uhd/host/lib/usrp/mpmd/mpmd_impl.cpp

//
// Copyright 2017 Ettus Research, a National Instruments Company
//
// SPDX-License-Identifier: GPL-3.0-or-later
//

#include "mpmd_impl.hpp"
#include <../device3/device3_impl.hpp>
#include <uhd/exception.hpp>
#include <uhd/utils/static.hpp>
#include <uhd/utils/tasks.hpp>
#include <uhd/types/sensors.hpp>
#include <uhd/types/eeprom.hpp>
#include <uhd/types/component_file.hpp>
#include <uhd/usrp/mboard_eeprom.hpp>
#include <uhdlib/rfnoc/rpc_block_ctrl.hpp>
#include <uhdlib/rfnoc/radio_ctrl_impl.hpp>
#include <boost/algorithm/string.hpp>
#include <boost/asio.hpp>
#include <boost/make_shared.hpp>
#include <boost/thread.hpp>
#include <memory>
#include <mutex>
#include <random>
#include <string>
#include <vector>
#include <future>
#include <thread>

using namespace uhd;
using namespace uhd::mpmd;

namespace {
    /*************************************************************************
     * Local constants
     ************************************************************************/
    const size_t MPMD_CROSSBAR_MAX_LADDR = 255;
    //! Most pessimistic time for a CHDR query to go to device and back
    const double MPMD_CHDR_MAX_RTT = 0.02;
    //! MPM Compatibility number
    const std::vector<size_t> MPM_COMPAT_NUM = {1, 2};

    /*************************************************************************
     * Helper functions
     ************************************************************************/
    void reset_time_synchronized(uhd::property_tree::sptr tree)
    {
        const size_t n_mboards = tree->list("/mboards").size();
        UHD_LOGGER_DEBUG("MPMD")
            << "Synchronizing " << n_mboards <<" timekeepers...";
        auto get_time_last_pps = [tree](){
            return tree->access<time_spec_t>(
                fs_path("/mboards/0/time/pps")
            ).get();
        };
        auto end_time = std::chrono::steady_clock::now()
                            + std::chrono::milliseconds(1100);
        auto time_last_pps = get_time_last_pps();
        UHD_LOG_DEBUG("MPMD", "Waiting for PPS clock edge...");
        while (time_last_pps == get_time_last_pps())
        {
            if (std::chrono::steady_clock::now() > end_time) {
                throw uhd::runtime_error(
                    "Board 0 may not be getting a PPS signal!\n"
                    "No PPS detected within the time interval.\n"
                    "See the application notes for your device.\n"
                );
            }
            std::this_thread::sleep_for(std::chrono::milliseconds(10));
        }
        UHD_LOG_DEBUG("MPMD", "Setting all timekeepers to 0...");
        for (size_t mboard_idx = 0; mboard_idx < n_mboards; mboard_idx++) {
            tree->access<time_spec_t>(
                fs_path("/mboards") / mboard_idx / "time" / "pps"
            ).set(time_spec_t(0.0));
        }

        UHD_LOG_DEBUG("MPMD", "Waiting for next PPS edge...");
        std::this_thread::sleep_for(std::chrono::seconds(1));

        UHD_LOG_DEBUG("MPMD", "Verifying all timekeepers are aligned...");
        auto get_time_now = [tree](const size_t mb_index){
            return tree->access<time_spec_t>(
                fs_path("/mboards") / mb_index / "time/now"
            ).get();
        };
        for (size_t m = 1; m < n_mboards; m++){
            time_spec_t time_0 = get_time_now(0);
            time_spec_t time_i = get_time_now(m);
            if (time_i < time_0
                    or (time_i - time_0) > time_spec_t(MPMD_CHDR_MAX_RTT)) {
                UHD_LOGGER_WARNING("MULTI_USRP") << boost::format(
                    "Detected time deviation between board %d and board 0.\n"
                    "Board 0 time is %f seconds.\n"
                    "Board %d time is %f seconds.\n"
                ) % m % time_0.get_real_secs() % m % time_i.get_real_secs();
            }
        }
    }

