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Martino Ferrari
2026-05-29 13:29:59 +02:00
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Test/Configurations/TestApp.cfg
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/**
* Test MARTe2 application for UDPStreamer DataSource.
*
* Three independent RT threads demonstrate all four UDPStreamer time modes:
*
* Thread1 – "Streamer" port 44500 TCP control / 44503 UDP multicast 239.0.0.1
* (scalar signals, auto-accumulated to arrays[10], multicast mode,
* 100 Hz flush = 10 samples per packet, 1 kHz source)
* Counter – uint32 cycle counter
* Time – uint32 time in microseconds (LinuxTimer, 1 kHz)
* Sine1 – float32, 1 Hz, quantised to uint16 on wire (PacketTime)
* Sine2 – float32, 0.3 Hz, raw float32 on wire (PacketTime)
*
* Thread2 – "FastStreamer" port 44501 (packed arrays, FirstSample + LastSample)
* Time – uint32 scalar anchor (5 kHz LinuxTimer)
* Ch1 – float32[1000], 1 kHz sine (TimeMode = FirstSample)
* Ch2 – float32[1000], 10 kHz sine (TimeMode = LastSample)
* Both channels use Time as the anchor and SamplingRate = 5 000 000 Hz so
* the WebUI reconstructs the 200 ns per-sample timestamps.
*
* Thread3 – "FullArrStreamer" port 44502 (packed arrays, FullArray)
* TimeArray – uint64[1000] per-sample timestamps in ns generated by TimeArrayGAM
* Ch3 – float32[1000], 3 kHz sine (TimeMode = FullArray)
* Ch4 – float32[1000], 500 Hz sine (TimeMode = FullArray)
* The WebUI uses the explicit timestamp for each sample rather than
* reconstructing them from a scalar anchor.
*/
$TestApp = {
Class = RealTimeApplication
+Functions = {
Class = ReferenceContainer
// ── Copy Counter + Time from LinuxTimer into the inter-GAM DDB ──────
+TimerGAM = {
Class = IOGAM
InputSignals = {
Counter = {
DataSource = Timer
Type = uint32
}
Time = {
Frequency = 1000
DataSource = Timer
Type = uint32
}
}
OutputSignals = {
Counter = {
DataSource = DDB
Type = uint32
}
Time = {
DataSource = DDB
Type = uint32
}
}
}
// ── 5 kHz fast timer for packed-array threads ────────────────────────
+FastTimerGAM = {
Class = IOGAM
InputSignals = {
Time = {
Frequency = 5000
DataSource = FastTimer
Type = uint32
}
}
OutputSignals = {
Time = {
DataSource = DDB2
Type = uint32
}
}
}
// ── 1 Hz sinusoidal signal ───────────────────────────────────────────
+SineGAM1 = {
Class = WaveformSin
Amplitude = 10.0
Frequency = 1.0
Phase = 0.0
Offset = 0.0
InputSignals = {
Time = {
DataSource = DDB
Type = uint32
}
}
OutputSignals = {
Sine1 = {
DataSource = DDB
Type = float32
}
}
}
// ── 0.3 Hz sinusoidal signal (phase-shifted) ─────────────────────────
+SineGAM2 = {
Class = WaveformSin
Amplitude = 5.0
Frequency = 0.3
Phase = 1.0472
Offset = 0.0
InputSignals = {
Time = {
DataSource = DDB
Type = uint32
}
}
OutputSignals = {
Sine2 = {
DataSource = DDB
Type = float32
}
}
}
// ── 1 kHz sine burst – channel 1 (FirstSample anchor) ───────────────
+SineGAM3 = {
Class = SineArrayGAM
Frequency = 1000.0
Amplitude = 1.0
Phase = 0.0
Offset = 0.0
SamplingRate = 5000000.0
OutputSignals = {
Ch1 = {
DataSource = DDB2
Type = float32
NumberOfDimensions = 1
NumberOfElements = 1000
}
}
}
// ── 10 kHz sine burst – channel 2 (LastSample anchor) ───────────────
+SineGAM4 = {
Class = SineArrayGAM
Frequency = 10000.0
Amplitude = 0.5
Phase = 1.5708
Offset = 0.0
SamplingRate = 5000000.0
OutputSignals = {
Ch2 = {
DataSource = DDB2
Type = float32
NumberOfDimensions = 1
NumberOfElements = 1000
}
}
}
// ── Route scalar signals → Streamer ──────────────────────────────────
+StreamerGAM = {
Class = IOGAM
InputSignals = {
Counter = {
DataSource = DDB
Type = uint32
}
Time = {
DataSource = DDB
Type = uint32
}
Sine1 = {
DataSource = DDB
Type = float32
}
Sine2 = {
DataSource = DDB
Type = float32
}
}
OutputSignals = {
Counter = {
DataSource = Streamer
Type = uint32
}
Time = {
DataSource = Streamer
Type = uint32
}
Sine1 = {
