mirror of
https://github.com/svpcom/wfb-ng.git
synced 2025-02-23 00:23:48 -04:00
Add initial support for dynamic FEC
This commit is contained in:
Vasily Evseenko
parent
5f63a8cbfd
commit
cef2b325e2
133
src/rx.cpp
133
src/rx.cpp
@ -198,30 +198,15 @@ void Receiver::loop_iter(void)
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}
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Aggregator::Aggregator(const string &client_addr, int client_port, int k, int n, const string &keypair, uint64_t epoch, uint32_t channel_id) : \
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fec_k(k), fec_n(n), seq(0), rx_ring_front(0), rx_ring_alloc(0),
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Aggregator::Aggregator(const string &client_addr, int client_port, const string &keypair, uint64_t epoch, uint32_t channel_id) : \
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fec_p(NULL), fec_k(-1), fec_n(-1), seq(0), rx_ring_front(0), rx_ring_alloc(0),
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last_known_block((uint64_t)-1), epoch(epoch), channel_id(channel_id),
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count_p_all(0), count_p_dec_err(0), count_p_dec_ok(0), count_p_fec_recovered(0),
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count_p_lost(0), count_p_bad(0), count_p_override(0)
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{
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sockfd = open_udp_socket_for_tx(client_addr, client_port);
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fec_p = fec_new(fec_k, fec_n);
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memset(session_key, '\0', sizeof(session_key));
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for(int ring_idx = 0; ring_idx < RX_RING_SIZE; ring_idx++)
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{
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rx_ring[ring_idx].block_idx = 0;
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rx_ring[ring_idx].fragment_to_send_idx = 0;
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rx_ring[ring_idx].has_fragments = 0;
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rx_ring[ring_idx].fragments = new uint8_t*[fec_n];
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for(int i=0; i < fec_n; i++)
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{
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rx_ring[ring_idx].fragments[i] = new uint8_t[MAX_FEC_PAYLOAD];
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}
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rx_ring[ring_idx].fragment_map = new uint8_t[fec_n];
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memset(rx_ring[ring_idx].fragment_map, '\0', fec_n * sizeof(uint8_t));
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}
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FILE *fp;
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if((fp = fopen(keypair.c_str(), "r")) == NULL)
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{
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@ -243,6 +228,47 @@ Aggregator::Aggregator(const string &client_addr, int client_port, int k, int n,
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Aggregator::~Aggregator()
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{
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if (fec_p != NULL)
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{
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deinit_fec();
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}
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close(sockfd);
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}
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void Aggregator::init_fec(int k, int n)
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{
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assert(fec_p == NULL);
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assert(k >= 1);
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assert(n >= 1);
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assert(k <= n);
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fec_k = k;
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fec_n = n;
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fec_p = fec_new(fec_k, fec_n);
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rx_ring_front = 0;
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rx_ring_alloc = 0;
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last_known_block = (uint64_t)-1;
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seq = 0;
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for(int ring_idx = 0; ring_idx < RX_RING_SIZE; ring_idx++)
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{
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rx_ring[ring_idx].block_idx = 0;
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rx_ring[ring_idx].fragment_to_send_idx = 0;
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rx_ring[ring_idx].has_fragments = 0;
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rx_ring[ring_idx].fragments = new uint8_t*[fec_n];
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for(int i=0; i < fec_n; i++)
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{
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rx_ring[ring_idx].fragments[i] = new uint8_t[MAX_FEC_PAYLOAD];
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}
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rx_ring[ring_idx].fragment_map = new uint8_t[fec_n];
