Add Auto publishing mode to UDPStreamer; optimise WebUI hub
UDPStreamer: - Add PublishingMode = "Strict" | "Auto" config parameter - Add MinRefreshRate (Hz) for Auto mode; uses HRT phase-locked tick counting to rate-limit sends without accumulation buffers - Fix high-frequency integration test configs to use newline-separated key-value pairs (MARTe2 StandardParser does not treat ';' as delimiter) - Add 3 new unit tests (AutoMode_Valid, AutoMode_MissingRefreshRate, UnknownPublishingMode); all 33 tests passing WebUI hub: - Skip ring-buffer LTTB writes when zoom has not been accessed in 10 s, reducing idle CPU usage - Use unsafe float64→bytes reinterpretation to eliminate per-element encoding overhead in the hot broadcast path Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
Martino Ferrari
@@ -101,20 +101,23 @@ UDPStreamer::UDPStreamer() :
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MemoryDataSourceI(),
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EmbeddedServiceMethodBinderI(),
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executor(*this) {
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port = UDPS_DEFAULT_PORT;
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maxPayloadSize = UDPS_DEFAULT_MAX_PAYLOAD;
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cpuMask = 0xFFFFFFFFu;
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stackSize = THREADS_DEFAULT_STACKSIZE;
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numSigs = 0u;
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signalInfos = NULL_PTR(UDPStreamerSignalInfo *);
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readyBuffer = NULL_PTR(uint8 *);
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scratchBuffer = NULL_PTR(uint8 *);
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wireBuffer = NULL_PTR(uint8 *);
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totalSrcBytes = 0u;
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totalWireBytes = 0u;
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syncTimestamp = 0u;
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clientConnected = false;
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packetCounter = 0u;
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port = UDPS_DEFAULT_PORT;
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maxPayloadSize = UDPS_DEFAULT_MAX_PAYLOAD;
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cpuMask = 0xFFFFFFFFu;
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stackSize = THREADS_DEFAULT_STACKSIZE;
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publishMode = UDPStreamerPublishStrict;
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minRefreshRate = 0.0;
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flushPeriodTicks = 0u;
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numSigs = 0u;
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signalInfos = NULL_PTR(UDPStreamerSignalInfo *);
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readyBuffer = NULL_PTR(uint8 *);
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scratchBuffer = NULL_PTR(uint8 *);
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wireBuffer = NULL_PTR(uint8 *);
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totalSrcBytes = 0u;
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totalWireBytes = 0u;
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syncTimestamp = 0u;
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clientConnected = false;
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packetCounter = 0u;
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if (!dataSem.Create()) {
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REPORT_ERROR(ErrorManagement::FatalError, "Could not create EventSem.");
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@@ -218,6 +221,40 @@ bool UDPStreamer::Initialise(StructuredDataI &data) {
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}
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}
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if (ok) {
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StreamString publishStr = "";
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(void) data.Read("PublishingMode", publishStr);
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if ((publishStr.Size() == 0u) || (publishStr == "Strict")) {
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publishMode = UDPStreamerPublishStrict;
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}
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else if (publishStr == "Auto") {
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publishMode = UDPStreamerPublishAuto;
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}
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else {
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REPORT_ERROR(ErrorManagement::ParametersError,
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"Unknown PublishingMode '%s'. Allowed: Strict|Auto.",
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publishStr.Buffer());
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ok = false;
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}
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}
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if (ok && (publishMode == UDPStreamerPublishAuto)) {
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if (!data.Read("MinRefreshRate", minRefreshRate) || (minRefreshRate <= 0.0)) {
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REPORT_ERROR(ErrorManagement::ParametersError,
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"MinRefreshRate > 0 is required when PublishingMode = Auto.");
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ok = false;
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}
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else {
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/* Pre-compute the HRT tick count for one flush interval */
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float64 hrtFreq = static_cast<float64>(HighResolutionTimer::Frequency());
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flushPeriodTicks = static_cast<uint64>(hrtFreq / minRefreshRate);
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REPORT_ERROR(ErrorManagement::Information,
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"Auto mode: MinRefreshRate=%.1f Hz, flushPeriodTicks=%llu.",
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minRefreshRate,
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static_cast<unsigned long long>(flushPeriodTicks));
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}
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}
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return ok;
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}
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@@ -611,10 +648,17 @@ bool UDPStreamer::Synchronise() {
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ErrorManagement::ErrorType UDPStreamer::Execute(ExecutionInfo &info) {
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ErrorManagement::ErrorType ret = ErrorManagement::NoError;
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/* nextFlushTick: HRT counter target for the next Auto-mode flush.
