        usrp_time = 0;
#endif

        if (uwd->sourceContainsTimestamp) {
            if (!frame->ts.timestamp_valid) {
                /* We have not received a full timestamp through
                 * MNSC. We sleep through the frame.
                 */
                fprintf(stderr, "UHDOut: Throwing sample %d away: incomplete timestamp %zu + %f\n",
                        frame->fct, tx_second, pps_offset);
                uwd->logger->level(info) << "OutputUHD: Throwing sample " <<
                    frame->fct << " away: incomplete timestamp " << tx_second << " + " << pps_offset;
                usleep(20000); //TODO should this be TM-dependant ?
                goto loopend;
            }

            md.has_time_spec = true;
            md.time_spec = uhd::time_spec_t(tx_second, pps_offset);

            // md is defined, let's do some checks
            if (md.time_spec.get_real_secs() + 0.2 < usrp_time) {
                fprintf(stderr,
                        "* Timestamp in the past! offset: %f"
                        "  (%f) frame %d tx_second %zu; pps %f\n",
                        md.time_spec.get_real_secs() - usrp_time,
                        usrp_time, frame->fct, tx_second, pps_offset);
                goto loopend; //skip the frame
            }

#if ENABLE_UHD
            if (md.time_spec.get_real_secs() > usrp_time + TIMESTAMP_MARGIN_FUTURE) {
                fprintf(stderr,
                        "* Timestamp too far in the future! offset: %f\n",
                        md.time_spec.get_real_secs() - usrp_time);
                usleep(20000); //sleep so as to fill buffers
            }

            if (md.time_spec.get_real_secs() > usrp_time + TIMESTAMP_ABORT_FUTURE) {
                fprintf(stderr,
                        "* Timestamp way too far in the future! offset: %f\n",
                        md.time_spec.get_real_secs() - usrp_time);
                fprintf(stderr, "* Aborting\n");
                uwd->logger->log(error, "OutputUHD: timestamp is way to far in the future, aborting");
                throw std::runtime_error("Timestamp error. Aborted.");
            }
#endif

            if (last_pps > pps_offset) {
                fprintf(stderr, "UHDOut (usrp time: %f): frame %d;  tx_second %zu; pps %.9f\n",
                        usrp_time,
                        frame->fct, tx_second, pps_offset);
            }

        }
        else { // !uwd->sourceContainsTimestamp
            if (uwd->muting || uwd->muteNoTimestamps) {
                /* There was some error decoding the timestamp
                */
                if (uwd->muting) {
                    fprintf(stderr, "UHDOut: Muting sample %d requested\n",
                            frame->fct);
                }
                else {
                    fprintf(stderr, "UHDOut: Muting sample %d : no timestamp\n",
                            frame->fct);
                }
                usleep(20000);
                goto loopend;
            }
        }

#if ENABLE_UHD
        PDEBUG("UHDWorker::process:max_num_samps: %zu.\n",
                myTxStream->get_max_num_samps());

        /*
           size_t num_tx_samps = myTxStream->send(
           dataIn, sizeIn, md, timeout);

           MDEBUG("UHDWorker::process:num_tx_samps: %zu.\n", num_tx_samps);
           */
        while (running && !uwd->muting && (num_acc_samps < sizeIn)) {
            size_t samps_to_send = std::min(sizeIn - num_acc_samps, bufsize);

            //ensure the the last packet has EOB set if the timestamps has been refreshed
            //and needs to be reconsidered.
            md.end_of_burst = (frame->ts.timestamp_refresh && (samps_to_send <= bufsize));

            //send a single packet
            size_t num_tx_samps = myTxStream->send(
                    &in[num_acc_samps],
                    samps_to_send, md, timeout);

            num_acc_samps += num_tx_samps;

            md.time_spec = uhd::time_spec_t(tx_second, pps_offset)
                + uhd::time_spec_t(0, num_acc_samps/uwd->sampleRate);

            /*
               fprintf(stderr, "*** pps_offset %f, md.time_spec %f, usrp->now %f\n",
               pps_offset,
               md.time_spec.get_real_secs(),
               uwd->myUsrp->get_time_now().get_real_secs());
            // */


            if (num_tx_samps == 0) {
#if 1
                fprintf(stderr,
                        "UHDWorker::process() unable to write to device, skipping frame!\n");
                break;
#else
                // This has been disabled, because if there is a write failure,
                // we'd better not insist and try to go on transmitting future
                // frames.
                // The goal is not to try to send by all means possible. It's 
                // more important to make sure the SFN is not disturbed.

