uhd/host/lib/usrp/usrp2/io_impl.cpp

//
// Copyright 2010-2012 Ettus Research LLC
// Copyright 2018 Ettus Research, a National Instruments Company
//
// SPDX-License-Identifier: GPL-3.0-or-later
//

#include "../../transport/super_recv_packet_handler.hpp"
#include "../../transport/super_send_packet_handler.hpp"
#include "fw_common.h"
#include "usrp2_impl.hpp"
#include "usrp2_regs.hpp"
#include <uhd/exception.hpp>
#include <uhd/transport/bounded_buffer.hpp>
#include <uhd/utils/byteswap.hpp>
#include <uhd/utils/log.hpp>
#include <uhd/utils/tasks.hpp>
#include <uhd/utils/thread.hpp>
#include <uhdlib/usrp/common/async_packet_handler.hpp>
#include <uhdlib/usrp/common/validate_subdev_spec.hpp>
#include <boost/asio.hpp>
#include <boost/format.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
#include <chrono>
#include <functional>
#include <iostream>
#include <memory>
#include <thread>

using namespace uhd;
using namespace uhd::usrp;
using namespace uhd::transport;
namespace asio = boost::asio;
namespace pt   = boost::posix_time;

/***********************************************************************
 * helpers
 **********************************************************************/
static UHD_INLINE pt::time_duration to_time_dur(double timeout)
{
    return pt::microseconds(long(timeout * 1e6));
}

/***********************************************************************
 * constants
 **********************************************************************/
static const size_t vrt_send_header_offset_words32 = 1;

/***********************************************************************
 * flow control monitor for a single tx channel
 *  - the pirate thread calls update
 *  - the get send buffer calls check
 **********************************************************************/
class flow_control_monitor
{
public:
    typedef uint32_t seq_type;
    typedef std::shared_ptr<flow_control_monitor> sptr;

    /*!
     * Make a new flow control monitor.
     * \param max_seqs_out num seqs before throttling
     */
    flow_control_monitor(seq_type max_seqs_out) : _max_seqs_out(max_seqs_out)
    {
        this->clear();
        _ready_fcn = std::bind(&flow_control_monitor::ready, this);
    }

    //! Clear the monitor, Ex: when a streamer is created
    void clear(void)
    {
        _last_seq_out = 0;
        _last_seq_ack = 0;
    }

    /*!
     * Gets the current sequence number to go out.
     * Increments the sequence for the next call
     * \return the sequence to be sent to the dsp
     */
    UHD_INLINE seq_type get_curr_seq_out(void)
    {
        return _last_seq_out++;
    }

    /*!
     * Check the flow control condition.
     * \param timeout the timeout in seconds
     * \return false on timeout
     */
    UHD_INLINE bool check_fc_condition(double timeout)
    {
        std::unique_lock<std::mutex> lock(_fc_mutex);
        if (this->ready())
            return true;
        boost::this_thread::disable_interruption di; // disable because the wait can throw
        return _fc_cond.timed_wait(lock, to_time_dur(timeout), _ready_fcn);
    }

    /*!
     * Update the flow control condition.
     * \param seq the last sequence number to be ACK'd
     */
    UHD_INLINE void update_fc_condition(seq_type seq)
    {
        std::unique_lock<std::mutex> lock(_fc_mutex);
        _last_seq_ack = seq;
        lock.unlock();
        _fc_cond.notify_one();
    }

private:
    bool ready(void)
    {
        return seq_type(_last_seq_out - _last_seq_ack) < _max_seqs_out;
    }

    std::mutex _fc_mutex;
    boost::condition _fc_cond;
    seq_type _last_seq_out, _last_seq_ack;
    const seq_type _max_seqs_out;
    std::function<bool(void)> _ready_fcn;
};

