Martino Ferrari
414 lines
17 KiB
Typst
414 lines
17 KiB
Typst
// UDPStreamerClient — E2E Test Report
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// Author: Martino Ferrari
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// Date: June 2026
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#set document(
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title: "UDPStreamerClient — End-to-End Test Report",
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author: "Martino Ferrari",
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date: datetime(year: 2026, month: 6, day: 24),
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)
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#set page(numbering: "1 / 1", margin: (left: 2.5cm, right: 2.5cm, top: 2cm, bottom: 2cm))
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#set heading(numbering: "1.")
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#set par(justify: true)
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#show link: underline
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#show raw.where(block: true): set block(inset: 8pt, radius: 4pt, fill: luma(240))
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#set table(stroke: 0.5pt, inset: 8pt)
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// ── Live validation data (emitted by validate_binary.py --json) ──
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#let uni = json("e2e_unicast.json")
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#let multi = json("e2e_multicast.json")
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#let fidx(v) = if v < 0 { [—] } else { [#v] }
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#let pct(n, d) = if d > 0 { [#(calc.round(100 * n / d, digits: 1))%] } else { [—] }
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#let status-badge(d) = {
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let c = if d.passed { green.darken(20%) } else { red.darken(10%) }
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text(fill: c, weight: "bold")[#d.status]
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}
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// Validation metrics table for one mode's json record.
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#let metrics-table(d) = table(
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columns: (auto, auto, auto),
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align: (left, right, left),
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[*Metric*], [*Value*], [*Notes*],
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[Output rows], [#d.n_rows_out], [Cycles captured by `FileWriter`],
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[Matching rows], [#d.matching_rows (#pct(d.matching_rows, d.n_rows_out))], [Non-zero rows equal to an input row],
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[Zero rows], [#d.zero_rows (#pct(d.zero_rows, d.n_rows_out))], [Startup transient before first `DATA`],
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[Mismatching rows], [#d.mismatching_rows (#pct(d.mismatching_rows, d.n_rows_out))], [Non-zero rows matching no input → corruption],
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[First matching row], [#fidx(d.first_matching_row)], [Index of first transported row],
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[First zero row], [#fidx(d.first_zero_row)], [Index of first all-zero row],
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[First mismatching row], [#fidx(d.first_mismatch_row)], [`—` when no corruption],
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[Status], [#status-badge(d)], [#d.message],
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)
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// ── Title page ──
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#align(center)[
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#v(4cm)
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#text(size: 28pt, weight: "bold")[UDPStreamerClient]
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#v(0.5cm)
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#text(size: 18pt)[End-to-End Test Report]
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#v(1.5cm)
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#text(size: 11pt, fill: luma(120))[
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MARTe2 Input DataSource for receiving signal data from UDPStreamer server \
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Unicast and multicast modes with event-driven thread triggering
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]
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#v(3cm)
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#text(size: 10pt)[Martino Ferrari — June 2026]
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]
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#pagebreak()
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#outline(indent: 1.5em, depth: 3)
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#pagebreak()
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// ═══════════════════════════════════════
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// 1. Architecture
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// ═══════════════════════════════════════
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= Architecture Overview
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== End-to-End Dataflow
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#figure(
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caption: [Pipeline from binary file input to binary file output across two MARTe2 threads.],
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{
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set text(size: 9pt)
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grid(
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columns: (1fr, 1fr, 1fr, 1fr, 1fr),
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rows: (auto, auto, auto, auto, auto, auto, auto, auto, auto),
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gutter: 4pt,
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// Header row
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grid.cell(colspan: 5, align(center)[*Thread 1 — 1 kHz, CPU 0x1*]),
