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HWP Encoder: CPU level UDP packet counter #630

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HWP Encoder: CPU level UDP packet counter #630

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092d749
Add cpu level packet count
ykyohei Feb 7, 2024
a2e908c
Fix issues with packet counter
jlashner Mar 17, 2024
1a64b58
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Mar 17, 2024
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69 changes: 41 additions & 28 deletions socs/agents/hwp_encoder/agent.py
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Original file line number Diff line number Diff line change
Expand Up @@ -71,8 +71,9 @@
# The number of datapoints in every encoder packet from the Beaglebone
COUNTER_INFO_LENGTH = 120
# The size of the encoder packet from the beaglebone
# (header + 3*COUNTER_INFO_LENGTH datapoint information + 1 quadrature readout)
COUNTER_PACKET_SIZE = 4 + 4 * COUNTER_INFO_LENGTH + 8 * COUNTER_INFO_LENGTH + 4
# (header + 3*COUNTER_INFO_LENGTH datapoint information
# + 1 quadrature readout + 1 packet counter)
COUNTER_PACKET_SIZE = 4 + 4 + 4 * COUNTER_INFO_LENGTH + 8 * COUNTER_INFO_LENGTH + 4
# The size of the IRIG packet from the Beaglebone
IRIG_PACKET_SIZE = 132

Expand Down Expand Up @@ -391,13 +392,14 @@ def parse_counter_info(self, data):

Note:
'data' structure:
(Please note that '150' below might be replaced by COUNTER_INFO_LENGTH)
(Please note that '120' below might be replaced by COUNTER_INFO_LENGTH)
[0] Readout from the quadrature
[1-150] clock counts of 150 data points
[151-300] corresponding clock overflow of the 150 data points (each overflow count
[1] CPU level encoder packet count
[2-121] clock counts of 120 data points
[122-241] corresponding clock overflow of the 120 data points (each overflow count
is equal to 2^16 clock counts)
[301-450] corresponding absolute number of the 150 data points ((1, 2, 3, etc ...)
or (150, 151, 152, etc ...) or (301, 302, 303, etc ...) etc ...)
[242-361] corresponding absolute number of the 120 data points ((1, 2, 3, etc ...)
or (120, 121, 122, etc ...) or (241, 242, 243, etc ...) etc ...)

counter_queue structure:
counter_queue = [[64 bit clock counts],
Expand All @@ -407,13 +409,13 @@ def parse_counter_info(self, data):
"""

# Convert the Encoder Packet structure into a numpy array
derter = np.array(struct.unpack('<' + 'I' + 'III' * COUNTER_INFO_LENGTH, data))
derter = np.array(struct.unpack('<' + 'I' + 'I' + 'III' * COUNTER_INFO_LENGTH, data))

# self.quad_queue.append(derter[0].item()) # merged to counter_queue
self.counter_queue.append((derter[1:COUNTER_INFO_LENGTH + 1]
+ (derter[COUNTER_INFO_LENGTH + 1:2 * COUNTER_INFO_LENGTH + 1] << 32),
derter[2 * COUNTER_INFO_LENGTH + 1:3 * COUNTER_INFO_LENGTH + 1],
derter[0].item(), time.time()))
self.counter_queue.append((derter[2:COUNTER_INFO_LENGTH + 2]
+ (derter[COUNTER_INFO_LENGTH + 2:2 * COUNTER_INFO_LENGTH + 2] << 32),
derter[2 * COUNTER_INFO_LENGTH + 2:3 * COUNTER_INFO_LENGTH + 2],
derter[0].item(), derter[1].item(), time.time()))

def parse_irig_info(self, data):
"""Method to parse the IRIG Packet and put them to the irig_queue
Expand All @@ -428,12 +430,13 @@ def parse_irig_info(self, data):
'data' structure:
[0] clock count of the IRIG Packet which the UTC time corresponds to
[1] overflow count of initial rising edge
[2] binary encoding of the second data
[3] binary encoding of the minute data
[4] binary encoding of the hour data
[5-11] additional IRIG information which we do mot use
[12-21] synchronization pulse clock counts
[22-31] overflow count at each synchronization pulse
[2] CPU level IRIG packet count
[3] binary encoding of the second data
[4] binary encoding of the minute data
[5] binary encoding of the hour data
[6-12] additional IRIG information which we do mot use
[13-22] synchronization pulse clock counts
[23-32] overflow count at each synchronization pulse

irig_queue structure:
irig_queue = [Packet clock count,
Expand All @@ -445,28 +448,31 @@ def parse_irig_info(self, data):
"""

