martino/MARTe-Integrated-Components
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix(udpscope): reconstruct lost accumulated bursts from the packet counter

Browse Source 
Review found the decoder was estimating something the wire states exactly.
FrameView::counter increments once per update, so a gap of g means g-1 lost
datagrams; reinstating their duration restores the hole precisely, with no
threshold and no dependence on arrival time. The arrival-anchor comparison
survives only as a backstop for what the counter cannot express — a producer
restart, a counter stuck at zero, a wrong declared rate — and can no longer
step a signal's timestamps backwards, which the ring and trigger forbid.

Also from review: guard the time-signal lookup against a frame carrying more
signals than the installed table, and give FrameBuilder a counter parameter.
Leaving it at zero had hidden the counter rules from every test, and made the
hrt-gap test vacuous — under uniform arrivals the hrt path and packetBurst
agree by construction, so it could not tell which branch answered. Its
arrivals now carry zero-mean jitter.

Each new assertion was proven non-vacuous by sabotage: dropping the gap term,
the backward guard, or the hrt branch fails exactly its own test.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
This commit is contained in:
Martino Ferrari
2026-08-27 20:16:52 +02:00
co-authored by Claude Opus 4.6
parent 892e3eae28
commit 7102412a9f
4 changed files with 186 additions and 78 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Client/udpscope/FrameDecoder.cpp
+50 -19
View File
@@ -8,15 +8,17 @@ namespace udpscope {
static constexpr double kDefaultDt = 1.0e-3;
/**
* How far the forward-chained prediction for an accumulated burst may sit from
* where arrival time says it should be before the chain is abandoned.
* How far a chained burst prediction may sit from where arrival time says it
* should be before the chain is abandoned and time is re-anchored on arrival.
*
* A kernel draining a backlog of queued datagrams can legitimately put the
* prediction a few hundred milliseconds ahead of arrival, so the threshold has
* to be well clear of that. Anything larger is not delivery jitter: it is lost
* packets or a declared sampling rate that does not match the producer's real
* one, and both must resynchronise rather than accumulate forever. Same value
* and same reasoning as ClockOffset::kRecalibThresholdS.
* This is a backstop, not the primary mechanism: the packet counter normally
* accounts for lost datagrams exactly, so the prediction and arrival agree.
* It catches what the counter cannot describe — a producer restart (the
* counter returns to zero), a counter that never advances, and a declared
* sampling rate that does not match the producer's real one. A kernel draining
* a backlog of queued datagrams can legitimately put the prediction a couple of
* hundred milliseconds from arrival, so the threshold sits well clear of that.
* Same value and same reasoning as ClockOffset::kRecalibThresholdS.
*/
static constexpr double kBurstResyncThresholdS = 0.5;
@@ -59,7 +61,8 @@ bool FrameDecoder::packetBurst(uint32_t idx, uint32_t nElems, double wallNow,
bool FrameDecoder::timestamps(const FrameView& f, uint32_t idx,
std::vector<double>& tsOut) {
tsOut.clear();
if (idx >= signals_.size() || idx >= f.numSignals || f.counts == nullptr) {
if (idx >= signals_.size() || idx >= f.numSignals ||
f.counts == nullptr || f.values == nullptr) {
return false;
}
@@ -70,7 +73,12 @@ bool FrameDecoder::timestamps(const FrameView& f, uint32_t idx,
const double wallNow = f.recvTime;
SigState& st = state_[idx];
const bool hasTimeSig = d.hasTimeSignal(f.numSignals);
/* hasTimeSignal() bounds the index against the FRAME's signal count, but
* the time signal's type code is read from our own table, whose size is
* independent — a frame carrying more signals than the installed table
* (briefly possible after a CONFIG change) would otherwise read past it. */
const bool hasTimeSig = d.hasTimeSignal(f.numSignals) &&
d.timeSignalIdx < signals_.size();
const uint32_t tIdx = hasTimeSig ? d.timeSignalIdx : 0u;
const double tScale = hasTimeSig
? TimeSignalScale(signals_[tIdx].typeCode)
@@ -127,27 +135,50 @@ bool FrameDecoder::timestamps(const FrameView& f, uint32_t idx,
const double arrivalAnchor =
wallNow - static_cast<double>(nElems - 1u) * dt;
/* Chaining from the end of the previous burst is immune to arrival
/* Chaining onto the end of the previous burst is immune to arrival
* jitter — a kernel draining several queued datagrams microseconds
* apart still yields contiguous timestamps. But a pure chain is
* blind: one lost datagram, or a declared rate that does not match
* the producer's real one, displaces every later sample and never
* recovers. So the chain is a PREDICTION, checked each packet
* against arrival and abandoned when the two disagree by more than
* a delivery backlog can explain. That bounds the error instead of
* letting it accumulate. */
* apart still yields contiguous timestamps. What a bare chain gets
* wrong is loss: it closes the hole a dropped datagram left, and
* every later sample is then dated early for the rest of the run.