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memset(rx_ring[ring_idx].fragment_map, '\0', fec_n * sizeof(uint8_t));
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}
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}
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void Aggregator::deinit_fec(void)
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{
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assert(fec_p != NULL);
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for(int ring_idx = 0; ring_idx < RX_RING_SIZE; ring_idx++)
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{
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@ -255,7 +281,9 @@ Aggregator::~Aggregator()
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}
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fec_free(fec_p);
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close(sockfd);
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fec_p = NULL;
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fec_k = -1;
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fec_n = -1;
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}
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@ -461,46 +489,56 @@ void Aggregator::process_packet(const uint8_t *buf, size_t size, uint8_t wlan_id
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if (be64toh(new_session_data.epoch) < epoch)
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{
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fprintf(stderr, "Session epoch doesn't match\n");
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fprintf(stderr, "Session epoch doesn't match: %" PRIu64 " < %" PRIu64 "\n", be64toh(new_session_data.epoch), epoch);
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count_p_dec_err += 1;
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return;
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}
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if (be32toh(new_session_data.channel_id) != channel_id)
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{
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fprintf(stderr, "Session channel_id doesn't match\n");
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fprintf(stderr, "Session channel_id doesn't match: %d != %d\n", be32toh(new_session_data.channel_id), channel_id);
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count_p_dec_err += 1;
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return;
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}
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if (new_session_data.k != fec_k ||
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new_session_data.n != fec_n ||
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new_session_data.fec_type != WFB_FEC_VDM_RS)
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if (new_session_data.fec_type != WFB_FEC_VDM_RS)
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{
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fprintf(stderr, "Session FEC settings doesn't match\n");
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fprintf(stderr, "Unsupported FEC codec type: %d\n", new_session_data.fec_type);
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count_p_dec_err += 1;
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return;
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}
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if (new_session_data.n < 1)
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{
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fprintf(stderr, "Invalid FEC N: %d\n", new_session_data.n);
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count_p_dec_err += 1;
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return;
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}
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if (new_session_data.k < 1 || new_session_data.k > new_session_data.n)
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{
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fprintf(stderr, "Invalid FEC K: %d\n", new_session_data.k);
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count_p_dec_err += 1;
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return;
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}
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count_p_dec_ok += 1;
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epoch = be64toh(new_session_data.epoch);
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if (memcmp(session_key, new_session_data.session_key, sizeof(session_key)) != 0)
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{
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fprintf(stderr, "New session detected\n");
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epoch = be64toh(new_session_data.epoch);
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memcpy(session_key, new_session_data.session_key, sizeof(session_key));
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rx_ring_front = 0;
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rx_ring_alloc = 0;
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last_known_block = (uint64_t)-1;
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seq = 0;
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for(int ring_idx = 0; ring_idx < RX_RING_SIZE; ring_idx++)
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if (fec_p != NULL)
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{
