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usrp_to_vrt.cpp
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usrp_to_vrt.cpp
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//
// Copyright 2010-2011,2014 Ettus Research LLC
// Copyright 2018 Ettus Research, a National Instruments Company
//
// Copyright 2021/2022 by Thomas Telkamp
//
// SPDX-License-Identifier: GPL-3.0-or-later
//
#include <unistd.h>
#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/thread.hpp>
#include <uhd/types/sensors.hpp>
#include <boost/format.hpp>
#include <boost/lexical_cast.hpp>
#include <boost/program_options.hpp>
#include <boost/filesystem.hpp>
#include <boost/algorithm/string.hpp>
#include <chrono>
#include <complex>
#include <csignal>
#include <fstream>
#include <iostream>
#include <thread>
#include <zmq.h>
#include <assert.h>
// VRT
#include <vrt/vrt_init.h>
#include <vrt/vrt_string.h>
#include <vrt/vrt_types.h>
#include <vrt/vrt_util.h>
#include <vrt/vrt_write.h>
#include <vrt/vrt_read.h>
// UDP
#include <sys/socket.h>
#include <arpa/inet.h>
#include <netinet/in.h>
// VRT tools functions
#include "vrt-tools.h"
unsigned long long num_total_samps = 0;
namespace po = boost::program_options;
static bool stop_signal_called = false;
void sig_int_handler(int)
{
stop_signal_called = true;
}
static UHD_INLINE boost::uint32_t GPIO_BIT(const size_t x)
{
return (1 << x);
}
typedef std::function<uhd::sensor_value_t(const std::string&)> get_sensor_fn_t;
bool check_locked_sensor(std::vector<std::string> sensor_names,
const char* sensor_name,
get_sensor_fn_t get_sensor_fn,
double setup_time)
{
if (std::find(sensor_names.begin(), sensor_names.end(), sensor_name)
== sensor_names.end())
return false;
auto setup_timeout = std::chrono::steady_clock::now()
+ std::chrono::milliseconds(int64_t(setup_time * 1000));
bool lock_detected = false;
std::cout << boost::format("Waiting for \"%s\": ") % sensor_name;
std::cout.flush();
while (true) {
if (lock_detected and (std::chrono::steady_clock::now() > setup_timeout)) {
std::cout << " locked." << std::endl;
break;
}
if (get_sensor_fn(sensor_name).to_bool()) {
std::cout << "+";
std::cout.flush();
lock_detected = true;
} else {
if (std::chrono::steady_clock::now() > setup_timeout) {
std::cout << std::endl;
throw std::runtime_error(
str(boost::format(
"timed out waiting for consecutive locks on sensor \"%s\"")
% sensor_name));
}
std::cout << "_";
std::cout.flush();
}
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
std::cout << std::endl;
return true;
}
template <typename samp_type> inline float get_abs_val(samp_type t)
{
return std::fabs(t);
}
inline float get_abs_val(std::complex<int16_t> t)
{
return std::fabs(t.real());
}
inline float get_abs_val(std::complex<int8_t> t)
{
return std::fabs(t.real());
}
void transmit_worker(uhd::usrp::multi_usrp::sptr usrp,
uhd::tx_streamer::sptr tx_streamer,
void *zmq_transmit,
double tx_freq,
double tx_lo_offset,
double tx_gain,
double sample_rate,
bool enable_gpio,
double gpio_delay)
{
std::vector<std::complex<short>> buff(VRT_SAMPLES_PER_PACKET);
std::vector<std::complex<short>*> buffs(1, &buff.front());
size_t samps_per_buff = VRT_SAMPLES_PER_PACKET; // spb
uint32_t tx_zmq_buffer[VRT_DATA_PACKET_SIZE];
uhd::tx_metadata_t metadata;
metadata.start_of_burst = true;
metadata.end_of_burst = false;
metadata.has_time_spec = false;
std::string gpio = "FP0";
//configure GPIO
uint32_t gpio_bit = 0;
uint32_t duplex_bit = 1;