*
* The wire says exactly how much is missing. counter increments
* once per update, so a gap of g means g-1 lost packets, each
* carrying (as far as we can tell) as many samples as the last one
* we saw. Reinstating that duration keeps the chain honest without
* consulting arrival time at all. */
double base = arrivalAnchor;
if (st.lastEmittedValid) {
const double predicted = st.lastEmittedEnd + dt;
/* Unsigned subtraction wraps, so this stays right across the
* counter's own 2^32 rollover. */
const uint32_t gap = f.counter - st.lastCounter;
const double lost = (gap > 1u)
? static_cast<double>(gap - 1u) *
static_cast<double>(st.prevAccCount)
: 0.0;
const double predicted = st.lastEmittedEnd + dt * (1.0 + lost);
/* Backstop for what the counter cannot express: a producer
* restart, a counter stuck at zero, or a declared rate that is
* simply wrong. Beyond this the chain is not recoverable and
* arrival time is the better of two bad answers. */
if (std::fabs(predicted - arrivalAnchor) <= kBurstResyncThresholdS) {
base = predicted;
}
/* Re-anchoring must never move time backwards: the ring, the
* trigger and the exporter all assume a signal's timestamps
* increase. A backward resync would be indistinguishable from
* corruption downstream, so give up the correction instead. */
if (base <= st.lastEmittedEnd) {
base = st.lastEmittedEnd + dt;
}
}
tsOut.resize(nElems);
for (uint32_t e = 0; e < nElems; e++) {
tsOut[e] = base + static_cast<double>(e) * dt;
}
st.lastEmittedEnd = tsOut[nElems - 1u];
st.lastCounter = f.counter;
st.prevAccCount = nElems;
st.lastEmittedValid = true;
return true;
}
Client/udpscope/FrameDecoder.h
+5 -6
View File
@@ -54,12 +54,11 @@ private:
bool lastAccValid = false;
uint32_t prevAccCount = 0;
/** For accumulated scalars with a declared sampling rate: end timestamp
* of the most recently emitted burst. The next burst is PREDICTED to
* start one sample period after it — immune to arrival-time jitter —
* but the prediction is discarded when arrival time disagrees with it
* by more than a delivery backlog can explain, so packet loss cannot
* displace the trace permanently. */
double lastEmittedEnd = 0.0;
* of the most recently emitted burst, and the packet counter it came
* from. The next burst is chained onto that end, with the counter gap
* reinstating the exact duration of any lost datagrams. */
double lastEmittedEnd = 0.0;
uint32_t lastCounter = 0u;
bool lastEmittedValid = false;
};
Client/udpscope/tests/FrameDecoderTest.cpp
+88 -21
View File
@@ -19,13 +19,17 @@ struct FrameBuilder {
storage.push_back(std::move(vals));
}
const FrameView& build(uint64_t hrt, double recvTime, uint32_t numSamples = 1) {
/* Real frames carry a per-update counter; leaving it at zero would hide
* whichever rules depend on it, so it must be passed explicitly. */
