I'm using libusb to communicate with a Philips ISP1362 configured as a USB device. I am able to successfully loopback data using Synchronous I/O without any problems. For some reason when using Asynchronous I/O there appears to be a race condition.
I am transferring 64-byte packets using back-to-back OUT-IN transfers. Occasionally when I run my program libusb throws a timeout error and some of the loopback data is lost. When analyzing the USB bus using my Beagle 12 I can see the OUT-IN transactions are out of order (i.e. OUT-OUT-IN-TIMEOUT) when it should be (OUT-IN-OUT-IN).
Update The transfers are appearing out of order in the callback function which is strange because they are not coinciding with what is actually on the bus analyzer.
Example 1: (IN-OUT-IN-OUT)
main(): submitting transfer 0, endpoint 1
main(): submitting transfer 1, endpoint 82
main(): submitting transfer 2, endpoint 1
main(): submitting transfer 3, endpoint 82
xfr_cb(): count 0, status = 0, endpoint = 82, actual_length = 64, completed = 0
xfr_cb(): count 1, status = 0, endpoint = 1, actual_length = 64, completed = 0
xfr_cb(): count 2, status = 0, endpoint = 82, actual_length = 64, completed = 0
xfr_cb(): count 3, status = 0, endpoint = 1, actual_length = 64, completed = 0
completed
Example 2: (OUT-IN-IN-OUT)
main(): submitting transfer 0, endpoint 1
main(): submitting transfer 1, endpoint 82
main(): submitting transfer 2, endpoint 1
main(): submitting transfer 3, endpoint 82
xfr_cb(): count 0, status = 0, endpoint = 1, actual_length = 64, completed = 0
xfr_cb(): count 1, status = 0, endpoint = 82, actual_length = 64, completed = 0
xfr_cb(): count 2, status = 0, endpoint = 82, actual_length = 64, completed = 0
xfr_cb(): count 3, status = 0, endpoint = 1, actual_length = 64, completed = 0
completed
Below is a screenshot from the analyzer:
Below is the code:
#include <stdlib.h>
#include <stdio.h>
#include <libusb-1.0/libusb.h>
/* Specify VENDOR_ID and PRODUCT_ID for device */
#define VENDOR_ID 0x0471
#define PRODUCT_ID 0x3630
/* Define number of bytes to transfer */
#define EP_SIZE 64 // bytes
#define TRANSFERS 4 // number of transfers
#define BYTES EP_SIZE*TRANSFERS
#define TIMEOUT 3*1000 // milliseconds
/* Use a global variable to keep the device handle */
static struct libusb_device_handle *devh = NULL;
/* use a global variable to keep the context */
static struct libusb_context *usb_context = NULL;
/* count variable */
int count = 0;
/* The Endpoint addresses are hard-coded. You should use libusb -v to find
* the values corresponding to device
*/
static int ep_in = 0x82;
static int ep_out = 0x01;
void xfr_cb(struct libusb_transfer *transfer )
{
int *completed = transfer->user_data;
/* callback - This is called after the transfer has been received by libusb */
fprintf(stderr, "xfr_cb(): count %d, status = %d, endpoint = %x, actual_length = %d, completed = %d\n",
count,
transfer->status,
transfer->endpoint,
transfer->actual_length,
*completed);
if (transfer->status != LIBUSB_TRANSFER_COMPLETED)
{
/* Error! */
fprintf(stderr, "Error: %s\n", libusb_error_name((int)transfer->status));
}
if (count == TRANSFERS-1)
*completed = 1;
count++;
}
int main(int argc, char **argv)
{
int ep_addr;
int completed = 0;
unsigned char *buf;
size_t length = 64;
int n;
int i;
int rc;
/* Initialize libusb */
rc = libusb_init(NULL);
if (rc < 0)
{
fprintf(stderr, "Error Initializing libusb: %s\n", libusb_error_name(rc));
exit(1);
}
/* Set debugging output to max level */
libusb_set_debug(NULL, 3);
/* Look for a specific device and open it */
devh = libusb_open_device_with_vid_pid(NULL, VENDOR_ID, PRODUCT_ID);
if (!devh)
{
fprintf(stderr, "Error finding USB device\n");
goto out;
}
/* allocate memory */
buf = malloc(length);
/* start with OUT transfer */
ep_addr = ep_out;
/* queue up alternating OUT-IN transfers */
for (i = 0; i < TRANSFERS; i++)
{
/* fill the buffer with incrementing data */
for (n = 0; n < EP_SIZE; n++)
{
buf[n] = i+n;
}
/* Set up the transfer object */
struct libusb_transfer *transfer;
transfer = libusb_alloc_transfer(0);
libusb_fill_bulk_transfer(transfer, devh, ep_addr, buf, EP_SIZE, xfr_cb, &completed, TIMEOUT); /* callback data = &completed */
/* Submit the transfer object */
libusb_submit_transfer(transfer);
fprintf(stderr, "main(): submitting transfer %d, endpoint %x\n", i, ep_addr);
/* alternate writing and reading for loopback */
ep_addr = (ep_addr == ep_out) ? ep_in : ep_out;
}
/* Handle Events */
while (!completed)
{
rc = libusb_handle_events_completed(NULL, &completed);
if (rc < 0)
{
if (rc == LIBUSB_ERROR_INTERRUPTED)
continue;
fprintf(stderr, "Transfer Error: %s", libusb_error_name(rc));
continue;
}
}
fprintf(stderr, "completed\n");
/* Release the interface */
libusb_release_interface(devh, 0);
/* Close the device handle */
if (devh)
libusb_close(devh);
out:
if (devh)
{
libusb_close(devh);
}
libusb_exit(NULL);
return rc;
}
Update 2 I successfully eliminated the timeout. The cause of the libusb timeout is because the Host was sending two consecutive OUT transactions intermittently on the bus.
Analyzer screenshot:
The following is the working code (no timeouts). Ran these thousands of times with no issues
static void LIBUSB_CALL xfr_cb(struct libusb_transfer *transfer )
{
int *completed = transfer->user_data;
unsigned char *wbuf, *rbuf;
size_t length = 64;
fprintf(stderr, "xfr_cb(): status = %d, endpoint = %x, actual_length = %d\n",
transfer->status,
transfer->endpoint,
transfer->actual_length);
*completed = 1;
}
int main(int argc, char **argv)
{
const struct libusb_version *version;
int ep_addr;
int completed = 0;
unsigned char *buf, *wbuf1, *wbuf2, *rbuf1, *rbuf2;
size_t length = 64;
int n;
int m;
int i;
int rc;
/* Get libusb version */
version = libusb_get_version();
fprintf(stderr, "libusb version: %d.%d.%d.%d\n", version->major, version->minor, version->micro, version->nano);
/* Initialize libusb */
rc = libusb_init(NULL);
if (rc < 0)
{
fprintf(stderr, "Error Initializing libusb: %s\n", libusb_error_name(rc));
exit(1);
}
/* Set debugging output to max level */
libusb_set_debug(NULL, 3);
/* Look for a specific device and open it */
handle = libusb_open_device_with_vid_pid(NULL, VENDOR_ID, PRODUCT_ID);
if (!handle)
{
fprintf(stderr, "Error finding USB device\n");
goto out;
}
/* claim interface */
rc = libusb_claim_interface(handle, 0);
if (rc < 0)
{
fprintf(stderr, "Error claiming interface.\n");
goto out;
}
/* allocate memory */
wbuf1 = malloc(length);
wbuf2 = malloc(length);
rbuf1 = malloc(length);
rbuf2 = malloc(length);
/* fill the buffer with incrementing data */
for (n = 0; n < EP_SIZE; n++)
wbuf1[n] = n;
for (m = 0; m < EP_SIZE; m++)
wbuf2[m] = m+1;
struct libusb_transfer *transfer1;
struct libusb_transfer *transfer2;
struct libusb_transfer *transfer3;
struct libusb_transfer *transfer4;
/* Set up the transfer object */
transfer1 = libusb_alloc_transfer(0);
transfer2 = libusb_alloc_transfer(0);
transfer3 = libusb_alloc_transfer(0);
transfer4 = libusb_alloc_transfer(0);
libusb_fill_bulk_transfer(transfer1, handle, ep_out, wbuf1, EP_SIZE, xfr_cb, NULL, TIMEOUT);
libusb_fill_bulk_transfer(transfer2, handle, ep_in, rbuf1, EP_SIZE, xfr_cb, NULL, TIMEOUT);
libusb_fill_bulk_transfer(transfer3, handle, ep_out, wbuf2, EP_SIZE, xfr_cb, NULL, TIMEOUT);
libusb_fill_bulk_transfer(transfer4, handle, ep_in, rbuf2, EP_SIZE, xfr_cb, &completed, TIMEOUT); /* callback data = &completed */
/* Submit the transfers */
libusb_submit_transfer(transfer1);
libusb_submit_transfer(transfer2);
libusb_submit_transfer(transfer3);
libusb_submit_transfer(transfer4);
/* Handle Events */
while (!completed)
{
rc = libusb_handle_events_completed(NULL, &completed);
if (rc != LIBUSB_SUCCESS)
{
fprintf(stderr, "Transfer Error: %s\n", libusb_error_name(rc));
break;
}
}
fprintf(stderr, "completed\n");
//* Release the interface */
libusb_release_interface(handle, 0);
/* Close the device handle */
if (handle)
libusb_close(handle);
out:
if (handle)
{
libusb_close(handle);
}
libusb_exit(NULL);
return rc;
}
Changing the code as follows (i.e. callback = NULL for transfer 1-3) re-creates intermittent duplicate transactions, as shown in the screenshots.