# Convert the IRIG Packet structure into a numpy array
unpacked_data = struct.unpack('<L' + 'L' + 'L' * 10 + 'L' * 10 + 'L' * 10, data)
unpacked_data = struct.unpack('<L' + 'L' + 'L' + 'L' * 10 + 'L' * 10 + 'L' * 10, data)

# Start of the packet clock count
# overflow.append(unpacked_data[1])
# print "overflow: ", overflow

rising_edge_time = unpacked_data[0] + (unpacked_data[1] << 32)

# CPUl level IRIG packet count
packet_count = unpacked_data[2]

# Stores IRIG time data
irig_info = unpacked_data[2:12]
irig_info = unpacked_data[3:13]

# Prints the time information and returns the current time in seconds
irig_time = self.pretty_print_irig_info(irig_info, rising_edge_time)

# Stores synch pulse clock counts accounting for overflow of 32 bit counter
synch_pulse_clock_times = (np.asarray(unpacked_data[12:22])
+ (np.asarray(unpacked_data[22:32]) << 32)).tolist()
synch_pulse_clock_times = (np.asarray(unpacked_data[13:23])
+ (np.asarray(unpacked_data[23:33]) << 32)).tolist()

# self.irig_queue = [Packet clock count,Packet UTC time in sec,
# [binary encoded IRIG data],[synch pulses clock counts],
# [current system time]]
self.irig_queue.append((rising_edge_time, irig_time, irig_info,
self.irig_queue.append((rising_edge_time, packet_count, irig_time, irig_info,
synch_pulse_clock_times, time.time()))

def __del__(self):
Expand Down Expand Up @@ -520,6 +526,7 @@ def acq(self, session, params):
counter_index_list = []
quad_list = []
quad_counter_list = []
encoder_packet_count_list = []
received_time_list = []

with self.lock.acquire_timeout(timeout=0, job='acq') as acquired:
Expand Down Expand Up @@ -550,13 +557,15 @@ def acq(self, session, params):
while len(self.parser.irig_queue):
irig_data = self.parser.irig_queue.popleft()
rising_edge_count = irig_data[0]
irig_time = irig_data[1]
irig_info = irig_data[2]
synch_pulse_clock_counts = irig_data[3]
sys_time = irig_data[4]
irig_packet_count = irig_data[1]
irig_time = irig_data[2]
irig_info = irig_data[3]
synch_pulse_clock_counts = irig_data[4]
sys_time = irig_data[5]
data = {'timestamp': sys_time, 'block_name': 'HWPEncoder_irig', 'data': {}}
data['data']['irig_time'] = irig_time
data['data']['rising_edge_count'] = rising_edge_count
data['data']['irig_packet_count'] = irig_packet_count
data['data']['irig_sec'] = de_irig(irig_info[0], 1)
data['data']['irig_min'] = de_irig(irig_info[1], 0)
data['data']['irig_hour'] = de_irig(irig_info[2], 0)
Expand Down Expand Up @@ -600,11 +609,13 @@ def acq(self, session, params):
counter_index_list += counter_data[1].tolist()

quad_data = counter_data[2]
sys_time = counter_data[3]
encoder_packet_count = counter_data[3]
sys_time = counter_data[4]

received_time_list.append(sys_time)
quad_list.append(quad_data)
quad_counter_list.append(counter_data[0][0])
encoder_packet_count_list.append(encoder_packet_count)
ct = time.time()

if len(counter_list) >= NUM_ENCODER_TO_PUBLISH \
Expand All @@ -614,6 +625,7 @@ def acq(self, session, params):
data = {'timestamps': [], 'block_name': 'HWPEncoder_quad', 'data': {}}
data['timestamps'] = received_time_list
data['data']['quad'] = quad_list
data['data']['encoder_packet_count'] = encoder_packet_count_list
self.agent.publish_to_feed('HWPEncoder', data)
if quad_list:
self.last_quad = quad_list[-1]
Expand Down Expand Up @@ -661,6 +673,7 @@ def acq(self, session, params):
quad_list = []
quad_counter_list = []
received_time_list = []
encoder_packet_count_list = []

time_encoder_published = ct

Expand Down