martino/MARTe-Integrated-Components
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
Files
7c5eb31a52ac4b34c7edce54067f109d97201fb4
MARTe-Integrated-Components/Common/Client/c/example/udps_dump.c
T
Martino FerrariandClaude Opus 4.6 7c5eb31a52 feat: standalone C/C++ UDPS client library 
Consuming a UDPStreamer feed so far meant either linking MARTe2 (UDPSClient)
or writing Go (Common/Client/go/udpsprotocol). Common/Client/c fills the gap
for plain C/C++ integrators: two files depending on nothing but libc and BSD
sockets, covering the whole receive path — CONNECT, fragment reassembly,
CONFIG/DATA decoding with dequantisation, keepalives and silence-triggered
reconnect. No threads are spawned; udps_client_poll() does all the work and
runs every callback, so it drops into an existing event loop unsynchronised.

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

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
2026-08-22 16:51:40 +02:00

261 lines
8.4 KiB
C
Raw Blame History

/**
* @file udps_dump.c
* @brief Example UDPS client: connects to a UDPStreamer and prints what arrives.
*
* Build with the Makefile in the parent directory, then for a unicast stream:
*
* ./udps_dump --host 127.0.0.1 --port 44500
*
* or, for a multicast one:
*
* ./udps_dump --host 127.0.0.1 --port 44500 \
* --multicast 239.0.0.1 --iface 127.0.0.1
*
* Ctrl-C prints a summary of what was received.
*/
#define _POSIX_C_SOURCE 200809L
#include "udps_client.h"
#include <signal.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <time.h>
static volatile sig_atomic_t g_stop = 0;
static void on_sigint(int sig) {
(void)sig;
g_stop = 1;
}
typedef struct {
double print_interval; /**< Seconds between frame printouts. */
double last_print;
uint64_t frames;
uint64_t max_frames;
} dump_state_t;
static double now_wall(void) {
struct timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
return (double)ts.tv_sec + (double)ts.tv_nsec * 1e-9;
}
static const char *time_mode_name(uint8_t m) {
switch (m) {
case UDPS_TIME_PACKET: return "packet";
case UDPS_TIME_FULL_ARRAY: return "full-array";
case UDPS_TIME_FIRST_SAMPLE: return "first-sample";
case UDPS_TIME_LAST_SAMPLE: return "last-sample";
default: return "?";
}
}
static const char *publish_mode_name(uint8_t m) {
switch (m) {
case UDPS_PUBLISH_STRICT: return "strict";
case UDPS_PUBLISH_ACCUMULATE: return "accumulate";
case UDPS_PUBLISH_DECIMATE: return "decimate";
default: return "?";
}
}
static void on_config(const udps_signal_t *sigs, uint32_t n, uint8_t mode,
void *user) {
uint32_t i;
(void)user;
printf("\nCONFIG: %u signal(s), publish mode %s\n", (unsigned)n,
publish_mode_name(mode));
printf(" %-3s %-24s %-8s %-10s %-8s %-10s %s\n", "#", "name", "type",
"shape", "unit", "rate[Hz]", "time-mode");
for (i = 0u; i < n; i++) {
char shape[32];
const udps_signal_t *s = &sigs[i];
if (s->num_cols > 1u) {
snprintf(shape, sizeof shape, "%ux%u", (unsigned)s->num_rows,
(unsigned)s->num_cols);
} else {
snprintf(shape, sizeof shape, "%u",
(unsigned)udps_signal_num_elements(s));
}
printf(" %-3u %-24s %-8s %-10s %-8s %-10.6g %s%s\n", (unsigned)i,
s->name, udps_type_name(s->type_code), shape,
(s->unit[0] != '\0') ? s->unit : "-", s->sampling_rate,
time_mode_name(s->time_mode),
(s->quant_type != UDPS_QUANT_NONE) ? " (quantised)" : "");
}
fflush(stdout);
}
static void on_data(const udps_frame_t *f, void *user) {
dump_state_t *st = (dump_state_t *)user;
uint32_t i;
double now;
st->frames++;
now = now_wall();
if ((now - st->last_print) < st->print_interval) {
return; /* Streams run far faster than a terminal can be read. */
}
st->last_print = now;
printf("\nframe #%lu t=%.6f samples=%u (%lu frames so far)\n",
(unsigned long)f->counter, f->recv_time, (unsigned)f->num_samples,
(unsigned long)st->frames);
for (i = 0u; i < f->num_signals; i++) {
const double *v = f->values[i].values;
uint32_t cnt = f->values[i].count;
double lo, hi;
uint32_t k;
