path: root/host/lib/usrp_clock/octoclock/octoclock_impl.cpp

//
// Copyright 2014,2016 Ettus Research LLC
// Copyright 2018 Ettus Research, a National Instruments Company
//
// SPDX-License-Identifier: GPL-3.0-or-later
//

#include "octoclock_impl.hpp"
#include "common.h"
#include "octoclock_uart.hpp"
#include <uhd/device.hpp>
#include <uhd/exception.hpp>
#include <uhd/transport/if_addrs.hpp>
#include <uhd/transport/udp_simple.hpp>
#include <uhd/types/dict.hpp>
#include <uhd/usrp/gps_ctrl.hpp>
#include <uhd/usrp_clock/octoclock_eeprom.hpp>
#include <uhd/utils/byteswap.hpp>
#include <uhd/utils/log.hpp>
#include <uhd/utils/paths.hpp>
#include <uhd/utils/static.hpp>
#include <stdint.h>
#include <boost/asio.hpp>
#include <boost/assign.hpp>
#include <boost/filesystem.hpp>
#include <boost/format.hpp>
#include <boost/thread.hpp>

using namespace uhd;
using namespace uhd::usrp_clock;
using namespace uhd::transport;
namespace asio = boost::asio;
namespace fs   = boost::filesystem;

/***********************************************************************
 * Discovery
 **********************************************************************/
device_addrs_t octoclock_find(const device_addr_t& hint)
{
    // Handle the multi-device discovery
    device_addrs_t hints = separate_device_addr(hint);
    if (hints.size() > 1) {
        device_addrs_t found_devices;
        std::string error_msg;
        for (const device_addr_t& hint_i : hints) {
            device_addrs_t found_devices_i = octoclock_find(hint_i);
            if (found_devices_i.size() != 1)
                error_msg +=
                    str(boost::format(
                            "Could not resolve device hint \"%s\" to a single device.")
                        % hint_i.to_string());
            else
                found_devices.push_back(found_devices_i[0]);
        }
        if (found_devices.empty())
            return device_addrs_t();
        if (not error_msg.empty())
            throw uhd::value_error(error_msg);
        return device_addrs_t(1, combine_device_addrs(found_devices));
    }

    // Initialize the hint for a single device case
    UHD_ASSERT_THROW(hints.size() <= 1);
    hints.resize(1); // In case it was empty
    device_addr_t _hint = hints[0];
    device_addrs_t octoclock_addrs;

    // return an empty list of addresses when type is set to non-OctoClock
    if (hint.has_key("type") and hint["type"].find("octoclock") == std::string::npos)
        return octoclock_addrs;

    // Return an empty list of addresses when a resource is specified,
    // since a resource is intended for a different, non-USB, device.
    if (hint.has_key("resource"))
        return octoclock_addrs;

    // If no address was specified, send a broadcast on each interface
    if (not _hint.has_key("addr")) {
        for (const if_addrs_t& if_addrs : get_if_addrs()) {
            // avoid the loopback device
            if (if_addrs.inet == asio::ip::address_v4::loopback().to_string())
                continue;

            // create a new hint with this broadcast address
            device_addr_t new_hint = hint;
            new_hint["addr"]       = if_addrs.bcast;

            // call discover with the new hint and append results
            device_addrs_t new_octoclock_addrs = octoclock_find(new_hint);
            octoclock_addrs.insert(octoclock_addrs.begin(),
                new_octoclock_addrs.begin(),
                new_octoclock_addrs.end());
        }
        return octoclock_addrs;
    }

    // Create a UDP transport to communicate
    udp_simple::sptr udp_transport = udp_simple::make_broadcast(
        _hint["addr"], BOOST_STRINGIZE(OCTOCLOCK_UDP_CTRL_PORT));