const FrameView& build(uint64_t hrt, double recvTime, uint32_t numSamples = 1,
uint32_t counter = 0) {
ptrs.clear();
counts.clear();
for (const auto& s : storage) {
ptrs.push_back(s.data());
counts.push_back(static_cast<uint32_t>(s.size()));
}
view.counter = counter;
view.hrt = hrt;
view.recvTime = recvTime;
view.numSamples = numSamples;
@@ -161,7 +165,7 @@ TEST(FrameDecoder, AccumulatedScalarSurvivesBurstyDelivery) {
const double arrival = (p < 20) ? (500.0 + p * 0.010)
: (500.2 + (p - 20) * 0.00005);
const FrameView& f = fb.build(static_cast<uint64_t>(producerSec * ticks),
arrival, 10);
arrival, 10, static_cast<uint32_t>(p + 1));
dec.beginFrame(f);
std::vector<double> ts;
if (dec.timestamps(f, 0, ts)) {
@@ -177,45 +181,100 @@ TEST(FrameDecoder, AccumulatedScalarSurvivesBurstyDelivery) {
}
}
// The counterweight to the test above. Suppressing arrival jitter by chaining
// each burst onto the previous one is only safe while the chain is checked: on
// UDP, packets are lost, and a chain that ignores arrival entirely closes the
// hole silently and dates every later sample a full second early — for the rest
// of the run, because nothing ever pulls it back. The prediction has to be
// abandoned once arrival contradicts it by more than a delivery backlog could.
TEST(FrameDecoder, AccumulatedScalarResynchronisesAfterLostPackets) {
FrameDecoder dec;
namespace {
/** Ten contiguous 10-sample bursts at 1 kHz, counters 1..10, ending at 500.090. */
SignalMeta accSignal() {
SignalMeta m;
m.name = "Acc";
m.typeCode = 9;
m.numRows = 1;
m.samplingRate = 1000.0; /* 10 samples = 10 ms per packet */
dec.setSignals({m});
return m;
}
std::vector<double> ts;
void primeTenBursts(FrameDecoder& dec, std::vector<double>& ts, bool withCounter) {
for (int p = 0; p < 10; p++) {
FrameBuilder fb;
fb.addSignal(std::vector<double>(10, 1.0));
const FrameView& f = fb.build(0, 500.0 + p * 0.010, 10);
const FrameView& f = fb.build(0, 500.0 + p * 0.010, 10,
withCounter ? static_cast<uint32_t>(p + 1) : 0u);
dec.beginFrame(f);
ASSERT_TRUE(dec.timestamps(f, 0, ts));
}
/* Contiguous so far: burst 9 ends at 500.090. */
EXPECT_NEAR(ts[9], 500.090, 1e-9);
ASSERT_NEAR(ts[9], 500.090, 1e-9);
}
/* A full second of packets never arrives. The next one lands at 501.100. */
} /* namespace */
// The counterweight to the test above. Chaining bursts to suppress arrival
// jitter is only safe if loss is accounted for: a bare chain closes the hole a
// dropped datagram left and dates every later sample early for the rest of the
// run. The wire says exactly how much is missing, so no estimate is needed —
// and this test deliberately makes arrival time a LIAR (200 ms off) to prove
// the reconstruction comes from the counter and not from when the packet landed.
