Initial release
This commit is contained in:
Martino Ferrari
@@ -0,0 +1,7 @@
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all:
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$(MAKE) -C UDPStreamer -f Makefile.gcc
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clean:
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$(MAKE) -C UDPStreamer -f Makefile.gcc clean
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.PHONY: all clean
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@@ -0,0 +1 @@
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# DataSources intermediate Makefile.inc
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||||
@@ -0,0 +1,25 @@
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||||
#############################################################
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||||
#
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||||
# Copyright 2015 F4E | European Joint Undertaking for ITER
|
||||
# and the Development of Fusion Energy ('Fusion for Energy')
|
||||
#
|
||||
# Licensed under the EUPL, Version 1.1 or - as soon they
|
||||
# will be approved by the European Commission - subsequent
|
||||
# versions of the EUPL (the "Licence");
|
||||
# You may not use this work except in compliance with the
|
||||
# Licence.
|
||||
# You may obtain a copy of the Licence at:
|
||||
#
|
||||
# http://ec.europa.eu/idabc/eupl
|
||||
#
|
||||
# Unless required by applicable law or agreed to in
|
||||
# writing, software distributed under the Licence is
|
||||
# distributed on an "AS IS" basis,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
|
||||
# express or implied.
|
||||
# See the Licence for the specific language governing
|
||||
# permissions and limitations under the Licence.
|
||||
#
|
||||
#############################################################
|
||||
|
||||
include Makefile.inc
|
||||
@@ -0,0 +1,56 @@
|
||||
#############################################################
|
||||
#
|
||||
# Copyright 2015 F4E | European Joint Undertaking for ITER
|
||||
# and the Development of Fusion Energy ('Fusion for Energy')
|
||||
#
|
||||
# Licensed under the EUPL, Version 1.1 or - as soon they
|
||||
# will be approved by the European Commission - subsequent
|
||||
# versions of the EUPL (the "Licence");
|
||||
# You may not use this work except in compliance with the
|
||||
# Licence.
|
||||
# You may obtain a copy of the Licence at:
|
||||
#
|
||||
# http://ec.europa.eu/idabc/eupl
|
||||
#
|
||||
# Unless required by applicable law or agreed to in
|
||||
# writing, software distributed under the Licence is
|
||||
# distributed on an "AS IS" basis,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
|
||||
# express or implied.
|
||||
# See the Licence for the specific language governing
|
||||
# permissions and limitations under the Licence.
|
||||
#
|
||||
#############################################################
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||||
|
||||
OBJSX = UDPStreamer.x
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||||
|
||||
PACKAGE=Components/DataSources
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||||
ROOT_DIR=../../../../
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MAKEDEFAULTDIR=$(MARTe2_DIR)/MakeDefaults
|
||||
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||||
include $(MAKEDEFAULTDIR)/MakeStdLibDefs.$(TARGET)
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||||
INCLUDES += -I.
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INCLUDES += -I$(ROOT_DIR)/Common/UDP
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L0Types
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||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L1Portability
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||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L2Objects
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||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L3Streams
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||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L4Messages
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L4Configuration
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L5GAMs
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L1Portability
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L3Services
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L4Messages
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L5GAMs
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/FileSystem/L1Portability
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/FileSystem/L3Streams
|
||||
|
||||
all: $(OBJS) \
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$(BUILD_DIR)/UDPStreamer$(LIBEXT) \
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$(BUILD_DIR)/UDPStreamer$(DLLEXT)
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||||
echo $(OBJS)
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|
||||
include depends.$(TARGET)
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||||
include $(MAKEDEFAULTDIR)/MakeStdLibRules.$(TARGET)
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,472 @@
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||||
/**
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||||
* @file UDPStreamer.h
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||||
* @brief Header file for class UDPStreamer
|
||||
* @date 13/05/2026
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||||
* @author Martino Ferrari
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||||
*
|
||||
* @copyright Copyright 2015 F4E | European Joint Undertaking for ITER and
|
||||
* the Development of Fusion Energy ('Fusion for Energy').
|
||||
* Licensed under the EUPL, Version 1.1 or - as soon they will be approved
|
||||
* by the European Commission - subsequent versions of the EUPL (the "Licence")
|
||||
* You may not use this work except in compliance with the Licence.
|
||||
* You may obtain a copy of the Licence at: http://ec.europa.eu/idabc/eupl
|
||||
*
|
||||
* @warning Unless required by applicable law or agreed to in writing,
|
||||
* software distributed under the Licence is distributed on an "AS IS"
|
||||
* basis, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express
|
||||
* or implied. See the Licence permissions and limitations under the Licence.
|
||||
*
|
||||
* @details This header file contains the declaration of the class UDPStreamer
|
||||
* with all of its public, protected and private members. It may also include
|
||||
* definitions for inline methods which need to be visible to the compiler.
|
||||
*/
|
||||
|
||||
#ifndef UDPSTREAMER_H_
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||||
#define UDPSTREAMER_H_
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||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
/* Standard header includes */
|
||||
/*---------------------------------------------------------------------------*/
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
/* Project header includes */
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||||
/*---------------------------------------------------------------------------*/
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||||
#include "BasicTCPSocket.h"
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||||
#include "BasicUDPSocket.h"
|
||||
#include "CompilerTypes.h"
|
||||
#include "EmbeddedServiceMethodBinderI.h"
|
||||
#include "EventSem.h"
|
||||
#include "FastPollingMutexSem.h"
|
||||
#include "MemoryDataSourceI.h"
|
||||
#include "SingleThreadService.h"
|
||||
#include "StreamString.h"
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||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
/* Class declaration */
|
||||
/*---------------------------------------------------------------------------*/
|
||||
|
||||
namespace MARTe {
|
||||
|
||||
/**
|
||||
* @brief Publishing mode for the background sender thread.
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||||
*
|
||||
* - Strict: send one packet every Synchronise() call (default).
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||||
* - Accumulate: buffer N successive snapshots and flush either when the next
|
||||
* snapshot would exceed MaxPayloadSize or when 1/MinRefreshRate
|
||||
* has elapsed. Scalars expand to arrays; the first scalar with
|
||||
* Unit="us"/"ns" is auto-promoted as the FullArray time reference.
|
||||
* - Decimate: send one packet every Ratio Synchronise() calls.
|
||||
*/
|
||||
typedef enum {
|
||||
UDPStreamerPublishStrict = 0u, /**< Send on every RT cycle (default) */
|
||||
UDPStreamerPublishAccumulate = 1u, /**< Accumulate until size/time limit; then flush */
|
||||
UDPStreamerPublishDecimate = 2u /**< Send 1 packet every Ratio cycles */
|
||||
} UDPStreamerPublishMode;
|
||||
|
||||
/**
|
||||
* @brief Quantization types for float signals.
|
||||
*/
|
||||
typedef enum {
|
||||
UDPStreamerQuantNone = 0u, /**< No quantization; raw wire format */
|
||||
UDPStreamerQuantUint8 = 1u, /**< Quantize to uint8 [0, 255] */
|
||||
UDPStreamerQuantInt8 = 2u, /**< Quantize to int8 [-127, 127] */
|
||||
UDPStreamerQuantUint16 = 3u, /**< Quantize to uint16 [0, 65535] */
|
||||
UDPStreamerQuantInt16 = 4u /**< Quantize to int16 [-32767, 32767] */
|
||||
} UDPStreamerQuantType;
|
||||
|
||||
/**
|
||||
* @brief Time reference modes for signals.
|
||||
*/
|
||||
typedef enum {
|
||||
UDPStreamerTimePacket = 0u, /**< Use the packet-level timestamp (HRT at Synchronise time) */
|
||||
UDPStreamerTimeFullArray = 1u, /**< Time signal has same NumberOfElements; one timestamp per element */
|
||||
UDPStreamerTimeFirstSample = 2u, /**< Time signal is scalar = timestamp of first element */
|
||||
UDPStreamerTimeLastSample = 3u /**< Time signal is scalar = timestamp of last element */
|
||||
} UDPStreamerTimeMode;
|
||||
|
||||
/**
|
||||
* @brief Per-signal metadata used at runtime for serialization.
|
||||
*/
|
||||
struct UDPStreamerSignalInfo {
|
||||
StreamString name; /**< Signal name */
|
||||
TypeDescriptor type; /**< MARTe2 type descriptor */
|
||||
UDPStreamerQuantType quantType; /**< Quantization type (none = raw copy) */
|
||||
uint8 numDimensions; /**< Number of dimensions (0=scalar, 1=array, 2=matrix) */
|
||||
uint32 numElements; /**< Total number of elements (rows * cols) */
|
||||
uint32 numRows; /**< Number of rows */
|
||||
uint32 numCols; /**< Number of columns */
|
||||
float64 rangeMin; /**< Min of physical range (for quantization) */
|
||||
float64 rangeMax; /**< Max of physical range (for quantization) */
|
||||
UDPStreamerTimeMode timeMode; /**< How time is encoded for this signal */
|
||||
float64 samplingRate; /**< Hz, used for First/LastSample modes */
|
||||
uint32 timeSignalIdx; /**< Index of the time-reference signal; 0xFFFFFFFFu = PacketTime */
|
||||
StreamString unit; /**< Physical unit string */
|
||||
uint32 srcByteSize; /**< Bytes in MARTe2 memory */
|
||||
uint32 wireByteSize; /**< Bytes on the wire (may differ when quantized) */
|
||||
uint32 bufferOffset; /**< Byte offset in the flat MemoryDataSourceI memory buffer */
|
||||
bool accumulated; /**< True when this scalar was expanded to flushCount elements in Auto accumulation mode */
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Magic number for UDPStreamer packets: 'UDPS' in little-endian.
|
||||
*/
|
||||
static const uint32 UDPS_MAGIC = 0x53504455u;
|
||||
|
||||
/**
|
||||
* @brief Packet type codes.
|
||||
*/
|
||||
static const uint8 UDPS_TYPE_DATA = 0u; /**< Server → Client: signal data */
|
||||
static const uint8 UDPS_TYPE_CONFIG = 1u; /**< Server → Client: signal configuration */
|
||||
static const uint8 UDPS_TYPE_ACK = 2u; /**< Client → Server: acknowledge counter */
|
||||
static const uint8 UDPS_TYPE_CONNECT = 3u; /**< Client → Server: connect request */
|
||||
static const uint8 UDPS_TYPE_DISCONNECT = 4u; /**< Client → Server: disconnect */
|
||||
|
||||
/**
|
||||
* @brief Wire packet header (17 bytes, packed).
|
||||
*/
|
||||
struct UDPSPacketHeader {
|
||||
uint32 magic; /**< Must equal UDPS_MAGIC */
|
||||
uint8 type; /**< One of UDPS_TYPE_* */
|
||||
uint32 counter; /**< Sequence counter (per data update, not per fragment) */
|
||||
uint16 fragmentIdx; /**< 0-based index of this fragment */
|
||||
uint16 totalFragments; /**< Total fragments for this update (1 = no fragmentation) */
|
||||
uint32 payloadBytes; /**< Bytes of payload immediately following this header */
|
||||
} __attribute__((packed));
|
||||
|
||||
/**
|
||||
* @brief Signal type codes transmitted in the CONFIG packet.
|
||||
* These are simplified type codes independent of MARTe2 internals.
|
||||
*/
|
||||
static const uint8 UDPS_TYPECODE_UINT8 = 0u;
|
||||
static const uint8 UDPS_TYPECODE_INT8 = 1u;
|
||||
static const uint8 UDPS_TYPECODE_UINT16 = 2u;
|
||||
static const uint8 UDPS_TYPECODE_INT16 = 3u;
|
||||
static const uint8 UDPS_TYPECODE_UINT32 = 4u;
|
||||
static const uint8 UDPS_TYPECODE_INT32 = 5u;
|
||||
static const uint8 UDPS_TYPECODE_UINT64 = 6u;
|
||||
static const uint8 UDPS_TYPECODE_INT64 = 7u;
|
||||
static const uint8 UDPS_TYPECODE_FLOAT32 = 8u;
|
||||
static const uint8 UDPS_TYPECODE_FLOAT64 = 9u;
|
||||
static const uint8 UDPS_TYPECODE_UNKNOWN = 255u;
|
||||
|
||||
/**
|
||||
* @brief A DataSource that streams MARTe2 signals to UDP clients.
|
||||
*
|
||||
* @details This output DataSource accepts signals from GAMs and forwards them
|
||||
* asynchronously over the network. A dedicated background thread handles all
|
||||
* network I/O so that the real-time thread is only blocked by a fast spinlock
|
||||
* and a memcpy during Synchronise().
|
||||
*
|
||||
* Two operating modes are selected by the presence or absence of MulticastGroup:
|
||||
*
|
||||
* @par Unicast mode (default — no MulticastGroup)
|
||||
* The server opens a single UDP socket on Port. The client initiates the session
|
||||
* by sending a CONNECT packet to that port. The server replies with a CONFIG
|
||||
* packet on the same socket and subsequently sends DATA packets directly to the
|
||||
* client's address. Any number of clients may connect sequentially (one at a
|
||||
* time); a new CONNECT evicts the previous client.
|
||||
*
|
||||
* @par Multicast mode (MulticastGroup specified)
|
||||
* The server opens a TCP listener on Port for control traffic and a UDP socket
|
||||
* aimed at MulticastGroup:DataPort for data traffic. The client:
|
||||
* 1. Connects to Port via TCP and sends a CONNECT packet.
|
||||
* 2. Receives the CONFIG packet over TCP.
|
||||
* 3. Joins the multicast group (MulticastGroup:DataPort) to receive DATA packets.
|
||||
* Multiple clients may receive data simultaneously by joining the same group.
|
||||
* A new TCP CONNECT evicts the previous client from the control channel; the
|
||||
* multicast data stream continues regardless.
|
||||
*
|
||||
* @par Packet protocol (both modes)
|
||||
* - Client → Server: CONNECT (initiates session), DISCONNECT (terminates session),
|
||||
* ACK (optional, for packet-loss monitoring).
|
||||
* - Server → Client: CONFIG (signal metadata), DATA (signal values, possibly
|
||||
* fragmented into multiple datagrams if payload exceeds MaxPayloadSize).
|
||||
*
|
||||
* @par Top-level configuration parameters
|
||||
* | Parameter | Type | Default | Description |
|
||||
* |-----------------|---------|---------|-------------|
|
||||
* | Port | uint16 | 44500 | TCP control port (multicast) or UDP server port (unicast). Values ≤ 1024 produce a warning. |
|
||||
* | MulticastGroup | string | *(absent)* | **Enables multicast mode.** IPv4 multicast address, e.g. `"239.0.0.1"`. Must be in 224.0.0.0/4. Absent or empty = unicast. |
|
||||
* | DataPort | uint16 | Port+1 | UDP port for multicast DATA datagrams. Ignored in unicast mode. Must be non-zero and differ from Port. |
|
||||
* | MaxPayloadSize | uint32 | 1400 | Maximum bytes of signal payload per UDP datagram (excluding the 17-byte header). Larger signals are fragmented. |
|
||||
* | PublishingMode | string | Strict | `Strict`: send one packet every Synchronise() call. `Auto`: rate-limited; flush only when MinRefreshRate interval has elapsed. |
|
||||
* | MinRefreshRate | float64 | — | Required when PublishingMode = Auto. Flush frequency in Hz (e.g. 120.0). |
|
||||
* | MaxBatchSize | uint32 | 1 | Optional when PublishingMode = Auto. Number of RT cycles to accumulate before flushing one packet. Scalar signals are expanded to arrays of MaxBatchSize elements; the first scalar with Unit="us" or "ns" is auto-promoted as the per-sample FullArray timestamp reference for all other scalars. When omitted or 1, the most-recent single value is sent at MinRefreshRate. |
|
||||
* | CPUMask | uint32 | 0xFFFFFFFF | CPU affinity bitmask for the background thread. |
|
||||
* | StackSize | uint32 | (MARTe2 default) | Stack size in bytes for the background thread. |
|
||||
*
|
||||
* @par Per-signal configuration parameters
|
||||
* | Parameter | Type | Default | Description |
|
||||
* |------------------|---------|-------------|-------------|
|
||||
* | Type | string | — | MARTe2 type name (uint8, int16, float32, float64, …). Mandatory. |
|
||||
* | NumberOfDimensions | uint8 | 0 | 0 = scalar, 1 = array, 2 = matrix. |
|
||||
* | NumberOfElements | uint32 | 1 | Total element count (rows × cols for matrices). |
|
||||
* | Unit | string | "" | Physical unit label, e.g. `"Pa"` or `"m/s"`. Transmitted in CONFIG for display purposes. |
|
||||
* | RangeMin | float64 | 0.0 | Minimum of the physical range. Required when QuantizedType is not `none`. |
|
||||
* | RangeMax | float64 | 1.0 | Maximum of the physical range. Required when QuantizedType is not `none`. |
|
||||
* | QuantizedType | string | none | Wire quantization for float signals: `none` \| `uint8` \| `int8` \| `uint16` \| `int16`. Reduces wire bandwidth at the cost of precision. Only valid for float32/float64 signals. |
|
||||
* | TimeMode | string | PacketTime | How the signal's time axis is encoded (see below). |
|
||||
* | TimeSignal | string | — | Name of the signal that carries timestamps. Required when TimeMode ≠ PacketTime. |
|
||||
* | SamplingRate | float64 | — | Signal sampling rate in Hz. Required when TimeMode = FirstSample or LastSample. |
|
||||
*
|
||||
* @par TimeMode values
|
||||
* | Value | Description |
|
||||
* |--------------|-------------|
|
||||
* | PacketTime | Uses the HRT counter captured at Synchronise() time as the single packet timestamp. No dedicated time signal needed. |
|
||||
* | FullArray | TimeSignal has the same NumberOfElements as this signal; one timestamp per element. |
|
||||
* | FirstSample | TimeSignal is a scalar = timestamp of the first element; subsequent elements are spaced by 1/SamplingRate. |
|
||||
* | LastSample | TimeSignal is a scalar = timestamp of the last element; elements are spaced backwards by 1/SamplingRate. |
|
||||
*
|
||||
* @par Example — unicast mode
|
||||
* <pre>
|
||||
* +Streamer = {
|
||||
* Class = UDPStreamer
|
||||
* Port = 44500
|
||||
* MaxPayloadSize = 1400
|
||||
* PublishingMode = "Strict"
|
||||
* Signals = {
|
||||
* Time = {
|
||||
* Type = uint64
|
||||
* }
|
||||
* Pressure = {
|
||||
* Type = float32
|
||||
* NumberOfDimensions = 1
|
||||
* NumberOfElements = 100
|
||||
* Unit = "Pa"
|
||||
* RangeMin = 0.0
|
||||
* RangeMax = 1000000.0
|
||||
* QuantizedType = uint16
|
||||
* TimeMode = LastSample
|
||||
* TimeSignal = Time
|
||||
* SamplingRate = 10000.0
|
||||
* }
|
||||
* Temperature = {
|
||||
* Type = float64
|
||||
* Unit = "degC"
|
||||
* TimeMode = PacketTime
|
||||
* }
|
||||
* }
|
||||
* }
|
||||
* </pre>
|
||||
*
|
||||
* @par Example — multicast mode
|
||||
* <pre>
|
||||
* +Streamer = {
|
||||
* Class = UDPStreamer
|
||||
* Port = 44500 // TCP control port
|
||||
* MulticastGroup = "239.0.0.1" // Enables multicast mode
|
||||
* DataPort = 44501 // UDP data port (default: Port+1)
|
||||
* MaxPayloadSize = 1400
|
||||
* PublishingMode = "Auto"
|
||||
* MinRefreshRate = 60
|
||||
* Signals = {
|
||||
* Time = {
|
||||
* Type = uint64
|
||||
* }
|
||||
* Voltage = {
|
||||
* Type = float32
|
||||
* NumberOfDimensions = 1
|
||||
* NumberOfElements = 1000
|
||||
* Unit = "V"
|
||||
* RangeMin = -10.0
|
||||
* RangeMax = 10.0
|
||||
* QuantizedType = int16
|
||||
* TimeMode = FirstSample
|
||||
* TimeSignal = Time
|
||||
* SamplingRate = 100000.0
|
||||
* }
|
||||
* }
|
||||
* }
|
||||
* </pre>
|
||||
*/
|
||||
class UDPStreamer : public MemoryDataSourceI, public EmbeddedServiceMethodBinderI {
|
||||
public:
|
||||
CLASS_REGISTER_DECLARATION()
|
||||
|
||||
/**
|
||||
* @brief Constructor. Initialises all members to safe defaults.
|
||||
*/
|
||||
UDPStreamer();
|
||||
|
||||
/**
|
||||
* @brief Destructor. Stops the background thread and frees allocated memory.
|
||||
*/
|
||||
virtual ~UDPStreamer();
|
||||
|
||||
/**
|
||||
* @brief Parses top-level configuration parameters.
|
||||
* @details Reads Port, MaxPayloadSize, CPUMask, StackSize, PublishingMode,
|
||||
* MinRefreshRate, MulticastGroup, and DataPort from the configuration node.
|
||||
* Sets useMulticast and dataPort when MulticastGroup is present and valid.
|
||||
* @return true if all mandatory parameters are valid and consistent.
|
||||
*/
|
||||
virtual bool Initialise(StructuredDataI &data);
|
||||
|
||||
/**
|
||||
* @brief Validates signal types and builds the per-signal metadata array.
|
||||
* @details Reads per-signal custom fields (Unit, RangeMin, RangeMax, QuantizedType,
|
||||
* TimeMode, TimeSignal, SamplingRate) from signalsDatabase and populates signalInfos[].
|
||||
* @return true if all signal configurations are valid.
|
||||
*/
|
||||
virtual bool SetConfiguredDatabase(StructuredDataI &data);
|
||||
|
||||
/**
|
||||
* @brief Allocates signal memory (via parent) plus readyBuffer, scratchBuffer, wireBuffer.
|
||||
* @return true if all memory allocations succeed.
