MARTe-Integrated-Components/Docs/Protocol.md

UDPStreamer Wire Protocol

This document specifies the binary protocol used between UDPStreamer (server) and any compatible client (the included Go WebUI, a Python script, etc.).

All multi-byte integers are little-endian.

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Packet Header (17 bytes, packed)

Every datagram begins with a 17-byte header:

Offset  Size  Type    Field
──────  ────  ──────  ────────────────────────────────────────────────────
0       4     uint32  magic          = 0x53504455  ('UDPS' LE)
4       1     uint8   type           see Packet Types below
5       4     uint32  counter        per-update sequence number
                                     (same across all fragments of one update)
9       2     uint16  fragmentIdx    0-based index of this fragment
11      2     uint16  totalFragments number of fragments for this update
13      4     uint32  payloadBytes   bytes of payload following this header

Total header size: 17 bytes
Magic: 0x55 0x44 0x50 0x53 (UDPS)

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Packet Types

Value	Direction	Name	Description
0	Server → Client	DATA	Signal data (may be fragmented)
1	Server → Client	CONFIG	Signal metadata sent on connect
2	Client → Server	ACK	Acknowledge a data counter (reserved)
3	Client → Server	CONNECT	Request a session
4	Client → Server	DISCONNECT	End the session

---

Session Flow

Client                                Server
──────                                ──────
                CONNECT (type=3) →
              ← CONFIG  (type=1)
              ← DATA    (type=0)  ┐
              ← DATA    (type=0)  │  repeated every RT cycle
              ← DATA    (type=0)  ┘
                DISCONNECT (type=4) →

1. Client sends a 17-byte CONNECT packet (payloadBytes = 0).
2. Server responds immediately with one or more CONFIG fragments describing all signals.
3. Server sends DATA fragments on every Synchronise() call while a client is connected.
4. Client sends DISCONNECT to terminate cleanly. A new CONNECT replaces an existing session.

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CONFIG Payload

The CONFIG payload is sent as one or more fragmented packets (type = 1). After reassembly the layout is:

Offset  Size  Type     Field
──────  ────  ───────  ────────────────────────────────────
0       4     uint32   numSignals
── for each signal (136 bytes) ──────────────────────────────
0       64    char[64] name           null-terminated
64      1     uint8    typeCode       see Type Codes
65      1     uint8    quantType      see Quantization Types
66      1     uint8    numDimensions  0 = scalar, 1 = 1-D array, 2 = matrix
67      4     uint32   numRows        0 or 1 for scalar/1-D
71      4     uint32   numCols        number of elements along fastest axis
75      8     float64  rangeMin
83      8     float64  rangeMax
91      1     uint8    timeMode       see Time Modes
92      8     float64  samplingRate   Hz (0 if PacketTime)
100     4     uint32   timeSignalIdx  index of the time-reference signal;
                                      0xFFFFFFFF = PacketTime (no reference)
104     32    char[32] unit           null-terminated physical unit string
── (total per signal: 136 bytes) ────────────────────────────

Type Codes

Code	C type	Bytes/element
0	uint8	1
1	int8	1
2	uint16	2
3	int16	2
4	uint32	4
5	int32	4
6	uint64	8
7	int64	8
8	float32	4
9	float64	8

Quantization Type Codes (wire side)

Code	Wire type	Description
0	—	No quantization; raw type as above
1	uint8	Linear map [rangeMin, rangeMax] → [0, 255]
2	int8	Linear map [rangeMin, rangeMax] → [-127, 127]
3	uint16	Linear map [rangeMin, rangeMax] → [0, 65535]
4	int16	Linear map [rangeMin, rangeMax] → [-32767, 32767]

Time Mode Codes

Code	Name	Meaning
0	PacketTime	HRT timestamp at Synchronise() — see DATA payload
1	FullArray	timeSignalIdx signal has same numElements; element [k] time = timeSignal[k]
2	FirstSample	timeSignalIdx is scalar; t[k] = t[0] + k / samplingRate
3	LastSample	timeSignalIdx is scalar; t[k] = t[N-1] - (N-1-k) / samplingRate