DataSource = Streamer
Type = float32
}
Sine2 = {
DataSource = Streamer
Type = float32
}
}
}
// ── Route packed arrays → FastStreamer (FirstSample + LastSample) ────
+FastStreamerGAM = {
Class = IOGAM
InputSignals = {
Time = {
DataSource = DDB2
Type = uint32
}
Ch1 = {
DataSource = DDB2
Type = float32
NumberOfDimensions = 1
NumberOfElements = 1000
}
Ch2 = {
DataSource = DDB2
Type = float32
NumberOfDimensions = 1
NumberOfElements = 1000
}
}
OutputSignals = {
Time = {
DataSource = FastStreamer
Type = uint32
}
Ch1 = {
DataSource = FastStreamer
Type = float32
NumberOfDimensions = 1
NumberOfElements = 1000
}
Ch2 = {
DataSource = FastStreamer
Type = float32
NumberOfDimensions = 1
NumberOfElements = 1000
}
}
}
// ── 3 kHz sine burst – channel 3 (FullArray anchor) ─────────────────
+SineGAM5 = {
Class = SineArrayGAM
Frequency = 3000.0
Amplitude = 2.0
Phase = 0.0
Offset = 0.0
SamplingRate = 5000000.0
OutputSignals = {
Ch3 = {
DataSource = DDB3
Type = float32
NumberOfDimensions = 1
NumberOfElements = 1000
}
}
}
// ── 500 Hz sine burst – channel 4 (FullArray anchor) ─────────────────
+SineGAM6 = {
Class = SineArrayGAM
Frequency = 500.0
Amplitude = 3.0
Phase = 0.7854
Offset = 0.0
SamplingRate = 5000000.0
OutputSignals = {
Ch4 = {
DataSource = DDB3
Type = float32
NumberOfDimensions = 1
NumberOfElements = 1000
}
}
}
// ── Build per-sample time array for FullArray channels ────────────────
// TimeArrayGAM expands the scalar LinuxTimer Time (uint32, µs) into a
// uint64[1000] array in nanoseconds where element[k] = Time_ns + k * period_ns.
// Using ns preserves sub-µs resolution at sampling rates > 1 MHz.
+TimeArrayGAM1 = {
Class = TimeArrayGAM
SamplingRate = 5000000.0
Anchor = FirstSample
InputSignals = {
Time = {
DataSource = DDB3
Type = uint32
}
}
OutputSignals = {
TimeArray = {
DataSource = DDB3
Type = uint64
NumberOfDimensions = 1
NumberOfElements = 1000
}
}
}
// ── Fast timer for FullArray thread ───────────────────────────────────
+FullArrTimerGAM = {
Class = IOGAM
InputSignals = {
Time = {
Frequency = 5000
DataSource = FullArrTimer
Type = uint32
}
}
OutputSignals = {
Time = {
DataSource = DDB3
Type = uint32
}
}
}
// ── Route FullArray channels → FullArrStreamer ─────────────────────
+FullArrStreamerGAM = {
Class = IOGAM
InputSignals = {
TimeArray = {
DataSource = DDB3
Type = uint64
NumberOfDimensions = 1
NumberOfElements = 1000
}
Ch3 = {
DataSource = DDB3
Type = float32
NumberOfDimensions = 1
NumberOfElements = 1000
}
Ch4 = {
DataSource = DDB3
Type = float32
NumberOfDimensions = 1
NumberOfElements = 1000
}
}
OutputSignals = {
TimeArray = {
DataSource = FullArrStreamer
Type = uint64
NumberOfDimensions = 1
NumberOfElements = 1000
}
Ch3 = {
DataSource = FullArrStreamer
Type = float32
NumberOfDimensions = 1
NumberOfElements = 1000
}
Ch4 = {
DataSource = FullArrStreamer
Type = float32
NumberOfDimensions = 1
NumberOfElements = 1000
}
}
}
}
+Data = {
Class = ReferenceContainer
DefaultDataSource = DDB
+DDB = {
Class = GAMDataSource
}
+DDB2 = {
Class = GAMDataSource
}
+DDB3 = {
Class = GAMDataSource
}
// ── 1 kHz real-time clock (Thread1) ──────────────────────────────────
+Timer = {
Class = LinuxTimer
SleepNature = "Default"
Signals = {
Counter = {
Type = uint32
}
Time = {
Type = uint32
}
}
}
// ── 5 kHz fast timer (Thread2 – FirstSample / LastSample) ────────────
+FastTimer = {
Class = LinuxTimer
SleepNature = "Default"
Signals = {
Counter = {
Type = uint32
}
Time = {
Type = uint32
}
}
}
// ── 5 kHz fast timer (Thread3 – FullArray) ───────────────────────────
+FullArrTimer = {
Class = LinuxTimer
SleepNature = "Default"
Signals = {
Counter = {
Type = uint32
}
Time = {
Type = uint32
}
}
}
// ── Streamer: scalar signals, PacketTime (port 44500) ─────────────────
// Multicast mode: clients connect via TCP on port 44500 to receive the
// CONFIG packet, then join 239.0.0.1:44503 to receive DATA datagrams.
