Working on experimental features

2026-03-24 21:16:24 +01:00
parent 7adbecdb6e
commit e2f47d7410
12 changed files with 2029 additions and 2157 deletions
@@ -1,9 +1,11 @@
 #ifndef DEBUGBROKERWRAPPER_H
 #define DEBUGBROKERWRAPPER_H

+#include "AdvancedErrorManagement.h"
 #include "BrokerI.h"
 #include "DataSourceI.h"
 #include "DebugService.h"
+#include "ErrorType.h"
 #include "FastPollingMutexSem.h"
 #include "HighResolutionTimer.h"
 #include "MemoryMapBroker.h"
@@ -23,6 +25,7 @@
 #include "MemoryMapSynchronisedMultiBufferInputBroker.h"
 #include "MemoryMapSynchronisedMultiBufferOutputBroker.h"
 #include "MemoryMapSynchronisedOutputBroker.h"
+#include "RealTimeThreadSynchBroker.h"

 namespace MARTe {

@@ -86,12 +89,11 @@ public:

      StreamString dsPath;
      DebugService::GetFullObjectName(dataSourceIn, dsPath);
-      fprintf(stderr, ">> %s broker for %s [%d]\n",
-              direction == InputSignals ? "Input" : "Output", dsPath.Buffer(),
-              numCopies);
      MemoryMapBroker *mmb = dynamic_cast<MemoryMapBroker *>(broker);
      if (mmb == NULL_PTR(MemoryMapBroker *)) {
-        fprintf(stderr, ">> Impossible to get broker pointer!!\n");
+        REPORT_ERROR_STATIC(ErrorManagement::Warning,
+                            "Impossible to get broker pointer for %s!!\n",
+                            dsPath.Buffer());
      }

      for (uint32 i = 0; i < numCopies; i++) {
@@ -106,8 +108,8 @@ public:
        StreamString signalName;
        if (!dataSourceIn.GetSignalName(dsIdx, signalName))
          signalName = "Unknown";
-        fprintf(stderr, ">> registering %s.%s [%p]\n", dsPath.Buffer(),
-                signalName.Buffer(), mmb);
+        REPORT_ERROR_STATIC(ErrorManagement::Debug, "Registering %s.%s [%p]\n",
+                            dsPath.Buffer(), signalName.Buffer(), mmb);

        uint8 dims = 0;
        uint32 elems = 1;
@@ -148,18 +150,18 @@ public:
            // Register short path (In/Out) for GUI compatibility
            gamFullName.Printf("%s.%s.%s", absGamPath.Buffer(), dirStrShort,
                               signalName.Buffer());
-            signalInfoPointers[i] =
-                service->RegisterSignal(addr, type, gamFullName.Buffer(), dims, elems);
+            signalInfoPointers[i] = service->RegisterSignal(
+                addr, type, gamFullName.Buffer(), dims, elems);
          } else {
            // Fallback to short form
            gamFullName.Printf("%s.%s.%s", functionName, dirStrShort,
                               signalName.Buffer());
-            signalInfoPointers[i] =
-                service->RegisterSignal(addr, type, gamFullName.Buffer(), dims, elems);
+            signalInfoPointers[i] = service->RegisterSignal(
+                addr, type, gamFullName.Buffer(), dims, elems);
          }
        } else {
-          signalInfoPointers[i] =
-              service->RegisterSignal(addr, type, dsFullName.Buffer(), dims, elems);
+          signalInfoPointers[i] = service->RegisterSignal(
+              addr, type, dsFullName.Buffer(), dims, elems);
        }
      }

@@ -199,7 +201,7 @@ public:
  virtual bool Init(SignalDirection direction, DataSourceI &ds,
                    const char8 *const name, void *gamMem) {
    bool ret = BaseClass::Init(direction, ds, name, gamMem);
-    fprintf(stderr, ">> INIT BROKER %s %s\n", name,
+    REPORT_ERROR_STATIC(ErrorManagement::Debug, "INIT BROKER %s %s\n", name,
                        direction == InputSignals ? "In" : "Out");
    if (ret) {
      numSignals = this->GetNumberOfCopies();
@@ -214,8 +216,8 @@ public:
  virtual bool Init(SignalDirection direction, DataSourceI &ds,
                    const char8 *const name, void *gamMem, const bool optim) {
    bool ret = BaseClass::Init(direction, ds, name, gamMem, false);
-    fprintf(stderr, ">> INIT optimized BROKER %s %s\n", name,
-            direction == InputSignals ? "In" : "Out");
+    REPORT_ERROR_STATIC(ErrorManagement::Debug, "INIT optimized BROKER %s %s\n",
+                        name, direction == InputSignals ? "In" : "Out");
    if (ret) {
      numSignals = this->GetNumberOfCopies();
      DebugBrokerHelper::InitSignals(this, ds, service, signalInfoPointers,
@@ -403,6 +405,55 @@ typedef DebugBrokerWrapper<MemoryMapSynchronisedMultiBufferOutputBroker>
    DebugMemoryMapSynchronisedMultiBufferOutputBroker;
 // LCOV_EXCL_STOP