if (cnt == 0u) {
continue;
}
lo = hi = v[0];
for (k = 1u; k < cnt; k++) {
if (v[k] < lo) {
lo = v[k];
}
if (v[k] > hi) {
hi = v[k];
}
}
printf(" %-24s n=%-6u first=%-12.6g last=%-12.6g min=%-12.6g max=%-12.6g %s\n",
f->signals[i].name, (unsigned)cnt, v[0], v[cnt - 1u], lo, hi,
f->signals[i].unit);
}
fflush(stdout);
}
static void on_event(udps_event_t ev, const char *detail, void *user) {
(void)user;
switch (ev) {
case UDPS_EVENT_CONNECTED:
printf("[connected to %s]\n", detail ? detail : "");
break;
case UDPS_EVENT_DISCONNECTED:
printf("[disconnected: %s]\n", detail ? detail : "");
break;
case UDPS_EVENT_ERROR:
fprintf(stderr, "[error] %s\n", detail ? detail : "");
break;
default:
break;
}
fflush(stdout);
}
static void usage(const char *argv0) {
printf("Usage: %s --host ADDR --port N [options]\n"
"\n"
" --host ADDR server address (default 127.0.0.1)\n"
" --port N server UDP port, or TCP control port in multicast\n"
" mode (default 44500)\n"
" --multicast GROUP join GROUP for data instead of unicast\n"
" --iface ADDR local interface address for the multicast join\n"
" --data-port N multicast data port (default: --port + 1)\n"
" --silence SEC reconnect after SEC without data (default 1, 0 off)\n"
" --interval SEC seconds between printouts (default 1)\n"
" --frames N exit after N frames (default: run until Ctrl-C)\n"
" --help this text\n",
argv0);
}
int main(int argc, char **argv) {
udps_client_config_t cfg;
udps_client_t *cli;
dump_state_t st;
udps_stats_t stats;
struct sigaction sa;
const char *host = "127.0.0.1";
int i;
udps_client_config_init(&cfg);
cfg.server_port = 44500u;
memset(&st, 0, sizeof st);
st.print_interval = 1.0;
for (i = 1; i < argc; i++) {
const char *a = argv[i];
const char *next = (i + 1 < argc) ? argv[i + 1] : NULL;
if (strcmp(a, "--help") == 0) {
usage(argv[0]);
return 0;
}
if (next == NULL) {
fprintf(stderr, "missing value for %s\n", a);
return 2;
}
if (strcmp(a, "--host") == 0) {
host = next;
} else if (strcmp(a, "--port") == 0) {
cfg.server_port = (uint16_t)atoi(next);
} else if (strcmp(a, "--multicast") == 0) {
cfg.multicast_group = next;
} else if (strcmp(a, "--iface") == 0) {
cfg.interface_addr = next;
} else if (strcmp(a, "--data-port") == 0) {
cfg.data_port = (uint16_t)atoi(next);
} else if (strcmp(a, "--silence") == 0) {
cfg.silence_timeout_s = atof(next);
} else if (strcmp(a, "--interval") == 0) {
st.print_interval = atof(next);
} else if (strcmp(a, "--frames") == 0) {
st.max_frames = (uint64_t)strtoull(next, NULL, 10);
} else {
fprintf(stderr, "unknown option %s\n", a);
usage(argv[0]);
return 2;
}
i++;
}
cfg.server_addr = host;
cli = udps_client_create(&cfg);
if (cli == NULL) {
fprintf(stderr, "could not create client for %s:%u\n", host,
(unsigned)cfg.server_port);
return 1;
}
udps_client_set_callbacks(cli, on_config, on_data, on_event, &st);
memset(&sa, 0, sizeof sa);
sa.sa_handler = on_sigint;
(void)sigaction(SIGINT, &sa, NULL);
(void)sigaction(SIGTERM, &sa, NULL);
printf("listening to %s:%u%s%s ... (Ctrl-C to stop)\n", host,
(unsigned)cfg.server_port,
cfg.multicast_group ? " via multicast " : "",
cfg.multicast_group ? cfg.multicast_group : "");
while (!g_stop && (st.max_frames == 0u || st.frames < st.max_frames)) {
/* All the work — connecting, receiving, decoding, reconnecting — and
* every callback happens inside this call. */
(void)udps_client_poll(cli, 200);
}
udps_client_stats(cli, &stats);
printf("\n--- summary ---\n"
"packets %lu\n"
"bytes %.1f MiB\n"
"frames %lu\n"
"configs %lu\n"
"gaps %lu (datagrams lost)\n"
"dropped %lu (fragments)\n"
"reconnects %lu\n",
(unsigned long)stats.packets_received,
(double)stats.bytes_received / (1024.0 * 1024.0),
(unsigned long)stats.frames_delivered,
(unsigned long)stats.config_updates,
(unsigned long)stats.counter_gaps,
(unsigned long)stats.fragments_dropped,
(unsigned long)stats.reconnects);
udps_client_destroy(cli);
return 0;
}
Reference in New Issue View Git Blame Copy Permalink