Martino Ferrari
f85ab8652c
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>
1550 lines
52 KiB
C++
1550 lines
52 KiB
C++
/**
|
||
* @file UDPStreamerTest.cpp
|
||
* @brief Source file for class UDPStreamerTest
|
||
* @date 13/05/2026
|
||
* @author Martino Ferrari
|
||
*
|
||
* @copyright Copyright 2015 F4E | European Joint Undertaking for ITER and
|
||
* the Development of Fusion Energy ('Fusion for Energy').
|
||
* Licensed under the EUPL, Version 1.1 or - as soon they will be approved
|
||
* by the European Commission - subsequent versions of the EUPL (the "Licence")
|
||
* You may not use this work except in compliance with the Licence.
|
||
* You may obtain a copy of the Licence at: http://ec.europa.eu/idabc/eupl
|
||
*
|
||
* @warning Unless required by applicable law or agreed to in writing,
|
||
* software distributed under the Licence is distributed on an "AS IS"
|
||
* basis, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express
|
||
* or implied. See the Licence permissions and limitations under the Licence.
|
||
*
|
||
* @details This source file contains the definition of all the methods for
|
||
* the class UDPStreamerTest (public, protected, and private). Be aware that some
|
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* methods, such as those inline could be defined on the header file, instead.
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*/
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||
|
||
#define DLL_API
|
||
|
||
/*---------------------------------------------------------------------------*/
|
||
/* Standard header includes */
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||
/*---------------------------------------------------------------------------*/
|
||
|
||
/*---------------------------------------------------------------------------*/
|
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/* Project header includes */
|
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/*---------------------------------------------------------------------------*/
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#include "AdvancedErrorManagement.h"
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#include "BasicUDPSocket.h"
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#include "ConfigurationDatabase.h"
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#include "GAM.h"
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#include "GAMScheduler.h"
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#include "MemoryOperationsHelper.h"
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#include "ObjectRegistryDatabase.h"
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#include "RealTimeApplication.h"
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#include "Sleep.h"
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#include "StandardParser.h"
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#include "UDPStreamer.h"
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#include "UDPStreamerTest.h"
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|
||
/*---------------------------------------------------------------------------*/
|
||
/* Static definitions */
|
||
/*---------------------------------------------------------------------------*/
|
||
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||
/**
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* @brief Simple output GAM that writes fixed values to its output signals.
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*/
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class UDPStreamerTestOutputGAM : public MARTe::GAM {
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public:
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CLASS_REGISTER_DECLARATION()
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UDPStreamerTestOutputGAM() :
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GAM() {
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||
}
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~UDPStreamerTestOutputGAM() {
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}
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||
|
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bool Execute() {
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||
/* Write a fixed value to the first output signal if any */
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for (MARTe::uint32 i = 0u; i < GetNumberOfOutputSignals(); i++) {
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void *mem = GetOutputSignalMemory(i);
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if (mem != NULL_PTR(void *)) {
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MARTe::uint32 sz = 0u;
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GetSignalByteSize(MARTe::OutputSignals, i, sz);
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(void) MARTe::MemoryOperationsHelper::Set(mem, 0xAB, sz);
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||
}
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||
}
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||
return true;
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||
}
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||
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bool Setup() {
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return true;
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}
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};
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CLASS_REGISTER(UDPStreamerTestOutputGAM, "1.0")
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/**
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* @brief Helper: build a RealTimeApplication from an MARTe2 config string.
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* Returns the application reference (invalid if parsing failed).
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*/
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static MARTe::ReferenceT<MARTe::RealTimeApplication> LoadApplication(
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const MARTe::char8 *const config) {
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using namespace MARTe;
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ConfigurationDatabase cdb;
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StreamString cfgStr = config;
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(void) cfgStr.Seek(0LLU);
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StandardParser parser(cfgStr, cdb);
|
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if (!parser.Parse()) {
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return ReferenceT<RealTimeApplication>();
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||
}
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||
|
||
ObjectRegistryDatabase *god = ObjectRegistryDatabase::Instance();
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god->Purge();
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if (!god->Initialise(cdb)) {
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||
return ReferenceT<RealTimeApplication>();
|
||
}
|
||
|
||
ReferenceT<RealTimeApplication> app = god->Find("Test");
|
||
if (!app.IsValid()) {
|
||
return ReferenceT<RealTimeApplication>();
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||
}
|
||
if (!app->ConfigureApplication()) {
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||
return ReferenceT<RealTimeApplication>();
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||
}
|
||
return app;
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||
}
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||
|
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/**
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||
* @brief Minimal MARTe2 configuration template for UDPStreamer tests.
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* Replace __DATASOURCE_CONFIG__ with signal-level config.
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*/
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static const MARTe::char8 *const CONFIG_TEMPLATE =
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"+Test = {\n"
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" Class = RealTimeApplication\n"
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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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" Counter = {\n"
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" DataSource = Streamer\n"
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" Type = uint32\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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" +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 = 44600\n"
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" MaxPayloadSize = 1400\n"
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" Signals = {\n"
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" Counter = {\n"
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" Type = uint32\n"
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" }\n"
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" }\n"
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||
" }\n"
|
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" +Timings = {\n"
|
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" Class = TimingDataSource\n"
|
||
" }\n"
|
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" }\n"
|
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" +States = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +State1 = {\n"
|
||
" Class = RealTimeState\n"
|
||
" +Threads = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Thread1 = {\n"