    // Send a query packet
    auto pkt_out = make_octoclock_packet();
    pkt_out.len  = 0;
    pkt_out.code = OCTOCLOCK_QUERY_CMD;
    try {
        udp_transport->send(boost::asio::buffer(&pkt_out, sizeof(pkt_out)));
    } catch (const std::exception& ex) {
        UHD_LOGGER_ERROR("OCTOCLOCK")
            << "OctoClock network discovery error - " << ex.what();
    } catch (...) {
        UHD_LOGGER_ERROR("OCTOCLOCK") << "OctoClock network discovery unknown error";
    }

    uint8_t octoclock_data[udp_simple::mtu];
    const octoclock_packet_t* pkt_in =
        reinterpret_cast<octoclock_packet_t*>(octoclock_data);

    while (true) {
        size_t len = udp_transport->recv(asio::buffer(octoclock_data));
        if (UHD_OCTOCLOCK_PACKET_MATCHES(OCTOCLOCK_QUERY_ACK, pkt_out, pkt_in, len)) {
            device_addr_t new_addr;
            new_addr["addr"] = udp_transport->get_recv_addr();

            // Attempt direct communication with OctoClock
            udp_simple::sptr ctrl_xport = udp_simple::make_connected(
                new_addr["addr"], BOOST_STRINGIZE(OCTOCLOCK_UDP_CTRL_PORT));
            UHD_OCTOCLOCK_SEND_AND_RECV(ctrl_xport,
                OCTOCLOCK_FW_COMPAT_NUM,
                OCTOCLOCK_QUERY_CMD,
                pkt_out,
                len,
                octoclock_data);
            if (UHD_OCTOCLOCK_PACKET_MATCHES(OCTOCLOCK_QUERY_ACK, pkt_out, pkt_in, len)) {
                // If the OctoClock is in its bootloader, don't ask for details
                if (pkt_in->proto_ver == OCTOCLOCK_BOOTLOADER_PROTO_VER) {
                    new_addr["type"] = "octoclock-bootloader";
                    octoclock_addrs.push_back(new_addr);
                } else {
                    new_addr["type"] = "octoclock";

                    if (pkt_in->proto_ver >= OCTOCLOCK_FW_MIN_COMPAT_NUM
                        and pkt_in->proto_ver <= OCTOCLOCK_FW_COMPAT_NUM) {
                        octoclock_eeprom_t oc_eeprom(ctrl_xport, pkt_in->proto_ver);
                        new_addr["name"]   = oc_eeprom["name"];
                        new_addr["serial"] = oc_eeprom["serial"];
                    } else {
                        new_addr["name"]   = "";
                        new_addr["serial"] = "";
                    }

                    // Filter based on optional keys (if any)
                    if ((not _hint.has_key("name") or (_hint["name"] == new_addr["name"]))
                        and (not _hint.has_key("serial")
                             or (_hint["serial"] == new_addr["serial"]))) {
                        octoclock_addrs.push_back(new_addr);
                    }
                }
            } else
                continue;
        }

        if (len == 0)
            break;
    }

    return octoclock_addrs;
}

device::sptr octoclock_make(const device_addr_t& device_addr)
{
    return device::sptr(new octoclock_impl(device_addr));
}

UHD_STATIC_BLOCK(register_octoclock_device)
{
    device::register_device(&octoclock_find, &octoclock_make, device::CLOCK);
}

/***********************************************************************
 * Helpers
 **********************************************************************/
octoclock_packet_t make_octoclock_packet()
{
    octoclock_packet_t new_pkt;
    memset(&new_pkt, 0, sizeof(octoclock_packet_t));
    new_pkt.sequence  = uint32_t(std::rand());
    new_pkt.proto_ver = OCTOCLOCK_FW_COMPAT_NUM;
    return new_pkt;
}

octoclock_packet_t make_octoclock_packet(const uint32_t sequence)
{
    octoclock_packet_t new_pkt;
    memset(&new_pkt, 0, sizeof(octoclock_packet_t));
    new_pkt.sequence  = sequence;
    new_pkt.proto_ver = OCTOCLOCK_FW_COMPAT_NUM;
    return new_pkt;
}

/***********************************************************************
 * Structors
 **********************************************************************/
octoclock_impl::octoclock_impl(const device_addr_t& _device_addr)
{
    UHD_LOGGER_INFO("OCTOCLOCK") << "Opening an OctoClock device...";
    _type                      = device::CLOCK;
    device_addrs_t device_args = separate_device_addr(_device_addr);
    // To avoid replicating sequence numbers between sessions
    _sequence = uint32_t(std::rand());

