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uhd/host/examples/txrx_loopback_to_file.cpp
Martin Braun 652873b664 examples: Improve txrx_loopback_to_file (late recv, Boost, timing) 
- Fixes a bug where the RX stream command set set independent of the
  device time. Now, we read back get_time_now() to calculate the command
  time.
- When using multiple RX USRPs, sync their times. Before, they were left
  untouched, causing possible timing mismatches.
- Increase the initial timeout value. The previous value had only been
  tested with N2x0.
- Replace the boost::thread_group with a std::thread.
- Remove some boost::format where it didn't add value.
2021-09-17 13:27:17 -07:00

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//
// Copyright 2010-2012,2014-2015 Ettus Research LLC
// Copyright 2018 Ettus Research, a National Instruments Company
//
// SPDX-License-Identifier: GPL-3.0-or-later
//
#include "wavetable.hpp"
#include <uhd/exception.hpp>
#include <uhd/types/tune_request.hpp>
#include <uhd/usrp/multi_usrp.hpp>
#include <uhd/utils/safe_main.hpp>
#include <uhd/utils/static.hpp>
#include <uhd/utils/thread.hpp>
#include <boost/algorithm/string.hpp>
#include <boost/filesystem.hpp>
#include <boost/format.hpp>
#include <boost/program_options.hpp>
#include <cmath>
#include <csignal>
#include <fstream>
#include <functional>
#include <iostream>
#include <thread>
namespace po = boost::program_options;
/***********************************************************************
* Signal handlers
**********************************************************************/
static bool stop_signal_called = false;
void sig_int_handler(int)
{
stop_signal_called = true;
}
/***********************************************************************
* Utilities
**********************************************************************/
//! Change to filename, e.g. from usrp_samples.dat to usrp_samples.00.dat,
// but only if multiple names are to be generated.
std::string generate_out_filename(
const std::string& base_fn, size_t n_names, size_t this_name)
{
if (n_names == 1) {
return base_fn;
}
boost::filesystem::path base_fn_fp(base_fn);
base_fn_fp.replace_extension(boost::filesystem::path(
str(boost::format("%02d%s") % this_name % base_fn_fp.extension().string())));
return base_fn_fp.string();
}
/***********************************************************************
* transmit_worker function
* A function to be used in a thread for transmitting
**********************************************************************/
void transmit_worker(std::vector<std::complex<float>> buff,
wave_table_class wave_table,
uhd::tx_streamer::sptr tx_streamer,
uhd::tx_metadata_t metadata,
size_t step,
size_t index,
int num_channels)
{
std::vector<std::complex<float>*> buffs(num_channels, &buff.front());
// send data until the signal handler gets called
while (not stop_signal_called) {
// fill the buffer with the waveform
for (size_t n = 0; n < buff.size(); n++) {
buff[n] = wave_table(index += step);
}
// send the entire contents of the buffer
tx_streamer->send(buffs, buff.size(), metadata);
metadata.start_of_burst = false;
metadata.has_time_spec = false;
}
// send a mini EOB packet
metadata.end_of_burst = true;
tx_streamer->send("", 0, metadata);
}
/***********************************************************************
* recv_to_file function
**********************************************************************/
template <typename samp_type>
void recv_to_file(uhd::usrp::multi_usrp::sptr usrp,
const std::string& cpu_format,
const std::string& wire_format,
const std::string& file,
size_t samps_per_buff,
int num_requested_samples,
double settling_time,
std::vector<size_t> rx_channel_nums)
{
int num_total_samps = 0;
// create a receive streamer
uhd::stream_args_t stream_args(cpu_format, wire_format);
stream_args.channels = rx_channel_nums;
uhd::rx_streamer::sptr rx_stream = usrp->get_rx_stream(stream_args);
// Prepare buffers for received samples and metadata
uhd::rx_metadata_t md;
std::vector<std::vector<samp_type>> buffs(
rx_channel_nums.size(), std::vector<samp_type>(samps_per_buff));
// create a vector of pointers to point to each of the channel buffers
std::vector<samp_type*> buff_ptrs;
for (size_t i = 0; i < buffs.size(); i++) {
buff_ptrs.push_back(&buffs[i].front());
}
// Create one ofstream object per channel
// (use shared_ptr because ofstream is non-copyable)
std::vector<std::shared_ptr<std::ofstream>> outfiles;
for (size_t i = 0; i < buffs.size(); i++) {
const std::string this_filename = generate_out_filename(file, buffs.size(), i);
outfiles.push_back(std::shared_ptr<std::ofstream>(
new std::ofstream(this_filename.c_str(), std::ofstream::binary)));
}
UHD_ASSERT_THROW(outfiles.size() == buffs.size());
UHD_ASSERT_THROW(buffs.size() == rx_channel_nums.size());
bool overflow_message = true;
// We increase the first timeout to cover for the delay between now + the
// command time, plus 500ms of buffer. In the loop, we will then reduce the
// timeout for subsequent receives.
