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Merge #426

426: Feature/streaming hitl r=ryan-summers a=ryan-summers

This PR fixes #386 by implementing HITL tests for the data livestream functionalities of Stabilizer.

- [x] This should be merged after https://github.com/quartiq/stabilizer/pull/425

Co-authored-by: Ryan Summers <ryan.summers@vertigo-designs.com>
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  1. 8
      hitl/run.sh
  2. 128
      hitl/streaming.py
  3. 2
      py/.gitignore
  4. 8
      py/README.md
  5. 7
      py/setup.py
  6. 0
      py/stabilizer/__init__.py
  7. 92
      py/stabilizer/stream.py
  8. 72
      scripts/stream_throughput.py

8
hitl/run.sh

@ -11,10 +11,11 @@
set -eux
# Set up python for testing
python3 -m venv --system-site-packages py
. py/bin/activate
python3 -m venv --system-site-packages py-venv
. py-venv/bin/activate
# Install Miniconf utilities for configuring stabilizer.
python3 -m pip install -e py/
python3 -m pip install git+https://github.com/quartiq/miniconf#subdirectory=py/miniconf-mqtt
python3 -m pip install gmqtt
@ -36,3 +37,6 @@ python3 -m miniconf dt/sinara/dual-iir/04-91-62-d9-7e-5f afe/0='"G1"' iir_ch/0/0
# Test the ADC/DACs connected via loopback.
python3 hitl/loopback.py dt/sinara/dual-iir/04-91-62-d9-7e-5f
# Test the livestream capabilities
python3 hitl/streaming.py dt/sinara/dual-iir/04-91-62-d9-7e-5f

128
hitl/streaming.py

@ -0,0 +1,128 @@
#!/usr/bin/python3
"""
Author: Vertigo Designs, Ryan Summers
Description: Implements HITL testing of Stabilizer data livestream capabilities.
"""
import asyncio
import sys
import argparse
import logging
import socket
import time
from miniconf import Miniconf
from stabilizer.stream import StabilizerStream
# The duration to receive frames for.
STREAM_TEST_DURATION_SECS = 5.0
# The minimum efficiency of the stream in frame transfer to pass testing. Represented as
# (received_frames / transmitted_frames).
MIN_STREAM_EFFICIENCY = 0.95
def _get_ip(broker):
""" Get the IP of the local device.
Args:
broker: The broker IP of the test. Used to select an interface to get the IP of.
Returns:
The IP as an array of integers.
"""
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
try:
sock.connect((broker, 1883))
address = sock.getsockname()[0]
finally:
sock.close()
return list(map(int, address.split('.')))
def sequence_delta(previous_sequence, next_sequence):
""" Check the number of items between two sequence numbers. """
if previous_sequence is None:
return 0
delta = next_sequence - (previous_sequence + 1)
return delta & 0xFFFFFFFF
def main():
""" Main program entry point. """
parser = argparse.ArgumentParser(description='Loopback tests for Stabilizer HITL testing',)
parser.add_argument('prefix', type=str,
help='The MQTT topic prefix of the target')
parser.add_argument('--broker', '-b', default='mqtt', type=str,
help='The MQTT broker address')
parser.add_argument('--port', '-p', default=2000, type=int,
help='The UDP port to use for streaming')
args = parser.parse_args()
async def test():
""" The actual testing being completed. """
local_ip = _get_ip(args.broker)
interface = await Miniconf.create(args.prefix, args.broker)
stream = StabilizerStream(args.port, timeout=0.5)
# Configure the stream
print(f'Configuring stream to target {".".join(map(str, local_ip))}:{args.port}')
print('')
await interface.command('stream_target', {'ip': local_ip, 'port': args.port}, retain=False)
await interface.command('telemetry_period', 10, retain=False)
# Verify frame reception
print('Testing stream reception')
print('')
last_sequence = None
# Sample frames over a set time period and verify that no drops are encountered.
stop = time.time() + STREAM_TEST_DURATION_SECS
dropped_batches = 0
total_batches = 0
while time.time() < stop:
for (seqnum, _data) in stream.read_frame():
num_dropped = sequence_delta(last_sequence, seqnum)
total_batches += 1 + num_dropped
if num_dropped:
dropped_batches += num_dropped
logging.warning('Frame drop detected: 0x%08X -> 0x%08X (%d batches)',
last_sequence, seqnum, num_dropped)
last_sequence = seqnum
assert total_batches, 'Stream did not receive any frames'
stream_efficiency = 1.0 - (dropped_batches / total_batches)
print(f'Stream Reception Rate: {stream_efficiency * 100:.2f} %')
print(f'Received {total_batches} ')
print(f'Lost {dropped_batches} batches')
assert stream_efficiency > MIN_STREAM_EFFICIENCY, \
f'Stream dropped too many packets. Reception rate: {stream_efficiency * 100:.2f} %'
# Disable the stream.
print('Closing stream')
print('')
await interface.command('stream_target', {'ip': [0, 0, 0, 0], 'port': 0}, retain=False)
stream.clear()
print('Verifying no further data is received')
try:
for _ in stream.read_frame():
raise Exception('Unexpected data encountered on stream')
except socket.timeout:
pass
print('PASS')
loop = asyncio.get_event_loop()
sys.exit(loop.run_until_complete(test()))
if __name__ == '__main__':
main()