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rx_ring[ring_idx].block_idx = 0;
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rx_ring[ring_idx].fragment_to_send_idx = 0;
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rx_ring[ring_idx].has_fragments = 0;
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memset(rx_ring[ring_idx].fragment_map, '\0', fec_n * sizeof(uint8_t));
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deinit_fec();
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}
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init_fec(new_session_data.k, new_session_data.n);
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fprintf(stdout, "%" PRIu64 "\tSESSION\t%" PRIu64 ":%u:%u:%u\n", get_time_ms(), epoch, WFB_FEC_VDM_RS, fec_k, fec_n);
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fflush(stdout);
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}
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return;
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@ -671,6 +709,11 @@ void Aggregator::send_packet(int ring_idx, int fragment_idx)
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void Aggregator::apply_fec(int ring_idx)
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{
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assert(fec_k >= 1);
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assert(fec_n >= 1);
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assert(fec_k <= fec_n);
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assert(fec_p != NULL);
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unsigned index[fec_k];
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uint8_t *in_blocks[fec_k];
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uint8_t *out_blocks[fec_n - fec_k];
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@ -836,7 +879,7 @@ void network_loop(int srv_port, Aggregator &agg, int log_interval)
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int main(int argc, char* const *argv)
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{
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int opt;
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uint8_t k = 8, n = 12, radio_port = 0;
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uint8_t radio_port = 0;
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uint32_t link_id = 0;
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uint64_t epoch = 0;
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int log_interval = 1000;
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@ -846,7 +889,7 @@ int main(int argc, char* const *argv)
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rx_mode_t rx_mode = LOCAL;
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string keypair = "rx.key";
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while ((opt = getopt(argc, argv, "K:fa:k:n:c:u:p:l:i:e:")) != -1) {
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while ((opt = getopt(argc, argv, "K:fa:c:u:p:l:i:e:")) != -1) {
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switch (opt) {
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case 'K':
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keypair = optarg;
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@ -858,12 +901,6 @@ int main(int argc, char* const *argv)
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rx_mode = AGGREGATOR;
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srv_port = atoi(optarg);
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break;
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case 'k':
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k = atoi(optarg);
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break;
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case 'n':
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n = atoi(optarg);
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break;
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case 'c':
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client_addr = string(optarg);
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break;
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@ -884,10 +921,10 @@ int main(int argc, char* const *argv)
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break;
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default: /* '?' */
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show_usage:
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fprintf(stderr, "Local receiver: %s [-K rx_key] [-k RS_K] [-n RS_N] [-c client_addr] [-u client_port] [-p radio_port] [-l log_interval] [-e epoch] [-i link_id] interface1 [interface2] ...\n", argv[0]);
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fprintf(stderr, "Local receiver: %s [-K rx_key] [-c client_addr] [-u client_port] [-p radio_port] [-l log_interval] [-e epoch] [-i link_id] interface1 [interface2] ...\n", argv[0]);
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fprintf(stderr, "Remote (forwarder): %s -f [-c client_addr] [-u client_port] [-p radio_port] [-i link_id] interface1 [interface2] ...\n", argv[0]);
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fprintf(stderr, "Remote (aggregator): %s -a server_port [-K rx_key] [-k RS_K] [-n RS_N] [-c client_addr] [-u client_port] [-l log_interval] [-p radio_port] [-e epoch] [-i link_id]\n", argv[0]);
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fprintf(stderr, "Default: K='%s', k=%d, n=%d, connect=%s:%d, link_id=0x%06x, radio_port=%u, epoch=%" PRIu64 ", log_interval=%d\n", keypair.c_str(), k, n, client_addr.c_str(), client_port, link_id, radio_port, epoch, log_interval);
