Fixed issues with config and tracing

Source/Components/Interfaces/DebugService/DebugBrokerWrapper.h

@@ -26,6 +26,30 @@
 
 namespace MARTe {
 
+// Recursive search for any object with a given name anywhere in the registry.
+// Used to find GAMs regardless of nesting level.
+static Reference FindByNameRecursive(ReferenceContainer *container,
+                                     const char8 *name) {
+  if (container == NULL_PTR(ReferenceContainer *))
+    return Reference();
+  uint32 n = container->Size();
+  for (uint32 i = 0; i < n; i++) {
+    Reference child = container->Get(i);
+    if (!child.IsValid())
+      continue;
+    if (StringHelper::Compare(child->GetName(), name) == 0)
+      return child;
+    ReferenceContainer *sub =
+        dynamic_cast<ReferenceContainer *>(child.operator->());
+    if (sub != NULL_PTR(ReferenceContainer *)) {
+      Reference found = FindByNameRecursive(sub, name);
+      if (found.IsValid())
+        return found;
+    }
+  }
+  return Reference();
+}
+
 /**
  * @brief Helper for optimized signal processing within brokers.
  */
@@ -126,21 +150,14 @@ public:
               (direction == InputSignals) ? "InputSignals" : "OutputSignals";
           const char8 *dirStrShort = (direction == InputSignals) ? "In" : "Out";
 
-          // Try to find the GAM with different path variations
+          // Search recursively through the entire registry for the GAM by name.
+          // Direct Find("GAM1") only checks top-level; the GAM may be nested
+          // several levels deep inside a RealTimeApplication container.
           Reference gamRef =
-              ObjectRegistryDatabase::Instance()->Find(functionName);
+              FindByNameRecursive(ObjectRegistryDatabase::Instance(),
-          if (!gamRef.IsValid()) {
+                                  functionName);
-            // Try with "App.Functions." prefix
+          fprintf(stderr, ">> GAM lookup '%s': %s\n", functionName,
-            StreamString tryPath;
+                  gamRef.IsValid() ? "FOUND" : "NOT FOUND");
-            tryPath.Printf("App.Functions.%s", functionName);
-            gamRef = ObjectRegistryDatabase::Instance()->Find(tryPath.Buffer());
-          }
-          if (!gamRef.IsValid()) {
-            // Try with "Functions." prefix
-            StreamString tryPath;
-            tryPath.Printf("Functions.%s", functionName);
-            gamRef = ObjectRegistryDatabase::Instance()->Find(tryPath.Buffer());
-          }
 
           if (gamRef.IsValid()) {
             StreamString absGamPath;

Source/Components/Interfaces/DebugService/DebugService.cpp

@@ -93,6 +93,7 @@ DebugService::DebugService()
   isServer = false;
   suppressTimeoutLogs = true;
   isPaused = false;
+  manualConfigSet = false;
   activeClient = NULL_PTR(BasicTCPSocket *);
 }
 
@@ -157,18 +158,10 @@ bool DebugService::Initialise(StructuredDataI &data) {
     suppressTimeoutLogs = (suppress == 1);
   }
 
-  // Try to capture full configuration autonomously if data is a
+  // Do NOT call MoveToRoot() on the shared CDB here — that corrupts the
-  // ConfigurationDatabase
+  // ReferenceContainer::Initialise() traversal cursor for sibling objects.
-  ConfigurationDatabase *cdb = dynamic_cast<ConfigurationDatabase *>(&data);
+  // Just capture the local subtree; full config is rebuilt lazily from the
-  if (cdb != NULL_PTR(ConfigurationDatabase *)) {
+  // live ObjectRegistryDatabase when ServeConfig/EnrichWithConfig is called.
-    // Save current position
-    StreamString currentPath;
-    // In MARTe2 ConfigurationDatabase there isn't a direct GetCurrentPath,
-    // but we can at least try to copy from root if we are at root.
-    // For now, we rely on explicit SetFullConfig or documentary injection.
-  }
-
-  // Copy local branch as fallback
   (void)data.Copy(fullConfig);
 