// Auto publishing ensures data is sent every RT cycle (1 kHz = 1 ms
// temporal resolution) but never faster, so the rate is bounded.
+Streamer = {
Class = UDPStreamer
Port = 44500
MulticastGroup = "239.0.0.1"
DataPort = 44503
MaxPayloadSize = 1400
PublishingMode = "Accumulate"
MinRefreshRate = 100
Signals = {
Counter = {
Type = uint32
}
Time = {
Type = uint32
Unit = "us"
}
Sine1 = {
Type = float32
Unit = "V"
RangeMin = -10.0
RangeMax = 10.0
QuantizedType = "uint16"
}
Sine2 = {
Type = float32
Unit = "V"
RangeMin = -5.0
RangeMax = 5.0
}
}
}
// ── FastStreamer: packed arrays, FirstSample + LastSample (port 44501)
//
// Ch1 uses TimeMode = FirstSample:
// Time is the timestamp of sample [0]; later samples are extrapolated
// forward: t[k] = Time + k / SamplingRate.
//
// Ch2 uses TimeMode = LastSample:
// Time is the timestamp of sample [N-1]; earlier samples are
// extrapolated backward: t[k] = Time - (N-1-k) / SamplingRate.
//
// Both modes produce identical wall-clock placements for a fixed-rate
// signal and are shown here side-by-side for comparison.
+FastStreamer = {
Class = UDPStreamer
Port = 44501
MaxPayloadSize = 1400
Signals = {
Time = {
Type = uint32
Unit = "us"
}
Ch1 = {
Type = float32
Unit = "V"
NumberOfDimensions = 1
NumberOfElements = 1000
TimeMode = FirstSample
TimeSignal = Time
SamplingRate = 5000000.0
}
Ch2 = {
Type = float32
Unit = "V"
NumberOfDimensions = 1
NumberOfElements = 1000
TimeMode = LastSample
TimeSignal = Time
SamplingRate = 5000000.0
}
}
}
// ── FullArrStreamer: packed arrays, FullArray (port 44502) ─────────────
//
// TimeMode = FullArray: the TimeSignal (TimeArray) has the same
// NumberOfElements as the data channel. Each sample pair
// (TimeArray[k], Ch3[k]) provides its own independent timestamp.
// This mode handles non-uniform sampling and explicit per-sample clocks.
+FullArrStreamer = {
Class = UDPStreamer
Port = 44502
MaxPayloadSize = 1400
Signals = {
TimeArray = {
Type = uint64
Unit = "ns"
NumberOfDimensions = 1
NumberOfElements = 1000
}
Ch3 = {
Type = float32
Unit = "V"
NumberOfDimensions = 1
NumberOfElements = 1000
TimeMode = FullArray
TimeSignal = TimeArray
}
Ch4 = {
Type = float32
Unit = "V"
NumberOfDimensions = 1
NumberOfElements = 1000
TimeMode = FullArray
TimeSignal = TimeArray
}
}
}
+Timings = {
Class = TimingDataSource
}
}
+States = {
Class = ReferenceContainer
+Running = {
Class = RealTimeState
+Threads = {
Class = ReferenceContainer
// Thread1: scalar signals at 1 kHz
+Thread1 = {
Class = RealTimeThread
CPUs = 0x1
Functions = {TimerGAM SineGAM1 SineGAM2 StreamerGAM}
}
// Thread2: packed arrays at 5 kHz (FirstSample + LastSample)
+Thread2 = {
Class = RealTimeThread
CPUs = 0x2
Functions = {FastTimerGAM SineGAM3 SineGAM4 FastStreamerGAM}
}
// Thread3: packed arrays at 5 kHz (FullArray with explicit timestamps)
+Thread3 = {
Class = RealTimeThread
CPUs = 0x4
Functions = {FullArrTimerGAM SineGAM5 SineGAM6 TimeArrayGAM1 FullArrStreamerGAM}
}
}
}
}
+Scheduler = {
Class = GAMScheduler
TimingDataSource = Timings
}
}