|
||||
*/
|
||||
virtual bool AllocateMemory();
|
||||
|
||||
/**
|
||||
* @brief Returns the broker name for the given signal direction.
|
||||
* @return "MemoryMapSynchronisedOutputBroker" for OutputSignals; "" otherwise.
|
||||
*/
|
||||
virtual const char8 *GetBrokerName(StructuredDataI &data,
|
||||
const SignalDirection direction);
|
||||
|
||||
/**
|
||||
* @brief Called by the RT thread after all GAMs have written output signals.
|
||||
* @details Copies signal memory to readyBuffer under a fast spinlock, then posts
|
||||
* the dataSem to wake the background thread. Returns immediately.
|
||||
* @return true always.
|
||||
*/
|
||||
virtual bool Synchronise();
|
||||
|
||||
/**
|
||||
* @brief Opens the server socket and starts the background thread.
|
||||
* @return true if the socket and thread start successfully.
|
||||
*/
|
||||
virtual bool PrepareNextState(const char8 *const currentStateName,
|
||||
const char8 *const nextStateName);
|
||||
|
||||
/**
|
||||
* @brief Background thread entry point.
|
||||
* @details Handles client CONNECT/DISCONNECT/ACK and sends DATA packets.
|
||||
*/
|
||||
virtual ErrorManagement::ErrorType Execute(ExecutionInfo &info);
|
||||
|
||||
/**
|
||||
* @brief Returns the listening port number.
|
||||
*/
|
||||
uint16 GetPort() const;
|
||||
|
||||
/**
|
||||
* @brief Returns the maximum payload size per UDP datagram.
|
||||
*/
|
||||
uint32 GetMaxPayloadSize() const;
|
||||
|
||||
/**
|
||||
* @brief Returns true if a client is currently connected.
|
||||
*/
|
||||
bool IsClientConnected() const;
|
||||
|
||||
/**
|
||||
* @brief Returns true when multicast mode is active (MulticastGroup was set in config).
|
||||
*/
|
||||
bool IsMulticast() const;
|
||||
|
||||
private:
|
||||
/**
|
||||
* @brief Serializes the CONFIG payload into buf and sets payloadSize.
|
||||
* @return true if serialization succeeds.
|
||||
*/
|
||||
bool BuildConfigPayload(uint8 *buf, uint32 bufSize, uint32 &payloadSize);
|
||||
|
||||
/**
|
||||
* @brief Quantizes and serializes all signals from srcBuf into wireBuffer.
|
||||
* @param[in] srcBuf Flat source buffer (signal data in MARTe2 format).
|
||||
* @param[in] timestamp HRT counter to embed as packet timestamp.
|
||||
*/
|
||||
void QuantizeAndSerialize(const uint8 *srcBuf, uint64 timestamp);
|
||||
|
||||
/**
|
||||
* @brief Sends payload as one or more fragmented UDP datagrams to the connected client.
|
||||
* @return true if all datagrams were sent without error.
|
||||
*/
|
||||
bool SendFragmented(uint8 type, uint32 counter, const uint8 *payload, uint32 payloadSize);
|
||||
|
||||
/**
|
||||
* @brief Handles a single received command packet from a client (unicast mode).
|
||||
*/
|
||||
void HandleClientCommand(const uint8 *buf, uint32 size);
|
||||
|
||||
/**
|
||||
* @brief Handles a CONNECT received on the TCP control socket (multicast mode).
|
||||
* @details Validates magic+type, sets clientConnected, builds and sends CONFIG via tcpClient.
|
||||
*/
|
||||
void HandleTCPConnect(const uint8 *buf, uint32 size);
|
||||
|
||||
/**
|
||||
* @brief Serializes an accumulated batch into wireBuffer.
|
||||
* @param src Flat buffer [numSamples × totalSrcBytes], slot 0 = oldest.
|
||||
* @param timestamps HRT counters per slot; timestamps[0] is the packet timestamp.
|
||||
* @param numSamples Actual number of filled slots to serialize.
|
||||
*/
|
||||
void SerializeAccumulated(const uint8 *src, const uint64 *timestamps, uint32 numSamples);
|
||||
|
||||
/**
|
||||
* @brief Maps a MARTe2 TypeDescriptor to the UDPS_TYPECODE_* constants.
|
||||
*/
|
||||
static uint8 TypeDescriptorToCode(TypeDescriptor td);
|
||||
|
||||
/* Configuration parameters */
|
||||
uint16 port; /**< UDP server port */
|
||||
uint32 maxPayloadSize; /**< Max payload bytes per UDP packet (excluding header) */
|
||||
uint32 cpuMask; /**< Background thread CPU affinity */
|
||||
uint32 stackSize; /**< Background thread stack size */
|
||||
UDPStreamerPublishMode publishMode; /**< Strict or Auto publishing mode */
|
||||
float64 minRefreshRate; /**< Minimum flush rate (Hz) for Auto mode */
|
||||
uint64 flushPeriodTicks; /**< HRT ticks per flush interval (computed from minRefreshRate) */
|
||||
/* Accumulate mode — dynamic batch parameters */
|
||||
uint32 maxBatchCount; /**< Max snapshots that fit in MaxPayloadSize (Accumulate) */
|
||||
uint32 singleCycleWireBytes; /**< Wire bytes for all accumulated signals per snapshot */
|
||||
uint32 fixedWireBytes; /**< Wire bytes for non-accumulated signals (arrays, once per packet) */
|
||||
volatile uint64 lastPublishTs; /**< HRT counter of last successful flush (Accumulate mode) */
|
||||
uint8 *accumBuffer; /**< Heap: [maxBatchCount × totalSrcBytes] linear fill */
|
||||
uint64 *accumTimestamps; /**< Heap: [maxBatchCount] HRT counter per snapshot */
|
||||
uint32 accumFill; /**< Slots filled in accumBuffer (0..maxBatchCount) */
|
||||
uint64 *readyTimestamps; /**< Heap: [maxBatchCount] HRT for completed ready batch */
|
||||
uint64 *scratchTimestamps; /**< Heap: [maxBatchCount] background-thread local copy */
|
||||
uint32 readyFill; /**< Snapshot count in the ready batch */
|
||||
/* Decimate mode */
|
||||
uint32 decimateRatio; /**< Send 1 packet every decimateRatio Synchronise() calls */
|
||||
uint32 decimateCounter; /**< Current decimate cycle counter */
|
||||
|
||||
/* Signal metadata */
|
||||
uint32 numSigs; /**< Number of signals */
|
||||
UDPStreamerSignalInfo *signalInfos; /**< Per-signal metadata array */
|
||||
|
||||
/* Double-buffering for RT safety */
|
||||
uint8 *readyBuffer; /**< Protected copy of signal memory for background thread */
|
||||
uint8 *scratchBuffer; /**< Local copy used during serialization (avoids holding lock) */
|
||||
uint32 totalSrcBytes; /**< Total bytes of signal data (= stateMemorySize) */
|
||||
FastPollingMutexSem bufMutex; /**< Protects readyBuffer against concurrent access */
|
||||
EventSem dataSem; /**< Wakes background thread when new data is ready */
|
||||
volatile uint64 syncTimestamp; /**< HRT counter captured in Synchronise() */
|
||||
|
||||
/* Wire serialization buffer */
|
||||
uint8 *wireBuffer; /**< Pre-allocated buffer for the serialized DATA payload */
|
||||
uint32 totalWireBytes; /**< Total bytes of all signals after quantization + 8-byte timestamp prefix */
|
||||
|
||||
/* Networking — unicast mode */
|
||||
BasicUDPSocket serverSocket; /**< Bound to port; receives client commands (unicast) */
|
||||
BasicUDPSocket clientSocket; /**< Configured to send to the connected client (unicast) */
|
||||
volatile bool clientConnected; /**< True when a client has successfully connected */
|
||||
|
||||
/* Networking — multicast mode (only used when useMulticast == true) */
|
||||
StreamString multicastGroup; /**< Multicast group IP, e.g. "239.0.0.1"; empty = unicast */
|
||||
uint16 dataPort; /**< UDP port for DATA datagrams in multicast mode */
|
||||
bool useMulticast; /**< Derived from multicastGroup.Size() > 0 in Initialise() */
|
||||
BasicTCPSocket tcpListener; /**< TCP server socket: accepts control connections */
|
||||
BasicTCPSocket *tcpClient; /**< Accepted TCP control connection (heap by WaitConnection) */
|
||||
BasicUDPSocket dataSocket; /**< UDP socket aimed at multicastGroup:dataPort */
|
||||
|
||||
/* Thread management */
|
||||
SingleThreadService executor; /**< Background thread service */
|
||||
|
||||
/* Packet sequencing */
|
||||
uint32 packetCounter; /**< Incremented for each DATA update sent */
|
||||
};
|
||||
|
||||
} /* namespace MARTe */
|
||||
|
||||
#endif /* UDPSTREAMER_H_ */
|
||||
@@ -0,0 +1,142 @@
|
||||
../../../..//Build/x86-linux/Components/DataSources/UDPStreamer/UDPStreamer.o: UDPStreamer.cpp \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/AdvancedErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassProperties.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/TypeCharacteristics.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/CompilerTypes.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Architecture/x86_gcc/CompilerTypes.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/FractionalInteger.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/TypeCharacteristics.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/TemplateParametersVerificator.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/CompilerTypes.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ErrorInformation.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/ErrorType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitBoolean.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitRange.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StreamI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeoutType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HighResolutionTimer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeStamp.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Architecture/x86_gcc/HighResolutionTimerA.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/HighResolutionTimer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../HighResolutionTimer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/HighResolutionTimerCalibrator.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeStamp.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/StreamMemoryReference.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/BufferedStreamI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeoutType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/AnyType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassProperties.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassRegistryDatabase.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GlobalObjectsDatabase.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GlobalObjectI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/StandardHeap.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../HeapI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../ErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../Generic/StandardHeap_Generic.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/FastPollingMutexSem.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Atomic.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Architecture/x86_gcc/AtomicA.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Sleep.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassRegistryItem.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/CString.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/ZeroTerminatedArray.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Introspection.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/IntrospectionEntry.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TypeDescriptor.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BasicType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/FractionalInteger.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitRange.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitBoolean.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/ZeroTerminatedArray.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListable.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListHolderT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/IteratorT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Iterator.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListable.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListHolder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/SortFilter.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/SearchFilter.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/LoadableLibrary.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ObjectBuilder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StaticList.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StaticListHolder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Matrix.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Vector.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapManager.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/MemoryOperationsHelper.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/FormatDescriptor.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/IOBuffer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/CharBuffer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StreamI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedThreadI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedServiceMethodBinderI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/ExecutionInfo.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L1Portability/Threads.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ThreadsB.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L1Portability/ExceptionHandler.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ProcessorType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitSet.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedServiceMethodBinderT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Object.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StringHelper.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/StructuredDataI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/AnyType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/CLASSREGISTER.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassRegistryItemT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ObjectBuilderT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HighResolutionTimer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/MemoryMapSynchronisedOutputBroker.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/MemoryMapOutputBroker.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/MemoryMapBroker.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/BrokerI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/DataSourceI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/ConfigurationDatabase.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/AnyObject.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/ConfigurationDatabaseNode.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Fnv1aHashFunction.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/HashFunction.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListHolder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Object.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Reference.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainerFilter.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainerNode.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/UnorderedMap.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapManager.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StringHelper.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainerFilterObjectName.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/StructuredDataI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/TypeConversion.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Vector.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/StreamString.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/StreamStringIOBuffer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/StatefulI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/ExecutableI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Sleep.h \
|
||||
UDPStreamer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/FileSystem/L1Portability/BasicTCPSocket.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/FileSystem/L1Portability/BasicSocket.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/FileSystem/L1Portability/InternetHost.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/FileSystem/L1Portability/Environment/Linux/InternetHostCore.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/FileSystem/L1Portability/Environment/Linux/InternetMulticastCore.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HandleI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/FileSystem/L1Portability/Environment/Linux/SocketCore.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/FileSystem/L1Portability/BasicUDPSocket.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedServiceMethodBinderI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L1Portability/EventSem.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/MemoryDataSourceI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/SingleThreadService.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedServiceI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedThreadI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedThread.h
|
||||
@@ -0,0 +1,142 @@
|
||||
UDPStreamer.o: UDPStreamer.cpp \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/AdvancedErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassProperties.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/TypeCharacteristics.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/CompilerTypes.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Architecture/x86_gcc/CompilerTypes.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/FractionalInteger.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/TypeCharacteristics.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/TemplateParametersVerificator.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/CompilerTypes.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ErrorInformation.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/ErrorType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitBoolean.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitRange.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StreamI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeoutType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HighResolutionTimer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeStamp.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Architecture/x86_gcc/HighResolutionTimerA.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/HighResolutionTimer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../HighResolutionTimer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/HighResolutionTimerCalibrator.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeStamp.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/StreamMemoryReference.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/BufferedStreamI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeoutType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/AnyType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassProperties.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassRegistryDatabase.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GlobalObjectsDatabase.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GlobalObjectI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/StandardHeap.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../HeapI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../ErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../Generic/StandardHeap_Generic.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/FastPollingMutexSem.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Atomic.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Architecture/x86_gcc/AtomicA.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Sleep.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassRegistryItem.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/CString.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/ZeroTerminatedArray.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Introspection.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/IntrospectionEntry.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TypeDescriptor.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BasicType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/FractionalInteger.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitRange.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitBoolean.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/ZeroTerminatedArray.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListable.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListHolderT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/IteratorT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Iterator.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListable.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListHolder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/SortFilter.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/SearchFilter.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/LoadableLibrary.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ObjectBuilder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StaticList.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StaticListHolder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Matrix.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Vector.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapManager.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/MemoryOperationsHelper.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/FormatDescriptor.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/IOBuffer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/CharBuffer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StreamI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedThreadI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedServiceMethodBinderI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/ExecutionInfo.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L1Portability/Threads.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ThreadsB.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L1Portability/ExceptionHandler.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ProcessorType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitSet.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedServiceMethodBinderT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Object.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StringHelper.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/StructuredDataI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/AnyType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/CLASSREGISTER.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassRegistryItemT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ObjectBuilderT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HighResolutionTimer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/MemoryMapSynchronisedOutputBroker.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/MemoryMapOutputBroker.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/MemoryMapBroker.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/BrokerI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/DataSourceI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/ConfigurationDatabase.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/AnyObject.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/ConfigurationDatabaseNode.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Fnv1aHashFunction.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/HashFunction.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListHolder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Object.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Reference.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainerFilter.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainerNode.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/UnorderedMap.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapManager.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StringHelper.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainerFilterObjectName.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/StructuredDataI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/TypeConversion.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Vector.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/StreamString.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/StreamStringIOBuffer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/StatefulI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/ExecutableI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Sleep.h \
|
||||
UDPStreamer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/FileSystem/L1Portability/BasicTCPSocket.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/FileSystem/L1Portability/BasicSocket.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/FileSystem/L1Portability/InternetHost.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/FileSystem/L1Portability/Environment/Linux/InternetHostCore.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/FileSystem/L1Portability/Environment/Linux/InternetMulticastCore.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HandleI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/FileSystem/L1Portability/Environment/Linux/SocketCore.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/FileSystem/L1Portability/BasicUDPSocket.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedServiceMethodBinderI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L1Portability/EventSem.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/MemoryDataSourceI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/SingleThreadService.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedServiceI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedThreadI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/Scheduler/L3Services/EmbeddedThread.h
|
||||
@@ -0,0 +1,9 @@
|
||||
all:
|
||||
$(MAKE) -C SineArrayGAM -f Makefile.gcc
|
||||
$(MAKE) -C TimeArrayGAM -f Makefile.gcc
|
||||
|
||||
clean:
|
||||
$(MAKE) -C SineArrayGAM -f Makefile.gcc clean
|
||||
$(MAKE) -C TimeArrayGAM -f Makefile.gcc clean
|
||||
|
||||
.PHONY: all clean
|
||||
@@ -0,0 +1 @@
|
||||
# GAMs intermediate Makefile.inc
|
||||
@@ -0,0 +1,25 @@
|
||||
#############################################################
|
||||
#
|
||||
# Copyright 2015 F4E | European Joint Undertaking for ITER
|
||||
# and the Development of Fusion Energy ('Fusion for Energy')
|
||||
#
|
||||
# Licensed under the EUPL, Version 1.1 or - as soon they
|
||||
# will be approved by the European Commission - subsequent
|
||||
# versions of the EUPL (the "Licence");
|
||||
# You may not use this work except in compliance with the
|
||||
# Licence.
|
||||
# You may obtain a copy of the Licence at:
|
||||
#
|
||||
# http://ec.europa.eu/idabc/eupl
|
||||
#
|
||||
# Unless required by applicable law or agreed to in
|
||||
# writing, software distributed under the Licence is
|
||||
# distributed on an "AS IS" basis,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
|
||||
# express or implied.
|
||||
# See the Licence for the specific language governing
|
||||
# permissions and limitations under the Licence.
|
||||
#
|
||||
#############################################################
|
||||
|
||||
include Makefile.inc
|
||||
@@ -0,0 +1,52 @@
|
||||
#############################################################
|
||||
#
|
||||
# Copyright 2015 F4E | European Joint Undertaking for ITER
|
||||
# and the Development of Fusion Energy ('Fusion for Energy')
|
||||
#
|
||||
# Licensed under the EUPL, Version 1.1 or - as soon they
|
||||
# will be approved by the European Commission - subsequent
|
||||
# versions of the EUPL (the "Licence");
|
||||
# You may not use this work except in compliance with the
|
||||
# Licence.
|
||||
# You may obtain a copy of the Licence at:
|
||||
#
|
||||
# http://ec.europa.eu/idabc/eupl
|
||||
#
|
||||
# Unless required by applicable law or agreed to in
|
||||
# writing, software distributed under the Licence is
|
||||
# distributed on an "AS IS" basis,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
|
||||
# express or implied.
|
||||
# See the Licence for the specific language governing
|
||||
# permissions and limitations under the Licence.
|
||||
#
|
||||
#############################################################
|
||||
|
||||
OBJSX = SineArrayGAM.x
|
||||
|
||||
PACKAGE=Components/GAMs
|
||||
ROOT_DIR=../../../../
|
||||
MAKEDEFAULTDIR=$(MARTe2_DIR)/MakeDefaults
|
||||
|
||||
include $(MAKEDEFAULTDIR)/MakeStdLibDefs.$(TARGET)
|
||||
|
||||
INCLUDES += -I.
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L0Types
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L1Portability
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L2Objects
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L3Streams
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L4Messages
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L4Configuration
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L5GAMs
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L1Portability
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L3Services
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L4Messages
|
||||
|
||||
all: $(OBJS) \
|
||||
$(BUILD_DIR)/SineArrayGAM$(LIBEXT) \
|
||||
$(BUILD_DIR)/SineArrayGAM$(DLLEXT)
|
||||
echo $(OBJS)
|
||||
|
||||
-include depends.$(TARGET)
|
||||
|
||||
include $(MAKEDEFAULTDIR)/MakeStdLibRules.$(TARGET)
|
||||
@@ -0,0 +1,118 @@
|
||||
/**
|
||||
* @file SineArrayGAM.cpp
|
||||
* @brief Source file for class SineArrayGAM
|
||||
* @date 15/05/2026
|
||||
* @author Martino Ferrari
|
||||
*
|
||||
* @copyright Copyright 2015 F4E | European Joint Undertaking for ITER and
|
||||
* the Development of Fusion Energy ('Fusion for Energy').
|
||||
* Licensed under the EUPL, Version 1.1 or - as soon they will be approved
|
||||
* by the European Commission - subsequent versions of the EUPL (the "Licence")
|
||||
* You may not use this work except in compliance with the Licence.
|
||||
* You may obtain a copy of the Licence at: http://ec.europa.eu/idabc/eupl
|
||||
*
|
||||
* @warning Unless required by applicable law or agreed to in writing,
|
||||
* software distributed under the Licence is distributed on an "AS IS"
|
||||
* basis, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express
|
||||
* or implied. See the Licence permissions and limitations under the Licence.