TEST(FrameDecoder, AccumulatedScalarReinstatesLostPacketsFromTheCounterGap) {
FrameDecoder dec;
dec.setSignals({accSignal()});
std::vector<double> ts;
primeTenBursts(dec, ts, /*withCounter=*/true);
/* Counter 111 after 10: 100 packets lost, 1000 samples, exactly 1 s. The
* packet lands 200 ms later than that truth would predict. */
FrameBuilder fb;
fb.addSignal(std::vector<double>(10, 1.0));
const FrameView& f = fb.build(0, 501.100, 10);
const FrameView& f = fb.build(0, 501.300, 10, 111u);
dec.beginFrame(f);
ASSERT_TRUE(dec.timestamps(f, 0, ts));
/* Chaining blindly would put this burst at 500.091..500.100, overlapping
* the gap as though no data were missing. */
/* Chaining blindly gives 500.091; anchoring on arrival gives 501.291. */
EXPECT_NEAR(ts[0], 501.091, 1e-9);
EXPECT_NEAR(ts[9], 501.100, 1e-9);
}
// A producer that never advances the counter, or restarts it, leaves nothing to
// reconstruct from. Arrival time is then the better of two bad answers, and the
// chain has to be abandoned rather than left to drift forever.
TEST(FrameDecoder, AccumulatedScalarResyncsOnArrivalWhenTheCounterSaysNothing) {
FrameDecoder dec;
dec.setSignals({accSignal()});
std::vector<double> ts;
primeTenBursts(dec, ts, /*withCounter=*/false);
FrameBuilder fb;
fb.addSignal(std::vector<double>(10, 1.0));
const FrameView& f = fb.build(0, 501.100, 10, 0u);
dec.beginFrame(f);
ASSERT_TRUE(dec.timestamps(f, 0, ts));
EXPECT_NEAR(ts[0], 501.091, 1e-9);
EXPECT_NEAR(ts[9], 501.100, 1e-9);
}
// Re-anchoring must never move a signal's timestamps backwards: the ring, the
// trigger and the exporter all assume they increase, and a backward step is
// indistinguishable from corruption downstream. Here the counter claims a
// 20 s hole while the packet arrives 10 ms after the last one, so the
// prediction and arrival disagree wildly and arrival points into the past.
TEST(FrameDecoder, AccumulatedScalarNeverStepsBackwardsWhenResyncing) {
FrameDecoder dec;
dec.setSignals({accSignal()});
std::vector<double> ts;
primeTenBursts(dec, ts, /*withCounter=*/true);
const double prevEnd = ts[9];
FrameBuilder fb;
fb.addSignal(std::vector<double>(10, 1.0));
const FrameView& f = fb.build(0, 500.000, 10, 2010u);
dec.beginFrame(f);
ASSERT_TRUE(dec.timestamps(f, 0, ts));
EXPECT_GT(ts[0], prevEnd) << "resync stepped backwards over the previous burst";
for (size_t i = 1; i < ts.size(); i++) {
EXPECT_GT(ts[i], ts[i - 1]);
}
}
TEST(FrameDecoder, AccumulatedScalarDerivesDtFromTheHrtGapWhenNoRateIsDeclared) {
FrameDecoder dec;
SignalMeta m;
@@ -230,15 +289,23 @@ TEST(FrameDecoder, AccumulatedScalarDerivesDtFromTheHrtGapWhenNoRateIsDeclared)
FrameBuilder fb;
fb.addSignal(std::vector<double>(10, 1.0));
const double producerSec = 100.0 + p * 0.010; /* 10 ms per packet */
/* Zero-mean arrival jitter, so the rate fit still converges but any
* single arrival GAP is wrong. Without it, uniform arrivals make
* packetBurst and the hrt path return the same number and the test
* cannot tell which branch produced it. The last packet's gap is
* 7 ms, which arrival-spanning would render as a 0.7 ms period. */
const double jitter[4] = {0.0, 0.003, 0.0, -0.003};
const FrameView& f = fb.build(static_cast<uint64_t>(producerSec * ticks),
700.0 + p * 0.010, 10);
700.0 + p * 0.010 + jitter[p % 4], 10,
static_cast<uint32_t>(p + 1));
dec.beginFrame(f);
std::vector<double> ts;
if (dec.timestamps(f, 0, ts)) { last = ts; }
}
ASSERT_EQ(last.size(), 10u);
/* 10 ms of producer time across 10 samples is a 1 ms period. */
/* 10 ms of producer time across 10 samples is a 1 ms period, whatever the
* datagrams did on the way over. */
EXPECT_NEAR(last[1] - last[0], 0.001, 1e-5);
}
docs/superpowers/plans/2026-08-27-udpscope.md
+43 -32
View File
@@ -1609,38 +1609,31 @@ TEST(FrameDecoder, AccumulatedScalarSurvivesBurstyDelivery) {
}
}
// ADDED in Task 4 review. The counterweight to the test above: suppressing
// arrival jitter by chaining bursts is only safe while the chain is CHECKED. On
// UDP packets are lost, and an unchecked chain closes the hole silently and
// dates every later sample early for the rest of the run.