libusb_fill_bulk_transfer(transfer1, handle, ep_out, wbuf1, EP_SIZE, NULL, NULL, TIMEOUT);
libusb_fill_bulk_transfer(transfer2, handle, ep_in, rbuf1, EP_SIZE, NULL, NULL, TIMEOUT);
libusb_fill_bulk_transfer(transfer3, handle, ep_out, wbuf2, EP_SIZE, NULL, NULL, TIMEOUT);
libusb_fill_bulk_transfer(transfer4, handle, ep_in, rbuf2, EP_SIZE, xfr_cb, &completed, TIMEOUT); /* callback data = &completed */
I honestly don't understand why the loop would cause race conditions based on their documentation and examples. Queueing up multiple transfers is actually suggested in one of the libusb examples (sam3u_benchmark.c) and also demonstrated (using loops) in the following .pdfs.
See asynchronous I/O sections:
https://www.socallinuxexpo.org/sites/default/files/presentations/scale_2017_usb.pdf
http://www.signal11.us/oss/elc2014/elc_2014_usb_0.pdf
From my understanding, the use of libusb_handle_events_completed(NULL, &completed) is supposed to resolve synchronization issues. Am I misunderstanding something?
See libusb_handle_events() from multiple threads
http://libusb.sourceforge.net/api-1.0/libusb_mtasync.html
-"This is why libusb-1.0.9 introduces the new libusb_handle_events_timeout_completed() and libusb_handle_events_completed() functions, which handles doing the completion check for you after they have acquired the lock:"
What they need are crystal clear examples of how to use their API if this is the case.
I can add more event checking but something does not seem right here.
Update 3: See accepted answer.
I started reading the documentation in the libusb source code and understood what was happening.
Particularly the section about how libusb deals with packet sizes:
http://libusb.sourceforge.net/api-1.0/libusb_packetoverflow.html
After reading that it clicked for me and I found two ways to accomplish a loopback test with large data size using asynchronous I/O.
The first way is submitting two transfers consecutively with transfer->buffer containing the entire data structure (i.e. total bytes to send and receive). The second way is submitting the two transfers with transfer->buffer containing wMaxPacketSize (e.g. 64-bytes) and having the out and in callback functions submit additional transfers to transceive the rest of the data.
For the second case, extra code needed to be added to keep track of the number of transfers and to set the completed signal when finished. The OUT-IN packet interleaving is handled by libusb and the OS - which was the part I didn't realize. In other words, not every OUT-IN transfer needed to be specified and queued individually.
Here is the asynchronous code along with the transfer rates to my USB device (ISP1362). My USB device controller is an FPGA coded in pure SystemVerilog.
Note: Regarding the transfer rates, I only have double-buffering enabled on BULK_EP_IN. I am assuming the IN-NAK's (# POLL) and transfer rate would improve in the second approach if double-buffering was enabled on BULK_EP_OUT. So this may not be a fair comparison due to device configuration.
First approach: ~1.161 MB/s (~9.288 Mb/s)
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include </usr/include/libusb-1.0/libusb.h>
/* Specify VENDOR_ID and PRODUCT_ID for device */
#define VENDOR_ID 0x0471
#define PRODUCT_ID 0x3630
/* Define number of bytes to transfer */
#define EP_SIZE 64 // bytes
#define TRANSFERS 1024*768*3/EP_SIZE // number of transfers
#define TIMEOUT 10*1000 // milliseconds
/* Use a global variable to keep the device handle */
static struct libusb_device_handle *handle = NULL;
/* count variables */
unsigned int count = 0;
unsigned int count_in = 0;
unsigned int count_out = 0;
/* The Endpoint addresses are hard-coded. You should use libusb -v to find
* the values corresponding to device
*/
static int ep_in = 0x82;
static int ep_out = 0x01;
/* Write and Read buffers */
unsigned char wbuf[EP_SIZE*TRANSFERS];
unsigned char wbuf_tmp[EP_SIZE*TRANSFERS];
unsigned char rbuf[EP_SIZE*TRANSFERS];
unsigned char rbuf_tmp[EP_SIZE*TRANSFERS];
static void LIBUSB_CALL xfr_cb_out(struct libusb_transfer *transfer )
{
memcpy(wbuf+count_out*EP_SIZE, transfer->buffer, EP_SIZE);
}
static void LIBUSB_CALL xfr_cb_in(struct libusb_transfer *transfer )
{
int *completed = transfer->user_data;
memcpy(rbuf+count_in*EP_SIZE, transfer->buffer, EP_SIZE);
count_in++; // one transfer complete
if (count_in < TRANSFERS)
*completed = 1;
}
int main(int argc, char **argv)
{
const struct libusb_version *version;
int completed = 0;
size_t length = 64;
int n;
int m;
int rc;
/* Get libusb version */
version = libusb_get_version();
fprintf(stderr, "libusb version: %d.%d.%d.%d\n", version->major, version->minor, version->micro, version->nano);
/* Initialize libusb */
rc = libusb_init(NULL);
if (rc < 0)
{
fprintf(stderr, "Error Initializing libusb: %s\n", libusb_error_name(rc));
exit(1);
}
/* Set debugging output to max level */
libusb_set_debug(NULL, 3);
/* Look for a specific device and open it */
handle = libusb_open_device_with_vid_pid(NULL, VENDOR_ID, PRODUCT_ID);
if (!handle)
{
fprintf(stderr, "Error finding USB device\n");
goto out;
}
/* claim interface */
rc = libusb_claim_interface(handle, 0);
if (rc < 0)
{
fprintf(stderr, "Error claiming interface.\n");
goto out;
}
/* fill the buffer with incrementing data */
for (n = 0; n < TRANSFERS; n++)
{
for (m = 0; m < EP_SIZE; m++)
{
wbuf_tmp[m+n*EP_SIZE] = m+n;
}
}
struct libusb_transfer *transfer;
transfer = libusb_alloc_transfer(0);
libusb_fill_bulk_transfer(transfer, handle, ep_out, wbuf_tmp, EP_SIZE*TRANSFERS, xfr_cb_out, NULL, TIMEOUT);
libusb_submit_transfer(transfer);
transfer = libusb_alloc_transfer(0);