+/**
+ * @brief Specialized wrapper for RealTimeThreadSynchBroker.
+ * @details The RealTimeThreadSynchBroker copies data in AddSample() which is
+ * called from the DataSource thread, not from Execute(). We trace signals
+ * in Execute() after the data has been safely copied.
+ */
+class DebugRealTimeThreadSyncBroker : public RealTimeThreadSynchBroker {
+public:
+  DebugRealTimeThreadSyncBroker() : RealTimeThreadSynchBroker() {
+    service = NULL_PTR(DebugService *);
+    signalInfoPointers = NULL_PTR(DebugSignalInfo **);
+    numSignals = 0;
+    anyActive = false;
+  }
+  virtual ~DebugRealTimeThreadSyncBroker() {
+    if (signalInfoPointers)
+      delete[] signalInfoPointers;
+  }
+  virtual bool Execute() {
+    bool ret = RealTimeThreadSynchBroker::Execute();
+    // Trace after data has been safely copied by AddSample
+    if (ret && (anyActive || (service && service->IsPaused()))) {
+      DebugBrokerHelper::Process(service, signalInfoPointers, activeIndices,
+                                 activeSizes, activeMutex);
+    }
+    return ret;
+  }
+  virtual bool Init(SignalDirection direction, DataSourceI &ds,
+                    const char8 *const name, void *gamMem) {
+    bool ret = RealTimeThreadSynchBroker::Init(direction, ds, name, gamMem);
+    if (ret) {
+      numSignals = this->GetNumberOfCopies();
+      DebugBrokerHelper::InitSignals(this, ds, service, signalInfoPointers,
+                                     numSignals, this->copyTable, name,
+                                     direction, &anyActive, &activeIndices,
+                                     &activeSizes, &activeMutex);
+    }
+    return ret;
+  }
+  DebugService *service;
+  DebugSignalInfo **signalInfoPointers;
+  uint32 numSignals;
+  volatile bool anyActive;
+  Vec<uint32> activeIndices;
+  Vec<uint32> activeSizes;
+  FastPollingMutexSem activeMutex;
+};
+// LCOV_EXCL_START
+
 typedef DebugBrokerBuilder<DebugMemoryMapInputBroker>
    DebugMemoryMapInputBrokerBuilder;
 // LCOV_EXCL_START
@@ -426,6 +477,8 @@ typedef DebugBrokerBuilder<DebugMemoryMapAsyncOutputBroker>
    DebugMemoryMapAsyncOutputBrokerBuilder;
 typedef DebugBrokerBuilder<DebugMemoryMapAsyncTriggerOutputBroker>
    DebugMemoryMapAsyncTriggerOutputBrokerBuilder;
+typedef DebugBrokerBuilder<DebugRealTimeThreadSyncBroker>
+    DebugRealTimeThreadSyncBrokerBuilder;
 // LCOV_EXCL_STOP

 } // namespace MARTe
@@ -1,22 +1,47 @@
+#include "AdvancedErrorManagement.h"
+#include "AnyType.h"
 #include "BasicTCPSocket.h"
 #include "ClassRegistryItem.h"
 #include "ConfigurationDatabase.h"
 #include "DataSourceI.h"
 #include "DebugBrokerWrapper.h"
 #include "DebugService.h"
+#include "ErrorType.h"
 #include "GAM.h"
 #include "GlobalObjectsDatabase.h"
 #include "HighResolutionTimer.h"
+#include "Matrix.h"
 #include "Message.h"
 #include "ObjectBuilder.h"
 #include "ObjectRegistryDatabase.h"
+#include "RealTimeApplication.h"
+#include "ReferenceT.h"
+#include "StateMachine.h"
 #include "StreamString.h"
 #include "TimeoutType.h"
 #include "TypeConversion.h"
-#include "ReferenceT.h"
+#include "TypeDescriptor.h"

 namespace MARTe {

+// Proxy to access private members of RealTimeApplication
+class RealTimeApplicationProxy : public ReferenceContainer {
+public:
+  // ReferenceContainer members
+  LinkedListHolderT<ReferenceContainerNode> list;
+  FastPollingMutexSem mux;
+  TimeoutType muxTimeout;
+
+  // MessageI members (approximate alignment)
+  void *messageI_vtable;
+  uint8 messageFilters_padding[sizeof(
+      ReferenceContainer)]; // MessageFilterPool is a ReferenceContainer
+
+  // RealTimeApplication members
+  StreamString stateNameHolder[2];
+  uint32 index;
+};
+
 DebugService *DebugService::instance = (DebugService *)0;

 static void EscapeJson(const char8 *src, StreamString &dst) {
@@ -79,6 +104,176 @@ static bool FindPathInContainer(ReferenceContainer *container,
  return false;
 }