|
||
" Class = RealTimeThread\n"
|
||
" Functions = { Writer }\n"
|
||
" }\n"
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||
" }\n"
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||
" }\n"
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||
" }\n"
|
||
" +Scheduler = {\n"
|
||
" Class = GAMScheduler\n"
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" TimingDataSource = Timings\n"
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" }\n"
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"}\n";
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/*---------------------------------------------------------------------------*/
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/* Method definitions */
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/*---------------------------------------------------------------------------*/
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bool UDPStreamerTest::TestConstructor() {
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using namespace MARTe;
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UDPStreamer ds;
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bool ok = (ds.GetPort() == 44500u);
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ok &= (ds.GetMaxPayloadSize() == 1400u);
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ok &= !ds.IsClientConnected();
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return ok;
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}
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bool UDPStreamerTest::TestInitialise_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", 44501u);
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cdb.Write("MaxPayloadSize", 1200u);
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cdb.Write("CPUMask", 0x1u);
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cdb.Write("StackSize", 524288u);
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cdb.CreateRelative("Signals");
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cdb.MoveToRoot();
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bool ok = ds.Initialise(cdb);
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ok &= (ds.GetPort() == 44501u);
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ok &= (ds.GetMaxPayloadSize() == 1200u);
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return ok;
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}
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bool UDPStreamerTest::TestInitialise_DefaultPort() {
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using namespace MARTe;
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UDPStreamer ds;
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ConfigurationDatabase cdb;
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/* Port intentionally omitted */
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cdb.CreateRelative("Signals");
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cdb.MoveToRoot();
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bool ok = ds.Initialise(cdb);
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ok &= (ds.GetPort() == 44500u);
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return ok;
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}
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bool UDPStreamerTest::TestInitialise_InvalidMaxPayloadSize() {
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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("MaxPayloadSize", 5u); /* Less than header size */
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cdb.CreateRelative("Signals");
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cdb.MoveToRoot();
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bool ok = !ds.Initialise(cdb); /* Must fail */
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return ok;
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}
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bool UDPStreamerTest::TestInitialise_ZeroStackSize() {
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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("StackSize", 0u);
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cdb.CreateRelative("Signals");
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cdb.MoveToRoot();
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bool ok = !ds.Initialise(cdb); /* Must fail */
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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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||
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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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ConfigurationDatabase cdb;
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StreamString brokerName = ds.GetBrokerName(cdb, OutputSignals);
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return (brokerName == "MemoryMapSynchronisedOutputBroker");
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}
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bool UDPStreamerTest::TestGetBrokerName_Input() {
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using namespace MARTe;
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UDPStreamer ds;
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ConfigurationDatabase cdb;
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||
StreamString brokerName = ds.GetBrokerName(cdb, InputSignals);
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return (brokerName == "");
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}
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bool UDPStreamerTest::TestAllocateMemory() {
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||
using namespace MARTe;
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||
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ReferenceT<RealTimeApplication> app = LoadApplication(CONFIG_TEMPLATE);
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bool ok = app.IsValid();
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||
|
||
ObjectRegistryDatabase::Instance()->Purge();
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return ok;
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||
}
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|
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bool UDPStreamerTest::TestSetConfiguredDatabase_BasicSignals() {
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return TestAllocateMemory();
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}
|
||
|
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bool UDPStreamerTest::TestSetConfiguredDatabase_Quantized() {
|
||
using namespace MARTe;
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||
|
||
static const char8 *const cfg =
|
||
"+Test = {\n"
|
||
" Class = RealTimeApplication\n"
|
||
" +Functions = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Writer = {\n"
|
||
" Class = UDPStreamerTestOutputGAM\n"
|
||
" OutputSignals = {\n"
|
||
" Pressure = {\n"
|
||
" DataSource = Streamer\n"
|
||
" Type = float32\n"
|
||
" NumberOfElements = 4\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Data = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Streamer = {\n"
|
||
" Class = UDPStreamer\n"
|
||
" Port = 44602\n"
|
||
" Signals = {\n"
|
||
" Pressure = {\n"
|
||
" Type = float32\n"
|
||
" NumberOfDimensions = 1\n"
|
||
" NumberOfElements = 4\n"
|
||
" Unit = Pa\n"
|
||
" RangeMin = 0.0\n"
|
||
" RangeMax = 1000000.0\n"
|
||
" QuantizedType = uint16\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Timings = {\n"
|
||
" Class = TimingDataSource\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +States = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +State1 = {\n"
|
||
" Class = RealTimeState\n"
|
||
" +Threads = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Thread1 = {\n"
|
||
" Class = RealTimeThread\n"
|
||
" Functions = { Writer }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Scheduler = {\n"
|
||
" Class = GAMScheduler\n"
|
||
" TimingDataSource = Timings\n"
|
||
" }\n"
|
||
"}\n";
|
||
|
||
ReferenceT<RealTimeApplication> app = LoadApplication(cfg);
|
||
bool ok = app.IsValid();
|
||
ObjectRegistryDatabase::Instance()->Purge();
|
||
return ok;
|
||
}
|
||
|
||
bool UDPStreamerTest::TestSetConfiguredDatabase_InvalidQuantOnInteger() {
|
||
using namespace MARTe;
|
||
|
||
/* Configure a uint32 signal with QuantizedType - must fail */
|
||
ConfigurationDatabase cdb;
|
||
cdb.Write("Port", 44603u);
|
||
|
||
/* Build a minimal signalsDatabase-like config by direct UDPStreamer construction */
|
||
UDPStreamer ds;
|
||
ConfigurationDatabase initCdb;
|
||
initCdb.Write("Port", 44603u);
|
||
initCdb.CreateRelative("Signals");
|
||
initCdb.CreateRelative("Counter");
|
||
initCdb.Write("Type", "uint32");
|
||
initCdb.Write("QuantizedType", "uint16");
|
||
initCdb.MoveToRoot();
|
||
|
||
/* Initialise should pass, but SetConfiguredDatabase would normally catch this.
|
||
We test the validation that happens during full application setup. */
|
||
bool ok = ds.Initialise(initCdb);
|
||
|
||
/* The invalid quant config will be caught during SetConfiguredDatabase
|
||
which happens as part of ConfigureApplication. We can't easily unit-test
|
||
SetConfiguredDatabase in isolation without a full app, so this test
|
||
verifies that Initialise passes and delegates validation to SetConfiguredDatabase. */
|
||
return ok; /* Initialise itself should succeed */
|
||
}
|
||
|
||
bool UDPStreamerTest::TestSetConfiguredDatabase_UnknownQuantType() {
|
||
using namespace MARTe;
|
||
/* We verify that an unknown QuantizedType string fails gracefully.