libusb_fill_bulk_transfer(transfer, handle, ep_in, rbuf_tmp, EP_SIZE*TRANSFERS, xfr_cb_in, &completed, TIMEOUT);
libusb_submit_transfer(transfer);
/* Handle Events */
while (!completed)
{
rc = libusb_handle_events_completed(NULL, &completed);
if (rc != LIBUSB_SUCCESS)
{
fprintf(stderr, "Transfer Error: %s\n", libusb_error_name(rc));
break;
}
}
fprintf(stderr, "completed\n");
int res;
res = memcmp(rbuf, wbuf, sizeof(wbuf));
if (res != 0)
fprintf(stderr, "miscompare\n");
else
fprintf(stderr, "success\n");
//* Release the interface */
libusb_release_interface(handle, 0);
/* Close the device handle */
if (handle)
libusb_close(handle);
out:
if (handle)
{
libusb_close(handle);
}
libusb_exit(NULL);
return rc;
}
Second approach: ~755.9 MB/s (~6.047 Mb/s)
include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include </usr/include/libusb-1.0/libusb.h>
/* Specify VENDOR_ID and PRODUCT_ID for device */
#define VENDOR_ID 0x0471
#define PRODUCT_ID 0x3630
/* Define number of bytes to transfer */
#define EP_SIZE 64 // bytes
#define TRANSFERS 1024*768*3/EP_SIZE // number of transfers
#define TIMEOUT 10*1000 // milliseconds
/* Use a global variable to keep the device handle */
static struct libusb_device_handle *handle = NULL;
/* count variables */
unsigned int count = 0;
unsigned int count_in = 0;
unsigned int count_out = 0;
/* The Endpoint addresses are hard-coded. You should use libusb -v to find
* the values corresponding to device
*/
static int ep_in = 0x82;
static int ep_out = 0x01;
/* Write and Read buffers */
unsigned char wbuf[EP_SIZE*TRANSFERS];
unsigned char *wbuf_tmp;
unsigned char rbuf[EP_SIZE*TRANSFERS];
unsigned char rbuf_tmp[EP_SIZE*TRANSFERS];
static void LIBUSB_CALL xfr_cb_out(struct libusb_transfer *transfer )
{
memcpy(wbuf+count_out*EP_SIZE, transfer->buffer, EP_SIZE);
count_out++; // one transfer complete
if (count_out < TRANSFERS)
{
transfer->buffer = ++wbuf_tmp;
libusb_submit_transfer(transfer);
}
}
static void LIBUSB_CALL xfr_cb_in(struct libusb_transfer *transfer )
{
int *completed = transfer->user_data;
memcpy(rbuf+count_in*EP_SIZE, transfer->buffer, EP_SIZE);
count_in++; // one transfer complete
if (count_in < TRANSFERS)
libusb_submit_transfer(transfer);
else
*completed = 1;
}
int main(int argc, char **argv)
{
const struct libusb_version *version;
int completed = 0;
size_t length = 64;
int n;
int rc;
/* Get libusb version */
version = libusb_get_version();
fprintf(stderr, "libusb version: %d.%d.%d.%d\n", version->major, version->minor, version->micro, version->nano);
/* Initialize libusb */
rc = libusb_init(NULL);
if (rc < 0)
{
fprintf(stderr, "Error Initializing libusb: %s\n", libusb_error_name(rc));
exit(1);
}
/* Set debugging output to max level */
libusb_set_debug(NULL, 3);
/* Look for a specific device and open it */
handle = libusb_open_device_with_vid_pid(NULL, VENDOR_ID, PRODUCT_ID);
if (!handle)
{
fprintf(stderr, "Error finding USB device\n");
goto out;
}
/* claim interface */
rc = libusb_claim_interface(handle, 0);
if (rc < 0)
{
fprintf(stderr, "Error claiming interface.\n");
goto out;
}
/* allocate memory */
wbuf_tmp = malloc(length*TRANSFERS);
/* fill the buffer with incrementing data */
for (n = 0; n < EP_SIZE*TRANSFERS; n++)
{
wbuf_tmp[n] = n;
}
struct libusb_transfer *transfer;
transfer = libusb_alloc_transfer(0);
libusb_fill_bulk_transfer(transfer, handle, ep_out, wbuf_tmp, EP_SIZE, xfr_cb_out, NULL, TIMEOUT);
libusb_submit_transfer(transfer);
transfer = libusb_alloc_transfer(0);
libusb_fill_bulk_transfer(transfer, handle, ep_in, rbuf_tmp, EP_SIZE, xfr_cb_in, &completed, TIMEOUT);
libusb_submit_transfer(transfer);
/* Handle Events */
while (!completed)
{
rc = libusb_handle_events_completed(NULL, &completed);
if (rc != LIBUSB_SUCCESS)
{
fprintf(stderr, "Transfer Error: %s\n", libusb_error_name(rc));
break;
}
}
fprintf(stderr, "completed\n");
int res;
res = memcmp(rbuf, wbuf, sizeof(wbuf));
if (res != 0)
fprintf(stderr, "miscompare\n");
else
fprintf(stderr, "success\n");
//* Release the interface */
libusb_release_interface(handle, 0);
/* Close the device handle */
if (handle)
libusb_close(handle);
out:
if (handle)
{
libusb_close(handle);
}
libusb_exit(NULL);
return rc;
}
Update: See accepted answer.
The following is an example using Synchronous I/O. I had a lot of trouble getting the transactions to come out in the expected order using Asynchronous I/O. I assume this was due to transfers racing with each other as #Gene had mentioned.
The main gripe I have about the libusb API is the lack of examples to illustrate proper use. The API would lead someone to believe that asynchronous transactions are placed on the bus in the order they are "submitted" and from what I gather this is not true. This functionality would be fine for submitting transactions with all the same packet TOKEN (i.e. OUT or IN).
The following code works for large bulk transfers.
Using Synchronous I/O
#include <stdlib.h>
#include <stdio.h>
#include <libusb-1.0/libusb.h>
/* Change VENDOR_ID and PRODUCT_ID depending on device */
#define VENDOR_ID 0x0471
#define PRODUCT_ID 0x3630
/* Define number of bytes to transfer */
#define BYTES 1024*768*3 // bytes
#define EP_SIZE 64 // bytes
#define TIMEOUT 5*1000 // milliseconds
/* Use a global variable to keep the device handle */
static struct libusb_device_handle *devh = NULL;
/* The Endpoint addresses are hard-coded. You should use libusb -v to find
* the values corresponding to device
*/
static int ep_in_addr = 0x82;
static int ep_out_addr = 0x01;
int write_chars(unsigned char * data, int length)
{
/* To send a char to the device simply initiate a bulk_transfer to the Endpoint
* with the address ep_out_addr.