|
||||
*/
|
||||
|
||||
#define DLL_API
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
/* Standard header includes */
|
||||
/*---------------------------------------------------------------------------*/
|
||||
#include <cmath>
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
/* Project header includes */
|
||||
/*---------------------------------------------------------------------------*/
|
||||
#include "AdvancedErrorManagement.h"
|
||||
#include "SineArrayGAM.h"
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
/* Method definitions */
|
||||
/*---------------------------------------------------------------------------*/
|
||||
|
||||
namespace MARTe {
|
||||
|
||||
SineArrayGAM::SineArrayGAM() :
|
||||
GAM(),
|
||||
frequency(1.0),
|
||||
amplitude(1.0),
|
||||
offset(0.0),
|
||||
phase(0.0),
|
||||
samplingRate(1000000.0),
|
||||
nElements(0u),
|
||||
sampleOffset(0ull),
|
||||
outputBuf(NULL_PTR(float32 *)) {
|
||||
}
|
||||
|
||||
SineArrayGAM::~SineArrayGAM() {
|
||||
}
|
||||
|
||||
bool SineArrayGAM::Initialise(StructuredDataI &data) {
|
||||
bool ok = GAM::Initialise(data);
|
||||
if (ok) {
|
||||
if (!data.Read("Frequency", frequency)) {
|
||||
frequency = 1.0;
|
||||
}
|
||||
if (!data.Read("Amplitude", amplitude)) {
|
||||
amplitude = 1.0;
|
||||
}
|
||||
if (!data.Read("Offset", offset)) {
|
||||
offset = 0.0;
|
||||
}
|
||||
if (!data.Read("Phase", phase)) {
|
||||
phase = 0.0;
|
||||
}
|
||||
if (!data.Read("SamplingRate", samplingRate)) {
|
||||
samplingRate = 1000000.0;
|
||||
}
|
||||
if (samplingRate <= 0.0) {
|
||||
REPORT_ERROR(ErrorManagement::InitialisationError,
|
||||
"SineArrayGAM: SamplingRate must be greater than zero");
|
||||
ok = false;
|
||||
}
|
||||
}
|
||||
return ok;
|
||||
}
|
||||
|
||||
bool SineArrayGAM::Setup() {
|
||||
bool ok = (GetNumberOfOutputSignals() == 1u);
|
||||
if (!ok) {
|
||||
REPORT_ERROR(ErrorManagement::InitialisationError,
|
||||
"SineArrayGAM: exactly one output signal is required");
|
||||
return false;
|
||||
}
|
||||
|
||||
uint32 sz = 0u;
|
||||
ok = GetSignalByteSize(OutputSignals, 0u, sz);
|
||||
if (ok) {
|
||||
nElements = sz / static_cast<uint32>(sizeof(float32));
|
||||
outputBuf = reinterpret_cast<float32 *>(GetOutputSignalMemory(0u));
|
||||
ok = (outputBuf != NULL_PTR(float32 *)) && (nElements > 0u);
|
||||
if (!ok) {
|
||||
REPORT_ERROR(ErrorManagement::InitialisationError,
|
||||
"SineArrayGAM: failed to resolve output signal memory");
|
||||
}
|
||||
}
|
||||
return ok;
|
||||
}
|
||||
|
||||
bool SineArrayGAM::Execute() {
|
||||
static const float64 TWO_PI = 6.28318530717958647692;
|
||||
const float64 twoPiF = TWO_PI * frequency;
|
||||
const float64 invSr = 1.0 / samplingRate;
|
||||
|
||||
for (uint32 i = 0u; i < nElements; i++) {
|
||||
float64 t = static_cast<float64>(sampleOffset + static_cast<uint64>(i)) * invSr;
|
||||
outputBuf[i] = static_cast<float32>(amplitude * std::sin(twoPiF * t + phase) + offset);
|
||||
}
|
||||
sampleOffset += static_cast<uint64>(nElements);
|
||||
return true;
|
||||
}
|
||||
|
||||
CLASS_REGISTER(SineArrayGAM, "1.0")
|
||||
|
||||
} /* namespace MARTe */
|
||||
@@ -0,0 +1,105 @@
|
||||
/**
|
||||
* @file SineArrayGAM.h
|
||||
* @brief GAM that fills a float32 array with a continuous sinusoidal waveform.
|
||||
* @date 15/05/2026
|
||||
* @author Martino Ferrari
|
||||
*
|
||||
* @copyright Copyright 2015 F4E | European Joint Undertaking for ITER and
|
||||
* the Development of Fusion Energy ('Fusion for Energy').
|
||||
* Licensed under the EUPL, Version 1.1 or - as soon they will be approved
|
||||
* by the European Commission - subsequent versions of the EUPL (the "Licence")
|
||||
* You may not use this work except in compliance with the Licence.
|
||||
* You may obtain a copy of the Licence at: http://ec.europa.eu/idabc/eupl
|
||||
*
|
||||
* @warning Unless required by applicable law or agreed to in writing,
|
||||
* software distributed under the Licence is distributed on an "AS IS"
|
||||
* basis, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express
|
||||
* or implied. See the Licence permissions and limitations under the Licence.
|
||||
*
|
||||
* @details Each Execute() call fills one float32 output array with N samples of:
|
||||
* v[k] = Amplitude * sin(2π * Frequency * (sampleOffset + k) / SamplingRate + Phase) + Offset
|
||||
*
|
||||
* The sampleOffset accumulates across calls so the waveform phase is continuous.
|
||||
*
|
||||
* Configuration:
|
||||
* <pre>
|
||||
* +MyGAM = {
|
||||
* Class = SineArrayGAM
|
||||
* Frequency = 1000.0 // Signal frequency in Hz (default 1.0)
|
||||
* Amplitude = 1.0 // Signal amplitude (default 1.0)
|
||||
* Offset = 0.0 // DC offset (default 0.0)
|
||||
* Phase = 0.0 // Phase in radians (default 0.0)
|
||||
* SamplingRate = 1000000.0 // Sample rate in Hz; must match UDPStreamer signal (default 1000000.0)
|
||||
* OutputSignals = {
|
||||
* Ch1 = { DataSource = DDB; Type = float32; NumberOfElements = 1000 }
|
||||
* }
|
||||
* }
|
||||
* </pre>
|
||||
*
|
||||
* Exactly one output signal of type float32 is required.
|
||||
*/
|
||||
|
||||
#ifndef SINEARRAYGAM_H_
|
||||
#define SINEARRAYGAM_H_
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
/* Standard header includes */
|
||||
/*---------------------------------------------------------------------------*/
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
/* Project header includes */
|
||||
/*---------------------------------------------------------------------------*/
|
||||
#include "CompilerTypes.h"
|
||||
#include "GAM.h"
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
/* Class declaration */
|
||||
/*---------------------------------------------------------------------------*/
|
||||
|
||||
namespace MARTe {
|
||||
|
||||
class SineArrayGAM : public GAM {
|
||||
public:
|
||||
CLASS_REGISTER_DECLARATION()
|
||||
|
||||
/**
|
||||
* @brief Constructor. Sets safe defaults.
|
||||
*/
|
||||
SineArrayGAM();
|
||||
|
||||
/**
|
||||
* @brief Destructor.
|
||||
*/
|
||||
virtual ~SineArrayGAM();
|
||||
|
||||
/**
|
||||
* @brief Reads Frequency, Amplitude, Offset, Phase, SamplingRate from config.
|
||||
*/
|
||||
virtual bool Initialise(StructuredDataI &data);
|
||||
|
||||
/**
|
||||
* @brief Resolves the output signal pointer and element count.
|
||||
* @return true if exactly one float32 output signal is present.
|
||||
*/
|
||||
virtual bool Setup();
|
||||
|
||||
/**
|
||||
* @brief Fills the output array with the next N sinusoidal samples.
|
||||
* @return true always.
|
||||
*/
|
||||
virtual bool Execute();
|
||||
|
||||
private:
|
||||
float64 frequency; /**< Signal frequency [Hz] */
|
||||
float64 amplitude; /**< Signal amplitude */
|
||||
float64 offset; /**< DC offset */
|
||||
float64 phase; /**< Phase offset [radians] */
|
||||
float64 samplingRate; /**< Sample rate [Hz] */
|
||||
uint32 nElements; /**< Number of output elements per cycle */
|
||||
uint64 sampleOffset; /**< Cumulative sample count for continuous phase */
|
||||
float32 *outputBuf; /**< Pointer to the output signal memory */
|
||||
};
|
||||
|
||||
} /* namespace MARTe */
|
||||
|
||||
#endif /* SINEARRAYGAM_H_ */
|
||||
@@ -0,0 +1,113 @@
|
||||
../../../..//Build/x86-linux/Components/GAMs/SineArrayGAM/SineArrayGAM.o: SineArrayGAM.cpp \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/AdvancedErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassProperties.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/TypeCharacteristics.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/CompilerTypes.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Architecture/x86_gcc/CompilerTypes.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/FractionalInteger.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/TypeCharacteristics.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/TemplateParametersVerificator.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/CompilerTypes.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ErrorInformation.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/ErrorType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitBoolean.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitRange.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StreamI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeoutType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HighResolutionTimer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeStamp.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Architecture/x86_gcc/HighResolutionTimerA.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/HighResolutionTimer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../HighResolutionTimer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/HighResolutionTimerCalibrator.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeStamp.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/StreamMemoryReference.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/BufferedStreamI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeoutType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/AnyType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassProperties.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassRegistryDatabase.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GlobalObjectsDatabase.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GlobalObjectI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/StandardHeap.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../HeapI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../ErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../Generic/StandardHeap_Generic.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/FastPollingMutexSem.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Atomic.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Architecture/x86_gcc/AtomicA.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Sleep.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassRegistryItem.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/CString.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/ZeroTerminatedArray.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Introspection.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/IntrospectionEntry.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TypeDescriptor.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BasicType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/FractionalInteger.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitRange.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitBoolean.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/ZeroTerminatedArray.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListable.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListHolderT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/IteratorT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Iterator.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListable.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListHolder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/SortFilter.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/SearchFilter.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/LoadableLibrary.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ObjectBuilder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StaticList.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StaticListHolder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Matrix.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Vector.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapManager.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/MemoryOperationsHelper.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/FormatDescriptor.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/IOBuffer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/CharBuffer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StreamI.h \
|
||||
SineArrayGAM.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/GAM.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/DataSourceI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/ConfigurationDatabase.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/AnyObject.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Object.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StringHelper.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/StructuredDataI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/AnyType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/CLASSREGISTER.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassRegistryItemT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ObjectBuilderT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/ConfigurationDatabaseNode.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Fnv1aHashFunction.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/HashFunction.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListHolder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Object.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Reference.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainerFilter.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainerNode.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/UnorderedMap.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapManager.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StringHelper.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainerFilterObjectName.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/StructuredDataI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/TypeConversion.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Vector.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/StreamString.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/StreamStringIOBuffer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/StatefulI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/ExecutableI.h
|
||||
@@ -0,0 +1,113 @@
|
||||
SineArrayGAM.o: SineArrayGAM.cpp \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/AdvancedErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassProperties.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/TypeCharacteristics.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/CompilerTypes.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Architecture/x86_gcc/CompilerTypes.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/FractionalInteger.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/TypeCharacteristics.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/TemplateParametersVerificator.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/CompilerTypes.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ErrorInformation.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/ErrorType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitBoolean.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitRange.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StreamI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeoutType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HighResolutionTimer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeStamp.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Architecture/x86_gcc/HighResolutionTimerA.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/HighResolutionTimer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../HighResolutionTimer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/HighResolutionTimerCalibrator.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeStamp.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/StreamMemoryReference.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/BufferedStreamI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeoutType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/AnyType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassProperties.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassRegistryDatabase.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GlobalObjectsDatabase.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GlobalObjectI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/StandardHeap.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../HeapI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../ErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../Generic/StandardHeap_Generic.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/FastPollingMutexSem.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Atomic.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Architecture/x86_gcc/AtomicA.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Sleep.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassRegistryItem.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/CString.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/ZeroTerminatedArray.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Introspection.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/IntrospectionEntry.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TypeDescriptor.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BasicType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/FractionalInteger.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitRange.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitBoolean.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/ZeroTerminatedArray.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListable.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListHolderT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/IteratorT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Iterator.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListable.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListHolder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/SortFilter.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/SearchFilter.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/LoadableLibrary.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ObjectBuilder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StaticList.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StaticListHolder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Matrix.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Vector.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapManager.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/MemoryOperationsHelper.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/FormatDescriptor.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/IOBuffer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/CharBuffer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StreamI.h \
|
||||
SineArrayGAM.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/GAM.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/DataSourceI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/ConfigurationDatabase.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/AnyObject.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Object.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StringHelper.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/StructuredDataI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/AnyType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/CLASSREGISTER.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassRegistryItemT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ObjectBuilderT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/ConfigurationDatabaseNode.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Fnv1aHashFunction.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/HashFunction.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListHolder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Object.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Reference.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainerFilter.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainerNode.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/UnorderedMap.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapManager.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StringHelper.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainerFilterObjectName.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/StructuredDataI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/TypeConversion.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Vector.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/StreamString.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/StreamStringIOBuffer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/StatefulI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/ExecutableI.h
|
||||
@@ -0,0 +1 @@
|
||||
include Makefile.inc
|
||||
@@ -0,0 +1,28 @@
|
||||
OBJSX = TimeArrayGAM.x
|
||||
|
||||
PACKAGE=Components/GAMs
|
||||
ROOT_DIR=../../../../
|
||||
MAKEDEFAULTDIR=$(MARTe2_DIR)/MakeDefaults
|
||||
|
||||
include $(MAKEDEFAULTDIR)/MakeStdLibDefs.$(TARGET)
|
||||
|
||||
INCLUDES += -I.
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L0Types
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L1Portability
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L2Objects
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L3Streams
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L4Messages
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L4Configuration
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L5GAMs
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L1Portability
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L3Services
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L4Messages
|
||||
|
||||
all: $(OBJS) \
|
||||
$(BUILD_DIR)/TimeArrayGAM$(LIBEXT) \
|
||||
$(BUILD_DIR)/TimeArrayGAM$(DLLEXT)
|
||||
echo $(OBJS)
|
||||
|
||||
-include depends.$(TARGET)
|
||||
|
||||
include $(MAKEDEFAULTDIR)/MakeStdLibRules.$(TARGET)
|
||||
@@ -0,0 +1,108 @@
|
||||
/**
|
||||
* @file TimeArrayGAM.cpp
|
||||
* @brief Source file for class TimeArrayGAM
|
||||
* @date 19/05/2026
|
||||
* @author Martino Ferrari
|
||||
*/
|
||||
|
||||
#define DLL_API
|
||||
|
||||
#include "AdvancedErrorManagement.h"
|
||||
#include "TimeArrayGAM.h"
|
||||
|
||||
namespace MARTe {
|
||||
|
||||
TimeArrayGAM::TimeArrayGAM() :
|
||||
GAM(),
|
||||
samplingRate(1000000.0),
|
||||
anchorIsFirst(true),
|
||||
nElements(0u),
|
||||
inputTime(NULL_PTR(uint32 *)),
|
||||
outputBuf(NULL_PTR(uint64 *)) {
|
||||
}
|
||||
|
||||
TimeArrayGAM::~TimeArrayGAM() {
|
||||
}
|
||||
|
||||
bool TimeArrayGAM::Initialise(StructuredDataI &data) {
|
||||
bool ok = GAM::Initialise(data);
|
||||
if (ok) {
|
||||
if (!data.Read("SamplingRate", samplingRate) || samplingRate <= 0.0) {
|
||||
REPORT_ERROR(ErrorManagement::InitialisationError,
|
||||
"TimeArrayGAM: SamplingRate > 0 is required.");
|
||||
ok = false;
|
||||
}
|
||||
}
|
||||
if (ok) {
|
||||
StreamString anchor;
|
||||
(void) data.Read("Anchor", anchor);
|
||||
if (anchor.Size() == 0u || anchor == "FirstSample") {
|
||||
anchorIsFirst = true; /* default */
|
||||
}
|
||||
else if (anchor == "LastSample") {
|
||||
anchorIsFirst = false;
|
||||
}
|
||||
else {
|
||||
REPORT_ERROR(ErrorManagement::InitialisationError,
|
||||
"TimeArrayGAM: Anchor must be 'FirstSample' or 'LastSample'.");
|
||||
ok = false;
|
||||
}
|
||||
}
|
||||
return ok;
|
||||
}
|
||||
|
||||
bool TimeArrayGAM::Setup() {
|
||||
bool ok = (GetNumberOfInputSignals() == 1u) && (GetNumberOfOutputSignals() == 1u);
|
||||
if (!ok) {
|
||||
REPORT_ERROR(ErrorManagement::InitialisationError,
|
||||
"TimeArrayGAM: exactly one input and one output signal are required.");
|
||||
return false;
|
||||
}
|
||||
|
||||
inputTime = reinterpret_cast<uint32 *>(GetInputSignalMemory(0u));
|
||||
outputBuf = reinterpret_cast<uint64 *>(GetOutputSignalMemory(0u));
|
||||
ok = (inputTime != NULL_PTR(uint32 *)) && (outputBuf != NULL_PTR(uint64 *));
|
||||
if (!ok) {
|
||||
REPORT_ERROR(ErrorManagement::InitialisationError,
|
||||
"TimeArrayGAM: failed to resolve signal memory.");
|
||||
return false;
|
||||
}
|
||||
|
||||
uint32 sz = 0u;
|
||||
ok = GetSignalByteSize(OutputSignals, 0u, sz);
|
||||
if (ok) {
|
||||
nElements = sz / static_cast<uint32>(sizeof(uint32));
|
||||
ok = (nElements > 0u);
|
||||
}
|
||||
if (!ok) {
|
||||
REPORT_ERROR(ErrorManagement::InitialisationError,
|
||||
"TimeArrayGAM: output signal must be a non-empty uint32 array.");
|
||||
}
|
||||
return ok;
|
||||
}
|
||||
|
||||
bool TimeArrayGAM::Execute() {
|
||||
/* Period in nanoseconds — uint64 preserves sub-microsecond resolution
|
||||
* even at sampling rates > 1 MHz where the µs period would be < 1. */
|
||||
uint64 periodNs = static_cast<uint64>(1000000000.0 / samplingRate + 0.5);
|
||||
/* Input is uint32 microseconds (LinuxTimer); convert to nanoseconds. */
|
||||
uint64 anchorNs = static_cast<uint64>(*inputTime) * 1000u;
|
||||
|
||||
if (anchorIsFirst) {
|
||||
/* out[k] = anchorNs + k * periodNs */
|
||||
for (uint32 k = 0u; k < nElements; k++) {
|
||||
outputBuf[k] = anchorNs + static_cast<uint64>(k) * periodNs;
|
||||
}
|
||||
}
|
||||
else {
|
||||
/* out[k] = anchorNs - (N-1-k) * periodNs */
|
||||
for (uint32 k = 0u; k < nElements; k++) {
|
||||
outputBuf[k] = anchorNs - static_cast<uint64>(nElements - 1u - k) * periodNs;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
CLASS_REGISTER(TimeArrayGAM, "1.0")
|
||||
|
||||
} /* namespace MARTe */
|
||||
@@ -0,0 +1,64 @@
|
||||
/**
|
||||
* @file TimeArrayGAM.h
|
||||
* @brief GAM that expands a scalar timer value into a per-sample uint32 time array.
|
||||
* @date 19/05/2026
|
||||
* @author Martino Ferrari
|
||||
*
|
||||
* @details Each Execute() call reads one uint32 scalar input (time in microseconds,
|
||||
* e.g. from LinuxTimer) and fills a uint32[N] output array where element[k] holds
|
||||
* the reconstructed timestamp of sample k:
|
||||
*
|
||||
* Anchor = FirstSample: out[k] = input + k * period_us
|
||||
* Anchor = LastSample: out[k] = input - (N-1-k) * period_us
|
||||
*
|
||||
* The resulting time array is suitable as the TimeSignal for a UDPStreamer signal
|
||||
* configured with TimeMode = FullArray, providing exact per-sample timestamps.
|
||||
*
|
||||
* Configuration:
|
||||
* <pre>
|
||||
* +TimeArrayGAM1 = {
|
||||
* Class = TimeArrayGAM
|
||||
* SamplingRate = 1000000.0 // Sample rate in Hz (must match data signal)
|
||||
* Anchor = FirstSample // FirstSample (default) or LastSample
|
||||
* InputSignals = {
|
||||
* Time = { DataSource = DDB; Type = uint32 }
|
||||
* }
|
||||
* OutputSignals = {
|
||||
* TimeArray = { DataSource = DDB; Type = uint32; NumberOfElements = 1000 }
|
||||
* }
|
||||
* }
|
||||
* </pre>
|
||||
*
|
||||
* Exactly one uint32 input signal and one uint32 output array are required.
