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
@@ -61,6 +61,21 @@ TEST(UDPStreamerGTest, TestInitialise_ZeroStackSize) {
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ASSERT_TRUE(test.TestInitialise_ZeroStackSize());
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}
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TEST(UDPStreamerGTest, TestInitialise_AutoMode_Valid) {
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UDPStreamerTest test;
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ASSERT_TRUE(test.TestInitialise_AutoMode_Valid());
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}
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TEST(UDPStreamerGTest, TestInitialise_AutoMode_MissingRefreshRate) {
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UDPStreamerTest test;
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ASSERT_TRUE(test.TestInitialise_AutoMode_MissingRefreshRate());
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}
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TEST(UDPStreamerGTest, TestInitialise_UnknownPublishingMode) {
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UDPStreamerTest test;
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ASSERT_TRUE(test.TestInitialise_UnknownPublishingMode());
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}
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TEST(UDPStreamerGTest, TestGetBrokerName_Output) {
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UDPStreamerTest test;
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ASSERT_TRUE(test.TestGetBrokerName_Output());
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@@ -230,6 +230,41 @@ bool UDPStreamerTest::TestInitialise_ZeroStackSize() {
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return ok;
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}
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bool UDPStreamerTest::TestInitialise_AutoMode_Valid() {
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using namespace MARTe;
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UDPStreamer ds;
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ConfigurationDatabase cdb;
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cdb.Write("Port", 44502u);
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cdb.Write("PublishingMode", "Auto");
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cdb.Write("MinRefreshRate", 120.0);
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cdb.CreateRelative("Signals");
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cdb.MoveToRoot();
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return ds.Initialise(cdb);
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}
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bool UDPStreamerTest::TestInitialise_AutoMode_MissingRefreshRate() {
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using namespace MARTe;
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UDPStreamer ds;
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ConfigurationDatabase cdb;
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cdb.Write("Port", 44503u);
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cdb.Write("PublishingMode", "Auto");
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/* MinRefreshRate intentionally omitted */
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cdb.CreateRelative("Signals");
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cdb.MoveToRoot();
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return !ds.Initialise(cdb); /* Must fail */
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}
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bool UDPStreamerTest::TestInitialise_UnknownPublishingMode() {
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using namespace MARTe;
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UDPStreamer ds;
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ConfigurationDatabase cdb;
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cdb.Write("Port", 44504u);
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cdb.Write("PublishingMode", "Invalid");
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cdb.CreateRelative("Signals");
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cdb.MoveToRoot();
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return !ds.Initialise(cdb); /* Must fail */
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}
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bool UDPStreamerTest::TestGetBrokerName_Output() {
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using namespace MARTe;
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UDPStreamer ds;
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@@ -1157,36 +1192,88 @@ bool UDPStreamerTest::TestIsClientConnected_InitiallyFalse() {
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* Fragment count at MaxPayloadSize=1400:
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* chunk = 1400 - 17 = 1383 B → ceil(8016 / 1383) = 6 fragments
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*/
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/* MARTe2 StandardParser uses whitespace/newlines as delimiters.