   if (isServer) {
@@ -196,6 +189,50 @@ bool DebugService::Initialise(StructuredDataI &data) {
 void DebugService::SetFullConfig(ConfigurationDatabase &config) {
   config.MoveToRoot();
   config.Copy(fullConfig);
+  manualConfigSet = true;
+}
+
+static void BuildCDBFromContainer(ReferenceContainer *container,
+                                  ConfigurationDatabase &cdb) {
+  if (container == NULL_PTR(ReferenceContainer *))
+    return;
+  uint32 n = container->Size();
+  for (uint32 i = 0u; i < n; i++) {
+    Reference child = container->Get(i);
+    if (!child.IsValid())
+      continue;
+    const char8 *name = child->GetName();
+    if (name == NULL_PTR(const char8 *))
+      continue;
+
+    bool created = cdb.CreateRelative(name);
+    if (!created) {
+      if (!cdb.MoveRelative(name))
+        continue;
+    }
+
+    const char8 *className = child->GetClassProperties()->GetName();
+    if (className != NULL_PTR(const char8 *))
+      (void)cdb.Write("Class", className);
+
+    // Export the object's own properties (standard fields, parameters).
+    // Custom config-file-only fields (PVName etc.) are not available here.
+    (void)child->ExportData(cdb);
+
+    ReferenceContainer *sub =
+        dynamic_cast<ReferenceContainer *>(child.operator->());
+    if (sub != NULL_PTR(ReferenceContainer *))
+      BuildCDBFromContainer(sub, cdb);
+
+    (void)cdb.MoveToAncestor(1u);
+  }
+}
+
+void DebugService::RebuildConfigFromRegistry() {
+  ConfigurationDatabase newConfig;
+  BuildCDBFromContainer(ObjectRegistryDatabase::Instance(), newConfig);
+  newConfig.MoveToRoot();
+  newConfig.Copy(fullConfig);
 }
 
 static void PatchItemInternal(const char8 *originalName,
@@ -247,7 +284,7 @@ DebugSignalInfo *DebugService::RegisterSignal(void *memoryAddress,
                                               const char8 *name,
                                               uint8 numberOfDimensions,
                                               uint32 numberOfElements) {
-  printf("<debug> registering: %s\n", name);
+  fprintf(stderr, "<debug> RegisterSignal[%p]: %s\n", (void*)this, name);
   mutex.FastLock();
   DebugSignalInfo *res = NULL_PTR(DebugSignalInfo *);
   uint32 sigIdx = 0xFFFFFFFF;
@@ -785,8 +822,13 @@ void DebugService::HandleCommand(StreamString cmd, BasicTCPSocket *client) {
 void DebugService::EnrichWithConfig(const char8 *path, StreamString &json) {
   if (path == NULL_PTR(const char8 *))
     return;
+  if (!manualConfigSet) {
+    RebuildConfigFromRegistry();
+  }
   fullConfig.MoveToRoot();
 
+  fprintf(stderr, "[EnrichWithConfig] path=%s\n", path);
+
   const char8 *current = path;
   bool ok = true;
   while (ok) {
@@ -801,29 +843,49 @@ void DebugService::EnrichWithConfig(const char8 *path, StreamString &json) {
       ok = false;
     }
 
-    if (fullConfig.MoveRelative(part.Buffer())) {
+    // Normalise short direction names to both forms so we search consistently.
-      // Found exact
+    // Paths use "In"/"Out" (alias convention); CDBs may store either form.
-    } else {
     bool found = false;
+
+    // 1. Try exact match (bare name - rebuilt-from-registry CDBs use this)
+    if (fullConfig.MoveRelative(part.Buffer())) {
+      fprintf(stderr, "[EnrichWithConfig] nav exact '%s' OK\n", part.Buffer());
+      found = true;
+    }
+
+    // 2. Try +name (raw config-file CDBs prefix nodes with '+')
+    if (!found) {
+      StreamString prefixed;
+      prefixed.Printf("+%s", part.Buffer());
+      if (fullConfig.MoveRelative(prefixed.Buffer())) {
+        fprintf(stderr, "[EnrichWithConfig] nav prefixed '%s' OK\n", prefixed.Buffer());
+        found = true;
+      }
+    }
+
+    // 3. Expand short direction aliases: In -> InputSignals / Out -> OutputSignals
+    if (!found) {
       if (part == "In") {
         if (fullConfig.MoveRelative("InputSignals")) {
+          fprintf(stderr, "[EnrichWithConfig] nav 'In'->InputSignals OK\n");
+          found = true;
+        } else if (fullConfig.MoveRelative("+InputSignals")) {
+          fprintf(stderr, "[EnrichWithConfig] nav 'In'->+InputSignals OK\n");
           found = true;
         }
       } else if (part == "Out") {
         if (fullConfig.MoveRelative("OutputSignals")) {
           found = true;
+        } else if (fullConfig.MoveRelative("+OutputSignals")) {
+          found = true;
+        }
       }
     }
 
