feat(streamhub): BinaryRecorder core (header, encode, rows, flush, rotation)
Add a FileWriter-compatible per-source binary recorder: native-type encode and TypeDescriptor mapping, FileWriter header serialization, subset/quantized/ ACCUMULATE row serialization, and push-thread double-buffer flush with size-cap rotation, keep-N pruning, fdatasync cadence, disk-free and staging-overflow guards. Covered by 12 GTests; full suite (83) green. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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Martino Ferrari
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/**
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* @file BinaryRecorder.h
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* @brief Per-source binary recorder writing MARTe2 FileWriter-compatible files.
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*
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* @copyright Copyright 2015 F4E | European Joint Undertaking for ITER and
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* the Development of Fusion Energy ('Fusion for Energy').
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* Licensed under the EUPL, Version 1.1 or - as soon they will be approved
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* by the European Commission - subsequent versions of the EUPL (the "Licence")
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* You may not use this work except in compliance with the Licence.
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* You may obtain a copy of the Licence at: http://ec.europa.eu/idabc/eupl
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*
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* @warning Unless required by applicable law or agreed to in writing,
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* software distributed under the Licence is distributed on an "AS IS"
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* basis, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express
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* or implied. See the Licence permissions and limitations under the Licence.
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*
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* @details
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* Records incoming signal packets to disk in the MARTe2 FileWriter binary
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* format, one rotating file per source. The capture path (CapturePacket,
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* Configure) runs on the session receive thread; all file I/O (FlushTick)
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* runs on the 30 Hz push thread. Only the staging double-buffer, the header
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* blob and a handful of control flags cross threads, guarded by a
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* FastPollingMutexSem.
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*
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* On-disk format (byte-identical to FileWriter for un-quantized signals):
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* [uint32 numSigs]
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* per signal: [uint16 TypeDescriptor.all][char[32] name][uint32 numElements]
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* rows: each row = all included signals concatenated, native little-endian.
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*/
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#ifndef STREAMHUB_BINARYRECORDER_H_
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#define STREAMHUB_BINARYRECORDER_H_
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#include <string.h>
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#include "CompilerTypes.h"
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#include "TypeDescriptor.h"
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#include "FastPollingMutexSem.h"
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#include "UDPSProtocol.h"
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namespace StreamHub {
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using MARTe::uint8;
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using MARTe::uint16;
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using MARTe::uint32;
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using MARTe::uint64;
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using MARTe::float64;
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/** Maximum number of signals a recorder can include. */
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static const uint32 kRecMaxSig = 256u;
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/** Configuration for a BinaryRecorder, parsed from the +Recorder cfg block. */
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struct RecorderConfig {
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bool enabled; ///< Master enable
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bool autoStart; ///< Arm at startup
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char directory[512]; ///< Output directory
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uint32 maxFileBytes; ///< Roll threshold (MaxFileMB * 1024 * 1024)
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uint32 keepFiles; ///< Newest N kept per source
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uint32 stagingBytes; ///< Per-buffer hard cap (StagingMB * 1024 * 1024)
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uint32 flushIntervalSec; ///< fdatasync cadence
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uint32 minDiskFreeMB; ///< Stop-writing guard
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char signals[1024]; ///< "all" or comma-separated "src:sig" keys
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};
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class BinaryRecorder {
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public:
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BinaryRecorder();
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~BinaryRecorder();
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/** One-time setup: copy config, source id, create directory. */
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void Init(const RecorderConfig &cfg, const char *sourceId);
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/**
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* Receive thread: (re)build the FileWriter header and per-signal row
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* layout for the included signals. Triggers a file reopen on the push
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* thread so the new layout takes effect with a fresh header.
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*/
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void Configure(const MARTe::UDPSSignalDescriptor *descs, uint32 nSigs,
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const bool *includeMask);
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/** Receive thread: append one packet's rows to the staging buffer. */
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void CapturePacket(const uint8 *payload, const uint32 *sigOff,
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const uint32 *sigElems, uint8 publishMode,
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uint32 numSamples);
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/** Push thread: open pending file, swap+flush staging, rotate, fsync. */
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void FlushTick(uint32 nowSec);
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void RequestArm(); ///< Any thread: arm recording.
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void RequestDisarm(); ///< Any thread: disarm, flush, close.
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bool IsEnabled() const; ///< True when the master enable is set.
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/** recInfo snapshot (push thread). */
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void GetInfo(bool &recording, char *file, uint32 fileSz,
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uint64 &bytesWritten, uint64 &rowsWritten,
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uint64 &droppedRows, uint64 &freeMB) const;
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/** Map a UDPS type code to a MARTe2 TypeDescriptor.all (uint16). */
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static uint16 TypeCodeToDescriptorAll(uint8 udpsTypeCode);
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/** Encode a physical value into native little-endian bytes; returns size. */
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static uint32 EncodeNative(uint8 typeCode, float64 v, uint8 *dst);
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private:
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void OpenNewFile();
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void CloseFile();
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void PruneOldFiles();
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bool HasSufficientDisk();
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/* Configuration */
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RecorderConfig config_;
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char sourceId_[128];
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/* Layout (built on receive thread by Configure) */
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uint32 srcIdx_[kRecMaxSig]; ///< Source signal index of included signal
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uint8 typeCode_[kRecMaxSig]; ///< UDPS type code
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uint8 quantType_[kRecMaxSig]; ///< UDPS quant code
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uint32 declaredElems_[kRecMaxSig];///< Element count per signal
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uint32 nativeBytes_[kRecMaxSig]; ///< Native bytes per element
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uint32 wireBytes_[kRecMaxSig]; ///< Wire bytes per element
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float64 rangeMin_[kRecMaxSig];
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float64 rangeMax_[kRecMaxSig];
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uint32 nIncluded_;
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uint32 rowBytes_;
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/* Header blob (receive thread writes, push thread snapshots) */
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uint8 headerBlob_[4u + kRecMaxSig * 38u];
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uint32 headerLen_;
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bool layoutReady_;
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/* Push-owned header snapshot (used for file I/O without holding the lock) */
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uint8 pushHeader_[4u + kRecMaxSig * 38u];
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uint32 pushHeaderLen_;
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uint32 pushRowBytes_;
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/* Staging double buffer */
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uint8 *front_;
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uint8 *back_;
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uint32 frontLen_;
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uint32 backLen_;
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mutable MARTe::FastPollingMutexSem stagingMutex_;
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/* Control flags (guarded by stagingMutex_) */
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bool pendingArm_;
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bool pendingDisarm_;
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bool pendingReopen_;
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/* Push-thread file state */
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int fd_;
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uint64 fileOffset_;
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uint32 lastSyncSec_;
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uint32 fileSeq_;
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char curFilePath_[768];
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/* State + counters */
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bool armed_;
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bool diskLow_;
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uint64 bytesWritten_;
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uint64 rowsWritten_;
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uint64 droppedRows_;
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};
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} /* namespace StreamHub */
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#endif /* STREAMHUB_BINARYRECORDER_H_ */
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