size_t num_bits = 6;
boost::uint32_t mask = (1 << num_bits) - 1;
float gpio_start_delay = gpio_delay/1000.0;
float gpio_stop_delay = gpio_delay/1000.0;
if (enable_gpio) {
//set data direction register (DDR)
usrp->set_gpio_attr(gpio, "DDR", (GPIO_BIT(gpio_bit)|GPIO_BIT(duplex_bit)), mask);
//set control register
usrp->set_gpio_attr(gpio, "CTRL", GPIO_BIT(duplex_bit), mask);
//set output values
usrp->set_gpio_attr(gpio, "OUT", 0, mask);
// ATR Duplex for testing on GPIO duplex_bit
usrp->set_gpio_attr(gpio, "ATR_XX", GPIO_BIT(duplex_bit), mask);
}
// send data until the signal handler gets called
while (not stop_signal_called) {
// Receive data
int len = zmq_recv(zmq_transmit, tx_zmq_buffer, 100000, ZMQ_NOBLOCK);
if (len > 0) {
// metadata.time_spec = uhd::time_spec_t(usrp->get_time_now() + uhd::time_spec_t(0.5));
struct vrt_header h;
struct vrt_fields f;
int32_t offset = 0;
int32_t size = ZMQ_BUFFER_SIZE;
int32_t rv = vrt_read_header(tx_zmq_buffer + offset, size - offset, &h, true);
/* Parse header */
if (rv < 0) {
fprintf(stderr, "Failed to parse header: %s\n", vrt_string_error(rv));
break;
}
offset += rv;
if (h.packet_type == VRT_PT_IF_DATA_WITH_STREAM_ID) {
/* Parse fields */
rv = vrt_read_fields(&h, tx_zmq_buffer + offset, size - offset, &f, true);
if (rv < 0) {
fprintf(stderr, "Failed to parse fields section: %s\n", vrt_string_error(rv));
break;
}
offset += rv;
// Add check for missing packets
uint32_t num_rx_samps = (h.packet_size-offset);
uint32_t stream_id = f.stream_id;
if (num_rx_samps <= VRT_SAMPLES_PER_PACKET) {
for (uint32_t i = 0; i < num_rx_samps; i++) {
int16_t re;
memcpy(&re, (char*)&tx_zmq_buffer[offset+i], 2);
int16_t img;
memcpy(&img, (char*)&tx_zmq_buffer[offset+i]+2, 2);
buff[i] = std::complex<short>(re, img);
}
// send the entire contents of the ZMQ buffer
tx_streamer->send(buffs, num_rx_samps, metadata);
metadata.start_of_burst = false;
metadata.has_time_spec = false;
metadata.end_of_burst = false;
}
} else if (h.packet_type == VRT_PT_IF_CONTEXT) {
// Context
/* Parse fields */
rv = vrt_read_fields(&h, tx_zmq_buffer + offset, size - offset, &f, true);
if (rv < 0) {
fprintf(stderr, "Failed to parse fields section: %s\n", vrt_string_error(rv));
break;
}
offset += rv;
struct vrt_if_context c;
rv = vrt_read_if_context(tx_zmq_buffer + offset, ZMQ_BUFFER_SIZE - offset, &c, true);
if (rv < 0) {
fprintf(stderr, "Failed to parse IF context section: %s\n", vrt_string_error(rv));
break;
}
if (c.context_field_change_indicator) {
double lo_offset;
if (c.has.if_band_offset) {
lo_offset = c.if_band_offset;
} else {
lo_offset = tx_lo_offset;
}
if (c.has.rf_reference_frequency) {
if (tx_freq != (double)round(c.rf_reference_frequency)) {
tx_freq = (double)round(c.rf_reference_frequency);
std::cout << boost::format(" Setting TX Freq: %f MHz...") % (tx_freq / 1e6)
<< std::endl;
std::cout << boost::format(" Setting TX LO Offset: %f MHz...") % (lo_offset / 1e6)
<< std::endl;
uhd::tune_request_t tune_request(tx_freq, lo_offset);
// if (vm.count("int-n"))
// tune_request.args = uhd::device_addr_t("mode_n=integer");
usrp->set_tx_freq(tune_request);
std::cout << boost::format(" Actual TX Freq: %f MHz...")
% (usrp->get_tx_freq() / 1e6)
<< std::endl;
}
}
if (c.has.gain) {
if (tx_gain != c.gain.stage1) {
tx_gain = c.gain.stage1;
std::cout << boost::format(" Setting TX Gain: %f dB...") % tx_gain << std::endl;
usrp->set_tx_gain(tx_gain);
std::cout << boost::format(" Actual TX Gain: %f dB...")