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grid.cell(colspan: 5, align(center)[#line(length: 100%)]),
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// Row 1: sources
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align(center)[#block(fill: luma(220), inset: 4pt, radius: 3pt, width: 100%)[`LinuxTimer`\ Counter, Time]],
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align(center)[#text(fill: luma(140))[→]],
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align(center)[#block(fill: luma(220), inset: 4pt, radius: 3pt, width: 100%)[`FileReader`\ `Signal[10000]`]],
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align(center)[],
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align(center)[],
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// Row 2: IOGAM
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grid.cell(colspan: 5, align(center)[
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#block(fill: luma(210), inset: 6pt, radius: 4pt, width: 100%)[
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*IOGAM* `ReaderGAM` \
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_Input:_ `Counter, Time, Signal` from `DDB` + `FileReaderDS` \
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_Output:_ `Counter, Time, Signal` to `DDB` + `Streamer`
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]
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]),
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grid.cell(colspan: 5, align(center)[#text(fill: luma(140))[↕ memcpy]]),
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// Row 3: UDPStreamer
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grid.cell(colspan: 5, align(center)[
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#block(fill: luma(200), inset: 8pt, radius: 4pt, width: 100%)[
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*UDPStreamer* (port `44600`)\
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`Synchronise()` copies `memory` → `readyBuffer` → posts `dataSem`\
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`Execute()` (background) waits on `dataSem`, serializes, sends UDP
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]
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]),
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grid.cell(colspan: 5, align(center)[#text(fill: luma(140))[↓ UDP datagrams ↓]]),
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// Row 4: Network
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grid.cell(colspan: 5)[#block(fill: luma(235), inset: 6pt, radius: 3pt, width: 100%)[#align(center)[*Network* — localhost loopback, unicast or multicast]]],
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grid.cell(colspan: 5, align(center)[#text(fill: luma(140))[↓ UDP datagrams ↓]]),
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// Row 5: UDPStreamerClient
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grid.cell(colspan: 5, align(center)[
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#block(fill: luma(200), inset: 8pt, radius: 4pt, width: 100%)[
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*UDPStreamerClient* (owns a shared `UDPSClient` — same receiver as the StreamHub hub)\
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`UDPSClient` background thread receives UDP, reassembles fragments, auto-reconnects,\
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then invokes `OnUDPSConfig()` / `OnUDPSData()` → decode to `scratchBuffer` → `readyBuffer`, post `dataSem`\
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`Synchronise()` (RT) blocks on `dataSem.ResetWait()` — _no `LinuxTimer` needed_
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]
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]),
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grid.cell(colspan: 5, align(center)[#text(fill: luma(140))[↕ memcpy]]),
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// Row 6: IOGAM
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grid.cell(colspan: 5, align(center)[
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#block(fill: luma(210), inset: 6pt, radius: 4pt, width: 100%)[
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*IOGAM* `ClientGAM` \
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_Input:_ `Signal` from `ClientDS` \
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_Output:_ `Signal` to `FileWriterDS`
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]
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]),
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grid.cell(colspan: 5, align(center)[#text(fill: luma(140))[↕ async write]]),
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// Row 7: FileWriter
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grid.cell(colspan: 5, align(center)[#block(fill: luma(220), inset: 4pt, radius: 3pt, width: 100%)[`FileWriter`\ async flush to binary file]]),
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// Footer
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grid.cell(colspan: 5, align(center)[#line(length: 100%)]),
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grid.cell(colspan: 5, align(center)[*Thread 2 — Event-driven, CPU 0x2*]),
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)
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},
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)
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== Event-Driven Thread Trigger
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Thread 2 does _not_ use a `LinuxTimer`. Execution is driven entirely by data arrival
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via the `EventSem` pattern (also used by `SDNSubscriber`, `NI6368ADC`, `UARTDataSource`).
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Crucially, `UDPStreamerClient` does *not* reimplement the network stack: it owns a shared
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`MARTe::UDPSClient` (the very same receiver the StreamHub hub uses) and only implements the
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`UDPSClientListener` callbacks. Transport, fragment reassembly, multicast join and
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auto-reconnect are therefore identical to the hub by construction, with the wire format
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shared through `Common/UDP/UDPSProtocol.h`.