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fprintf(stderr, "Remote (aggregator): %s -a server_port [-K rx_key] [-c client_addr] [-u client_port] [-l log_interval] [-p radio_port] [-e epoch] [-i link_id]\n", argv[0]);
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fprintf(stderr, "Default: K='%s', connect=%s:%d, link_id=0x%06x, radio_port=%u, epoch=%" PRIu64 ", log_interval=%d\n", keypair.c_str(), client_addr.c_str(), client_port, link_id, radio_port, epoch, log_interval);
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fprintf(stderr, "WFB-ng version " WFB_VERSION "\n");
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fprintf(stderr, "WFB-ng home page: <http://wfb-ng.org>\n");
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exit(1);
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@ -924,7 +961,7 @@ int main(int argc, char* const *argv)
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shared_ptr<BaseAggregator> agg;
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if(rx_mode == LOCAL){
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agg = shared_ptr<Aggregator>(new Aggregator(client_addr, client_port, k, n, keypair, epoch, channel_id));
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agg = shared_ptr<Aggregator>(new Aggregator(client_addr, client_port, keypair, epoch, channel_id));
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}else{
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agg = shared_ptr<Forwarder>(new Forwarder(client_addr, client_port));
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}
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@ -933,7 +970,7 @@ int main(int argc, char* const *argv)
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}else if(rx_mode == AGGREGATOR)
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{
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if (optind > argc) goto show_usage;
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Aggregator agg(client_addr, client_port, k, n, keypair, epoch, channel_id);
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Aggregator agg(client_addr, client_port, keypair, epoch, channel_id);
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network_loop(srv_port, agg, log_interval);
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}else{
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@ -118,11 +118,13 @@ typedef std::unordered_map<uint64_t, antennaItem> antenna_stat_t;
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class Aggregator : public BaseAggregator
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{
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public:
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Aggregator(const std::string &client_addr, int client_port, int k, int n, const std::string &keypair, uint64_t epoch, uint32_t channel_id);
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Aggregator(const std::string &client_addr, int client_port, const std::string &keypair, uint64_t epoch, uint32_t channel_id);
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~Aggregator();
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virtual void process_packet(const uint8_t *buf, size_t size, uint8_t wlan_idx, const uint8_t *antenna, const int8_t *rssi, sockaddr_in *sockaddr);
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virtual void dump_stats(FILE *fp);
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private:
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void init_fec(int k, int n);
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void deinit_fec(void);
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void send_packet(int ring_idx, int fragment_idx);
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void apply_fec(int ring_idx);
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void log_rssi(const sockaddr_in *sockaddr, uint8_t wlan_idx, const uint8_t *ant, const int8_t *rssi);
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@ -43,8 +43,8 @@ keypair = 'gs.key' # keypair generated by wfb-keygen
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stats_port = 8001 # used by wfb-cli
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stream_tx = 0x90 # radio port for mavlink tx
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stream_rx = 0x10 # radio port for mavlink rx
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fec_k = 1 # FEC K
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fec_n = 2 # FEC N
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fec_k = 1 # FEC K (For tx side. Rx will get FEC settings from session packet)
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fec_n = 2 # FEC N (For tx side. Rx will get FEC settings from session packet)
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fec_timeout = 0 # [ms], 0 to disable. If no new packets during timeout, emit one empty packet if FEC block is open
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port_rx = 14600 # udp port for internal use
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@ -55,7 +55,7 @@ peer = 'connect://127.0.0.1:14550' # outgoing connection
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mirror = None
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# mirror = 'connect://127.0.0.1:14551' # mirroring mavlink packets to OSD
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inject_rssi = True # inject RADIO_STATUS packets
