Improved uo and added timerarraygam for testing

2026-05-20 00:15:38 +02:00
parent 620542a722
commit 62545503c4
13 changed files with 960 additions and 58 deletions
@@ -0,0 +1 @@
+include Makefile.inc
@@ -0,0 +1,28 @@
+OBJSX = TimeArrayGAM.x
+
+PACKAGE=Components/GAMs
+ROOT_DIR=../../../../
+MAKEDEFAULTDIR=$(MARTe2_DIR)/MakeDefaults
+
+include $(MAKEDEFAULTDIR)/MakeStdLibDefs.$(TARGET)
+
+INCLUDES += -I.
+INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L0Types
+INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L1Portability
+INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L2Objects
+INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L3Streams
+INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L4Messages
+INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L4Configuration
+INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L5GAMs
+INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L1Portability
+INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L3Services
+INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L4Messages
+
+all: $(OBJS) \
+    $(BUILD_DIR)/TimeArrayGAM$(LIBEXT) \
+    $(BUILD_DIR)/TimeArrayGAM$(DLLEXT)
+	echo $(OBJS)
+
+-include depends.$(TARGET)
+
+include $(MAKEDEFAULTDIR)/MakeStdLibRules.$(TARGET)
@@ -0,0 +1,108 @@
+/**
+ * @file TimeArrayGAM.cpp
+ * @brief Source file for class TimeArrayGAM
+ * @date 19/05/2026
+ * @author Martino Ferrari
+ */
+
+#define DLL_API
+
+#include "AdvancedErrorManagement.h"
+#include "TimeArrayGAM.h"
+
+namespace MARTe {
+
+TimeArrayGAM::TimeArrayGAM() :
+        GAM(),
+        samplingRate(1000000.0),
+        anchorIsFirst(true),
+        nElements(0u),
+        inputTime(NULL_PTR(uint32 *)),
+        outputBuf(NULL_PTR(uint64 *)) {
+}
+
+TimeArrayGAM::~TimeArrayGAM() {
+}
+
+bool TimeArrayGAM::Initialise(StructuredDataI &data) {
+    bool ok = GAM::Initialise(data);
+    if (ok) {
+        if (!data.Read("SamplingRate", samplingRate) || samplingRate <= 0.0) {
+            REPORT_ERROR(ErrorManagement::InitialisationError,
+                         "TimeArrayGAM: SamplingRate > 0 is required.");
+            ok = false;
+        }
+    }
+    if (ok) {
+        StreamString anchor;
+        (void) data.Read("Anchor", anchor);
+        if (anchor.Size() == 0u || anchor == "FirstSample") {
+            anchorIsFirst = true;   /* default */
+        }
+        else if (anchor == "LastSample") {
+            anchorIsFirst = false;
+        }
+        else {
+            REPORT_ERROR(ErrorManagement::InitialisationError,
+                         "TimeArrayGAM: Anchor must be 'FirstSample' or 'LastSample'.");
+            ok = false;
+        }
+    }
+    return ok;
+}
+
+bool TimeArrayGAM::Setup() {
+    bool ok = (GetNumberOfInputSignals() == 1u) && (GetNumberOfOutputSignals() == 1u);
+    if (!ok) {
+        REPORT_ERROR(ErrorManagement::InitialisationError,
+                     "TimeArrayGAM: exactly one input and one output signal are required.");
+        return false;
+    }
+
+    inputTime = reinterpret_cast<uint32 *>(GetInputSignalMemory(0u));
+    outputBuf = reinterpret_cast<uint64 *>(GetOutputSignalMemory(0u));
+    ok = (inputTime != NULL_PTR(uint32 *)) && (outputBuf != NULL_PTR(uint64 *));
+    if (!ok) {
+        REPORT_ERROR(ErrorManagement::InitialisationError,
+                     "TimeArrayGAM: failed to resolve signal memory.");
+        return false;