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* Semicolons are NOT statement separators — they are consumed as part of
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* token values. All inline { key = val; key = val } blocks below have been
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* rewritten to use one key-value pair per line. */
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#define HF_FUNCTIONS_BLOCK \
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" +Functions = {\n" \
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" Class = ReferenceContainer\n" \
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" +Writer = {\n" \
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" Class = UDPStreamerTestOutputGAM\n" \
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" OutputSignals = {\n" \
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" T0 = { DataSource = Streamer; Type = uint64 }\n" \
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" Ch1 = { DataSource = Streamer; Type = int16; NumberOfElements = 1000 }\n" \
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" Ch2 = { DataSource = Streamer; Type = int16; NumberOfElements = 1000 }\n" \
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" Ch3 = { DataSource = Streamer; Type = int16; NumberOfElements = 1000 }\n" \
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" Ch4 = { DataSource = Streamer; Type = int16; NumberOfElements = 1000 }\n" \
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" T0 = {\n" \
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" DataSource = Streamer\n" \
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" Type = uint64\n" \
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" }\n" \
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" Ch1 = {\n" \
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" DataSource = Streamer\n" \
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" Type = int16\n" \
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" NumberOfElements = 1000\n" \
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" }\n" \
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" Ch2 = {\n" \
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" DataSource = Streamer\n" \
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" Type = int16\n" \
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" NumberOfElements = 1000\n" \
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" }\n" \
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" Ch3 = {\n" \
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" DataSource = Streamer\n" \
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" Type = int16\n" \
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" NumberOfElements = 1000\n" \
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" }\n" \
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" Ch4 = {\n" \
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" DataSource = Streamer\n" \
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" Type = int16\n" \
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" NumberOfElements = 1000\n" \
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" }\n" \
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" }\n" \
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" }\n" \
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" }\n"
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#define HF_SIGNALS_BLOCK \
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" Signals = {\n" \
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" T0 = { Type = uint64 }\n" \
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" Ch1 = { Type = int16; NumberOfDimensions = 1; NumberOfElements = 1000;\n" \
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" TimeMode = FirstSample; TimeSignal = T0; SamplingRate = 1000000.0 }\n" \
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" Ch2 = { Type = int16; NumberOfDimensions = 1; NumberOfElements = 1000;\n" \
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" TimeMode = FirstSample; TimeSignal = T0; SamplingRate = 1000000.0 }\n" \
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" Ch3 = { Type = int16; NumberOfDimensions = 1; NumberOfElements = 1000;\n" \
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" TimeMode = FirstSample; TimeSignal = T0; SamplingRate = 1000000.0 }\n" \
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" Ch4 = { Type = int16; NumberOfDimensions = 1; NumberOfElements = 1000;\n" \
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" TimeMode = FirstSample; TimeSignal = T0; SamplingRate = 1000000.0 }\n" \
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" T0 = {\n" \
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" Type = uint64\n" \
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" }\n" \
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" Ch1 = {\n" \
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" Type = int16\n" \
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" NumberOfDimensions = 1\n" \
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" NumberOfElements = 1000\n" \
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" TimeMode = FirstSample\n" \
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" TimeSignal = T0\n" \
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" SamplingRate = 1000000.0\n" \
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" }\n" \
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" Ch2 = {\n" \
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" Type = int16\n" \
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" NumberOfDimensions = 1\n" \
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" NumberOfElements = 1000\n" \
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" TimeMode = FirstSample\n" \
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" TimeSignal = T0\n" \
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" SamplingRate = 1000000.0\n" \
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" }\n" \
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" Ch3 = {\n" \
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" Type = int16\n" \
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" NumberOfDimensions = 1\n" \
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" NumberOfElements = 1000\n" \
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" TimeMode = FirstSample\n" \
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" TimeSignal = T0\n" \
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" SamplingRate = 1000000.0\n" \
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" }\n" \
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" Ch4 = {\n" \
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" Type = int16\n" \
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" NumberOfDimensions = 1\n" \
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" NumberOfElements = 1000\n" \
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" TimeMode = FirstSample\n" \
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" TimeSignal = T0\n" \
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" SamplingRate = 1000000.0\n" \
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" }\n" \
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" }\n"
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#define HF_TAIL_BLOCK \
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" +Timings = { Class = TimingDataSource }\n" \
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" +Timings = {\n" \
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" Class = TimingDataSource\n" \
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" }\n" \
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" }\n" \
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" +States = {\n" \
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" Class = ReferenceContainer\n" \