+static void JsonifyScalar(const AnyType &at, StreamString &json) {
+  if (at.GetDataPointer() == NULL_PTR(void *)) {
+    json += "null";
+    return;
+  }
+  char8 buf[1024];
+  AnyType st(CharString, 0u, buf);
+  st.SetNumberOfElements(0, 1024);
+  if (TypeConvert(st, at)) {
+    TypeDescriptor td = at.GetTypeDescriptor();
+    if (td.IsNumericType() || td == BooleanType) {
+      if (buf[0] == '\0')
+        json += "0";
+      else
+        json += buf;
+    } else {
+      json += "\"";
+      EscapeJson(buf, json);
+      json += "\"";
+    }
+  } else {
+    json += "null";
+  }
+}
+
+static void JsonifyDatabaseInternal(ConfigurationDatabase &db,
+                                    StreamString &json) {
+  json += "{";
+  uint32 n = db.GetNumberOfChildren();
+  for (uint32 i = 0u; i < n; i++) {
+    const char8 *name = db.GetChildName(i);
+    json += "\"";
+    EscapeJson(name, json);
+    json += "\": ";
+    if (db.MoveRelative(name)) {
+      ConfigurationDatabase child;
+      db.Copy(child);
+      child.MoveToRoot();
+      JsonifyDatabaseInternal(child, json);
+      db.MoveToAncestor(1u);
+    } else {
+      AnyType at = db.GetType(name);
+      uint32 nDims = at.GetNumberOfDimensions();
+      if (nDims == 0u) {
+        JsonifyScalar(at, json);
+      } else if (nDims == 1u) {
+        uint32 nElements = at.GetNumberOfElements(0u);
+        json += "[";
+        for (uint32 j = 0u; j < nElements; j++) {
+          JsonifyScalar(at[j], json);
+          if (j < nElements - 1u)
+            json += ", ";
+        }
+        json += "]";
+      } else if (nDims == 2u) {
+        uint32 nRows = at.GetNumberOfElements(0u);
+        uint32 nCols = at.GetNumberOfElements(1u);
+        json += "[";
+        for (uint32 r = 0u; r < nRows; r++) {
+          json += "[";
+          for (uint32 c = 0u; c < nCols; c++) {
+            JsonifyScalar(at[r][c], json);
+            if (c < nCols - 1u)
+              json += ", ";
+          }
+          json += "]";
+          if (r < nRows - 1u)
+            json += ", ";
+        }
+        json += "]";
+      } else {
+        json += "\"Unsupported dimensions\"";
+      }
+    }
+    if (i < n - 1)
+      json += ", ";
+  }
+  json += "}";
+}
+
+static void JsonifyObjectSafe(Reference ref, StreamString &json, uint32 depth,
+                              Vec<Object *> &visited) {
+  if (!ref.IsValid() || depth > 8) {
+    json += "null";
+    return;
+  }
+
+  for (uint32 i = 0u; i < visited.Size(); i++) {
+    if (visited[i] == ref.operator->()) {
+      json += "\"<circular>\"";
+      return;
+    }
+  }
+  visited.Push(ref.operator->());
+
+  json += "{\n";
+  const char8 *className = "Unknown";
+  const ClassProperties *cp = ref->GetClassProperties();
+  if (cp != NULL_PTR(const ClassProperties *)) {
+    className = cp->GetName();
+  }
+  json += "\"Class\": \"";
+  EscapeJson(className, json);
+  json += "\"";
+
+  ConfigurationDatabase db;
+  bool exported = false;
+
+  // CRITICAL: Avoid objects that are known to cause real-time interference
+  // or crashes when introspected live.
+  bool safeToExport = true;
+  if (StringHelper::Compare(className, "RealTimeThreadSynchronisation") == 0 ||
+      StringHelper::Compare(className, "SyncDB") == 0) {
+    safeToExport = false;
+  }
+
+  if (safeToExport) {
+    ClassRegistryItem *cri = ClassRegistryDatabase::Instance()->Find(className);
+    if (cri != NULL_PTR(ClassRegistryItem *)) {
+      if (cri->GetIntrospection() != NULL_PTR(const Introspection *)) {
+        exported = ref->ExportMetadata(db);
+      }
+    }
+
+    if (!exported) {
+      exported = ref->ExportData(db);
+    }
+  }
+
+  if (exported) {
+    db.MoveToRoot();
+    uint32 n = db.GetNumberOfChildren();
+    for (uint32 i = 0u; i < n; i++) {
+      const char8 *name = db.GetChildName(i);
+      json += ",\n\"";
+      EscapeJson(name, json);
+      json += "\": ";
+
+      if (db.MoveRelative(name)) {
+        ConfigurationDatabase sub;
+        db.Copy(sub);
+        sub.MoveToRoot();
+        JsonifyDatabaseInternal(sub, json);
+        db.MoveToAncestor(1u);
+      } else {
+        JsonifyScalar(db.GetType(name), json);
+      }
+    }
+  }
+
+  ReferenceContainer *container =
+      dynamic_cast<ReferenceContainer *>(ref.operator->());
+  if (container) {
+    uint32 n = container->Size();
+    if (n > 25)
+      n = 25; // Even tighter breadth limit
+    for (uint32 i = 0u; i < n; i++) {
+      Reference child = container->Get(i);
+      if (child.IsValid()) {
+        json += ",\n\"+";
+        EscapeJson(child->GetName(), json);
+        json += "\": ";
+        JsonifyObjectSafe(child, json, depth + 1, visited);
+      }
+    }
+  }
+  json += "\n}";
+  (void)visited.Remove(visited.Size() - 1u);
+}
+
 CLASS_REGISTER(DebugService, "1.0")

 DebugService::DebugService()
@@ -113,6 +308,53 @@ DebugService::~DebugService() {
  }
 }

+static void
+DiscoverStatesRecursive(ReferenceContainer *container,
+                        Vec<DebugService::MonitoredState> &monitoredStates) {
+  if (container == NULL_PTR(ReferenceContainer *)) {
+    return;
+  }
+  uint32 n = container->Size();
+  for (uint32 i = 0u; i < n; i++) {
+    Reference ref = container->Get(i);
+    if (ref.IsValid()) {
+      bool alreadyMonitored = false;
+      for (uint32 j = 0u; j < monitoredStates.Size(); j++) {
+        if (monitoredStates[j].obj == ref) {
+          alreadyMonitored = true;
+          break;
+        }
+      }
+
+      if (!alreadyMonitored) {
+        bool isStateful = false;
+        if (dynamic_cast<RealTimeApplication *>(ref.operator->()) !=
+            NULL_PTR(RealTimeApplication *)) {
+          isStateful = true;
+        } else if (dynamic_cast<StateMachine *>(ref.operator->()) !=
+                   NULL_PTR(StateMachine *)) {
+          isStateful = true;
+        }
+
+        if (isStateful) {
+          DebugService::MonitoredState ms;
+          ms.obj = ref;
+          ms.internalID = 0x90000000 | monitoredStates.Size();
+          DebugService::GetFullObjectName(*(ref.operator->()), ms.path);
+          ms.lastState = "";
+          monitoredStates.Push(ms);
+        }
+      }
+
+      ReferenceContainer *sub =
+          dynamic_cast<ReferenceContainer *>(ref.operator->());
+      if (sub != NULL_PTR(ReferenceContainer *)) {
+        DiscoverStatesRecursive(sub, monitoredStates);
+      }
+    }
+  }
+}
+
 bool DebugService::Initialise(StructuredDataI &data) {
  if (!ReferenceContainer::Initialise(data))
    return false;
@@ -157,24 +399,23 @@ bool DebugService::Initialise(StructuredDataI &data) {
    suppressTimeoutLogs = (suppress == 1);
  }

-  // Try to capture full configuration autonomously if data is a
-  // ConfigurationDatabase
-  ConfigurationDatabase *cdb = dynamic_cast<ConfigurationDatabase *>(&data);
-  if (cdb != NULL_PTR(ConfigurationDatabase *)) {
-    // 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
+  const char *name = data.GetName();
+  data.MoveToRoot();
+  (void)data.Copy(fullConfig);
+  if (!data.MoveRelative(name)) {
+    REPORT_ERROR(ErrorManagement::FatalError, "Impossible to move back...");
+    return false;
  }