+    }
+
+    uint32 sz = 0u;
+    ok = GetSignalByteSize(OutputSignals, 0u, sz);
+    if (ok) {
+        nElements = sz / static_cast<uint32>(sizeof(uint32));
+        ok = (nElements > 0u);
+    }
+    if (!ok) {
+        REPORT_ERROR(ErrorManagement::InitialisationError,
+                     "TimeArrayGAM: output signal must be a non-empty uint32 array.");
+    }
+    return ok;
+}
+
+bool TimeArrayGAM::Execute() {
+    /* Period in nanoseconds — uint64 preserves sub-microsecond resolution
+     * even at sampling rates > 1 MHz where the µs period would be < 1. */
+    uint64 periodNs  = static_cast<uint64>(1000000000.0 / samplingRate + 0.5);
+    /* Input is uint32 microseconds (LinuxTimer); convert to nanoseconds. */
+    uint64 anchorNs  = static_cast<uint64>(*inputTime) * 1000u;
+
+    if (anchorIsFirst) {
+        /* out[k] = anchorNs + k * periodNs */
+        for (uint32 k = 0u; k < nElements; k++) {
+            outputBuf[k] = anchorNs + static_cast<uint64>(k) * periodNs;
+        }
+    }
+    else {
+        /* out[k] = anchorNs - (N-1-k) * periodNs */
+        for (uint32 k = 0u; k < nElements; k++) {
+            outputBuf[k] = anchorNs - static_cast<uint64>(nElements - 1u - k) * periodNs;
+        }
+    }
+    return true;
+}
+
+CLASS_REGISTER(TimeArrayGAM, "1.0")
+
+} /* namespace MARTe */
@@ -0,0 +1,64 @@
+/**
+ * @file TimeArrayGAM.h
+ * @brief GAM that expands a scalar timer value into a per-sample uint32 time array.
+ * @date 19/05/2026
+ * @author Martino Ferrari
+ *
+ * @details Each Execute() call reads one uint32 scalar input (time in microseconds,
+ * e.g. from LinuxTimer) and fills a uint32[N] output array where element[k] holds
+ * the reconstructed timestamp of sample k:
+ *
+ *   Anchor = FirstSample:  out[k] = input + k * period_us
+ *   Anchor = LastSample:   out[k] = input - (N-1-k) * period_us
+ *
+ * The resulting time array is suitable as the TimeSignal for a UDPStreamer signal
+ * configured with TimeMode = FullArray, providing exact per-sample timestamps.
+ *
+ * Configuration:
+ * <pre>
+ * +TimeArrayGAM1 = {
+ *     Class         = TimeArrayGAM
+ *     SamplingRate  = 1000000.0    // Sample rate in Hz (must match data signal)
+ *     Anchor        = FirstSample  // FirstSample (default) or LastSample
+ *     InputSignals = {
+ *         Time = { DataSource = DDB; Type = uint32 }
+ *     }
+ *     OutputSignals = {
+ *         TimeArray = { DataSource = DDB; Type = uint32; NumberOfElements = 1000 }
+ *     }
+ * }
+ * </pre>
+ *
+ * Exactly one uint32 input signal and one uint32 output array are required.
+ */
+
+#ifndef TIMEARRAYGAM_H_
+#define TIMEARRAYGAM_H_
+
+#include "CompilerTypes.h"
+#include "GAM.h"
+
+namespace MARTe {
+
+class TimeArrayGAM : public GAM {
+public:
+    CLASS_REGISTER_DECLARATION()
+
+    TimeArrayGAM();
+    virtual ~TimeArrayGAM();
+
+    virtual bool Initialise(StructuredDataI &data);
+    virtual bool Setup();
+    virtual bool Execute();
+
+private:
+    float64  samplingRate;   /**< Sample rate [Hz] */
+    bool     anchorIsFirst;  /**< true = FirstSample anchor, false = LastSample */
+    uint32   nElements;      /**< Number of output elements */
+    uint32  *inputTime;      /**< Pointer to scalar input (microseconds, uint32 from LinuxTimer) */
+    uint64  *outputBuf;      /**< Pointer to output array (nanoseconds, uint64) */
+};
+
+} /* namespace MARTe */
+
+#endif /* TIMEARRAYGAM_H_ */