FIrs

2026-05-15 17:42:14 +02:00
commit e3389f932b
40 changed files with 7622 additions and 0 deletions
@@ -0,0 +1,138 @@
+#!/usr/bin/env bash
+# run.sh – Build UDPStreamer and launch the test MARTe2 application.
+#
+# Usage:
+#   ./run.sh              # run MARTe2 app only
+#   ./run.sh --webui      # also start the WebUI Go client in the background
+#   ./run.sh --help       # show this message
+#
+# Prerequisites:
+#   - marte_env.sh must be present in the repo root (sets MARTe2_DIR, etc.)
+#   - MARTe2 and MARTe2-components must already be built
+#
+# The script resolves all paths relative to the repo root so it can be
+# called from any working directory.
+
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+REPO_ROOT="$(cd "${SCRIPT_DIR}/../.." && pwd)"
+
+# ── Parse arguments ──────────────────────────────────────────────────────────
+START_WEBUI=0
+for arg in "$@"; do
+    case "$arg" in
+        --webui) START_WEBUI=1 ;;
+        --help|-h)
+            sed -n '2,12p' "$0"
+            exit 0
+            ;;
+    esac
+done
+
+# ── Load MARTe2 environment ──────────────────────────────────────────────────
+ENV_SCRIPT="${REPO_ROOT}/marte_env.sh"
+if [ ! -f "${ENV_SCRIPT}" ]; then
+    echo "ERROR: ${ENV_SCRIPT} not found." >&2
+    exit 1
+fi
+# shellcheck source=/dev/null
+source "${ENV_SCRIPT}"
+
+if [ -z "${MARTe2_DIR}" ]; then
+    echo "ERROR: MARTe2_DIR is not set after sourcing marte_env.sh." >&2
+    exit 1
+fi
+
+# ── Build UDPStreamer ─────────────────────────────────────────────────────────
+TARGET=x86-linux
+UDPSTREAMER_SRC="${REPO_ROOT}/Source/Components/DataSources/UDPStreamer"
+UDPSTREAMER_LIB="${REPO_ROOT}/Build/${TARGET}/Components/DataSources/UDPStreamer"
+
+echo "==> Building UDPStreamer (TARGET=${TARGET})..."
+make -C "${UDPSTREAMER_SRC}" \
+     -f Makefile.gcc \
+     TARGET="${TARGET}" \
+     2>&1 | tail -5
+echo "==> Build done."
+
+# ── Build WebUI binary (if requested and not already built) ──────────────────
+WEBUI_DIR="${REPO_ROOT}/Client/WebUI"
+WEBUI_BIN="${WEBUI_DIR}/udpstreamer-webui"
+if [ "${START_WEBUI}" -eq 1 ] && [ ! -x "${WEBUI_BIN}" ]; then
+    echo "==> Building WebUI..."
+    (cd "${WEBUI_DIR}" && go build -o udpstreamer-webui ./...)
+    echo "==> WebUI build done."
+fi
+
+# ── Set LD_LIBRARY_PATH ───────────────────────────────────────────────────────
+COMP="${MARTe2_Components_DIR}/Build/${TARGET}/Components"
+
+export LD_LIBRARY_PATH="\
+${UDPSTREAMER_LIB}:\
+${MARTe2_DIR}/Build/${TARGET}/Core:\
+${COMP}/DataSources/LinuxTimer:\
+${COMP}/DataSources/LoggerDataSource:\
+${COMP}/GAMs/IOGAM:\
+${COMP}/GAMs/WaveformGAM:\
+${LD_LIBRARY_PATH}"
+
+echo "==> LD_LIBRARY_PATH=${LD_LIBRARY_PATH}"
+
+# ── Create class-name symlinks for MARTe2 auto-loader ────────────────────────
+# MARTe2 looks for <ClassName>.so when a class is not yet registered.
+# Some components bundle multiple classes into one .so (e.g. WaveformGAM.so
+# contains WaveformSin, WaveformChirp, WaveformPointsDef).  We need symlinks
+# so dlopen("<ClassName>.so") succeeds.
+WAVEFORM_DIR="${COMP}/GAMs/WaveformGAM"
+for cls in WaveformSin WaveformChirp WaveformPointsDef; do
+    target="${WAVEFORM_DIR}/${cls}.so"
+    if [ ! -e "${target}" ]; then
+        ln -sf "${WAVEFORM_DIR}/WaveformGAM.so" "${target}"
+    fi
+done
+
+# SineArrayGAM is bundled inside UDPStreamer.so; create a symlink so MARTe2
+# can dlopen("SineArrayGAM.so") before UDPStreamer has been registered.
+SINE_LINK="${UDPSTREAMER_LIB}/SineArrayGAM.so"
+if [ ! -e "${SINE_LINK}" ]; then
+    ln -sf "${UDPSTREAMER_LIB}/UDPStreamer.so" "${SINE_LINK}"
+fi
+
+# ── Optionally start WebUI ────────────────────────────────────────────────────
+if [ "${START_WEBUI}" -eq 1 ]; then
+    echo "==> Starting WebUI on http://localhost:8080 (streamer at 127.0.0.1:44500)..."
+    "${WEBUI_BIN}" \
+        --streamer 127.0.0.1:44500 \
+        --listen :8080 \
+        --clientport 44900 &
+    WEBUI_PID=$!
+    echo "==> WebUI PID ${WEBUI_PID}"
+fi
+
+# ── Launch MARTe2 application ─────────────────────────────────────────────────
+MARTE_APP="${MARTe2_DIR}/Build/${TARGET}/App/MARTeApp.ex"
+CFG="${SCRIPT_DIR}/TestApp.cfg"
+
+if [ ! -x "${MARTE_APP}" ]; then
+    echo "ERROR: MARTeApp.ex not found at ${MARTE_APP}" >&2
+    exit 1
+fi
+
+echo "==> Starting MARTe2 application (state=Running, 100 Hz)..."
+echo "==> Press Ctrl+C to stop."
+echo ""
+
+cleanup() {
+    echo ""
+    echo "==> Stopping..."
+    if [ "${START_WEBUI}" -eq 1 ] && kill -0 "${WEBUI_PID}" 2>/dev/null; then
+        kill "${WEBUI_PID}"
+    fi
+}
+trap cleanup EXIT INT TERM
+
+"${MARTE_APP}" \
+    -l RealTimeLoader \
+    -f "${CFG}" \
+    -s Running