    ////////////////////////////////////////////////////////////////////
    // Initialize the property tree
    ////////////////////////////////////////////////////////////////////
    _tree = property_tree::make();
    _tree->create<std::string>("/name").set("OctoClock Device");

    for (size_t oci = 0; oci < device_args.size(); oci++) {
        const device_addr_t device_args_i = device_args[oci];
        const std::string addr            = device_args_i["addr"];
        // Can't make a device out of an OctoClock in bootloader state
        if (device_args_i["type"] == "octoclock-bootloader") {
            throw uhd::runtime_error(
                str(boost::format("\n\nThis device is in its bootloader state and cannot "
                                  "be used by UHD.\n"
                                  "This may mean the firmware on the device has been "
                                  "corrupted and will\n"
                                  "need to be burned again.\n\n"
                                  "%s\n")
                    % _get_images_help_message(addr)));
        }

        const std::string oc = std::to_string(oci);

        ////////////////////////////////////////////////////////////////////
        // Set up UDP transports
        ////////////////////////////////////////////////////////////////////
        _oc_dict[oc].ctrl_xport =
            udp_simple::make_connected(addr, BOOST_STRINGIZE(OCTOCLOCK_UDP_CTRL_PORT));
        _oc_dict[oc].gpsdo_xport =
            udp_simple::make_connected(addr, BOOST_STRINGIZE(OCTOCLOCK_UDP_GPSDO_PORT));

        const fs_path oc_path = "/mboards/" + oc;
        _tree->create<std::string>(oc_path / "name").set("OctoClock");

        ////////////////////////////////////////////////////////////////////
        // Check the firmware compatibility number
        ////////////////////////////////////////////////////////////////////
        _proto_ver = _get_fw_version(oc);
        if (_proto_ver < OCTOCLOCK_FW_MIN_COMPAT_NUM
            or _proto_ver > OCTOCLOCK_FW_COMPAT_NUM) {
            throw uhd::runtime_error(str(
                boost::format(
                    "\n\nPlease update your OctoClock's firmware.\n"
                    "Expected firmware compatibility number %d, but got %d:\n"
                    "The firmware build is not compatible with the host code build.\n\n"
                    "%s\n")
                % int(OCTOCLOCK_FW_COMPAT_NUM) % int(_proto_ver)
                % _get_images_help_message(addr)));
        }
        _tree->create<std::string>(oc_path / "fw_version")
            .set(std::to_string(int(_proto_ver)));

        ////////////////////////////////////////////////////////////////////
        // Set up EEPROM
        ////////////////////////////////////////////////////////////////////
        _oc_dict[oc].eeprom = octoclock_eeprom_t(_oc_dict[oc].ctrl_xport, _proto_ver);
        _tree->create<uhd::usrp::mboard_eeprom_t>(oc_path / "eeprom")
            .set(_oc_dict[oc].eeprom)
            .add_coerced_subscriber(
                std::bind(&octoclock_impl::_set_eeprom, this, oc, std::placeholders::_1))
            .set_publisher([this, oc]() {
                return static_cast<uhd::usrp::mboard_eeprom_t>(this->_oc_dict[oc].eeprom);
            });

        ////////////////////////////////////////////////////////////////////
        // Initialize non-GPSDO sensors
        ////////////////////////////////////////////////////////////////////
        _tree->create<uint32_t>(oc_path / "time")
            .set_publisher(std::bind(&octoclock_impl::_get_time, this, oc));
        _tree->create<sensor_value_t>(oc_path / "sensors/ext_ref_detected")
            .set_publisher(std::bind(&octoclock_impl::_ext_ref_detected, this, oc));
        _tree->create<sensor_value_t>(oc_path / "sensors/gps_detected")
            .set_publisher(std::bind(&octoclock_impl::_gps_detected, this, oc));
        _tree->create<sensor_value_t>(oc_path / "sensors/using_ref")
            .set_publisher(std::bind(&octoclock_impl::_which_ref, this, oc));
        _tree->create<sensor_value_t>(oc_path / "sensors/switch_pos")
            .set_publisher(std::bind(&octoclock_impl::_switch_pos, this, oc));

        ////////////////////////////////////////////////////////////////////
        // Check reference and GPSDO
        ////////////////////////////////////////////////////////////////////
        std::string asterisk = (device_args.size() > 1) ? " * " : "";

        if (device_args.size() > 1) {
            UHD_LOGGER_INFO("OCTOCLOCK") << "Checking status of " << addr;
        }
        UHD_LOGGER_INFO("OCTOCLOCK")
            << boost::format("%sDetecting internal GPSDO...") % asterisk;