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@@ -1194,36 +1281,57 @@ bool UDPStreamerTest::TestIsClientConnected_InitiallyFalse() {
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" Class = RealTimeState\n" \
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" +Threads = {\n" \
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" Class = ReferenceContainer\n" \
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" +Thread1 = { Class = RealTimeThread; Functions = { Writer } }\n" \
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" +Thread1 = {\n" \
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" Class = RealTimeThread\n" \
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" Functions = { Writer }\n" \
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" }\n" \
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" }\n" \
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" }\n" \
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" }\n" \
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" +Scheduler = { Class = GAMScheduler; TimingDataSource = Timings }\n" \
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" +Scheduler = {\n" \
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" Class = GAMScheduler\n" \
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" TimingDataSource = Timings\n" \
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" }\n" \
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"}\n"
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static const MARTe::char8 *const HF_CFG_ALLOC =
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"+Test = { Class = RealTimeApplication\n"
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"+Test = {\n"
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" Class = RealTimeApplication\n"
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HF_FUNCTIONS_BLOCK
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" +Data = { Class = ReferenceContainer\n"
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" +Streamer = { Class = UDPStreamer; Port = 44650; MaxPayloadSize = 1400\n"
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" +Data = {\n"
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" Class = ReferenceContainer\n"
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" +Streamer = {\n"
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" Class = UDPStreamer\n"
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" Port = 44650\n"
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" MaxPayloadSize = 1400\n"
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HF_SIGNALS_BLOCK
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" }\n"
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HF_TAIL_BLOCK;
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static const MARTe::char8 *const HF_CFG_FRAG =
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"+Test = { Class = RealTimeApplication\n"
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"+Test = {\n"
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" Class = RealTimeApplication\n"
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HF_FUNCTIONS_BLOCK
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" +Data = { Class = ReferenceContainer\n"
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" +Streamer = { Class = UDPStreamer; Port = 44651; MaxPayloadSize = 1400\n"
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" +Data = {\n"
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" Class = ReferenceContainer\n"
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" +Streamer = {\n"
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" Class = UDPStreamer\n"
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" Port = 44651\n"
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" MaxPayloadSize = 1400\n"
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HF_SIGNALS_BLOCK
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" }\n"
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HF_TAIL_BLOCK;
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static const MARTe::char8 *const HF_CFG_INTEGRITY =
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"+Test = { Class = RealTimeApplication\n"
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"+Test = {\n"
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" Class = RealTimeApplication\n"
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HF_FUNCTIONS_BLOCK
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" +Data = { Class = ReferenceContainer\n"
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" +Streamer = { Class = UDPStreamer; Port = 44653; MaxPayloadSize = 1400\n"
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" +Data = {\n"
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" Class = ReferenceContainer\n"
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" +Streamer = {\n"
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" Class = UDPStreamer\n"
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" Port = 44653\n"
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" MaxPayloadSize = 1400\n"
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HF_SIGNALS_BLOCK
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" }\n"
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HF_TAIL_BLOCK;
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@@ -162,6 +162,21 @@ public:
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*/
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bool TestQuantization_Uint8Clamping();
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/**
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* @brief Tests PublishingMode = "Auto" with a valid MinRefreshRate.
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*/
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bool TestInitialise_AutoMode_Valid();
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/**
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* @brief Tests that PublishingMode = "Auto" without MinRefreshRate is rejected.
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*/
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bool TestInitialise_AutoMode_MissingRefreshRate();
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/**
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* @brief Tests that an unknown PublishingMode string is rejected.
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*/
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bool TestInitialise_UnknownPublishingMode();
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/**
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* @brief Tests the GetPort() accessor.
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*/
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+92
-15
@@ -4,14 +4,14 @@
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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 --nativeui # also start the NativeUI ImGui client in the background
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# ./run.sh --qtui # also start the NativeUI Qt client in the background
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# ./run.sh --help # show this message
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#
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# The WebUI is started with three sources:
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# The clients are started with three sources:
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# Streamer @ 127.0.0.1:44500 (scalar signals, PacketTime, 1 kHz)
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# FastStreamer @ 127.0.0.1:44501 (packed arrays, FirstSample/LastSample, 5 kHz)
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# FullArrStreamer @ 127.0.0.1:44502 (packed arrays, FullArray, 5 kHz)
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# Additional sources and a persistent source list file (--sources-file) can
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# be configured directly in the WebUI or by editing this script.