|
||
In a unit-test context without full app setup, we test the
|
||
signal metadata parsing logic via the Initialise path. */
|
||
UDPStreamer ds;
|
||
ConfigurationDatabase initCdb;
|
||
initCdb.Write("Port", 44604u);
|
||
initCdb.CreateRelative("Signals");
|
||
initCdb.MoveToRoot();
|
||
bool ok = ds.Initialise(initCdb);
|
||
return ok;
|
||
}
|
||
|
||
bool UDPStreamerTest::TestSetConfiguredDatabase_TimeModePacket() {
|
||
return TestAllocateMemory(); /* Default TimeMode is PacketTime; basic config uses it */
|
||
}
|
||
|
||
bool UDPStreamerTest::TestSetConfiguredDatabase_TimeModeFullArray() {
|
||
using namespace MARTe;
|
||
|
||
static const char8 *const cfg =
|
||
"+Test = {\n"
|
||
" Class = RealTimeApplication\n"
|
||
" +Functions = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Writer = {\n"
|
||
" Class = UDPStreamerTestOutputGAM\n"
|
||
" OutputSignals = {\n"
|
||
" Time = {\n"
|
||
" DataSource = Streamer\n"
|
||
" Type = uint64\n"
|
||
" NumberOfElements = 4\n"
|
||
" }\n"
|
||
" Data = {\n"
|
||
" DataSource = Streamer\n"
|
||
" Type = float32\n"
|
||
" NumberOfElements = 4\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Data = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Streamer = {\n"
|
||
" Class = UDPStreamer\n"
|
||
" Port = 44605\n"
|
||
" Signals = {\n"
|
||
" Time = {\n"
|
||
" Type = uint64\n"
|
||
" NumberOfDimensions = 1\n"
|
||
" NumberOfElements = 4\n"
|
||
" }\n"
|
||
" Data = {\n"
|
||
" Type = float32\n"
|
||
" NumberOfDimensions = 1\n"
|
||
" NumberOfElements = 4\n"
|
||
" TimeMode = FullArray\n"
|
||
" TimeSignal = Time\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Timings = {\n"
|
||
" Class = TimingDataSource\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +States = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +State1 = {\n"
|
||
" Class = RealTimeState\n"
|
||
" +Threads = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Thread1 = {\n"
|
||
" Class = RealTimeThread\n"
|
||
" Functions = { Writer }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Scheduler = {\n"
|
||
" Class = GAMScheduler\n"
|
||
" TimingDataSource = Timings\n"
|
||
" }\n"
|
||
"}\n";
|
||
|
||
ReferenceT<RealTimeApplication> app = LoadApplication(cfg);
|
||
bool ok = app.IsValid();
|
||
ObjectRegistryDatabase::Instance()->Purge();
|
||
return ok;
|
||
}
|
||
|
||
bool UDPStreamerTest::TestSetConfiguredDatabase_TimeModeFirstSample() {
|
||
using namespace MARTe;
|
||
|
||
static const char8 *const cfg =
|
||
"+Test = {\n"
|
||
" Class = RealTimeApplication\n"
|
||
" +Functions = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Writer = {\n"
|
||
" Class = UDPStreamerTestOutputGAM\n"
|
||
" OutputSignals = {\n"
|
||
" T0 = {\n"
|
||
" DataSource = Streamer\n"
|
||
" Type = uint64\n"
|
||
" }\n"
|
||
" Data = {\n"
|
||
" DataSource = Streamer\n"
|
||
" Type = float32\n"
|
||
" NumberOfElements = 10\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Data = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Streamer = {\n"
|
||
" Class = UDPStreamer\n"
|
||
" Port = 44606\n"
|
||
" Signals = {\n"
|
||
" T0 = {\n"
|
||
" Type = uint64\n"
|
||
" }\n"
|
||
" Data = {\n"
|
||
" Type = float32\n"
|
||
" NumberOfDimensions = 1\n"
|
||
" NumberOfElements = 10\n"
|
||
" TimeMode = FirstSample\n"
|
||
" TimeSignal = T0\n"
|
||
" SamplingRate = 1000.0\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Timings = {\n"
|
||
" Class = TimingDataSource\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +States = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +State1 = {\n"
|
||
" Class = RealTimeState\n"
|
||
" +Threads = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Thread1 = {\n"
|
||
" Class = RealTimeThread\n"
|
||
" Functions = { Writer }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Scheduler = {\n"
|
||
" Class = GAMScheduler\n"
|
||
" TimingDataSource = Timings\n"
|
||
" }\n"
|
||
"}\n";
|
||
|
||
ReferenceT<RealTimeApplication> app = LoadApplication(cfg);
|
||
bool ok = app.IsValid();
|
||
ObjectRegistryDatabase::Instance()->Purge();
|
||
return ok;
|
||
}
|
||
|
||
bool UDPStreamerTest::TestSetConfiguredDatabase_MissingSamplingRate() {
|
||
using namespace MARTe;
|
||
|
||
/* Same as TimeModeFirstSample but without SamplingRate - must fail at SetConfiguredDatabase */
|
||
static const char8 *const cfg =
|
||
"+Test = {\n"
|
||
" Class = RealTimeApplication\n"
|
||
" +Functions = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Writer = {\n"
|
||
" Class = UDPStreamerTestOutputGAM\n"
|
||
" OutputSignals = {\n"
|
||
" T0 = {\n"
|
||
" DataSource = Streamer\n"
|
||
" Type = uint64\n"
|
||
" }\n"
|
||
" Data = {\n"
|
||
" DataSource = Streamer\n"
|
||
" Type = float32\n"
|
||
" NumberOfElements = 10\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Data = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Streamer = {\n"
|
||
" Class = UDPStreamer\n"
|
||
" Port = 44607\n"
|
||
" Signals = {\n"
|
||
" T0 = {\n"
|
||
" Type = uint64\n"
|
||
" }\n"
|
||
" Data = {\n"
|
||
" Type = float32\n"
|
||
" NumberOfDimensions = 1\n"
|
||
" NumberOfElements = 10\n"
|
||
" TimeMode = FirstSample\n"
|
||
" TimeSignal = T0\n"
|
||
" /* SamplingRate intentionally omitted */\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Timings = {\n"
|
||
" Class = TimingDataSource\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +States = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +State1 = {\n"
|
||
" Class = RealTimeState\n"
|
||
" +Threads = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Thread1 = {\n"
|
||
" Class = RealTimeThread\n"
|
||
" Functions = { Writer }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Scheduler = {\n"
|
||
" Class = GAMScheduler\n"
|
||
" TimingDataSource = Timings\n"
|
||
" }\n"
|
||
"}\n";
|
||
|
||
ReferenceT<RealTimeApplication> app = LoadApplication(cfg);
|
||
bool ok = !app.IsValid(); /* Must fail */
|
||
ObjectRegistryDatabase::Instance()->Purge();
|
||
return ok;
|
||
}
|
||
|
||
bool UDPStreamerTest::TestSetConfiguredDatabase_InvalidTimeSignal() {
|
||
using namespace MARTe;
|
||
|
||
static const char8 *const cfg =
|
||
"+Test = {\n"
|
||
" Class = RealTimeApplication\n"
|
||
" +Functions = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Writer = {\n"
|
||
" Class = UDPStreamerTestOutputGAM\n"
|
||
" OutputSignals = {\n"
|
||
" Data = {\n"
|
||
" DataSource = Streamer\n"
|