        _get_state(oc);
        if (_oc_dict[oc].state.gps_detected) {
            try {
                _oc_dict[oc].gps = gps_ctrl::make(
                    octoclock_make_uart_iface(_oc_dict[oc].gpsdo_xport, _proto_ver));

                if (_oc_dict[oc].gps and _oc_dict[oc].gps->gps_detected()) {
                    for (const std::string& name : _oc_dict[oc].gps->get_sensors()) {
                        _tree->create<sensor_value_t>(oc_path / "sensors" / name)
                            .set_publisher(
                                std::bind(&gps_ctrl::get_sensor, _oc_dict[oc].gps, name));
                    }
                } else {
                    // If GPSDO communication failed, set gps_detected to false
                    _oc_dict[oc].state.gps_detected = 0;
                    UHD_LOGGER_WARNING("OCTOCLOCK")
                        << "Device reports that it has a GPSDO, but we cannot "
                           "communicate with it.";
                }
            } catch (std::exception& e) {
                UHD_LOGGER_ERROR("OCTOCLOCK")
                    << "An error occurred making GPSDO control: " << e.what();
            }
        } else
            UHD_LOGGER_INFO("OCTOCLOCK") << "No GPSDO found";
        UHD_LOGGER_INFO("OCTOCLOCK")
            << boost::format("%sDetecting external reference...%s") % asterisk
                   % _ext_ref_detected(oc).value;
        UHD_LOGGER_INFO("OCTOCLOCK") << boost::format("%sDetecting switch position...%s")
                                            % asterisk % _switch_pos(oc).value;
        std::string ref = _which_ref(oc).value;
        if (ref == "none")
            UHD_LOGGER_INFO("OCTOCLOCK")
                << boost::format("%sDevice is not using any reference") % asterisk;
        else
            UHD_LOGGER_INFO("OCTOCLOCK")
                << boost::format("%sDevice is using %s reference") % asterisk
                       % _which_ref(oc).value;
    }
}

rx_streamer::sptr octoclock_impl::get_rx_stream(UHD_UNUSED(const stream_args_t& args))
{
    throw uhd::not_implemented_error("This function is incompatible with this device.");
}

tx_streamer::sptr octoclock_impl::get_tx_stream(UHD_UNUSED(const stream_args_t& args))
{
    throw uhd::not_implemented_error("This function is incompatible with this device.");
}

bool octoclock_impl::recv_async_msg(
    UHD_UNUSED(uhd::async_metadata_t&), UHD_UNUSED(double))
{
    throw uhd::not_implemented_error("This function is incompatible with this device.");
}

void octoclock_impl::_set_eeprom(
    const std::string& oc, const uhd::usrp::mboard_eeprom_t& oc_eeprom)
{
    /*
     * The OctoClock needs a full octoclock_eeprom_t so as to not erase
     * what it currently has in the EEPROM, so store the relevant values
     * from the user's input and send that instead.
     */
    for (const std::string& key : oc_eeprom.keys()) {
        if (_oc_dict[oc].eeprom.has_key(key))
            _oc_dict[oc].eeprom[key] = oc_eeprom[key];
    }
    _oc_dict[oc].eeprom.commit();
}

uint32_t octoclock_impl::_get_fw_version(const std::string& oc)
{
    auto pkt_out = make_octoclock_packet(uhd::htonx<uint32_t>(++_sequence));
    size_t len;

    uint8_t octoclock_data[udp_simple::mtu];
    const octoclock_packet_t* pkt_in =
        reinterpret_cast<octoclock_packet_t*>(octoclock_data);