|
||||
*/
|
||||
|
||||
#ifndef TIMEARRAYGAM_H_
|
||||
#define TIMEARRAYGAM_H_
|
||||
|
||||
#include "CompilerTypes.h"
|
||||
#include "GAM.h"
|
||||
|
||||
namespace MARTe {
|
||||
|
||||
class TimeArrayGAM : public GAM {
|
||||
public:
|
||||
CLASS_REGISTER_DECLARATION()
|
||||
|
||||
TimeArrayGAM();
|
||||
virtual ~TimeArrayGAM();
|
||||
|
||||
virtual bool Initialise(StructuredDataI &data);
|
||||
virtual bool Setup();
|
||||
virtual bool Execute();
|
||||
|
||||
private:
|
||||
float64 samplingRate; /**< Sample rate [Hz] */
|
||||
bool anchorIsFirst; /**< true = FirstSample anchor, false = LastSample */
|
||||
uint32 nElements; /**< Number of output elements */
|
||||
uint32 *inputTime; /**< Pointer to scalar input (microseconds, uint32 from LinuxTimer) */
|
||||
uint64 *outputBuf; /**< Pointer to output array (nanoseconds, uint64) */
|
||||
};
|
||||
|
||||
} /* namespace MARTe */
|
||||
|
||||
#endif /* TIMEARRAYGAM_H_ */
|
||||
@@ -0,0 +1,113 @@
|
||||
../../../..//Build/x86-linux/Components/GAMs/TimeArrayGAM/TimeArrayGAM.o: TimeArrayGAM.cpp \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/AdvancedErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassProperties.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/TypeCharacteristics.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/CompilerTypes.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Architecture/x86_gcc/CompilerTypes.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/FractionalInteger.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/TypeCharacteristics.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/TemplateParametersVerificator.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/CompilerTypes.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ErrorInformation.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/ErrorType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitBoolean.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitRange.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StreamI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeoutType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HighResolutionTimer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeStamp.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Architecture/x86_gcc/HighResolutionTimerA.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/HighResolutionTimer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../HighResolutionTimer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/HighResolutionTimerCalibrator.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeStamp.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/StreamMemoryReference.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/BufferedStreamI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeoutType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/AnyType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassProperties.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassRegistryDatabase.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GlobalObjectsDatabase.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GlobalObjectI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/StandardHeap.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../HeapI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../ErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../Generic/StandardHeap_Generic.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/FastPollingMutexSem.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Atomic.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Architecture/x86_gcc/AtomicA.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Sleep.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassRegistryItem.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/CString.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/ZeroTerminatedArray.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Introspection.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/IntrospectionEntry.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TypeDescriptor.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BasicType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/FractionalInteger.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitRange.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitBoolean.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/ZeroTerminatedArray.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListable.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListHolderT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/IteratorT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Iterator.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListable.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListHolder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/SortFilter.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/SearchFilter.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/LoadableLibrary.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ObjectBuilder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StaticList.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StaticListHolder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Matrix.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Vector.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapManager.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/MemoryOperationsHelper.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/FormatDescriptor.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/IOBuffer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/CharBuffer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StreamI.h \
|
||||
TimeArrayGAM.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/GAM.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/DataSourceI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/ConfigurationDatabase.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/AnyObject.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Object.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StringHelper.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/StructuredDataI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/AnyType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/CLASSREGISTER.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassRegistryItemT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ObjectBuilderT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/ConfigurationDatabaseNode.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Fnv1aHashFunction.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/HashFunction.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListHolder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Object.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Reference.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainerFilter.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainerNode.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/UnorderedMap.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapManager.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StringHelper.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainerFilterObjectName.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/StructuredDataI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/TypeConversion.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Vector.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/StreamString.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/StreamStringIOBuffer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/StatefulI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/ExecutableI.h
|
||||
@@ -0,0 +1,113 @@
|
||||
TimeArrayGAM.o: TimeArrayGAM.cpp \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/AdvancedErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassProperties.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/TypeCharacteristics.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/CompilerTypes.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Architecture/x86_gcc/CompilerTypes.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/FractionalInteger.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/TypeCharacteristics.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/TemplateParametersVerificator.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/CompilerTypes.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ErrorInformation.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/ErrorType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitBoolean.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitRange.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StreamI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeoutType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HighResolutionTimer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeStamp.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Architecture/x86_gcc/HighResolutionTimerA.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/HighResolutionTimer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../HighResolutionTimer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/HighResolutionTimerCalibrator.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeStamp.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/StreamMemoryReference.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/BufferedStreamI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TimeoutType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/AnyType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassProperties.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassRegistryDatabase.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GlobalObjectsDatabase.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/GlobalObjectI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/StandardHeap.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../HeapI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../ErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../../GeneralDefinitions.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Environment/Linux/../Generic/StandardHeap_Generic.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/FastPollingMutexSem.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Atomic.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Architecture/x86_gcc/AtomicA.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/ErrorManagement.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/Sleep.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassRegistryItem.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/CString.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/ZeroTerminatedArray.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Introspection.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/IntrospectionEntry.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/TypeDescriptor.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BasicType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/FractionalInteger.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitRange.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/BitBoolean.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/ZeroTerminatedArray.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListable.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListHolderT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/IteratorT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Iterator.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListable.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListHolder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/SortFilter.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/SearchFilter.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/LoadableLibrary.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ObjectBuilder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StaticList.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StaticListHolder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Matrix.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Vector.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapManager.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/MemoryOperationsHelper.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/FormatDescriptor.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/IOBuffer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/CharBuffer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StreamI.h \
|
||||
TimeArrayGAM.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/GAM.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/DataSourceI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/ConfigurationDatabase.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/AnyObject.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Object.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StringHelper.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/StructuredDataI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/AnyType.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/CLASSREGISTER.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ClassRegistryItemT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ObjectBuilderT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/ConfigurationDatabaseNode.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Fnv1aHashFunction.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/HashFunction.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/LinkedListHolder.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Object.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/Reference.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainerFilter.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainerNode.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceT.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/UnorderedMap.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/HeapManager.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L1Portability/StringHelper.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainerFilterObjectName.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/ReferenceContainer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L2Objects/StructuredDataI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L4Configuration/TypeConversion.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L0Types/Vector.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/StreamString.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L3Streams/StreamStringIOBuffer.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/StatefulI.h \
|
||||
/home/martino/workspace/MARTe2/Source/Core/BareMetal/L5GAMs/ExecutableI.h
|
||||
@@ -0,0 +1,590 @@
|
||||
#ifndef DEBUGBROKERWRAPPER_H
|
||||
#define DEBUGBROKERWRAPPER_H
|
||||
|
||||
#include "BrokerI.h"
|
||||
#include "DataSourceI.h"
|
||||
#include "DebugServiceI.h"
|
||||
#include "FastPollingMutexSem.h"
|
||||
#include "HighResolutionTimer.h"
|
||||
#include "MemoryMapBroker.h"
|
||||
#include "ObjectBuilder.h"
|
||||
#include "ObjectRegistryDatabase.h"
|
||||
#include "Threads.h"
|
||||
|
||||
// Original broker headers
|
||||
#include "MemoryMapAsyncOutputBroker.h"
|
||||
#include "MemoryMapAsyncTriggerOutputBroker.h"
|
||||
#include "MemoryMapInputBroker.h"
|
||||
#include "MemoryMapInterpolatedInputBroker.h"
|
||||
#include "MemoryMapMultiBufferInputBroker.h"
|
||||
#include "MemoryMapMultiBufferOutputBroker.h"
|
||||
#include "MemoryMapOutputBroker.h"
|
||||
#include "MemoryMapSynchronisedInputBroker.h"
|
||||
#include "MemoryMapSynchronisedMultiBufferInputBroker.h"
|
||||
#include "MemoryMapSynchronisedMultiBufferOutputBroker.h"
|
||||
#include "MemoryMapSynchronisedOutputBroker.h"
|
||||
|
||||
namespace MARTe {
|
||||
|
||||
// Recursive search for any object with a given name anywhere in the registry.
|
||||
// Used to find GAMs regardless of nesting level.
|
||||
static Reference FindByNameRecursive(ReferenceContainer *container,
|
||||
const char8 *name) {
|
||||
if (container == NULL_PTR(ReferenceContainer *))
|
||||
return Reference();
|
||||
uint32 n = container->Size();
|
||||
for (uint32 i = 0; i < n; i++) {
|
||||
Reference child = container->Get(i);
|
||||
if (!child.IsValid())
|
||||
continue;
|
||||
if (StringHelper::Compare(child->GetName(), name) == 0)
|
||||
return child;
|
||||
ReferenceContainer *sub =
|
||||
dynamic_cast<ReferenceContainer *>(child.operator->());
|
||||
if (sub != NULL_PTR(ReferenceContainer *)) {
|
||||
Reference found = FindByNameRecursive(sub, name);
|
||||
if (found.IsValid())
|
||||
return found;
|
||||
}
|
||||
}
|
||||
return Reference();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Helper for optimized signal processing within brokers.
|
||||
*/
|
||||
class DebugBrokerHelper {
|
||||
public:
|
||||
// Evaluate a break condition against the current live value of a signal.
|
||||
// Returns true if the condition is met and execution should be paused.
|
||||
// Only called when signal->breakOp != BREAK_OFF; reads memoryAddress directly.
|
||||
static bool EvaluateBreak(const DebugSignalInfo *s) {
|
||||
if (s->memoryAddress == NULL_PTR(void *)) return false;
|
||||
float64 val = 0.0;
|
||||
const TypeDescriptor &t = s->type;
|
||||
if (t == Float64Bit) val = *static_cast<const float64 *>(s->memoryAddress);
|
||||
else if (t == Float32Bit) val = *static_cast<const float32 *>(s->memoryAddress);
|
||||
else if (t == UnsignedInteger32Bit) val = *static_cast<const uint32 *>(s->memoryAddress);
|
||||
else if (t == SignedInteger32Bit) val = *static_cast<const int32 *>(s->memoryAddress);
|
||||
else if (t == UnsignedInteger64Bit) val = static_cast<float64>(*static_cast<const uint64 *>(s->memoryAddress));
|
||||
else if (t == SignedInteger64Bit) val = static_cast<float64>(*static_cast<const int64 *>(s->memoryAddress));
|
||||
else if (t == UnsignedInteger16Bit) val = *static_cast<const uint16 *>(s->memoryAddress);
|
||||
else if (t == SignedInteger16Bit) val = *static_cast<const int16 *>(s->memoryAddress);
|
||||
else if (t == UnsignedInteger8Bit) val = *static_cast<const uint8 *>(s->memoryAddress);
|
||||
else if (t == SignedInteger8Bit) val = *static_cast<const int8 *>(s->memoryAddress);
|
||||
else return false; // unsupported type — skip
|
||||
const float64 thr = s->breakThreshold;
|
||||
switch (s->breakOp) {
|
||||
case BREAK_GT: return val > thr;
|
||||
case BREAK_LT: return val < thr;
|
||||
case BREAK_EQ: return val == thr;
|
||||
case BREAK_GEQ: return val >= thr;
|
||||
case BREAK_LEQ: return val <= thr;
|
||||
case BREAK_NEQ: return val != thr;
|
||||
default: return false;
|
||||
}
|
||||
}
|
||||
|
||||
// Spin-wait point for output brokers — called from Execute() AFTER Process().
|
||||
// Spins while paused, then consumes one step counter tick (if stepping).
|
||||
// Input brokers must NOT call this — they complete normally to avoid blocking
|
||||
// cross-thread EventSem posts (RealTimeThreadSynchBroker would time out).
|
||||
static void OutputPauseAndStep(DebugServiceI *service, const char8 *gamName) {
|
||||
if (service == NULL_PTR(DebugServiceI *)) return;
|
||||
// Fast path: nothing to do when neither paused nor stepping.
|
||||
// Avoids Threads::Name() lookup (and its mutex) on every 1000 Hz cycle.
|
||||
if (!service->IsPaused() && !service->IsStepPending()) return;
|
||||
// Wait if already paused (manual PAUSE or breakpoint from a previous cycle)
|
||||
while (service->IsPaused()) Sleep::MSec(10);
|
||||
// Pass the OS thread name so per-thread step filtering works.
|
||||
const char8 *tName = Threads::Name(Threads::Id());
|
||||
service->ConsumeStepIfNeeded(gamName, tName);
|
||||
while (service->IsPaused()) Sleep::MSec(10);
|
||||
}
|
||||
|
||||
static void Process(DebugServiceI *service,
|
||||
DebugSignalInfo **signalInfoPointers,
|
||||
Vector<uint32> &activeIndices, Vector<uint32> &activeSizes,
|
||||
FastPollingMutexSem &activeMutex,
|
||||
volatile bool *anyBreakFlag,
|
||||
Vector<uint32> *breakIndices) {
|
||||
if (service == NULL_PTR(DebugServiceI *))
|
||||
return;
|
||||
|
||||
// NOTE: No spin here. Spinning for paused state is handled in Execute() of
|
||||
// OUTPUT brokers only (see OutputPauseAndStep). Input brokers must not block
|
||||
// because that prevents cross-thread EventSem posts from completing.
|
||||
|
||||
activeMutex.FastLock();
|
||||
uint32 n = activeIndices.GetNumberOfElements();
|
||||
if (n > 0 && signalInfoPointers != NULL_PTR(DebugSignalInfo **)) {
|
||||
// Capture timestamp ONCE per broker cycle for lowest impact
|
||||
uint64 ts = (uint64)((float64)HighResolutionTimer::Counter() *
|
||||
HighResolutionTimer::Period() * 1.0e9);
|
||||
|
||||
for (uint32 i = 0; i < n; i++) {
|
||||
uint32 idx = activeIndices[i];
|
||||
uint32 size = activeSizes[i];
|
||||
DebugSignalInfo *s = signalInfoPointers[idx];
|
||||
if (s != NULL_PTR(DebugSignalInfo *)) {
|
||||
service->ProcessSignal(s, size, ts);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// FIX #3: copy break indices under lock into a local stack array, then
|
||||
// release activeMutex BEFORE evaluating. EvaluateBreak reads signal
|
||||
// memory which can stall (cache miss); holding activeMutex during that
|
||||
// stall would block UpdateBrokersBreakStatus() in the Server thread and
|
||||
// cause unnecessary priority inversion on the RT path.
|
||||
bool shouldCheckBreak = (*anyBreakFlag && !service->IsPaused() &&
|
||||
breakIndices != NULL_PTR(Vector<uint32> *) &&
|
||||
signalInfoPointers != NULL_PTR(DebugSignalInfo **));
|
||||
static const uint32 MAX_BREAK_INDICES = 64u;
|
||||
uint32 localBreakIdx[MAX_BREAK_INDICES];
|
||||
uint32 nb = 0u;
|
||||
if (shouldCheckBreak) {
|
||||
nb = breakIndices->GetNumberOfElements();
|
||||
if (nb > MAX_BREAK_INDICES) nb = MAX_BREAK_INDICES;
|
||||
for (uint32 i = 0; i < nb; i++) {
|
||||
localBreakIdx[i] = (*breakIndices)[i];
|
||||
}
|
||||
}
|
||||
|
||||
activeMutex.FastUnLock();
|
||||
|
||||
// Evaluate break conditions outside the lock — safe because
|
||||
// EvaluateBreak only reads signalInfoPointers[idx]->memoryAddress,
|
||||
// which is RT data-bus memory and is never freed during the RT cycle.
|
||||
if (shouldCheckBreak && nb > 0u) {
|
||||
for (uint32 i = 0; i < nb; i++) {
|
||||
uint32 idx = localBreakIdx[i];
|
||||
DebugSignalInfo *s = signalInfoPointers[idx];
|
||||
if (s != NULL_PTR(DebugSignalInfo *) && s->breakOp != BREAK_OFF &&
|
||||
EvaluateBreak(s)) {
|
||||
service->SetPaused(true);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Pass numCopies explicitly so we can mock it
|
||||
static void
|
||||
InitSignals(BrokerI *broker, DataSourceI &dataSourceIn,
|
||||
DebugServiceI *&service, DebugSignalInfo **&signalInfoPointers,
|
||||
uint32 numCopies, MemoryMapBrokerCopyTableEntry *copyTable,
|
||||
const char8 *functionName, SignalDirection direction,
|
||||
volatile bool *anyActiveFlag, Vector<uint32> *activeIndices,
|
||||
Vector<uint32> *activeSizes, FastPollingMutexSem *activeMutex,
|
||||
volatile bool *anyBreakFlag, Vector<uint32> *breakIndices) {
|
||||
if (numCopies > 0) {
|
||||
signalInfoPointers = new DebugSignalInfo *[numCopies];
|
||||
for (uint32 i = 0; i < numCopies; i++)
|
||||
signalInfoPointers[i] = NULL_PTR(DebugSignalInfo *);
|
||||
}
|
||||
|
||||
// Use the singleton registered by DebugService::Initialise() — no ORD
|
||||
// search on the Init path, and no dependency on a concrete type.
|
||||
service = DebugServiceI::GetInstance();
|
||||
|
||||
if (service && (copyTable != NULL_PTR(MemoryMapBrokerCopyTableEntry *))) {
|
||||
|
||||
StreamString dsPath;
|
||||
DebugServiceI::GetFullObjectName(dataSourceIn, dsPath);
|
||||
fprintf(stderr, ">> %s broker for %s [%d]\n",
|
||||
direction == InputSignals ? "Input" : "Output", dsPath.Buffer(),
|
||||
numCopies);
|
||||
MemoryMapBroker *mmb = dynamic_cast<MemoryMapBroker *>(broker);
|
||||
if (mmb == NULL_PTR(MemoryMapBroker *)) {
|
||||
fprintf(stderr, ">> Impossible to get broker pointer!!\n");
|
||||
}
|
||||
|
||||
for (uint32 i = 0; i < numCopies; i++) {
|
||||
void *addr = copyTable[i].dataSourcePointer;
|
||||
TypeDescriptor type = copyTable[i].type;
|
||||
|
||||
uint32 dsIdx = i;
|
||||
if (mmb != NULL_PTR(MemoryMapBroker *)) {
|
||||
dsIdx = mmb->GetDSCopySignalIndex(i);
|
||||
}
|
||||
|
||||
StreamString signalName;
|
||||
if (!dataSourceIn.GetSignalName(dsIdx, signalName))
|
||||
signalName = "Unknown";
|
||||
fprintf(stderr, ">> registering %s.%s [%p]\n", dsPath.Buffer(),
|
||||
signalName.Buffer(), mmb);
|
||||
|
||||
uint8 dims = 0;
|
||||
uint32 elems = 1;
|
||||
(void)dataSourceIn.GetSignalNumberOfDimensions(dsIdx, dims);
|
||||
(void)dataSourceIn.GetSignalNumberOfElements(dsIdx, elems);
|
||||
|
||||
// Register canonical name
|
||||
StreamString dsFullName;
|
||||
dsFullName.Printf("%s.%s", dsPath.Buffer(), signalName.Buffer());
|
||||
service->RegisterSignal(addr, type, dsFullName.Buffer(), dims, elems);
|
||||
|
||||
// Register alias
|
||||
if (functionName != NULL_PTR(const char8 *)) {
|
||||
StreamString gamFullName;
|
||||
const char8 *dirStr =
|
||||
(direction == InputSignals) ? "InputSignals" : "OutputSignals";
|
||||
const char8 *dirStrShort = (direction == InputSignals) ? "In" : "Out";
|
||||
|
||||
// Search recursively through the entire registry for the GAM by name.
|
||||
// Direct Find("GAM1") only checks top-level; the GAM may be nested
|
||||
// several levels deep inside a RealTimeApplication container.
|
||||
Reference gamRef =
|
||||
FindByNameRecursive(ObjectRegistryDatabase::Instance(),
|
||||
functionName);
|
||||
fprintf(stderr, ">> GAM lookup '%s': %s\n", functionName,
|
||||
gamRef.IsValid() ? "FOUND" : "NOT FOUND");
|
||||
|
||||
if (gamRef.IsValid()) {
|
||||
StreamString absGamPath;
|
||||
DebugServiceI::GetFullObjectName(*(gamRef.operator->()), absGamPath);
|
||||
// Register short path (In/Out) for GUI compatibility
|
||||
gamFullName.Printf("%s.%s.%s", absGamPath.Buffer(), dirStrShort,
|
||||
signalName.Buffer());
|
||||
signalInfoPointers[i] =
|
||||
service->RegisterSignal(addr, type, gamFullName.Buffer(), dims, elems);
|
||||
} else {
|
||||
// Fallback to short form
|
||||
gamFullName.Printf("%s.%s.%s", functionName, dirStrShort,
|
||||
signalName.Buffer());
|
||||
signalInfoPointers[i] =
|
||||
service->RegisterSignal(addr, type, gamFullName.Buffer(), dims, elems);
|
||||
}
|
||||
} else {
|
||||
signalInfoPointers[i] =
|
||||
service->RegisterSignal(addr, type, dsFullName.Buffer(), dims, elems);
|
||||
}
|
||||
}
|
||||
|
||||
// Register broker in DebugService for optimized control
|
||||
bool isOutputBroker = (direction == OutputSignals);
|
||||
service->RegisterBroker(signalInfoPointers, numCopies, mmb, anyActiveFlag,
|
||||
activeIndices, activeSizes, activeMutex,
|
||||
anyBreakFlag, breakIndices,
|
||||
(functionName != NULL_PTR(const char8 *)) ? functionName : dsPath.Buffer(),
|
||||
isOutputBroker);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Template class to instrument any MARTe2 Broker.
|
||||
*/
|
||||
template <typename BaseClass> class DebugBrokerWrapper : public BaseClass {
|
||||
public:
|
||||
DebugBrokerWrapper() : BaseClass() {
|
||||
service = NULL_PTR(DebugServiceI *);
|
||||
signalInfoPointers = NULL_PTR(DebugSignalInfo **);
|
||||
numSignals = 0;
|
||||
anyActive = false;
|
||||
anyBreakActive = false;
|
||||
isOutput = false;
|
||||
gamName[0] = '\0';
|
||||
}
|
||||
|
||||
virtual ~DebugBrokerWrapper() {
|
||||
if (signalInfoPointers)
|
||||
delete[] signalInfoPointers;
|
||||
}
|
||||
|
||||
virtual bool Execute() {
|
||||
bool ret = BaseClass::Execute();
|
||||
if (ret && (anyActive || anyBreakActive)) {
|
||||
DebugBrokerHelper::Process(service, signalInfoPointers, activeIndices,
|
||||
activeSizes, activeMutex,
|
||||
&anyBreakActive, &breakIndices);
|
||||
}
|
||||
// Output brokers are the safe pause point: base Execute has already
|
||||
// committed data / posted any cross-thread EventSems.