% usrp->get_tx_gain()
<< std::endl;
}
}
}
if (c.state_and_event_indicators.user_defined == 0x1) {
if (c.state_and_event_indicators.has.calibrated_time && c.state_and_event_indicators.calibrated_time) {
timeval vrt_time;
vrt_time.tv_sec = f.integer_seconds_timestamp;
vrt_time.tv_usec = f.fractional_seconds_timestamp/1e6;
uhd::time_spec_t start_time(vrt_time.tv_sec, (double)vrt_time.tv_usec / 1e6);
metadata.has_time_spec = true;
metadata.time_spec = start_time;
printf("Timed transmit queued (%ld frac %.09f).\n", vrt_time.tv_sec, (double)vrt_time.tv_usec / 1e6);
// GPIO
if (enable_gpio) {
usrp->set_command_time(start_time - uhd::time_spec_t(gpio_start_delay));
usrp->set_gpio_attr(gpio, "OUT", GPIO_BIT(gpio_bit), GPIO_BIT(gpio_bit));
}
} else {
if (enable_gpio) {
usrp->set_gpio_attr(gpio, "OUT", GPIO_BIT(gpio_bit), GPIO_BIT(gpio_bit));
boost::this_thread::sleep_for(boost::chrono::milliseconds((uint32_t)(gpio_start_delay*1000)));
}
printf("Start transmit.\n");
}
} else if (c.state_and_event_indicators.user_defined == 0x2) {
printf("End transmit.\n");
metadata.end_of_burst = true;
metadata.start_of_burst = false;
metadata.has_time_spec = false;
tx_streamer->send("", 0, metadata);
metadata.end_of_burst = false;
// GPIO
if (enable_gpio) {
if (c.state_and_event_indicators.has.calibrated_time && c.state_and_event_indicators.calibrated_time) {
timeval vrt_time;
vrt_time.tv_sec = f.integer_seconds_timestamp;
vrt_time.tv_usec = f.fractional_seconds_timestamp/1e6;
uhd::time_spec_t stop_time(vrt_time.tv_sec, (double)vrt_time.tv_usec / 1e6);
usrp->set_command_time(stop_time + uhd::time_spec_t(gpio_stop_delay));
usrp->set_gpio_attr(gpio, "OUT", 0, GPIO_BIT(gpio_bit));
} else {
// the '5' is a guess of the usrp buffer depth
usrp->set_command_time(usrp->get_time_now() + uhd::time_spec_t(5*(float)VRT_SAMPLES_PER_PACKET/sample_rate) + uhd::time_spec_t(gpio_stop_delay));
usrp->set_gpio_attr(gpio, "OUT", 0, GPIO_BIT(gpio_bit));
}
}
}
}
} else {
boost::this_thread::sleep_for(boost::chrono::microseconds(10));
}
}
// send a mini EOB packet
metadata.end_of_burst = true;
metadata.start_of_burst = false;
metadata.has_time_spec = false;
tx_streamer->send("", 0, metadata);
}
int UHD_SAFE_MAIN(int argc, char* argv[])
{
// variables to be set by po
std::string file, type, ant_list, subdev, ref, channel_list, gain_list, freq_list, udp_forward, merge_address_list, merge_port_list;
size_t total_num_samps, spb;
uint16_t instance, port;
uint16_t tx_gain;
int hwm, io_threads;
uint32_t stream_id;
double rate, freq, bw, total_time, setup_time, lo_offset, tx_freq, if_freq, pps_offset, gpio_delay;
uint32_t timestamp_calibration_time = 0;
bool context_changed = true;
bool merge;
// recv_frame_size=1024, num_recv_frames=1024, recv_buff_size
std::string stdargs = "num_recv_frames=1024";
std::string args;
// setup the program options
po::options_description desc("Allowed options");
// clang-format off
desc.add_options()
("help,h", "help message")
("args", po::value<std::string>(&args)->default_value(""), "multi uhd device address args")
// ("type", po::value<std::string>(&type)->default_value("short"), "sample type: double, float, or short")
("nsamps", po::value<size_t>(&total_num_samps)->default_value(0), "total number of samples to receive")
("duration", po::value<double>(&total_time)->default_value(0), "total number of seconds to receive")
// ("spb", po::value<size_t>(&spb)->default_value(10000), "samples per buffer")
("rate", po::value<double>(&rate)->default_value(1e6), "rate of incoming samples")
("freq", po::value<std::string>(&freq_list)->required(), "RF center frequency (list) in Hz")
("if-freq", po::value<double>(&if_freq)->default_value(0.0), "IF center frequency in Hz")
("lo-offset", po::value<double>(&lo_offset)->default_value(0.0),
"Offset for frontend LO in Hz (optional)")
("gain", po::value<std::string>(&gain_list), "gain(s) for the RF chain")
("ant", po::value<std::string>(&ant_list), "antenna selection")
("subdev", po::value<std::string>(&subdev), "subdevice specification")
("usrp-channel", po::value<std::string>(&channel_list)->default_value("0"), "which usrp channel(s) to use (specify \"0\", \"1\", \"0,1\", etc)")
("zmq-split", "create a ZeroMQ stream per VRT channel, increasing port number for additional streams")
("bw", po::value<double>(&bw), "analog frontend filter bandwidth in Hz")
("ref", po::value<std::string>(&ref)->default_value("internal"), "reference source (internal, external, mimo, gpsdo)")
("tx", "enable tx")
("tx-freq", po::value<double>(&tx_freq)->default_value(0.0), "TX RF center frequency in Hz")
("tx-gain", po::value<uint16_t>(&tx_gain)->default_value(0), "gain for the TX RF chain")
("gpio", "enable GPIO (TX)")
("gpio-delay", po::value<double>(&gpio_delay)->default_value(50), "GPIO advance/delay (ms)")
("setup", po::value<double>(&setup_time)->default_value(1.0), "seconds of setup time")
("udp", po::value<std::string>(&udp_forward), "VRT UDP forward address")
("progress", "periodically display short-term bandwidth")
("stats", "show average bandwidth on exit")
("pps", "use external pps signal")
("pps-offset", po::value<double>(&pps_offset)->default_value(0), "Offset of the PPS pulse in sec.")
