int uhd_device::check_rx_md_err(uhd::rx_metadata_t &md, ssize_t num_smpls)
{
uhd::time_spec_t ts;
if (!num_smpls) {
LOG(ERR) << str_code(md);
switch (md.error_code) {
case uhd::rx_metadata_t::ERROR_CODE_TIMEOUT:
LOG(ALERT) << "UHD: Receive timed out";
return ERROR_UNRECOVERABLE;
case uhd::rx_metadata_t::ERROR_CODE_OVERFLOW:
case uhd::rx_metadata_t::ERROR_CODE_LATE_COMMAND:
case uhd::rx_metadata_t::ERROR_CODE_BROKEN_CHAIN:
case uhd::rx_metadata_t::ERROR_CODE_BAD_PACKET:
default:
return ERROR_UNHANDLED;
}
}
// Missing timestamp
if (!md.has_time_spec) {
LOG(ALERT) << "UHD: Received packet missing timestamp";
return ERROR_UNRECOVERABLE;
}
ts = md.time_spec;
// Monotonicity check
if (ts < prev_ts) {
LOG(ALERT) << "UHD: Loss of monotonic time";
LOG(ALERT) << "Current time: " << ts.get_real_secs() << ", "
<< "Previous time: " << prev_ts.get_real_secs();
return ERROR_TIMING;
} else {
prev_ts = ts;
}
return 0;
}
int UHD_SAFE_MAIN(int argc, char *argv[]){
uhd::set_thread_priority_safe();
std::string args;
//Set up program options
po::options_description desc("Allowed options");
desc.add_options()
("help", "help message")
("args", po::value<std::string>(&args)->default_value(""), "Specify a single USRP.")
;
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 << boost::format("Query GPSDO Sensors %s") % desc << std::endl;
return ~0;
}
//Create a USRP device
std::cout << boost::format("\nCreating the USRP device with: %s...\n") % args;
uhd::usrp::multi_usrp::sptr usrp = uhd::usrp::multi_usrp::make(args);
std::cout << boost::format("Using Device: %s\n") % usrp->get_pp_string();
//Helpful notes
std::cout << boost::format("**************************************Helpful Notes on Clock/PPS Selection**************************************\n");
std::cout << boost::format("As you can see, the default 10 MHz Reference and 1 PPS signals are now from the GPSDO.\n");
std::cout << boost::format("If you would like to use the internal reference(TCXO) in other applications, you must configure that explicitly.\n");
std::cout << boost::format("You can no longer select the external SMAs for 10 MHz or 1 PPS signaling.\n");
std::cout << boost::format("****************************************************************************************************************\n");
//Verify GPS sensors are present (i.e. EEPROM has been burnt)
std::vector<std::string> sensor_names = usrp->get_mboard_sensor_names(0);
if(std::find(sensor_names.begin(), sensor_names.end(), "gps_locked") == sensor_names.end()){
std::cout << boost::format("\ngps_locked sensor not found. This could mean that you have not installed the GPSDO correctly.\n\n");
std::cout << boost::format("Visit this page if the problem persists:\n");
std::cout << boost::format("http://files.ettus.com/uhd_docs/manual/html/gpsdo.html\n\n");
exit(1);
}
//Check for GPS lock
uhd::sensor_value_t gps_locked = usrp->get_mboard_sensor("gps_locked",0);
std::cout << boost::format("%s\n") % gps_locked.to_pp_string();
if(gps_locked.to_pp_string().find("unlocked") != std::string::npos) {
std::cout << boost::format("GPS does not have lock. Wait a few minutes and try again.\n");
std::cout << boost::format("NMEA strings and device time may not be accurate until lock is achieved.\n\n");
}
else std::cout << boost::format("GPS Locked\n");
//Check for 10 MHz lock
if(std::find(sensor_names.begin(), sensor_names.end(), "ref_locked") != sensor_names.end()){
uhd::sensor_value_t gps_locked = usrp->get_mboard_sensor("ref_locked",0);
std::cout << boost::format("%s\n") % gps_locked.to_pp_string();
if(gps_locked.to_pp_string().find("unlocked") != std::string::npos){
std::cout << boost::format("USRP NOT Locked to GPSDO 10 MHz Reference.\n");
std::cout << boost::format("Double check installation instructions: https://www.ettus.com/content/files/gpsdo-kit_2.pdf\n\n");
}