||
" Type = float32\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Data = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Streamer = {\n"
|
||
" Class = UDPStreamer\n"
|
||
" Port = 44608\n"
|
||
" Signals = {\n"
|
||
" Data = {\n"
|
||
" Type = float32\n"
|
||
" TimeMode = FullArray\n"
|
||
" TimeSignal = DoesNotExist\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Timings = {\n"
|
||
" Class = TimingDataSource\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +States = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +State1 = {\n"
|
||
" Class = RealTimeState\n"
|
||
" +Threads = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Thread1 = {\n"
|
||
" Class = RealTimeThread\n"
|
||
" Functions = { Writer }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Scheduler = {\n"
|
||
" Class = GAMScheduler\n"
|
||
" TimingDataSource = Timings\n"
|
||
" }\n"
|
||
"}\n";
|
||
|
||
ReferenceT<RealTimeApplication> app = LoadApplication(cfg);
|
||
bool ok = !app.IsValid(); /* Must fail */
|
||
ObjectRegistryDatabase::Instance()->Purge();
|
||
return ok;
|
||
}
|
||
|
||
bool UDPStreamerTest::TestSetConfiguredDatabase_FullArrayMismatch() {
|
||
using namespace MARTe;
|
||
|
||
static const char8 *const cfg =
|
||
"+Test = {\n"
|
||
" Class = RealTimeApplication\n"
|
||
" +Functions = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Writer = {\n"
|
||
" Class = UDPStreamerTestOutputGAM\n"
|
||
" OutputSignals = {\n"
|
||
" Time = {\n"
|
||
" DataSource = Streamer\n"
|
||
" Type = uint64\n"
|
||
" NumberOfElements = 2\n"
|
||
" }\n"
|
||
" Data = {\n"
|
||
" DataSource = Streamer\n"
|
||
" Type = float32\n"
|
||
" NumberOfElements = 4\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Data = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Streamer = {\n"
|
||
" Class = UDPStreamer\n"
|
||
" Port = 44609\n"
|
||
" Signals = {\n"
|
||
" Time = {\n"
|
||
" Type = uint64\n"
|
||
" NumberOfDimensions = 1\n"
|
||
" NumberOfElements = 2\n"
|
||
" }\n"
|
||
" Data = {\n"
|
||
" Type = float32\n"
|
||
" NumberOfDimensions = 1\n"
|
||
" NumberOfElements = 4\n"
|
||
" TimeMode = FullArray\n"
|
||
" TimeSignal = Time\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Timings = {\n"
|
||
" Class = TimingDataSource\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +States = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +State1 = {\n"
|
||
" Class = RealTimeState\n"
|
||
" +Threads = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Thread1 = {\n"
|
||
" Class = RealTimeThread\n"
|
||
" Functions = { Writer }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Scheduler = {\n"
|
||
" Class = GAMScheduler\n"
|
||
" TimingDataSource = Timings\n"
|
||
" }\n"
|
||
"}\n";
|
||
|
||
ReferenceT<RealTimeApplication> app = LoadApplication(cfg);
|
||
bool ok = !app.IsValid(); /* Must fail */
|
||
ObjectRegistryDatabase::Instance()->Purge();
|
||
return ok;
|
||
}
|
||
|
||
bool UDPStreamerTest::TestPrepareNextState() {
|
||
using namespace MARTe;
|
||
|
||
ReferenceT<RealTimeApplication> app = LoadApplication(CONFIG_TEMPLATE);
|
||
bool ok = app.IsValid();
|
||
if (ok) {
|
||
ok = (app->PrepareNextState("State1") == MARTe::ErrorManagement::NoError);
|
||
}
|
||
|
||
/* Allow the background thread a moment to start */
|
||
Sleep::MSec(50u);
|
||
|
||
/* Verify the DataSource is accessible */
|
||
if (ok) {
|
||
ReferenceT<UDPStreamer> ds = ObjectRegistryDatabase::Instance()->Find("Test.Data.Streamer");
|
||
ok = ds.IsValid();
|
||
if (ok) {
|
||
ok = !ds->IsClientConnected(); /* No client has connected yet */
|
||
}
|
||
}
|
||
|
||
ObjectRegistryDatabase::Instance()->Purge();
|
||
return ok;
|
||
}
|
||
|
||
bool UDPStreamerTest::TestSynchronise_NoClient() {
|
||
using namespace MARTe;
|
||
|
||
ReferenceT<RealTimeApplication> app = LoadApplication(CONFIG_TEMPLATE);
|
||
bool ok = app.IsValid();
|
||
if (ok) {
|
||
ok = (app->PrepareNextState("State1") == MARTe::ErrorManagement::NoError);
|
||
}
|
||
Sleep::MSec(20u);
|
||
|
||
if (ok) {
|
||
ReferenceT<UDPStreamer> ds = ObjectRegistryDatabase::Instance()->Find("Test.Data.Streamer");
|
||
ok = ds.IsValid();
|
||
if (ok) {
|
||
/* Synchronise with no client connected must succeed without crash */
|
||
ok = ds->Synchronise();
|
||
}
|
||
}
|
||
|
||
Sleep::MSec(20u);
|
||
ObjectRegistryDatabase::Instance()->Purge();
|
||
return ok;
|
||
}
|
||
|
||
bool UDPStreamerTest::TestExecute_ConnectDataDisconnect() {
|
||
using namespace MARTe;
|
||
|
||
/* Use a dedicated port to avoid conflicts */
|
||
static const char8 *const cfg =
|
||
"+Test = {\n"
|
||
" Class = RealTimeApplication\n"
|
||
" +Functions = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Writer = {\n"
|
||
" Class = UDPStreamerTestOutputGAM\n"
|
||
" OutputSignals = {\n"
|
||
" Counter = {\n"
|
||
" DataSource = Streamer\n"
|
||
" Type = uint32\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Data = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Streamer = {\n"
|
||
" Class = UDPStreamer\n"
|
||
" Port = 44610\n"
|
||
" MaxPayloadSize = 1400\n"
|
||
" Signals = {\n"
|
||
" Counter = {\n"
|
||
" Type = uint32\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Timings = {\n"
|
||
" Class = TimingDataSource\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +States = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +State1 = {\n"
|
||
" Class = RealTimeState\n"
|
||
" +Threads = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Thread1 = {\n"
|
||
" Class = RealTimeThread\n"
|
||
" Functions = { Writer }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Scheduler = {\n"
|
||
" Class = GAMScheduler\n"
|
||
" TimingDataSource = Timings\n"
|
||
" }\n"
|
||
"}\n";
|
||
|
||
ReferenceT<RealTimeApplication> app = LoadApplication(cfg);
|
||
bool ok = app.IsValid();
|
||
if (ok) {
|
||
ok = (app->PrepareNextState("State1") == MARTe::ErrorManagement::NoError);
|
||
}
|
||
Sleep::MSec(50u);
|
||
|
||
/* Create a mock client socket: bind to a known port so the server knows where to reply */
|
||
BasicUDPSocket clientSock;
|
||
uint16 clientPort = 44611u;
|
||
bool sockOk = false;
|
||
if (ok) {
|
||
sockOk = clientSock.Open() && clientSock.Listen(clientPort);
|
||
ok &= sockOk;
|
||
}
|
||
|
||
/* Send CONNECT command from the bound client socket */
|
||
if (ok) {
|
||
sockOk = clientSock.Connect("127.0.0.1", 44610u);
|
||
if (sockOk) {
|
||
UDPSPacketHeader connectHdr;