double timeout = settling_time + 0.5f;
// setup streaming
uhd::stream_cmd_t stream_cmd((num_requested_samples == 0)
? uhd::stream_cmd_t::STREAM_MODE_START_CONTINUOUS
: uhd::stream_cmd_t::STREAM_MODE_NUM_SAMPS_AND_DONE);
stream_cmd.num_samps = num_requested_samples;
stream_cmd.stream_now = false;
stream_cmd.time_spec = usrp->get_time_now() + uhd::time_spec_t(settling_time);
rx_stream->issue_stream_cmd(stream_cmd);
while (not stop_signal_called
and (num_requested_samples > num_total_samps or num_requested_samples == 0)) {
size_t num_rx_samps = rx_stream->recv(buff_ptrs, samps_per_buff, md, timeout);
timeout = 0.1f; // small timeout for subsequent recv
if (md.error_code == uhd::rx_metadata_t::ERROR_CODE_TIMEOUT) {
std::cout << "Timeout while streaming" << std::endl;
break;
}
if (md.error_code == uhd::rx_metadata_t::ERROR_CODE_OVERFLOW) {
if (overflow_message) {
overflow_message = false;
std::cerr
<< boost::format(
"Got an overflow indication. Please consider the following:\n"
" Your write medium must sustain a rate of %fMB/s.\n"
" Dropped samples will not be written to the file.\n"
" Please modify this example for your purposes.\n"
" This message will not appear again.\n")
% (usrp->get_rx_rate() * sizeof(samp_type) / 1e6);
}
continue;
}
if (md.error_code != uhd::rx_metadata_t::ERROR_CODE_NONE) {
throw std::runtime_error("Receiver error " + md.strerror());
}
num_total_samps += num_rx_samps;
for (size_t i = 0; i < outfiles.size(); i++) {
outfiles[i]->write(
(const char*)buff_ptrs[i], num_rx_samps * sizeof(samp_type));
}
}
// Shut down receiver
stream_cmd.stream_mode = uhd::stream_cmd_t::STREAM_MODE_STOP_CONTINUOUS;
rx_stream->issue_stream_cmd(stream_cmd);
// Close files
for (size_t i = 0; i < outfiles.size(); i++) {
outfiles[i]->close();
}
}
/***********************************************************************
* Main function
**********************************************************************/
int UHD_SAFE_MAIN(int argc, char* argv[])
{
// transmit variables to be set by po
std::string tx_args, wave_type, tx_ant, tx_subdev, ref, otw, tx_channels;
double tx_rate, tx_freq, tx_gain, wave_freq, tx_bw;
float ampl;
// receive variables to be set by po
std::string rx_args, file, type, rx_ant, rx_subdev, rx_channels;
size_t total_num_samps, spb;
double rx_rate, rx_freq, rx_gain, rx_bw;
double settling;
// setup the program options
po::options_description desc("Allowed options");
// clang-format off
desc.add_options()
("help", "help message")
("tx-args", po::value<std::string>(&tx_args)->default_value(""), "uhd transmit device address args")
("rx-args", po::value<std::string>(&rx_args)->default_value(""), "uhd receive device address args")
("file", po::value<std::string>(&file)->default_value("usrp_samples.dat"), "name of the file to write binary samples to")
("type", po::value<std::string>(&type)->default_value("short"), "sample type in file: double, float, or short")
("nsamps", po::value<size_t>(&total_num_samps)->default_value(0), "total number of samples to receive")
