Martino Ferrari
473 lines
23 KiB
C++
473 lines
23 KiB
C++
/**
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* @file UDPStreamer.h
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* @brief Header file for class UDPStreamer
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* @date 13/05/2026
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* @author Martino Ferrari
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*
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* @copyright Copyright 2015 F4E | European Joint Undertaking for ITER and
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* the Development of Fusion Energy ('Fusion for Energy').
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* Licensed under the EUPL, Version 1.1 or - as soon they will be approved
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* by the European Commission - subsequent versions of the EUPL (the "Licence")
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* You may not use this work except in compliance with the Licence.
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* You may obtain a copy of the Licence at: http://ec.europa.eu/idabc/eupl
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*
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* @warning Unless required by applicable law or agreed to in writing,
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* software distributed under the Licence is distributed on an "AS IS"
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* basis, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express
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* or implied. See the Licence permissions and limitations under the Licence.
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*
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* @details This header file contains the declaration of the class UDPStreamer
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* with all of its public, protected and private members. It may also include
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* definitions for inline methods which need to be visible to the compiler.
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*/
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#ifndef UDPSTREAMER_H_
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#define UDPSTREAMER_H_
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/*---------------------------------------------------------------------------*/
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/* Standard header includes */
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/*---------------------------------------------------------------------------*/
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/*---------------------------------------------------------------------------*/
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/* Project header includes */
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/*---------------------------------------------------------------------------*/
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#include "BasicTCPSocket.h"
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#include "BasicUDPSocket.h"
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#include "CompilerTypes.h"
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#include "EmbeddedServiceMethodBinderI.h"
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#include "EventSem.h"
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#include "FastPollingMutexSem.h"
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#include "MemoryDataSourceI.h"
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#include "SingleThreadService.h"
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#include "StreamString.h"
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/*---------------------------------------------------------------------------*/
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/* Class declaration */
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/*---------------------------------------------------------------------------*/
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namespace MARTe {
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/**
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* @brief Publishing mode for the background sender thread.
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*
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* - Strict: send one packet every Synchronise() call (default).
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* - Accumulate: buffer N successive snapshots and flush either when the next
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* snapshot would exceed MaxPayloadSize or when 1/MinRefreshRate
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* has elapsed. Scalars expand to arrays; the first scalar with
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* Unit="us"/"ns" is auto-promoted as the FullArray time reference.
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* - Decimate: send one packet every Ratio Synchronise() calls.
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*/
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typedef enum {
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UDPStreamerPublishStrict = 0u, /**< Send on every RT cycle (default) */
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UDPStreamerPublishAccumulate = 1u, /**< Accumulate until size/time limit; then flush */
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UDPStreamerPublishDecimate = 2u /**< Send 1 packet every Ratio cycles */
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} UDPStreamerPublishMode;
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/**
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* @brief Quantization types for float signals.
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*/
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typedef enum {
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UDPStreamerQuantNone = 0u, /**< No quantization; raw wire format */
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UDPStreamerQuantUint8 = 1u, /**< Quantize to uint8 [0, 255] */
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UDPStreamerQuantInt8 = 2u, /**< Quantize to int8 [-127, 127] */
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UDPStreamerQuantUint16 = 3u, /**< Quantize to uint16 [0, 65535] */
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UDPStreamerQuantInt16 = 4u /**< Quantize to int16 [-32767, 32767] */
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} UDPStreamerQuantType;
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/**
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* @brief Time reference modes for signals.
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*/
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typedef enum {
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UDPStreamerTimePacket = 0u, /**< Use the packet-level timestamp (HRT at Synchronise time) */
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UDPStreamerTimeFullArray = 1u, /**< Time signal has same NumberOfElements; one timestamp per element */
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UDPStreamerTimeFirstSample = 2u, /**< Time signal is scalar = timestamp of first element */
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UDPStreamerTimeLastSample = 3u /**< Time signal is scalar = timestamp of last element */
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} UDPStreamerTimeMode;
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/**
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* @brief Per-signal metadata used at runtime for serialization.