     if (!found) {
-        StreamString prefixed;
+      fprintf(stderr, "[EnrichWithConfig] FAILED at part '%s'\n", part.Buffer());
-        prefixed.Printf("+%s", part.Buffer());
+      fullConfig.MoveToRoot();
-        if (fullConfig.MoveRelative(prefixed.Buffer())) {
+      return;
-          // Found prefixed
-        } else {
-          return; // Not found
-        }
-      }
     }
   }
 
@@ -886,6 +948,14 @@ void DebugService::JsonifyDatabase(ConfigurationDatabase &db,
 void DebugService::ServeConfig(BasicTCPSocket *client) {
   if (client == NULL_PTR(BasicTCPSocket *))
     return;
+
+  // If no manual config was injected (test case), rebuild from the live registry.
+  // In production, Initialise() only captures the DebugService subtree (to avoid
+  // corrupting the shared CDB cursor), so we always need to rebuild here.
+  if (!manualConfigSet) {
+    RebuildConfigFromRegistry();
+  }
+
   StreamString json;
   fullConfig.MoveToRoot();
   JsonifyDatabase(fullConfig, json);
@@ -930,6 +1000,7 @@ void DebugService::InfoNode(const char8 *path, BasicTCPSocket *client) {
     }
     EnrichWithConfig(path, json);
   } else {
+    StreamString enrichAlias;
     mutex.FastLock();
     bool found = false;
     for (uint32 i = 0; i < aliases.Size(); i++) {
@@ -941,13 +1012,21 @@ void DebugService::InfoNode(const char8 *path, BasicTCPSocket *client) {
         json.Printf("\"Name\": \"%s\", \"Class\": \"Signal\", \"Type\": "
                     "\"%s\", \"ID\": %d",
                     s->name.Buffer(), tname ? tname : "Unknown", s->internalID);
-        EnrichWithConfig(aliases[i].name.Buffer(), json);
+        enrichAlias = aliases[i].name;
         found = true;
         break;
       }
     }
+    if (!found) {
+      fprintf(stderr, "[InfoNode][%p] signal '%s' NOT found in %u aliases:\n", (void*)this, path, (uint32)aliases.Size());
+      for (uint32 i = 0; i < aliases.Size(); i++) {
+        fprintf(stderr, "  alias[%u] = '%s'\n", i, aliases[i].name.Buffer());
+      }
+    }
     mutex.FastUnLock();
-    if (!found)
+    if (found)
+      EnrichWithConfig(enrichAlias.Buffer(), json);
+    else
       json += "\"Error\": \"Object not found\"";
   }
   json += "}\nOK INFO\n";

Source/Components/Interfaces/DebugService/DebugService.h

@@ -74,6 +74,7 @@ public:
   void ListNodes(const char8 *path, BasicTCPSocket *client);
   void ServeConfig(BasicTCPSocket *client);
   void SetFullConfig(ConfigurationDatabase &config);
+  void RebuildConfigFromRegistry();
 
   struct MonitoredSignal {
     ReferenceT<DataSourceI> dataSource;
@@ -150,6 +151,7 @@ private:
   BasicTCPSocket *activeClient;
 
   ConfigurationDatabase fullConfig;
+  bool manualConfigSet;
 
   static DebugService *instance;
 };