("settling", po::value<double>(&settling)->default_value(double(0.2)), "settling time (seconds) before receiving")
("spb", po::value<size_t>(&spb)->default_value(0), "samples per buffer, 0 for default")
("tx-rate", po::value<double>(&tx_rate), "rate of transmit outgoing samples")
("rx-rate", po::value<double>(&rx_rate), "rate of receive incoming samples")
("tx-freq", po::value<double>(&tx_freq), "transmit RF center frequency in Hz")
("rx-freq", po::value<double>(&rx_freq), "receive RF center frequency in Hz")
("ampl", po::value<float>(&ampl)->default_value(float(0.3)), "amplitude of the waveform [0 to 0.7]")
("tx-gain", po::value<double>(&tx_gain), "gain for the transmit RF chain")
("rx-gain", po::value<double>(&rx_gain), "gain for the receive RF chain")
("tx-ant", po::value<std::string>(&tx_ant), "transmit antenna selection")
("rx-ant", po::value<std::string>(&rx_ant), "receive antenna selection")
("tx-subdev", po::value<std::string>(&tx_subdev), "transmit subdevice specification")
("rx-subdev", po::value<std::string>(&rx_subdev), "receive subdevice specification")
("tx-bw", po::value<double>(&tx_bw), "analog transmit filter bandwidth in Hz")
("rx-bw", po::value<double>(&rx_bw), "analog receive filter bandwidth in Hz")
("wave-type", po::value<std::string>(&wave_type)->default_value("CONST"), "waveform type (CONST, SQUARE, RAMP, SINE)")
("wave-freq", po::value<double>(&wave_freq)->default_value(0), "waveform frequency in Hz")
("ref", po::value<std::string>(&ref)->default_value("internal"), "clock reference (internal, external, mimo)")
("otw", po::value<std::string>(&otw)->default_value("sc16"), "specify the over-the-wire sample mode")
("tx-channels", po::value<std::string>(&tx_channels)->default_value("0"), "which TX channel(s) to use (specify \"0\", \"1\", \"0,1\", etc)")
("rx-channels", po::value<std::string>(&rx_channels)->default_value("0"), "which RX channel(s) to use (specify \"0\", \"1\", \"0,1\", etc)")
("tx-int-n", "tune USRP TX with integer-N tuning")
("rx-int-n", "tune USRP RX with integer-N tuning")
;
// clang-format on
po::variables_map vm;
po::store(po::parse_command_line(argc, argv, desc), vm);
po::notify(vm);
// print the help message
if (vm.count("help")) {
std::cout << "UHD TXRX Loopback to File " << desc << std::endl;
return ~0;
}
// create a usrp device
std::cout << std::endl;
std::cout << boost::format("Creating the transmit usrp device with: %s...") % tx_args
<< std::endl;
uhd::usrp::multi_usrp::sptr tx_usrp = uhd::usrp::multi_usrp::make(tx_args);
std::cout << std::endl;
std::cout << boost::format("Creating the receive usrp device with: %s...") % rx_args
<< std::endl;
uhd::usrp::multi_usrp::sptr rx_usrp = uhd::usrp::multi_usrp::make(rx_args);
// always select the subdevice first, the channel mapping affects the other settings
if (vm.count("tx-subdev"))
tx_usrp->set_tx_subdev_spec(tx_subdev);
if (vm.count("rx-subdev"))
rx_usrp->set_rx_subdev_spec(rx_subdev);
// detect which channels to use
std::vector<std::string> tx_channel_strings;
std::vector<size_t> tx_channel_nums;
boost::split(tx_channel_strings, tx_channels, boost::is_any_of("\"',"));
