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Updated with scheduler

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This commit is contained in:
Martino Ferrari
2026-02-21 20:20:08 +01:00
parent 7cc4b81f05
commit 955eb02924
15 changed files with 664 additions and 102 deletions
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3
Test/Integration/CMakeLists.txt
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@@ -6,3 +6,6 @@ target_link_libraries(TraceTest marte_dev ${MARTe2_LIB})
add_executable(ValidationTest ValidationTest.cpp)
target_link_libraries(ValidationTest marte_dev ${MARTe2_LIB} ${IOGAM_LIB} ${LinuxTimer_LIB})
add_executable(SchedulerTest SchedulerTest.cpp)
target_link_libraries(SchedulerTest marte_dev ${MARTe2_LIB} ${IOGAM_LIB} ${LinuxTimer_LIB})

202
Test/Integration/SchedulerTest.cpp Normal file
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@@ -0,0 +1,202 @@
#include "DebugService.h"
#include "DebugCore.h"
#include "ObjectRegistryDatabase.h"
#include "StandardParser.h"
#include "StreamString.h"
#include "BasicUDPSocket.h"
#include "BasicTCPSocket.h"
#include "RealTimeApplication.h"
#include "GlobalObjectsDatabase.h"
#include "MessageI.h"
#include <assert.h>
#include <stdio.h>
using namespace MARTe;
const char8 * const config_text =
"+DebugService = {"
" Class = DebugService "
" ControlPort = 8080 "
" UdpPort = 8081 "
" StreamIP = \"127.0.0.1\" "
"}"
"+App = {"
" Class = RealTimeApplication "
" +Functions = {"
" Class = ReferenceContainer "
" +GAM1 = {"
" Class = IOGAM "
" InputSignals = {"
" Counter = {"
" DataSource = Timer "
" Type = uint32 "
" }"
" }"
" OutputSignals = {"
" Counter = {"
" DataSource = DDB "
" Type = uint32 "
" }"
" }"
" }"
" }"
" +Data = {"
" Class = ReferenceContainer "
" DefaultDataSource = DDB "
" +Timer = {"
" Class = LinuxTimer "
" SleepTime = 100000 " // 100ms
" Signals = {"
" Counter = { Type = uint32 }"
" }"
" }"
" +DDB = {"
" Class = GAMDataSource "
" Signals = { Counter = { Type = uint32 } }"
" }"
" +DAMS = { Class = TimingDataSource }"
" }"
" +States = {"
" Class = ReferenceContainer "
" +State1 = {"
" Class = RealTimeState "
" +Threads = {"
" Class = ReferenceContainer "
" +Thread1 = {"
" Class = RealTimeThread "
" Functions = {GAM1} "
" }"
" }"
" }"
" }"
" +Scheduler = {"
" Class = FastScheduler "
" TimingDataSource = DAMS "
" }"
"}";
void TestSchedulerControl() {
printf("--- MARTe2 Scheduler Control Test ---\n");
ConfigurationDatabase cdb;
StreamString ss = config_text;
ss.Seek(0);
StandardParser parser(ss, cdb);
assert(parser.Parse());
assert(ObjectRegistryDatabase::Instance()->Initialise(cdb));
ReferenceT<DebugService> service = ObjectRegistryDatabase::Instance()->Find("DebugService");
assert(service.IsValid());
ReferenceT<RealTimeApplication> app = ObjectRegistryDatabase::Instance()->Find("App");
assert(app.IsValid());
if (app->PrepareNextState("State1") != ErrorManagement::NoError) {
printf("ERROR: Failed to prepare State1\n");
return;
}
if (app->StartNextStateExecution() != ErrorManagement::NoError) {
printf("ERROR: Failed to start execution\n");
return;
}
printf("Application started. Waiting for cycles...\n");
Sleep::MSec(1000);
// Enable Trace First
{
BasicTCPSocket tClient;
if (tClient.Connect("127.0.0.1", 8080)) {
const char* cmd = "TRACE Root.App.Data.Timer.Counter 1\n";
uint32 s = StringHelper::Length(cmd);
tClient.Write(cmd, s);
tClient.Close();
} else {
printf("WARNING: Could not connect to DebugService to enable trace.\n");
}
}
BasicUDPSocket listener;
listener.Open();
listener.Listen(8081);
// Read current value
uint32 valBeforePause = 0;
char buffer[2048];