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* Declared static so it persists across Execute() calls (the framework
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* calls Execute() in a tight loop for the MainStage). */
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static uint64 nextFlushTick = 0u;
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if (info.GetStage() == ExecutionInfo::StartupStage) {
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nextFlushTick = HighResolutionTimer::Counter();
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REPORT_ERROR(ErrorManagement::Information,
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"UDPStreamer background thread started (port %u).",
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static_cast<uint32>(port));
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"UDPStreamer background thread started (port %u, mode %s).",
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static_cast<uint32>(port),
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(publishMode == UDPStreamerPublishAuto) ? "Auto" : "Strict");
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}
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if (info.GetStage() == ExecutionInfo::MainStage) {
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@@ -646,21 +690,44 @@ ErrorManagement::ErrorType UDPStreamer::Execute(ExecutionInfo &info) {
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}
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if (dataReady && clientConnected) {
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/* Copy readyBuffer → scratchBuffer under brief spinlock */
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uint64 ts = 0u;
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bufMutex.FastLock(TTInfiniteWait);
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(void) MemoryOperationsHelper::Copy(scratchBuffer, readyBuffer, totalSrcBytes);
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ts = syncTimestamp;
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bufMutex.FastUnLock();
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/* In Auto mode, only flush when the HRT flush interval has elapsed.
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* This reduces send syscalls and network load by (rtHz / minRefreshRate)x
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* without any changes to the RT thread or the wire protocol.
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* The most-recent signal values (captured in readyBuffer) are used. */
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bool shouldSend = true;
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if (publishMode == UDPStreamerPublishAuto) {
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uint64 now = HighResolutionTimer::Counter();
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if (now < nextFlushTick) {
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shouldSend = false;
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}
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else {
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/* Advance deadline by one full period (keeps phase-locked). */
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nextFlushTick += flushPeriodTicks;
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/* Guard against clock drift: if we're already more than one
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* period behind, reset to avoid a burst of back-to-back sends. */
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if (nextFlushTick < now) {
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nextFlushTick = now + flushPeriodTicks;
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}
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}
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}
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/* Serialize signal data into wireBuffer */
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QuantizeAndSerialize(scratchBuffer, ts);
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if (shouldSend) {
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/* Copy readyBuffer → scratchBuffer under brief spinlock */
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uint64 ts = 0u;
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bufMutex.FastLock(TTInfiniteWait);
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(void) MemoryOperationsHelper::Copy(scratchBuffer, readyBuffer, totalSrcBytes);
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ts = syncTimestamp;
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bufMutex.FastUnLock();
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/* Send (fragmented if needed) */
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packetCounter++;
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if (!SendFragmented(UDPS_TYPE_DATA, packetCounter, wireBuffer, totalWireBytes)) {
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REPORT_ERROR(ErrorManagement::Warning,
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"Failed to send DATA packet (counter=%u).", packetCounter);
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/* Serialize signal data into wireBuffer */
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QuantizeAndSerialize(scratchBuffer, ts);
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/* Send (fragmented if needed) */
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packetCounter++;
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if (!SendFragmented(UDPS_TYPE_DATA, packetCounter, wireBuffer, totalWireBytes)) {
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REPORT_ERROR(ErrorManagement::Warning,
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"Failed to send DATA packet (counter=%u).", packetCounter);
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}
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}
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}
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}
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