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//! Stabilizer data stream capabilities
//!
//! # Design
//! Data streamining utilizes UDP packets to send live data streams at high throughput.
//! Packets are always sent in a best-effort fashion, and data may be dropped.
//!
//! Stabilizer organizes livestreamed data into batches within a "Frame" that will be sent as a UDP
//! packet. Each frame consits of a header followed by sequential batch serializations. The packet
//! header is constant for all streaming capabilities, but the serialization format after the header
//! is application-defined.
//!
//! ## Frame Header
//! The header consists of the following, all in little-endian.
//!
//! * **Magic word 0x057B** (u16): a constant to identify Stabilizer streaming data.
//! * **Format Code** (u8): a unique ID that indicates the serialization format of each batch of data
//! in the frame. Refer to [StreamFormat] for further information.
//! * **Batch Count** (u8): the number of batches of data.
//! * **Sequence Number** (u32): an the sequence number of the first batch in the frame.
//! This can be used to determine if and how many stream batches are lost.
//!
//! # Example
//! A sample Python script is available in `scripts/stream_throughput.py` to demonstrate reception
//! of livestreamed data.
use core::mem::MaybeUninit;
use heapless::{
pool::{Box, Init, Pool, Uninit},
spsc::{Consumer, Producer, Queue},
};
use num_enum::IntoPrimitive;
use serde::{Deserialize, Serialize};
use smoltcp_nal::embedded_nal::{IpAddr, Ipv4Addr, SocketAddr, UdpClientStack};
use super::NetworkReference;
// Magic first bytes indicating a UDP frame of straming data
const MAGIC: u16 = 0x057B;
// The size of the header, calculated in words.
// The header has a 16-bit magic word, an 8-bit format, 8-bit batch-size, and 32-bit sequence
// number, which corresponds to 8 bytes.
const HEADER_SIZE: usize = 8;
// The number of frames that can be buffered.
const FRAME_COUNT: usize = 4;
// The size of each frame in bytes.
// Ensure the resulting ethernet frame is within the MTU:
// 1500 MTU - 40 IP6 header - 8 UDP header
const FRAME_SIZE: usize = 1500 - 40 - 8;
// The size of the frame queue must be at least as large as the number of frame buffers. Every
// allocated frame buffer should fit in the queue.
const FRAME_QUEUE_SIZE: usize = FRAME_COUNT * 2;
type Frame = [MaybeUninit<u8>; FRAME_SIZE];
/// Represents the destination for the UDP stream to send data to.
///
/// # Miniconf
/// `{"ip": <addr>, "port": <port>}`
///
/// * `<addr>` is an array of 4 bytes. E.g. `[192, 168, 0, 1]`
/// * `<port>` is any unsigned 16-bit value.
///
/// ## Example
/// `{"ip": [192, 168,0, 1], "port": 1111}`
#[derive(Copy, Clone, Debug, Serialize, Deserialize, Default)]
pub struct StreamTarget {
pub ip: [u8; 4],
pub port: u16,
}
/// Specifies the format of streamed data
#[repr(u8)]
#[derive(Debug, Copy, Clone, PartialEq, Eq, IntoPrimitive)]
pub enum StreamFormat {
/// Reserved, unused format specifier.
Unknown = 0,
/// Streamed data contains ADC0, ADC1, DAC0, and DAC1 sequentially in little-endian format.
///
/// # Example
/// With a batch size of 2, the serialization would take the following form:
/// ```
/// <ADC0[0]> <ADC0[1]> <ADC1[0]> <ADC1[1]> <DAC0[0]> <DAC0[1]> <DAC1[0]> <DAC1[1]>
/// ```
AdcDacData = 1,
/// Streamed data in FLS (fiber length stabilization) format. See the FLS application for
/// detailed definition.
Fls = 2,
}
impl From<StreamTarget> for SocketAddr {
fn from(target: StreamTarget) -> SocketAddr {
SocketAddr::new(
IpAddr::V4(Ipv4Addr::new(
target.ip[0],
target.ip[1],
target.ip[2],
target.ip[3],
)),
target.port,
)
}
}
/// Configure streaming on a device.
///
/// # Args
/// * `stack` - A reference to the shared network stack.
///
/// # Returns
/// (generator, stream) where `generator` can be used to enqueue "batches" for transmission. The
/// `stream` is the logically consumer (UDP transmitter) of the enqueued data.
pub fn setup_streaming(
stack: NetworkReference,
) -> (FrameGenerator, DataStream) {
// The queue needs to be at least as large as the frame count to ensure that every allocated
// frame can potentially be enqueued for transmission.
let queue =
cortex_m::singleton!(: Queue<StreamFrame, FRAME_QUEUE_SIZE> = Queue::new())
.unwrap();
let (producer, consumer) = queue.split();
let frame_pool = cortex_m::singleton!(: Pool<Frame> = Pool::new()).unwrap();
let memory = cortex_m::singleton!(FRAME_DATA: [u8; core::mem::size_of::<u8>() * FRAME_SIZE * FRAME_COUNT] =
[0; core::mem::size_of::<u8>() * FRAME_SIZE * FRAME_COUNT]).unwrap();
frame_pool.grow(memory);
let generator = FrameGenerator::new(producer, frame_pool);
let stream = DataStream::new(stack, consumer, frame_pool);
(generator, stream)
}
#[derive(Debug)]
struct StreamFrame {
buffer: Box<Frame, Init>,
offset: usize,
batches: u8,
}
impl StreamFrame {
pub fn new(
buffer: Box<Frame, Uninit>,
format_id: u8,
sequence_number: u32,
) -> Self {
let mut buffer = buffer.init([MaybeUninit::uninit(); FRAME_SIZE]);
for (byte, buf) in MAGIC
.to_le_bytes()
.iter()
.chain(&[format_id, 0])
.chain(sequence_number.to_le_bytes().iter())
.zip(buffer.iter_mut())
{
buf.write(*byte);
}
Self {
buffer,
offset: HEADER_SIZE,
batches: 0,
}
}
pub fn add_batch<F>(&mut self, mut f: F) -> usize
where
F: FnMut(&mut [MaybeUninit<u8>]) -> usize,
{
let len = f(&mut self.buffer[self.offset..]);
self.offset += len;
self.batches += 1;
len
}
pub fn is_full(&self, len: usize) -> bool {
self.offset + len > self.buffer.len()
}
pub fn finish(&mut self) -> &[MaybeUninit<u8>] {
self.buffer[3].write(self.batches);
&self.buffer[..self.offset]
}
}
/// The data generator for a stream.