("temp", "read temperature sensor")
("int-second", "align start of reception to integer second")
("null", "run without streaming")
("continue", "don't abort on a bad packet")
("skip-lo", "skip checking LO lock status")
("int-n", "tune USRP with integer-N tuning")
("port", po::value<uint16_t>(&port), "VRT ZMQ port")
("instance", po::value<uint16_t>(&instance)->default_value(0), "VRT ZMQ instance")
("merge", po::value<bool>(&merge)->default_value(true), "Merge another VRT ZMQ stream (SUB connect)")
("merge-port", po::value<std::string>(&merge_port_list)->default_value("50011"), "VRT ZMQ merge port")
("merge-address", po::value<std::string>(&merge_address_list)->default_value("localhost"), "VRT ZMQ merge address")
("io-threads", po::value<int>(&io_threads)->default_value(1), "ZMQ IO threads")
("hwm", po::value<int>(&hwm)->default_value(10000), "VRT ZMQ HWM")
;
// clang-format on
po::variables_map vm;
auto parsed = po::command_line_parser(argc, argv).options(desc).positional({}).run();
po::store(parsed, vm);
// print the help message
if (vm.count("help") || argc < 2) {
std::cout << boost::format("UHD samples to VRT. %s") % desc << std::endl;
std::cout << std::endl
<< "This application streams data from a USRP "
"device to VRT.\n"
<< std::endl;
return ~0;
}
po::notify(vm);
bool bw_summary = vm.count("progress") > 0;
bool stats = vm.count("stats") > 0;
bool null = vm.count("null") > 0;
bool continue_on_bad_packet = vm.count("continue") > 0;
bool enable_udp = vm.count("udp") > 0;
bool enable_temp = vm.count("temp") > 0;
bool enable_tx = vm.count("tx") > 0;
bool enable_gpio = vm.count("gpio") > 0;
bool split = vm.count("zmq-split") > 0;
struct vrt_packet p;
vrt_init_packet(&p);
/* Warn if not standards compliant */
if (vrt_is_platform_little_endian()) {
printf("Warning: little endian support is work in progress.\n");
}
/* VRT init */
vrt_init_data_packet(&p);
p.fields.stream_id = 0;
// detect channels to use
std::vector<std::string> channel_strings;
std::vector<size_t> channel_nums;
boost::split(channel_strings, channel_list, boost::is_any_of("\"',"));
// ZMQ
void *zmq_server[MAX_CHANNELS];
void *zmq_control;
void *zmq_transmit;
void *context = zmq_ctx_new();
void *responder;
int rc;
zmq_ctx_set (context, ZMQ_IO_THREADS, io_threads);
uint16_t main_port;
if (vm.count("port") > 0) {
main_port = port;
} else {
main_port = DEFAULT_MAIN_PORT + MAX_CHANNELS*instance;
}
if (split) {
for (size_t ch = 0; ch < channel_strings.size(); ch++) {
responder = zmq_socket(context, ZMQ_PUB);
rc = zmq_setsockopt (responder, ZMQ_SNDHWM, &hwm, sizeof hwm);
assert(rc == 0);
std::string connect_string = "tcp://*:" + std::to_string(main_port+ch);
rc = zmq_bind(responder, connect_string.c_str());
assert (rc == 0);
zmq_server[ch] = responder;
}
} else {
responder = zmq_socket(context, ZMQ_PUB);
rc = zmq_setsockopt (responder, ZMQ_SNDHWM, &hwm, sizeof hwm);
assert(rc == 0);
std::string connect_string = "tcp://*:" + std::to_string(main_port);
rc = zmq_bind(responder, connect_string.c_str());
assert (rc == 0);
zmq_server[0] = responder;
}
responder = zmq_socket(context, ZMQ_SUB);
std::string control_string = "tcp://*:" + std::to_string(main_port+200);
rc = zmq_bind(responder, control_string.c_str());
assert (rc == 0);
zmq_control = responder;
zmq_setsockopt(zmq_control, ZMQ_SUBSCRIBE, "", 0);
if (enable_tx) {
responder = zmq_socket(context, ZMQ_SUB);
std::string tx_string = "tcp://*:" + std::to_string(main_port+400);
rc = zmq_bind(responder, tx_string.c_str());
assert (rc == 0);