uint32 size = 2048;
TimeoutType timeout(500);
if (listener.Read(buffer, size, timeout)) {
// [Header][ID][Size][Value]
valBeforePause = *(uint32*)(&buffer[28]);
printf("Value before/at pause: %u\n", valBeforePause);
} else {
printf("WARNING: No data received before pause.\n");
}
// Send PAUSE
printf("Sending PAUSE command...\n");
BasicTCPSocket client;
if (client.Connect("127.0.0.1", 8080)) {
const char* cmd = "PAUSE\n";
uint32 s = StringHelper::Length(cmd);
client.Write(cmd, s);
client.Close();
} else {
printf("ERROR: Could not connect to DebugService to send PAUSE.\n");
}
Sleep::MSec(2000); // Wait 2 seconds
// Read again - should be same or very close if paused
uint32 valAfterWait = 0;
size = 2048; // Reset size
while(listener.Read(buffer, size, TimeoutType(10))) {
valAfterWait = *(uint32*)(&buffer[28]);
size = 2048;
}
printf("Value after 2s wait (drained): %u\n", valAfterWait);
// Check if truly paused
if (valAfterWait > valBeforePause + 5) {
printf("FAILURE: Counter increased significantly while paused! (%u -> %u)\n", valBeforePause, valAfterWait);
} else {
printf("SUCCESS: Counter held steady (or close) during pause.\n");
}
// Resume
printf("Sending RESUME command...\n");
{
BasicTCPSocket rClient;
if (rClient.Connect("127.0.0.1", 8080)) {
const char* cmd = "RESUME\n";
uint32 s = StringHelper::Length(cmd);
rClient.Write(cmd, s);
rClient.Close();
}
}
Sleep::MSec(1000);
// Check if increasing
uint32 valAfterResume = 0;
size = 2048;
if (listener.Read(buffer, size, timeout)) {
valAfterResume = *(uint32*)(&buffer[28]);
printf("Value after resume: %u\n", valAfterResume);
}
if (valAfterResume > valAfterWait) {
printf("SUCCESS: Execution resumed.\n");
} else {
printf("FAILURE: Execution did not resume.\n");
}
app->StopCurrentStateExecution();
}
int main() {
TestSchedulerControl();
return 0;
}

83
Test/Integration/ValidationTest.cpp
View File

@@ -6,6 +6,7 @@
#include "BasicUDPSocket.h"
#include "BasicTCPSocket.h"
#include "RealTimeApplication.h"
#include "GlobalObjectsDatabase.h"
#include <assert.h>
#include <stdio.h>
@@ -28,6 +29,7 @@ const char8 * const config_text =
" Counter = {"
" DataSource = Timer "
" Type = uint32 "
" Frequency = 100 "
" }"
" }"
" OutputSignals = {"
@@ -46,6 +48,7 @@ const char8 * const config_text =
" SleepTime = 10000 "
" Signals = {"
" Counter = { Type = uint32 }"
" Time = { Type = uint32 }"
" }"
" }"
" +DDB = {"
@@ -76,7 +79,8 @@ const char8 * const config_text =
void RunValidationTest() {
printf("--- MARTe2 100Hz Trace Validation Test ---\n");
// 1. Load Configuration
ObjectRegistryDatabase::Instance()->Purge();
ConfigurationDatabase cdb;
StreamString ss = config_text;
ss.Seek(0);
@@ -91,66 +95,70 @@ void RunValidationTest() {
return;
}
// 2. Start Application
ReferenceT<DebugService> service = ObjectRegistryDatabase::Instance()->Find("DebugService");
if (!service.IsValid()) {
printf("ERROR: DebugService not found\n");
return;
}
ReferenceT<RealTimeApplication> app = ObjectRegistryDatabase::Instance()->Find("App");
if (!app.IsValid()) {
printf("ERROR: App not found\n");
return;
}
// We try to use State1 directly as many MARTe2 apps start in the first defined state if no transition is needed
if (!app->ConfigureApplication()) {
printf("ERROR: Failed to configure application\n");
return;
}
if (app->PrepareNextState("State1") != ErrorManagement::NoError) {
printf("ERROR: Failed to prepare state State1\n");
// We will try to investigate why, but for now we continue
return;
}
if (app->StartNextStateExecution() != ErrorManagement::NoError) {
printf("ERROR: Failed to start execution. Maybe it needs an explicit state?\n");
// return;