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inject_rssi = True # inject RADIO_STATUS packets
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mavlink_sys_id = 3 # for injected rssi packets
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mavlink_comp_id = 68 # MAV_COMP_ID_TELEMETRY_RADIO
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@ -76,8 +76,6 @@ call_on_disarm = None # call program on disarm
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keypair = 'gs.key' # keypair generated by wfb-keygen
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stats_port = 8002 # used by wfb-cli
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stream = 0x0 # radio port for video stream
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fec_k = 8 # FEC K
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fec_n = 12 # FEC N
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peer = 'connect://127.0.0.1:5600' # outgoing connection for video sink (GS)
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# Radio settings for RX
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@ -91,15 +89,15 @@ stream_tx = 0x10
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stream_rx = 0x90
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port_rx = 14700
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port_tx = 14701
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fec_k = 1 # FEC K
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fec_n = 2 # FEC N
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fec_k = 1 # FEC K (For tx side. Rx will get FEC settings from session packet)
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fec_n = 2 # FEC N (For tx side. Rx will get FEC settings from session packet)
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fec_timeout = 0 # [ms], 0 to disable. If no new packets during timeout, emit one empty packet if FEC block is open
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peer = 'listen://0.0.0.0:14560' # incoming connection
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#peer = 'connect://127.0.0.1:14560' # outgoing connection
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mirror = None
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inject_rssi = True # inject RADIO_STATUS packets
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inject_rssi = True # inject RADIO_STATUS packets
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mavlink_sys_id = 3 # for injected rssi packets
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mavlink_comp_id = 68 # MAV_COMP_ID_TELEMETRY_RADIO
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@ -120,8 +118,8 @@ call_on_disarm = None # call program on disarm
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keypair = 'drone.key'
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stats_port = None
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stream = 0x0
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fec_k = 8 # FEC K
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fec_n = 12 # FEC N
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fec_k = 8 # FEC K (For tx side. Rx will get FEC settings from session packet)
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fec_n = 12 # FEC N (For tx side. Rx will get FEC settings from session packet)
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fec_timeout = 0 # [ms], 0 to disable. If no new packets during timeout, emit one empty packet if FEC block is open
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peer = 'listen://0.0.0.0:5602' # listen for video stream (drone)
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@ -143,8 +141,8 @@ stream_tx = 0x20 # radio port for tunnel tx
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stream_rx = 0xa0 # radio port for tunnel rx
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port_rx = 14800 # udp port for internal use
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port_tx = 14801 # udp port range (from port_tx to port_tx + number of wlans) for internal use
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fec_k = 1 # FEC K
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fec_n = 2 # FEC N
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fec_k = 1 # FEC K (For tx side. Rx will get FEC settings from session packet)
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fec_n = 2 # FEC N (For tx side. Rx will get FEC settings from session packet)
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fec_timeout = 0 # [ms], 0 to disable. If no new packets during timeout, emit one empty packet if FEC block is open
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ifname = 'gs-wfb'
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@ -167,8 +165,8 @@ stream_tx = 0xa0
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stream_rx = 0x20
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port_rx = 14900
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port_tx = 14901
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fec_k = 1 # FEC K
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fec_n = 2 # FEC N
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fec_k = 1 # FEC K (For tx side. Rx will get FEC settings from session packet)
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fec_n = 2 # FEC N (For tx side. Rx will get FEC settings from session packet)
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fec_timeout = 0 # [ms], 0 to disable. If no new packets during timeout, emit one empty packet if FEC block is open