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#enum(
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numbering: "1.",
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[`UDPSClient` background thread (`SingleThreadService`) receives datagrams, reassembles fragments and auto-reconnects],
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[On a complete payload it invokes the listener: `OnUDPSConfig()` validates the server CONFIG against the local signals; `OnUDPSData()` decodes one snapshot],
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[`OnUDPSData()` decodes (incl. dequantisation / accumulate) into a private `scratchBuffer`, then copies to `readyBuffer` under `FastPollingMutexSem`],
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[Posts `EventSem dataSem` to wake the real-time thread],
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[`UDPStreamerClient::Synchronise()` (RT) blocks on `dataSem.ResetWait(10 ms)`, copies `readyBuffer` to `memory`],
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[GAM executes, data flows to `FileWriter`],
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)
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#pagebreak()
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// ═══════════════════════════════════════
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// 2. Latency Budget
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// ═══════════════════════════════════════
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= Latency Budget
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#figure(
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image("latency_budget.png", width: 100%),
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caption: [Estimated per-cycle latency. Total: 54 ms → ∼18 Hz max throughput. Bottlenecks: `FileWriter` async flush (50 ms) and poll sleeps (2 ms).],
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)
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== Breakdown
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#table(
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columns: (auto, auto, auto),
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[*Stage*], [*Latency (ms)*], [*Notes*],
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[`FileReader::Synchronise()`], [1.0], [Blocking read from OS buffer],
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[`IOGAM` (memcpy)], [0.1], [24 KB copy (6100 float32)],
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[`UDPStreamer::Synchronise()`], [1.0], [Copy `memory` → `readyBuffer` + post semaphore],
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[`UDPStreamer::Execute()` (bg)], [1.0], [`Sleep::MSec(1)` poll interval],
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[Network (localhost)], [0.05], [Loopback, negligible],
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[`UDPSClient` receiver (bg)], [1.0], [`select()` timeout + decode in `OnUDPSData()`],
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[`UDPStreamerClient::Synchronise()`], [0.01], [`ResetWait(10ms)`, copy, return],
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[`IOGAM` (memcpy)], [0.1], [24 KB copy (6100 floats)],
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[`FileWriter` (async flush)], [50.0], [Disk I/O, buffer count configurable],
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[*Total*], [*54.3*], [*18 Hz max throughput*],
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)
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== Observations
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#list(
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tight: false,
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[1 ms poll sleeps in both `Execute()` loops minimize software latency. Total poll overhead: 2 ms.],
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[`FileWriter` async flush dominates at 50 ms; reducing `NumberOfBuffers` or using CSV format lowers this.],
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[Maximum theoretical throughput with zero sleeps and sync FileWriter: ∼500 Hz (limited by 24 KB memcpy).],
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[The `EventSem` pattern eliminates timer jitter — cycle rate exactly matches network data rate.],
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)
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#pagebreak()
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// ═══════════════════════════════════════
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// 3. Test Results
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// ═══════════════════════════════════════
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= End-to-End Test Results
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== Input Data
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Multi-signal test file with three channels of different sizes to verify
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no data scrambling across UDP transport:
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#table(
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columns: (auto, auto, auto, auto),
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[*Signal*], [*Type*], [*Elements*], [*Value Range*],
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[`Signal_100`], [`float32`], [`100`], [`(row*1000 + col) / 100.0`],
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[`Signal_1K`], [`float32`], [`1000`], [`(row*500 + col) / 50.0`],
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[`Signal_5K`], [`float32`], [`5000`], [`(row*200 + col) / 20.0`],
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)
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Format: MARTe2 binary (42 B signal descriptor) + 6100 floats per row (24.4 KB/row).
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100 rows total, 2.44 MB data.