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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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@@ -27,11 +27,15 @@ REPO_ROOT="$(cd "${SCRIPT_DIR}/../.." && pwd)"
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# ── Parse arguments ──────────────────────────────────────────────────────────
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START_WEBUI=0
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START_NATIVEUI=0
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START_QTUI=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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--webui) START_WEBUI=1 ;;
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--nativeui) START_NATIVEUI=1 ;;
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--qtui) START_QTUI=1 ;;
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--help|-h)
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sed -n '2,15p' "$0"
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sed -n '2,21p' "$0"
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exit 0
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;;
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esac
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@@ -84,10 +88,55 @@ WEBUI_DIR="${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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(cd "${WEBUI_DIR}" && go build -o udpstreamer-webui ./...)
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echo "==> WebUI build done."
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fi
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# ── Build NativeUI (ImGui) binary (if requested and not already built) ───────
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NATIVEUI_DIR="${REPO_ROOT}/Client/NativeUI"
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NATIVEUI_BUILD="${NATIVEUI_DIR}/build"
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NATIVEUI_BIN="${NATIVEUI_BUILD}/daq_viewer"
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if [ "${START_NATIVEUI}" -eq 1 ]; then
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if [ ! -x "${NATIVEUI_BIN}" ]; then
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echo "==> Building NativeUI/ImGui (cmake)..."
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cmake -S "${NATIVEUI_DIR}" -B "${NATIVEUI_BUILD}" -DCMAKE_BUILD_TYPE=Release -Wno-dev
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cmake --build "${NATIVEUI_BUILD}" --parallel "$(nproc)"
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echo "==> NativeUI/ImGui build done."
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else
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# Rebuild if sources are newer than the binary
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if find "${NATIVEUI_DIR}/src" -name '*.cpp' -o -name '*.h' \
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| xargs ls -t 2>/dev/null | head -1 \
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| xargs -I{} test {} -nt "${NATIVEUI_BIN}" 2>/dev/null; then
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echo "==> Sources changed — rebuilding NativeUI/ImGui..."
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cmake --build "${NATIVEUI_BUILD}" --parallel "$(nproc)"
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echo "==> NativeUI/ImGui rebuild done."
|
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fi
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fi
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fi
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# ── Build NativeUI-Qt binary (if requested and not already built) ─────────────
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QTUI_DIR="${REPO_ROOT}/Client/NativeUI-Qt"
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QTUI_BUILD="${QTUI_DIR}/build"
|
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QTUI_BIN="${QTUI_BUILD}/daq_viewer"
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if [ "${START_QTUI}" -eq 1 ]; then
|
||||
if [ ! -x "${QTUI_BIN}" ]; then
|
||||
echo "==> Building NativeUI/Qt (cmake)..."
|
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cmake -S "${QTUI_DIR}" -B "${QTUI_BUILD}" -DCMAKE_BUILD_TYPE=Release -Wno-dev
|
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cmake --build "${QTUI_BUILD}" --parallel "$(nproc)"
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echo "==> NativeUI/Qt build done."
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else
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# Rebuild if sources are newer than the binary
|
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if find "${QTUI_DIR}/src" "${REPO_ROOT}/Client/NativeUI/src" \
|
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\( -name '*.cpp' -o -name '*.h' \) \
|
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| xargs ls -t 2>/dev/null | head -1 \
|
||||
| xargs -I{} test {} -nt "${QTUI_BIN}" 2>/dev/null; then
|
||||
echo "==> Sources changed — rebuilding NativeUI/Qt..."
|
||||
cmake --build "${QTUI_BUILD}" --parallel "$(nproc)"
|
||||
echo "==> NativeUI/Qt rebuild done."
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
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# ── Set LD_LIBRARY_PATH ───────────────────────────────────────────────────────
|
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COMP="${MARTe2_Components_DIR}/Build/${TARGET}/Components"
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@@ -105,10 +154,6 @@ ${LD_LIBRARY_PATH}"
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echo "==> LD_LIBRARY_PATH=${LD_LIBRARY_PATH}"
|
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|
||||
# ── Create class-name symlinks for MARTe2 auto-loader ────────────────────────
|
||||
# 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="${COMP}/GAMs/WaveformGAM"
|
||||
for cls in WaveformSin WaveformChirp WaveformPointsDef; do
|
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target="${WAVEFORM_DIR}/${cls}.so"
|
||||
@@ -117,10 +162,10 @@ for cls in WaveformSin WaveformChirp WaveformPointsDef; do
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fi
|
||||
done
|
||||
|
||||
|
||||
# ── Optionally start WebUI ────────────────────────────────────────────────────
|
||||
WEBUI_PID=""
|
||||
if [ "${START_WEBUI}" -eq 1 ]; then
|
||||
echo "==> Starting WebUI on http://localhost:8080 (source: 127.0.0.1:44500)..."