|
||||
if (ret && isOutput) {
|
||||
DebugBrokerHelper::OutputPauseAndStep(service, gamName);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
virtual bool Init(SignalDirection direction, DataSourceI &ds,
|
||||
const char8 *const name, void *gamMem) {
|
||||
bool ret = BaseClass::Init(direction, ds, name, gamMem);
|
||||
fprintf(stderr, ">> INIT BROKER %s %s\n", name,
|
||||
direction == InputSignals ? "In" : "Out");
|
||||
if (ret) {
|
||||
numSignals = this->GetNumberOfCopies();
|
||||
isOutput = (direction == OutputSignals);
|
||||
StringHelper::CopyN(gamName, name, 255u);
|
||||
DebugBrokerHelper::InitSignals(this, ds, service, signalInfoPointers,
|
||||
numSignals, this->copyTable, name,
|
||||
direction, &anyActive, &activeIndices,
|
||||
&activeSizes, &activeMutex,
|
||||
&anyBreakActive, &breakIndices);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
virtual bool Init(SignalDirection direction, DataSourceI &ds,
|
||||
const char8 *const name, void *gamMem, const bool optim) {
|
||||
bool ret = BaseClass::Init(direction, ds, name, gamMem, false);
|
||||
fprintf(stderr, ">> INIT optimized BROKER %s %s\n", name,
|
||||
direction == InputSignals ? "In" : "Out");
|
||||
if (ret) {
|
||||
numSignals = this->GetNumberOfCopies();
|
||||
isOutput = (direction == OutputSignals);
|
||||
StringHelper::CopyN(gamName, name, 255u);
|
||||
DebugBrokerHelper::InitSignals(this, ds, service, signalInfoPointers,
|
||||
numSignals, this->copyTable, name,
|
||||
direction, &anyActive, &activeIndices,
|
||||
&activeSizes, &activeMutex,
|
||||
&anyBreakActive, &breakIndices);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
DebugServiceI *service;
|
||||
DebugSignalInfo **signalInfoPointers;
|
||||
uint32 numSignals;
|
||||
volatile bool anyActive;
|
||||
volatile bool anyBreakActive;
|
||||
bool isOutput;
|
||||
char8 gamName[256];
|
||||
Vector<uint32> activeIndices;
|
||||
Vector<uint32> activeSizes;
|
||||
Vector<uint32> breakIndices;
|
||||
FastPollingMutexSem activeMutex;
|
||||
};
|
||||
|
||||
template <typename BaseClass>
|
||||
class DebugBrokerWrapperNoOptim : public BaseClass {
|
||||
public:
|
||||
DebugBrokerWrapperNoOptim() : BaseClass() {
|
||||
service = NULL_PTR(DebugServiceI *);
|
||||
signalInfoPointers = NULL_PTR(DebugSignalInfo **);
|
||||
numSignals = 0;
|
||||
anyActive = false;
|
||||
anyBreakActive = false;
|
||||
isOutput = false;
|
||||
gamName[0] = '\0';
|
||||
}
|
||||
|
||||
virtual ~DebugBrokerWrapperNoOptim() {
|
||||
if (signalInfoPointers)
|
||||
delete[] signalInfoPointers;
|
||||
}
|
||||
|
||||
virtual bool Execute() {
|
||||
bool ret = BaseClass::Execute();
|
||||
if (ret && (anyActive || anyBreakActive)) {
|
||||
DebugBrokerHelper::Process(service, signalInfoPointers, activeIndices,
|
||||
activeSizes, activeMutex,
|
||||
&anyBreakActive, &breakIndices);
|
||||
}
|
||||
if (ret && isOutput) {
|
||||
DebugBrokerHelper::OutputPauseAndStep(service, gamName);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
virtual bool Init(SignalDirection direction, DataSourceI &ds,
|
||||
const char8 *const name, void *gamMem) {
|
||||
bool ret = BaseClass::Init(direction, ds, name, gamMem);
|
||||
if (ret) {
|
||||
numSignals = this->GetNumberOfCopies();
|
||||
isOutput = (direction == OutputSignals);
|
||||
StringHelper::CopyN(gamName, name, 255u);
|
||||
DebugBrokerHelper::InitSignals(this, ds, service, signalInfoPointers,
|
||||
numSignals, this->copyTable, name,
|
||||
direction, &anyActive, &activeIndices,
|
||||
&activeSizes, &activeMutex,
|
||||
&anyBreakActive, &breakIndices);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
DebugServiceI *service;
|
||||
DebugSignalInfo **signalInfoPointers;
|
||||
uint32 numSignals;
|
||||
volatile bool anyActive;
|
||||
volatile bool anyBreakActive;
|
||||
bool isOutput;
|
||||
char8 gamName[256];
|
||||
Vector<uint32> activeIndices;
|
||||
Vector<uint32> activeSizes;
|
||||
Vector<uint32> breakIndices;
|
||||
FastPollingMutexSem activeMutex;
|
||||
};
|
||||
|
||||
class DebugMemoryMapAsyncOutputBroker : public MemoryMapAsyncOutputBroker {
|
||||
public:
|
||||
DebugMemoryMapAsyncOutputBroker() : MemoryMapAsyncOutputBroker() {
|
||||
service = NULL_PTR(DebugServiceI *);
|
||||
signalInfoPointers = NULL_PTR(DebugSignalInfo **);
|
||||
numSignals = 0;
|
||||
anyActive = false;
|
||||
anyBreakActive = false;
|
||||
gamName[0] = '\0';
|
||||
}
|
||||
virtual ~DebugMemoryMapAsyncOutputBroker() {
|
||||
if (signalInfoPointers)
|
||||
delete[] signalInfoPointers;
|
||||
}
|
||||
virtual bool Execute() {
|
||||
bool ret = MemoryMapAsyncOutputBroker::Execute();
|
||||
if (ret && (anyActive || anyBreakActive)) {
|
||||
DebugBrokerHelper::Process(service, signalInfoPointers, activeIndices,
|
||||
activeSizes, activeMutex,
|
||||
&anyBreakActive, &breakIndices);
|
||||
}
|
||||
// Async output brokers are always output direction
|
||||
if (ret) {
|
||||
DebugBrokerHelper::OutputPauseAndStep(service, gamName);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
virtual bool InitWithBufferParameters(const SignalDirection direction,
|
||||
DataSourceI &dataSourceIn,
|
||||
const char8 *const functionName,
|
||||
void *const gamMemoryAddress,
|
||||
const uint32 numberOfBuffersIn,
|
||||
const ProcessorType &cpuMaskIn,
|
||||
const uint32 stackSizeIn) {
|
||||
bool ret = MemoryMapAsyncOutputBroker::InitWithBufferParameters(
|
||||
direction, dataSourceIn, functionName, gamMemoryAddress,
|
||||
numberOfBuffersIn, cpuMaskIn, stackSizeIn);
|
||||
if (ret) {
|
||||
numSignals = this->GetNumberOfCopies();
|
||||
StringHelper::CopyN(gamName, (functionName != NULL_PTR(const char8 *)) ? functionName : "", 255u);
|
||||
DebugBrokerHelper::InitSignals(
|
||||
this, dataSourceIn, service, signalInfoPointers, numSignals,
|
||||
this->copyTable, functionName, direction, &anyActive, &activeIndices,
|
||||
&activeSizes, &activeMutex, &anyBreakActive, &breakIndices);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
DebugServiceI *service;
|
||||
DebugSignalInfo **signalInfoPointers;
|
||||
uint32 numSignals;
|
||||
volatile bool anyActive;
|
||||
volatile bool anyBreakActive;
|
||||
char8 gamName[256];
|
||||
Vector<uint32> activeIndices;
|
||||
Vector<uint32> activeSizes;
|
||||
Vector<uint32> breakIndices;
|
||||
FastPollingMutexSem activeMutex;
|
||||
};
|
||||
|
||||
class DebugMemoryMapAsyncTriggerOutputBroker
|
||||
: public MemoryMapAsyncTriggerOutputBroker {
|
||||
public:
|
||||
DebugMemoryMapAsyncTriggerOutputBroker()
|
||||
: MemoryMapAsyncTriggerOutputBroker() {
|
||||
service = NULL_PTR(DebugServiceI *);
|
||||
signalInfoPointers = NULL_PTR(DebugSignalInfo **);
|
||||
numSignals = 0;
|
||||
anyActive = false;
|
||||
anyBreakActive = false;
|
||||
gamName[0] = '\0';
|
||||
}
|
||||
virtual ~DebugMemoryMapAsyncTriggerOutputBroker() {
|
||||
if (signalInfoPointers)
|
||||
delete[] signalInfoPointers;
|
||||
}
|
||||
virtual bool Execute() {
|
||||
bool ret = MemoryMapAsyncTriggerOutputBroker::Execute();
|
||||
if (ret && (anyActive || anyBreakActive)) {
|
||||
DebugBrokerHelper::Process(service, signalInfoPointers, activeIndices,
|
||||
activeSizes, activeMutex,
|
||||
&anyBreakActive, &breakIndices);
|
||||
}
|
||||
if (ret) {
|
||||
DebugBrokerHelper::OutputPauseAndStep(service, gamName);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
virtual bool InitWithTriggerParameters(
|
||||
const SignalDirection direction, DataSourceI &dataSourceIn,
|
||||
const char8 *const functionName, void *const gamMemoryAddress,
|
||||
const uint32 numberOfBuffersIn, const uint32 preTriggerBuffersIn,
|
||||
const uint32 postTriggerBuffersIn, const ProcessorType &cpuMaskIn,
|
||||
const uint32 stackSizeIn) {
|
||||
bool ret = MemoryMapAsyncTriggerOutputBroker::InitWithTriggerParameters(
|
||||
direction, dataSourceIn, functionName, gamMemoryAddress,
|
||||
numberOfBuffersIn, preTriggerBuffersIn, postTriggerBuffersIn, cpuMaskIn,
|
||||
stackSizeIn);
|
||||
if (ret) {
|
||||
numSignals = this->GetNumberOfCopies();
|
||||
StringHelper::CopyN(gamName, (functionName != NULL_PTR(const char8 *)) ? functionName : "", 255u);
|
||||
DebugBrokerHelper::InitSignals(
|
||||
this, dataSourceIn, service, signalInfoPointers, numSignals,
|
||||
this->copyTable, functionName, direction, &anyActive, &activeIndices,
|
||||
&activeSizes, &activeMutex, &anyBreakActive, &breakIndices);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
DebugServiceI *service;
|
||||
DebugSignalInfo **signalInfoPointers;
|
||||
uint32 numSignals;
|
||||
volatile bool anyActive;
|
||||
volatile bool anyBreakActive;
|
||||
char8 gamName[256];
|
||||
Vector<uint32> activeIndices;
|
||||
Vector<uint32> activeSizes;
|
||||
Vector<uint32> breakIndices;
|
||||
FastPollingMutexSem activeMutex;
|
||||
};
|
||||
|
||||
template <typename T> class DebugBrokerBuilder : public ObjectBuilder {
|
||||
public:
|
||||
virtual Object *Build(HeapI *const heap) const { return new (heap) T(); }
|
||||
};
|
||||
|
||||
typedef DebugBrokerWrapper<MemoryMapInputBroker> DebugMemoryMapInputBroker;
|
||||
// LCOV_EXCL_START
|
||||
typedef DebugBrokerWrapper<MemoryMapOutputBroker> DebugMemoryMapOutputBroker;
|
||||
typedef DebugBrokerWrapper<MemoryMapSynchronisedInputBroker>
|
||||
DebugMemoryMapSynchronisedInputBroker;
|
||||
typedef DebugBrokerWrapper<MemoryMapSynchronisedOutputBroker>
|
||||
DebugMemoryMapSynchronisedOutputBroker;
|
||||
typedef DebugBrokerWrapperNoOptim<MemoryMapInterpolatedInputBroker>
|
||||
DebugMemoryMapInterpolatedInputBroker;
|
||||
typedef DebugBrokerWrapper<MemoryMapMultiBufferInputBroker>
|
||||
DebugMemoryMapMultiBufferInputBroker;
|
||||
typedef DebugBrokerWrapper<MemoryMapMultiBufferOutputBroker>
|
||||
DebugMemoryMapMultiBufferOutputBroker;
|
||||
typedef DebugBrokerWrapper<MemoryMapSynchronisedMultiBufferInputBroker>
|
||||
DebugMemoryMapSynchronisedMultiBufferInputBroker;
|
||||
typedef DebugBrokerWrapper<MemoryMapSynchronisedMultiBufferOutputBroker>
|
||||
DebugMemoryMapSynchronisedMultiBufferOutputBroker;
|
||||
// LCOV_EXCL_STOP
|
||||
|
||||
typedef DebugBrokerBuilder<DebugMemoryMapInputBroker>
|
||||
DebugMemoryMapInputBrokerBuilder;
|
||||
// LCOV_EXCL_START
|
||||
typedef DebugBrokerBuilder<DebugMemoryMapOutputBroker>
|
||||
DebugMemoryMapOutputBrokerBuilder;
|
||||
typedef DebugBrokerBuilder<DebugMemoryMapSynchronisedInputBroker>
|
||||
DebugMemoryMapSynchronisedInputBrokerBuilder;
|
||||
typedef DebugBrokerBuilder<DebugMemoryMapSynchronisedOutputBroker>
|
||||
DebugMemoryMapSynchronisedOutputBrokerBuilder;
|
||||
typedef DebugBrokerBuilder<DebugMemoryMapInterpolatedInputBroker>
|
||||
DebugMemoryMapInterpolatedInputBrokerBuilder;
|
||||
typedef DebugBrokerBuilder<DebugMemoryMapMultiBufferInputBroker>
|
||||
DebugMemoryMapMultiBufferInputBrokerBuilder;
|
||||
typedef DebugBrokerBuilder<DebugMemoryMapMultiBufferOutputBroker>
|
||||
DebugMemoryMapMultiBufferOutputBrokerBuilder;
|
||||
typedef DebugBrokerBuilder<DebugMemoryMapSynchronisedMultiBufferInputBroker>
|
||||
DebugMemoryMapSynchronisedMultiBufferInputBrokerBuilder;
|
||||
typedef DebugBrokerBuilder<DebugMemoryMapSynchronisedMultiBufferOutputBroker>
|
||||
DebugMemoryMapSynchronisedMultiBufferOutputBrokerBuilder;
|
||||
typedef DebugBrokerBuilder<DebugMemoryMapAsyncOutputBroker>
|
||||
DebugMemoryMapAsyncOutputBrokerBuilder;
|
||||
typedef DebugBrokerBuilder<DebugMemoryMapAsyncTriggerOutputBroker>
|
||||
DebugMemoryMapAsyncTriggerOutputBrokerBuilder;
|
||||
// LCOV_EXCL_STOP
|
||||
|
||||
} // namespace MARTe
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,188 @@
|
||||
#ifndef DEBUGCORE_H
|
||||
#define DEBUGCORE_H
|
||||
|
||||
#include "CompilerTypes.h"
|
||||
#include "TypeDescriptor.h"
|
||||
#include "StreamString.h"
|
||||
#include <string.h>
|
||||
|
||||
namespace MARTe {
|
||||
|
||||
// Break condition operators stored in DebugSignalInfo::breakOp
|
||||
enum BreakOp {
|
||||
BREAK_OFF = 0,
|
||||
BREAK_GT = 1, // >
|
||||
BREAK_LT = 2, // <
|
||||
BREAK_EQ = 3, // ==
|
||||
BREAK_GEQ = 4, // >=
|
||||
BREAK_LEQ = 5, // <=
|
||||
BREAK_NEQ = 6 // !=
|
||||
};
|
||||
|
||||
struct DebugSignalInfo {
|
||||
void* memoryAddress;
|
||||
TypeDescriptor type;
|
||||
StreamString name;
|
||||
uint8 numberOfDimensions;
|
||||
uint32 numberOfElements;
|
||||
volatile bool isTracing;
|
||||
volatile bool isForcing;
|
||||
uint8 forcedValue[1024];
|
||||
uint8 forcedMask[32]; // bit e set → element e is forced; supports up to 256 elements
|
||||
uint32 internalID;
|
||||
volatile uint32 decimationFactor;
|
||||
volatile uint32 decimationCounter;
|
||||
// Conditional break fields (zero-cost when breakOp == BREAK_OFF)
|
||||
volatile uint8 breakOp; // BreakOp enum value
|
||||
float64 breakThreshold; // comparison threshold
|
||||
};
|
||||
|
||||
#pragma pack(push, 1)
|
||||
struct TraceHeader {
|
||||
uint32 magic; // 0xDA7A57AD
|
||||
uint32 seq; // Sequence number
|
||||
uint64 timestamp; // HighRes timestamp
|
||||
uint32 count; // Number of samples in payload
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
/**
|
||||
* @brief Ring buffer for high-frequency signal tracing.
|
||||
* @details New format per sample: [ID:4][Timestamp:8][Size:4][Data:N]
|
||||
*/
|
||||
class TraceRingBuffer {
|
||||
public:
|
||||
TraceRingBuffer() {
|
||||
bufferSize = 0;
|
||||
buffer = NULL_PTR(uint8*);
|
||||
readIndex = 0;
|
||||
writeIndex = 0;
|
||||
}
|
||||
|
||||
~TraceRingBuffer() {
|
||||
if (buffer != NULL_PTR(uint8*)) {
|
||||
delete[] buffer;
|
||||
}
|
||||
}
|
||||
|
||||
bool Init(uint32 size) {
|
||||
if (buffer != NULL_PTR(uint8*)) {
|
||||
delete[] buffer;
|
||||
}
|
||||
bufferSize = size;
|
||||
buffer = new uint8[bufferSize];
|
||||
readIndex = 0;
|
||||
writeIndex = 0;
|
||||
return (buffer != NULL_PTR(uint8*));
|
||||
}
|
||||
|
||||
bool Push(uint32 signalID, uint64 timestamp, void* data, uint32 size) {
|
||||
uint32 packetSize = 4 + 8 + 4 + size; // ID + TS + Size + Data
|
||||
uint32 read = readIndex;
|
||||
uint32 write = writeIndex;
|
||||
|
||||
uint32 available = 0;
|
||||
if (read <= write) {
|
||||
available = bufferSize - (write - read) - 1;
|
||||
} else {
|
||||
available = read - write - 1;
|
||||
}
|
||||
|
||||
if (available < packetSize) return false;
|
||||
|
||||
uint32 tempWrite = write;
|
||||
WriteToBuffer(&tempWrite, &signalID, 4);
|
||||
WriteToBuffer(&tempWrite, ×tamp, 8);
|
||||
WriteToBuffer(&tempWrite, &size, 4);
|
||||
WriteToBuffer(&tempWrite, data, size);
|
||||
|
||||
writeIndex = tempWrite;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool Pop(uint32 &signalID, uint64 ×tamp, void* dataBuffer, uint32 &size, uint32 maxSize) {
|
||||
uint32 read = readIndex;
|
||||
uint32 write = writeIndex;
|
||||
if (read == write) return false;
|
||||
|
||||
uint32 tempRead = read;
|
||||
uint32 tempId = 0;
|
||||
uint64 tempTs = 0;
|
||||
uint32 tempSize = 0;
|
||||
|
||||
ReadFromBuffer(&tempRead, &tempId, 4);
|
||||
ReadFromBuffer(&tempRead, &tempTs, 8);
|
||||
ReadFromBuffer(&tempRead, &tempSize, 4);
|
||||
|
||||
if (tempSize > maxSize) {
|
||||
// FIX #5: Skip only the current entry rather than discarding the
|
||||
// entire ring buffer. tempRead is already past the 16-byte header;
|
||||
// advancing by tempSize lands at the start of the next entry.
|
||||
//
|
||||
// Safety fallback: if tempSize >= bufferSize the stored size field
|
||||
// is corrupt (it can never be that large). In that case we cannot
|
||||
// locate the next entry safely, so fall back to discarding everything
|
||||
// to avoid reading garbage as sample headers on future Pop() calls.
|
||||
if (tempSize >= bufferSize) {
|
||||
readIndex = write; // corrupt ring — discard all
|
||||
} else {
|
||||
readIndex = (tempRead + tempSize) % bufferSize;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
ReadFromBuffer(&tempRead, dataBuffer, tempSize);
|
||||
|
||||
signalID = tempId;
|
||||
timestamp = tempTs;
|
||||
size = tempSize;
|
||||
|
||||
readIndex = tempRead;
|
||||
return true;
|
||||
}
|
||||
|
||||
uint32 Count() {
|
||||
uint32 read = readIndex;
|
||||
uint32 write = writeIndex;
|
||||
if (write >= read) return write - read;
|
||||
return bufferSize - (read - write);
|
||||
}
|
||||
|
||||
private:
|
||||
void WriteToBuffer(uint32 *idx, void* src, uint32 count) {
|
||||
uint32 current = *idx;
|
||||
uint32 spaceToEnd = bufferSize - current;
|
||||
if (count <= spaceToEnd) {
|
||||
memcpy(&buffer[current], src, count);
|
||||
*idx = (current + count) % bufferSize;
|
||||
} else {
|
||||
memcpy(&buffer[current], src, spaceToEnd);
|
||||
uint32 remaining = count - spaceToEnd;
|
||||
memcpy(&buffer[0], (uint8*)src + spaceToEnd, remaining);
|
||||
*idx = remaining;
|
||||
}
|
||||
}
|
||||
|
||||
void ReadFromBuffer(uint32 *idx, void* dst, uint32 count) {
|
||||
uint32 current = *idx;
|
||||
uint32 spaceToEnd = bufferSize - current;
|
||||
if (count <= spaceToEnd) {
|
||||
memcpy(dst, &buffer[current], count);
|
||||
*idx = (current + count) % bufferSize;
|
||||
} else {
|
||||
memcpy(dst, &buffer[current], spaceToEnd);
|
||||
uint32 remaining = count - spaceToEnd;
|
||||
memcpy((uint8*)dst + spaceToEnd, &buffer[0], remaining);
|
||||
*idx = remaining;
|
||||
}
|
||||
}
|
||||
|
||||
volatile uint32 readIndex;
|
||||
volatile uint32 writeIndex;
|
||||
uint32 bufferSize;
|
||||
uint8 *buffer;
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,618 @@
|
||||
#include "BasicTCPSocket.h"
|
||||
#include "ConfigurationDatabase.h"
|
||||
#include "DebugService.h"
|
||||
#include "GlobalObjectsDatabase.h"
|
||||
#include "HighResolutionTimer.h"
|
||||
#include "LoggerService.h"
|
||||
#include "Message.h"
|
||||
#include "ObjectRegistryDatabase.h"
|
||||
#include "ReferenceT.h"
|
||||
#include "Sleep.h"
|
||||
#include "StreamString.h"
|
||||
#include "StringHelper.h"
|
||||
#include "Threads.h"
|
||||
#include "TimeoutType.h"
|
||||
#include "UDPSProtocol.h"
|
||||
|
||||
namespace MARTe {
|
||||
|
||||
CLASS_REGISTER(DebugService, "1.0")
|
||||
|
||||
// C++98 ODR definitions for static constants
|
||||
const uint32 DebugService::CMD_RATE_LIMIT;
|
||||
const uint32 DebugService::CLIENT_IDLE_TIMEOUT_MS;
|
||||
const uint32 DebugService::INPUT_BUFFER_MAX;
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// Constructor / Destructor
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
DebugService::DebugService()
|
||||
: DebugServiceBase(),
|
||||
EmbeddedServiceMethodBinderI(),
|
||||
binderServer(this, ServiceBinder::ServerType),
|
||||
binderStreamer(this, ServiceBinder::StreamerType),
|
||||
threadService(binderServer),
|
||||
streamerService(binderStreamer) {
|
||||
controlPort = 0u;
|
||||
streamPort = 8081u;
|
||||
logPort = 8082u;
|
||||
streamIP = "127.0.0.1";
|
||||
isServer = false;
|
||||
suppressTimeoutLogs = true;
|
||||
activeClient = NULL_PTR(BasicTCPSocket *);
|
||||
cmdCountInWindow = 0u;
|
||||
cmdWindowStartMs = 0u;
|
||||
lastDataTimeMs = 0u;
|
||||
inputBuffer = "";
|
||||
|
||||
// UDPS members
|
||||
udpsNumSlots = 0u;
|
||||
udpsDataPayload = NULL_PTR(uint8 *);
|
||||
udpsDataPayloadSize = 0u;
|
||||
udpsPacketCounter = 0u;
|
||||
udpsConfigPending = false;
|
||||
}
|
||||
|
||||
DebugService::~DebugService() {
|
||||
if (DebugServiceI::GetInstance() == this) {
|
||||
DebugServiceI::SetInstance(NULL_PTR(DebugServiceI *));
|
||||
}
|
||||
threadService.Stop();
|
||||
streamerService.Stop();
|
||||
tcpServer.Close();
|
||||
udpSocket.Close();
|
||||
if (activeClient != NULL_PTR(BasicTCPSocket *)) {
|
||||
activeClient->Close();
|
||||
delete activeClient;
|
||||
activeClient = NULL_PTR(BasicTCPSocket *);
|
||||
}
|
||||
if (udpsDataPayload != NULL_PTR(uint8 *)) {
|
||||
delete[] udpsDataPayload;
|
||||
udpsDataPayload = NULL_PTR(uint8 *);
|
||||
}
|
||||
// signals owned by DebugServiceBase destructor
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// Initialise
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
bool DebugService::Initialise(StructuredDataI &data) {
|
||||
if (!ReferenceContainer::Initialise(data)) return false;
|
||||
|
||||
uint32 port = 0u;
|
||||
if (data.Read("ControlPort", port)) {
|
||||
controlPort = (uint16)port;
|
||||
} else {
|
||||
(void)data.Read("TcpPort", port);
|
||||
controlPort = (uint16)port;
|
||||
}
|
||||
|
||||
if (controlPort > 0u) {
|
||||
isServer = true;
|
||||
DebugServiceI::SetInstance(this);
|
||||
}
|
||||
|
||||
port = 8081u;
|
||||
if (data.Read("StreamPort", port)) {
|
||||
streamPort = (uint16)port;
|
||||
} else {
|
||||
(void)data.Read("UdpPort", port);
|
||||
streamPort = (uint16)port;
|
||||
}
|
||||
|
||||
port = 8082u;
|
||||
if (data.Read("LogPort", port)) {
|
||||
logPort = (uint16)port;
|
||||
} else {
|
||||
(void)data.Read("TcpLogPort", port);
|
||||
logPort = (uint16)port;
|
||||
}
|
||||
|
||||
StreamString tempIP;
|
||||
if (data.Read("StreamIP", tempIP)) {
|
||||
streamIP = tempIP;
|
||||
} else {
|
||||
streamIP = "127.0.0.1";
|
||||
}
|
||||
|
||||
uint32 suppress = 1u;
|
||||
if (data.Read("SuppressTimeoutLogs", suppress)) {
|
||||
suppressTimeoutLogs = (suppress == 1u);
|
||||
}
|
||||
|
||||
// Capture only the local subtree — do NOT call MoveToRoot() on the shared CDB.