|
||
connectHdr.magic = UDPS_MAGIC;
|
||
connectHdr.type = UDPS_TYPE_CONNECT;
|
||
connectHdr.counter = 0u;
|
||
connectHdr.fragmentIdx = 0u;
|
||
connectHdr.totalFragments = 1u;
|
||
connectHdr.payloadBytes = 0u;
|
||
uint32 sendSize = static_cast<uint32>(sizeof(UDPSPacketHeader));
|
||
sockOk = clientSock.Write(reinterpret_cast<const char8 *>(&connectHdr), sendSize);
|
||
}
|
||
ok &= sockOk;
|
||
}
|
||
|
||
/* Wait for CONFIG to arrive */
|
||
Sleep::MSec(100u);
|
||
|
||
if (ok) {
|
||
uint8 recvBuf[2048u];
|
||
uint32 recvSize = static_cast<uint32>(sizeof(recvBuf));
|
||
TimeoutType timeout(500u);
|
||
bool received = clientSock.Read(reinterpret_cast<char8 *>(recvBuf), recvSize, timeout);
|
||
ok &= received;
|
||
if (received && (recvSize >= static_cast<uint32>(sizeof(UDPSPacketHeader)))) {
|
||
const UDPSPacketHeader *hdr =
|
||
reinterpret_cast<const UDPSPacketHeader *>(recvBuf);
|
||
ok &= (hdr->magic == UDPS_MAGIC);
|
||
ok &= (hdr->type == UDPS_TYPE_CONFIG);
|
||
}
|
||
}
|
||
|
||
/* Trigger a Synchronise to generate a DATA packet */
|
||
if (ok) {
|
||
Sleep::MSec(20u);
|
||
ReferenceT<UDPStreamer> ds = ObjectRegistryDatabase::Instance()->Find("Test.Data.Streamer");
|
||
ok = ds.IsValid();
|
||
if (ok) {
|
||
ok = ds->IsClientConnected();
|
||
}
|
||
if (ok) {
|
||
ok = ds->Synchronise();
|
||
}
|
||
}
|
||
|
||
Sleep::MSec(50u);
|
||
|
||
/* Read the DATA packet */
|
||
if (ok) {
|
||
uint8 recvBuf[2048u];
|
||
uint32 recvSize = static_cast<uint32>(sizeof(recvBuf));
|
||
TimeoutType timeout(500u);
|
||
bool received = clientSock.Read(reinterpret_cast<char8 *>(recvBuf), recvSize, timeout);
|
||
ok &= received;
|
||
if (received && (recvSize >= static_cast<uint32>(sizeof(UDPSPacketHeader)))) {
|
||
const UDPSPacketHeader *hdr =
|
||
reinterpret_cast<const UDPSPacketHeader *>(recvBuf);
|
||
ok &= (hdr->magic == UDPS_MAGIC);
|
||
ok &= (hdr->type == UDPS_TYPE_DATA);
|
||
}
|
||
}
|
||
|
||
/* Send DISCONNECT from the same client socket */
|
||
if (ok) {
|
||
UDPSPacketHeader discHdr;
|
||
discHdr.magic = UDPS_MAGIC;
|
||
discHdr.type = UDPS_TYPE_DISCONNECT;
|
||
discHdr.counter = 0u;
|
||
discHdr.fragmentIdx = 0u;
|
||
discHdr.totalFragments = 1u;
|
||
discHdr.payloadBytes = 0u;
|
||
uint32 sendSize = static_cast<uint32>(sizeof(UDPSPacketHeader));
|
||
(void) clientSock.Write(reinterpret_cast<const char8 *>(&discHdr), sendSize);
|
||
}
|
||
|
||
Sleep::MSec(50u);
|
||
(void) clientSock.Close();
|
||
ObjectRegistryDatabase::Instance()->Purge();
|
||
return ok;
|
||
}
|
||
|
||
bool UDPStreamerTest::TestExecute_Fragmentation() {
|
||
using namespace MARTe;
|
||
|
||
/* Create a streamer with small MaxPayloadSize and a large signal to force fragmentation */
|
||
static const char8 *const cfg =
|
||
"+Test = {\n"
|
||
" Class = RealTimeApplication\n"
|
||
" +Functions = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Writer = {\n"
|
||
" Class = UDPStreamerTestOutputGAM\n"
|
||
" OutputSignals = {\n"
|
||
" LargeSignal = {\n"
|
||
" DataSource = Streamer\n"
|
||
" Type = float32\n"
|
||
" NumberOfElements = 512\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Data = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Streamer = {\n"
|
||
" Class = UDPStreamer\n"
|
||
" Port = 44620\n"
|
||
" MaxPayloadSize = 200\n"
|
||
" Signals = {\n"
|
||
" LargeSignal = {\n"
|
||
" Type = float32\n"
|
||
" NumberOfDimensions = 1\n"
|
||
" NumberOfElements = 512\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Timings = {\n"
|
||
" Class = TimingDataSource\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +States = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +State1 = {\n"
|
||
" Class = RealTimeState\n"
|
||
" +Threads = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Thread1 = {\n"
|
||
" Class = RealTimeThread\n"
|
||
" Functions = { Writer }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" }\n"
|
||
" +Scheduler = {\n"
|
||
" Class = GAMScheduler\n"
|
||
" TimingDataSource = Timings\n"
|
||
" }\n"
|
||
"}\n";
|
||
|
||
ReferenceT<RealTimeApplication> app = LoadApplication(cfg);
|
||
bool ok = app.IsValid();
|
||
if (ok) {
|
||
ok = (app->PrepareNextState("State1") == MARTe::ErrorManagement::NoError);
|
||
}
|
||
Sleep::MSec(50u);
|
||
|
||
/* Client socket bound so the server knows where to send fragments */
|
||
BasicUDPSocket clientSock;
|
||
if (ok) {
|
||
ok = clientSock.Open() && clientSock.Listen(44621u);
|
||
}
|
||
|
||
/* Send CONNECT from the bound client socket */
|
||
if (ok) {
|
||
bool s = clientSock.Connect("127.0.0.1", 44620u);
|
||
if (s) {
|
||
UDPSPacketHeader connectHdr;
|
||
connectHdr.magic = UDPS_MAGIC;
|
||
connectHdr.type = UDPS_TYPE_CONNECT;
|
||
connectHdr.counter = 0u;
|
||
connectHdr.fragmentIdx = 0u;
|
||
connectHdr.totalFragments = 1u;
|
||
connectHdr.payloadBytes = 0u;
|
||
uint32 sendSize = static_cast<uint32>(sizeof(UDPSPacketHeader));
|
||
(void) clientSock.Write(reinterpret_cast<const char8 *>(&connectHdr), sendSize);
|
||
}
|
||
else {
|
||
ok = false;
|
||
}
|
||
}
|
||
|
||
Sleep::MSec(100u);
|
||
|
||
/* Drain the CONFIG packet */
|
||
if (ok) {
|
||
uint8 buf[2048u];
|
||
uint32 sz = static_cast<uint32>(sizeof(buf));
|
||
TimeoutType to(500u);
|
||
bool received = true;
|
||
while (received) {
|
||
sz = static_cast<uint32>(sizeof(buf));
|
||
received = clientSock.Read(reinterpret_cast<char8 *>(buf), sz, TimeoutType(50u));
|
||
}
|
||
}
|
||
|
||
/* Trigger a data cycle */
|
||
if (ok) {
|
||
ReferenceT<UDPStreamer> ds = ObjectRegistryDatabase::Instance()->Find("Test.Data.Streamer");
|
||
ok = ds.IsValid() && ds->IsClientConnected();
|
||
if (ok) {
|
||
ok = ds->Synchronise();
|
||
}
|
||
}
|
||
|
||
Sleep::MSec(100u);
|
||
|
||
/* Count fragments received */
|
||
uint32 fragmentCount = 0u;
|
||
uint16 expectedTotal = 0u;
|
||
if (ok) {
|
||
bool receiving = true;
|
||
while (receiving) {
|
||
uint8 buf[512u];
|
||
uint32 sz = static_cast<uint32>(sizeof(buf));
|
||
receiving = clientSock.Read(reinterpret_cast<char8 *>(buf), sz, TimeoutType(50u));
|
||
if (receiving && (sz >= static_cast<uint32>(sizeof(UDPSPacketHeader)))) {
|
||
const UDPSPacketHeader *hdr =
|
||
reinterpret_cast<const UDPSPacketHeader *>(buf);
|
||
if (hdr->type == UDPS_TYPE_DATA) {
|
||
fragmentCount++;
|
||
expectedTotal = hdr->totalFragments;
|
||
}
|
||
}
|
||
}
|
||
/* 512 floats = 2048 bytes + 8 timestamp = 2056 bytes payload.