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DATA Payload

After reassembly, the DATA payload layout is:

Offset  Size  Type    Field
──────  ────  ──────  ────────────────────────────────────────────────────
0       8     uint64  hrtTimestamp   hardware reference timer count at Synchronise()
── for each signal (in config order) ────────────────────────────────────
varies  N×sz  —       signal data    N = numRows×numCols, sz = element size
                                     (wire size if quantized, raw size otherwise)

Signal data for quantized signals uses the wire element size (see Quantization Type Codes), not the original MARTe2 type size.

Dequantization

To recover physical values from quantized integers:

// uint16 → float
span      = rangeMax - rangeMin
physical  = rangeMin + (wire_uint16 / 65535.0) × span

// int16 → float
physical  = rangeMin + ((wire_int16 + 32767) / 65534.0) × span

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Fragmentation

When a payload exceeds MaxPayloadSize bytes, it is split into fragments:

chunkSize   = MaxPayloadSize - 17   // usable bytes per datagram
numFragments = ceil(payloadSize / chunkSize)

Fragment i carries bytes [i × chunkSize .. min((i+1) × chunkSize, payloadSize)). All fragments share the same counter; fragmentIdx and totalFragments allow the client to reassemble them in any order.

Example: MaxPayloadSize = 1400, payload = 8016 B
→ chunkSize = 1383, numFragments = ceil(8016/1383) = 6

---

Ordering DATA (required of every receiver)

DATA carries its own counter sequence, incremented once per sent packet (CONFIG is numbered independently). Reassembly completes in arrival order, not counter order, so a packet reordered or duplicated on the wire surfaces after a newer one has already been consumed. Its values are well-formed but carry an older time base: accepting it writes them over samples the consumer already holds and leaves the span they should have filled empty — a collision on one side and a hole on the other.

A receiver must therefore drop any DATA packet that does not advance the counter, and must order it by the signed difference:

int32_t delta = (int32_t)(counter - lastCounter);   /* survives the uint32 wrap */
if (delta <= 0) { /* stale or duplicate: drop */ }
lost = (uint32_t)delta - 1u;                        /* packets missing before this one */

Comparing the values directly would call the first packet after the wrap stale and reject the stream from then on.

lost matters beyond diagnostics. A consumer that spaces batched samples from the elapsed time since the previous packet must divide that gap by lost + 1 batches; dividing by one batch reports a period too long by exactly that factor and walks the samples past their own end into the next packet's range. Reset the sequence on (re)connect: the producer's counter restarts independently.

Implemented in UDPSClient::AcceptDataCounter (C++), udpsprotocol.SequenceGate (Go) and decode_data (C).

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Minimal Python Client Example

import socket, struct, time

MAGIC    = 0x53504455
HDR_FMT  = '<IBHHI'     # magic, type, counter, fragIdx, totalFrags, payloadBytes
HDR_SIZE = 17

def build_connect():
    return struct.pack(HDR_FMT, MAGIC, 3, 0, 0, 1, 0)

def parse_header(data):
    return struct.unpack_from(HDR_FMT, data)

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind(('', 44900))
sock.sendto(build_connect(), ('127.0.0.1', 44500))
sock.settimeout(5.0)

fragments = {}
while True:
    data, _ = sock.recvfrom(65536)
    magic, ptype, counter, frag_idx, total_frags, payload_bytes = parse_header(data)
    payload = data[HDR_SIZE:]

    if ptype == 1:   # CONFIG
        print(f"CONFIG fragment {frag_idx+1}/{total_frags}")
    elif ptype == 0: # DATA
        fragments.setdefault(counter, {})[frag_idx] = payload
        if len(fragments[counter]) == total_frags:
            full = b''.join(fragments.pop(counter)[i] for i in range(total_frags))
            hrt = struct.unpack_from('<Q', full)[0]
            print(f"DATA counter={counter} hrt={hrt} payload={len(full)}B")