TEST(FrameDecoder, AccumulatedScalarResynchronisesAfterLostPackets) {
// ADDED in Task 4 review, together with two siblings. See the shipped
// tests/FrameDecoderTest.cpp for the full set — accSignal()/primeTenBursts()
// helpers plus:
// * AccumulatedScalarReinstatesLostPacketsFromTheCounterGap — counter 10 →
// 111 means 100 lost packets = exactly 1 s; the packet deliberately lands
// 200 ms off that truth so the test fails if the answer comes from arrival.
// * AccumulatedScalarResyncsOnArrivalWhenTheCounterSaysNothing — counter
// stuck at 0, so only the arrival backstop can recover.
// * AccumulatedScalarNeverStepsBackwardsWhenResyncing — a resync that would
// move a signal's timestamps into the past must be given up instead.
// FrameBuilder::build() gained a `counter` parameter for these; leaving it at
// zero, as the original harness did, hides the counter rules entirely.
TEST(FrameDecoder, AccumulatedScalarReinstatesLostPacketsFromTheCounterGap) {
FrameDecoder dec;
SignalMeta m;
m.name = "Acc";
m.typeCode = 9;
m.numRows = 1;
m.samplingRate = 1000.0; /* 10 samples = 10 ms per packet */
dec.setSignals({m});
dec.setSignals({accSignal()});
std::vector<double> ts;
for (int p = 0; p < 10; p++) {
FrameBuilder fb;
fb.addSignal(std::vector<double>(10, 1.0));
const FrameView& f = fb.build(0, 500.0 + p * 0.010, 10);
dec.beginFrame(f);
ASSERT_TRUE(dec.timestamps(f, 0, ts));
}
EXPECT_NEAR(ts[9], 500.090, 1e-9);
primeTenBursts(dec, ts, /*withCounter=*/true);
/* A full second of packets never arrives. The next one lands at 501.100. */
FrameBuilder fb;
fb.addSignal(std::vector<double>(10, 1.0));
const FrameView& f = fb.build(0, 501.100, 10);
const FrameView& f = fb.build(0, 501.300, 10, 111u);
dec.beginFrame(f);
ASSERT_TRUE(dec.timestamps(f, 0, ts));
/* Chaining blindly would put this burst at 500.091..500.100, as though no
* data were missing. */
/* Chaining blindly gives 500.091; anchoring on arrival gives 501.291. */
EXPECT_NEAR(ts[0], 501.091, 1e-9);
EXPECT_NEAR(ts[9], 501.100, 1e-9);
}
@@ -1930,12 +1923,16 @@ bool FrameDecoder::timestamps(const FrameView& f, uint32_t idx,
* fallback is waiting on.