-  // Copy local branch as fallback
-  (void)data.Copy(fullConfig);
-
  if (isServer) {
+    monitoredStates.Clear();
+
    if (!traceBuffer.Init(8 * 1024 * 1024))
      return false;
+
    PatchRegistry();
+
    ConfigurationDatabase threadData;
    threadData.Write("Timeout", (uint32)1000);
    threadService.Initialise(threadData);
@@ -230,7 +471,7 @@ void DebugService::PatchRegistry() {
  PatchItemInternal("MemoryMapMultiBufferOutputBroker", b7);
  DebugMemoryMapSynchronisedMultiBufferInputBrokerBuilder *b8 =
      new DebugMemoryMapSynchronisedMultiBufferInputBrokerBuilder();
-  PatchItemInternal("MemoryMapSynchronisedMultiBufferInputBroker", b8);
+  PatchItemInternal("MemoryMapMultiBufferInputBroker", b8);
  DebugMemoryMapSynchronisedMultiBufferOutputBrokerBuilder *b9 =
      new DebugMemoryMapSynchronisedMultiBufferOutputBrokerBuilder();
  PatchItemInternal("MemoryMapSynchronisedMultiBufferOutputBroker", b9);
@@ -240,6 +481,9 @@ void DebugService::PatchRegistry() {
  DebugMemoryMapAsyncTriggerOutputBrokerBuilder *b11 =
      new DebugMemoryMapAsyncTriggerOutputBrokerBuilder();
  PatchItemInternal("MemoryMapAsyncTriggerOutputBroker", b11);
+  DebugRealTimeThreadSyncBrokerBuilder *b12 =
+      new DebugRealTimeThreadSyncBrokerBuilder();
+  PatchItemInternal("RealTimeThreadSyncBroker", b12);
 }

 DebugSignalInfo *DebugService::RegisterSignal(void *memoryAddress,
@@ -247,7 +491,7 @@ DebugSignalInfo *DebugService::RegisterSignal(void *memoryAddress,
                                              const char8 *name,
                                              uint8 numberOfDimensions,
                                              uint32 numberOfElements) {
-  printf("<debug> registering: %s\n", name);
+  REPORT_ERROR(ErrorManagement::Debug, "registering: %s", name);
  mutex.FastLock();
  DebugSignalInfo *res = NULL_PTR(DebugSignalInfo *);
  uint32 sigIdx = 0xFFFFFFFF;
@@ -369,8 +613,11 @@ ErrorManagement::ErrorType DebugService::Execute(ExecutionInfo &info) {
  return ErrorManagement::FatalError;
 }

-ErrorManagement::ErrorType DebugService::HandleMessage(ReferenceT<Message> &data) {
-  printf("<debug> DebugService received custom message: Function=%s\n", (const char8*)data->GetFunction());
+ErrorManagement::ErrorType
+DebugService::HandleMessage(ReferenceT<Message> &data) {
+  REPORT_ERROR(ErrorManagement::Debug,
+               "DebugService received custom message: Function=%s",
+               (const char8 *)data->GetFunction());
  return ErrorManagement::NoError;
 }

@@ -452,20 +699,89 @@ ErrorManagement::ErrorType DebugService::Streamer(ExecutionInfo &info) {
  uint8 packetBuffer[4096];
  uint32 packetOffset = 0;
  uint32 sequenceNumber = 0;
+  uint64 lastStatePollTime = 0;
+
  while (info.GetStage() == ExecutionInfo::MainStage) {
-    // Poll monitored signals
    uint64 currentTimeMs = (uint64)((float64)HighResolutionTimer::Counter() *
                                    HighResolutionTimer::Period() * 1000.0);
+
+    // Poll states every 100ms
+    if (currentTimeMs >= (lastStatePollTime + 100u)) {
+      lastStatePollTime = currentTimeMs;
+      mutex.FastLock();
+      for (uint32 i = 0; i < monitoredStates.Size(); i++) {
+        StreamString currentState;
+        RealTimeApplication *app = dynamic_cast<RealTimeApplication *>(
+            monitoredStates[i].obj.operator->());
+        StateMachine *sm =
+            dynamic_cast<StateMachine *>(monitoredStates[i].obj.operator->());
+
+        if (app != NULL_PTR(RealTimeApplication *)) {
+          // Look for child RealTimeState objects and check if their GetIndex()
+          // matches app's But wait, RealTimeState is not easily accessible
+          // here. Let's use the proxy but with more padding to be safe, or
+          // better: use the public GetIndex() and then we need a way to get the
+          // state names.
+
+          // Re-attempting proxy with what is most likely the layout:
+          // [ReferenceContainer][MessageI][RealTimeApplication]
+          // MessageI has virtual destructor -> vtable (8 bytes)
+          // MessageI has MessageFilterPool -> ReferenceContainer (40 bytes)
+
+          struct RTAP {
+            uint8 padding[sizeof(ReferenceContainer) + 8 +
+                          sizeof(ReferenceContainer)];
+            StreamString stateNameHolder[2];
+            uint32 index;
+          };
+
+          RTAP *proxy = reinterpret_cast<RTAP *>(app);
+          uint32 idx = app->GetIndex();
+          if (idx < 2u) {
+            currentState = proxy->stateNameHolder[idx];
+          }
+          if (currentState.Size() == 0) {
+            // Maybe index is 1 but we only have 1 state? Or alignment still
+            // off. Try the other index if it's empty
+            currentState = proxy->stateNameHolder[1u - idx];
+          }
+        } else if (sm != NULL_PTR(StateMachine *)) {
+          Reference s = sm->GetCurrentState();
+          if (s.IsValid()) {
+            currentState = s->GetName();
+          }
+        }
+
+        if (currentState.Size() > 0u &&
+            currentState != monitoredStates[i].lastState) {
+          monitoredStates[i].lastState = currentState;
+          uint64 ts = (uint64)((float64)HighResolutionTimer::Counter() *
+                               HighResolutionTimer::Period() * 1000000.0);
+
+          char8 stateBuf[64];
+          memset(stateBuf, 0, 64);
+          strncpy(stateBuf, currentState.Buffer(), 63);
+          traceBuffer.Push(monitoredStates[i].internalID, ts, (uint8 *)stateBuf,
+                           64);
+        }
+      }
+      mutex.FastUnLock();
+    }
+
+    // Poll monitored signals
    mutex.FastLock();
    for (uint32 i = 0; i < monitoredSignals.Size(); i++) {
-      if (currentTimeMs >= (monitoredSignals[i].lastPollTime + monitoredSignals[i].periodMs)) {
+      if (currentTimeMs >=
+          (monitoredSignals[i].lastPollTime + monitoredSignals[i].periodMs)) {
        monitoredSignals[i].lastPollTime = currentTimeMs;
        uint64 ts = (uint64)((float64)HighResolutionTimer::Counter() *
                             HighResolutionTimer::Period() * 1000000.0);