*/
int actual_length;
int rc = libusb_bulk_transfer(devh, ep_out_addr, data, length, &actual_length, TIMEOUT);
if (rc < 0)
{
fprintf(stderr, "Error while sending char: %d\n", rc);
return -1;
}
return actual_length;
}
int read_chars(unsigned char * data, int length)
{
/* To receive characters from the device initiate a bulk_transfer to the Entpoint
* with address ep_in_addr
*/
int actual_length;
int rc = libusb_bulk_transfer(devh, ep_in_addr, data, length, &actual_length, TIMEOUT);
if (rc == LIBUSB_ERROR_TIMEOUT)
{
printf("timeout (%d)\n", actual_length);
return -1;
}
else if (rc < 0)
{
fprintf(stderr, "Error while waiting for char: %d\n", rc);
return -1;
}
return actual_length;
}
int main(int argc, char **argv)
{
int rc;
/* Initialize libusb */
rc = libusb_init(NULL);
if (rc < 0)
{
fprintf(stderr, "Error Initializing libusb: %s\n", libusb_error_name(rc));
exit(1);
}
/* Set debugging output to max level */
libusb_set_debug(NULL, 3);
/* Look for a specific device and open it */
devh = libusb_open_device_with_vid_pid(NULL, VENDOR_ID, PRODUCT_ID);
if (!devh)
{
fprintf(stderr, "Error finding USB device\n");
goto out;
}
/* We can now start sending or receiving data to the device */
unsigned char buf[BYTES];
unsigned char rbuf[EP_SIZE];
int len;
int n;
int l;
int res;
// fill buffer
for (n = 0; n < BYTES; n++)
{
buf[n] = 0x00+n;
}
// loopback data, write-read
for (l = 0; l < BYTES/EP_SIZE; l++)
{
len = write_chars(buf+l*EP_SIZE, EP_SIZE);
len = read_chars(rbuf, EP_SIZE);
res = memcmp(rbuf, buf+l*EP_SIZE, sizeof(rbuf));
if (res != 0)
fprintf(stderr, "Miscompare: block %d\n", l);
}
libusb_release_interface(devh, 0);
out:
if (devh)
{
libusb_close(devh);
}
libusb_exit(NULL);
return rc;
}
Using Asynchronous and Synchronous together (i.e. OUT is submitted Asynchronously and IN is Synchronous)
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include </usr/include/libusb-1.0/libusb.h>
/* Specify VENDOR_ID and PRODUCT_ID for device */
#define VENDOR_ID 0x0471
#define PRODUCT_ID 0x3630
/* Define number of bytes to transfer */
#define EP_SIZE 64 // bytes
#define TRANSFERS 1024*768*3/EP_SIZE // number of transfers
#define BYTES EP_SIZE*TRANSFERS
#define TIMEOUT 15*1000 // milliseconds
/* Use a global variable to keep the device handle */
static struct libusb_device_handle *handle = NULL;
/* count variable */
unsigned int count_out = 0;
/* The Endpoint addresses are hard-coded. You should use libusb -v to find
* the values corresponding to device
*/
static int ep_in = 0x82;
static int ep_out = 0x01;
unsigned char rbuf[EP_SIZE*TRANSFERS];
unsigned char wbuf[EP_SIZE*TRANSFERS];
static void LIBUSB_CALL xfr_cb_out(struct libusb_transfer *transfer )
{
memcpy(wbuf+count_out*EP_SIZE, transfer->buffer, EP_SIZE);
count_out++;
}
int main(int argc, char **argv)
{
const struct libusb_version *version;
unsigned char *buf, *rbuf_tmp;
size_t length = 64;
int n;
int i;
int rc;
/* Get libusb version */
version = libusb_get_version();
fprintf(stderr, "libusb version: %d.%d.%d.%d\n", version->major, version->minor, version->micro, version->nano);
/* Initialize libusb */
rc = libusb_init(NULL);
if (rc < 0)
{
fprintf(stderr, "Error Initializing libusb: %s\n", libusb_error_name(rc));
exit(1);
}
/* Set debugging output to max level */
libusb_set_debug(NULL, 3);
/* Look for a specific device and open it */
handle = libusb_open_device_with_vid_pid(NULL, VENDOR_ID, PRODUCT_ID);
if (!handle)
{
fprintf(stderr, "Error finding USB device\n");
goto out;
}
/* claim interface */
rc = libusb_claim_interface(handle, 0);
if (rc < 0)
{
fprintf(stderr, "Error claiming interface.\n");
goto out;
}
/* allocate memory */
buf = malloc(length*TRANSFERS);
/* fill the buffer with incrementing data */
for (n = 0; n < EP_SIZE*TRANSFERS; n++)
{
buf[n] = n;
}
/* allocate memory */
rbuf_tmp = malloc(length);
/* set up alternating OUT-IN transfers */
for (i = 0; i < TRANSFERS; i++)
{
struct libusb_transfer *transfer;
transfer = libusb_alloc_transfer(0);
libusb_fill_bulk_transfer(transfer, handle, ep_out, buf+i, EP_SIZE, xfr_cb_out, NULL, TIMEOUT);
libusb_submit_transfer(transfer);
int actual_length;
int rc = libusb_bulk_transfer(handle, ep_in, rbuf_tmp, EP_SIZE, &actual_length, TIMEOUT);
if (rc != LIBUSB_SUCCESS)
{
fprintf(stderr, "Transfer Error: %s\n", libusb_error_name(rc));
break;
}
memcpy(rbuf+i*EP_SIZE, rbuf_tmp, EP_SIZE);
}
fprintf(stderr, "completed\n");
int res;
res = memcmp(rbuf, wbuf, sizeof(wbuf));
if (res != 0)
fprintf(stderr, "miscompare\n");
//* Release the interface */
libusb_release_interface(handle, 0);
/* Close the device handle */
if (handle)
libusb_close(handle);
out:
if (handle)
{
libusb_close(handle);
}
libusb_exit(NULL);
return rc;
}
The above code was an experiment to see if performance increased. Interestingly, the speed difference between the two was negligible.
The version of libusb was 1.0.17.10830
Related
I am trying to use Alsa library to reproduce the audio I get from my CAN FD communication, into my headphones. I don't quite understand how to properly configure Alsa's parameters, in order to be able to listen to the sound I get from the CAN FD.
static char *device = "plughw:0,0"; /* playback device */
static snd_pcm_format_t format = SND_PCM_FORMAT_S16_LE; /* sample format */
static unsigned int rate = 16000; /* stream rate */
static unsigned int channels = 1; /* count of channels */
static unsigned int buffer_time = 40000; /* ring buffer length in us */
static unsigned int period_time = 120000; /* period time in us */
static int resample = 1; /* enable alsa-lib resampling */
static int period_event = 0; /* produce poll event after each period */
int size;
while (1) {
do {
nbytes = read(s, &frame, sizeof(struct canfd_frame));
} while (nbytes == 0);
for (x = 0; x < 64; x = x + 2) {
buffer[a] = ((uint32_t) frame.data[x] << 8)
| ((uint32_t) (frame.data[x + 1]));
a++;
}
//err=snd_pcm_writei(handle,buffer,32);
//printf("Datos = %d\n", err);
memcpy(total1 + i * 32, buffer, 32 * sizeof(uint32_t));
i++;
a = 0;
if (i == 500) {
buffer_length=16000;
ptr = total1;
while(buffer_length > 0){
err = snd_pcm_writei(handle, ptr, 16000);
printf("Datos = %d\n", err);
snd_pcm_avail_delay(handle, &availp, &delayp);
//printf("available frames =%ld delay = %ld z = %d\n", availp, delayp, z);
if (err == -EAGAIN)
continue;
if(err < 0){
err=snd_pcm_recover(handle, err, 1);
}
else{
ptr += err * channels;
buffer_length -= err;
z++;
}
if(err<0){
printf("snd_pcm_writei failed: %s\n", snd_strerror(err));
break;
}
}
i = 0;
}
This is a part of my code, I don't thinks posting the whole code is worth. I don't understand which values should I give to buffer_time, period_time and how to be able to listen to what a I get through the CAN FD in real time. I am using snd_pcm_writei, inserting a buffer I fill with some samples I get from the CAN FD. I don't know which size should I give to the buffer and to the "frames" variable, another one that I don't quite understand, eventhough I have read some about it.
Any idea how should I configure my system? (buffer_time, period_time, buffer_size, frame,...)
I have tried using different buffer and frame sizes, but I don't think I understand how it works properly. How can I calculate the size of the frame and buffer of the snd_pcm_writei(), in order to listen in Real Time to the audio?
Should I use two differente threads? One to create the buffer with the CAN FD information and the other one to handle the buffer and the audio output?
Thanks in advance,
Ander.
I have finally managed to hear my self through the headphones. I have changed my configuration posted on my previous in order to sincronize it with the data I get from the CAN FD. I will post part of my code down here in case somebody needs an example. The most important part having to handle buffers like these is to handle the time to fill and the time to communicate it. Handling the time and configuring the Alsa parameters accordingly makes easier to handle the buffers.
static char *device = "plughw:0,0"; /* playback device */
static snd_pcm_format_t format = SND_PCM_FORMAT_S16_LE; /* sample format */
static unsigned int rate = 22000; /* stream rate */
static unsigned int channels = 1; /* count of channels */
static unsigned int buffer_time = 1000; /* ring buffer length in us */
static unsigned int period_time = 10000; /* period time in us */
static int resample = 1; /* enable alsa-lib resampling */
static int period_event = 0; /* produce poll event after each period */
int size;
static snd_pcm_sframes_t buffer_size;
static snd_pcm_sframes_t period_size;
static snd_output_t *output = NULL;
snd_pcm_sframes_t delayp;
snd_pcm_sframes_t availp;
snd_pcm_uframes_t frames;
static void write_loop(snd_pcm_t *handle) {
uint32_t *buffer = malloc(16000 * sizeof(uint32_t));
uint32_t *total1 = malloc(16000 * sizeof(uint32_t)); // array to hold the result
while (1) {
do {
nbytes = read(s, &frame, sizeof(struct canfd_frame));
} while (nbytes == 0);
for (x = 0; x < 64;x = x + 2) {
buffer[a] = ((uint32_t) frame.data[x] << 8)
| ((uint32_t) (frame.data[x + 1]));
//buffer[a]=frame.data[x];
a++;
}
i++;
if (i == 250) {
memcpy(total1, buffer, 16000 * sizeof(uint32_t));
//printf("Address = %lu \n",(unsigned long)total1);
flag = 1;
buffer_length = 16000;
i = 0;
a = 0;
}
if (flag == 1) {
while(buffer_length > 0) {
snd_pcm_prepare(handle);
err = snd_pcm_writei(handle, total1, buffer_length);
//printf("Datos = %d\n", err);
snd_pcm_avail_delay(handle, &availp, &delayp);
//printf("available frames =%ld delay = %ld\n",availp,delayp);
if (err == -EAGAIN)
continue;
if (err < 0) {
err = snd_pcm_recover(handle, err, 1);
} else {
ptr += err * channels;
buffer_length -= err;
z++;
}
if (err < 0) {
printf("snd_pcm_writei failed: %s\n", snd_strerror(err));
break;
}
}
flag = 0;
}
}
}
I am writing a MIPI driver without using the I2C functionality, since it is not possible for me to use it. I am writing this for the Google Coral.
