Round 3 of the Task 4 review. Three defects, all in FrameDecoder rule 3.
The resync backstop was one-directional. `predicted` is never below
lastEmittedEnd + dt, so rejecting a correction that would step backwards
meant only a LAGGING chain could ever be pulled back; a chain running fast
drifted ahead without bound. Two hosts' crystals differ by tens of ppm, so a
declared SamplingRate is always slightly wrong in one direction or the other
and this is certain on a long session. A leading timeline cannot be corrected
in one burst without going backwards -- lastEmittedEnd is by definition past
arrival -- so the excess is bled off by drawing each burst 10 % narrower until
the timeline is back inside the threshold.
A repeated packet counter was treated as a normal packet. The C client
de-duplicates fragments only, so an unfragmented update reaching a host that
joined the group on two interfaces was emitted twice, doubling the values and
advancing the timeline by a burst that never existed.
The samplingRate == 0 path differenced two HrtRateFit::toSeconds() results.
toSeconds() divides an absolute tick count -- ~1e11 on a producer that has
been up a day -- by a rate refitted on every packet, so its few-parts-in-1e4
wobble arrives multiplied by the whole elapsed epoch: tens of milliseconds of
jitter on a value whose consecutive difference is a few milliseconds. Raw
ticks are differenced instead, anchored on the first usable packet so the
wobble applies only to the interval since attach.
The existing hrt-gap test could not have caught the last one: its 10 ms
producer period made the expected answer exactly kDefaultDt, so a decoder
that derived nothing passed. It now uses 25 ms.
Four tests added, all sabotage-proven. The plan is updated to match.
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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>
Forward-chaining each accumulated burst onto the previous one suppresses
arrival jitter, but an unchecked chain never recovers: one lost datagram, or a
declared sampling rate that differs from the producer's real one, dates every
later sample early for the rest of the run. The chain is now a prediction,
compared each packet against the arrival anchor and abandoned beyond
kBurstResyncThresholdS, which bounds the error instead of accumulating it.
Plan amended so the hrt-fit fallback (unusable here: the fit needs 32 packets
and is itself corrupted by bursty arrivals) cannot come back.
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Implements FrameDecoder with five timing rules that mirror
UDPSourceSession.cpp: FullArray (per-element time signal), FirstSample
and LastSample (rate-spread from anchor), accumulated scalar with
declared rate (forward-chain anchoring, immune to arrival jitter), and
PACKET burst (backward-span from previous arrival). 9 new tests, 38
pass total.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
The fit keeps the slope and discards the intercept, so the result counts from
the producer's boot. Tasks 4 and 7 compose it with ClockOffset::map, which is
correct, but the bare name invites passing it straight to a plot axis.
Also unwrapped the stalled-clock assertion from behind `if (fit.ready())` —
that branch never runs, so the test confirmed nothing.
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
The jitter test fed a receive timestamp that went backwards (1001.02 then
1000.97), putting the second reading 1.03 s from the prediction — twice the
threshold, so not jitter under any reading. That is a digit slip for 1001.97.
It had been worked around by making the threshold one-sided, which passes the
test but never fires when the producer's clock steps forward: the prediction
stays ahead of the wall clock, the error stays negative, and the trace sits in
the future for the rest of the run. Restored std::fabs, corrected the test data,
and added the forward-jump case that the one-sided version silently failed.
Plan amended so the bad data does not come back.
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Adds TimeBase.h/cpp with ClockOffset (latched wall-clock offset with
one-sided recalibration on positive drift only, so early-arriving packets
do not wobble the trace) and HrtRateFit (sliding-window OLS that recovers
an unknown hrt tick rate from receive timestamps). Also adds
TimeSignalScale() which maps UDPS type codes to seconds-per-count.
9 new tests, all 28 pass.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Gap 1: closeLeaf was only tested closing the first sibling; added test
closing the second sibling to cover the else branch of parent->a.get()==leaf.
The test verifies the correct sibling survives with its signal intact.
Gap 2: closeLeaf was only tested at depth 1 (root's direct children);
added test with depth-2 leaf (in right subtree) to exercise findParent's
recursive search in both subtrees. Tests that the correct leaf is promoted
and remaining signals are preserved.
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
The ramp data in EmitsPointsInTimeOrder never produced a bucket whose maximum
preceded its minimum, so an implementation ordering the emitted pair by value
instead of by time would have passed. Replaced with an explicit two-bucket case
whose second bucket reverses the order.
file(COPY) is a hard configure error on a missing source, so a checkout without
the sibling StreamHub resources failed to configure despite the ASCII-icon
fallback the block above had just selected.
Plan amended to match on both points.