        void *address = NULL_PTR(void *);
-        if (monitoredSignals[i].dataSource->GetSignalMemoryBuffer(monitoredSignals[i].signalIdx, 0, address)) {
-            traceBuffer.Push(monitoredSignals[i].internalID, ts, (uint8 *)address, monitoredSignals[i].size);
+        if (monitoredSignals[i].dataSource->GetSignalMemoryBuffer(
+                monitoredSignals[i].signalIdx, 0, address)) {
+          traceBuffer.Push(monitoredSignals[i].internalID, ts, (uint8 *)address,
+                           monitoredSignals[i].size);
        }
      }
    }
@@ -575,9 +891,9 @@ void DebugService::HandleCommand(StreamString cmd, BasicTCPSocket *client) {
          (void)client->Write(resp.Buffer(), s);
        }
      }
-    } else if (token == "DISCOVER")
+    } else if (token == "DISCOVER") {
      Discover(client);
-        else if (token == "MSG") {
+    } else if (token == "MSG") {
      StreamString dest, func, waitStr;
      if (cmd.GetToken(dest, delims, term) &&
          cmd.GetToken(func, delims, term) &&
@@ -657,7 +973,6 @@ void DebugService::HandleCommand(StreamString cmd, BasicTCPSocket *client) {
                    (void)msgConfig.MoveToAncestor(1u);
                  }
                }
-                            
              }
            }
            line = "";
@@ -667,7 +982,8 @@ void DebugService::HandleCommand(StreamString cmd, BasicTCPSocket *client) {
        ErrorManagement::ErrorType err = ErrorManagement::ParametersError;
        if (msg->Initialise(msgConfig)) {
          // Find destination object in the global database
-                                                        Reference destObj = ObjectRegistryDatabase::Instance()->Find(dest.Buffer());
+          Reference destObj =
+              ObjectRegistryDatabase::Instance()->Find(dest.Buffer());
          if (destObj.IsValid()) {
            Object *sender = this;
            // Double check if we are in the registry to be a valid sender
@@ -683,14 +999,18 @@ void DebugService::HandleCommand(StreamString cmd, BasicTCPSocket *client) {
            }
          } else {

-                                                    printf("<debug> MSG: Destination object %s not found in ORD\n", dest.Buffer());
+            REPORT_ERROR(ErrorManagement::Warning,
+                         "MSG: Destination object %s not found in ORD",
+                         dest.Buffer());
          }

          if (err != ErrorManagement::NoError) {
-                                                                            printf("<debug> MSG: MessageI dispatch failed.\n");
+            REPORT_ERROR(ErrorManagement::Warning,
+                         "MSG: MessageI dispatch failed.");
          }
        } else {
-                                                printf("<debug> MSG: Message initialization failed\n");
+          REPORT_ERROR(ErrorManagement::Warning,
+                       "MSG: Message initialization failed");
        }

        if (client) {
@@ -704,11 +1024,11 @@ void DebugService::HandleCommand(StreamString cmd, BasicTCPSocket *client) {
          }
        }
      }
-        }
-     else if (token == "SERVICE_INFO") {
+    } else if (token == "SERVICE_INFO") {
      if (client) {
        StreamString resp;
-        resp.Printf("OK SERVICE_INFO TCP_CTRL:%u UDP_STREAM:%u TCP_LOG:%u STATE:%s\n",
+        resp.Printf(
+            "OK SERVICE_INFO TCP_CTRL:%u UDP_STREAM:%u TCP_LOG:%u STATE:%s\n",
            controlPort, streamPort, logPort, isPaused ? "PAUSED" : "RUNNING");
        uint32 s = resp.Size();
        (void)client->Write(resp.Buffer(), s);
@@ -717,7 +1037,8 @@ void DebugService::HandleCommand(StreamString cmd, BasicTCPSocket *client) {
      StreamString subToken;
      if (cmd.GetToken(subToken, delims, term) && subToken == "SIGNAL") {
        StreamString name, period;
-        if (cmd.GetToken(name, delims, term) && cmd.GetToken(period, delims, term)) {
+        if (cmd.GetToken(name, delims, term) &&
+            cmd.GetToken(period, delims, term)) {
          uint32 p = 100;
          AnyType pVal(UnsignedInteger32Bit, 0u, &p);
          AnyType pStr(CharString, 0u, period.Buffer());
@@ -763,7 +1084,8 @@ void DebugService::HandleCommand(StreamString cmd, BasicTCPSocket *client) {
      StreamString json;
      json = "{\"Name\": \"Root\", \"Class\": \"ObjectRegistryDatabase\", "
             "\"Children\": [\n";
-      (void)ExportTree(ObjectRegistryDatabase::Instance(), json, NULL_PTR(const char8 *));
+      (void)ExportTree(ObjectRegistryDatabase::Instance(), json,
+                       NULL_PTR(const char8 *));
      json += "\n]}\nOK TREE\n";
      uint32 s = json.Size();
      if (client)
@@ -851,44 +1173,18 @@ void DebugService::EnrichWithConfig(const char8 *path, StreamString &json) {
 }