|
||||
(void)data.Copy(fullConfig);
|
||||
|
||||
if (isServer) {
|
||||
if (!traceBuffer.Init(8 * 1024 * 1024)) return false;
|
||||
PatchRegistry();
|
||||
|
||||
ConfigurationDatabase threadData;
|
||||
threadData.Write("Timeout", (uint32)1000);
|
||||
threadService.Initialise(threadData);
|
||||
streamerService.Initialise(threadData);
|
||||
|
||||
if (!tcpServer.Open()) return false;
|
||||
if (!tcpServer.Listen(controlPort)) return false;
|
||||
if (!udpSocket.Open()) return false;
|
||||
// Note: do NOT bind udpSocket to streamPort here. The Go client
|
||||
// must own that port to receive streamed data. The socket sends
|
||||
// via an ephemeral source port, which is fine for UDP.
|
||||
|
||||
if (threadService.Start() != ErrorManagement::NoError) return false;
|
||||
if (streamerService.Start() != ErrorManagement::NoError) return false;
|
||||
|
||||
// Send initial (empty) CONFIG so clients know the schema version
|
||||
SendUDPSConfig();
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// Transport config hook (called by RebuildConfigFromRegistry in base)
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
void DebugService::RebuildTransportConfig() {
|
||||
const char8 *myName = GetName();
|
||||
if (myName != NULL_PTR(const char8 *)) {
|
||||
if (fullConfig.MoveRelative(myName)) {
|
||||
(void)fullConfig.Write("ControlPort", static_cast<uint32>(controlPort));
|
||||
(void)fullConfig.Write("UdpPort", static_cast<uint32>(streamPort));
|
||||
(void)fullConfig.Write("LogPort", static_cast<uint32>(logPort));
|
||||
if (streamIP.Size() > 0u)
|
||||
(void)fullConfig.Write("StreamIP", streamIP.Buffer());
|
||||
(void)fullConfig.MoveToAncestor(1u);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// SERVICE_INFO hook
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
void DebugService::GetServiceInfo(StreamString &out) {
|
||||
out.Printf("OK SERVICE_INFO TCP_CTRL:%u UDP_STREAM:%u TCP_LOG:%u STATE:%s\n",
|
||||
controlPort, streamPort, logPort,
|
||||
isPaused ? "PAUSED" : "RUNNING");
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// Execute / HandleMessage (framework boilerplate)
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
ErrorManagement::ErrorType DebugService::Execute(ExecutionInfo &info) {
|
||||
(void)info;
|
||||
return ErrorManagement::FatalError;
|
||||
}
|
||||
|
||||
ErrorManagement::ErrorType DebugService::HandleMessage(ReferenceT<Message> &data) {
|
||||
(void)data;
|
||||
return ErrorManagement::NoError;
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// TraceSignal override — sets config-pending flag after base handling
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
uint32 DebugService::TraceSignal(const char8 *name, bool enable, uint32 decimation) {
|
||||
uint32 ret = DebugServiceBase::TraceSignal(name, enable, decimation);
|
||||
udpsConfigPending = true;
|
||||
return ret;
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// InjectTcpLoggerIfNeeded
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
void DebugService::InjectTcpLoggerIfNeeded() {
|
||||
if (logPort == 0u) return;
|
||||
|
||||
Reference existing = ObjectRegistryDatabase::Instance()->Find("LoggerService");
|
||||
if (existing.IsValid()) {
|
||||
ReferenceContainer *rc =
|
||||
dynamic_cast<ReferenceContainer *>(existing.operator->());
|
||||
if (rc != NULL_PTR(ReferenceContainer *)) {
|
||||
for (uint32 i = 0u; i < rc->Size(); i++) {
|
||||
Reference child = rc->Get(i);
|
||||
// Check by class name to avoid a direct symbol dependency on TcpLogger.so
|
||||
if (child.IsValid()) {
|
||||
const ClassProperties *cp = child->GetClassProperties();
|
||||
if (cp != NULL_PTR(const ClassProperties *)) {
|
||||
if (StringHelper::Compare(cp->GetName(), "TcpLogger") == 0) {
|
||||
return; // already has a TcpLogger
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
ConfigurationDatabase lsCdb;
|
||||
(void)lsCdb.Write("Class", "LoggerService");
|
||||
uint32 cpus = 1u;
|
||||
(void)lsCdb.Write("CPUs", cpus);
|
||||
if (lsCdb.CreateRelative("+DebugConsumer")) {
|
||||
(void)lsCdb.Write("Class", "TcpLogger");
|
||||
uint32 p = static_cast<uint32>(logPort);
|
||||
(void)lsCdb.Write("Port", p);
|
||||
(void)lsCdb.MoveToAncestor(1u);
|
||||
}
|
||||
(void)lsCdb.MoveToRoot();
|
||||
|
||||
ReferenceT<LoggerService> ls(
|
||||
"LoggerService", GlobalObjectsDatabase::Instance()->GetStandardHeap());
|
||||
if (!ls.IsValid()) return;
|
||||
ls->SetName("LoggerService");
|
||||
if (!ls->Initialise(lsCdb)) return;
|
||||
(void)ObjectRegistryDatabase::Instance()->Insert(ls);
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// Server thread
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
ErrorManagement::ErrorType DebugService::Server(ExecutionInfo &info) {
|
||||
if (info.GetStage() == ExecutionInfo::TerminationStage)
|
||||
return ErrorManagement::NoError;
|
||||
if (info.GetStage() == ExecutionInfo::StartupStage) {
|
||||
serverThreadId = Threads::Id();
|
||||
Sleep::MSec(500u);
|
||||
InjectTcpLoggerIfNeeded();
|
||||
return ErrorManagement::NoError;
|
||||
}
|
||||
|
||||
uint64 nowMs = (uint64)((float64)HighResolutionTimer::Counter() *
|
||||
HighResolutionTimer::Period() * 1000.0);
|
||||
|
||||
if (activeClient == NULL_PTR(BasicTCPSocket *)) {
|
||||
BasicTCPSocket *newClient = tcpServer.WaitConnection(TimeoutType(100));
|
||||
if (newClient != NULL_PTR(BasicTCPSocket *)) {
|
||||
clientMutex.FastLock();
|
||||
activeClient = newClient;
|
||||
clientMutex.FastUnLock();
|
||||
cmdCountInWindow = 0u;
|
||||
cmdWindowStartMs = nowMs;
|
||||
lastDataTimeMs = nowMs;
|
||||
}
|
||||
} else {
|
||||
if (nowMs - lastDataTimeMs > CLIENT_IDLE_TIMEOUT_MS) {
|
||||
REPORT_ERROR_STATIC(ErrorManagement::Warning,
|
||||
"Server: TCP client idle for >%u ms — closing connection.",
|
||||
CLIENT_IDLE_TIMEOUT_MS);
|
||||
inputBuffer = "";
|
||||
clientMutex.FastLock();
|
||||
activeClient->Close();
|
||||
delete activeClient;
|
||||
activeClient = NULL_PTR(BasicTCPSocket *);
|
||||
clientMutex.FastUnLock();
|
||||
cmdCountInWindow = 0u;
|
||||
} else if (!activeClient->IsConnected()) {
|
||||
inputBuffer = "";
|
||||
clientMutex.FastLock();
|
||||
activeClient->Close();
|
||||
delete activeClient;
|
||||
activeClient = NULL_PTR(BasicTCPSocket *);
|
||||
clientMutex.FastUnLock();
|
||||
} else {
|
||||
char buffer[1024];
|
||||
uint32 size = 1024u;
|
||||
if (activeClient->Read(buffer, size)) {
|
||||
if (size > 0u) {
|
||||
lastDataTimeMs = nowMs;
|
||||
|
||||
if (nowMs - cmdWindowStartMs >= 1000u) {
|
||||
cmdWindowStartMs = nowMs;
|
||||
cmdCountInWindow = 0u;
|
||||
}
|
||||
|
||||
if (inputBuffer.Size() + (uint32)size > INPUT_BUFFER_MAX) {
|
||||
REPORT_ERROR_STATIC(ErrorManagement::Warning,
|
||||
"Server: input buffer overflow (>%u bytes without newline) "
|
||||
"— disconnecting.", INPUT_BUFFER_MAX);
|
||||
inputBuffer = "";
|
||||
clientMutex.FastLock();
|
||||
activeClient->Close();
|
||||
delete activeClient;
|
||||
activeClient = NULL_PTR(BasicTCPSocket *);
|
||||
clientMutex.FastUnLock();
|
||||
cmdCountInWindow = 0u;
|
||||
} else {
|
||||
(void)inputBuffer.Seek(inputBuffer.Size());
|
||||
uint32 writeSize = (uint32)size;
|
||||
inputBuffer.Write(buffer, writeSize);
|
||||
|
||||
const char8 *raw = inputBuffer.Buffer();
|
||||
uint32 total = (uint32)inputBuffer.Size();
|
||||
uint32 lineStart = 0u;
|
||||
bool rateLimitExceeded = false;
|
||||
|
||||
for (uint32 pos = 0u; pos < total && !rateLimitExceeded; pos++) {
|
||||
if (raw[pos] != '\n') continue;
|
||||
uint32 len = pos - lineStart;
|
||||
if (len > 0u && raw[lineStart + len - 1u] == '\r') len--;
|
||||
if (len > 0u) {
|
||||
cmdCountInWindow++;
|
||||
if (cmdCountInWindow > CMD_RATE_LIMIT) {
|
||||
REPORT_ERROR_STATIC(ErrorManagement::Warning,
|
||||
"Server: client exceeded rate limit (%u cmd/s) "
|
||||
"— disconnecting.", CMD_RATE_LIMIT);
|
||||
rateLimitExceeded = true;
|
||||
break;
|
||||
}
|
||||
StreamString command;
|
||||
uint32 cmdLen = len;
|
||||
command.Write(raw + lineStart, cmdLen);
|
||||
|
||||
// Dispatch via base HandleCommand, write response to socket.
|
||||
StreamString out;
|
||||
HandleCommand(command, out);
|
||||
if (out.Size() > 0u) {
|
||||
const char8 *wPtr = out.Buffer();
|
||||
uint32 remaining = (uint32)out.Size();
|
||||
lastDataTimeMs = (uint64)((float64)HighResolutionTimer::Counter() *
|
||||
HighResolutionTimer::Period() * 1000.0);
|
||||
while (remaining > 0u) {
|
||||
uint32 wrote = remaining;
|
||||
if (!activeClient->Write(wPtr, wrote) || wrote == 0u) {
|
||||
break;
|
||||
}
|
||||
wPtr += wrote;
|
||||
remaining -= wrote;
|
||||
lastDataTimeMs = (uint64)((float64)HighResolutionTimer::Counter() *
|
||||
HighResolutionTimer::Period() * 1000.0);
|
||||
}
|
||||
}
|
||||
}
|
||||
lineStart = pos + 1u;
|
||||
}
|
||||
|
||||
if (rateLimitExceeded) {
|
||||
inputBuffer = "";
|
||||
clientMutex.FastLock();
|
||||
activeClient->Close();
|
||||
delete activeClient;
|
||||
activeClient = NULL_PTR(BasicTCPSocket *);
|
||||
clientMutex.FastUnLock();
|
||||
cmdCountInWindow = 0u;
|
||||
} else {
|
||||
StreamString newInputBuffer;
|
||||
if (lineStart < total) {
|
||||
uint32 remLen = total - lineStart;
|
||||
newInputBuffer.Write(raw + lineStart, remLen);
|
||||
}
|
||||
inputBuffer = newInputBuffer;
|
||||
}
|
||||
}
|
||||
}
|
||||
} else {
|
||||
inputBuffer = "";
|
||||
clientMutex.FastLock();
|
||||
activeClient->Close();
|
||||
delete activeClient;
|
||||
activeClient = NULL_PTR(BasicTCPSocket *);
|
||||
clientMutex.FastUnLock();
|
||||
}
|
||||
}
|
||||
}
|
||||
return ErrorManagement::NoError;
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// Streamer thread — UDPS binary telemetry
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
ErrorManagement::ErrorType DebugService::Streamer(ExecutionInfo &info) {
|
||||
if (info.GetStage() == ExecutionInfo::TerminationStage) {
|
||||
if (udpsDataPayload != NULL_PTR(uint8 *)) {
|
||||
delete[] udpsDataPayload;
|
||||
udpsDataPayload = NULL_PTR(uint8 *);
|
||||
}
|
||||
return ErrorManagement::NoError;
|
||||
}
|
||||
if (info.GetStage() == ExecutionInfo::StartupStage) {
|
||||
streamerThreadId = Threads::Id();
|
||||
return ErrorManagement::NoError;
|
||||
}
|
||||
|
||||
// Set UDP destination
|
||||
InternetHost dest(streamPort, streamIP.Buffer());
|
||||
(void)udpSocket.SetDestination(dest);
|
||||
|
||||
// a) If config has changed, rebuild and send CONFIG packet
|
||||
if (udpsConfigPending) {
|
||||
SendUDPSConfig();
|
||||
udpsConfigPending = false;
|
||||
}
|
||||
|
||||
// b) Drain traceBuffer — pack each sample into udpsDataPayload
|
||||
bool anyData = false;
|
||||
uint32 id, size;
|
||||
uint64 ts;
|
||||
uint8 udpsSampleBuf[UDPS_MAX_SAMPLE_BYTES];
|
||||
|
||||
while (traceBuffer.Pop(id, ts, udpsSampleBuf, size, UDPS_MAX_SAMPLE_BYTES)) {
|
||||
// Find matching slot by internalID
|
||||
for (uint32 i = 0u; i < udpsNumSlots; i++) {
|
||||
if (udpsSlots[i].internalID == id) {
|
||||
if ((udpsDataPayload != NULL_PTR(uint8 *)) &&
|
||||
(8u + udpsSlots[i].wireOffset + udpsSlots[i].wireSize <= udpsDataPayloadSize)) {
|
||||
uint32 copySize = size;
|
||||
if (copySize > udpsSlots[i].wireSize) copySize = udpsSlots[i].wireSize;
|
||||
memcpy(udpsDataPayload + 8u + udpsSlots[i].wireOffset, udpsSampleBuf, copySize);
|
||||
udpsSlots[i].everFilled = true;
|
||||
}
|
||||
anyData = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// c) If we have data, stamp with HRT and send
|
||||
if (anyData && udpsNumSlots > 0u && udpsDataPayload != NULL_PTR(uint8 *)) {
|
||||
uint64 hrt = HighResolutionTimer::Counter();
|
||||
memcpy(udpsDataPayload, &hrt, 8u);
|
||||
SendUDPSFragmented(UDPS_TYPE_DATA, udpsDataPayload, udpsDataPayloadSize);
|
||||
udpsPacketCounter++;
|
||||
}
|
||||
|
||||
if (!anyData) {
|
||||
Sleep::MSec(1u);
|
||||
}
|
||||
|
||||
return ErrorManagement::NoError;
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// SendUDPSConfig — build and send a UDPS CONFIG packet
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
bool DebugService::SendUDPSConfig() {
|
||||
// Snapshot traced signals under mutex
|
||||
mutex.FastLock();
|
||||
|
||||
// Count traced signals
|
||||
uint32 tracedCount = 0u;
|
||||
for (uint32 i = 0u; i < signals.GetNumberOfElements(); i++) {
|
||||
if (signals[i]->isTracing) {
|
||||
tracedCount++;
|
||||
}
|
||||
}
|
||||
|
||||
// Build CONFIG payload into udpsTxBuf starting at UDPS_HEADER_SIZE offset
|
||||
uint8 *payload = udpsTxBuf + UDPS_HEADER_SIZE;
|
||||
|
||||
// Write numTraced (uint32 LE)
|
||||
memcpy(payload, &tracedCount, 4u);
|
||||
uint32 payloadOffset = 4u;
|
||||
|
||||
// Build slot table in parallel
|
||||
uint32 currentOffset = 0u;
|
||||
uint32 newNumSlots = 0u;
|
||||
uint32 totalWireBytes = 0u;
|
||||
|
||||
for (uint32 i = 0u; i < signals.GetNumberOfElements(); i++) {
|
||||
if (!signals[i]->isTracing) continue;
|
||||
if (newNumSlots >= UDPS_MAX_SLOTS) break;
|
||||
|
||||
uint8 typeCode = UDPSTypeDescriptorToCode(signals[i]->type);
|
||||
if (typeCode == UDPS_TYPECODE_UNKNOWN) {
|
||||
// Skip unsupported types
|
||||
continue;
|
||||
}
|
||||
|
||||
uint32 numElements = signals[i]->numberOfElements;
|
||||
if (numElements == 0u) numElements = 1u;
|
||||
|
||||
uint32 numRows, numCols;
|
||||
if (signals[i]->numberOfDimensions >= 2u) {
|
||||
// For matrix: approximate square root
|
||||
numCols = numElements;
|
||||
numRows = 1u;
|
||||
} else if (signals[i]->numberOfDimensions == 1u) {
|
||||
numRows = numElements;
|
||||
numCols = 1u;
|
||||
} else {
|
||||
numRows = 1u;
|
||||
numCols = 1u;
|
||||
}
|
||||
|
||||
uint32 wireSize = UDPSTypeCodeByteSize(typeCode) * numElements;
|
||||
|
||||
// Write signal descriptor (136 bytes) to payload
|
||||
if (payloadOffset + UDPS_SIGNAL_DESC_SIZE <= sizeof(udpsTxBuf) - UDPS_HEADER_SIZE - 1u) {
|
||||
UDPSSignalDescriptor *desc = reinterpret_cast<UDPSSignalDescriptor *>(payload + payloadOffset);
|
||||
memset(desc, 0, UDPS_SIGNAL_DESC_SIZE);
|
||||
if (signals[i]->name.Size() > 0u) {
|
||||
strncpy(desc->name, signals[i]->name.Buffer(), UDPS_MAX_SIGNAL_NAME - 1u);
|
||||
}
|
||||
desc->typeCode = typeCode;
|
||||
desc->quantType = UDPS_QUANT_NONE;
|
||||
desc->numDimensions = signals[i]->numberOfDimensions;
|
||||
desc->numRows = numRows;
|
||||
desc->numCols = numCols;
|
||||
desc->rangeMin = 0.0;
|
||||
desc->rangeMax = 0.0;
|
||||
desc->timeMode = UDPS_TIMEMODE_PACKET;
|
||||
desc->samplingRate = 0.0;
|
||||
desc->timeSignalIdx = UDPS_NO_TIME_SIGNAL;
|
||||
// unit stays zero
|
||||
|
||||
payloadOffset += UDPS_SIGNAL_DESC_SIZE;
|
||||
}
|
||||
|
||||
// Fill slot table entry
|
||||
udpsSlots[newNumSlots].internalID = signals[i]->internalID;
|
||||
udpsSlots[newNumSlots].wireOffset = currentOffset;
|
||||
udpsSlots[newNumSlots].wireSize = wireSize;
|
||||
udpsSlots[newNumSlots].everFilled = false;
|
||||
newNumSlots++;
|
||||
|
||||
currentOffset += wireSize;
|
||||
totalWireBytes += wireSize;
|
||||
}
|
||||
|
||||
// Write publish mode byte
|
||||
if (payloadOffset < sizeof(udpsTxBuf) - UDPS_HEADER_SIZE) {
|
||||
payload[payloadOffset] = UDPS_PUBLISH_STRICT;
|
||||
payloadOffset++;
|
||||
}
|
||||
|
||||
udpsNumSlots = newNumSlots;
|
||||
|
||||
mutex.FastUnLock();
|
||||
|
||||
// Reallocate data payload buffer
|
||||
if (udpsDataPayload != NULL_PTR(uint8 *)) {
|
||||
delete[] udpsDataPayload;
|
||||
udpsDataPayload = NULL_PTR(uint8 *);
|
||||
}
|
||||
udpsDataPayloadSize = 8u + totalWireBytes; // 8 bytes HRT + signal data
|
||||
if (udpsDataPayloadSize > 0u) {
|
||||
udpsDataPayload = new uint8[udpsDataPayloadSize];
|
||||
memset(udpsDataPayload, 0, udpsDataPayloadSize);
|
||||
}
|
||||
|
||||
// Send CONFIG packet
|
||||
SendUDPSFragmented(UDPS_TYPE_CONFIG, payload, payloadOffset);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// SendUDPSFragmented — fragment and send a UDPS packet
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
bool DebugService::SendUDPSFragmented(uint8 type, const uint8 *payload, uint32 payloadSize) {
|
||||
if (payloadSize <= UDPS_MAX_PAYLOAD) {
|
||||
// Single datagram
|
||||
UDPSBuildHeader(udpsTxBuf, type, udpsPacketCounter, 0u, 1u, payloadSize);
|
||||
if (payload != (udpsTxBuf + UDPS_HEADER_SIZE)) {
|
||||
memcpy(udpsTxBuf + UDPS_HEADER_SIZE, payload, payloadSize);
|
||||
}
|
||||
uint32 toWrite = UDPS_HEADER_SIZE + payloadSize;
|
||||
(void)udpSocket.Write(reinterpret_cast<char8 *>(udpsTxBuf), toWrite);
|
||||
} else {
|
||||
// Fragmented
|
||||
uint32 numFrags = (payloadSize + UDPS_MAX_PAYLOAD - 1u) / UDPS_MAX_PAYLOAD;
|
||||
uint32 offset = 0u;
|
||||
for (uint32 i = 0u; i < numFrags; i++) {
|
||||
uint32 chunkSize = UDPS_MAX_PAYLOAD;
|
||||
if (offset + chunkSize > payloadSize) {
|
||||
chunkSize = payloadSize - offset;
|
||||
}
|
||||
UDPSBuildHeader(udpsTxBuf, type, udpsPacketCounter,
|
||||
static_cast<uint16>(i),
|
||||
static_cast<uint16>(numFrags),
|
||||
chunkSize);
|
||||
memcpy(udpsTxBuf + UDPS_HEADER_SIZE, payload + offset, chunkSize);
|
||||
uint32 toWrite = UDPS_HEADER_SIZE + chunkSize;
|
||||
(void)udpSocket.Write(reinterpret_cast<char8 *>(udpsTxBuf), toWrite);
|
||||
offset += chunkSize;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
} // namespace MARTe
|
||||
@@ -0,0 +1,183 @@
|
||||
#ifndef DEBUGSERVICE_H
|
||||
#define DEBUGSERVICE_H
|
||||
|
||||
#include "BasicTCPSocket.h"
|
||||
#include "BasicUDPSocket.h"
|
||||
#include "DebugServiceBase.h"
|
||||
#include "EmbeddedServiceMethodBinderI.h"
|
||||
#include "MessageI.h"
|
||||
#include "ReferenceT.h"
|
||||
#include "SingleThreadService.h"
|
||||
#include "UDPSProtocol.h"
|
||||
|
||||
namespace MARTe {
|
||||
|
||||
/**
|
||||
* @brief TCP/UDP implementation of DebugServiceI (via DebugServiceBase).