zmq_transmit = responder;
zmq_setsockopt(zmq_transmit, ZMQ_SUBSCRIBE, "", 0);
}
// Merge
std::vector<void*>merge_zmq;
if (merge) {
std::vector<std::string>merge_address_strings;
std::vector<std::string>merge_port_strings;
std::vector<std::string>merge_addresses;
std::vector<uint16_t>merge_ports;
boost::split(merge_address_strings, merge_address_list, boost::is_any_of("\"',"));
boost::split(merge_port_strings, merge_port_list, boost::is_any_of("\"',"));
for (size_t i = 0; i < merge_address_strings.size(); i++) {
merge_addresses.push_back(merge_address_strings[i]);
}
for (size_t i = 0; i < merge_port_strings.size(); i++) {
merge_ports.push_back(std::stod(merge_port_strings[i]));
}
size_t number_of_mergers = merge_addresses.size() > merge_ports.size() ? merge_addresses.size() : merge_ports.size();
for (size_t i = 0; i < number_of_mergers; i++) {
uint16_t merge_port = (merge_ports.size() > i) ? merge_ports[i] : merge_ports[0];
std::string merge_address = (merge_addresses.size() > i) ? merge_addresses[i] : merge_addresses[0];
merge_zmq.push_back(zmq_socket(context, ZMQ_SUB));
std::string connect_string = "tcp://" + merge_address + ":" + std::to_string(merge_port);
rc = zmq_connect(merge_zmq[i], connect_string.c_str());
assert(rc == 0);
zmq_setsockopt(merge_zmq[i], ZMQ_SUBSCRIBE, "", 0);
}
}
// UDP VRT
int sockfd;
struct sockaddr_in servaddr, cliaddr;
if (enable_udp) {
printf("Enable UDP\n");
// Creating socket file descriptor
if ( (sockfd = socket(AF_INET, SOCK_DGRAM, 0)) < 0 ) {
perror("socket creation failed");
exit(EXIT_FAILURE);
}
memset(&servaddr, 0, sizeof(servaddr));
memset(&cliaddr, 0, sizeof(cliaddr));
// Filling server information
servaddr.sin_family = AF_INET; // IPv4
servaddr.sin_addr.s_addr = inet_addr(udp_forward.c_str()); /* Server's Address */
servaddr.sin_port = htons(50000); // 4991?
}
// create a usrp device
if (not vm["args"].defaulted()) {
args = stdargs + "," + args;
} else
args = stdargs;
std::cout << std::endl;
std::cout << boost::format("Creating the usrp device with: %s...") % args
<< std::endl;
uhd::usrp::multi_usrp::sptr usrp = uhd::usrp::multi_usrp::make(args);
// Lock mboard clocks
if (vm.count("ref")) {
usrp->set_clock_source(ref);
}
if (ref == "gpsdo") {
usrp->set_time_source(ref);
}
if (vm.count("pps")) {
usrp->set_time_source("external");
}
std::cout << "Clock source is " << usrp->get_clock_source(0) << std::endl;
std::cout << "Time source is " << usrp->get_time_source(0) << std::endl;
// always select the subdevice first, the channel mapping affects the other settings
if (vm.count("subdev"))
usrp->set_rx_subdev_spec(subdev);
std::cout << boost::format("Using Device: %s") % usrp->get_pp_string() << std::endl;
// detect which channels to use
for (size_t ch = 0; ch < channel_strings.size(); ch++) {
size_t chan = std::stoi(channel_strings[ch]);
if (chan >= usrp->get_rx_num_channels()) {
throw std::runtime_error("Invalid channel(s) specified.");
} else
channel_nums.push_back(std::stoi(channel_strings[ch]));
}
// set the sample rate
if (rate <= 0.0) {
std::cerr << "Please specify a valid sample rate" << std::endl;
return ~0;
}
std::cout << boost::format("Setting RX Rate: %f Msps...") % (rate / 1e6) << std::endl;
usrp->set_rx_rate(rate);
std::cout << boost::format("Actual RX Rate: %f Msps...")
% (usrp->get_rx_rate() / 1e6)
<< std::endl
<< std::endl;
if (enable_tx) {
std::cout << boost::format("Setting TX Rate: %f Msps...") % (rate / 1e6) << std::endl;
usrp->set_tx_rate(rate);
std::cout << boost::format("Actual TX Rate: %f Msps...")