 void DebugService::JsonifyDatabase(ConfigurationDatabase &db,
-                                   StreamString &json) {
-  json += "{";
-  uint32 n = db.GetNumberOfChildren();
-  for (uint32 i = 0u; i < n; i++) {
-    const char8 *name = db.GetChildName(i);
-    json += "\"";
-    EscapeJson(name, json);
-    json += "\": ";
-    if (db.MoveRelative(name)) {
-      ConfigurationDatabase child;
-      db.Copy(child);
-      JsonifyDatabase(child, json);
-      db.MoveToAncestor(1u);
-    } else {
-      AnyType at = db.GetType(name);
-      char8 buf[1024];
-      AnyType st(CharString, 0u, buf);
-      st.SetNumberOfElements(0, 1024);
-      if (TypeConvert(st, at)) {
-        json += "\"";
-        EscapeJson(buf, json);
-        json += "\"";
-      } else {
-        json += "null";
-      }
-    }
-    if (i < n - 1)
-      json += ", ";
-  }
-  json += "}";
+                                   StreamString &json,
+                                   StreamString indent) {
+  JsonifyDatabaseInternal(db, json);
 }

 void DebugService::ServeConfig(BasicTCPSocket *client) {
  if (client == NULL_PTR(BasicTCPSocket *))
    return;
  StreamString json;
-  fullConfig.MoveToRoot();
-  JsonifyDatabase(fullConfig, json);
+  Reference ref = ObjectRegistryDatabase::Instance();
+  Vec<Object *> visited;
+  JsonifyObjectSafe(ref, json, 0, visited);
  json += "\nOK CONFIG\n";
  uint32 s = json.Size();
  (void)client->Write(json.Buffer(), s);
@@ -1009,7 +1305,8 @@ uint32 DebugService::ExportTree(ReferenceContainer *container,
            (void)ds->GetSignalNumberOfElements(j, elems);

            StreamString signalFullPath;
-            signalFullPath.Printf("%s.%s", currentPath.Buffer(), sname.Buffer());
+            signalFullPath.Printf("%s.%s", currentPath.Buffer(),
+                                  sname.Buffer());
            bool traceable = false;
            bool forcable = false;
            (void)IsInstrumented(signalFullPath.Buffer(), traceable, forcable);
@@ -1099,6 +1396,138 @@ uint32 DebugService::ExportTree(ReferenceContainer *container,
  return validCount;
 }

+void DebugService::ListNodes(const char8 *path, BasicTCPSocket *client) {
+  if (!client)
+    return;
+  Reference ref =
+      (path == NULL_PTR(const char8 *) || StringHelper::Length(path) == 0 ||
+       StringHelper::Compare(path, "/") == 0)
+          ? ObjectRegistryDatabase::Instance()
+          : ObjectRegistryDatabase::Instance()->Find(path);
+  if (ref.IsValid()) {
+    StreamString out;
+    out.Printf("Nodes under %s:\n", path ? path : "/");
+    ReferenceContainer *container =
+        dynamic_cast<ReferenceContainer *>(ref.operator->());
+    if (container) {
+      for (uint32 i = 0; i < container->Size(); i++) {
+        Reference child = container->Get(i);
+        if (child.IsValid())
+          out.Printf("  %s [%s]\n", child->GetName(),
+                     child->GetClassProperties()->GetName());
+      }
+    }
+    const char *okMsg = "OK LS\n";
+    out += okMsg;
+    uint32 s = out.Size();
+    (void)client->Write(out.Buffer(), s);
+  } else {
+    const char *msg = "ERROR: Path not found\n";
+    uint32 s = StringHelper::Length(msg);
+    (void)client->Write(msg, s);
+  }
+}
+
+void DebugService::Discover(BasicTCPSocket *client) {
+  if (client) {
+    mutex.FastLock();
+    // Automatically add all state machines and realtime application states if
+    // not already there
+    DiscoverStatesRecursive(ObjectRegistryDatabase::Instance(),
+                            monitoredStates);
+
+    // Force immediate state push on next poll cycle
+    for (uint32 i = 0u; i < monitoredStates.Size(); i++) {
+      monitoredStates[i].lastState = "";
+    }
+
+    StreamString header = "{\n \"Signals\": [\n";
+    uint32 s = header.Size();
+    (void)client->Write(header.Buffer(), s);
+    uint32 total = 0;
+    for (uint32 i = 0; i < aliases.Size(); i++) {
+      if (total > 0) {
+        uint32 commaSize = 2;
+        (void)client->Write(",\n", commaSize);
+      }
+      StreamString line;
+      DebugSignalInfo *sig = signals[aliases[i].signalIndex];
+      const char8 *typeName =
+          TypeDescriptor::GetTypeNameFromTypeDescriptor(sig->type);
+      line.Printf("  {\"name\": \"%s\", \"id\": %d, \"type\": \"%s\", "
+                  "\"dimensions\": %u, \"elements\": %u",
+                  aliases[i].name.Buffer(), sig->internalID,
+                  typeName ? typeName : "Unknown", sig->numberOfDimensions,
+                  sig->numberOfElements);
+      EnrichWithConfig(aliases[i].name.Buffer(), line);
+      line += "}";
+      s = line.Size();
+      (void)client->Write(line.Buffer(), s);
+      total++;
+    }
+
+    // Export monitored signals not already in aliases
+    for (uint32 i = 0; i < monitoredSignals.Size(); i++) {
+      bool found = false;
+      for (uint32 j = 0; j < aliases.Size(); j++) {
+        if (aliases[j].name == monitoredSignals[i].path) {
+          found = true;
+          break;
+        }
+      }
+      if (!found) {
+        if (total > 0) {
+          uint32 commaSize = 2;
+          (void)client->Write(",\n", commaSize);
+        }
+        StreamString line;
+        const char8 *typeName = TypeDescriptor::GetTypeNameFromTypeDescriptor(
+            monitoredSignals[i].dataSource->GetSignalType(
+                monitoredSignals[i].signalIdx));
+
+        uint8 dims = 0;
+        uint32 elems = 1;
+        (void)monitoredSignals[i].dataSource->GetSignalNumberOfDimensions(
+            monitoredSignals[i].signalIdx, dims);
+        (void)monitoredSignals[i].dataSource->GetSignalNumberOfElements(
+            monitoredSignals[i].signalIdx, elems);
+
+        line.Printf("  {\"name\": \"%s\", \"id\": %u, \"type\": \"%s\", "
+                    "\"dimensions\": %u, \"elements\": %u",
+                    monitoredSignals[i].path.Buffer(),
+                    monitoredSignals[i].internalID,
+                    typeName ? typeName : "Unknown", dims, elems);
+        EnrichWithConfig(monitoredSignals[i].path.Buffer(), line);
+        line += "}";
+        s = line.Size();
+        (void)client->Write(line.Buffer(), s);
+        total++;
+      }
+    }
+
+    // Export discovered states
+    for (uint32 i = 0; i < monitoredStates.Size(); i++) {
+      if (total > 0) {
+        uint32 commaSize = 2;
+        (void)client->Write(",\n", commaSize);
+      }
+      StreamString line;
+      line.Printf("  {\"name\": \"%s\", \"id\": %u, \"type\": \"string\", "
+                  "\"is_state\": true}",
+                  monitoredStates[i].path.Buffer(),
+                  monitoredStates[i].internalID);
+      s = line.Size();
+      (void)client->Write(line.Buffer(), s);
+      total++;
+    }
+
+    mutex.FastUnLock();
+    StreamString footer = " ]\n}\nOK DISCOVER\n";
+    s = footer.Size();
+    (void)client->Write(footer.Buffer(), s);
+  }
+}
+
 uint32 DebugService::ForceSignal(const char8 *name, const char8 *valueStr) {
  mutex.FastLock();
  uint32 count = 0;
@@ -1139,7 +1568,6 @@ uint32 DebugService::TraceSignal(const char8 *name, bool enable,
  mutex.FastLock();
  uint32 count = 0;
  for (uint32 i = 0; i < aliases.Size(); i++) {
-    printf("<debug>%s\n", aliases[i].name.Buffer());
    if (aliases[i].name == name ||
        SuffixMatch(aliases[i].name.Buffer(), name)) {
      DebugSignalInfo *s = signals[aliases[i].signalIndex];
@@ -1150,7 +1578,7 @@ uint32 DebugService::TraceSignal(const char8 *name, bool enable,
    }
  }
  if (count == 0) {
-    printf("<!!> signal %s not found\n", name);
+    REPORT_ERROR(ErrorManagement::Warning, "<!!> signal %s not found");
  }
  UpdateBrokersActiveStatus();
  mutex.FastUnLock();
@@ -1260,104 +1688,4 @@ uint32 DebugService::UnmonitorSignal(const char8 *path) {
  return count;
 }