for (size_t ch = 0; ch < tx_channel_strings.size(); ch++) {
size_t chan = std::stoi(tx_channel_strings[ch]);
if (chan >= tx_usrp->get_tx_num_channels()) {
throw std::runtime_error("Invalid TX channel(s) specified.");
} else
tx_channel_nums.push_back(std::stoi(tx_channel_strings[ch]));
}
std::vector<std::string> rx_channel_strings;
std::vector<size_t> rx_channel_nums;
boost::split(rx_channel_strings, rx_channels, boost::is_any_of("\"',"));
for (size_t ch = 0; ch < rx_channel_strings.size(); ch++) {
size_t chan = std::stoi(rx_channel_strings[ch]);
if (chan >= rx_usrp->get_rx_num_channels()) {
throw std::runtime_error("Invalid RX channel(s) specified.");
} else
rx_channel_nums.push_back(std::stoi(rx_channel_strings[ch]));
}
// Lock mboard clocks
if (vm.count("ref")) {
tx_usrp->set_clock_source(ref);
rx_usrp->set_clock_source(ref);
}
std::cout << "Using TX Device: " << tx_usrp->get_pp_string() << std::endl;
std::cout << "Using RX Device: " << rx_usrp->get_pp_string() << std::endl;
// set the transmit sample rate
if (not vm.count("tx-rate")) {
std::cerr << "Please specify the transmit sample rate with --tx-rate"
<< std::endl;
return ~0;
}
std::cout << boost::format("Setting TX Rate: %f Msps...") % (tx_rate / 1e6)
<< std::endl;
tx_usrp->set_tx_rate(tx_rate);
std::cout << boost::format("Actual TX Rate: %f Msps...")
% (tx_usrp->get_tx_rate() / 1e6)
<< std::endl
<< std::endl;
// set the receive sample rate
if (not vm.count("rx-rate")) {
std::cerr << "Please specify the sample rate with --rx-rate" << std::endl;
return ~0;
}
std::cout << boost::format("Setting RX Rate: %f Msps...") % (rx_rate / 1e6)
<< std::endl;
rx_usrp->set_rx_rate(rx_rate);
std::cout << boost::format("Actual RX Rate: %f Msps...")
% (rx_usrp->get_rx_rate() / 1e6)
<< std::endl
<< std::endl;
// set the transmit center frequency
if (not vm.count("tx-freq")) {
std::cerr << "Please specify the transmit center frequency with --tx-freq"
<< std::endl;
return ~0;
}
for (size_t ch = 0; ch < tx_channel_nums.size(); ch++) {
size_t channel = tx_channel_nums[ch];
if (tx_channel_nums.size() > 1) {
std::cout << "Configuring TX Channel " << channel << std::endl;
}
std::cout << boost::format("Setting TX Freq: %f MHz...") % (tx_freq / 1e6)
<< std::endl;
uhd::tune_request_t tx_tune_request(tx_freq);
if (vm.count("tx-int-n"))
tx_tune_request.args = uhd::device_addr_t("mode_n=integer");
tx_usrp->set_tx_freq(tx_tune_request, channel);
std::cout << boost::format("Actual TX Freq: %f MHz...")
% (tx_usrp->get_tx_freq(channel) / 1e6)
<< std::endl
<< std::endl;
// set the rf gain
if (vm.count("tx-gain")) {
std::cout << boost::format("Setting TX Gain: %f dB...") % tx_gain
<< std::endl;
tx_usrp->set_tx_gain(tx_gain, channel);
std::cout << boost::format("Actual TX Gain: %f dB...")
% tx_usrp->get_tx_gain(channel)
<< std::endl
<< std::endl;
}
// set the analog frontend filter bandwidth
if (vm.count("tx-bw")) {
std::cout << boost::format("Setting TX Bandwidth: %f MHz...") % tx_bw
<< std::endl;
tx_usrp->set_tx_bandwidth(tx_bw, channel);
std::cout << boost::format("Actual TX Bandwidth: %f MHz...")