                fprintf(stderr, "F");
                nanosleep(&hundred_nano, NULL);
                write_fail_count++;
                if (write_fail_count >= 3) {
                    double ts = md.time_spec.get_real_secs();
                    double t_usrp = uwd->myUsrp->get_time_now().get_real_secs();

                    fprintf(stderr, "*** USRP write fail count %d\n", write_fail_count);
                    fprintf(stderr, "*** delta %f, md.time_spec %f, usrp->now %f\n",
                            ts - t_usrp,
                            ts, t_usrp);

                    fprintf(stderr, "UHDWorker::process() unable to write to device, skipping frame!\n");
                    break;
                }
#endif
            }

            //std::cerr << std::endl << "Waiting for async burst ACK... " << std::flush;
            uhd::async_metadata_t async_md;
            if (uwd->myUsrp->get_device()->recv_async_msg(async_md, 0)) {
                const char* uhd_async_message = "";
                bool failure = true;
                switch (async_md.event_code) {
                    case uhd::async_metadata_t::EVENT_CODE_BURST_ACK:
                        failure = false;
                        break;
                    case uhd::async_metadata_t::EVENT_CODE_UNDERFLOW:
                        uhd_async_message = "Underflow";
                        break;
                    case uhd::async_metadata_t::EVENT_CODE_SEQ_ERROR:
                        uhd_async_message = "Packet loss between host and device.";
                        break;
                    case uhd::async_metadata_t::EVENT_CODE_TIME_ERROR:
                        uhd_async_message = "Packet had time that was late.";
                        break;
                    case uhd::async_metadata_t::EVENT_CODE_UNDERFLOW_IN_PACKET:
                        uhd_async_message = "Underflow occurred inside a packet.";
                        break;
                    case uhd::async_metadata_t::EVENT_CODE_SEQ_ERROR_IN_BURST:
                        uhd_async_message = "Packet loss within a burst.";
                        break;
                    default:
                        uhd_async_message = "unknown event code";
                        break;
                }

                if (failure) {
                    uwd->logger->level(alert) << "Near frame " <<
                            frame->fct << ": Received Async UHD Message '" << 
                            uhd_async_message << "'";

                }
            }

            /*
               bool got_async_burst_ack = false;
            //loop through all messages for the ACK packet (may have underflow messages in queue)
            while (not got_async_burst_ack and uwd->myUsrp->get_device()->recv_async_msg(async_md, 0.2)){
            got_async_burst_ack = (async_md.event_code == uhd::async_metadata_t::EVENT_CODE_BURST_ACK);
            }
            //std::cerr << (got_async_burst_ack? "success" : "fail") << std::endl;
            // */


        }
#else // ENABLE_UHD
        fprintf(stderr, "UHDOut UHD DISABLED: Sample %d : valid timestamp %zu + %f\n",
                frame->fct,
                tx_second,
                pps_offset);
        usleep(23000); // 23ms, a bit faster than realtime for TM 2
#endif

        last_pps = pps_offset;

loopend:
        // swap buffers
        workerbuffer = (workerbuffer + 1) % 2;
    }
}


void OutputUHD::set_parameter(string parameter, string value)
{
    stringstream ss(value);
    ss.exceptions ( stringstream::failbit | stringstream::badbit );

    if (parameter == "txgain") {
        ss >> myTxGain;
#if ENABLE_UHD
        myUsrp->set_tx_gain(myTxGain);
#endif
    }
    else if (parameter == "freq") {
        ss >> myFrequency;
#if ENABLE_UHD
        myUsrp->set_tx_freq(myFrequency);
        myFrequency = myUsrp->get_tx_freq();
#endif
    }
    else if (parameter == "muting") {
        ss >> myMuting;
    }
    else {
        stringstream ss;
        ss << "Parameter '" << parameter << "' is not exported by controllable " << get_rc_name();
        throw ParameterError(ss.str());
    }
}

string OutputUHD::get_parameter(string parameter)
{
    stringstream ss;
    if (parameter == "txgain") {
        ss << myTxGain;
    }
    else if (parameter == "freq") {
        ss << myFrequency;
    }
    else if (parameter == "muting") {
        ss << myMuting;
    }
    else {
        ss << "Parameter '" << parameter << "' is not exported by controllable " << get_rc_name();
        throw ParameterError(ss.str());
    }
    return ss.str();
}