% (usrp->get_tx_rate() / 1e6)
<< std::endl
<< std::endl;
}
std::vector<double> frequencies;
if (vm.count("freq")) {
std::vector<std::string> freq_strings;
boost::split(freq_strings, freq_list, boost::is_any_of("\"',"));
for (size_t ch = 0; ch < freq_strings.size(); ch++) {
frequencies.push_back(std::stod(freq_strings[ch]));
}
}
std::vector<size_t> gains;
if (vm.count("gain")) {
std::vector<std::string> gain_strings;
boost::split(gain_strings, gain_list, boost::is_any_of("\"',"));
for (size_t ch = 0; ch < gain_strings.size(); ch++) {
gains.push_back(std::stoi(gain_strings[ch]));
}
}
std::vector<std::string> antennas;
if (vm.count("ant")) {
std::vector<std::string> ant_strings;
boost::split(ant_strings, ant_list, boost::is_any_of("\"',"));
for (size_t ch = 0; ch < ant_strings.size(); ch++) {
antennas.push_back(ant_strings[ch]);
}
}
for (size_t ch = 0; ch < channel_nums.size(); ch++) {
size_t channel = channel_nums[ch];
if (channel_nums.size() > 1) {
std::cout << "Configuring RX Channel " << channel << std::endl;
}
// set the center frequency
if (vm.count("freq")) {
freq = (frequencies.size() > ch) ? frequencies[ch] : frequencies[0];
freq = freq - if_freq;
if (freq < 5e6) {
throw std::runtime_error("Frequency should be given in Hz.\n" +
std::to_string(freq) + "Hz is probably not what you meant!");
}
std::cout << boost::format("Setting RX Freq: %f MHz...") % (freq / 1e6)
<< std::endl;
std::cout << boost::format("Setting RX LO Offset: %f MHz...") % (lo_offset / 1e6)
<< std::endl;
uhd::tune_request_t tune_request(freq, lo_offset);
if (vm.count("int-n"))
tune_request.args = uhd::device_addr_t("mode_n=integer");
usrp->set_rx_freq(tune_request, channel);
std::cout << boost::format("Actual RX Freq: %f MHz...")
% (usrp->get_rx_freq(channel) / 1e6)
<< std::endl
<< std::endl;
}
// set the rf gain(s)
if (gains.size()) {
size_t gain = (gains.size() > ch) ? gains[ch] : gains[0];
std::cout << boost::format("Setting RX Gain: %f dB...") % gain << std::endl;
usrp->set_rx_gain(gain, channel);
std::cout << boost::format("Actual RX Gain: %f dB...")
% usrp->get_rx_gain(channel)
<< std::endl
<< std::endl;
}
// set the IF filter bandwidth
if (vm.count("bw")) {
std::cout << boost::format("Setting RX Bandwidth: %f MHz...") % (bw / 1e6)
<< std::endl;
usrp->set_rx_bandwidth(bw, channel);
std::cout << boost::format("Actual RX Bandwidth: %f MHz...")
% (usrp->get_rx_bandwidth(channel) / 1e6)
<< std::endl
<< std::endl;
}
// set the antenna(s)
if (antennas.size()) {
std::string ant = (antennas.size() > ch) ? antennas[ch] : antennas[0];
std::cout << boost::format("Setting Antenna: %s") % ant << std::endl;
usrp->set_rx_antenna(ant, channel);
std::cout << boost::format("Actual Antenna: %s")
% usrp->get_rx_antenna(channel)
<< std::endl
<< std::endl;
}
}
if (enable_tx) {
// Freq
if (freq < 5e6) {
throw std::runtime_error("TX frequency should be given in Hz.\n" +
std::to_string(tx_freq) + "Hz is probably not what you meant!");
}
std::cout << boost::format("Setting TX Freq: %f MHz...") % (tx_freq / 1e6)
<< std::endl;
std::cout << boost::format("Setting TX LO Offset: %f MHz...") % (lo_offset / 1e6)
<< std::endl;
uhd::tune_request_t tune_request(tx_freq, lo_offset);
if (vm.count("int-n"))
tune_request.args = uhd::device_addr_t("mode_n=integer");
usrp->set_tx_freq(tune_request);
std::cout << boost::format("Actual TX Freq: %f MHz...")
% (usrp->get_tx_freq() / 1e6)
<< std::endl
<< std::endl;
// Gain
std::cout << boost::format("Setting TX Gain: %f dB...") % tx_gain << std::endl;
usrp->set_tx_gain(tx_gain);
std::cout << boost::format("Actual TX Gain: %f dB...")
% usrp->get_tx_gain()
<< std::endl
<< std::endl;
// std::cout << boost::format("Setting TX Bandwidth: %f MHz...") % (tx_bw / 1e6)
// << std::endl;
// tx_usrp->set_tx_bandwidth(tx_bw);
std::cout << boost::format("Actual TX Bandwidth: %f MHz...")