2
py/.gitignore

@ -0,0 +1,2 @@
/*.egg-info/
__pycache__/

8
py/README.md

@ -0,0 +1,8 @@
# Stabilizer Python Utilities
This directory contains common Python utilities for Stabilizer, such as livestream data receivers.
To install this module locally (in editable mode):
```
python -m pip install -e .
```

7
py/setup.py

@ -0,0 +1,7 @@
from setuptools import setup
setup(name='stabilizer',
version='0.1',
description='Stabilizer Utilities',
author='QUARTIQ GmbH',
license='MIT')

0
py/stabilizer/__init__.py

92
py/stabilizer/stream.py

@ -0,0 +1,92 @@
#!/usr/bin/python3
"""
Author: Vertigo Designs, Ryan Summers
Description: Provides a means of accessing Stabilizer livestream data.
"""
import socket
import time
import logging
import struct
class StabilizerStream:
""" Provides access to Stabilizer's livestreamed data. """
# The magic header half-word at the start of each packet.
MAGIC_HEADER = 0x057B
# The struct format of the header.
HEADER_FORMAT = '<HBBI'
# All supported formats by this reception script.
#
# The items in this dict are functions that will be provided the sample batch size and will
# return the struct deserialization code to unpack a single batch.
FORMAT = {
1: lambda batch_size: f'<{batch_size}H{batch_size}H{batch_size}H{batch_size}H'
}
def __init__(self, port, timeout=None):
""" Initialize the stream.
Args:
port: The UDP port to receive the stream from.
timeout: The timeout to set on the UDP socket.
"""
self.socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.socket.bind(("", port))
self.total_bytes = 0
if timeout is not None:
self.socket.settimeout(timeout)
def clear(self, duration=1):
""" Clear the socket RX buffer by reading all available data.
Args:
duration: The maximum duration in seconds to read data for.
"""
time.sleep(duration)
try:
while self.socket.recv(4096):
pass
except socket.timeout:
pass
def get_rx_bytes(self):
""" Get the number of bytes read from the stream. """
return self.total_bytes
def read_frame(self):
""" Read a single frame from the stream.
Returns:
Yields the (seqnum, data) of the batches available in the frame.
"""
buf = self.socket.recv(4096)
self.total_bytes += len(buf)
# Attempt to parse a block from the buffer.
if len(buf) < struct.calcsize(self.HEADER_FORMAT):
return
# Parse out the packet header
magic, format_id, batch_size, sequence_number = struct.unpack_from(self.HEADER_FORMAT, buf)
buf = buf[struct.calcsize(self.HEADER_FORMAT):]
if magic != self.MAGIC_HEADER:
logging.warning('Encountered bad magic header: %s', hex(magic))
return
frame_format = self.FORMAT[format_id](batch_size)
batch_count = int(len(buf) / struct.calcsize(frame_format))
for offset in range(batch_count):
data = struct.unpack_from(frame_format, buf)
buf = buf[struct.calcsize(frame_format):]
yield (sequence_number + offset, data)