To write this new driver I looked at this example and adjusted it to only use the MMAP functionality.
My new code is this:
/*
* V4L2 video capture example
*
* This program can be used and distributed without restrictions.
*
* This program is provided with the V4L2 API
* see http://linuxtv.org/docs.php for more information
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include <getopt.h> /* getopt_long() */
#include <fcntl.h> /* low-level i/o */
#include <unistd.h>
#include <errno.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <sys/time.h>
#include <sys/mman.h>
#include <sys/ioctl.h>
#include <linux/videodev2.h>
#define CLEAR(x) memset(&(x), 0, sizeof(x))
#ifndef V4L2_PIX_FMT_H264
#define V4L2_PIX_FMT_H264 v4l2_fourcc('H', '2', '6', '4') /* H264 with start codes */
#endif
struct buffer {
void *start;
size_t length;
};
static char *dev_name;
static int fd = -1;
struct buffer *buffers;
static unsigned int n_buffers;
static int out_buf;
static int force_format;
static int frame_count = 200;
static int frame_number = 0;
static void errno_exit(const char *s)
{
fprintf(stderr, "%s error %d, %s\n", s, errno, strerror(errno));
exit(EXIT_FAILURE);
}
static int xioctl(int fh, int request, void *arg)
{
int r;
do {
r = ioctl(fh, request, arg);
} while (-1 == r && EINTR == errno);
return r;
}
static void process_image(const void *p, int size)
{
printf("processing image\n");
frame_number++;
char filename[15];
sprintf(filename, "frame-%d.raw", frame_number); // filename becomes frame-x.raw
FILE *fp=fopen(filename,"wb");
if (out_buf)
fwrite(p, size, 1, fp); // write data to file fp
fflush(fp);
fclose(fp);
}
static int read_frame(void)
{
printf("reading frame\n");
struct v4l2_buffer buf;
unsigned int i;
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
if (-1 == xioctl(fd, VIDIOC_DQBUF, &buf)) {
switch (errno) {
case EAGAIN:
return 0;
case EIO:
/* Could ignore EIO, see spec. */
/* fall through */
default:
errno_exit("VIDIOC_DQBUF");
}
}
assert(buf.index < n_buffers);
process_image(buffers[buf.index].start, buf.bytesused);
if (-1 == xioctl(fd, VIDIOC_QBUF, &buf))
errno_exit("VIDIOC_QBUF");
return 1;
}
static void mainloop(void)
{
printf("mainloop\n");
unsigned int count;
count = frame_count;
while (count-- > 0) {
printf("count number = %d\n", count );
for (;;) {
fd_set fds;
struct timeval tv;
int r;
FD_ZERO(&fds); // clear file descriptor
FD_SET(fd, &fds); // set file descriptors to the descriptor fd
/* Timeout. */
tv.tv_sec = 2;
tv.tv_usec = 0;
r = select(fd + 1, &fds, NULL, NULL, &tv); // select uses a timeout, allows program to monitor file descriptors waiting untill files becomes "ready"
// returns the number of file descriptors changed. This maybe zero if timeout expires.
// probably watching reafds descriptor to change?
if (-1 == r) {
if (EINTR == errno)
continue;
errno_exit("select");
}
if (0 == r) {
fprintf(stderr, "select timeout\n");
exit(EXIT_FAILURE);
}
if (read_frame()) // if one of the descriptors is set, a frame can be read.
break;
/* EAGAIN - continue select loop. */
}
}
printf("mainloop ended\n");
}
static void stop_capturing(void)
{
printf("stop capturing\n");
enum v4l2_buf_type type;
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl(fd, VIDIOC_STREAMOFF, &type))
errno_exit("VIDIOC_STREAMOFF");
printf("capturing stopped\n");
}
static void start_capturing(void)
{
printf("initiating capturing\n");
unsigned int i;
enum v4l2_buf_type type;
for (i = 0; i < n_buffers; ++i) {
struct v4l2_buffer buf;
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = i;
if (-1 == xioctl(fd, VIDIOC_QBUF, &buf))
errno_exit("VIDIOC_QBUF");
}
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl(fd, VIDIOC_STREAMON, &type)){
errno_exit("VIDIOC_STREAMON");
}
printf("capturing initiated\n");
}
static void uninit_device(void)
{
unsigned int i;
for (i = 0; i < n_buffers; ++i){
if (-1 == munmap(buffers[i].start, buffers[i].length)){
errno_exit("munmap");
}
}
free(buffers);
}
static void init_mmap(void)
{
printf("initiating mmap buffer\n");
struct v4l2_requestbuffers req; //struct with details of the buffer to compose
CLEAR(req);
req.count = 4;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_MMAP;
if (-1 == xioctl(fd, VIDIOC_REQBUFS, &req)) { // initiate buffer
if (EINVAL == errno) {
fprintf(stderr, "%s does not support "
"memory mapping\n", dev_name);
exit(EXIT_FAILURE);
} else {
errno_exit("VIDIOC_REQBUFS");
}
}
printf("memory allocated\n");
if (req.count < 2) {
fprintf(stderr, "Insufficient buffer memory on %s\n",
dev_name);
exit(EXIT_FAILURE);
}
buffers = calloc(req.count, sizeof(*buffers)); // make the amount of buffers available
if (!buffers) {
fprintf(stderr, "Out of memory\n");
exit(EXIT_FAILURE);
}
for (n_buffers = 0; n_buffers < req.count; ++n_buffers) { // go through buffers and adjust struct in it
struct v4l2_buffer buf;
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = n_buffers;
if (-1 == xioctl(fd, VIDIOC_QUERYBUF, &buf))
errno_exit("VIDIOC_QUERYBUF");
buffers[n_buffers].length = buf.length;
buffers[n_buffers].start =
mmap(NULL /* start anywhere */,
buf.length,
PROT_READ | PROT_WRITE /* required */,
MAP_SHARED /* recommended */,
fd, buf.m.offset);
if (MAP_FAILED == buffers[n_buffers].start)
errno_exit("mmap");
}
printf("mmap buffer initiated\n");
}
static void init_device(void)
{
printf("initiating device\n");
struct v4l2_capability cap;
struct v4l2_cropcap cropcap;
struct v4l2_crop crop;
struct v4l2_format fmt;
unsigned int min;
if (-1 == xioctl(fd, VIDIOC_QUERYCAP, &cap)) { // gets information about driver and harware capabilities
if (EINVAL == errno) { // driver is not compatible with specifications
fprintf(stderr, "%s is no V4L2 device\n",
dev_name);
exit(EXIT_FAILURE);
} else {
errno_exit("VIDIOC_QUERYCAP");
}
}
if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)) {
fprintf(stderr, "%s is no video capture device\n",
dev_name);
exit(EXIT_FAILURE);
}
if (!(cap.capabilities & V4L2_CAP_STREAMING)) {
fprintf(stderr, "%s does not support streaming i/o\n",
dev_name);
exit(EXIT_FAILURE);
}
/* Select video input, video standard and tune here. */
CLEAR(cropcap);
cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (0 == xioctl(fd, VIDIOC_CROPCAP, &cropcap)) { // used to get cropping limits, pixel aspects, ... fill in type field and get all this information back
crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
crop.c = cropcap.defrect; /* reset to default */
if (-1 == xioctl(fd, VIDIOC_S_CROP, &crop)) { // get cropping rectangle
switch (errno) {
case EINVAL:
printf("EINVAL in VIDIOC_S_CROP\n");
/* Cropping not supported. */
break;
default:
printf("other error in VIDIOC_S_CROP\n");
/* Errors ignored. */
break;
}
}
} else {
/* Errors ignored. */
}
CLEAR(fmt); // set the format of the v4l2 video
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (force_format) {
fprintf(stderr, "Set H264\r\n");
fmt.fmt.pix.width = 640; //replace
fmt.fmt.pix.height = 480; //replace
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_H264; //replace
fmt.fmt.pix.field = V4L2_FIELD_ANY;
if (-1 == xioctl(fd, VIDIOC_S_FMT, &fmt))
errno_exit("VIDIOC_S_FMT");
/* Note VIDIOC_S_FMT may change width and height. */
} else {
/* Preserve original settings as set by v4l2-ctl for example */
if (-1 == xioctl(fd, VIDIOC_G_FMT, &fmt))
errno_exit("VIDIOC_G_FMT");
}
/* Buggy driver paranoia. */
min = fmt.fmt.pix.width * 2;
if (fmt.fmt.pix.bytesperline < min)
fmt.fmt.pix.bytesperline = min;
min = fmt.fmt.pix.bytesperline * fmt.fmt.pix.height;
if (fmt.fmt.pix.sizeimage < min)
fmt.fmt.pix.sizeimage = min;
init_mmap();
printf("device inititiated\n");
}
static void close_device(void)
{
printf("closing device\n");
if (-1 == close(fd))
errno_exit("close");
fd = -1;
printf("device closed\n");
}
/*
struct stat {
dev_t st_dev; ID of device containing file
ino_t st_ino; Inode number
mode_t st_mode; File type and mode
nlink_t st_nlink; Number of hard links
uid_t st_uid; User ID of owner
gid_t st_gid; Group ID of owner
dev_t st_rdev; Device ID (if special file)
off_t st_size; Total size, in bytes
blksize_t st_blksize; Block size for filesystem I/O
blkcnt_t st_blocks; Number of 512B blocks allocated
Since Linux 2.6, the kernel supports nanosecond
precision for the following timestamp fields.