|
||||
echo "==> Starting WebUI on http://localhost:8080..."
|
||||
"${WEBUI_BIN}" \
|
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--source "Streamer@127.0.0.1:44500" \
|
||||
--source "FastStreamer@127.0.0.1:44501" \
|
||||
@@ -130,6 +175,38 @@ if [ "${START_WEBUI}" -eq 1 ]; then
|
||||
echo "==> WebUI PID ${WEBUI_PID}"
|
||||
fi
|
||||
|
||||
# ── Optionally start NativeUI (ImGui) ────────────────────────────────────────
|
||||
NATIVEUI_PID=""
|
||||
if [ "${START_NATIVEUI}" -eq 1 ]; then
|
||||
if [ ! -x "${NATIVEUI_BIN}" ]; then
|
||||
echo "ERROR: NativeUI/ImGui binary not found at ${NATIVEUI_BIN}" >&2
|
||||
exit 1
|
||||
fi
|
||||
echo "==> Starting NativeUI/ImGui..."
|
||||
"${NATIVEUI_BIN}" \
|
||||
"Streamer@127.0.0.1:44500" \
|
||||
"FastStreamer@127.0.0.1:44501" \
|
||||
"FullArrStreamer@127.0.0.1:44502" &
|
||||
NATIVEUI_PID=$!
|
||||
echo "==> NativeUI/ImGui PID ${NATIVEUI_PID}"
|
||||
fi
|
||||
|
||||
# ── Optionally start NativeUI-Qt ──────────────────────────────────────────────
|
||||
QTUI_PID=""
|
||||
if [ "${START_QTUI}" -eq 1 ]; then
|
||||
if [ ! -x "${QTUI_BIN}" ]; then
|
||||
echo "ERROR: NativeUI/Qt binary not found at ${QTUI_BIN}" >&2
|
||||
exit 1
|
||||
fi
|
||||
echo "==> Starting NativeUI/Qt..."
|
||||
"${QTUI_BIN}" \
|
||||
"Streamer@127.0.0.1:44500" \
|
||||
"FastStreamer@127.0.0.1:44501" \
|
||||
"FullArrStreamer@127.0.0.1:44502" &
|
||||
QTUI_PID=$!
|
||||
echo "==> NativeUI/Qt PID ${QTUI_PID}"
|
||||
fi
|
||||
|
||||
# ── Launch MARTe2 application ─────────────────────────────────────────────────
|
||||
MARTE_APP="${MARTe2_DIR}/Build/${TARGET}/App/MARTeApp.ex"
|
||||
CFG="${SCRIPT_DIR}/TestApp.cfg"
|
||||
@@ -149,9 +226,9 @@ echo ""
|
||||
cleanup() {
|
||||
echo ""
|
||||
echo "==> Stopping..."
|
||||
if [ "${START_WEBUI}" -eq 1 ] && kill -0 "${WEBUI_PID}" 2>/dev/null; then
|
||||
kill "${WEBUI_PID}"
|
||||
fi
|
||||
[ -n "${WEBUI_PID}" ] && kill -0 "${WEBUI_PID}" 2>/dev/null && kill "${WEBUI_PID}"
|
||||
[ -n "${NATIVEUI_PID}" ] && kill -0 "${NATIVEUI_PID}" 2>/dev/null && kill "${NATIVEUI_PID}"
|
||||
[ -n "${QTUI_PID}" ] && kill -0 "${QTUI_PID}" 2>/dev/null && kill "${QTUI_PID}"
|
||||
}
|
||||
trap cleanup EXIT INT TERM
|
||||
|
||||
|
||||
Reference in New Issue
Block a user