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*/
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struct UDPStreamerSignalInfo {
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StreamString name; /**< Signal name */
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TypeDescriptor type; /**< MARTe2 type descriptor */
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UDPStreamerQuantType quantType; /**< Quantization type (none = raw copy) */
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uint8 numDimensions; /**< Number of dimensions (0=scalar, 1=array, 2=matrix) */
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uint32 numElements; /**< Total number of elements (rows * cols) */
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uint32 numRows; /**< Number of rows */
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uint32 numCols; /**< Number of columns */
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float64 rangeMin; /**< Min of physical range (for quantization) */
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float64 rangeMax; /**< Max of physical range (for quantization) */
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UDPStreamerTimeMode timeMode; /**< How time is encoded for this signal */
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float64 samplingRate; /**< Hz, used for First/LastSample modes */
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uint32 timeSignalIdx; /**< Index of the time-reference signal; 0xFFFFFFFFu = PacketTime */
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StreamString unit; /**< Physical unit string */
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uint32 srcByteSize; /**< Bytes in MARTe2 memory */
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uint32 wireByteSize; /**< Bytes on the wire (may differ when quantized) */
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uint32 bufferOffset; /**< Byte offset in the flat MemoryDataSourceI memory buffer */
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bool accumulated; /**< True when this scalar was expanded to flushCount elements in Auto accumulation mode */
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};
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/**
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* @brief Magic number for UDPStreamer packets: 'UDPS' in little-endian.
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*/
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static const uint32 UDPS_MAGIC = 0x53504455u;
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/**
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* @brief Packet type codes.
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*/
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static const uint8 UDPS_TYPE_DATA = 0u; /**< Server → Client: signal data */
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static const uint8 UDPS_TYPE_CONFIG = 1u; /**< Server → Client: signal configuration */
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static const uint8 UDPS_TYPE_ACK = 2u; /**< Client → Server: acknowledge counter */
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static const uint8 UDPS_TYPE_CONNECT = 3u; /**< Client → Server: connect request */
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static const uint8 UDPS_TYPE_DISCONNECT = 4u; /**< Client → Server: disconnect */
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/**
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* @brief Wire packet header (17 bytes, packed).
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*/
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struct UDPSPacketHeader {
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uint32 magic; /**< Must equal UDPS_MAGIC */
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uint8 type; /**< One of UDPS_TYPE_* */
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uint32 counter; /**< Sequence counter (per data update, not per fragment) */
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uint16 fragmentIdx; /**< 0-based index of this fragment */
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uint16 totalFragments; /**< Total fragments for this update (1 = no fragmentation) */
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uint32 payloadBytes; /**< Bytes of payload immediately following this header */
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} __attribute__((packed));
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/**
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* @brief Signal type codes transmitted in the CONFIG packet.
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* These are simplified type codes independent of MARTe2 internals.
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*/
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static const uint8 UDPS_TYPECODE_UINT8 = 0u;
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static const uint8 UDPS_TYPECODE_INT8 = 1u;
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static const uint8 UDPS_TYPECODE_UINT16 = 2u;
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static const uint8 UDPS_TYPECODE_INT16 = 3u;
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static const uint8 UDPS_TYPECODE_UINT32 = 4u;
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static const uint8 UDPS_TYPECODE_INT32 = 5u;
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static const uint8 UDPS_TYPECODE_UINT64 = 6u;
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static const uint8 UDPS_TYPECODE_INT64 = 7u;
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static const uint8 UDPS_TYPECODE_FLOAT32 = 8u;
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static const uint8 UDPS_TYPECODE_FLOAT64 = 9u;
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static const uint8 UDPS_TYPECODE_UNKNOWN = 255u;
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/**
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* @brief A DataSource that streams MARTe2 signals to UDP clients.
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*
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* @details This output DataSource accepts signals from GAMs and forwards them
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* asynchronously over the network. A dedicated background thread handles all
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* network I/O so that the real-time thread is only blocked by a fast spinlock
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* and a memcpy during Synchronise().
