FIrs
This commit is contained in:
Martino Ferrari
@@ -0,0 +1,289 @@
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/**
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* Test MARTe2 application for UDPStreamer DataSource.
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*
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* Generates scalar and high-frequency packed signals and streams them via UDPStreamer.
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* Connect with the WebUI client (Client/WebUI) to visualise the signals.
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*
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* Signals produced (scalar, 10 kHz):
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* Counter – uint32 cycle counter from LinuxTimer
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* Time – uint32 time in microseconds from LinuxTimer
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* Sine1 – float32, 1 Hz sine, amplitude 10, quantised to uint16 on wire
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* Sine2 – float32, 0.3 Hz sine, amplitude 5, raw float32 on wire
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*
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* Signals produced (packed temporal arrays, 10 kHz × 1000 samples = 10 MSps):
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* Ch1 – float32[1000], 1 kHz sine, amplitude 1.0
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* Ch2 – float32[1000], 1 kHz sine, amplitude 0.5, phase π/2
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* Both channels use TimeMode=FirstSample with Time as the anchor and
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* SamplingRate=10000000 so the WebUI reconstructs the per-sample timestamps.
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*/
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$TestApp = {
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Class = RealTimeApplication
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+Functions = {
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Class = ReferenceContainer
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// ── Copy Counter + Time from LinuxTimer into the inter-GAM DDB ──────
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+TimerGAM = {
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Class = IOGAM
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InputSignals = {
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Counter = {
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DataSource = Timer
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Type = uint32
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}
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Time = {
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Frequency = 1000
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DataSource = Timer
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Type = uint32
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}
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}
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OutputSignals = {
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Counter = {
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DataSource = DDB
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Type = uint32
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}
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Time = {
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DataSource = DDB
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Type = uint32
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}
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}
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}
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// ── 1 Hz sinusoidal signal ───────────────────────────────────────────
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+SineGAM1 = {
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Class = WaveformSin
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Amplitude = 10.0
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Frequency = 1.0
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Phase = 0.0
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Offset = 0.0
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InputSignals = {
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Time = {
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DataSource = DDB
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Type = uint32
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}
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}
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OutputSignals = {
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Sine1 = {
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DataSource = DDB
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Type = float32
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}
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}
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}
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// ── 0.3 Hz sinusoidal signal (phase-shifted) ─────────────────────────
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+SineGAM2 = {
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Class = WaveformSin
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Amplitude = 5.0
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Frequency = 0.3
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Phase = 1.0472
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Offset = 0.0
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InputSignals = {
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Time = {
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DataSource = DDB
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Type = uint32
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}
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}
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OutputSignals = {
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Sine2 = {
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DataSource = DDB
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Type = float32
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}
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}
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}
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// ── 1 kHz sine burst – channel 1 (1000 samples/packet at 10 MSps) ──────
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+SineGAM3 = {
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Class = SineArrayGAM
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Frequency = 1000.0
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Amplitude = 1.0
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Phase = 0.0
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Offset = 0.0
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SamplingRate = 1000000.0
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OutputSignals = {
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Ch1 = {
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DataSource = DDB
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Type = float32
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NumberOfDimensions = 1
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NumberOfElements = 1000
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}
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}
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}
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// ── 1 kHz sine burst – channel 2 (phase-shifted by π/2) ──────────────
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+SineGAM4 = {
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Class = SineArrayGAM
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Frequency = 1000.0
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Amplitude = 0.5
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Phase = 1.5708
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Offset = 0.0
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SamplingRate = 1000000.0
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OutputSignals = {
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Ch2 = {
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DataSource = DDB
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Type = float32
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NumberOfDimensions = 1
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NumberOfElements = 1000
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}
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}
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}
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// ── Route signals into UDPStreamer ────────────────────────────────────
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+StreamerGAM = {
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Class = IOGAM
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InputSignals = {
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Counter = {
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DataSource = DDB
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Type = uint32
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}
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Time = {
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DataSource = DDB
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Type = uint32
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}
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Sine1 = {
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DataSource = DDB
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Type = float32
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}
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Sine2 = {
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DataSource = DDB
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Type = float32
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}
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Ch1 = {
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DataSource = DDB
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Type = float32
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NumberOfDimensions = 1
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NumberOfElements = 1000
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}
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Ch2 = {
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DataSource = DDB
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Type = float32
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NumberOfDimensions = 1
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NumberOfElements = 1000
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}
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}
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OutputSignals = {
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Counter = {
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DataSource = Streamer
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Type = uint32
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}
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Time = {