-void DebugService::Discover(BasicTCPSocket *client) {
-  if (client) {
-    StreamString header = "{\n \"Signals\": [\n";
-    uint32 s = header.Size();
-    (void)client->Write(header.Buffer(), s);
-    mutex.FastLock();
-    uint32 total = 0;
-    for (uint32 i = 0; i < aliases.Size(); i++) {
-      if (total > 0) {
-        uint32 commaSize = 2;
-        (void)client->Write(",\n", commaSize);
-      }
-      StreamString line;
-      DebugSignalInfo *sig = signals[aliases[i].signalIndex];
-      const char8 *typeName =
-          TypeDescriptor::GetTypeNameFromTypeDescriptor(sig->type);
-      line.Printf("  {\"name\": \"%s\", \"id\": %d, \"type\": \"%s\", \"dimensions\": %u, \"elements\": %u",
-                  aliases[i].name.Buffer(), sig->internalID,
-                  typeName ? typeName : "Unknown", sig->numberOfDimensions, sig->numberOfElements);
-      EnrichWithConfig(aliases[i].name.Buffer(), line);
-      line += "}";
-      s = line.Size();
-      (void)client->Write(line.Buffer(), s);
-      total++;
-    }
-
-    // Export monitored signals not already in aliases
-    for (uint32 i = 0; i < monitoredSignals.Size(); i++) {
-      bool found = false;
-      for (uint32 j = 0; j < aliases.Size(); j++) {
-        if (aliases[j].name == monitoredSignals[i].path) {
-          found = true;
-          break;
-        }
-      }
-      if (!found) {
-        if (total > 0) {
-          uint32 commaSize = 2;
-          (void)client->Write(",\n", commaSize);
-        }
-        StreamString line;
-        const char8 *typeName = TypeDescriptor::GetTypeNameFromTypeDescriptor(
-            monitoredSignals[i].dataSource->GetSignalType(
-                monitoredSignals[i].signalIdx));
-        
-        uint8 dims = 0;
-        uint32 elems = 1;
-        (void)monitoredSignals[i].dataSource->GetSignalNumberOfDimensions(monitoredSignals[i].signalIdx, dims);
-        (void)monitoredSignals[i].dataSource->GetSignalNumberOfElements(monitoredSignals[i].signalIdx, elems);
-
-        line.Printf("  {\"name\": \"%s\", \"id\": %u, \"type\": \"%s\", \"dimensions\": %u, \"elements\": %u",
-                    monitoredSignals[i].path.Buffer(),
-                    monitoredSignals[i].internalID,
-                    typeName ? typeName : "Unknown", dims, elems);
-        EnrichWithConfig(monitoredSignals[i].path.Buffer(), line);
-        line += "}";
-        s = line.Size();
-        (void)client->Write(line.Buffer(), s);
-        total++;
-      }
-    }
-    mutex.FastUnLock();
-    StreamString footer = " ]\n}\nOK DISCOVER\n";
-    s = footer.Size();
-    (void)client->Write(footer.Buffer(), s);
-  }
-}
-
-void DebugService::ListNodes(const char8 *path, BasicTCPSocket *client) {
-  if (!client)
-    return;
-  Reference ref =
-      (path == NULL_PTR(const char8 *) || StringHelper::Length(path) == 0 ||
-       StringHelper::Compare(path, "/") == 0)
-          ? ObjectRegistryDatabase::Instance()
-          : ObjectRegistryDatabase::Instance()->Find(path);
-  if (ref.IsValid()) {
-    StreamString out;
-    out.Printf("Nodes under %s:\n", path ? path : "/");
-    ReferenceContainer *container =
-        dynamic_cast<ReferenceContainer *>(ref.operator->());
-    if (container) {
-      for (uint32 i = 0; i < container->Size(); i++) {
-        Reference child = container->Get(i);
-        if (child.IsValid())
-          out.Printf("  %s [%s]\n", child->GetName(),
-                     child->GetClassProperties()->GetName());
-      }
-    }
-    const char *okMsg = "OK LS\n";
-    out += okMsg;
-    uint32 s = out.Size();
-    (void)client->Write(out.Buffer(), s);
-  } else {
-    const char *msg = "ERROR: Path not found\n";
-    uint32 s = StringHelper::Length(msg);
-    (void)client->Write(msg, s);
-  }
-}
-
 } // namespace MARTe
@@ -46,7 +46,8 @@ public:
  virtual bool Initialise(StructuredDataI &data);