% tx_usrp->get_tx_bandwidth(channel)
<< std::endl
<< std::endl;
}
// set the antenna
if (vm.count("tx-ant"))
tx_usrp->set_tx_antenna(tx_ant, channel);
}
for (size_t ch = 0; ch < rx_channel_nums.size(); ch++) {
size_t channel = rx_channel_nums[ch];
if (rx_channel_nums.size() > 1) {
std::cout << "Configuring RX Channel " << channel << std::endl;
}
// set the receive center frequency
if (not vm.count("rx-freq")) {
std::cerr << "Please specify the center frequency with --rx-freq"
<< std::endl;
return ~0;
}
std::cout << boost::format("Setting RX Freq: %f MHz...") % (rx_freq / 1e6)
<< std::endl;
uhd::tune_request_t rx_tune_request(rx_freq);
if (vm.count("rx-int-n"))
rx_tune_request.args = uhd::device_addr_t("mode_n=integer");
rx_usrp->set_rx_freq(rx_tune_request, channel);
std::cout << boost::format("Actual RX Freq: %f MHz...")
% (rx_usrp->get_rx_freq(channel) / 1e6)
<< std::endl
<< std::endl;
// set the receive rf gain
if (vm.count("rx-gain")) {
std::cout << boost::format("Setting RX Gain: %f dB...") % rx_gain
<< std::endl;
rx_usrp->set_rx_gain(rx_gain, channel);
std::cout << boost::format("Actual RX Gain: %f dB...")
% rx_usrp->get_rx_gain(channel)
<< std::endl
<< std::endl;
}
// set the receive analog frontend filter bandwidth
if (vm.count("rx-bw")) {
std::cout << boost::format("Setting RX Bandwidth: %f MHz...") % (rx_bw / 1e6)
<< std::endl;
rx_usrp->set_rx_bandwidth(rx_bw, channel);
std::cout << boost::format("Actual RX Bandwidth: %f MHz...")
% (rx_usrp->get_rx_bandwidth(channel) / 1e6)
<< std::endl
<< std::endl;
}
// set the receive antenna
if (vm.count("rx-ant"))
rx_usrp->set_rx_antenna(rx_ant, channel);
}
// Align times in the RX USRP (the TX USRP does not require time-syncing)
if (rx_usrp->get_num_mboards() > 1) {
rx_usrp->set_time_unknown_pps(uhd::time_spec_t(0.0));
}
// for the const wave, set the wave freq for small samples per period
if (wave_freq == 0 and wave_type == "CONST") {
wave_freq = tx_usrp->get_tx_rate() / 2;
}
// error when the waveform is not possible to generate
if (std::abs(wave_freq) > tx_usrp->get_tx_rate() / 2) {
throw std::runtime_error("wave freq out of Nyquist zone");
}
if (tx_usrp->get_tx_rate() / std::abs(wave_freq) > wave_table_len / 2) {
throw std::runtime_error("wave freq too small for table");
}
// pre-compute the waveform values
const wave_table_class wave_table(wave_type, ampl);
const size_t step = std::lround(wave_freq / tx_usrp->get_tx_rate() * wave_table_len);
size_t index = 0;
// create a transmit streamer
// linearly map channels (index0 = channel0, index1 = channel1, ...)