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*
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* Two operating modes are selected by the presence or absence of MulticastGroup:
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*
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* @par Unicast mode (default — no MulticastGroup)
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* The server opens a single UDP socket on Port. The client initiates the session
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* by sending a CONNECT packet to that port. The server replies with a CONFIG
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* packet on the same socket and subsequently sends DATA packets directly to the
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* client's address. Any number of clients may connect sequentially (one at a
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* time); a new CONNECT evicts the previous client.
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*
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* @par Multicast mode (MulticastGroup specified)
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* The server opens a TCP listener on Port for control traffic and a UDP socket
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* aimed at MulticastGroup:DataPort for data traffic. The client:
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* 1. Connects to Port via TCP and sends a CONNECT packet.
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* 2. Receives the CONFIG packet over TCP.
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* 3. Joins the multicast group (MulticastGroup:DataPort) to receive DATA packets.
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* Multiple clients may receive data simultaneously by joining the same group.
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* A new TCP CONNECT evicts the previous client from the control channel; the
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* multicast data stream continues regardless.
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*
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* @par Packet protocol (both modes)
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* - Client → Server: CONNECT (initiates session), DISCONNECT (terminates session),
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* ACK (optional, for packet-loss monitoring).
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* - Server → Client: CONFIG (signal metadata), DATA (signal values, possibly
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* fragmented into multiple datagrams if payload exceeds MaxPayloadSize).
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*
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* @par Top-level configuration parameters
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* | Parameter | Type | Default | Description |
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* |-----------------|---------|---------|-------------|
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* | Port | uint16 | 44500 | TCP control port (multicast) or UDP server port (unicast). Values ≤ 1024 produce a warning. |
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* | MulticastGroup | string | *(absent)* | **Enables multicast mode.** IPv4 multicast address, e.g. `"239.0.0.1"`. Must be in 224.0.0.0/4. Absent or empty = unicast. |
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* | DataPort | uint16 | Port+1 | UDP port for multicast DATA datagrams. Ignored in unicast mode. Must be non-zero and differ from Port. |
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* | MaxPayloadSize | uint32 | 1400 | Maximum bytes of signal payload per UDP datagram (excluding the 17-byte header). Larger signals are fragmented. |
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* | PublishingMode | string | Strict | `Strict`: send one packet every Synchronise() call. `Auto`: rate-limited; flush only when MinRefreshRate interval has elapsed. |
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* | MinRefreshRate | float64 | — | Required when PublishingMode = Auto. Flush frequency in Hz (e.g. 120.0). |
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* | MaxBatchSize | uint32 | 1 | Optional when PublishingMode = Auto. Number of RT cycles to accumulate before flushing one packet. Scalar signals are expanded to arrays of MaxBatchSize elements; the first scalar with Unit="us" or "ns" is auto-promoted as the per-sample FullArray timestamp reference for all other scalars. When omitted or 1, the most-recent single value is sent at MinRefreshRate. |
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* | CPUMask | uint32 | 0xFFFFFFFF | CPU affinity bitmask for the background thread. |
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* | StackSize | uint32 | (MARTe2 default) | Stack size in bytes for the background thread. |
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*
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* @par Per-signal configuration parameters
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* | Parameter | Type | Default | Description |
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* |------------------|---------|-------------|-------------|
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* | Type | string | — | MARTe2 type name (uint8, int16, float32, float64, …). Mandatory. |
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* | NumberOfDimensions | uint8 | 0 | 0 = scalar, 1 = array, 2 = matrix. |
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* | NumberOfElements | uint32 | 1 | Total element count (rows × cols for matrices). |
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* | Unit | string | "" | Physical unit label, e.g. `"Pa"` or `"m/s"`. Transmitted in CONFIG for display purposes. |
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* | RangeMin | float64 | 0.0 | Minimum of the physical range. Required when QuantizedType is not `none`. |
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* | RangeMax | float64 | 1.0 | Maximum of the physical range. Required when QuantizedType is not `none`. |
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* | QuantizedType | string | none | Wire quantization for float signals: `none` \| `uint8` \| `int8` \| `uint16` \| `int16`. Reduces wire bandwidth at the cost of precision. Only valid for float32/float64 signals. |
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* | TimeMode | string | PacketTime | How the signal's time axis is encoded (see below). |
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* | TimeSignal | string | — | Name of the signal that carries timestamps. Required when TimeMode ≠ PacketTime. |
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* | SamplingRate | float64 | — | Signal sampling rate in Hz. Required when TimeMode = FirstSample or LastSample. |
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*
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* @par TimeMode values
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* | Value | Description |
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* |--------------|-------------|