printf("ERROR: Failed to start execution\n");
return;
}
printf("Application started at 100Hz.\n");
printf("Application and DebugService are active.\n");
Sleep::MSec(1000);
// 3. Enable Trace via TCP (Simulating GUI)
BasicTCPSocket client;
if (client.Connect("127.0.0.1", 8080)) {
const char* cmd = "TRACE Root.App.Data.Timer.Counter 1\n";
uint32 s = StringHelper::Length(cmd);
client.Write(cmd, s);
char resp[1024]; s = 1024;
TimeoutType timeout(1000);
if (client.Read(resp, s, timeout)) {
resp[s] = '\0';
printf("Server Response: %s", resp);
} else {
printf("WARNING: No response from server to TRACE command.\n");
}
client.Close();
} else {
printf("ERROR: Failed to connect to DebugService on 8080\n");
// continue anyway to see if it's already working
}
// DIRECT ACTIVATION: Use the public TraceSignal method
printf("Activating trace directly...\n");
// We try multiple potential paths to be safe
uint32 traceCount = 0;
traceCount += service->TraceSignal("App.Data.Timer.Counter", true, 1);
traceCount += service->TraceSignal("Timer.Counter", true, 1);
traceCount += service->TraceSignal("Counter", true, 1);
printf("Trace enabled (Matched Aliases: %u)\n", traceCount);
// 4. Setup UDP Listener
BasicUDPSocket listener;
if (!listener.Open()) { printf("ERROR: Failed to open UDP socket\n"); return; }
if (!listener.Listen(8081)) { printf("ERROR: Failed to listen on UDP 8081\n"); return; }
// 5. Validate for 30 seconds
printf("Validating telemetry for 30 seconds...\n");
// 5. Validate for 10 seconds
printf("Validating telemetry for 10 seconds...\n");
uint32 lastVal = 0;
bool first = true;
uint32 packetCount = 0;
uint32 discontinuityCount = 0;
float64 startTime = HighResolutionTimer::Counter() * HighResolutionTimer::Period();
float64 globalTimeout = startTime + 30.0;
while ((HighResolutionTimer::Counter() * HighResolutionTimer::Period() - startTime) < 30.0) {
while ((HighResolutionTimer::Counter() * HighResolutionTimer::Period() - startTime) < 10.0) {
if (HighResolutionTimer::Counter() * HighResolutionTimer::Period() > globalTimeout) {
printf("CRITICAL ERROR: Global test timeout reached.\n");
break;
}
char buffer[2048];
uint32 size = 2048;
TimeoutType timeout(500);
TimeoutType timeout(200);
if (listener.Read(buffer, size, timeout)) {
TraceHeader *h = (TraceHeader*)buffer;
@@ -168,7 +176,7 @@ void RunValidationTest() {
first = false;
packetCount++;
if (packetCount % 500 == 0) {
if (packetCount % 200 == 0) {
printf("Received %u packets... Current Value: %u\n", packetCount, val);
}
}
@@ -176,17 +184,17 @@ void RunValidationTest() {
}
printf("Test Finished.\n");
printf("Total Packets Received: %u (Expected ~3000)\n", packetCount);
printf("Total Packets Received: %u (Expected ~1000)\n", packetCount);
printf("Discontinuities: %u\n", discontinuityCount);
float64 actualFreq = (float64)packetCount / 30.0;
float64 actualFreq = (float64)packetCount / 10.0;
printf("Average Frequency: %.2f Hz\n", actualFreq);
if (packetCount < 100) {
printf("FAILURE: Almost no packets received. Telemetry is broken.\n");
} else if (packetCount < 2500) {
printf("WARNING: Too few packets received (Expected 3000, Got %u).\n", packetCount);
} else if (discontinuityCount > 100) {
} else if (packetCount < 800) {
printf("WARNING: Too few packets received (Expected 1000, Got %u).\n", packetCount);
} else if (discontinuityCount > 20) {
printf("FAILURE: Too many discontinuities (%u).\n", discontinuityCount);
} else {
printf("VALIDATION SUCCESSFUL!\n");
@@ -194,6 +202,7 @@ void RunValidationTest() {
app->StopCurrentStateExecution();
listener.Close();
ObjectRegistryDatabase::Instance()->Purge();
}
int main() {