uhd::stream_args_t stream_args("fc32", otw);
stream_args.channels = tx_channel_nums;
uhd::tx_streamer::sptr tx_stream = tx_usrp->get_tx_stream(stream_args);
// allocate a buffer which we re-use for each channel
if (spb == 0)
spb = tx_stream->get_max_num_samps() * 10;
std::vector<std::complex<float>> buff(spb);
int num_channels = tx_channel_nums.size();
// setup the metadata flags
uhd::tx_metadata_t md;
md.start_of_burst = true;
md.end_of_burst = false;
md.has_time_spec = true;
md.time_spec = uhd::time_spec_t(0.5); // give us 0.5 seconds to fill the tx buffers
// Check Ref and LO Lock detect
std::vector<std::string> tx_sensor_names, rx_sensor_names;
tx_sensor_names = tx_usrp->get_tx_sensor_names(0);
if (std::find(tx_sensor_names.begin(), tx_sensor_names.end(), "lo_locked")
!= tx_sensor_names.end()) {
uhd::sensor_value_t lo_locked = tx_usrp->get_tx_sensor("lo_locked", 0);
std::cout << boost::format("Checking TX: %s ...") % lo_locked.to_pp_string()
<< std::endl;
UHD_ASSERT_THROW(lo_locked.to_bool());
}
rx_sensor_names = rx_usrp->get_rx_sensor_names(0);
if (std::find(rx_sensor_names.begin(), rx_sensor_names.end(), "lo_locked")
!= rx_sensor_names.end()) {
uhd::sensor_value_t lo_locked = rx_usrp->get_rx_sensor("lo_locked", 0);
std::cout << boost::format("Checking RX: %s ...") % lo_locked.to_pp_string()
<< std::endl;
UHD_ASSERT_THROW(lo_locked.to_bool());
}
tx_sensor_names = tx_usrp->get_mboard_sensor_names(0);
if ((ref == "mimo")
and (std::find(tx_sensor_names.begin(), tx_sensor_names.end(), "mimo_locked")
!= tx_sensor_names.end())) {
uhd::sensor_value_t mimo_locked = tx_usrp->get_mboard_sensor("mimo_locked", 0);
std::cout << boost::format("Checking TX: %s ...") % mimo_locked.to_pp_string()
<< std::endl;
UHD_ASSERT_THROW(mimo_locked.to_bool());
}
if ((ref == "external")
and (std::find(tx_sensor_names.begin(), tx_sensor_names.end(), "ref_locked")
!= tx_sensor_names.end())) {
uhd::sensor_value_t ref_locked = tx_usrp->get_mboard_sensor("ref_locked", 0);
std::cout << boost::format("Checking TX: %s ...") % ref_locked.to_pp_string()
<< std::endl;
UHD_ASSERT_THROW(ref_locked.to_bool());
}
rx_sensor_names = rx_usrp->get_mboard_sensor_names(0);
if ((ref == "mimo")
and (std::find(rx_sensor_names.begin(), rx_sensor_names.end(), "mimo_locked")
!= rx_sensor_names.end())) {
uhd::sensor_value_t mimo_locked = rx_usrp->get_mboard_sensor("mimo_locked", 0);
std::cout << boost::format("Checking RX: %s ...") % mimo_locked.to_pp_string()
<< std::endl;
UHD_ASSERT_THROW(mimo_locked.to_bool());
}
if ((ref == "external")
and (std::find(rx_sensor_names.begin(), rx_sensor_names.end(), "ref_locked")
!= rx_sensor_names.end())) {
uhd::sensor_value_t ref_locked = rx_usrp->get_mboard_sensor("ref_locked", 0);
std::cout << boost::format("Checking RX: %s ...") % ref_locked.to_pp_string()
<< std::endl;
UHD_ASSERT_THROW(ref_locked.to_bool());
}
if (total_num_samps == 0) {
std::signal(SIGINT, &sig_int_handler);
std::cout << "Press Ctrl + C to stop streaming..." << std::endl;
}
// reset usrp time to prepare for transmit/receive
std::cout << boost::format("Setting device timestamp to 0...") << std::endl;
tx_usrp->set_time_now(uhd::time_spec_t(0.0));
// start transmit worker thread
std::thread transmit_thread([&]() {
transmit_worker(buff, wave_table, tx_stream, md, step, index, num_channels);
});
// recv to file
if (type == "double")
recv_to_file<std::complex<double>>(
rx_usrp, "fc64", otw, file, spb, total_num_samps, settling, rx_channel_nums);
else if (type == "float")
recv_to_file<std::complex<float>>(
rx_usrp, "fc32", otw, file, spb, total_num_samps, settling, rx_channel_nums);
else if (type == "short")
recv_to_file<std::complex<short>>(
rx_usrp, "sc16", otw, file, spb, total_num_samps, settling, rx_channel_nums);
else {
// clean up transmit worker
stop_signal_called = true;
transmit_thread.join();
throw std::runtime_error("Unknown type " + type);
}
// clean up transmit worker
stop_signal_called = true;
transmit_thread.join();
// finished
std::cout << std::endl << "Done!" << std::endl << std::endl;
return EXIT_SUCCESS;
}
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