else std::cout << boost::format("USRP Locked to GPSDO 10 MHz Reference.\n");
}
else std::cout << boost::format("ref_locked sensor not present on this board.\n");
//Check PPS and compare UHD device time to GPS time
uhd::sensor_value_t gps_time = usrp->get_mboard_sensor("gps_time");
const uhd::time_spec_t last_pps_time = usrp->get_time_last_pps();
if(int(boost::math::iround(last_pps_time.get_real_secs())) == gps_time.to_int())
{
std::cout << boost::format("GPS and UHD Device time are aligned.\n");
}
else
{
std::cout << boost::format("\nGPS and UHD Device time are NOT aligned. Try re-running the program. Double check 1 PPS connection from GPSDO.\n\n");
}
//print NMEA strings
std::cout << boost::format("Printing available NMEA strings:\n");
uhd::sensor_value_t gga_string = usrp->get_mboard_sensor("gps_gpgga");
uhd::sensor_value_t rmc_string = usrp->get_mboard_sensor("gps_gprmc");
std::cout << boost::format("%s\n%s\n%s\n") % gga_string.to_pp_string() % rmc_string.to_pp_string() % gps_time.to_pp_string();
std::cout << boost::format("UHD Device time: %.0f seconds\n") % boost::math::iround(last_pps_time.get_real_secs());
//finished
std::cout << boost::format("\nDone!\n\n");
return 0;
}
template<typename samp_type> void recv_to_file(
uhd::usrp::multi_usrp::sptr usrp,
const uhd::io_type_t &io_type,
std::ofstream &outfile,
size_t samps_per_buff,
uhd::time_spec_t send_time
){
uhd::rx_metadata_t md;
std::vector<samp_type> buff(samps_per_buff);
//a packet has 362 samples
send_time = send_time + uhd::time_spec_t(1.0);
uhd::time_spec_t front_time, end_time;
int index;
size_t num_rx_samps = usrp->get_device()->recv(
&buff.front(), buff.size(), md, io_type,
// uhd::device::RECV_MODE_FULL_BUFF
uhd::device::RECV_MODE_ONE_PACKET
);
if (md.error_code == uhd::rx_metadata_t::ERROR_CODE_TIMEOUT) return;
if (md.error_code != uhd::rx_metadata_t::ERROR_CODE_NONE){
throw std::runtime_error(str(boost::format(
"Unexpected error code 0x%x"
) % md.error_code));
}
front_time = md.time_spec;
end_time = md.time_spec + uhd::time_spec_t((double)(num_rx_samps-1)*decimation/100.0e6);
//outfile.write((const char*)&buff.front(), num_rx_samps*sizeof(samp_type));
if((send_time-front_time).get_real_secs() < 0 && (end_time-send_time).get_real_secs() >=0 ){
outfile.write((const char*)&buff.front(), num_rx_samps*sizeof(samp_type));
}else{
if( (send_time-front_time).get_real_secs() >=0 && (end_time-send_time).get_real_secs() >=0 ){
index = (send_time-front_time).get_frac_secs()/((double)decimation/100.0e6);
outfile.write((const char*)&buff.at(index), (num_rx_samps-index)*sizeof(samp_type));
printf("start to save at %f with index %d, send_time %f \n",front_time.get_real_secs(),index,send_time.get_real_secs());
printf("timestamp %f tick %ld\n",(front_time+uhd::time_spec_t((double)index*(double)decimation/100.0e6)).get_real_secs(), (front_time+uhd::time_spec_t((double)index*(double)decimation/100.0e6)).get_tick_count(100e6));
}
}
}
int UHD_SAFE_MAIN(int argc, char *argv[]){
uhd::set_thread_priority_safe();
//variables to be set by po
std::string args;
//setup the program options
po::options_description desc("Allowed options");
desc.add_options()
("help", "help message")
("args", po::value<std::string>(&args)->default_value(""), "single uhd device address args")
;
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 << boost::format("UHD Test Timed Commands %s") % desc << std::endl;
return ~0;
}
//create a usrp device
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);
std::cout << boost::format("Using Device: %s") % usrp->get_pp_string() << std::endl;
//check if timed commands are supported
std::cout << std::endl;
std::cout << "Testing support for timed commands on this hardware... " << std::flush;
try{
usrp->set_command_time(uhd::time_spec_t(0.0));
usrp->clear_command_time();
}
catch (const std::exception &e){