/***********************************************************************
 * io impl details (internal to this file)
 * - pirate crew
 * - alignment buffer
 * - thread loop
 * - vrt packet handler states
 **********************************************************************/
struct usrp2_impl::io_impl
{
    io_impl(void)
        : async_msg_fifo(1000 /*messages deep*/), tick_rate(1 /*non-zero default*/)
    {
        /* NOP */
    }

    ~io_impl(void)
    {
        // Manually deconstuct the tasks, since this was not happening automatically.
        pirate_tasks.clear();
    }

    managed_send_buffer::sptr get_send_buff(size_t chan, double timeout)
    {
        flow_control_monitor& fc_mon = *fc_mons[chan];

        // wait on flow control w/ timeout
        if (not fc_mon.check_fc_condition(timeout))
            return managed_send_buffer::sptr();

        // get a buffer from the transport w/ timeout
        managed_send_buffer::sptr buff = tx_xports[chan]->get_send_buff(timeout);

        // write the flow control word into the buffer
        if (buff.get())
            buff->cast<uint32_t*>()[0] = uhd::htonx(fc_mon.get_curr_seq_out());

        return buff;
    }

    // tx dsp: xports and flow control monitors
    std::vector<zero_copy_if::sptr> tx_xports;
    std::vector<flow_control_monitor::sptr> fc_mons;

    // methods and variables for the pirate crew
    void recv_pirate_loop(zero_copy_if::sptr, size_t, const std::atomic<bool>&);
    std::list<task::sptr> pirate_tasks;
    bounded_buffer<async_metadata_t> async_msg_fifo;
    double tick_rate;
};

/***********************************************************************
 * Receive Pirate Loop
 * - while raiding, loot for message packet
 * - update flow control condition count
 * - put async message packets into queue
 **********************************************************************/
void usrp2_impl::io_impl::recv_pirate_loop(
    zero_copy_if::sptr err_xport, size_t index, const std::atomic<bool>& exit_loop)
{
    set_thread_priority_safe();

    // store a reference to the flow control monitor (offset by max dsps)
    flow_control_monitor& fc_mon = *(this->fc_mons[index]);

    while (not exit_loop) {
        managed_recv_buffer::sptr buff = err_xport->get_recv_buff();
        if (not buff.get())
            continue; // ignore timeout/error buffers

        try {
            // extract the vrt header packet info
            vrt::if_packet_info_t if_packet_info;
            if_packet_info.num_packet_words32 = buff->size() / sizeof(uint32_t);
            const uint32_t* vrt_hdr           = buff->cast<const uint32_t*>();
            vrt::if_hdr_unpack_be(vrt_hdr, if_packet_info);

            // handle a tx async report message
            if (if_packet_info.sid == USRP2_TX_ASYNC_SID
                and if_packet_info.packet_type
                        != vrt::if_packet_info_t::PACKET_TYPE_DATA) {
                // fill in the async metadata
                async_metadata_t metadata;
                load_metadata_from_buff(uhd::ntohx<uint32_t>,
                    metadata,
                    if_packet_info,
                    vrt_hdr,
                    tick_rate,
                    index);

                // catch the flow control packets and react
                if (metadata.event_code == 0) {
                    uint32_t fc_word32 = (vrt_hdr + if_packet_info.num_header_words32)[1];
                    fc_mon.update_fc_condition(uhd::ntohx(fc_word32));
                    continue;
                }
                // else UHD_LOGGER_DEBUG("USRP2") << "metadata.event_code " <<
                // metadata.event_code;
                async_msg_fifo.push_with_pop_on_full(metadata);

                standard_async_msg_prints(metadata);
            } else {
                // TODO unknown received packet, may want to print error...
            }
        } catch (const std::exception& e) {
            UHD_LOGGER_ERROR("USRP2") << "Error in recv pirate loop: " << e.what();
        }
    }
}

/***********************************************************************
 * Helper Functions
 **********************************************************************/
void usrp2_impl::io_init(void)
{
    // create new io impl
    _io_impl = UHD_PIMPL_MAKE(io_impl, ());