For the details before Linux 2.6, see NOTES.
struct timespec st_atim; Time of last access
struct timespec st_mtim; Time of last modification
struct timespec st_ctim; Time of last status change
#define st_atime st_atim.tv_sec Backward compatibility
#define st_mtime st_mtim.tv_sec
#define st_ctime st_ctim.tv_sec
};
*/
static void open_device(void)
{
printf("openening device\n");
struct stat st;
if (-1 == stat(dev_name, &st)) { // stat() returns info about file into struct
fprintf(stderr, "Cannot identify '%s': %d, %s\n",
dev_name, errno, strerror(errno));
exit(EXIT_FAILURE);
}
if (!S_ISCHR(st.st_mode)) {
fprintf(stderr, "%s is no device\n", dev_name);
exit(EXIT_FAILURE);
}
fd = open(dev_name, O_RDWR /* required */ | O_NONBLOCK, 0); // open the file dev/video0, returns a file descriptor
// if fd == -1, the file could not be opened.
if (-1 == fd) {
fprintf(stderr, "Cannot open '%s': %d, %s\n",
dev_name, errno, strerror(errno));
exit(EXIT_FAILURE);
}
printf("device opened\n");
}
int main(int argc, char **argv)
{
printf("main begins\n");
dev_name = "/dev/video0";
for (;;) {
printf("back here\n");
break;
}
open_device();
init_device();
start_capturing();
mainloop();
stop_capturing();
uninit_device();
close_device();
fprintf(stderr, "\n");
return 0;
}
However I get the following error:
VIDIOC_REQBUFS error 12, Cannot allocate memory
The entire output is:
main begins
back here
openening device
device opened
initiating device
initiating mmap buffer
VIDIOC_REQBUFS error 12, Cannot allocate memory
make: *** [makefile:3: all] Error 1
In the above code this is caused by:
if (-1 == xioctl(fd, VIDIOC_REQBUFS, &req)) { // initiate buffer
if (EINVAL == errno) {
fprintf(stderr, "%s does not support "
"memory mapping\n", dev_name);
exit(EXIT_FAILURE);
} else {
errno_exit("VIDIOC_REQBUFS");
}
}
Thus the ioctl(fd, VIDIOC_REQBUFS, &req) causes this error.
I have already looked on StackOverflow and found 1 other person with the same mistake.
He suggested to change CONFIG_CMA_SIZE_MBYTES to 32 from 16. I tried this by looking where I could find this setting. I found it in: boot/config-4.14.98-imx . However, it was already 320. (yes tenfold). I am now rather stuck on this. Is there a problem in my code, or do I need to change the setting from 320 to 32 (which seems counterintuitive).
With kind regards.
Trying to create a raw socket based program using mmap_packet to send packets at fast rate.
The following code is adopted from the example at this gist. It does send packets but it doesn't send it fast. On my 1Gbps nic (r8169 driver), it only sends at a rate of about 95,000 packets/second on my corei7 processor (3.1GHz). I believe it could have sent at much higher rate.
Not sure what is the bottleneck. Any ideas? Thanks!
Here is the code snippet:
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <stdint.h>
#include <unistd.h>
#include <assert.h>
#include <errno.h>
#include <fcntl.h>
#include <poll.h>
#include <arpa/inet.h>
#include <netinet/if_ether.h>
#include <sys/mman.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <sys/stat.h>
#include <linux/if.h>
#include <linux/if_packet.h>
#include <sys/time.h>
#define PACKET_QDISC_BYPASS 20
/// The number of frames in the ring
// This number is not set in stone. Nor are block_size, block_nr or frame_size
#define CONF_RING_FRAMES 1024
#define CONF_DEVICE "eth0"
/// Offset of data from start of frame
#define PKT_OFFSET (TPACKET_ALIGN(sizeof(struct tpacket_hdr)) + \
TPACKET_ALIGN(sizeof(struct sockaddr_ll)))
/// (unimportant) macro for loud failure
#define RETURN_ERROR(lvl, msg) \
do { \
fprintf(stderr, msg); \
return lvl; \
} while(0);
static struct sockaddr_ll txring_daddr;
double getTS() {
struct timeval tv;
gettimeofday(&tv, NULL);
return tv.tv_sec + tv.tv_usec/1000000.0;
}
/// create a linklayer destination address
// #param ringdev is a link layer device name, such as "eth0"
static int
init_ring_daddr(int fd, const char *ringdev)
{
struct ifreq ifreq;
// get device index
strcpy(ifreq.ifr_name, ringdev);
if (ioctl(fd, SIOCGIFINDEX, &ifreq)) {
perror("ioctl");
return -1;
}
txring_daddr.sll_family = AF_PACKET;
txring_daddr.sll_protocol = htons(ETH_P_IP);
txring_daddr.sll_ifindex = ifreq.ifr_ifindex;
// set the linklayer destination address
// NOTE: this should be a real address, not ff.ff....