    UHD_OCTOCLOCK_SEND_AND_RECV(_oc_dict[oc].ctrl_xport,
        OCTOCLOCK_FW_COMPAT_NUM,
        OCTOCLOCK_QUERY_CMD,
        pkt_out,
        len,
        octoclock_data);
    if (UHD_OCTOCLOCK_PACKET_MATCHES(OCTOCLOCK_QUERY_ACK, pkt_out, pkt_in, len)) {
        return pkt_in->proto_ver;
    } else
        throw uhd::runtime_error("Failed to retrieve firmware version from OctoClock.");
}

void octoclock_impl::_get_state(const std::string& oc)
{
    auto pkt_out = make_octoclock_packet(uhd::htonx<uint32_t>(++_sequence));
    size_t len   = 0;

    uint8_t octoclock_data[udp_simple::mtu];
    const octoclock_packet_t* pkt_in =
        reinterpret_cast<octoclock_packet_t*>(octoclock_data);

    UHD_OCTOCLOCK_SEND_AND_RECV(_oc_dict[oc].ctrl_xport,
        _proto_ver,
        SEND_STATE_CMD,
        pkt_out,
        len,
        octoclock_data);
    if (UHD_OCTOCLOCK_PACKET_MATCHES(SEND_STATE_ACK, pkt_out, pkt_in, len)) {
        const octoclock_state_t* state =
            reinterpret_cast<const octoclock_state_t*>(pkt_in->data);
        _oc_dict[oc].state = *state;
    } else
        throw uhd::runtime_error("Failed to retrieve state information from OctoClock.");
}

uhd::dict<ref_t, std::string> _ref_strings = boost::assign::map_list_of(NO_REF, "none")(
    INTERNAL, "internal")(EXTERNAL, "external");

uhd::dict<switch_pos_t, std::string> _switch_pos_strings = boost::assign::map_list_of(
    PREFER_INTERNAL, "Prefer internal")(PREFER_EXTERNAL, "Prefer external");

sensor_value_t octoclock_impl::_ext_ref_detected(const std::string& oc)
{
    _get_state(oc);

    return sensor_value_t("External reference detected",
        (_oc_dict[oc].state.external_detected > 0),
        "true",
        "false");
}

sensor_value_t octoclock_impl::_gps_detected(const std::string& oc)
{
    // Don't check, this shouldn't change once device is turned on

    return sensor_value_t(
        "GPSDO detected", (_oc_dict[oc].state.gps_detected > 0), "true", "false");
}

sensor_value_t octoclock_impl::_which_ref(const std::string& oc)
{
    _get_state(oc);

    if (not _ref_strings.has_key(ref_t(_oc_dict[oc].state.which_ref))) {
        throw uhd::runtime_error("Invalid reference detected.");
    }

    return sensor_value_t(
        "Using reference", _ref_strings[ref_t(_oc_dict[oc].state.which_ref)], "");
}

sensor_value_t octoclock_impl::_switch_pos(const std::string& oc)
{
    _get_state(oc);

    if (not _switch_pos_strings.has_key(switch_pos_t(_oc_dict[oc].state.switch_pos))) {
        throw uhd::runtime_error("Invalid switch position detected.");
    }

    return sensor_value_t("Switch position",
        _switch_pos_strings[switch_pos_t(_oc_dict[oc].state.switch_pos)],
        "");
}

uint32_t octoclock_impl::_get_time(const std::string& oc)
{
    if (_oc_dict[oc].state.gps_detected) {
        std::string time_str = _oc_dict[oc].gps->get_sensor("gps_time").value;
        return boost::lexical_cast<uint32_t>(time_str);
    } else
        throw uhd::runtime_error("This device cannot return a time.");
}

std::string octoclock_impl::_get_images_help_message(const std::string& addr)
{
    const std::string image_name = "octoclock_r4_fw.hex";

    // Check to see if image is in default location
    std::string image_location;
    try {
        image_location = uhd::find_image_path(image_name);
    } catch (const std::exception&) {
        return str(boost::format("Could not find %s in your images path.\n%s")
                   % image_name % uhd::print_utility_error("uhd_images_downloader.py"));
    }

// Get escape character
#ifdef UHD_PLATFORM_WIN32
    const std::string ml = "^\n    ";
#else
    const std::string ml = "\\\n    ";
#endif

    // Get burner command
    const std::string burner_path =
        (fs::path(uhd::get_pkg_path()) / "bin" / "uhd_image_loader").string();
    const std::string burner_cmd =
        str(boost::format("%s %s--addr=\"%s\"") % burner_path % ml % addr);
    return str(boost::format("%s\n%s")
               % uhd::print_utility_error("uhd_images_downloader.py") % burner_cmd);
}