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* | PacketTime | Uses the HRT counter captured at Synchronise() time as the single packet timestamp. No dedicated time signal needed. |
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* | FullArray | TimeSignal has the same NumberOfElements as this signal; one timestamp per element. |
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* | FirstSample | TimeSignal is a scalar = timestamp of the first element; subsequent elements are spaced by 1/SamplingRate. |
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* | LastSample | TimeSignal is a scalar = timestamp of the last element; elements are spaced backwards by 1/SamplingRate. |
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*
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* @par Example — unicast mode
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* <pre>
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* +Streamer = {
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* Class = UDPStreamer
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* Port = 44500
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* MaxPayloadSize = 1400
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* PublishingMode = "Strict"
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* Signals = {
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* Time = {
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* Type = uint64
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* }
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* Pressure = {
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* Type = float32
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* NumberOfDimensions = 1
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* NumberOfElements = 100
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* Unit = "Pa"
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* RangeMin = 0.0
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* RangeMax = 1000000.0
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* QuantizedType = uint16
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* TimeMode = LastSample
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* TimeSignal = Time
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* SamplingRate = 10000.0
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* }
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* Temperature = {
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* Type = float64
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* Unit = "degC"
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* TimeMode = PacketTime
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* }
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* }
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* }
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* </pre>
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*
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* @par Example — multicast mode
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* <pre>
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* +Streamer = {
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* Class = UDPStreamer
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* Port = 44500 // TCP control port
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* MulticastGroup = "239.0.0.1" // Enables multicast mode
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* DataPort = 44501 // UDP data port (default: Port+1)
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* MaxPayloadSize = 1400
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* PublishingMode = "Auto"
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* MinRefreshRate = 60
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* Signals = {
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* Time = {
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* Type = uint64
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* }
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* Voltage = {
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* Type = float32
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* NumberOfDimensions = 1
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* NumberOfElements = 1000
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* Unit = "V"
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* RangeMin = -10.0
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* RangeMax = 10.0
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* QuantizedType = int16
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* TimeMode = FirstSample
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* TimeSignal = Time
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* SamplingRate = 100000.0
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* }
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* }
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* }
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* </pre>
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*/
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class UDPStreamer : public MemoryDataSourceI, public EmbeddedServiceMethodBinderI {
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public:
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CLASS_REGISTER_DECLARATION()
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/**
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* @brief Constructor. Initialises all members to safe defaults.
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*/
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UDPStreamer();
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/**
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* @brief Destructor. Stops the background thread and frees allocated memory.
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*/
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virtual ~UDPStreamer();
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/**
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* @brief Parses top-level configuration parameters.
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* @details Reads Port, MaxPayloadSize, CPUMask, StackSize, PublishingMode,
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* MinRefreshRate, MulticastGroup, and DataPort from the configuration node.
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* Sets useMulticast and dataPort when MulticastGroup is present and valid.
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* @return true if all mandatory parameters are valid and consistent.
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*/
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virtual bool Initialise(StructuredDataI &data);
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/**
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* @brief Validates signal types and builds the per-signal metadata array.
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* @details Reads per-signal custom fields (Unit, RangeMin, RangeMax, QuantizedType,
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* TimeMode, TimeSignal, SamplingRate) from signalsDatabase and populates signalInfos[].