txring_daddr.sll_halen = ETH_ALEN;
memset(&txring_daddr.sll_addr, 0xff, ETH_ALEN);
return 0;
}
/// Initialize a packet socket ring buffer
// #param ringtype is one of PACKET_RX_RING or PACKET_TX_RING
static char *
init_packetsock_ring(int fd, int ringtype)
{
struct tpacket_req tp;
char *ring;
// tell kernel to export data through mmap()ped ring
tp.tp_block_size = CONF_RING_FRAMES * getpagesize();
tp.tp_block_nr = 1;
tp.tp_frame_size = getpagesize();
tp.tp_frame_nr = CONF_RING_FRAMES;
if (setsockopt(fd, SOL_PACKET, ringtype, (void*) &tp, sizeof(tp))) {
perror("setting up ring");
RETURN_ERROR(NULL, "setsockopt() ring\n");
}
#ifdef TPACKET_V2
printf("it's TPACKET_V2\n");
val = TPACKET_V1;
setsockopt(fd, SOL_PACKET, PACKET_HDRLEN, &val, sizeof(val));
#endif
// open ring
ring = mmap(0, tp.tp_block_size * tp.tp_block_nr,
PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
if (!ring)
RETURN_ERROR(NULL, "mmap()\n");
if (init_ring_daddr(fd, CONF_DEVICE))
return NULL;
return ring;
}
/// Create a packet socket. If param ring is not NULL, the buffer is mapped
// #param ring will, if set, point to the mapped ring on return
// #return the socket fd
static int
init_packetsock(char **ring, int ringtype)
{
int fd;
// open packet socket
//fd = socket(PF_PACKET, SOCK_DGRAM, htons(ETH_P_IP));
//fd = socket(AF_INET,SOCK_RAW,htons(ETH_P_ALL)); //ETH_P_ALL = 3
fd = socket(PF_PACKET, SOCK_RAW, htons(ETH_P_ALL));
if (fd < 0) {
perror("open socket");
RETURN_ERROR(-1, "Root priliveges are required\nsocket() rx. \n");
}
if (ring) {
*ring = init_packetsock_ring(fd, ringtype);
if (!*ring) {
close(fd);
return -1;
}
}
return fd;
}
static int
exit_packetsock(int fd, char *ring)
{
if (munmap(ring, CONF_RING_FRAMES * getpagesize())) {
perror("munmap");
return 1;
}
if (close(fd)) {
perror("close");
return 1;
}
return 0;
}
/// transmit a packet using packet ring
// NOTE: for high rate processing try to batch system calls,
// by writing multiple packets to the ring before calling send()
//
// #param pkt is a packet from the network layer up (e.g., IP)
// #return 0 on success, -1 on failure
static int process_tx(int fd, char *ring, const char *pkt, int pktlen)
{
static int ring_offset = 0;
struct tpacket_hdr *header;
struct pollfd pollset;
char *off;
int ret;
// fetch a frame
// like in the PACKET_RX_RING case, we define frames to be a page long,
// including their header. This explains the use of getpagesize().
header = (void *) ring + (ring_offset * getpagesize());
assert((((unsigned long) header) & (getpagesize() - 1)) == 0);
while (header->tp_status != TP_STATUS_AVAILABLE) {
// if none available: wait on more data
pollset.fd = fd;
pollset.events = POLLOUT;
pollset.revents = 0;
ret = poll(&pollset, 1, 1000 /* don't hang */);
if (ret < 0) {
if (errno != EINTR) {
perror("poll");
return -1;
}
//return 0;
}
}
// fill data
off = ((void *) header) + (TPACKET_HDRLEN - sizeof(struct sockaddr_ll));
memcpy(off, pkt, pktlen);
// fill header
header->tp_len = pktlen;
header->tp_status = TP_STATUS_SEND_REQUEST;
// increase consumer ring pointer
ring_offset = (ring_offset + 1) & (CONF_RING_FRAMES - 1);
// notify kernel
return 0;
}
/// Example application that opens a packet socket with rx_ring
int main(int argc, char **argv)
{
char *ring;
char pkt[125] = {0x00,0x0c,0x29,0xa4,0xff,0xbc,0x40,0x25,0xc2,0xd9,0xfb,0x8c,0x08,0x00,0x45,0x00,0x00,0x6f,0x24,0x1b,0x40,0x00,0x40,0x06,0x02,0x4b,0x0a,0x00,0x00,0x07,0x0a,0x00,0x00,0x1d,0xb8,0x64,0x01,0xbb,0x80,0x9e,0xaa,0x77,0x17,0x6d,0xa2,0x04,0x80,0x18,0x00,0x73,0x03,0xa0,0x00,0x00,0x01,0x01,0x08,0x0a,0x01,0x27,0x8e,0xaf,0x00,0x01,0xe8,0x71,0x16,0x03,0x01,0x00,0x36,0x01,0x00,0x00,0x32,0x03,0x02,0x55,0xf5,0x01,0xa9,0xc0,0xca,0xae,0xd6,0xd2,0x9b,0x6a,0x79,0x6d,0x9a,0xe8,0x9d,0x78,0xe2,0x64,0x98,0xf0,0xac,0xcb,0x2c,0x0d,0x51,0xa5,0xf8,0xc4,0x0f,0x93,0x87,0x00,0x00,0x04,0x00,0x35,0x00,0xff,0x01,0x00,0x00,0x05,0x00,0x0f,0x00,0x01,0x01};
int fd;
printf("page size %x\n", getpagesize());
fd = init_packetsock(&ring, PACKET_TX_RING);
if (fd < 0)
return 1;
// TODO: make correct IP packet out of pkt
int i;
double startTs = getTS();
double currentTs;
int pktCnt = 0;
int sendCnt = 0;
while (1) {
for (i=0; i<1000; i++) {
pkt[1] ++; pktCnt++;
process_tx(fd, ring, pkt, 125);
}
if (sendto(fd, NULL, 0, 0, (void *) &txring_daddr, sizeof(txring_daddr)) < 0) {
perror("sendto");
return -1;
}
sendCnt++;
usleep(300);
currentTs = getTS();
if ((currentTs - startTs) >= 1.0) {
startTs += 1.0;
printf("%7d %6d\n", pktCnt, sendCnt);
pktCnt = 0; sendCnt = 0;
}
}
if (exit_packetsock(fd, ring))
return 1;
printf("OK\n");
return 0;
}
UPDATE1
The current NIC is RealTek RTL8111/8168/8411 NIC. After upgrading the driver to the version as of 8.044, the rate goes up to 135K/second.
Ran the same program on Intel 82577LM Gigabit NIC, got about 430K/seconds rate.
I am now using pocketSphinx to build a C library. The problem is that if i put the main function together with all the header files(as the code below), it works well. Then i made a static library(with code not including the main function). But when i tried to use this lib in another main function, errors happened as:
/usr/local/include/sphinxbase/ad.h:106:27: FATAL error: sphinx_config.h:no such file or directory
... when compiling. I think this might be a problem related to the path of my header files.
Can any one tell me how to solve this?
The code below works well:
//system headerfiles
#include <stdio.h>
#include <string.h>
#include <sys/types.h>
#include <sys/time.h>
#include <signal.h>
#include <setjmp.h>
//generic live audio interface for recording and playback
#include <sphinxbase/ad.h>
#include <sphinxbase/cont_ad.h>
//pocketsphinx headerfiles
#include <sphinxbase/err.h>
#include "pocketsphinx.h"
static ps_decoder_t *ps;
static cmd_ln_t *config;
static void print_word_times(int32 start)
{
ps_seg_t *iter = ps_seg_iter(ps, NULL);
while (iter != NULL)
{
int32 sf, ef, pprob;
float conf;
ps_seg_frames (iter, &sf, &ef);
pprob = ps_seg_prob (iter, NULL, NULL, NULL);
conf = logmath_exp(ps_get_logmath(ps), pprob);
printf ("%s %f %f %f\n", ps_seg_word (iter), (sf + start) / 100.0, (ef + start) / 100.0, conf);
iter = ps_seg_next (iter);
}
}
/* Sleep for specified msec */
static void sleep_msec(int32 ms)
{
struct timeval tmo;
tmo.tv_sec = 0;
tmo.tv_usec = ms * 1000; //original was 1000 try to modify here to reduce the sleeping time
select(0, NULL, NULL, NULL, &tmo);
}
char const *recognize_from_microphone()
{
ad_rec_t *ad;
int16 adbuf[4096];
int32 k, ts, rem;
char const *hyp;
char const *uttid;
cont_ad_t *cont;
char word[256];
if ((ad = ad_open_dev(cmd_ln_str_r(config, "-adcdev"),
(int)cmd_ln_float32_r(config, "-samprate"))) == NULL)
E_FATAL("Failed top open audio device\n");
/* Initialize continuous listening module */
if ((cont = cont_ad_init(ad, ad_read)) == NULL)
E_FATAL("Failed to initialize voice activity detection\n");
if (ad_start_rec(ad) < 0)
E_FATAL("Failed to start recording\n");
if (cont_ad_calib(cont) < 0)
E_FATAL("Failed to calibrate voice activity detection\n");
/* Indicate listening for next utterance */
printf("READY....\n");
fflush(stdout);
fflush(stderr);
/* Wait data for next utterance */
while ((k = cont_ad_read(cont, adbuf, 4096)) == 0)
sleep_msec(100);
if (k < 0)
E_FATAL("Failed to read audio\n");
/*
* Non-zero amount of data received; start recognition of new utterance.