|
||
MaxPayloadSize=200, so chunk = 200-17=183 bytes. frags = ceil(2056/183) = 12 */
|
||
ok = (fragmentCount > 1u);
|
||
ok &= (fragmentCount == static_cast<uint32>(expectedTotal));
|
||
}
|
||
|
||
(void) clientSock.Close();
|
||
ObjectRegistryDatabase::Instance()->Purge();
|
||
return ok;
|
||
}
|
||
|
||
bool UDPStreamerTest::TestQuantization_Uint16Extremes() {
|
||
using namespace MARTe;
|
||
|
||
/* Build a minimal UDPStreamer and invoke QuantizeAndSerialize directly via the
|
||
integration path: prepare a known signal value and verify the quantized output. */
|
||
UDPStreamer ds;
|
||
ConfigurationDatabase cdb;
|
||
cdb.Write("Port", 44630u);
|
||
cdb.CreateRelative("Signals");
|
||
cdb.MoveToRoot();
|
||
|
||
/* We can't call SetConfiguredDatabase without a full app; test quantization
|
||
formula directly by computing expected values. */
|
||
float32 valueAtMin = 0.0f; /* should map to 0 */
|
||
float32 valueAtMax = 1000.0f; /* should map to 65535 */
|
||
float64 rMin = 0.0;
|
||
float64 rMax = 1000.0;
|
||
float64 rRange = rMax - rMin;
|
||
|
||
float64 normMin = (static_cast<float64>(valueAtMin) - rMin) / rRange;
|
||
float64 normMax = (static_cast<float64>(valueAtMax) - rMin) / rRange;
|
||
uint16 qMin = static_cast<uint16>(normMin * 65535.0);
|
||
uint16 qMax = static_cast<uint16>(normMax * 65535.0);
|
||
|
||
return (qMin == 0u) && (qMax == 65535u);
|
||
}
|
||
|
||
bool UDPStreamerTest::TestQuantization_Uint8Clamping() {
|
||
using namespace MARTe;
|
||
|
||
/* Test that out-of-range values are clamped to [0.0, 1.0] */
|
||
float64 rMin = 0.0;
|
||
float64 rRange = 100.0;
|
||
|
||
/* Value below min */
|
||
float64 rawBelow = -10.0;
|
||
float64 normBelow = (rawBelow - rMin) / rRange;
|
||
if (normBelow < 0.0) { normBelow = 0.0; }
|
||
uint8 qBelow = static_cast<uint8>(normBelow * 255.0);
|
||
|
||
/* Value above max */
|
||
float64 rawAbove = 200.0;
|
||
float64 normAbove = (rawAbove - rMin) / rRange;
|
||
if (normAbove > 1.0) { normAbove = 1.0; }
|
||
uint8 qAbove = static_cast<uint8>(normAbove * 255.0);
|
||
|
||
return (qBelow == 0u) && (qAbove == 255u);
|
||
}
|
||
|
||
bool UDPStreamerTest::TestGetPort() {
|
||
using namespace MARTe;
|
||
UDPStreamer ds;
|
||
ConfigurationDatabase cdb;
|
||
cdb.Write("Port", 55000u);
|
||
cdb.CreateRelative("Signals");
|
||
cdb.MoveToRoot();
|
||
bool ok = ds.Initialise(cdb);
|
||
ok &= (ds.GetPort() == 55000u);
|
||
return ok;
|
||
}
|
||
|
||
bool UDPStreamerTest::TestGetMaxPayloadSize() {
|
||
using namespace MARTe;
|
||
UDPStreamer ds;
|
||
ConfigurationDatabase cdb;
|
||
cdb.Write("MaxPayloadSize", 800u);
|
||
cdb.CreateRelative("Signals");
|
||
cdb.MoveToRoot();
|
||
bool ok = ds.Initialise(cdb);
|
||
ok &= (ds.GetMaxPayloadSize() == 800u);
|
||
return ok;
|
||
}
|
||
|
||
bool UDPStreamerTest::TestIsClientConnected_InitiallyFalse() {
|
||
using namespace MARTe;
|
||
UDPStreamer ds;
|
||
return !ds.IsClientConnected();
|
||
}
|
||
|
||
/*---------------------------------------------------------------------------*/
|
||
/* High-frequency packed-signal tests (4 × int16[1000] at 1 MSps) */
|
||
/*---------------------------------------------------------------------------*/
|
||
|
||
/* Reusable signal block for the high-frequency tests.
|
||
* 5 signals:
|
||
* T0 – uint64 scalar (time reference)
|
||
* Ch1-Ch4 – int16[1000], TimeMode = FirstSample, TimeSignal = T0, SR = 1 MSps
|
||
* Wire payload per DATA packet:
|
||
* 8 B (HRT prefix) + 8 B (T0) + 4 × 2000 B (int16[1000]) = 8016 B
|
||
* Fragment count at MaxPayloadSize=1400:
|
||
* chunk = 1400 - 17 = 1383 B → ceil(8016 / 1383) = 6 fragments
|
||
*/
|
||
/* MARTe2 StandardParser uses whitespace/newlines as delimiters.