72
scripts/stream_throughput.py

@ -5,53 +5,11 @@ Author: Ryan Summers
Description: Provides a mechanism for measuring Stabilizer stream data throughput.
"""
import argparse
import socket
import collections
import struct
import time
import logging
import sys
import time
# Representation of a single data batch transmitted by Stabilizer.
Packet = collections.namedtuple('Packet', ['index', 'data'])
# The magic header half-word at the start of each packet.
MAGIC_HEADER = 0x057B
# The struct format of the header.
HEADER_FORMAT = '<HBBI'
# All supported formats by this reception script.
#
# The items in this dict are functions that will be provided the sample batch size and will return
# the struct deserialization code to unpack a single batch.
FORMAT = {
1: lambda batch_size: f'<{batch_size}H{batch_size}H{batch_size}H{batch_size}H'
}
def parse_packet(buf):
""" Attempt to parse packets from the received buffer. """
# Attempt to parse a block from the buffer.
if len(buf) < struct.calcsize(HEADER_FORMAT):
return
# Parse out the packet header
magic, format_id, batch_size, sequence_number = struct.unpack_from(HEADER_FORMAT, buf)
buf = buf[struct.calcsize(HEADER_FORMAT):]
if magic != MAGIC_HEADER:
logging.warning('Encountered bad magic header: %s', hex(magic))
return
frame_format = FORMAT[format_id](batch_size)
batch_count = int(len(buf) / struct.calcsize(frame_format))
for offset in range(batch_count):
data = struct.unpack_from(frame_format, buf)
buf = buf[struct.calcsize(frame_format):]
yield Packet(sequence_number + offset, data)
from stabilizer.stream import StabilizerStream
class Timer:
""" A basic timer for measuring elapsed time periods. """
@ -104,13 +62,11 @@ def sequence_delta(previous_sequence, next_sequence):
def main():
""" Main program. """
parser = argparse.ArgumentParser(description='Measure Stabilizer livestream quality')
parser.add_argument('--port', type=int, default=1111, help='The port that stabilizer is streaming to')
parser.add_argument('--port', type=int, default=2000,
help='The port that stabilizer is streaming to')
args = parser.parse_args()
connection = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
connection.bind(("", args.port))
logging.basicConfig(level=logging.INFO,
format='%(asctime)s.%(msecs)03d %(levelname)-8s %(message)s')
@ -122,23 +78,22 @@ def main():
timer = Timer()
stream = StabilizerStream(args.port)
while True:
# Receive any data over UDP and parse it.
data = connection.recv(4096)
if data and not timer.is_started():
timer.start()
for (seqnum, _) in stream.read_frame():
if not timer.is_started():
timer.start()
# Handle any received packets.
total_bytes += len(data)
for packet in parse_packet(data):
# Handle any dropped packets.
drop_count += sequence_delta(last_index, packet.index)
last_index = packet.index
drop_count += sequence_delta(last_index, seqnum)
last_index = seqnum
good_blocks += 1
# Report the throughput periodically.
if timer.is_triggered():
drate = total_bytes * 8 / 1e6 / timer.elapsed()
drate = stream.get_rx_bytes() * 8 / 1e6 / timer.elapsed()
print(f'''
Data Rate: {drate:.3f} Mbps
@ -148,6 +103,7 @@ Dropped blocks: {drop_count}
Metadata: {total_bytes / 1e6:.3f} MB in {timer.elapsed():.2f} s
----
''')
sys.stdout.flush()
timer.arm()

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