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DataSource = Streamer
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Type = uint32
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}
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Sine1 = {
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DataSource = Streamer
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Type = float32
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}
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Sine2 = {
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DataSource = Streamer
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Type = float32
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}
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Ch1 = {
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DataSource = Streamer
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Type = float32
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NumberOfDimensions = 1
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NumberOfElements = 1000
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}
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Ch2 = {
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DataSource = Streamer
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Type = float32
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NumberOfDimensions = 1
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NumberOfElements = 1000
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}
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}
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}
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}
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+Data = {
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Class = ReferenceContainer
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DefaultDataSource = DDB
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// ── Inter-GAM data buffer ────────────────────────────────────────────
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+DDB = {
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Class = GAMDataSource
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}
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// ── Real-time clock / trigger source ─────────────────────────────────
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+Timer = {
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Class = LinuxTimer
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SleepNature = "Default"
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Signals = {
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Counter = {
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Type = uint32
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}
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Time = {
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Type = uint32
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}
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}
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}
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// ── UDP Streamer DataSource ──────────────────────────────────────────
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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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Signals = {
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Counter = {
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Type = uint32
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}
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Time = {
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Type = uint32
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Unit = "us"
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}
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Sine1 = {
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Type = float32
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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 = "uint16"
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}
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Sine2 = {
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Type = float32
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Unit = "V"
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RangeMin = -5.0
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RangeMax = 5.0
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}
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Ch1 = {
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Type = float32
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Unit = "V"
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NumberOfDimensions = 1
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NumberOfElements = 1000
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TimeMode = FirstSample
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TimeSignal = Time
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SamplingRate = 1000000.0
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}
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Ch2 = {
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Type = float32
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Unit = "V"
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NumberOfDimensions = 1
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NumberOfElements = 1000
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TimeMode = FirstSample
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TimeSignal = Time
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SamplingRate = 1000000.0
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}
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}
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}
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// ── Timing statistics ────────────────────────────────────────────────
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+Timings = {
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Class = TimingDataSource
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}
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}
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+States = {
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Class = ReferenceContainer
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+Running = {
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Class = RealTimeState
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+Threads = {
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Class = ReferenceContainer
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+Thread1 = {
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Class = RealTimeThread
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CPUs = 0x1
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Functions = {TimerGAM SineGAM1 SineGAM2 SineGAM3 SineGAM4 StreamerGAM}
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}
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}
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}
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}
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+Scheduler = {
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Class = GAMScheduler
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TimingDataSource = Timings
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}
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}
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Executable
+138
@@ -0,0 +1,138 @@
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#!/usr/bin/env bash
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# run.sh – Build UDPStreamer and launch the test MARTe2 application.
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#
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# Usage:
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# ./run.sh # run MARTe2 app only
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# ./run.sh --webui # also start the WebUI Go client in the background
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# ./run.sh --help # show this message
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#
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# Prerequisites:
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# - marte_env.sh must be present in the repo root (sets MARTe2_DIR, etc.)
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# - MARTe2 and MARTe2-components must already be built
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#
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# The script resolves all paths relative to the repo root so it can be
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# called from any working directory.
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set -e
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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REPO_ROOT="$(cd "${SCRIPT_DIR}/../.." && pwd)"
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# ── Parse arguments ──────────────────────────────────────────────────────────
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START_WEBUI=0
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for arg in "$@"; do
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case "$arg" in
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--webui) START_WEBUI=1 ;;
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--help|-h)
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sed -n '2,12p' "$0"
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exit 0
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;;
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esac
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done
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# ── Load MARTe2 environment ──────────────────────────────────────────────────
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ENV_SCRIPT="${REPO_ROOT}/marte_env.sh"
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if [ ! -f "${ENV_SCRIPT}" ]; then
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echo "ERROR: ${ENV_SCRIPT} not found." >&2
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exit 1
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fi
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# shellcheck source=/dev/null
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source "${ENV_SCRIPT}"
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if [ -z "${MARTe2_DIR}" ]; then
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echo "ERROR: MARTe2_DIR is not set after sourcing marte_env.sh." >&2
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exit 1
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fi
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# ── Build UDPStreamer ─────────────────────────────────────────────────────────
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TARGET=x86-linux
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UDPSTREAMER_SRC="${REPO_ROOT}/Source/Components/DataSources/UDPStreamer"
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UDPSTREAMER_LIB="${REPO_ROOT}/Build/${TARGET}/Components/DataSources/UDPStreamer"
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echo "==> Building UDPStreamer (TARGET=${TARGET})..."