|
||||
*
|
||||
* Signal tracing now uses the UDPS binary protocol (same wire format as
|
||||
* UDPStreamer) so that the same Go web client can consume both sources.
|
||||
*
|
||||
* Flow:
|
||||
* 1. The Go client listens on udpPort.
|
||||
* 2. DebugService binds the same port on its end (or uses the client's
|
||||
* configured IP:port as destination for the old push model).
|
||||
* 3. On startup and on every TRACE change, DebugService sends a CONFIG
|
||||
* packet listing the currently-traced signals.
|
||||
* 4. For each RT drain cycle that contains new data, DebugService sends
|
||||
* one DATA packet (Strict mode) with the most-recent value per signal.
|
||||
*/
|
||||
class DebugService : public DebugServiceBase,
|
||||
public MessageI,
|
||||
public EmbeddedServiceMethodBinderI {
|
||||
public:
|
||||
friend class DebugServiceTest;
|
||||
CLASS_REGISTER_DECLARATION()
|
||||
|
||||
DebugService();
|
||||
virtual ~DebugService();
|
||||
|
||||
virtual bool Initialise(StructuredDataI &data);
|
||||
|
||||
virtual ErrorManagement::ErrorType Execute(ExecutionInfo &info);
|
||||
virtual ErrorManagement::ErrorType HandleMessage(ReferenceT<Message> &data);
|
||||
|
||||
/**
|
||||
* @brief Override TraceSignal to trigger a CONFIG re-send after each change.
|
||||
*/
|
||||
virtual uint32 TraceSignal(const char8 *name, bool enable, uint32 decimation = 1u);
|
||||
|
||||
protected:
|
||||
virtual void GetServiceInfo(StreamString &out);
|
||||
virtual void RebuildTransportConfig();
|
||||
|
||||
private:
|
||||
void InjectTcpLoggerIfNeeded();
|
||||
|
||||
ErrorManagement::ErrorType Server (ExecutionInfo &info);
|
||||
ErrorManagement::ErrorType Streamer(ExecutionInfo &info);
|
||||
|
||||
/**
|
||||
* @brief Build and transmit a CONFIG packet for the current traced-signal set.
|
||||
* @details Iterates over all registered signals, selects those with
|
||||
* isTracing == true, builds UDPSSignalDescriptor array, and sends
|
||||
* a (possibly fragmented) UDPS CONFIG packet. Also rebuilds the
|
||||
* udpsSlots table and udpsWirePayload buffer.
|
||||
* @return true on success.
|
||||
*/
|
||||
bool SendUDPSConfig();
|
||||
|
||||
/**
|
||||
* @brief Fragment and send a payload as one or more UDPS datagrams.
|
||||
* @param type Packet type (UDPS_TYPE_CONFIG or UDPS_TYPE_DATA).
|
||||
* @param payload Pointer to fully-built payload.
|
||||
* @param payloadSize Byte count of payload.
|
||||
* @return true if all datagrams were written without error.
|
||||
*/
|
||||
bool SendUDPSFragmented(uint8 type, const uint8 *payload, uint32 payloadSize);
|
||||
|
||||
// -----------------------------------------------------------------------
|
||||
// TCP/UDP transport configuration
|
||||
// -----------------------------------------------------------------------
|
||||
uint16 controlPort;
|
||||
uint16 streamPort;
|
||||
uint16 logPort;
|
||||
StreamString streamIP;
|
||||
bool isServer;
|
||||
bool suppressTimeoutLogs;
|
||||
|
||||
BasicTCPSocket tcpServer;
|
||||
BasicUDPSocket udpSocket;
|
||||
|
||||
// -----------------------------------------------------------------------
|
||||
// Server-thread helper class
|
||||
// -----------------------------------------------------------------------
|
||||
class ServiceBinder : public EmbeddedServiceMethodBinderI {
|
||||
public:
|
||||
enum ServiceType { ServerType, StreamerType };
|
||||
ServiceBinder(DebugService *parent, ServiceType type)
|
||||
: parent(parent), type(type) {}
|
||||
virtual ErrorManagement::ErrorType Execute(ExecutionInfo &info) {
|
||||
if (type == StreamerType) return parent->Streamer(info);
|
||||
return parent->Server(info);
|
||||
}
|
||||
private:
|
||||
DebugService *parent;
|
||||
ServiceType type;
|
||||
};
|
||||
|
||||
ServiceBinder binderServer;
|
||||
ServiceBinder binderStreamer;
|
||||
SingleThreadService threadService;
|
||||
SingleThreadService streamerService;
|
||||
|
||||
ThreadIdentifier serverThreadId;
|
||||
ThreadIdentifier streamerThreadId;
|
||||
|
||||
FastPollingMutexSem clientMutex;
|
||||
BasicTCPSocket *activeClient;
|
||||
|
||||
// -----------------------------------------------------------------------
|
||||
// TCP server rate limiting and idle detection
|
||||
// -----------------------------------------------------------------------
|
||||
static const uint32 CMD_RATE_LIMIT = 100u;
|
||||
static const uint32 CLIENT_IDLE_TIMEOUT_MS = 120000u;
|
||||
static const uint32 INPUT_BUFFER_MAX = 8192u;
|
||||
|
||||
uint32 cmdCountInWindow;
|
||||
uint64 cmdWindowStartMs;
|
||||
uint64 lastDataTimeMs;
|
||||
|
||||
StreamString inputBuffer;
|
||||
|
||||
// -----------------------------------------------------------------------
|
||||
// UDPS streaming state (replaces the old custom-format streamer buffers)
|
||||
// -----------------------------------------------------------------------
|
||||
|
||||
/**
|
||||
* @brief Per-slot descriptor for DATA packet assembly.
|
||||
* One slot per currently-traced signal; index mirrors CONFIG order.
|
||||
*/
|
||||
struct UDPSSlot {
|
||||
uint32 internalID; ///< DebugSignalInfo::internalID
|
||||
uint32 wireOffset; ///< Byte offset in udpsDataPayload (after 8-byte HRT)
|
||||
uint32 wireSize; ///< Bytes occupied by this signal in the DATA payload
|
||||
bool everFilled; ///< True once at least one sample has been placed
|
||||
};
|
||||
|
||||
/** Maximum number of simultaneously traced signals. */
|
||||
static const uint32 UDPS_MAX_SLOTS = 512u;
|
||||
|
||||
/** Maximum payload per UDP datagram (signal data bytes, excluding header). */
|
||||
static const uint32 UDPS_MAX_PAYLOAD = 1400u;
|
||||
|
||||
/** Hard cap on a single signal's data: 65535 - header(17) - HRT(8). */
|
||||
static const uint32 UDPS_MAX_SAMPLE_BYTES = 65510u;
|
||||
|
||||
UDPSSlot udpsSlots[UDPS_MAX_SLOTS]; ///< Slot table (valid for [0, udpsNumSlots))
|
||||
uint32 udpsNumSlots; ///< Number of active slots
|
||||
|
||||
/** Heap-allocated DATA payload buffer: [HRT:8][sig0_data]...[sigN_data].
|
||||
* Re-allocated by SendUDPSConfig(). NULL when no signals are traced. */
|
||||
uint8 *udpsDataPayload;
|
||||
uint32 udpsDataPayloadSize;
|
||||
|
||||
/** Staging buffer: a single sample popped from traceBuffer. */
|
||||
uint8 udpsSampleBuf[65535u];
|
||||
|
||||
/** General-purpose TX buffer for CONFIG and DATA packet assembly. */
|
||||
uint8 udpsTxBuf[65535u];
|
||||
|
||||
/** Packet sequence counter (incremented per DATA/CONFIG datagram group). */
|
||||
uint32 udpsPacketCounter;
|
||||
|
||||
/**
|
||||
* @brief Set to true by TraceSignal() to request a CONFIG re-send.
|
||||
* Read and cleared by the Streamer thread.
|
||||
*/
|
||||
volatile bool udpsConfigPending;
|
||||
};
|
||||
|
||||
} // namespace MARTe
|
||||
|
||||
#endif // DEBUGSERVICE_H
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,214 @@
|
||||
#ifndef DEBUGSERVICEBASE_H
|
||||
#define DEBUGSERVICEBASE_H
|
||||
|
||||
/**
|
||||
* @file DebugServiceBase.h
|
||||
* @brief Shared base class for DebugService and WebDebugService.
|
||||
*
|
||||
* Extracts all signal-management, command-handling and config logic that is
|
||||
* common to both the TCP/UDP transport (DebugService) and the HTTP/SSE
|
||||
* transport (WebDebugService), eliminating the previous code duplication.
|
||||
*/
|
||||
|
||||
#include "ConfigurationDatabase.h"
|
||||
#include "DataSourceI.h"
|
||||
#include "DebugServiceI.h"
|
||||
#include "FastPollingMutexSem.h"
|
||||
#include "ReferenceContainer.h"
|
||||
#include "ReferenceT.h"
|
||||
#include "StreamString.h"
|
||||
|
||||
namespace MARTe {
|
||||
|
||||
/**
|
||||
* @brief Intermediate base class that holds all shared debugging logic.
|
||||
*
|
||||
* Inherits from ReferenceContainer (to be a MARTe2 Object) and DebugServiceI
|
||||
* (to expose the RT-path / control-path interface). Transport subclasses
|
||||
* (DebugService, WebDebugService) inherit from this class and add only their
|
||||
* transport-specific threading and socket logic.
|
||||
*/
|
||||
class DebugServiceBase : public ReferenceContainer, public DebugServiceI {
|
||||
public:
|
||||
friend class DebugServiceTest;
|
||||
|
||||
DebugServiceBase();
|
||||
virtual ~DebugServiceBase();
|
||||
|
||||
// =========================================================================
|
||||
// DebugServiceI RT-path overrides (shared implementation)
|
||||
// =========================================================================
|
||||
|
||||
virtual DebugSignalInfo *RegisterSignal(void *memoryAddress,
|
||||
TypeDescriptor type,
|
||||
const char8 *name,
|
||||
uint8 numberOfDimensions = 0,
|
||||
uint32 numberOfElements = 1);
|
||||
|
||||
virtual void ProcessSignal(DebugSignalInfo *signalInfo, uint32 size,
|
||||
uint64 timestamp);
|
||||
|
||||
virtual void RegisterBroker(DebugSignalInfo **signalPointers,
|
||||
uint32 numSignals,
|
||||
MemoryMapBroker *broker,
|
||||
volatile bool *anyActiveFlag,
|
||||
Vector<uint32> *activeIndices,
|
||||
Vector<uint32> *activeSizes,
|
||||
FastPollingMutexSem *activeMutex,
|
||||
volatile bool *anyBreakFlag,
|
||||
Vector<uint32> *breakIndices,
|
||||
const char8 *gamName = NULL_PTR(const char8 *),
|
||||
bool isOutput = false);
|
||||
|
||||
virtual bool IsPaused() const { return isPaused; }
|
||||
virtual void SetPaused(bool paused) { isPaused = paused; }
|
||||
virtual bool IsStepPending() const { return stepRemaining > 0u; }
|
||||
virtual void ConsumeStepIfNeeded(const char8 *gamName,
|
||||
const char8 *threadName = NULL_PTR(const char8 *));
|
||||
|
||||
// =========================================================================
|
||||
// DebugServiceI control-path overrides (shared implementation)
|
||||
// =========================================================================
|
||||
|
||||
virtual uint32 ForceSignal (const char8 *name, const char8 *valueStr);
|
||||
virtual uint32 UnforceSignal(const char8 *name);
|
||||
virtual uint32 TraceSignal (const char8 *name, bool enable, uint32 decimation = 1);
|
||||
virtual uint32 SetBreak (const char8 *name, uint8 op, float64 threshold);
|
||||
virtual uint32 ClearBreak (const char8 *name);
|
||||
virtual bool IsInstrumented(const char8 *fullPath, bool &traceable, bool &forcable);
|
||||
virtual uint32 RegisterMonitorSignal(const char8 *path, uint32 periodMs);
|
||||
virtual uint32 UnmonitorSignal (const char8 *path);
|
||||
|
||||
// =========================================================================
|
||||
// Shared control-path methods (used by transport subclasses)
|
||||
// =========================================================================
|
||||
|
||||
/**
|
||||
* @brief Parse and dispatch a debug command; write text response to @p out.
|
||||
*
|
||||
* Handles: TRACE, FORCE, UNFORCE, BREAK, PAUSE, RESUME, STEP, STEP_STATUS,
|
||||
* VALUE, DISCOVER, TREE, INFO, LS, CONFIG, MONITOR, UNMONITOR,
|
||||
* SERVICE_INFO, MSG.
|
||||
*
|
||||
* SERVICE_INFO delegates to GetServiceInfo() so each transport can fill in
|
||||
* its own port/state information.
|
||||
*/
|
||||
void HandleCommand(const StreamString &cmdIn, StreamString &out);
|
||||
|
||||
void GetStepStatus(StreamString &out);
|
||||
void GetSignalValue(const char8 *name, StreamString &out);
|
||||
void Discover (StreamString &out);
|
||||
void InfoNode (const char8 *path, StreamString &out);
|
||||
void ListNodes (const char8 *path, StreamString &out);
|
||||
void ServeConfig (StreamString &out);
|
||||
|
||||
void SetFullConfig(ConfigurationDatabase &config);
|
||||
void RebuildConfigFromRegistry();
|
||||
|
||||
// =========================================================================
|
||||
// Struct shared by both transports
|
||||
// =========================================================================
|
||||
|
||||
struct MonitoredSignal {
|
||||
ReferenceT<DataSourceI> dataSource;
|
||||
uint32 signalIdx;
|
||||
uint32 internalID;
|
||||
uint32 periodMs;
|
||||
uint64 lastPollTime;
|
||||
uint32 size;
|
||||
StreamString path;
|
||||
};
|
||||
|
||||
// =========================================================================
|
||||
// Constants
|
||||
// =========================================================================
|
||||
|
||||
static const uint32 GET_VALUE_MAX_ELEMENTS = 256u;
|
||||
|
||||
/**
|
||||
* @brief Pre-build DISCOVER and TREE response caches.
|
||||
*
|
||||
* Called automatically by SetFullConfig() once the application is fully
|
||||
* initialised. After this point, DISCOVER and TREE are served from the
|
||||
* pre-built string with no mutex contention and no JSON generation cost.
|
||||
* Both caches are invalidated whenever a new signal is registered (which
|
||||
* normally only happens during broker init, before SetFullConfig).
|
||||
*/
|
||||
void BuildDiscoverCache();
|
||||
void BuildTreeCache();
|
||||
|
||||
// Number of signals per DISCOVER_PART TCP chunk. Responses larger than
|
||||
// this are split so the Go client can start parsing immediately.
|
||||
static const uint32 DISCOVER_CHUNK_SIGNALS = 256u;
|
||||
|
||||
protected:
|
||||
// =========================================================================
|
||||
// Virtual hooks for transport subclasses
|
||||
// =========================================================================
|
||||
|
||||
/**
|
||||
* @brief Fill the SERVICE_INFO response text (transport-specific).
|
||||
*
|
||||
* Called by HandleCommand when the SERVICE_INFO command is received.
|
||||
* The base implementation writes nothing; subclasses override to append
|
||||
* e.g. "OK SERVICE_INFO TCP_CTRL:8080 UDP_STREAM:8081 STATE:RUNNING\n".
|
||||
*/
|
||||
virtual void GetServiceInfo(StreamString &out) = 0;
|
||||
|
||||
/**
|
||||
* @brief Write back transport-specific config keys after RebuildConfigFromRegistry().
|
||||
*
|
||||
* Called at the end of RebuildConfigFromRegistry() so that port numbers
|
||||
* and other transport parameters that were read in Initialise() are
|
||||
* reflected back into fullConfig (ExportData on ReferenceContainers
|
||||
* doesn't re-emit config-file parameters).
|
||||
*/
|
||||
virtual void RebuildTransportConfig() {}
|
||||
|
||||
// =========================================================================
|
||||
// Shared protected helpers
|
||||
// =========================================================================
|
||||
|
||||
void Step(uint32 n, const char8 *threadName = NULL_PTR(const char8 *));
|
||||
void UpdateBrokersActiveStatus();
|
||||
void UpdateBrokersBreakStatus();
|
||||
void PatchRegistry();
|
||||
|
||||
uint32 ExportTree(ReferenceContainer *container, StreamString &json,
|
||||
const char8 *pathPrefix);
|
||||
void ExportTreeNode(const char8 *path, StreamString &out);
|
||||
void EnrichWithConfig(const char8 *path, StreamString &json);
|
||||
static void JsonifyDatabase(ConfigurationDatabase &db, StreamString &json);
|
||||
|
||||
// =========================================================================
|
||||
// Shared data members
|
||||
// =========================================================================
|
||||
|
||||
Vector<DebugSignalInfo *> signals;
|
||||
Vector<SignalAlias> aliases;
|
||||
Vector<BrokerInfo> brokers;
|
||||
Vector<MonitoredSignal> monitoredSignals;
|
||||
|
||||
FastPollingMutexSem mutex;
|
||||
FastPollingMutexSem tracePushMutex;
|
||||
TraceRingBuffer traceBuffer;
|
||||
|
||||
volatile bool isPaused;
|
||||
volatile uint32 stepRemaining;
|
||||
StreamString pausedAtGam;
|
||||
StreamString stepThreadFilter;
|
||||
|
||||
ConfigurationDatabase fullConfig;
|
||||
bool manualConfigSet;
|
||||
|
||||
// Pre-built response caches. Guarded by mutex (brief lock for swap,
|
||||
// none needed for reads once cacheValid is true and construction is done).
|
||||
StreamString discoverCache; // full chunked DISCOVER_PART+DISCOVER payload
|
||||
StreamString treeCache; // full TREE payload including sentinel
|
||||
volatile bool discoverCacheValid;
|
||||
volatile bool treeCacheValid;
|
||||
};
|
||||
|
||||
} // namespace MARTe
|
||||
|
||||
#endif // DEBUGSERVICEBASE_H
|
||||
@@ -0,0 +1,188 @@
|
||||
#ifndef DEBUGSERVICEI_H
|
||||
#define DEBUGSERVICEI_H
|
||||
|
||||
/**
|
||||
* @file DebugServiceI.h
|
||||
* @brief Abstract interface for the MARTe2 debug/instrumentation service.