pub struct FrameGenerator {
queue: Producer<'static, StreamFrame, FRAME_QUEUE_SIZE>,
pool: &'static Pool<Frame>,
current_frame: Option<StreamFrame>,
sequence_number: u32,
format: u8,
}
impl FrameGenerator {
fn new(
queue: Producer<'static, StreamFrame, FRAME_QUEUE_SIZE>,
pool: &'static Pool<Frame>,
) -> Self {
Self {
queue,
pool,
format: StreamFormat::Unknown.into(),
current_frame: None,
sequence_number: 0,
}
}
/// Configure the format of the stream.
///
/// # Note:
/// This function shall only be called once upon initializing streaming
///
/// # Args
/// * `format` - The desired format of the stream.
#[doc(hidden)]
pub(crate) fn configure(&mut self, format: impl Into<u8>) {
self.format = format.into();
}
/// Add a batch to the current stream frame.
///
/// # Args
/// * `f` - A closure that will be provided the buffer to write batch data into.
/// Returns the number of bytes written.
pub fn add<F>(&mut self, f: F)
where
F: FnMut(&mut [MaybeUninit<u8>]) -> usize,
{
let sequence_number = self.sequence_number;
self.sequence_number = self.sequence_number.wrapping_add(1);
if self.current_frame.is_none() {
if let Some(buffer) = self.pool.alloc() {
self.current_frame.replace(StreamFrame::new(
buffer,
self.format,
sequence_number,
));
} else {
return;
}
}
// Note(unwrap): We ensure the frame is present above.
let current_frame = self.current_frame.as_mut().unwrap();
let len = current_frame.add_batch(f);
if current_frame.is_full(len) {
// Note(unwrap): The queue is designed to be at least as large as the frame buffer
// count, so this enqueue should always succeed.
self.queue
.enqueue(self.current_frame.take().unwrap())
.unwrap();
}
}
}
/// The "consumer" portion of the data stream.
///
/// # Note
/// This is responsible for consuming data and sending it over UDP.
pub struct DataStream {
stack: NetworkReference,
socket: Option<<NetworkReference as UdpClientStack>::UdpSocket>,
queue: Consumer<'static, StreamFrame, FRAME_QUEUE_SIZE>,
frame_pool: &'static Pool<Frame>,
remote: SocketAddr,
}
impl DataStream {
/// Construct a new data streamer.
///
/// # Args
/// * `stack` - A reference to the shared network stack.
/// * `consumer` - The read side of the queue containing data to transmit.
/// * `frame_pool` - The Pool to return stream frame objects into.
fn new(
stack: NetworkReference,
consumer: Consumer<'static, StreamFrame, FRAME_QUEUE_SIZE>,
frame_pool: &'static Pool<Frame>,
) -> Self {
Self {
stack,
socket: None,
remote: StreamTarget::default().into(),
queue: consumer,
frame_pool,
}
}
fn close(&mut self) {
if let Some(socket) = self.socket.take() {
log::info!("Closing stream");
// Note(unwrap): We guarantee that the socket is available above.
self.stack.close(socket).unwrap();
}
}
// Open new socket.
fn open(&mut self) -> Result<(), ()> {
// If there is already a socket of if remote address is unspecified,
// do not open a new socket.
if self.socket.is_some() || self.remote.ip().is_unspecified() {
return Err(());
}
log::info!("Opening stream");
let mut socket = self.stack.socket().or(Err(()))?;
// Note(unwrap): We only connect with a new socket, so it is guaranteed to not already be
// bound.
self.stack.connect(&mut socket, self.remote).unwrap();
self.socket.replace(socket);
Ok(())
}
/// Configure the remote endpoint of the stream.
///
/// # Args
/// * `remote` - The destination to send stream data to.
pub fn set_remote(&mut self, remote: SocketAddr) {
// Close socket to be reopened if the remote has changed.
if remote != self.remote {
self.close();
}
self.remote = remote;
}
/// Process any data for transmission.
pub fn process(&mut self) {
match self.socket.as_mut() {
None => {
// If there's no socket available, try to connect to our remote.
if self.open().is_ok() {
// If we just successfully opened the socket, flush old data from queue.
while let Some(frame) = self.queue.dequeue() {
self.frame_pool.free(frame.buffer);
}
}
}
Some(handle) => {
if let Some(mut frame) = self.queue.dequeue() {
// Transmit the frame and return it to the pool.
let buf = frame.finish();
let data = unsafe {
core::slice::from_raw_parts(
buf.as_ptr() as *const u8,
core::mem::size_of_val(buf),
)
};
self.stack.send(handle, data).ok();
self.frame_pool.free(frame.buffer)
}
}
}
}
}