    // init first so we dont have an access race
    for (const std::string& mb : _mbc.keys()) {
        // init the tx xport and flow control monitor
        _io_impl->tx_xports.push_back(_mbc[mb].tx_dsp_xport);
        _io_impl->fc_mons.push_back(flow_control_monitor::sptr(
            new flow_control_monitor(device_addr.cast("send_buff_size", USRP2_SRAM_BYTES)
                                     / _mbc[mb].tx_dsp_xport->get_send_frame_size())));
    }

    // allocate streamer weak ptrs containers
    for (const std::string& mb : _mbc.keys()) {
        _mbc[mb].rx_streamers.resize(_mbc[mb].rx_dsps.size());
        _mbc[mb].tx_streamers.resize(1 /*known to be 1 dsp*/);
    }

    // create a new pirate thread for each zc if (yarr!!)
    size_t index = 0;
    for (const std::string& mb : _mbc.keys()) {
        // spawn a new pirate to plunder the recv booty
        _io_impl->pirate_tasks.push_back(
            task::make(std::bind(&usrp2_impl::io_impl::recv_pirate_loop,
                _io_impl.get(),
                _mbc[mb].tx_dsp_xport,
                index++,
                std::ref(_pirate_task_exit))));
    }
}

void usrp2_impl::update_tick_rate(const double rate)
{
    _io_impl->tick_rate = rate; // shadow for async msg

    // update the tick rate on all existing streamers -> thread safe
    for (const std::string& mb : _mbc.keys()) {
        for (size_t i = 0; i < _mbc[mb].rx_streamers.size(); i++) {
            std::shared_ptr<sph::recv_packet_streamer> my_streamer =
                std::dynamic_pointer_cast<sph::recv_packet_streamer>(
                    _mbc[mb].rx_streamers[i].lock());
            if (my_streamer.get() == NULL)
                continue;
            my_streamer->set_tick_rate(rate);
        }
        for (size_t i = 0; i < _mbc[mb].tx_streamers.size(); i++) {
            std::shared_ptr<sph::send_packet_streamer> my_streamer =
                std::dynamic_pointer_cast<sph::send_packet_streamer>(
                    _mbc[mb].tx_streamers[i].lock());
            if (my_streamer.get() == NULL)
                continue;
            my_streamer->set_tick_rate(rate);
        }
    }
}

void usrp2_impl::update_rx_samp_rate(
    const std::string& mb, const size_t dsp, const double rate)
{
    std::shared_ptr<sph::recv_packet_streamer> my_streamer =
        std::dynamic_pointer_cast<sph::recv_packet_streamer>(
            _mbc[mb].rx_streamers[dsp].lock());
    if (my_streamer.get() == NULL)
        return;

    my_streamer->set_samp_rate(rate);
    const double adj = _mbc[mb].rx_dsps[dsp]->get_scaling_adjustment();
    my_streamer->set_scale_factor(adj);
}

void usrp2_impl::update_tx_samp_rate(
    const std::string& mb, const size_t dsp, const double rate)
{
    std::shared_ptr<sph::send_packet_streamer> my_streamer =
        std::dynamic_pointer_cast<sph::send_packet_streamer>(
            _mbc[mb].tx_streamers[dsp].lock());
    if (my_streamer.get() == NULL)
        return;

    my_streamer->set_samp_rate(rate);
    const double adj = _mbc[mb].tx_dsp->get_scaling_adjustment();
    my_streamer->set_scale_factor(adj);
}

void usrp2_impl::update_rates(void)
{
    for (const std::string& mb : _mbc.keys()) {
        fs_path root = "/mboards/" + mb;
        _tree->access<double>(root / "tick_rate").update();

