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
+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
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if [ ! -x "${QTUI_BIN}" ]; then
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echo "==> Building NativeUI/Qt (cmake)..."
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cmake -S "${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 \
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| xargs -I{} test {} -nt "${QTUI_BIN}" 2>/dev/null; then
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echo "==> Sources changed — rebuilding NativeUI/Qt..."
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cmake --build "${QTUI_BUILD}" --parallel "$(nproc)"
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echo "==> NativeUI/Qt rebuild done."
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fi
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fi
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fi
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# ── Set LD_LIBRARY_PATH ───────────────────────────────────────────────────────
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COMP="${MARTe2_Components_DIR}/Build/${TARGET}/Components"
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@@ -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 ────────────────────────
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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}/${cls}.so"
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@@ -117,10 +162,10 @@ for cls in WaveformSin WaveformChirp WaveformPointsDef; do
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fi
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done
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# ── Optionally start WebUI ────────────────────────────────────────────────────
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WEBUI_PID=""
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if [ "${START_WEBUI}" -eq 1 ]; then
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echo "==> Starting WebUI on http://localhost:8080 (source: 127.0.0.1:44500)..."
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echo "==> Starting WebUI on http://localhost:8080..."
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"${WEBUI_BIN}" \
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--source "Streamer@127.0.0.1:44500" \
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--source "FastStreamer@127.0.0.1:44501" \
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@@ -130,6 +175,38 @@ if [ "${START_WEBUI}" -eq 1 ]; then
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echo "==> WebUI PID ${WEBUI_PID}"
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fi
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# ── Optionally start NativeUI (ImGui) ────────────────────────────────────────
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NATIVEUI_PID=""
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if [ "${START_NATIVEUI}" -eq 1 ]; then
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if [ ! -x "${NATIVEUI_BIN}" ]; then
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echo "ERROR: NativeUI/ImGui binary not found at ${NATIVEUI_BIN}" >&2
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exit 1
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fi
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echo "==> Starting NativeUI/ImGui..."
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"${NATIVEUI_BIN}" \
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"Streamer@127.0.0.1:44500" \
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"FastStreamer@127.0.0.1:44501" \
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"FullArrStreamer@127.0.0.1:44502" &
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NATIVEUI_PID=$!
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echo "==> NativeUI/ImGui PID ${NATIVEUI_PID}"
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fi
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# ── Optionally start NativeUI-Qt ──────────────────────────────────────────────
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QTUI_PID=""
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if [ "${START_QTUI}" -eq 1 ]; then
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if [ ! -x "${QTUI_BIN}" ]; then
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echo "ERROR: NativeUI/Qt binary not found at ${QTUI_BIN}" >&2
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exit 1
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fi
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echo "==> Starting NativeUI/Qt..."
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"${QTUI_BIN}" \
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"Streamer@127.0.0.1:44500" \
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"FastStreamer@127.0.0.1:44501" \
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"FullArrStreamer@127.0.0.1:44502" &
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QTUI_PID=$!
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echo "==> NativeUI/Qt PID ${QTUI_PID}"
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fi
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# ── Launch MARTe2 application ─────────────────────────────────────────────────
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MARTE_APP="${MARTe2_DIR}/Build/${TARGET}/App/MARTeApp.ex"
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CFG="${SCRIPT_DIR}/TestApp.cfg"
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@@ -149,9 +226,9 @@ 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 "${WEBUI_PID}"
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fi
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[ -n "${WEBUI_PID}" ] && kill -0 "${WEBUI_PID}" 2>/dev/null && kill "${WEBUI_PID}"
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[ -n "${NATIVEUI_PID}" ] && kill -0 "${NATIVEUI_PID}" 2>/dev/null && kill "${NATIVEUI_PID}"
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[ -n "${QTUI_PID}" ] && kill -0 "${QTUI_PID}" 2>/dev/null && kill "${QTUI_PID}"
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}
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trap cleanup EXIT INT TERM
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