|
||
* Semicolons are NOT statement separators — they are consumed as part of
|
||
* token values. All inline { key = val; key = val } blocks below have been
|
||
* rewritten to use one key-value pair per line. */
|
||
|
||
#define HF_FUNCTIONS_BLOCK \
|
||
" +Functions = {\n" \
|
||
" Class = ReferenceContainer\n" \
|
||
" +Writer = {\n" \
|
||
" Class = UDPStreamerTestOutputGAM\n" \
|
||
" OutputSignals = {\n" \
|
||
" T0 = {\n" \
|
||
" DataSource = Streamer\n" \
|
||
" Type = uint64\n" \
|
||
" }\n" \
|
||
" Ch1 = {\n" \
|
||
" DataSource = Streamer\n" \
|
||
" Type = int16\n" \
|
||
" NumberOfElements = 1000\n" \
|
||
" }\n" \
|
||
" Ch2 = {\n" \
|
||
" DataSource = Streamer\n" \
|
||
" Type = int16\n" \
|
||
" NumberOfElements = 1000\n" \
|
||
" }\n" \
|
||
" Ch3 = {\n" \
|
||
" DataSource = Streamer\n" \
|
||
" Type = int16\n" \
|
||
" NumberOfElements = 1000\n" \
|
||
" }\n" \
|
||
" Ch4 = {\n" \
|
||
" DataSource = Streamer\n" \
|
||
" Type = int16\n" \
|
||
" NumberOfElements = 1000\n" \
|
||
" }\n" \
|
||
" }\n" \
|
||
" }\n" \
|
||
" }\n"
|
||
|
||
#define HF_SIGNALS_BLOCK \
|
||
" Signals = {\n" \
|
||
" T0 = {\n" \
|
||
" Type = uint64\n" \
|
||
" }\n" \
|
||
" Ch1 = {\n" \
|
||
" Type = int16\n" \
|
||
" NumberOfDimensions = 1\n" \
|
||
" NumberOfElements = 1000\n" \
|
||
" TimeMode = FirstSample\n" \
|
||
" TimeSignal = T0\n" \
|
||
" SamplingRate = 1000000.0\n" \
|
||
" }\n" \
|
||
" Ch2 = {\n" \
|
||
" Type = int16\n" \
|
||
" NumberOfDimensions = 1\n" \
|
||
" NumberOfElements = 1000\n" \
|
||
" TimeMode = FirstSample\n" \
|
||
" TimeSignal = T0\n" \
|
||
" SamplingRate = 1000000.0\n" \
|
||
" }\n" \
|
||
" Ch3 = {\n" \
|
||
" Type = int16\n" \
|
||
" NumberOfDimensions = 1\n" \
|
||
" NumberOfElements = 1000\n" \
|
||
" TimeMode = FirstSample\n" \
|
||
" TimeSignal = T0\n" \
|
||
" SamplingRate = 1000000.0\n" \
|
||
" }\n" \
|
||
" Ch4 = {\n" \
|
||
" Type = int16\n" \
|
||
" NumberOfDimensions = 1\n" \
|
||
" NumberOfElements = 1000\n" \
|
||
" TimeMode = FirstSample\n" \
|
||
" TimeSignal = T0\n" \
|
||
" SamplingRate = 1000000.0\n" \
|
||
" }\n" \
|
||
" }\n"
|
||
|
||
#define HF_TAIL_BLOCK \
|
||
" +Timings = {\n" \
|
||
" Class = TimingDataSource\n" \
|
||
" }\n" \
|
||
" }\n" \
|
||
" +States = {\n" \
|
||
" Class = ReferenceContainer\n" \
|
||
" +State1 = {\n" \
|
||
" Class = RealTimeState\n" \
|
||
" +Threads = {\n" \
|
||
" Class = ReferenceContainer\n" \
|
||
" +Thread1 = {\n" \
|
||
" Class = RealTimeThread\n" \
|
||
" Functions = { Writer }\n" \
|
||
" }\n" \
|
||
" }\n" \
|
||
" }\n" \
|
||
" }\n" \
|
||
" +Scheduler = {\n" \
|
||
" Class = GAMScheduler\n" \
|
||
" TimingDataSource = Timings\n" \
|
||
" }\n" \
|
||
"}\n"
|
||
|
||
static const MARTe::char8 *const HF_CFG_ALLOC =
|
||
"+Test = {\n"
|
||
" Class = RealTimeApplication\n"
|
||
HF_FUNCTIONS_BLOCK
|
||
" +Data = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Streamer = {\n"
|
||
" Class = UDPStreamer\n"
|
||
" Port = 44650\n"
|
||
" MaxPayloadSize = 1400\n"
|
||
HF_SIGNALS_BLOCK
|
||
" }\n"
|
||
HF_TAIL_BLOCK;
|
||
|
||
static const MARTe::char8 *const HF_CFG_FRAG =
|
||
"+Test = {\n"
|
||
" Class = RealTimeApplication\n"
|
||
HF_FUNCTIONS_BLOCK
|
||
" +Data = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Streamer = {\n"
|
||
" Class = UDPStreamer\n"
|
||
" Port = 44651\n"
|
||
" MaxPayloadSize = 1400\n"
|
||
HF_SIGNALS_BLOCK
|
||
" }\n"
|
||
HF_TAIL_BLOCK;
|
||
|
||
static const MARTe::char8 *const HF_CFG_INTEGRITY =
|
||
"+Test = {\n"
|
||
" Class = RealTimeApplication\n"
|
||
HF_FUNCTIONS_BLOCK
|
||
" +Data = {\n"
|
||
" Class = ReferenceContainer\n"
|
||
" +Streamer = {\n"
|
||
" Class = UDPStreamer\n"
|
||
" Port = 44653\n"
|
||
" MaxPayloadSize = 1400\n"
|
||
HF_SIGNALS_BLOCK
|
||
" }\n"
|
||
HF_TAIL_BLOCK;
|
||
|
||
bool UDPStreamerTest::TestHighFrequency_AllocateMemory() {
|
||
using namespace MARTe;
|
||
|
||
ReferenceT<RealTimeApplication> app = LoadApplication(HF_CFG_ALLOC);
|
||
bool ok = app.IsValid();
|
||
ObjectRegistryDatabase::Instance()->Purge();
|
||
return ok;
|
||
}
|
||
|
||
bool UDPStreamerTest::TestHighFrequency_Fragmentation() {
|
||
using namespace MARTe;
|
||
|
||
/* Expected payload size:
|
||
* 8 bytes HRT timestamp prefix
|
||
* + 8 bytes T0 (uint64)
|
||
* + 4 × 1000 × 2 bytes (Ch1-Ch4, int16[1000])
|
||
* = 8016 bytes
|
||
*
|
||
* MaxPayloadSize = 1400 → usable per fragment = 1400 - 17 = 1383 bytes
|
||
* Fragments = ceil(8016 / 1383) = 6
|
||
*/
|
||
static const uint16 EXPECTED_FRAGS = 6u;
|
||
|
||
ReferenceT<RealTimeApplication> app = LoadApplication(HF_CFG_FRAG);
|
||
bool ok = app.IsValid();
|
||
if (ok) {
|
||
ok = (app->PrepareNextState("State1") == MARTe::ErrorManagement::NoError);
|
||
}
|
||
Sleep::MSec(50u);
|
||
|
||
BasicUDPSocket clientSock;
|
||
if (ok) {
|
||
ok = clientSock.Open() && clientSock.Listen(44652u);
|
||
}
|
||
if (ok) {
|
||
bool s = clientSock.Connect("127.0.0.1", 44651u);
|
||
if (s) {
|
||
UDPSPacketHeader connectHdr;
|
||
connectHdr.magic = UDPS_MAGIC;
|
||
connectHdr.type = UDPS_TYPE_CONNECT;
|
||
connectHdr.counter = 0u;
|
||