        // and now that the tick rate is set, init the host rates to something
        for (const std::string& name : _tree->list(root / "rx_dsps")) {
            _tree->access<double>(root / "rx_dsps" / name / "rate" / "value").update();
        }
        for (const std::string& name : _tree->list(root / "tx_dsps")) {
            _tree->access<double>(root / "tx_dsps" / name / "rate" / "value").update();
        }
    }
}

void usrp2_impl::update_rx_subdev_spec(
    const std::string& which_mb, const subdev_spec_t& spec)
{
    fs_path root = "/mboards/" + which_mb + "/dboards";

    // sanity checking
    validate_subdev_spec(_tree, spec, "rx", which_mb);

    // setup mux for this spec
    bool fe_swapped = false;
    for (size_t i = 0; i < spec.size(); i++) {
        const std::string conn =
            _tree
                ->access<std::string>(root / spec[i].db_name / "rx_frontends"
                                      / spec[i].sd_name / "connection")
                .get();
        if (i == 0 and (conn == "QI" or conn == "Q"))
            fe_swapped = true;
        _mbc[which_mb].rx_dsps[i]->set_mux(conn, fe_swapped);
    }
    _mbc[which_mb].rx_fe->set_mux(fe_swapped);

    // compute the new occupancy and resize
    _mbc[which_mb].rx_chan_occ = spec.size();
}

void usrp2_impl::update_tx_subdev_spec(
    const std::string& which_mb, const subdev_spec_t& spec)
{
    fs_path root = "/mboards/" + which_mb + "/dboards";

    // sanity checking
    validate_subdev_spec(_tree, spec, "tx", which_mb);

    // set the mux for this spec
    const std::string conn =
        _tree
            ->access<std::string>(
                root / spec[0].db_name / "tx_frontends" / spec[0].sd_name / "connection")
            .get();
    _mbc[which_mb].tx_fe->set_mux(conn);

    // compute the new occupancy and resize
    _mbc[which_mb].tx_chan_occ = spec.size();
}

/***********************************************************************
 * Async Data
 **********************************************************************/
bool usrp2_impl::recv_async_msg(async_metadata_t& async_metadata, double timeout)
{
    boost::this_thread::disable_interruption di; // disable because the wait can throw
    return _io_impl->async_msg_fifo.pop_with_timed_wait(async_metadata, timeout);
}

/***********************************************************************
 * Stream destination programmer
 **********************************************************************/
void usrp2_impl::program_stream_dest(
    zero_copy_if::sptr& xport, const uhd::stream_args_t& args)
{
    // perform an initial flush of transport
    while (xport->get_recv_buff(0.0)) {
    }

    // program the stream command
    usrp2_stream_ctrl_t stream_ctrl = usrp2_stream_ctrl_t();
    stream_ctrl.sequence            = uhd::htonx(uint32_t(0 /* don't care seq num */));
    stream_ctrl.vrt_hdr             = uhd::htonx(uint32_t(USRP2_INVALID_VRT_HEADER));

    // user has provided an alternative address and port for destination
    if (args.args.has_key("addr") and args.args.has_key("port")) {
        UHD_LOGGER_INFO("USRP2")
            << boost::format("Programming streaming destination for custom address. "
                             "IPv4 Address: %s, UDP Port: %s")
                   % args.args["addr"] % args.args["port"];

        asio::io_context io_context;
        asio::ip::udp::resolver resolver(io_context);
        asio::ip::udp::endpoint endpoint =
            *resolver.resolve(asio::ip::udp::v4(), args.args["addr"], args.args["port"])
                 .begin();
        stream_ctrl.ip_addr  = uhd::htonx(uint32_t(endpoint.address().to_v4().to_uint()));
        stream_ctrl.udp_port = uhd::htonx(uint32_t(endpoint.port()));