    /*! Throw an exception if compat numbers don't match.
     *
     * \param component Name of the component for which we're checking the
     *                  compat number (for logging and exceptions strings).
     * \param expected Tuple of 2 integers representing MAJOR.MINOR compat
     *                 number.
     * \param actual Tuple of 2 integers representing MAJOR.MINOR compat
     *                 number.
     * \param advice_on_failure A string that is appended to the error message
     *                          when compat number mismatches have occurred.
     */
    void assert_compat_number_throw(
        const std::string &component,
        const std::vector<size_t> &expected,
        const std::vector<size_t> &actual,
        const std::string& advice_on_failure=""
    ) {
        UHD_ASSERT_THROW(expected.size() == 2);
        UHD_ASSERT_THROW(actual.size() == 2);
        UHD_LOGGER_TRACE("MPMD")
            << "Checking " << component << " compat number. Expected: "
            << expected[0] << "." << expected[1]
            << " Actual: "
            << actual[0] << "." << actual[1]
        ;

        if (actual[0] != expected[0]) {
            const std::string err_msg =
                str(boost::format("%s major compat number mismatch. "
                                 "Expected: %i.%i Actual: %i.%i.%s%s")
                    % component
                    % expected[0] % expected[1]
                    % actual[0] % actual[1]
                    % (advice_on_failure.empty() ? "" : " ")
                    % advice_on_failure);
            UHD_LOG_ERROR("MPMD", err_msg);
            throw uhd::runtime_error(err_msg);
        }
        if (actual[1] < expected[1]) {
            const std::string err_msg =
                str(boost::format("%s minor compat number mismatch. "
                                 "Expected: %i.%i Actual: %i.%i.%s%s")
                    % component
                    % expected[0] % expected[1]
                    % actual[0] % actual[1]
                    % (advice_on_failure.empty() ? "" : " ")
                    % advice_on_failure);
            UHD_LOG_ERROR("MPMD", err_msg);
            throw uhd::runtime_error(err_msg);
        }
        if (actual[1] > expected[1]) {
            const std::string err_msg =
                str(boost::format("%s minor compat number mismatch. "
                                 "Expected: %i.%i Actual: %i.%i")
                    % component
                    % expected[0] % expected[1]
                    % actual[0] % actual[1]);
            UHD_LOG_WARNING("MPMD", err_msg);
        }
    }
}

/*****************************************************************************
 * Static class attributes
 ****************************************************************************/
const std::string mpmd_impl::MPM_FINDALL_KEY = "find_all";
const size_t mpmd_impl::MPM_DISCOVERY_PORT = 49600;
const std::string mpmd_impl::MPM_DISCOVERY_PORT_KEY = "discovery_port";
const size_t mpmd_impl::MPM_RPC_PORT = 49601;
const std::string mpmd_impl::MPM_RPC_PORT_KEY = "rpc_port";
const std::string mpmd_impl::MPM_RPC_GET_LAST_ERROR_CMD = "get_last_error";
const std::string mpmd_impl::MPM_DISCOVERY_CMD = "MPM-DISC";
const std::string mpmd_impl::MPM_ECHO_CMD = "MPM-ECHO";

/*****************************************************************************
 * Structors
 ****************************************************************************/
mpmd_impl::mpmd_impl(const device_addr_t& device_args)
    : usrp::device3_impl()
    , _device_args(device_args)
{
    const device_addrs_t mb_args = separate_device_addr(device_args);
    const size_t num_mboards = mb_args.size();
    _mb.reserve(num_mboards);
    const bool serialize_init = device_args.has_key("serialize_init");
    const bool skip_init = device_args.has_key("skip_init");
    UHD_LOGGER_INFO("MPMD")
        << "Initializing " << num_mboards << " device(s) "
        << (serialize_init ? "serially " : "in parallel ")
        << "with args: " << device_args.to_string();

    // First, claim all the devices (so we own them and no one else can claim
    // them).
    // This can be parallelized as long as uptrs are stored in the right spot;
    // they need to be correctly indexed.
    for (size_t mb_i = 0; mb_i < num_mboards; ++mb_i) {
        UHD_LOG_DEBUG("MPMD", "Claiming mboard " << mb_i);
        _mb.push_back(claim_and_make(mb_args[mb_i]));
    }