connectHdr.fragmentIdx = 0u;
|
||
connectHdr.totalFragments = 1u;
|
||
connectHdr.payloadBytes = 0u;
|
||
uint32 sz = static_cast<uint32>(sizeof(UDPSPacketHeader));
|
||
(void) clientSock.Write(reinterpret_cast<const char8 *>(&connectHdr), sz);
|
||
}
|
||
else {
|
||
ok = false;
|
||
}
|
||
}
|
||
|
||
Sleep::MSec(100u);
|
||
|
||
/* Drain CONFIG fragments */
|
||
if (ok) {
|
||
uint8 buf[2048u];
|
||
uint32 sz = static_cast<uint32>(sizeof(buf));
|
||
bool received = true;
|
||
while (received) {
|
||
sz = static_cast<uint32>(sizeof(buf));
|
||
received = clientSock.Read(reinterpret_cast<char8 *>(buf), sz, TimeoutType(50u));
|
||
}
|
||
}
|
||
|
||
/* Trigger one data cycle */
|
||
if (ok) {
|
||
ReferenceT<UDPStreamer> ds = ObjectRegistryDatabase::Instance()->Find("Test.Data.Streamer");
|
||
ok = ds.IsValid() && ds->IsClientConnected();
|
||
if (ok) {
|
||
ok = ds->Synchronise();
|
||
}
|
||
}
|
||
|
||
Sleep::MSec(100u);
|
||
|
||
/* Count DATA fragments */
|
||
uint32 fragmentCount = 0u;
|
||
uint16 reportedTotal = 0u;
|
||
if (ok) {
|
||
bool receiving = true;
|
||
while (receiving) {
|
||
uint8 buf[1500u];
|
||
uint32 sz = static_cast<uint32>(sizeof(buf));
|
||
receiving = clientSock.Read(reinterpret_cast<char8 *>(buf), sz, TimeoutType(50u));
|
||
if (receiving && sz >= static_cast<uint32>(sizeof(UDPSPacketHeader))) {
|
||
const UDPSPacketHeader *hdr =
|
||
reinterpret_cast<const UDPSPacketHeader *>(buf);
|
||
if (hdr->type == UDPS_TYPE_DATA) {
|
||
fragmentCount++;
|
||
reportedTotal = hdr->totalFragments;
|
||
}
|
||
}
|
||
}
|
||
ok = (fragmentCount == static_cast<uint32>(EXPECTED_FRAGS));
|
||
ok &= (reportedTotal == EXPECTED_FRAGS);
|
||
}
|
||
|
||
(void) clientSock.Close();
|
||
ObjectRegistryDatabase::Instance()->Purge();
|
||
return ok;
|
||
}
|
||
|
||
bool UDPStreamerTest::TestHighFrequency_DataIntegrity() {
|
||
using namespace MARTe;
|
||
|
||
/* Reassemble all 6 DATA fragments and verify the total payload is 8016 bytes. */
|
||
static const uint32 EXPECTED_PAYLOAD = 8016u;
|
||
|
||
ReferenceT<RealTimeApplication> app = LoadApplication(HF_CFG_INTEGRITY);
|
||
bool ok = app.IsValid();
|
||
if (ok) {
|
||
ok = (app->PrepareNextState("State1") == MARTe::ErrorManagement::NoError);
|
||
}
|
||
Sleep::MSec(50u);
|
||
|
||
BasicUDPSocket clientSock;
|
||
if (ok) {
|
||
ok = clientSock.Open() && clientSock.Listen(44654u);
|
||
}
|
||
if (ok) {
|
||
bool s = clientSock.Connect("127.0.0.1", 44653u);
|
||
if (s) {
|
||
UDPSPacketHeader connectHdr;
|
||
connectHdr.magic = UDPS_MAGIC;
|
||
connectHdr.type = UDPS_TYPE_CONNECT;
|
||
connectHdr.counter = 0u;
|
||
connectHdr.fragmentIdx = 0u;
|
||
connectHdr.totalFragments = 1u;
|
||
connectHdr.payloadBytes = 0u;
|
||
uint32 sz = static_cast<uint32>(sizeof(UDPSPacketHeader));
|
||
(void) clientSock.Write(reinterpret_cast<const char8 *>(&connectHdr), sz);
|
||
}
|
||
else {
|
||
ok = false;
|
||
}
|
||
}
|
||
|
||
Sleep::MSec(100u);
|
||
|
||
/* Drain CONFIG */
|
||
if (ok) {
|
||
uint8 buf[4096u];
|
||
uint32 sz;
|
||
bool received = true;
|
||
while (received) {
|
||
sz = static_cast<uint32>(sizeof(buf));
|
||
received = clientSock.Read(reinterpret_cast<char8 *>(buf), sz, TimeoutType(50u));
|
||
}
|
||
}
|
||
|
||
/* Trigger data */
|
||
if (ok) {
|
||
ReferenceT<UDPStreamer> ds = ObjectRegistryDatabase::Instance()->Find("Test.Data.Streamer");
|
||
ok = ds.IsValid() && ds->IsClientConnected();
|
||
if (ok) {
|
||
ok = ds->Synchronise();
|
||
}
|
||
}
|
||
|
||
Sleep::MSec(100u);
|
||
|
||
/* Collect and reassemble DATA fragments */
|
||
uint32 reassembledBytes = 0u;
|
||
if (ok) {
|
||
/* Maximum possible payload: 8016 bytes */
|
||
static const uint32 MAX_PAYLOAD = 10000u;
|
||
uint8 assembled[MAX_PAYLOAD];
|
||
(void) MemoryOperationsHelper::Set(assembled, 0, MAX_PAYLOAD);
|
||
|
||
bool receiving = true;
|
||
uint16 totalFrags = 0u;
|
||
uint32 receivedFrags = 0u;
|
||
|
||
while (receiving) {
|
||
uint8 buf[1500u];
|
||
uint32 sz = static_cast<uint32>(sizeof(buf));
|
||
receiving = clientSock.Read(reinterpret_cast<char8 *>(buf), sz, TimeoutType(100u));
|
||
if (!receiving || sz < static_cast<uint32>(sizeof(UDPSPacketHeader))) {
|
||
continue;
|
||
}
|
||
const UDPSPacketHeader *hdr =
|
||
reinterpret_cast<const UDPSPacketHeader *>(buf);
|
||
if (hdr->type != UDPS_TYPE_DATA) {
|
||
continue;
|
||
}
|
||
|
||
totalFrags = hdr->totalFragments;
|
||
receivedFrags++;
|
||
|
||
/* Copy this fragment's payload into the assembly buffer */
|
||
uint32 fragPayload = hdr->payloadBytes;
|
||
uint32 fragOffset = static_cast<uint32>(hdr->fragmentIdx) *
|
||
(1400u - static_cast<uint32>(sizeof(UDPSPacketHeader)));
|
||
if ((fragOffset + fragPayload) <= MAX_PAYLOAD) {
|
||
(void) MemoryOperationsHelper::Copy(
|
||
&assembled[fragOffset],
|
||
buf + sizeof(UDPSPacketHeader),
|
||
fragPayload);
|
||
reassembledBytes += fragPayload;
|
||
}
|
||
}
|
||
|
||
ok = (receivedFrags == static_cast<uint32>(totalFrags));
|
||
ok &= (reassembledBytes == EXPECTED_PAYLOAD);
|
||
}
|
||
|
||
(void) clientSock.Close();
|
||
ObjectRegistryDatabase::Instance()->Purge();
|
||
return ok;
|
||
}
|