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ifname = 'drone-wfb'
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@ -54,15 +54,18 @@ class WFBFlags(object):
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LINK_JAMMED = 2
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fec_types = {1: 'VDM_RS'}
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class StatisticsProtocol(Protocol):
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def connectionMade(self):
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self.factory.sessions.append(self)
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self.factory.ui_sessions.append(self)
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def dataReceived(self, data):
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pass
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def connectionLost(self, reason):
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self.factory.sessions.remove(self)
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self.factory.ui_sessions.remove(self)
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def send_stats(self, data):
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self.transport.write(json.dumps(data).encode('utf-8') + b'\n')
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@ -83,7 +86,7 @@ class AntennaFactory(Factory):
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p_in.peer = p_tx_l[0]
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# tcp sockets for UI
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self.sessions = []
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self.ui_sessions = []
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def select_tx_antenna(self, ant_rssi):
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wlan_rssi = {}
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@ -131,7 +134,7 @@ class AntennaFactory(Factory):
|
||||
if settings.common.debug:
|
||||
log.msg('%s rssi %s tx#%d %s %s' % (rx_id, max(mav_rssi) if mav_rssi else 'N/A', self.tx_sel, packet_stats, ant_rssi))
|
||||
|
||||
for s in self.sessions:
|
||||
for s in self.ui_sessions:
|
||||
s.send_stats(dict(id=rx_id, tx_ant=self.tx_sel, packets=packet_stats, rssi=ant_rssi))
|
||||
|
||||
|
||||
@ -145,7 +148,9 @@ class AntennaProtocol(LineReceiver):
|
||||
self.count_all = None
|
||||
|
||||
def lineReceived(self, line):
|
||||
cols = line.decode('utf-8').strip().split('\t')
|
||||
line = line.decode('utf-8').strip()
|
||||
cols = line.split('\t')
|
||||
|
||||
try:
|
||||
if len(cols) < 2:
|
||||
raise BadTelemetry()
|
||||
@ -157,6 +162,7 @@ class AntennaProtocol(LineReceiver):
|
||||
if len(cols) != 4:
|
||||
raise BadTelemetry()
|
||||
self.ant[cols[2]] = tuple(int(i) for i in cols[3].split(':'))
|
||||
|
||||
elif cmd == 'PKT':
|
||||
if len(cols) != 3:
|
||||
raise BadTelemetry()
|
||||
@ -174,6 +180,14 @@ class AntennaProtocol(LineReceiver):
|
||||
|
||||
self.antenna_f.update_stats(self.rx_id, stats, dict(self.ant))
|
||||
self.ant.clear()
|
||||
|
||||
elif cmd == 'SESSION':
|
||||
if len(cols) != 3:
|
||||
raise BadTelemetry()
|
||||
|
||||
epoch, fec_type, fec_k, fec_n = list(int(i) for i in cols[2].split(':'))
|
||||
log.msg('New session detected [%s]: FEC=%s K=%d, N=%d, epoch=%d' % (self.rx_id, fec_types.get(fec_type, 'Unknown'), fec_k, fec_n, epoch))
|
||||
|
||||
else:
|
||||
raise BadTelemetry()
|
||||
except BadTelemetry:
|
||||
@ -306,9 +320,9 @@ def init(profile, wlans):
|
||||
def init_mavlink(profile, wlans, link_id):
|
||||
cfg = getattr(settings, '%s_mavlink' % (profile,))
|
||||
|
||||
cmd_rx = ('%s -p %d -u %d -K %s -k %d -n %d -i %d' % \
|
||||
cmd_rx = ('%s -p %d -u %d -K %s -i %d' % \
|
||||
(os.path.join(settings.path.bin_dir, 'wfb_rx'), cfg.stream_rx,
|
||||
cfg.port_rx, os.path.join(settings.path.conf_dir, cfg.keypair), cfg.fec_k, cfg.fec_n, link_id)).split() + wlans
|
||||
cfg.port_rx, os.path.join(settings.path.conf_dir, cfg.keypair), link_id)).split() + wlans
|
||||
|
||||
cmd_tx = ('%s -p %d -u %d -K %s -B %d -G %s -S %d -L %d -M %d -k %d -n %d -T %d -i %d' % \
|
||||
(os.path.join(settings.path.bin_dir, 'wfb_tx'),
|
||||
@ -430,11 +444,11 @@ def init_video(profile, wlans, link_id):
|
||||
if cfg.stats_port:
|
||||
reactor.listenTCP(cfg.stats_port, ant_f)
|
||||
|
||||
cmd = ('%s -p %d -c %s -u %d -K %s -k %d -n %d -i %d' % \
|
||||
cmd = ('%s -p %d -c %s -u %d -K %s -i %d' % \
|
||||
(os.path.join(settings.path.bin_dir, 'wfb_rx'),
|
||||
cfg.stream, connect[0], connect[1],
|
||||
os.path.join(settings.path.conf_dir, cfg.keypair),
|
||||
cfg.fec_k, cfg.fec_n, link_id)).split() + wlans
|
||||
link_id)).split() + wlans
|
||||
|
||||
df = RXProtocol(ant_f, cmd, 'video rx').start()
|
||||
else:
|
||||
@ -446,9 +460,9 @@ def init_video(profile, wlans, link_id):
|
||||
def init_tunnel(profile, wlans, link_id):
|
||||
cfg = getattr(settings, '%s_tunnel' % (profile,))
|
||||
|
||||
cmd_rx = ('%s -p %d -u %d -K %s -k %d -n %d -i %d' % \
|
||||
cmd_rx = ('%s -p %d -u %d -K %s -i %d' % \
|
||||
(os.path.join(settings.path.bin_dir, 'wfb_rx'), cfg.stream_rx,
|
||||
cfg.port_rx, os.path.join(settings.path.conf_dir, cfg.keypair), cfg.fec_k, cfg.fec_n, link_id)).split() + wlans
|
||||
cfg.port_rx, os.path.join(settings.path.conf_dir, cfg.keypair), link_id)).split() + wlans
|
||||
|
||||
cmd_tx = ('%s -p %d -u %d -K %s -B %d -G %s -S %d -L %d -M %d -k %d -n %d -T %d -i %d' % \
|
||||
(os.path.join(settings.path.bin_dir, 'wfb_tx'),
|
||||
|
||||
Loading…
Reference in New Issue
Block a user