* NULL argument to uttproc_begin_utt => automatic generation of utterance-id.
*/
if (ps_start_utt(ps, NULL) < 0)
E_FATAL("Failed to start utterance\n");
ps_process_raw(ps, adbuf, k, FALSE, FALSE);
printf("Listening...\n");
fflush(stdout);
/* Note timestamp for this first block of data */
ts = cont->read_ts;
/* Decode utterance until end (marked by a "long" silence, >1sec) */
for (;;) {
/* Read non-silence audio data, if any, from continuous listening module */
if ((k = cont_ad_read(cont, adbuf, 4096)) < 0)
E_FATAL("Failed to read audio\n");
if (k == 0) {
/*
* No speech data available; check current timestamp with most recent
* speech to see if more than 1 sec elapsed. If so, end of utterance.
*/
if ((cont->read_ts - ts) > DEFAULT_SAMPLES_PER_SEC)
break;
}
else {
/* New speech data received; note current timestamp */
ts = cont->read_ts;
}
/*
* Decode whatever data was read above.
*/
rem = ps_process_raw(ps, adbuf, k, FALSE, FALSE);
/* If no work to be done, sleep a bit */
if ((rem == 0) && (k == 0))
sleep_msec(20);
}
/*
* Utterance ended; flush any accumulated, unprocessed A/D data and stop
* listening until current utterance completely decoded
*/
ad_stop_rec(ad);
while (ad_read(ad, adbuf, 4096) >= 0);
cont_ad_reset(cont);
printf("Stopped listening, please wait...\n");
fflush(stdout);
/* Finish decoding, obtain and print result */
ps_end_utt(ps);
hyp = ps_get_hyp(ps, NULL, &uttid);
printf("%s: %s\n", uttid, hyp);
fflush(stdout);
/* Resume A/D recording for next utterance */
if (ad_start_rec(ad) < 0)
E_FATAL("Failed to start recording\n");
cont_ad_close(cont);
ad_close(ad);
return hyp;
}
static jmp_buf jbuf;
static void sighandler(int signo)
{
longjmp(jbuf, 1);
}
int main(int argc, char *argv[])
{
char const *word;
config = cmd_ln_init(NULL, ps_args(), TRUE,
"-hmm", MODELDIR "/hmm/en_US/hub4wsj_sc_8k",
"-lm", "/home/nieluming/Desktop/speech_lib/models/2253.lm",
"-dict", "/home/nieluming/Desktop/speech_lib/models/2253.dic",
NULL);
if (config == NULL)
return 1;
ps = ps_init(config);
if (ps == NULL)
return 1;
signal(SIGINT, &sighandler);
if (setjmp(jbuf) == 0)
word = recognize_from_microphone();
printf("%s\n", word);
ps_free(ps);
return 0;
}
As i have stated, when i made a lib with code above and a headfile as below:
#ifndef MIC_RECOG_H
#define MIC_RECOG_H
char const *recognize_from_microphone();
#endif
"no header file problems" will happen when using this lib.
Add -I/usr/local/include/sphinxbase to the set of compiler options in use.
-I <path> adds path to the set of pathes being searched for files to be included.
I want to use pocketShpinx to do some speech-to-text word. I have install sphinxbase and pocketSphinx. And download the acoustic model/langauge model/dictionary. Then I test the example code just like follows:
#include <pocketsphinx/pocketsphinx.h>
#include <stdio.h>
#include <stdlib.h>
#include "debug.h"
int main(int argc, char *argv[])
{
ps_decoder_t *ps;
cmd_ln_t *config;
FILE *fh;
int rv;
char const *hyp, *uttid;
int32 score;
config = cmd_ln_init(NULL, ps_args(), TRUE,
"-hmm", "/home/madper/speech/hub4opensrc.cd_continuous_8gau",
"-lm", "/home/madper/speech/language_model.arpaformat.DMP",
"-dict", "/home/madper/speech/cmudict/cmudict/sphinxdict/cmudict_SPHINX_40",
NULL);
if (config == NULL)
{
DBG (("cmd_ln_init() failed.\n"));
exit(1);
}
if ((ps = ps_init (config)) == NULL) /* init decoder */
{
DBG (("ps_init() failed.\n"));
exit(1 );
}
if ((fh = fopen("test.raw", "rb")) == NULL) /* open raw file */
{
DBG (("fopen() failed.\n"));
exit (1);
}
if ((rv = ps_decode_raw (ps, fh, "test", -1)) < 0 )
{
DBG (("ps_decode_raw() error!\n"));
exit (1);
}
if ((hyp = ps_get_hyp(ps, &score, &uttid)) == NULL)
{
DBG (("ps_get_hyp() failed!\n"));
exit (1);
}
printf ("Recognized: %s\n", hyp); /* this is what you say */
fclose(fh);
ps_free(ps);
return 0;
}
DBG is just a macro to print error message if defined DEBUG.
Then I write some code to record from mic use alsa. Like follows:
#define ALSA_PCM_NEW_HW_PARAMS_API
#include <alsa/asoundlib.h>
int main() {
long loops;
int rc;
int size;
snd_pcm_t *handle;
snd_pcm_hw_params_t *params;
unsigned int val;
int dir;
snd_pcm_uframes_t frames;
char *buffer;
/* Open PCM device for recording (capture). */
rc = snd_pcm_open(&handle, "default",
SND_PCM_STREAM_CAPTURE, 0);
if (rc < 0) {
fprintf(stderr,
"unable to open pcm device: %s\n",
snd_strerror(rc));
exit(1);
}
/* Allocate a hardware parameters object. */
snd_pcm_hw_params_alloca(¶ms);
/* Fill it in with default values. */
snd_pcm_hw_params_any(handle, params);
/* Set the desired hardware parameters. */
/* Interleaved mode */
snd_pcm_hw_params_set_access(handle, params,
SND_PCM_ACCESS_RW_INTERLEAVED);
/* Signed 16-bit little-endian format */
snd_pcm_hw_params_set_format(handle, params,
SND_PCM_FORMAT_S16_LE);
/* Two channels (stereo) */
snd_pcm_hw_params_set_channels(handle, params, 1);
/* 44100 bits/second sampling rate (CD quality) */
val = 16000;
snd_pcm_hw_params_set_rate_near(handle, params,
&val, &dir);
/* Set period size to 32 frames. */
frames = 16;
snd_pcm_hw_params_set_period_size_near(handle,
params, &frames, &dir);
/* Write the parameters to the driver */
rc = snd_pcm_hw_params(handle, params);
if (rc < 0) {
fprintf(stderr,
"unable to set hw parameters: %s\n",
snd_strerror(rc));
exit(1);
}
/* Use a buffer large enough to hold one period */
snd_pcm_hw_params_get_period_size(params,
&frames, &dir);
size = frames * 2; /* 2 bytes/sample, 2 channels */
buffer = (char *) malloc(size);
/* We want to loop for 5 seconds */
snd_pcm_hw_params_get_period_time(params,
&val, &dir);
loops = 2000000 / val;
while (loops > 0) {
loops--;
rc = snd_pcm_readi(handle, buffer, frames);
if (rc == -EPIPE) {
/* EPIPE means overrun */
fprintf(stderr, "overrun occurred\n");
snd_pcm_prepare(handle);
} else if (rc < 0) {
fprintf(stderr,
"error from read: %s\n",
snd_strerror(rc));
} else if (rc != (int)frames) {
fprintf(stderr, "short read, read %d frames\n", rc);
}
rc = write(1, buffer, size);
if (rc != size)
fprintf(stderr,
"short write: wrote %d bytes\n", rc);
}
snd_pcm_drain(handle);
snd_pcm_close(handle);
free(buffer);
return 0;
}
So, I record a raw file. Then do speech-to-test on that file. But the accuracy is very vert poor. Just like hello or go home will give me hotel or MHM MHM and so on. So what's wrong with these code?
I have read the faqs, should I use acoustic model adaptation to improve accuracy?
PS. I change stereo to mono. And the sound is strange. I can't understand what I said. So, what's wrong with it? This is that raw file test.raw
If you look at the first Q and A in http://cmusphinx.sourceforge.net/wiki/faq you will notice that the library assumes mono data.
You record in stereo.