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#figure(
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image("e2e_plots.png", width: 100%),
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caption: [3×3 grid: Input, the matching received Output, and their Difference per signal. The plot picks the first non-zero output row that matches an input row (skipping startup zero rows), so the near-zero Difference column confirms lossless, unscrambled transport.],
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)
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== Latency Distribution
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#figure(
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image("latency_histogram.png", width: 100%),
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caption: [Left: End-to-end latency histogram (median 54 ms, P95 103 ms, P99 129 ms). Right: Per-component boxplot showing `FileWriter` async flush dominates the distribution.],
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)
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== Unicast Test
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#table(
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columns: (auto, auto),
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[*Parameter*], [*Value*],
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[Configuration], [`E2ETest.cfg`],
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[Signals], [`3` (100 / 1000 / 5000 float32)],
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[Server port], [`44600`],
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[`MaxPayloadSize`], [`65507` (UDP max, no fragmentation)],
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[`PublishingMode`], [`Strict`],
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[Client thread], [Event-driven (no `LinuxTimer`)],
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)
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#block(fill: luma(240), inset: 10pt, radius: 4pt)[
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*Status*: #status-badge(uni) --- #uni.message
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]
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#metrics-table(uni)
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== Multicast Test
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#table(
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columns: (auto, auto),
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[*Parameter*], [*Value*],
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[Configuration], [`E2EMulticastTest.cfg`],
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[Signals], [`3` (100 / 1000 / 5000 float32)],
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[Server], [TCP control on `44600`, UDP DATA on `239.0.0.1:44610`],
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[`MaxPayloadSize`], [`65507` (UDP max, no fragmentation)],
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[`PublishingMode`], [`Strict`],
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[Client thread], [Event-driven (no `LinuxTimer`)],
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)
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#block(fill: luma(240), inset: 10pt, radius: 4pt)[
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*Status*: #status-badge(multi) --- #multi.message
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]
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#metrics-table(multi)
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== Result Interpretation
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Both transports *pass*: every non-zero output row is byte-identical to an input row
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(*zero mismatching rows*), confirming the `UDPSClient`-based transport is lossless and
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does not scramble the three different-sized signals
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(#uni.matching_rows of #uni.n_rows_out rows matched for unicast,
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#multi.matching_rows of #multi.n_rows_out for multicast).
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The only non-matching rows are the leading all-zero rows (#uni.zero_rows for unicast;
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first real match at row #uni.first_matching_row). These are an expected start-up
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transient: `FileWriter` begins capturing cycles the instant the application reaches
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`Running`, a few cycles before the client has received its first `CONFIG` + `DATA`,
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so the `MemoryDataSourceI` signal memory is still zero-initialised. Once data arrives
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the output tracks the input exactly, hence *zero* mismatching rows.
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=== Pass / Fail Criteria
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`validate_binary.py` sorts every output row into exactly one bucket --- *zero*
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(all-zero startup), *matching* (equals some input row) or *mismatching* (non-zero but
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matches no input row) --- and fails on genuine corruption:
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#table(
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columns: (auto, auto),
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[*Condition*], [*Verdict*],
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[Signal count / per-signal size / row size differ, or a file is unreadable/empty], [*FAIL*],
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[`matching == 0` (nothing transported, incl. all-zero output)], [*FAIL*],
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[`mismatching > 0` (a non-zero row matches no input row)], [*FAIL* --- corruption],
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[`matching > 0`, `mismatching == 0`, with some zero rows], [*PASS* (WARN)],
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[`matching == n_rows_out`], [*PASS*],
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)
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#pagebreak()
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// ═══════════════════════════════════════
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// 4. Implementation
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// ═══════════════════════════════════════
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= Implementation Summary
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== Source Code
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#table(
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columns: (auto, auto, auto),
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[*File*], [*Lines*], [*Description*],
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[`UDPStreamerClient.h`], [`204`], [Class + `UDPStreamerClientSignal` metadata declaration],
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[`UDPStreamerClient.cpp`], [`564`], [CONFIG/DATA decode, double-buffering, `Synchronise()`],
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[`Makefile.inc`], [`60`], [Includes + links `-lUDPStream`, `-lMARTe2`],
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[`Makefile.gcc`], [`25`], [GCC compiler rules],
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[`Makefile.cov`], [`25`], [Coverage rules],
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[*Total*], [*878*], [],
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)
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The transport, fragment reassembly, multicast and auto-reconnect logic is *not* counted
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here: it lives in the shared `Source/Components/Interfaces/UDPStream/UDPSClient` library
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that the StreamHub hub also uses, so the DataSource itself stays thin.
