Martino Ferrari
ed5d381d32
Reorder Execute() main stage so the background thread waits on dataSem (sleeping until the RT thread posts) before doing the socket select(). The socket poll is now non-blocking (timeout=0) since command latency bounded by UDPS_DATA_WAIT_MS is acceptable for CONNECT/DISCONNECT. Also force-remove old udpstreamer-webui binary in run.sh before rebuild so stale embedded assets are never served. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
139 lines
5.1 KiB
Bash
Executable File
139 lines
5.1 KiB
Bash
Executable File
#!/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}" && rm udpstreamer-webui && 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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