% (usrp->get_tx_bandwidth() / 1e6)
<< std::endl
<< std::endl;
}
std::this_thread::sleep_for(std::chrono::milliseconds(int64_t(1000 * setup_time)));
size_t channel = channel_nums[0];
// check Ref and LO Lock detect
if (not vm.count("skip-lo")) {
check_locked_sensor(usrp->get_rx_sensor_names(channel),
"lo_locked",
[usrp, channel](const std::string& sensor_name) {
return usrp->get_rx_sensor(sensor_name, channel);
},
setup_time);
if (ref == "mimo") {
check_locked_sensor(usrp->get_mboard_sensor_names(0),
"mimo_locked",
[usrp](const std::string& sensor_name) {
return usrp->get_mboard_sensor(sensor_name);
},
setup_time);
}
if (ref == "external") {
check_locked_sensor(usrp->get_mboard_sensor_names(0),
"ref_locked",
[usrp](const std::string& sensor_name) {
return usrp->get_mboard_sensor(sensor_name);
},
setup_time);
}
if (ref == "gpsdo") {
check_locked_sensor(usrp->get_mboard_sensor_names(0),
"ref_locked",
[usrp](const std::string& sensor_name) {
return usrp->get_mboard_sensor(sensor_name);
},
setup_time);
}
}
// create a receive streamer
const std::string& cpu_format = "sc16";
const std::string& wire_format = "sc16";
uhd::stream_args_t stream_args(cpu_format, wire_format);
stream_args.channels = channel_nums;
uhd::rx_streamer::sptr rx_stream = usrp->get_rx_stream(stream_args);
// reset usrp time to prepare for transmit/receive
std::cout << boost::format("Setting device timestamp to current time...") << std::endl;
struct timeval time_now{};
gettimeofday(&time_now, nullptr);
// seed random generator with seconds and microseconds
srand(time_now.tv_usec + time_now.tv_sec);
// Non-PPS
usrp->set_time_now(uhd::time_spec_t(time_now.tv_sec, (double)time_now.tv_usec / 1e6));
// PPS
if (vm.count("pps")) {
uint32_t usrp_seconds;
do {
gettimeofday(&time_now, nullptr);
time_t integer_time = (time_t)((double)time_now.tv_sec + (double)time_now.tv_usec/1e6 + 2.0 - pps_offset);
uhd::time_spec_t set_pps_time = uhd::time_spec_t(integer_time + pps_offset);
std::cout << boost::format("Wait for PPS sync...") << std::endl;
usrp->set_time_unknown_pps(set_pps_time);
boost::this_thread::sleep_for(boost::chrono::milliseconds(2100));
gettimeofday(&time_now, nullptr);
usrp_seconds = usrp->get_time_now().get_full_secs();
} while (usrp_seconds != time_now.tv_sec);
timestamp_calibration_time = (uint32_t)usrp_seconds;
std::cout << boost::format("Done...") << std::endl;
}
if (ref=="gpsdo") {
// Check PPS and compare UHD device time to GPS time
uhd::sensor_value_t gps_time = usrp->get_mboard_sensor("gps_time");
uhd::time_spec_t last_pps_time = usrp->get_time_last_pps();
// we only care about the full seconds
signed gps_seconds;
long long pps_seconds;
do {
std::cout << "\nTrying to align the device time to GPS time..." << std::endl;
gps_time = usrp->get_mboard_sensor("gps_time");
// set the device time to the GPS time
// getting the GPS time returns just after the PPS edge, so just add a
// second and set the device time at the next PPS edge
usrp->set_time_next_pps(uhd::time_spec_t(gps_time.to_int() + 1.0));
// allow some time to make sure the PPS has come…
std::this_thread::sleep_for(std::chrono::milliseconds(1100));
//…then ask
gps_seconds = usrp->get_mboard_sensor("gps_time").to_int();
pps_seconds = usrp->get_time_last_pps().to_ticks(1.0);
} while (pps_seconds != gps_seconds);
timestamp_calibration_time = pps_seconds;
if (pps_seconds == gps_seconds) {
std::cout << "GPS and UHD Device time are aligned.\n";
} else {
std::cout << "Could not align UHD Device time to GPS time. Giving up.\n";
}
std::cout << boost::format("last_pps: %ld vs gps: %ld.") % pps_seconds % gps_seconds
<< std::endl;
std::cout << boost::format("GPS Epoch time at last PPS: %.6f seconds\n")
% usrp->get_mboard_sensor("gps_time").to_real();
std::cout << boost::format("UHD Device time last PPS: %.6f seconds\n")
% (usrp->get_time_last_pps().get_real_secs());
std::cout << boost::format("UHD Device time right now: %.6f seconds\n")