        for (size_t i = 0; i < 3; i++) {
            UHD_LOGGER_INFO("USRP2") << "ARP attempt " << i;
            managed_send_buffer::sptr send_buff = xport->get_send_buff();
            std::memcpy(send_buff->cast<void*>(), &stream_ctrl, sizeof(stream_ctrl));
            send_buff->commit(sizeof(stream_ctrl));
            send_buff.reset();
            std::this_thread::sleep_for(std::chrono::milliseconds(300));
            managed_recv_buffer::sptr recv_buff = xport->get_recv_buff(0.0);
            if (recv_buff and recv_buff->size() >= sizeof(uint32_t)) {
                const uint32_t result = uhd::ntohx(recv_buff->cast<const uint32_t*>()[0]);
                if (result == 0) {
                    UHD_LOGGER_INFO("USRP2") << "Success! ";
                    return;
                }
            }
        }
        throw uhd::runtime_error(
            "Device failed to ARP when programming alternative streaming destination.");
    }

    else {
        // send the partial stream control without destination
        managed_send_buffer::sptr send_buff = xport->get_send_buff();
        std::memcpy(send_buff->cast<void*>(), &stream_ctrl, sizeof(stream_ctrl));
        send_buff->commit(sizeof(stream_ctrl) / 2);
    }
}

/***********************************************************************
 * Receive streamer
 **********************************************************************/
rx_streamer::sptr usrp2_impl::get_rx_stream(const uhd::stream_args_t& args_)
{
    stream_args_t args = args_;

    // setup defaults for unspecified values
    args.otw_format = args.otw_format.empty() ? "sc16" : args.otw_format;
    args.channels   = args.channels.empty() ? std::vector<size_t>(1, 0) : args.channels;

    // calculate packet size
    static const size_t hdr_size =
        0 + vrt::max_if_hdr_words32 * sizeof(uint32_t)
        + sizeof(vrt::if_packet_info_t().tlr) // forced to have trailer
        - sizeof(vrt::if_packet_info_t().cid) // no class id ever used
        - sizeof(vrt::if_packet_info_t().tsi) // no int time ever used
        ;
    const size_t bpp =
        _mbc[_mbc.keys().front()].rx_dsp_xports[0]->get_recv_frame_size() - hdr_size;
    const size_t bpi = convert::get_bytes_per_item(args.otw_format);
    const size_t spp = args.args.cast<size_t>("spp", bpp / bpi);

    // make the new streamer given the samples per packet
    std::shared_ptr<sph::recv_packet_streamer> my_streamer =
        std::make_shared<sph::recv_packet_streamer>(spp);

    // init some streamer stuff
    my_streamer->resize(args.channels.size());
    my_streamer->set_vrt_unpacker(&vrt::if_hdr_unpack_be);

    // set the converter
    uhd::convert::id_type id;
    id.input_format  = args.otw_format + "_item32_be";
    id.num_inputs    = 1;
    id.output_format = args.cpu_format;
    id.num_outputs   = 1;
    my_streamer->set_converter(id);

    // bind callbacks for the handler
    for (size_t chan_i = 0; chan_i < args.channels.size(); chan_i++) {
        const size_t chan      = args.channels[chan_i];
        size_t num_chan_so_far = 0;
        for (const std::string& mb : _mbc.keys()) {
            num_chan_so_far += _mbc[mb].rx_chan_occ;
            if (chan < num_chan_so_far) {
                const size_t dsp = chan + _mbc[mb].rx_chan_occ - num_chan_so_far;
                _mbc[mb].rx_dsps[dsp]->set_nsamps_per_packet(
                    spp); // seems to be a good place to set this
                _mbc[mb].rx_dsps[dsp]->setup(args);
                this->program_stream_dest(_mbc[mb].rx_dsp_xports[dsp], args);
                my_streamer->set_xport_chan_get_buff(chan_i,
                    std::bind(&zero_copy_if::get_recv_buff,
                        _mbc[mb].rx_dsp_xports[dsp],
                        std::placeholders::_1),
                    true /*flush*/);
                my_streamer->set_issue_stream_cmd(chan_i,
                    std::bind(&rx_dsp_core_200::issue_stream_command,
                        _mbc[mb].rx_dsps[dsp],
                        std::placeholders::_1));
                _mbc[mb].rx_streamers[dsp] = my_streamer; // store weak pointer
                break;
            }
        }
    }

