First crack at using capnp for serialization instead of protobuf.

* Implementing on DriverPacket initial message between radar_control and usrp_driver.
* Currently compiles, but usrp_driver errors out at runtime.

site_scons/site_config.py

@@ -94,7 +94,7 @@ def hidden_dir_skipper(dirpath):
     "_common": dict(
         # Common flags for all C++ builds
         CCFLAGS=["-Wall"],
-        CXXFLAGS=["-std=c++11"],
+        CXXFLAGS=["-std=c++14"],
         CFLAGS=["-std=c99"],
         # Modules should be able to include relative to build root dir
         CPPPATH=["#$BUILDROOT"],

src/radar_control.py

@@ -29,8 +29,10 @@
 sys.path.append(os.environ["BOREALISPATH"])
 if __debug__:
     from build.debug.src.utils.protobuf.driverpacket_pb2 import DriverPacket
+    from build.debug.src.utils.capnp.driverpacket_capnp import DriverPacketPnp as DPnp
 else:
     from build.release.src.utils.protobuf.driverpacket_pb2 import DriverPacket
+    from build.release.src.utils.capnp.driverpacket_capnp import DriverPacketPnp as DPnp
 
 TIME_PROFILE = False
 
@@ -211,14 +213,13 @@ def create_driver_message(radctrl_params, pulse_transmit_data):
 
     # If this is the first time the driver is being set-up, only send tx and rx rates and center frequencies
     if radctrl_params.startup_flag:
-        message.txcenterfreq = (
-            radctrl_params.slice_dict[0].txctrfreq * 1000
-        )  # convert to Hz
-        message.rxcenterfreq = (
-            radctrl_params.slice_dict[0].rxctrfreq * 1000
-        )  # convert to Hz
-        message.txrate = radctrl_params.experiment.txrate
-        message.rxrate = radctrl_params.experiment.rxrate
+        message = DPnp.new_message(
+            txCtrFreq=radctrl_params.slice_dict[0].txctrfreq * 1000,  # convert to Hz
+            rxCtrFreq=radctrl_params.slice_dict[0].rxctrfreq * 1000,  # convert to Hz
+            txRate=radctrl_params.experiment.txrate,
+            rxRate=radctrl_params.experiment.rxrate,
+        )
+        return message.to_bytes()
     else:
         timing = pulse_transmit_data["timing"]
         SOB = pulse_transmit_data["startofburst"]

src/usrp_drivers/SConscript

@@ -30,4 +30,4 @@ import os
 Import('*')
 
 Prog('usrp_driver', Glob("./*.c*"), with_libs=['utils', 'messages'],
-     LIBS=['protobuf', 'pthread','boost_system','uhd','zmq','rt'])
+     LIBS=['protobuf', 'pthread', 'boost_system', 'uhd', 'zmq', 'rt', 'capnp'])

src/usrp_drivers/usrp_driver.cpp

@@ -1,4 +1,6 @@
 /*Copyright 2016 SuperDARN*/
+#include <capnp/message.h>
+#include <capnp/serialize.h>
 #include <stdint.h>
 #include <sys/mman.h>
 #include <unistd.h>
@@ -27,6 +29,7 @@
 #include <vector>
 #include <zmq.hpp>
 
+#include "src/utils/capnp/driverpacket.capnp.h"
 #include "src/utils/protobuf/driverpacket.pb.h"
 #include "src/utils/protobuf/rxsamplesmetadata.pb.h"
 #include "usrp.hpp"
@@ -710,19 +713,22 @@ int32_t UHD_SAFE_MAIN(int32_t argc, char *argv[]) {
   // that it can begin processing experiments without low averages in the first
   // integration period.
 
-  auto setup_data = recv_string(
-      driver_to_radar_control, driver_options.get_radctrl_to_driver_identity());
+  auto setup_data = recv_string(driver_to_radar_control,
+                                driver_options.get_radctrl_to_driver_identity())
+                        .c_str();
 
-  driverpacket::DriverPacket driver_packet;
-  if (driver_packet.ParseFromString(setup_data) == false) {
-    // TODO(keith): handle error
-  }
+  auto wordArray = kj::ArrayPtr<capnp::word const>(
+      reinterpret_cast<capnp::word const *>(&setup_data), sizeof(setup_data));
+  ::capnp::FlatArrayMessageReader msgReader =
+      ::capnp::FlatArrayMessageReader(wordArray);
+  DriverPacketPnp::Reader driver_packet = msgReader.getRoot<DriverPacketPnp>();
 
-  USRP usrp_d(driver_options, driver_packet.txrate(), driver_packet.rxrate());
+  USRP usrp_d(driver_options, driver_packet.getTxRate(),
+              driver_packet.getRxRate());
   auto tune_delay = uhd::time_spec_t(TUNING_DELAY);
-  usrp_d.set_tx_center_freq(driver_packet.txcenterfreq(),
+  usrp_d.set_tx_center_freq(driver_packet.getTxCtrFreq(),
                             driver_options.get_transmit_channels(), tune_delay);
-  usrp_d.set_rx_center_freq(driver_packet.rxcenterfreq(),
+  usrp_d.set_rx_center_freq(driver_packet.getRxCtrFreq(),
                             driver_options.get_receive_channels(), tune_delay);
 
   driver_to_radar_control.close();

src/utils/capnp/SConscript

@@ -0,0 +1,33 @@
+# Copyright 2015 The Ostrich / by Itamar O
+# Copyright 2016 SuperDARN
+
+# The MIT License (MIT)
+
+# Copyright (c) 2014 The Ostrich
+# Modified 2016 SuperDARN
+
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+#
+# Import('*')
+# import os
+#
+# RadarProtos = ['driverpacket','rxsamplesmetadata']
+# Proto(RadarProtos)
+# Lib('messages', protos=RadarProtos)

src/utils/capnp/driverpacket.capnp

@@ -0,0 +1,21 @@
+@0xd8bfb47e358210a0;
+
+struct DriverPacketPnp {
+  channelSamples @0 :List(SamplesBuffer);
+  sqnNum @1 :UInt32;
+  rxRate @2 :Float64;
+  txRate @3 :Float64;
+  rxCtrFreq @4 :Float64;
+  txCtrFreq @5 :Float64;
+  numRxSamples @6 :UInt32;
+  sqnTime @7 :Float64;
+  timeToSendSamples @8 :Float64;
+  startBurst @9 :Bool;  # start of burst flag
+  endBurst @10 :Bool; # end of burst flag
+  alignSqns @11 :Bool;
+
+  struct SamplesBuffer {
+    real @0 :List(Float32);
+    imag @1 :List(Float32);
+  }
+}

src/utils/capnp/rxsamplesmetadata.capnp

@@ -0,0 +1,17 @@
+@0x8156beb63a2eaed2;
+
+struct RxSamplesMetadata {
+  sqnNum @0 :UInt32;
+  numRxSamples @1 :UInt32;
+  rxRate @2 :Float64;
+  sqnTime @3 :Float64;
+  initTime @4 :Float64;
+  sqnStartTime @5 :Float64;
+  ringbufferSize @6 :UInt64;
+  agcStatusH @7 :UInt32;
+  lpStatusH @8 :UInt32;
+  agcStatusL @9 :UInt32;
+  lpStatusL @10 :UInt32;
+  gpsLocked @11 :Bool;
+  gpsToSystemTimeDiff @12 :Float64;
+}