Test/Integration/IntegrationTests.cpp

@@ -80,7 +80,7 @@ int main() {
   Sleep::MSec(1000);
 
   printf("\n--- Test 5: Config & Metadata Enrichment ---\n");
-  // TestConfigCommands(); // Skipping for now
+  TestConfigCommands();
   Sleep::MSec(1000);
 
   printf("\n--- Test 6: TREE Command Enhancement ---\n");

run_debug_app.sh

@@ -11,13 +11,16 @@ fi
 
 # 2. Paths
 MARTE_EX="${MARTe2_DIR}/Build/${TARGET}/App/MARTeApp.ex"
-DEBUG_LIB="$(pwd)/Build/libmarte_dev.so"
+BUILD_DIR="$(pwd)/Build/${TARGET}"
+
+# Our plugin libraries
+DEBUG_LIB="${BUILD_DIR}/Components/Interfaces/DebugService/libDebugService.so"
+TCPLOGGER_LIB="${BUILD_DIR}/Components/Interfaces/TCPLogger/libTcpLogger.so"
 
 # Component library base search path
 COMPONENTS_BUILD_DIR="${MARTe2_Components_DIR}/Build/${TARGET}/Components"
 
-# DYNAMICALLY FIND ALL COMPONENT DIRS
+# DYNAMICALLY FIND ALL COMPONENT DIRS and add to LD_LIBRARY_PATH
-# MARTe2 Loader needs the specific directories containing .so files in LD_LIBRARY_PATH
 ALL_COMPONENT_DIRS=$(find "$COMPONENTS_BUILD_DIR" -type d)
 for dir in $ALL_COMPONENT_DIRS; do
     if ls "$dir"/*.so >/dev/null 2>&1; then
@@ -26,15 +29,39 @@ for dir in $ALL_COMPONENT_DIRS; do
 done
 
 # Ensure our build dir and core dir are included
-export LD_LIBRARY_PATH="$(pwd)/Build:${MARTe2_DIR}/Build/${TARGET}/Core:${LD_LIBRARY_PATH}"
+export LD_LIBRARY_PATH="${BUILD_DIR}/Components/Interfaces/DebugService:${BUILD_DIR}/Components/Interfaces/TCPLogger:${MARTe2_DIR}/Build/${TARGET}/Core:${LD_LIBRARY_PATH}"
 
 # 3. Cleanup
 echo "Cleaning up lingering processes..."
 pkill -9 MARTeApp.ex
 sleep 1
 
-# 4. Launch Application
+# 4. Validate libraries exist
+for lib in "$DEBUG_LIB" "$TCPLOGGER_LIB"; do
+    if [ ! -f "$lib" ]; then
+        echo "ERROR: Library not found: $lib"
+        echo "Run: make -f Makefile.gcc core"
+        exit 1
+    fi
+done
+
+# 5. Launch Application
 echo "Launching standard MARTeApp.ex with debug_test.cfg..."
-# PRELOAD ensures our DebugService class is available to the registry early
+# LD_PRELOAD ensures our classes are registered before the config is parsed.
-export LD_PRELOAD="${DEBUG_LIB}"
+# MARTeApp.ex does not use dlopen for plugins — preloading is the standard approach.
+# All required component .so files are collected via the find loop into LD_PRELOAD too.
+PRELOAD_LIBS="${DEBUG_LIB}:${TCPLOGGER_LIB}"
+
+# Collect any additional component .so files referenced by the config
+for lib in \
+    "${COMPONENTS_BUILD_DIR}/DataSources/RealTimeThreadSynchronisation/RealTimeThreadSynchronisation.so" \
+    "${COMPONENTS_BUILD_DIR}/DataSources/LinuxTimer/LinuxTimer.so" \
+    "${COMPONENTS_BUILD_DIR}/DataSources/LoggerDataSource/LoggerDataSource.so" \
+    "${COMPONENTS_BUILD_DIR}/GAMs/IOGAM/IOGAM.so"; do
+    if [ -f "$lib" ]; then
+        PRELOAD_LIBS="${PRELOAD_LIBS}:${lib}"
+    fi
+done
+
+export LD_PRELOAD="${PRELOAD_LIBS}"
 "$MARTE_EX" -f Test/Configurations/debug_test.cfg -l RealTimeLoader -s State1