% (usrp->get_time_now().get_real_secs());
gettimeofday(&time_now, nullptr);
std::cout << boost::format("PC Clock time: %.6f seconds\n") % (time_now.tv_sec + (double)time_now.tv_usec / 1e6); //time(NULL);
} else {
std::cout << boost::format("UHD Device time last PPS: %.6f seconds\n")
% (usrp->get_time_last_pps().get_real_secs());
std::cout << boost::format("UHD Device time right now: %.6f seconds\n")
% (usrp->get_time_now().get_real_secs());
gettimeofday(&time_now, nullptr);
std::cout << boost::format("PC Clock time: %.6f seconds\n") % (time_now.tv_sec + (double)time_now.tv_usec / 1e6);
}
// TX
std::thread transmit_thread;
uhd::tx_streamer::sptr tx_stream;
if (enable_tx) {
std::vector<size_t> tx_channel_nums;
tx_channel_nums.push_back(0);
uhd::stream_args_t tx_stream_args("sc16", "sc16");
tx_stream_args.channels = tx_channel_nums;
tx_stream = usrp->get_tx_stream(tx_stream_args);
// start thread
transmit_thread = std::thread([&]() {
transmit_worker(usrp, tx_stream, zmq_transmit, tx_freq, lo_offset, tx_gain, rate, enable_gpio, gpio_delay);
});
}
// RX
if (total_num_samps == 0) {
std::signal(SIGINT, &sig_int_handler);
std::cout << "Press Ctrl + C to stop streaming..." << std::endl;
}
unsigned long long num_requested_samples = total_num_samps;
bool int_second = (bool)vm.count("int-second");
// fixed buffer size
size_t samps_per_buff = VRT_SAMPLES_PER_PACKET; // spb
uint32_t buffer[VRT_DATA_PACKET_SIZE];
uhd::rx_metadata_t md;
std::vector<std::vector<std::complex<short>>> buffs(
channel_nums.size(), std::vector<std::complex<short>>(samps_per_buff));
// create a vector of pointers to point to each of the channel buffers
std::vector<std::complex<short>*> buff_ptrs;
for (size_t i = 0; i < buffs.size(); i++) {
buff_ptrs.push_back(&buffs[i].front());
}
UHD_ASSERT_THROW(buffs.size() == channel_nums.size());
bool overflow_message = true;
bool first_frame = true;
// time keeping
auto start_time = std::chrono::steady_clock::now();
// auto stop_time =
// start_time + std::chrono::milliseconds(int64_t(1000 * time_requested));
// 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 = size_t(num_requested_samples);
uhd::stream_cmd_t stream_cmd(uhd::stream_cmd_t::STREAM_MODE_START_CONTINUOUS);
if (int_second || channel_nums.size() > 1) {
stream_cmd.time_spec = usrp->get_time_now().get_full_secs() + 1;
stream_cmd.stream_now = false;
}
else {
stream_cmd.time_spec = uhd::time_spec_t();
stream_cmd.stream_now = true;
}
rx_stream->issue_stream_cmd(stream_cmd);
// Track time and samps between updating the BW summary
auto last_update = start_time;
auto last_context = start_time - std::chrono::milliseconds(2*VRT_CONTEXT_INTERVAL);
unsigned long long last_update_samps = 0;
// if (int_second) {
// stop_time += std::chrono::milliseconds(int64_t(1000.0*(double)(stream_cmd.time_spec.get_real_secs()-usrp->get_time_now().get_real_secs())));
// }
if (total_time > 0)
num_requested_samples = total_time * rate;
// Run this loop until either time expired (if a duration was given), until
// the requested number of samples were collected (if such a number was
// given), or until Ctrl-C was pressed.
uint32_t frame_count = 0;
// flush merge queue
if (merge)
for (size_t m = 0; m < merge_zmq.size(); m++)
while ( zmq_recv(merge_zmq[m], buffer, 100000, ZMQ_NOBLOCK) > 0 ) { }
while (not stop_signal_called
and (num_requested_samples > num_total_samps or num_requested_samples == 0)) {
// and (time_requested == 0.0 or std::chrono::steady_clock::now() <= stop_time)) {
const auto now = std::chrono::steady_clock::now();
size_t num_rx_samps =
rx_stream->recv(buff_ptrs, samps_per_buff, md, 3.0, false);
if (md.error_code == uhd::rx_metadata_t::ERROR_CODE_TIMEOUT) {
std::cout << boost::format("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. Host does not consume data fast enough (%fMB/s).\n")
% (usrp->get_rx_rate() * sizeof(std::complex<short>) / 1e6);
if (!continue_on_bad_packet)
break;