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* @return true if all signal configurations are valid.
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*/
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virtual bool SetConfiguredDatabase(StructuredDataI &data);
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/**
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* @brief Allocates signal memory (via parent) plus readyBuffer, scratchBuffer, wireBuffer.
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* @return true if all memory allocations succeed.
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*/
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virtual bool AllocateMemory();
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/**
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* @brief Returns the broker name for the given signal direction.
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* @return "MemoryMapSynchronisedOutputBroker" for OutputSignals; "" otherwise.
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*/
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virtual const char8 *GetBrokerName(StructuredDataI &data,
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const SignalDirection direction);
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/**
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* @brief Called by the RT thread after all GAMs have written output signals.
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* @details Copies signal memory to readyBuffer under a fast spinlock, then posts
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* the dataSem to wake the background thread. Returns immediately.
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* @return true always.
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*/
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virtual bool Synchronise();
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/**
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* @brief Opens the server socket and starts the background thread.
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* @return true if the socket and thread start successfully.
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*/
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virtual bool PrepareNextState(const char8 *const currentStateName,
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const char8 *const nextStateName);
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/**
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* @brief Background thread entry point.
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* @details Handles client CONNECT/DISCONNECT/ACK and sends DATA packets.
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*/
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virtual ErrorManagement::ErrorType Execute(ExecutionInfo &info);
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/**
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* @brief Returns the listening port number.
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*/
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uint16 GetPort() const;
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/**
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* @brief Returns the maximum payload size per UDP datagram.
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*/
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uint32 GetMaxPayloadSize() const;
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/**
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* @brief Returns true if a client is currently connected.
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*/
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bool IsClientConnected() const;
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/**
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* @brief Returns true when multicast mode is active (MulticastGroup was set in config).
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*/
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bool IsMulticast() const;
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private:
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/**
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* @brief Serializes the CONFIG payload into buf and sets payloadSize.
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* @return true if serialization succeeds.
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*/
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bool BuildConfigPayload(uint8 *buf, uint32 bufSize, uint32 &payloadSize);
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/**
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* @brief Quantizes and serializes all signals from srcBuf into wireBuffer.
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* @param[in] srcBuf Flat source buffer (signal data in MARTe2 format).
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* @param[in] timestamp HRT counter to embed as packet timestamp.
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*/
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void QuantizeAndSerialize(const uint8 *srcBuf, uint64 timestamp);
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/**
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* @brief Sends payload as one or more fragmented UDP datagrams to the connected client.
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* @return true if all datagrams were sent without error.
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*/
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bool SendFragmented(uint8 type, uint32 counter, const uint8 *payload, uint32 payloadSize);
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/**
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* @brief Handles a single received command packet from a client (unicast mode).
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*/
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void HandleClientCommand(const uint8 *buf, uint32 size);
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/**
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* @brief Handles a CONNECT received on the TCP control socket (multicast mode).
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* @details Validates magic+type, sets clientConnected, builds and sends CONFIG via tcpClient.
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*/
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void HandleTCPConnect(const uint8 *buf, uint32 size);
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/**
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* @brief Serializes an accumulated batch into wireBuffer.
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* @param src Flat buffer [numSamples × totalSrcBytes], slot 0 = oldest.
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* @param timestamps HRT counters per slot; timestamps[0] is the packet timestamp.
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* @param numSamples Actual number of filled slots to serialize.
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*/
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void SerializeAccumulated(const uint8 *src, const uint64 *timestamps, uint32 numSamples);
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/**
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* @brief Maps a MARTe2 TypeDescriptor to the UDPS_TYPECODE_* constants.