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make -C "${UDPSTREAMER_SRC}" \
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-f Makefile.gcc \
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TARGET="${TARGET}" \
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2>&1 | tail -5
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echo "==> Build done."
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# ── Build WebUI binary (if requested and not already built) ──────────────────
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WEBUI_DIR="${REPO_ROOT}/Client/WebUI"
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WEBUI_BIN="${WEBUI_DIR}/udpstreamer-webui"
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if [ "${START_WEBUI}" -eq 1 ] && [ ! -x "${WEBUI_BIN}" ]; then
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echo "==> Building WebUI..."
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(cd "${WEBUI_DIR}" && go build -o udpstreamer-webui ./...)
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echo "==> WebUI build done."
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fi
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# ── Set LD_LIBRARY_PATH ───────────────────────────────────────────────────────
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COMP="${MARTe2_Components_DIR}/Build/${TARGET}/Components"
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export LD_LIBRARY_PATH="\
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${UDPSTREAMER_LIB}:\
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${MARTe2_DIR}/Build/${TARGET}/Core:\
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${COMP}/DataSources/LinuxTimer:\
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${COMP}/DataSources/LoggerDataSource:\
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${COMP}/GAMs/IOGAM:\
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${COMP}/GAMs/WaveformGAM:\
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${LD_LIBRARY_PATH}"
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echo "==> LD_LIBRARY_PATH=${LD_LIBRARY_PATH}"
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# ── Create class-name symlinks for MARTe2 auto-loader ────────────────────────
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# MARTe2 looks for <ClassName>.so when a class is not yet registered.
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# Some components bundle multiple classes into one .so (e.g. WaveformGAM.so
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# contains WaveformSin, WaveformChirp, WaveformPointsDef). We need symlinks
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# so dlopen("<ClassName>.so") succeeds.
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WAVEFORM_DIR="${COMP}/GAMs/WaveformGAM"
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for cls in WaveformSin WaveformChirp WaveformPointsDef; do
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target="${WAVEFORM_DIR}/${cls}.so"
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if [ ! -e "${target}" ]; then
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ln -sf "${WAVEFORM_DIR}/WaveformGAM.so" "${target}"
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fi
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done
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# SineArrayGAM is bundled inside UDPStreamer.so; create a symlink so MARTe2
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# can dlopen("SineArrayGAM.so") before UDPStreamer has been registered.
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SINE_LINK="${UDPSTREAMER_LIB}/SineArrayGAM.so"
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if [ ! -e "${SINE_LINK}" ]; then
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ln -sf "${UDPSTREAMER_LIB}/UDPStreamer.so" "${SINE_LINK}"
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fi
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# ── Optionally start WebUI ────────────────────────────────────────────────────
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if [ "${START_WEBUI}" -eq 1 ]; then
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echo "==> Starting WebUI on http://localhost:8080 (streamer at 127.0.0.1:44500)..."
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"${WEBUI_BIN}" \
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--streamer 127.0.0.1:44500 \
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--listen :8080 \
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--clientport 44900 &
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WEBUI_PID=$!
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echo "==> WebUI PID ${WEBUI_PID}"
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fi
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# ── Launch MARTe2 application ─────────────────────────────────────────────────
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MARTE_APP="${MARTe2_DIR}/Build/${TARGET}/App/MARTeApp.ex"
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CFG="${SCRIPT_DIR}/TestApp.cfg"
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if [ ! -x "${MARTE_APP}" ]; then
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echo "ERROR: MARTeApp.ex not found at ${MARTE_APP}" >&2
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exit 1
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fi
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echo "==> Starting MARTe2 application (state=Running, 100 Hz)..."
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echo "==> Press Ctrl+C to stop."
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echo ""
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cleanup() {
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echo ""
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echo "==> Stopping..."
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if [ "${START_WEBUI}" -eq 1 ] && kill -0 "${WEBUI_PID}" 2>/dev/null; then
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kill "${WEBUI_PID}"
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fi
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}
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trap cleanup EXIT INT TERM
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"${MARTE_APP}" \
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-l RealTimeLoader \
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-f "${CFG}" \
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-s Running
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Reference in New Issue
Block a user