    // Next figure out the number of base xport addresses. This way, we
    // can run _mb[*]->init() in parallel on all the _mb.
    // This can *not* be parallelized.
    std::vector<size_t> base_xport_addr(num_mboards, 2); // Starts at 2 [sic]
    for (size_t mb_i = 0; mb_i < num_mboards-1; ++mb_i) {
        base_xport_addr[mb_i+1] = base_xport_addr[mb_i] + _mb[mb_i]->num_xbars;
    }

    if (not skip_init) {
        // Run the actual device initialization. This can run in parallel.
        for (size_t mb_i = 0; mb_i < num_mboards; ++mb_i) {
            // Note: This is the only place we do compat number checks. They're
            // effectively disabled for skip_init=1
            setup_mb(_mb[mb_i].get(), mb_i, base_xport_addr[mb_i]);
        }
    } else {
        UHD_LOG_DEBUG("MPMD", "Claimed device, but skipped init.");
    }

    // Init the prop tree before the blocks get set up -- they might need access
    // to some of the properties. This also means that the prop tree is pristine
    // at this point in time.
    // This might be parallelized, need to verify the prop tree can handle the
    // concurrent accesses. Would shave of milliseconds per device -- probably
    // not worth it.
    for (size_t mb_i = 0; mb_i < mb_args.size(); ++mb_i) {
        init_property_tree(_tree, fs_path("/mboards") / mb_i, _mb[mb_i].get());
    }

    if (not skip_init) {
        // This can be parallelized, because the blocks of individual mboards
        // live on different subtrees.
        for (size_t mb_i = 0; mb_i < mb_args.size(); ++mb_i) {
            setup_rfnoc_blocks(_mb[mb_i].get(), mb_i, mb_args[mb_i]);
        }

        // FIXME this section only makes sense for when the time source is external.
        // So, check for that, or something similar.
        // This section of code assumes that the prop tree is set and we have access
        // to the timekeepers. So don't move it anywhere else.
        if (device_args.has_key("sync_time")) {
            reset_time_synchronized(_tree);
        }

        auto filtered_block_args = device_args; // TODO actually filter
        // Blocks will finalize their own setup in this function. They have
        // (and might need) full access to the prop tree, the timekeepers, etc.
        // This is already internally parallelized.
        setup_rpc_blocks(filtered_block_args, serialize_init);
    } else {
        UHD_LOG_INFO("MPMD", "Claimed device without full initialization.");
    }
}

mpmd_impl::~mpmd_impl()
{
    /* nop */
}

/*****************************************************************************
 * Private methods
 ****************************************************************************/
mpmd_mboard_impl::uptr mpmd_impl::claim_and_make(
    const uhd::device_addr_t& device_args
) {
    const std::string rpc_addr = device_args.get(xport::MGMT_ADDR_KEY);
    UHD_LOGGER_DEBUG("MPMD")
        << "Device args: `" << device_args.to_string()
        << "'. RPC address: " << rpc_addr
    ;

    if (rpc_addr.empty()) {
        UHD_LOG_ERROR("MPMD",
            "Could not determine RPC address from device args: "
            << device_args.to_string());
        throw uhd::runtime_error("Could not determine device RPC address.");
    }
    return mpmd_mboard_impl::make(device_args, rpc_addr);
}

void mpmd_impl::setup_mb(
    mpmd_mboard_impl *mb,
    const size_t mb_index,
    const size_t base_xport_addr
) {
    assert_compat_number_throw(
        "MPM",
        MPM_COMPAT_NUM,
        mb->rpc->request<std::vector<size_t>>("get_mpm_compat_num"),
        "Please update the version of MPM on your USRP device."
    );