std::cout << "fail" << std::endl;
std::cerr << "Got exception: " << e.what() << std::endl;
std::cerr << "Timed commands are not supported on this hardware." << std::endl;
return ~0;
}
std::cout << "pass" << std::endl;
//readback time really fast, time diff is small
std::cout << std::endl;
std::cout << "Perform fast readback of registers:" << std::endl;
uhd::time_spec_t total_time;
for (size_t i = 0; i < 100; i++){
const uhd::time_spec_t t0 = usrp->get_time_now();
const uhd::time_spec_t t1 = usrp->get_time_now();
total_time += (t1-t0);
}
std::cout << boost::format(
" Difference between paired reads: %f us"
) % (total_time.get_real_secs()/100*1e6) << std::endl;
//test timed control command
//issues get_time_now() command twice a fixed time apart
//outputs difference for each response time vs. the expected time
//and difference between actual and expected time deltas
std::cout << std::endl;
std::cout << "Testing control timed command:" << std::endl;
const uhd::time_spec_t span = uhd::time_spec_t(0.1);
const uhd::time_spec_t now = usrp->get_time_now();
const uhd::time_spec_t cmd_time1 = now + uhd::time_spec_t(0.1);
const uhd::time_spec_t cmd_time2 = cmd_time1 + span;
usrp->set_command_time(cmd_time1);
uhd::time_spec_t response_time1 = usrp->get_time_now();
usrp->set_command_time(cmd_time2);
uhd::time_spec_t response_time2 = usrp->get_time_now();
usrp->clear_command_time();
std::cout << boost::format(
" Span : %f us\n"
" Now : %f us\n"
" Response 1: %f us\n"
" Response 2: %f us"
) % (span.get_real_secs()*1e6) % (now.get_real_secs()*1e6) % (response_time1.get_real_secs()*1e6) % (response_time2.get_real_secs()*1e6) << std::endl;
std::cout << boost::format(
" Difference of response time 1: %f us"
) % ((response_time1 - cmd_time1).get_real_secs()*1e6) << std::endl;
std::cout << boost::format(
" Difference of response time 2: %f us"
) % ((response_time2 - cmd_time2).get_real_secs()*1e6) << std::endl;
std::cout << boost::format(
" Difference between actual and expected time delta: %f us"
) % ((response_time2 - response_time1 - span).get_real_secs()*1e6) << std::endl;
//use a timed command to start a stream at a specific time
//this is not the right way start streaming at time x,
//but it should approximate it within control RTT/2
//setup streaming
std::cout << std::endl;
std::cout << "About to start streaming using timed command:" << std::endl;
//create a receive streamer
uhd::stream_args_t stream_args("fc32"); //complex floats
uhd::rx_streamer::sptr rx_stream = usrp->get_rx_stream(stream_args);
uhd::stream_cmd_t stream_cmd(uhd::stream_cmd_t::STREAM_MODE_NUM_SAMPS_AND_DONE);
stream_cmd.num_samps = 100;
stream_cmd.stream_now = false;
const uhd::time_spec_t stream_time = usrp->get_time_now() + uhd::time_spec_t(0.1);
stream_cmd.time_spec = stream_time;
rx_stream->issue_stream_cmd(stream_cmd);
//meta-data will be filled in by recv()
uhd::rx_metadata_t md;
//allocate buffer to receive with samples
std::vector<std::complex<float> > buff(stream_cmd.num_samps);
const size_t num_rx_samps = rx_stream->recv(&buff.front(), buff.size(), md, 1.0);
if (md.error_code != uhd::rx_metadata_t::ERROR_CODE_NONE){
throw std::runtime_error(str(boost::format(
"Receiver error %s"
) % md.strerror()));
}
std::cout << boost::format(
" Received packet: %u samples, %u full secs, %f frac secs"
) % num_rx_samps % md.time_spec.get_full_secs() % md.time_spec.get_frac_secs() << std::endl;
std::cout << boost::format(
" Stream time was: %u full secs, %f frac secs"
) % stream_time.get_full_secs() % stream_time.get_frac_secs() << std::endl;
std::cout << boost::format(
" Difference between stream time and first packet: %f us"
) % ((md.time_spec-stream_time).get_real_secs()*1e6) << std::endl;
//finished
std::cout << std::endl << "Done!" << std::endl << std::endl;
return EXIT_SUCCESS;
}