    // set the packet threshold to be an entire socket buffer's worth
    const size_t packets_per_sock_buff =
        size_t(50e6 / _mbc[_mbc.keys().front()].rx_dsp_xports[0]->get_recv_frame_size());
    my_streamer->set_alignment_failure_threshold(packets_per_sock_buff);

    // sets all tick and samp rates on this streamer
    this->update_rates();

    return my_streamer;
}

/***********************************************************************
 * Transmit streamer
 **********************************************************************/
tx_streamer::sptr usrp2_impl::get_tx_stream(const uhd::stream_args_t& args_)
{
    stream_args_t args = args_;

    // setup defaults for unspecified values
    args.otw_format = args.otw_format.empty() ? "sc16" : args.otw_format;
    args.channels   = args.channels.empty() ? std::vector<size_t>(1, 0) : args.channels;

    // calculate packet size
    static const size_t hdr_size =
        0 + vrt_send_header_offset_words32 * sizeof(uint32_t)
        + vrt::max_if_hdr_words32 * sizeof(uint32_t)
        + sizeof(vrt::if_packet_info_t().tlr) // forced to have trailer
        - sizeof(vrt::if_packet_info_t().cid) // no class id ever used
        - sizeof(vrt::if_packet_info_t().sid) // no stream id ever used
        - sizeof(vrt::if_packet_info_t().tsi) // no int time ever used
        ;
    const size_t bpp =
        _mbc[_mbc.keys().front()].tx_dsp_xport->get_send_frame_size() - hdr_size;
    const size_t spp = bpp / convert::get_bytes_per_item(args.otw_format);

    // make the new streamer given the samples per packet
    std::shared_ptr<sph::send_packet_streamer> my_streamer =
        std::make_shared<sph::send_packet_streamer>(spp);

    // init some streamer stuff
    my_streamer->resize(args.channels.size());
    my_streamer->set_vrt_packer(&vrt::if_hdr_pack_be, vrt_send_header_offset_words32);

    // set the converter
    uhd::convert::id_type id;
    id.input_format  = args.cpu_format;
    id.num_inputs    = 1;
    id.output_format = args.otw_format + "_item32_be";
    id.num_outputs   = 1;
    my_streamer->set_converter(id);

    // bind callbacks for the handler
    for (size_t chan_i = 0; chan_i < args.channels.size(); chan_i++) {
        const size_t chan      = args.channels[chan_i];
        size_t num_chan_so_far = 0;
        size_t abs             = 0;
        for (const std::string& mb : _mbc.keys()) {
            num_chan_so_far += _mbc[mb].tx_chan_occ;
            if (chan < num_chan_so_far) {
                const size_t dsp = chan + _mbc[mb].tx_chan_occ - num_chan_so_far;
                if (not args.args.has_key("noclear")) {
                    _io_impl->fc_mons[abs]->clear();
                }
                _mbc[mb].tx_dsp->setup(args);
                my_streamer->set_xport_chan_get_buff(chan_i,
                    std::bind(&usrp2_impl::io_impl::get_send_buff,
                        _io_impl.get(),
                        abs,
                        std::placeholders::_1));
                my_streamer->set_async_receiver(
                    std::bind(&bounded_buffer<async_metadata_t>::pop_with_timed_wait,
                        &(_io_impl->async_msg_fifo),
                        std::placeholders::_1,
                        std::placeholders::_2));
                _mbc[mb].tx_streamers[dsp] = my_streamer; // store weak pointer
                break;
            }
            abs += 1; // assume 1 tx dsp
        }
    }

    // sets all tick and samp rates on this streamer
    this->update_rates();

    return my_streamer;
}