    UHD_LOG_DEBUG("MPMD", "Initializing mboard " << mb_index);
    mb->init();
    for (size_t xbar_index = 0; xbar_index < mb->num_xbars; xbar_index++) {
        mb->set_xbar_local_addr(xbar_index, base_xport_addr + xbar_index);
    }
}

void mpmd_impl::setup_rfnoc_blocks(
    mpmd_mboard_impl* mb,
    const size_t mb_index,
    const uhd::device_addr_t& ctrl_xport_args
) {
    UHD_LOG_TRACE("MPMD",
        "Mboard " << mb_index << " reports " << mb->num_xbars << " crossbar(s)."
    );
    // TODO: The args apply to all xbars, which may or may not be true
    for (size_t xbar_index = 0; xbar_index < mb->num_xbars; xbar_index++) {
        // Pull the number of blocks and base port from the args, if available.
        // Otherwise, get the values from MPM.
        const size_t num_blocks = ctrl_xport_args.has_key("rfnoc_num_blocks")
            ? ctrl_xport_args.cast<size_t>("rfnoc_num_blocks", 0)
            : mb->rpc->request<size_t>("get_num_blocks", xbar_index);
        const size_t base_port = ctrl_xport_args.has_key("rfnoc_base_port")
            ? ctrl_xport_args.cast<size_t>("rfnoc_base_port", 0)
            : mb->rpc->request<size_t>("get_base_port", xbar_index);
        const size_t local_addr = mb->get_xbar_local_addr(xbar_index);
        UHD_LOGGER_TRACE("MPMD")
            << "Enumerating RFNoC blocks for xbar " << xbar_index
            << ". Total blocks: " << num_blocks
            << " Base port: " << base_port
            << " Local address: " << local_addr
        ;
        if (ctrl_xport_args.has_key("rfnoc_num_blocks") or
            ctrl_xport_args.has_key("rfnoc_base_port")) {
            // TODO: Remove this warning once we're confident this is
            //       (relatively) safe and useful. Also add documentation to
            //       usrp_n3xx.dox
            UHD_LOGGER_WARNING("MPMD")
                << "Overriding default RFNoC configuration. You are using an "
                << "experimental development feature, which may go away in "
                << "future versions."
            ;
        }

        try {
            enumerate_rfnoc_blocks(
              mb_index,
              num_blocks,
              base_port,
              uhd::sid_t(0, 0, local_addr, 0),
              ctrl_xport_args
            );
        } catch (const std::exception &ex) {
            UHD_LOGGER_ERROR("MPMD")
                << "Failure during block enumeration: "
                << ex.what();
            throw uhd::runtime_error("Failed to run enumerate_rfnoc_blocks()");
        }
    }
}

void mpmd_impl::setup_rpc_blocks(
    const device_addr_t &block_args,
    const bool serialize_init
) {
    std::vector<std::future<void>> task_list;
    // If we don't force async, most compilers, at least now, will default to
    // deferred.
    const auto launch_policy = serialize_init ?
        std::launch::deferred :
        std::launch::async;

    // Preload all the tasks (they might start running on emplace_back)
    for (const auto &block_ctrl: _rfnoc_block_ctrl) {
        auto rpc_block_id = block_ctrl->get_block_id();
        if (has_block<uhd::rfnoc::rpc_block_ctrl>(rpc_block_id)) {
            const size_t mboard_idx = rpc_block_id.get_device_no();
            auto rpc_block_ctrl =
                get_block_ctrl<uhd::rfnoc::rpc_block_ctrl>(rpc_block_id);
            auto rpc_sptr = _mb[mboard_idx]->rpc;
            task_list.emplace_back(std::async(launch_policy,
                [rpc_block_id, rpc_block_ctrl, &block_args, rpc_sptr](){
                    UHD_LOGGER_DEBUG("MPMD")
                        << "Adding RPC access to block: " << rpc_block_id
                        << " Block args: " << block_args.to_string()
                    ;
                    rpc_block_ctrl->set_rpc_client(rpc_sptr, block_args);
                }
            ));
        }
    }

    // Execute all the calls to set_rpc_client(), either concurrently, or
    // serially
    for (auto &task : task_list) {
        task.get();
    }
}

/*****************************************************************************
 * Factory & Registry
 ****************************************************************************/
static device::sptr mpmd_make(const device_addr_t& device_args)
{
    return device::sptr(boost::make_shared<mpmd_impl>(device_args));
}

UHD_STATIC_BLOCK(register_mpmd_device)
{
    device::register_device(&mpmd_find, &mpmd_make, device::USRP);
}
// vim: sw=4 expandtab: