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feat: standalone C/C++ UDPS client library

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Consuming a UDPStreamer feed so far meant either linking MARTe2 (UDPSClient)
or writing Go (Common/Client/go/udpsprotocol). Common/Client/c fills the gap
for plain C/C++ integrators: two files depending on nothing but libc and BSD
sockets, covering the whole receive path — CONNECT, fragment reassembly,
CONFIG/DATA decoding with dequantisation, keepalives and silence-triggered
reconnect. No threads are spawned; udps_client_poll() does all the work and
runs every callback, so it drops into an existing event loop unsynchronised.

Verified against run_udp_producer.sh at 1 Msps: unicast (120 MiB, no loss) and
multicast with 12-fragment cycles (116k datagrams, no loss).

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
This commit is contained in:
Martino Ferrari
2026-08-22 16:51:40 +02:00
co-authored by Claude Opus 4.6
parent e03c60db25
commit 7c5eb31a52
8 changed files with 2136 additions and 1 deletions
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CLAUDE.md
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@@ -30,6 +30,9 @@ make -C Source/Components/DataSources/UDPStreamer -f Makefile.gcc
cd Common/Client/go && go build ./...
cd Client/debugger && go build ./...
# Standalone C UDPS client library (no MARTe2, libc + BSD sockets only)
cd Common/Client/c && make && make cxxcheck
# ImGui desktop client (not a MARTe2 component; needs SDL2)
cd Client/streamhub && cmake -B build -DCMAKE_BUILD_TYPE=Release && cmake --build build
@@ -81,7 +84,7 @@ Two independent data paths:
1. **Streaming path**: `UDPStreamer` DataSource serialises signals each RT cycle to UDPS binary packets (UDP 44500, unicast/multicast) → `StreamHub` (`Source/Applications/StreamHub/`, headless C++ app: ring buffers, LTTB decimation, trigger FSM) → WebSocket 8090 → browser (`Client/udpstreamer`, Go), native ImGui client (`Client/streamhub`), or native Qt client (`Client/streamhub-qt`).
2. **Debug path**: `DebugService` patches the `ClassRegistryDatabase` at `Initialise()` so subsequent `ConfigureApplication()` instantiates `DebugBrokerWrapper<T>` around all `MemoryMap*Broker` types — no application changes. RT hot path goes through `DebugServiceI` (abstract singleton in `DebugServiceI.h`) for forcing/tracing/breakpoints. Exposes TCP 8080 (text commands), UDP 8081 (trace telemetry), works with `TcpLogger` on 8082. Web UI: `Client/debugger` (Go).
**Shared wire format**: `Common/UDP/UDPSProtocol.h` defines the UDPS binary protocol (17-byte packed header, 136-byte signal descriptors, little-endian). It is deliberately MARTe2-free so it's shared by C++ producers (`UDPStreamer`, `DebugService`), the C++ consumer (`Source/Components/Interfaces/UDPStream/UDPSClient`), and the Go decoder (`Common/Client/go/udpsprotocol`). Changes to the protocol must be mirrored across all of these, plus the JS client parsers.
**Shared wire format**: `Common/UDP/UDPSProtocol.h` defines the UDPS binary protocol (17-byte packed header, 136-byte signal descriptors, little-endian). It is deliberately MARTe2-free so it's shared by C++ producers (`UDPStreamer`, `DebugService`), the C++ consumer (`Source/Components/Interfaces/UDPStream/UDPSClient`), the Go decoder (`Common/Client/go/udpsprotocol`), and the standalone C client (`Common/Client/c`, which redeclares the constants rather than including this header, so it stays MARTe-free). Changes to the protocol must be mirrored across all of these, plus the JS client parsers.
**StreamHub WebSocket protocol**: JSON text frames for commands/events, binary frames for data pushes — spec in `ARCHITECTURE.md` §6. The Go hub (`Client/udpstreamer`) and C++ StreamHub implement the identical protocol; both clients (browser JS and ImGui) must stay compatible with both.