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
- calibration.js: fix baseSignalName('[0]') parity with Go/C++ (>= 0 not > 0)
- calibration.test.js: add assertions for '[0]' edge case in two existing tests
- app.js: remove stale typeof guard around refreshVScaleMenu (always defined)
- app.js: call refreshTrigThresholdField on trig-signal change (both assignment sites)
- index.html: drop maxlength='16' on unit input; normaliseCal is the sole enforcer
- configcheck/main.go: delete dead nextOneOf function (no callers)
- hub_calibration_test.go: delete orphaned waitBroadcast comment (function never existed)
- calibration.go: correct arrayIndexSuffix comment to document known Go/C++ difference
- Docs/StreamHub-API.md: add calibration entry count and unit byte limits to §5 table
- spec: fix configReloaded missing path field, '16 chars'→'16 UTF-8 bytes', StreamString→char[], chain scenario→configcheck program, four→five new frames
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Renames the "Add Source" section to "Sources & Config" and replaces the
fire-and-forget "Save list" button with Save and Reload, plus a one-line
status area that renders the hub's configSaved/configReloaded ack.
onConfigAck replaces the no-op stub Task 7 left behind. It branches on the
frame type because configSaved carries a path and configReloaded does not,
and surfaces the hub's error text on failure rather than failing silently.
The status is kept outside the DOM because buildSidebar() recreates this
section on every sources broadcast.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Finding 1: revert the comma/quote strip added in 3cb998c from
normaliseCal() in calibration.js. The strip broke byte-identical parity
with Go CalConfig.Normalise and C++ StreamHub::SetCalibrationEntry, both
of which only trim whitespace and cap at 16 UTF-8 bytes. Delete the
companion test that asserted the now-removed behaviour (suite returns to
18 tests).
Finding 2: fix the actual CSV-safety problem at the point of use in
exportAllCSV() in app.js. Header cells (time column and signal columns)
are now RFC 4180-quoted: wrapped in double quotes with any embedded
double quote doubled. This safely handles units or signal names that
contain commas or quotes without touching normaliseCal.
Finding 3: update two stale comments in app.js that called the trigger
threshold or rawFromNorm result 'raw' — Task 9 moved trig.threshold into
calibrated units throughout, so the comments now say 'calibrated'.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
refreshVScaleMenu() was unconditionally removing the cal-invalid class
from all three calibration inputs, which silently cleared the red-border
error indicator on a field the user was editing whenever a hub
calibration broadcast arrived. Apply the same focused-element guard
already used for .value writes so a rejected value's error styling
persists until the user corrects it.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Adds the Cal row (Scale / Offset / Unit / Reset) to #vscale-menu, its
CSS, and the refreshVScaleMenu() / commitCal() logic that wires it to
calTable and the hub via setCalibrationWS.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
TextEncoder always emits well-formed UTF-8, so truncation can strand at
most a lead byte plus three continuations — one repair pass covers it.
The C++ hub needs a loop because its input is raw bytes off the wire.
Also drops a dead variable from the byte-boundary test.
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
normaliseCal was using String.length/.slice() (UTF-16 code units), so
multi-byte characters like °, Ω, µ could slip through oversized. Now uses
TextEncoder to slice at 16 bytes, then repairs any incomplete trailing
UTF-8 sequence by walking back over continuation bytes to find the lead
byte and dropping the incomplete rune — exactly mirroring Go's
utf8.DecodeLastRuneInString loop and the C++ walk-back in
StreamHub::SetCalibrationEntry. Adds 4 new test cases covering the
non-ASCII/boundary scenarios, and corrects the canonical test command in
the task-6 report to 'cd Client/udpstreamer && node --test'.
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Implements Calib JS module (calibration.js) with affine transform primitives,
CalTable, and normaliseCal matching Go CalConfig.Normalise semantics; 14 node
--test cases all pass. Loads before app.js in index.html.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Client/debugger was entirely package main, which Go forbids importing from
another module ("is a program, not an importable package") -- discovered
while wiring the new debugclient E2E tool against NewHeadlessMarteController.
Move martecontrol.go and its test into a new marte2debugger/controller
subpackage (package controller) and update Client/debugger/main.go to call
controller.NewMarteController/controller.DangerousCommandsEnabled. No
behavioral change to the browser-facing server.
Add a sink func(v any) field so MarteController's event stream can be
routed somewhere other than the browser WebSocket hub. NewMarteController
now sets sink to broadcast through the hub as before; a new
NewHeadlessMarteController(sink) constructor builds an instance with
hub == nil for the upcoming debugclient E2E tool. Direct m.hub.* calls
(SetSourceState/UpdateConfigForSource/PushDataForSource) are now guarded
with nil checks so a headless controller doesn't panic.