|
||||
*
|
||||
* All broker wrappers (DebugBrokerWrapper) depend solely on this interface,
|
||||
* decoupling them from the concrete TCP/UDP implementation. Alternative
|
||||
* transports — TTY, WebSocket, shared-memory ring, etc. — can be plugged in
|
||||
* by providing a new concrete implementation without touching any broker or
|
||||
* application code.
|
||||
*
|
||||
* The interface is split into two logical groups:
|
||||
*
|
||||
* RT-path API
|
||||
* Called from broker threads on every RT cycle. Implementations must
|
||||
* keep these methods as cheap as possible; the only permissible
|
||||
* synchronisation primitive is a fast spinlock (FastPollingMutexSem).
|
||||
*
|
||||
* Control-path API
|
||||
* Called from server / command-handler threads (TCP, TTY, Web …).
|
||||
* Latency here is acceptable; correctness and thread-safety matter.
|
||||
*
|
||||
* Concrete implementations register themselves during Initialise() via
|
||||
* SetInstance(). Broker wrappers retrieve the active instance via
|
||||
* GetInstance(); there is no ORD search on the hot path.
|
||||
*/
|
||||
|
||||
#include "DebugCore.h"
|
||||
#include "FastPollingMutexSem.h"
|
||||
#include "Object.h"
|
||||
#include "StreamString.h"
|
||||
#include "TypeDescriptor.h"
|
||||
|
||||
namespace MARTe {
|
||||
|
||||
// Forward declarations — concrete types are only needed in the implementation.
|
||||
class MemoryMapBroker;
|
||||
|
||||
struct SignalAlias {
|
||||
StreamString name;
|
||||
uint32 signalIndex;
|
||||
};
|
||||
|
||||
struct BrokerInfo {
|
||||
DebugSignalInfo **signalPointers;
|
||||
uint32 numSignals;
|
||||
MemoryMapBroker *broker;
|
||||
volatile bool *anyActiveFlag;
|
||||
Vector<uint32> *activeIndices;
|
||||
Vector<uint32> *activeSizes;
|
||||
FastPollingMutexSem *activeMutex;
|
||||
volatile bool *anyBreakFlag;
|
||||
Vector<uint32> *breakIndices;
|
||||
StreamString gamName;
|
||||
bool isOutput;
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Abstract debug-service interface.
|
||||
*/
|
||||
class DebugServiceI {
|
||||
public:
|
||||
// -------------------------------------------------------------------------
|
||||
// Static instance registry
|
||||
// -------------------------------------------------------------------------
|
||||
|
||||
/**
|
||||
* @brief Return the currently registered debug-service instance, or NULL.
|
||||
*
|
||||
* Called on every broker Init() path and from OutpautPauseAndStep().
|
||||
* Returns NULL when no debug service has been initialised, in which case
|
||||
* all instrumentation is a no-op.
|
||||
*/
|
||||
static DebugServiceI *GetInstance() { return instance; }
|
||||
|
||||
/**
|
||||
* @brief Register @p inst as the global debug-service.
|
||||
*
|
||||
* Concrete implementations call this from their Initialise() method.
|
||||
* Passing NULL deregisters the current instance (called from the
|
||||
* destructor so dangling pointers are never visible to broker threads).
|
||||
*/
|
||||
static void SetInstance(DebugServiceI *inst) { instance = inst; }
|
||||
|
||||
virtual ~DebugServiceI() {}
|
||||
|
||||
// =========================================================================
|
||||
// RT-path API (called from broker execute threads every cycle)
|
||||
// =========================================================================
|
||||
|
||||
/**
|
||||
* @brief Register a signal memory region with the debug service.
|
||||
*
|
||||
* Called once per signal during broker Init(). Returns a pointer to the
|
||||
* internal DebugSignalInfo that the broker caches for use on the hot path.
|
||||
* Thread-safe; must not be called after the RT loop has started.
|
||||
*/
|
||||
virtual DebugSignalInfo *RegisterSignal(void *memoryAddress,
|
||||
TypeDescriptor type,
|
||||
const char8 *name,
|
||||
uint8 numberOfDimensions = 0,
|
||||
uint32 numberOfElements = 1) = 0;
|
||||
|
||||
/**
|
||||
* @brief Process one signal on the RT path.
|
||||
*
|
||||
* Applies forced values (memcpy into signal memory) and, when tracing is
|
||||
* enabled and the decimation counter fires, pushes a sample to the trace
|
||||
* ring buffer. Called under the broker's activeMutex; implementations
|
||||
* must not acquire any lock that is also held by the Server thread.
|
||||
*/
|
||||
virtual void ProcessSignal(DebugSignalInfo *signalInfo,
|
||||
uint32 size,
|
||||
uint64 timestamp) = 0;
|
||||
|
||||
/**
|
||||
* @brief Register a broker so the service can push active/break index
|
||||
* updates to it without iterating every signal.
|
||||
*/
|
||||
virtual void RegisterBroker(DebugSignalInfo **signalPointers,
|
||||
uint32 numSignals,
|
||||
MemoryMapBroker *broker,
|
||||
volatile bool *anyActiveFlag,
|
||||
Vector<uint32> *activeIndices,
|
||||
Vector<uint32> *activeSizes,
|
||||
FastPollingMutexSem *activeMutex,
|
||||
volatile bool *anyBreakFlag,
|
||||
Vector<uint32> *breakIndices,
|
||||
const char8 *gamName = NULL_PTR(const char8 *),
|
||||
bool isOutput = false) = 0;
|
||||
|
||||
/** @brief Return true if the RT loop is currently held at a pause/breakpoint. */
|
||||
virtual bool IsPaused() const = 0;
|
||||
|
||||
/** @brief Set or clear the paused state (called by break-condition logic). */
|
||||
virtual void SetPaused(bool paused) = 0;
|
||||
|
||||
/** @brief Return true if a step count is pending (stepRemaining > 0). */
|
||||
virtual bool IsStepPending() const = 0;
|
||||
|
||||
/**
|
||||
* @brief Consume one step credit for the current output-broker cycle.
|
||||
*
|
||||
* Called by every output broker after Execute(). No-op when stepRemaining
|
||||
* is zero (the common case); only acquires a mutex when stepping is active.
|
||||
*/
|
||||
virtual void ConsumeStepIfNeeded(
|
||||
const char8 *gamName,
|
||||
const char8 *threadName = NULL_PTR(const char8 *)) = 0;
|
||||
|
||||
// =========================================================================
|
||||
// Control-path API (called from server / command-handler threads)
|
||||
// =========================================================================
|
||||
|
||||
virtual uint32 ForceSignal (const char8 *name, const char8 *valueStr) = 0;
|
||||
virtual uint32 UnforceSignal(const char8 *name) = 0;
|
||||
virtual uint32 TraceSignal (const char8 *name, bool enable, uint32 decimation = 1) = 0;
|
||||
virtual uint32 SetBreak (const char8 *name, uint8 op, float64 threshold) = 0;
|
||||
virtual uint32 ClearBreak (const char8 *name) = 0;
|
||||
virtual bool IsInstrumented(const char8 *fullPath,
|
||||
bool &traceable, bool &forcable) = 0;
|
||||
virtual uint32 RegisterMonitorSignal(const char8 *path, uint32 periodMs) = 0;
|
||||
virtual uint32 UnmonitorSignal (const char8 *path) = 0;
|
||||
|
||||
// =========================================================================
|
||||
// Utility (implementation-agnostic, defined in DebugService.cpp)
|
||||
// =========================================================================
|
||||
|
||||
/**
|
||||
* @brief Resolve the fully-qualified ORD path of @p obj into @p fullPath.
|
||||
*
|
||||
* Static so it can be called without a service instance. All concrete
|
||||
* implementations (and InitSignals in DebugBrokerWrapper.h) use this
|
||||
* to build canonical signal names. The definition lives in
|
||||
* DebugService.cpp alongside FindPathInContainer().
|
||||
*/
|
||||
static bool GetFullObjectName(const Object &obj, StreamString &fullPath);
|
||||
|
||||
protected:
|
||||
/** Pointer to the single active debug-service instance. */
|
||||
static DebugServiceI *instance;
|
||||
};
|
||||
|
||||
} // namespace MARTe
|
||||
|
||||
#endif // DEBUGSERVICEI_H
|
||||
@@ -0,0 +1 @@
|
||||
include Makefile.inc
|
||||
@@ -0,0 +1,36 @@
|
||||
#############################################################
|
||||
# MARTe2 Integrated Components — DebugService
|
||||
#############################################################
|
||||
OBJSX=DebugService.x DebugServiceBase.x
|
||||
|
||||
PACKAGE=Components/Interfaces
|
||||
|
||||
ROOT_DIR=../../../../
|
||||
MAKEDEFAULTDIR=$(MARTe2_DIR)/MakeDefaults
|
||||
include $(MAKEDEFAULTDIR)/MakeStdLibDefs.$(TARGET)
|
||||
|
||||
# Shared UDPS protocol header (from Common/)
|
||||
INCLUDES += -I$(ROOT_DIR)/Common/UDP
|
||||
INCLUDES += -I$(ROOT_DIR)/Source/Components/Interfaces/TCPLogger
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L0Types
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L1Portability
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L2Objects
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L3Streams
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L4Messages
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L4Logger
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L4Configuration
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L5GAMs
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L1Portability
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L3Services
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L4Messages
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L4LoggerService
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L5GAMs
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/FileSystem/L1Portability
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/FileSystem/L3Streams
|
||||
|
||||
all: $(OBJS) $(SUBPROJ) \
|
||||
$(BUILD_DIR)/DebugService$(LIBEXT) \
|
||||
$(BUILD_DIR)/DebugService$(DLLEXT)
|
||||
echo $(OBJS)
|
||||
|
||||
include $(MAKEDEFAULTDIR)/MakeStdLibRules.$(TARGET)
|
||||
@@ -0,0 +1,9 @@
|
||||
all:
|
||||
$(MAKE) -C TCPLogger -f Makefile.gcc
|
||||
$(MAKE) -C DebugService -f Makefile.gcc
|
||||
|
||||
clean:
|
||||
$(MAKE) -C TCPLogger -f Makefile.gcc clean
|
||||
$(MAKE) -C DebugService -f Makefile.gcc clean
|
||||
|
||||
.PHONY: all clean
|
||||
@@ -0,0 +1 @@
|
||||
# Interfaces intermediate Makefile.inc
|
||||
@@ -0,0 +1 @@
|
||||
include Makefile.inc
|
||||
@@ -0,0 +1,31 @@
|
||||
OBJSX=TcpLogger.x
|
||||
|
||||
PACKAGE=Components/Interfaces
|
||||
|
||||
ROOT_DIR=../../../../
|
||||
MAKEDEFAULTDIR=$(MARTe2_DIR)/MakeDefaults
|
||||
include $(MAKEDEFAULTDIR)/MakeStdLibDefs.$(TARGET)
|
||||
|
||||
INCLUDES += -I.
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L0Types
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L1Portability
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L2Objects
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L3Streams
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L4Messages
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L4Logger
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L4Configuration
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L5GAMs
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L1Portability
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L3Services
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L4Messages
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L4LoggerService
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L5GAMs
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/FileSystem/L1Portability
|
||||
INCLUDES += -I$(MARTe2_DIR)/Source/Core/FileSystem/L3Streams
|
||||
|
||||
all: $(OBJS) $(SUBPROJ) \
|
||||
$(BUILD_DIR)/TcpLogger$(LIBEXT) \
|
||||
$(BUILD_DIR)/TcpLogger$(DLLEXT)
|
||||
echo $(OBJS)
|
||||
|
||||
include $(MAKEDEFAULTDIR)/MakeStdLibRules.$(TARGET)
|
||||
@@ -0,0 +1,163 @@
|
||||
#include "TcpLogger.h"
|
||||
#include "Threads.h"
|
||||
#include "StringHelper.h"
|
||||
#include "ConfigurationDatabase.h"
|
||||
|
||||
namespace MARTe {
|
||||
|
||||
CLASS_REGISTER(TcpLogger, "1.0")
|
||||
|
||||
TcpLogger::TcpLogger() :
|
||||
ReferenceContainer(), LoggerConsumerI(), EmbeddedServiceMethodBinderI(),
|
||||
service(*this)
|
||||
{
|
||||
port = 8082;
|
||||
readIdx = 0;
|
||||
writeIdx = 0;
|
||||
workerThreadId = InvalidThreadIdentifier;
|
||||
for (uint32 i=0; i<MAX_CLIENTS; i++) {
|
||||
activeClients[i] = NULL_PTR(BasicTCPSocket*);
|
||||
}
|
||||
}
|
||||
|
||||
TcpLogger::~TcpLogger() {
|
||||
service.Stop();
|
||||
server.Close();
|
||||
|
||||
clientsMutex.FastLock();
|
||||
for (uint32 i=0; i<MAX_CLIENTS; i++) {
|
||||
if (activeClients[i] != NULL_PTR(BasicTCPSocket*)) {
|
||||
activeClients[i]->Close();
|
||||
delete activeClients[i];
|
||||
activeClients[i] = NULL_PTR(BasicTCPSocket*);
|
||||
}
|
||||
}
|
||||
clientsMutex.FastUnLock();
|
||||
}
|
||||
|
||||
bool TcpLogger::ExportData(StructuredDataI & data) {
|
||||
bool ok = data.Write("Port", static_cast<uint32>(port));
|
||||
return ok;
|
||||
}
|
||||
|
||||
bool TcpLogger::Initialise(StructuredDataI & data) {
|
||||
if (!ReferenceContainer::Initialise(data)) return false;
|
||||
|
||||
if (!data.Read("Port", port)) {
|
||||
(void)data.Read("TcpPort", port);
|
||||
}
|
||||
|
||||
(void)eventSem.Create();
|
||||
|
||||
ConfigurationDatabase threadData;
|
||||
threadData.Write("Timeout", (uint32)1000);
|
||||
if (!service.Initialise(threadData)) return false;
|
||||
|
||||
if (!server.Open()) return false;
|
||||
if (!server.Listen(port)) {
|
||||
return false;
|
||||
}
|
||||
printf("[TcpLogger] Listening on port %u\n", port);
|
||||
|
||||
if (service.Start() != ErrorManagement::NoError) {
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void TcpLogger::ConsumeLogMessage(LoggerPage *logPage) {
|
||||
if (logPage == NULL_PTR(LoggerPage*)) return;
|
||||
|
||||
// 1. Mirror to stdout
|
||||
StreamString levelStr;
|
||||
ErrorManagement::ErrorCodeToStream(logPage->errorInfo.header.errorType, levelStr);
|
||||
printf("[%s] %s\n", levelStr.Buffer(), logPage->errorStrBuffer);
|
||||
fflush(stdout);
|
||||
|
||||
// 2. Queue for TCP
|
||||
InsertLogIntoQueue(logPage->errorInfo, logPage->errorStrBuffer);
|
||||
}
|
||||
|
||||
void TcpLogger::InsertLogIntoQueue(const ErrorManagement::ErrorInformation &info, const char8 * const description) {
|
||||
uint32 next = (writeIdx + 1) % QUEUE_SIZE;
|
||||
if (next != readIdx) {
|
||||
TcpLogEntry &entry = queue[writeIdx % QUEUE_SIZE];
|
||||
entry.info = info;
|
||||
StringHelper::Copy(entry.description, description);
|
||||
writeIdx = next;
|
||||
(void)eventSem.Post();
|
||||
}
|
||||
}
|
||||
|
||||
ErrorManagement::ErrorType TcpLogger::Execute(ExecutionInfo & info) {
|
||||
if (info.GetStage() == ExecutionInfo::TerminationStage) return ErrorManagement::NoError;
|
||||
if (info.GetStage() == ExecutionInfo::StartupStage) {
|
||||
workerThreadId = Threads::Id();
|
||||
return ErrorManagement::NoError;
|
||||
}
|
||||
|
||||
// Each Execute() call does one cycle. The MARTe2 framework loops Execute()
|
||||
// so we must NOT spin in an infinite internal loop here — doing so prevents
|
||||
// the framework from ever delivering the TerminationStage and causes
|
||||
// Stop() to time out, leaving threads running after the destructor.
|
||||
|
||||
// 1. Check for new connections (1 ms timeout → returns promptly)
|
||||
BasicTCPSocket *newClient = server.WaitConnection(1);
|
||||
if (newClient != NULL_PTR(BasicTCPSocket *)) {
|
||||
clientsMutex.FastLock();
|
||||
bool added = false;
|
||||
for (uint32 i=0; i<MAX_CLIENTS; i++) {
|
||||
if (activeClients[i] == NULL_PTR(BasicTCPSocket*)) {
|
||||
activeClients[i] = newClient;
|
||||
added = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
clientsMutex.FastUnLock();
|
||||
if (!added) {
|
||||
newClient->Close();
|
||||
delete newClient;
|
||||
} else {
|
||||
(void)newClient->SetBlocking(false);
|
||||
}
|
||||
}
|
||||
|
||||
// 2. Stream queued entries to clients
|
||||
bool hadData = false;
|
||||
while (readIdx != writeIdx) {
|
||||
hadData = true;
|
||||
uint32 idx = readIdx % QUEUE_SIZE;
|
||||
TcpLogEntry &entry = queue[idx];
|
||||
|
||||
StreamString level;
|
||||
ErrorManagement::ErrorCodeToStream(entry.info.header.errorType, level);
|
||||
|
||||
StreamString packet;
|
||||
packet.Printf("LOG %s %s\n", level.Buffer(), entry.description);
|
||||
uint32 size = packet.Size();
|
||||
|
||||
clientsMutex.FastLock();
|
||||
for (uint32 j=0; j<MAX_CLIENTS; j++) {
|
||||
if (activeClients[j] != NULL_PTR(BasicTCPSocket*)) {
|
||||
uint32 s = size;
|
||||
if (!activeClients[j]->Write(packet.Buffer(), s)) {
|
||||
activeClients[j]->Close();
|
||||
delete activeClients[j];
|
||||
activeClients[j] = NULL_PTR(BasicTCPSocket*);
|
||||
}
|
||||
}
|
||||
}
|
||||
clientsMutex.FastUnLock();
|
||||
readIdx = (readIdx + 1) % QUEUE_SIZE;
|
||||
}
|
||||
|
||||
if (!hadData) {
|
||||
// Brief wait so we don't busy-spin; return so Stop() can take effect
|
||||
(void)eventSem.Wait(TimeoutType(10));
|
||||
eventSem.Reset();
|
||||
}
|
||||
return ErrorManagement::NoError;
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,67 @@
|
||||
#ifndef TCPLOGGER_H
|
||||
#define TCPLOGGER_H
|
||||
|
||||
#include "LoggerConsumerI.h"
|
||||
#include "ReferenceContainer.h"
|
||||
#include "EmbeddedServiceMethodBinderI.h"
|
||||
#include "BasicTCPSocket.h"
|
||||
#include "SingleThreadService.h"
|
||||
#include "FastPollingMutexSem.h"
|
||||
#include "EventSem.h"
|
||||
|
||||
namespace MARTe {
|
||||
|
||||
struct TcpLogEntry {
|
||||
ErrorManagement::ErrorInformation info;
|
||||
char8 description[MAX_ERROR_MESSAGE_SIZE];
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Logger consumer that publishes framework logs to TCP and stdout.
|
||||
* @details Implements LoggerConsumerI to be used inside a LoggerService.
|
||||
*/
|
||||
class TcpLogger : public ReferenceContainer, public LoggerConsumerI, public EmbeddedServiceMethodBinderI {
|
||||
public:
|
||||
CLASS_REGISTER_DECLARATION()
|
||||
|
||||
TcpLogger();
|
||||
virtual ~TcpLogger();
|
||||
|
||||
virtual bool Initialise(StructuredDataI & data);
|
||||
|
||||
virtual bool ExportData(StructuredDataI & data);
|
||||
|
||||
/**
|
||||
* @brief Implementation of LoggerConsumerI.
|
||||
* Called by LoggerService.
|
||||
*/
|
||||
virtual void ConsumeLogMessage(LoggerPage *logPage);
|
||||
|
||||
/**
|
||||
* @brief Worker thread method for TCP streaming.
|
||||
*/
|
||||
virtual ErrorManagement::ErrorType Execute(ExecutionInfo & info);
|
||||
|
||||
private:
|
||||
void InsertLogIntoQueue(const ErrorManagement::ErrorInformation &info, const char8 * const description);
|
||||
|
||||
uint16 port;
|
||||
BasicTCPSocket server;
|
||||
|
||||
static const uint32 MAX_CLIENTS = 8;
|
||||
BasicTCPSocket* activeClients[MAX_CLIENTS];
|
||||
FastPollingMutexSem clientsMutex;
|
||||
|
||||
SingleThreadService service;
|
||||
ThreadIdentifier workerThreadId;
|
||||
|
||||
static const uint32 QUEUE_SIZE = 1024;
|
||||
TcpLogEntry queue[QUEUE_SIZE];
|
||||
volatile uint32 readIdx;
|
||||
volatile uint32 writeIdx;
|
||||
EventSem eventSem;
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,11 @@
|
||||
all:
|
||||
$(MAKE) -C DataSources -f Makefile.gcc
|
||||
$(MAKE) -C GAMs -f Makefile.gcc
|
||||
$(MAKE) -C Interfaces -f Makefile.gcc
|
||||
|
||||
clean:
|
||||
$(MAKE) -C DataSources -f Makefile.gcc clean
|
||||
$(MAKE) -C GAMs -f Makefile.gcc clean
|
||||
$(MAKE) -C Interfaces -f Makefile.gcc clean
|
||||
|
||||
.PHONY: all clean
|
||||
@@ -0,0 +1 @@
|
||||
# Components intermediate Makefile.inc
|
||||
Reference in New Issue
Block a user