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//
// Copyright 2011-2012,2014 Ettus Research LLC
// Copyright 2018 Ettus Research, a National Instruments Company
//
// SPDX-License-Identifier: GPL-3.0-or-later
//
#include "soft_time_ctrl.hpp"
#include <uhd/utils/tasks.hpp>
#include <uhdlib/utils/system_time.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/thread/condition_variable.hpp>
#include <functional>
#include <iostream>
#include <memory>
using namespace uhd;
using namespace uhd::usrp;
using namespace uhd::transport;
namespace pt = boost::posix_time;
static const time_spec_t TWIDDLE(0.0011);
soft_time_ctrl::~soft_time_ctrl(void){
/* NOP */
}
/***********************************************************************
* Soft time control implementation
**********************************************************************/
class soft_time_ctrl_impl : public soft_time_ctrl{
public:
soft_time_ctrl_impl(const cb_fcn_type &stream_on_off):
_nsamps_remaining(0),
_stream_mode(stream_cmd_t::STREAM_MODE_STOP_CONTINUOUS),
_cmd_queue(2),
_async_msg_queue(1000),
_inline_msg_queue(1000),
_stream_on_off(stream_on_off)
{
//synchronously spawn a new thread
_recv_cmd_task = task::make(std::bind(&soft_time_ctrl_impl::recv_cmd_task, this));
//initialize the time to something
this->set_time(time_spec_t(0.0));
}
/*******************************************************************
* Time control
******************************************************************/
void set_time(const time_spec_t &time){
boost::mutex::scoped_lock lock(_update_mutex);
_time_offset = uhd::get_system_time() - time;
}
time_spec_t get_time(void){
boost::mutex::scoped_lock lock(_update_mutex);
return time_now();
}
UHD_INLINE time_spec_t time_now(void){
//internal get time without scoped lock
return uhd::get_system_time() - _time_offset;
}
UHD_INLINE void sleep_until_time(
boost::mutex::scoped_lock &lock, const time_spec_t &time
){
boost::condition_variable cond;
//use a condition variable to unlock, sleep, lock
double seconds_to_sleep = (time - time_now()).get_real_secs();
cond.timed_wait(lock, pt::microseconds(long(seconds_to_sleep*1e6)));
}
/*******************************************************************
* Receive control
******************************************************************/
size_t recv_post(rx_metadata_t &md, const size_t nsamps){
boost::mutex::scoped_lock lock(_update_mutex);
//Since it timed out on the receive, check for inline messages...
//Must do a post check because recv() will not wake up for a message.
if (md.error_code == rx_metadata_t::ERROR_CODE_TIMEOUT){
if (_inline_msg_queue.pop_with_haste(md)) return 0;
}
//load the metadata with the expected time
md.has_time_spec = true;
md.time_spec = time_now();
//none of the stuff below matters in continuous streaming mode
if (_stream_mode == stream_cmd_t::STREAM_MODE_START_CONTINUOUS) return nsamps;
//When to stop streaming:
//The samples have been received and the stream mode is non-continuous.
//Rewrite the sample count to clip to the requested number of samples.
if (_nsamps_remaining <= nsamps) switch(_stream_mode){
case stream_cmd_t::STREAM_MODE_NUM_SAMPS_AND_MORE:{
rx_metadata_t metadata;
metadata.has_time_spec = true;
metadata.time_spec = this->time_now();
metadata.error_code = rx_metadata_t::ERROR_CODE_BROKEN_CHAIN;
_inline_msg_queue.push_with_pop_on_full(metadata);
} //continue to next case...
UHD_FALLTHROUGH
case stream_cmd_t::STREAM_MODE_NUM_SAMPS_AND_DONE:
md.end_of_burst = true;
this->issue_stream_cmd(stream_cmd_t::STREAM_MODE_STOP_CONTINUOUS);
return _nsamps_remaining;
default: break;
}
//update the consumed samples
_nsamps_remaining -= nsamps;
return nsamps;
}
void issue_stream_cmd(const stream_cmd_t &cmd){
_cmd_queue.push_with_wait(std::make_shared<stream_cmd_t>(cmd));
}
void stream_on_off(bool enb){
_stream_on_off(enb);
_nsamps_remaining = 0;
}
/*******************************************************************
* Transmit control
******************************************************************/
void send_pre(const tx_metadata_t &md, double &timeout){
if (not md.has_time_spec) return;
boost::mutex::scoped_lock lock(_update_mutex);
time_spec_t time_at(md.time_spec - TWIDDLE);
//handle late packets
if (time_at < time_now()){
async_metadata_t metadata;
metadata.channel = 0;
metadata.has_time_spec = true;
metadata.time_spec = this->time_now();
metadata.event_code = async_metadata_t::EVENT_CODE_TIME_ERROR;
_async_msg_queue.push_with_pop_on_full(metadata);
return;
}
timeout -= (time_at - time_now()).get_real_secs();
sleep_until_time(lock, time_at);
}
/*******************************************************************
* Thread control
******************************************************************/
void recv_cmd_handle_cmd(const stream_cmd_t &cmd){
boost::mutex::scoped_lock lock(_update_mutex);
//handle the stream at time by sleeping
if (not cmd.stream_now){
time_spec_t time_at(cmd.time_spec - TWIDDLE);
if (time_at < time_now()){
rx_metadata_t metadata;
metadata.has_time_spec = true;
metadata.time_spec = this->time_now();
metadata.error_code = rx_metadata_t::ERROR_CODE_LATE_COMMAND;
_inline_msg_queue.push_with_pop_on_full(metadata);
this->issue_stream_cmd(stream_cmd_t::STREAM_MODE_STOP_CONTINUOUS);
return;
}
else{
sleep_until_time(lock, time_at);
}
}
//When to stop streaming:
//Stop streaming when the command is a stop and streaming.
if (cmd.stream_mode == stream_cmd_t::STREAM_MODE_STOP_CONTINUOUS
and _stream_mode != stream_cmd_t::STREAM_MODE_STOP_CONTINUOUS
) stream_on_off(false);
//When to start streaming:
//Start streaming when the command is not a stop and not streaming.
if (cmd.stream_mode != stream_cmd_t::STREAM_MODE_STOP_CONTINUOUS
and _stream_mode == stream_cmd_t::STREAM_MODE_STOP_CONTINUOUS
) stream_on_off(true);
//update the state
_nsamps_remaining += cmd.num_samps;
_stream_mode = cmd.stream_mode;
}
void recv_cmd_task(void){ //task is looped
std::shared_ptr<stream_cmd_t> cmd;
if (_cmd_queue.pop_with_timed_wait(cmd, 0.25)) {
recv_cmd_handle_cmd(*cmd);
}
}
bounded_buffer<async_metadata_t> &get_async_queue(void){
return _async_msg_queue;
}
bounded_buffer<rx_metadata_t> &get_inline_queue(void){
return _inline_msg_queue;
}
void stop(void){
_recv_cmd_task.reset();
}
private:
boost::mutex _update_mutex;
size_t _nsamps_remaining;
stream_cmd_t::stream_mode_t _stream_mode;
time_spec_t _time_offset;
bounded_buffer<std::shared_ptr<stream_cmd_t> > _cmd_queue;
bounded_buffer<async_metadata_t> _async_msg_queue;
bounded_buffer<rx_metadata_t> _inline_msg_queue;
const cb_fcn_type _stream_on_off;
task::sptr _recv_cmd_task;
};
/***********************************************************************
* Soft time control factor
**********************************************************************/
soft_time_ctrl::sptr soft_time_ctrl::make(const cb_fcn_type &stream_on_off){
return sptr(new soft_time_ctrl_impl(stream_on_off));
}
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