*
* With a declared rate none of that is needed: the intra-packet step is
* exact, and bursts are contiguous, so the next burst is PREDICTED at
* lastEmittedEnd + dt. The prediction must be checked, not trusted — a pure
* chain silently closes the hole left by a lost datagram and dates every
* later sample early for the rest of the run. So each packet compares the
* prediction against the arrival anchor and abandons it beyond
* kBurstResyncThresholdS. The hrt path below remains for samplingRate == 0. */
* exact and bursts are contiguous, so the next burst chains onto the end of
* the previous one. The one thing a bare chain gets wrong is LOSS — it
* closes the hole a dropped datagram left, dating every later sample early
* for the rest of the run — and the wire already says exactly how much is
* missing: FrameView::counter increments once per update, so a gap of g
* means g-1 lost packets. Reinstating that duration needs no estimate and
* no threshold. The arrival-anchor comparison is only a BACKSTOP for what
* the counter cannot express (producer restart, counter stuck at zero, a
* declared rate that is simply wrong), and it must never move time
* backwards. The hrt path below remains for samplingRate == 0. */
if (d.numElements() == 1u && nElems > 1u) {
const double dtDeclared = (d.samplingRate > 0.0) ? (1.0 / d.samplingRate) : 0.0;
if (d.samplingRate > 0.0) {
@@ -1943,16 +1940,28 @@ bool FrameDecoder::timestamps(const FrameView& f, uint32_t idx,
wallNow - static_cast<double>(nElems - 1u) * dtDeclared;
double base = arrivalAnchor;
if (st.lastEmittedValid) {
const double predicted = st.lastEmittedEnd + dtDeclared;
/* Unsigned subtraction wraps, so this is right across the
* counter's own 2^32 rollover. */
const uint32_t gap = f.counter - st.lastCounter;
const double lost = (gap > 1u)
? static_cast<double>(gap - 1u) *
static_cast<double>(st.prevAccCount)
: 0.0;
const double predicted = st.lastEmittedEnd + dtDeclared * (1.0 + lost);
if (std::fabs(predicted - arrivalAnchor) <= kBurstResyncThresholdS) {
base = predicted;
}
if (base <= st.lastEmittedEnd) {
base = st.lastEmittedEnd + dtDeclared;
}
}
tsOut.resize(nElems);
for (uint32_t e = 0; e < nElems; e++) {
tsOut[e] = base + static_cast<double>(e) * dtDeclared;
}
st.lastEmittedEnd = tsOut[nElems - 1u];
st.lastCounter = f.counter;
st.prevAccCount = nElems;
st.lastEmittedValid = true;
return true;
}
@@ -2015,7 +2024,9 @@ cd Client/udpscope && cmake --build build -j && ./build/udpscope_tests --gtest_f
Expected: PASS, 9 tests.
If `AccumulatedScalarSurvivesBurstyDelivery` fails, do NOT reach for the hrt fit: with a declared `samplingRate` rule 3 never consults it, precisely because the fit is not ready for the first 32 packets and is itself corrupted by bursty arrivals. Check instead that `lastEmittedEnd`/`lastEmittedValid` are being updated on every emitted burst. The only test that may legitimately fall through to rule 4 early is `AccumulatedScalarDerivesDtFromTheHrtGapWhenNoRateIsDeclared`, whose arrivals are uniform, so `packetBurst` is accurate there.
If `AccumulatedScalarSurvivesBurstyDelivery` fails, do NOT reach for the hrt fit: with a declared `samplingRate` rule 3 never consults it, precisely because the fit is not ready for the first 32 packets and — since `HrtRateFit` regresses `hrt` against ARRIVAL time — is itself corrupted by the very bursts it would be asked to survive. Check instead that `lastEmittedEnd`, `lastCounter`, `prevAccCount` and `lastEmittedValid` are updated on every emitted burst.
Note for `AccumulatedScalarDerivesDtFromTheHrtGapWhenNoRateIsDeclared`: its arrivals carry zero-mean jitter on purpose. Under UNIFORM arrivals the hrt path and `packetBurst` return the same number by construction (the fit expresses `hrt` in arrival-clock seconds), so the test could not tell which branch answered.
- [ ] **Step 8: Commit**