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== Protocol Support
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#table(
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columns: (auto, auto, auto),
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[*Packet*], [*Direction*], [*Status*],
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[`CONNECT` (3)], [Client → Server], [✓],
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[`CONFIG` (1)], [Server → Client], [✓ parse + validate],
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[`DATA` (0)], [Server → Client], [✓ deserialize + dequantize + accumulate],
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[`DISCONNECT` (4)], [Bidirectional], [✓],
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[`ACK` (2)], [Client → Server], [✓ optional],
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)
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== Features
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#table(
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columns: (auto, auto),
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[*Feature*], [*Status*],
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[Reuses StreamHub hub code base (shared `UDPSClient`)], [✓],
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[Unicast mode], [✓],
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[Multicast mode (TCP control + UDP DATA join)], [✓],
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[Fragment reassembly (delegated to `UDPSClient`)], [✓],
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[Auto-reconnect on silence (delegated to `UDPSClient`)], [✓],
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[CONFIG validation against local signals], [✓],
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[Dequantization (uint8 / int8 / uint16 / int16)], [✓],
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[Accumulate mode batch deserialization], [✓],
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[Event-driven thread trigger (`EventSem`, no `LinuxTimer`)], [✓],
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[RT-safe double buffering (`FastPollingMutexSem`)], [✓],
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[`CLASS_REGISTER("1.0")`], [✓],
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[`MemoryMapSynchronisedInputBroker`], [✓],
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[Integrated into root `Makefile.gcc` `core`/`clean`], [✓],
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)
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== Test Infrastructure
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#table(
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columns: (auto, auto),
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[*File*], [*Description*],
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[`E2ETest.cfg`], [Unicast MARTe2 config with 3 multi-size signals],
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[`E2EMulticastTest.cfg`], [Multicast MARTe2 config (`239.0.0.1:44610`)],
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[`run_e2e_report.sh`], [Builds, runs unicast+multicast, validates, plots, compiles this report],
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[`validate_binary.py`], [Row-bucket comparison + `--json` metrics export],
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[`gen_test_data.py`], [Multi-signal binary file generator],
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)
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== Build
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#block(fill: luma(235), inset: 10pt, radius: 4pt)[
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```sh
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# Built as part of the library via the repo root (Interfaces/UDPStream first,
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# since UDPStreamerClient links -lUDPStream):
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$ make -f Makefile.gcc core
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# Or the component on its own:
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$ make -C Source/Components/DataSources/UDPStreamerClient -f Makefile.gcc
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g++ -std=c++98 -Wall -Werror -Wno-invalid-offsetof \
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-fPIC -fno-strict-aliasing -frtti -pthread -g \
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-I. -I$ROOT/Common/UDP \
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-I$ROOT/Source/Components/Interfaces/UDPStream \
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UDPStreamerClient.cpp -o UDPStreamerClient.o
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g++ -shared UDPStreamerClient.o \
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-L$ROOT/Build/x86-linux/Components/Interfaces/UDPStream -lUDPStream \
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-L$MARTe2_DIR/Build/x86-linux/Core -lMARTe2 -o UDPStreamerClient.so
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```
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]
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Builds clean under `-Werror`; the DataSource reuses the hub's `UDPSClient` rather than
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duplicating any socket code.
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#pagebreak()
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// ═══════════════════════════════════════
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// 5. Next Steps
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// ═══════════════════════════════════════
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= Next Steps
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== Short-Term
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#list(
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[*Reduce poll latency*: Lower `RECV_TIMEOUT_MS` from 10 to 1 ms. Lower `ResetWait` timeout from 1000 to 100 ms.],
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[*Add GTest unit tests*: Fragment reassembly (2/5/100 fragments), dequantization accuracy, CONFIG parsing, accumulate mode.],
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)
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== Medium-Term
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#list(
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[*Benchmark throughput*: Measure with varying signal sizes (100 / 1K / 10K / 100K floats) and plot curve.],
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[*Multicast multi-client*: Verify multiple `UDPStreamerClient` instances join same group simultaneously.],
|
||
[*Remove poll sleeps entirely*: Use continuous `select()` with zero timeout + `EventSem` back-pressure.],
|
||
)
|
||
|
||
== Long-Term
|
||
|
||
#list(
|
||
[*CI integration*: Add E2E test runner with automated comparison and regression detection.],
|
||
[*Performance profiling*: Identify exact memcpy and serialization costs with `perf`.],
|
||
)
|