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*/
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static uint8 TypeDescriptorToCode(TypeDescriptor td);
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/* Configuration parameters */
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uint16 port; /**< UDP server port */
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uint32 maxPayloadSize; /**< Max payload bytes per UDP packet (excluding header) */
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uint32 cpuMask; /**< Background thread CPU affinity */
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uint32 stackSize; /**< Background thread stack size */
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UDPStreamerPublishMode publishMode; /**< Strict or Auto publishing mode */
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float64 minRefreshRate; /**< Minimum flush rate (Hz) for Auto mode */
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uint64 flushPeriodTicks; /**< HRT ticks per flush interval (computed from minRefreshRate) */
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/* Accumulate mode — dynamic batch parameters */
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uint32 maxBatchCount; /**< Max snapshots that fit in MaxPayloadSize (Accumulate) */
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uint32 singleCycleWireBytes; /**< Wire bytes for all accumulated signals per snapshot */
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uint32 fixedWireBytes; /**< Wire bytes for non-accumulated signals (arrays, once per packet) */
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volatile uint64 lastPublishTs; /**< HRT counter of last successful flush (Accumulate mode) */
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uint8 *accumBuffer; /**< Heap: [maxBatchCount × totalSrcBytes] linear fill */
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uint64 *accumTimestamps; /**< Heap: [maxBatchCount] HRT counter per snapshot */
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uint32 accumFill; /**< Slots filled in accumBuffer (0..maxBatchCount) */
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uint64 *readyTimestamps; /**< Heap: [maxBatchCount] HRT for completed ready batch */
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uint64 *scratchTimestamps; /**< Heap: [maxBatchCount] background-thread local copy */
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uint32 readyFill; /**< Snapshot count in the ready batch */
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/* Decimate mode */
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uint32 decimateRatio; /**< Send 1 packet every decimateRatio Synchronise() calls */
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uint32 decimateCounter; /**< Current decimate cycle counter */
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/* Signal metadata */
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uint32 numSigs; /**< Number of signals */
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UDPStreamerSignalInfo *signalInfos; /**< Per-signal metadata array */
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/* Double-buffering for RT safety */
|
||
uint8 *readyBuffer; /**< Protected copy of signal memory for background thread */
|
||
uint8 *scratchBuffer; /**< Local copy used during serialization (avoids holding lock) */
|
||
uint32 totalSrcBytes; /**< Total bytes of signal data (= stateMemorySize) */
|
||
FastPollingMutexSem bufMutex; /**< Protects readyBuffer against concurrent access */
|
||
EventSem dataSem; /**< Wakes background thread when new data is ready */
|
||
volatile uint64 syncTimestamp; /**< HRT counter captured in Synchronise() */
|
||
|
||
/* Wire serialization buffer */
|
||
uint8 *wireBuffer; /**< Pre-allocated buffer for the serialized DATA payload */
|
||
uint32 totalWireBytes; /**< Total bytes of all signals after quantization + 8-byte timestamp prefix */
|
||
|
||
/* Networking — unicast mode */
|
||
BasicUDPSocket serverSocket; /**< Bound to port; receives client commands (unicast) */
|
||
BasicUDPSocket clientSocket; /**< Configured to send to the connected client (unicast) */
|
||
volatile bool clientConnected; /**< True when a client has successfully connected */
|
||
|
||
/* Networking — multicast mode (only used when useMulticast == true) */
|
||
StreamString multicastGroup; /**< Multicast group IP, e.g. "239.0.0.1"; empty = unicast */
|
||
uint16 dataPort; /**< UDP port for DATA datagrams in multicast mode */
|
||
bool useMulticast; /**< Derived from multicastGroup.Size() > 0 in Initialise() */
|
||
BasicTCPSocket tcpListener; /**< TCP server socket: accepts control connections */
|
||
BasicTCPSocket *tcpClient; /**< Accepted TCP control connection (heap by WaitConnection) */
|
||
BasicUDPSocket dataSocket; /**< UDP socket aimed at multicastGroup:dataPort */
|
||
|
||
/* Thread management */
|
||
SingleThreadService executor; /**< Background thread service */
|
||
|
||
/* Packet sequencing */
|
||
uint32 packetCounter; /**< Incremented for each DATA update sent */
|
||
};
|
||
|
||
} /* namespace MARTe */
|
||
|
||
#endif /* UDPSTREAMER_H_ */
|