saymrwulf/uhd
1
0
Fork 0
mirror of https://github.com/saymrwulf/uhd.git synced 2026-05-16 21:10:10 +00:00
Code Issues Projects Releases Packages Wiki Activity Actions
uhd/host/lib/usrp/usrp2/io_impl.cpp
Martin Braun adfe953d96 uhd: Update ASIO usage to modern style, compatible with Boost 1.87 
Starting with Boost 1.66 and the corresponding ASIO version, there were
some changes introduced based on the C++ Networking TS. This includes
changes like replacing io_service with io_context, deprecating some
functions, etc. Starting with Boost 1.87, the old style is no longer
supported.

This commit updates all usage of ASIO in a way that makes UHD compatible
with future versions of ASIO. However, this makes UHD no longer
compatible with Boost 1.65 and below.

Summary of changes:
- Replace asio::io_service with asio::io_context
- Replace asio::io_service::strand with
  asio::strand<asio::io_context::executor_type>
  - This implies using asio::post() instead of asio::strand::post()
- Replace asio::buffer_cast<T>(buf) with static_cast<T>(buf.data())
- Update resolve(query) with new API
- Replace references to endpoint_iterator with resolver::results_type
- Replace ip::address::from_string() with ip::make_address()

Co-authored-by: Jörg Hofrichter <joerg.hofrichter@emerson.com>
2024-12-11 14:37:26 +01:00

605 lines
22 KiB
C++
Raw Permalink Blame History

//
// 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;
}
Reference in a new issue View git blame Copy permalink