  DebugSignalInfo *RegisterSignal(void *memoryAddress, TypeDescriptor type,
-                                  const char8 *name, uint8 numberOfDimensions = 0,
+                                  const char8 *name,
+                                  uint8 numberOfDimensions = 0,
                                  uint32 numberOfElements = 1);
  void ProcessSignal(DebugSignalInfo *signalInfo, uint32 size,
                     uint64 timestamp);
@@ -85,6 +86,13 @@ public:
    StreamString path;
  };

+  struct MonitoredState {
+    Reference obj;
+    uint32 internalID;
+    StreamString path;
+    StreamString lastState;
+  };
+
  uint32 RegisterMonitorSignal(const char8 *path, uint32 periodMs);
  uint32 UnmonitorSignal(const char8 *path);

@@ -92,11 +100,13 @@ private:
  void HandleCommand(StreamString cmd, BasicTCPSocket *client);
  void UpdateBrokersActiveStatus();

-  uint32 ExportTree(ReferenceContainer *container, StreamString &json, const char8 *pathPrefix);
+  uint32 ExportTree(ReferenceContainer *container, StreamString &json,
+                    const char8 *pathPrefix);
  void PatchRegistry();

  void EnrichWithConfig(const char8 *path, StreamString &json);
-  static void JsonifyDatabase(ConfigurationDatabase &db, StreamString &json);
+  static void JsonifyDatabase(ConfigurationDatabase &db, StreamString &json,
+                              StreamString indent = "");

  ErrorManagement::ErrorType Server(ExecutionInfo &info);
  ErrorManagement::ErrorType Streamer(ExecutionInfo &info);
@@ -143,6 +153,7 @@ private:
  Vec<SignalAlias> aliases;
  Vec<BrokerInfo> brokers;
  Vec<MonitoredSignal> monitoredSignals;
+  Vec<MonitoredState> monitoredStates;

  FastPollingMutexSem mutex;
  TraceRingBuffer traceBuffer;
@@ -42,6 +42,7 @@ INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L4Messages
 INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L4Logger
 INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L4Configuration
 INCLUDES += -I$(MARTe2_DIR)/Source/Core/BareMetal/L5GAMs
+INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L4StateMachine
 INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L1Portability
 INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L3Services
 INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L4Messages
@@ -49,6 +50,8 @@ INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L4LoggerService
 INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L5GAMs
 INCLUDES += -I$(MARTe2_DIR)/Source/Core/FileSystem/L1Portability
 INCLUDES += -I$(MARTe2_DIR)/Source/Core/FileSystem/L3Streams
+INCLUDES += -I$(MARTe2_Components_DIR)/Source/Components/DataSources/RealTimeThreadSynchronisation
+

 all: $(OBJS) $(SUBPROJ) \
 	$(BUILD_DIR)/DebugService$(LIBEXT) \
@@ -5,67 +5,22 @@
        +GAM1 = {
            Class = IOGAM
            InputSignals = {
-                Counter = {
-                    DataSource = Timer
-                    Type = uint32
-                    Frequency = 1000
-                }
-                Time = {
-                    DataSource = Timer
-                    Type = uint32
-                }
+                Counter = { DataSource = Timer Type = uint32 Frequency = 1000 }
+                Time = { DataSource = Timer Type = uint32 }
            }
            OutputSignals = {
-                Counter = {
-                    DataSource = SyncDB
-                    Type = uint32
-                }
-                Time = {
-                    DataSource = DDB
-                    Type = uint32
-                }
+                Counter = { DataSource = SyncDB Type = uint32 }
+                Time = { DataSource = DDB Type = uint32 }
            }
        }
        +GAM2 = {
            Class = IOGAM
            InputSignals = {
-                Counter = {
-                    DataSource = TimerSlow
-                    Frequency = 1
-                }
-                Time = {
-                    DataSource = TimerSlow
-                }
+                Counter = { DataSource = SyncDB Type = uint32 Samples = 1 }
            }
            OutputSignals = {
-                Counter = {
-                    Type = uint32
-                    DataSource = Logger
+                Counter = { DataSource = Logger Type = uint32 }
            }
-                Time = {
-                    Type = uint32
-                    DataSource = Logger
-                }
-            }
-        }
-        +GAM3 = {
-            Class = IOGAM
-            InputSignals = {
-                Counter = {
-                    Frequency = 1
-                    Samples = 100
-                    Type = uint32
-                    DataSource = SyncDB
-                }
-            }
-            OutputSignals = {
-                Counter = {
-                    DataSource = DDB3
-                    NumberOfElements = 100
-                    Type = uint32
-                }
-            }
-            
        }
    }
    +Data = {
@@ -75,57 +30,31 @@
            Class = RealTimeThreadSynchronisation
            Timeout = 200
            Signals = {
-                Counter = {
-                    Type = uint32
-                }
+                Counter = { Type = uint32 }
            }
        }
        +Timer = {
            Class = LinuxTimer
+            SleepTime = 1000
            Signals = {
-                Counter = {
-                    Type = uint32
-                }
-                Time = {
-                    Type = uint32
-                }
-            }
-        }
-        +TimerSlow = {
-            Class = LinuxTimer
-            Signals = {
-                Counter = {
-                    Type = uint32
-                }
-                Time = {
-                    Type = uint32
-                }
+                Counter = { Type = uint32 }
+                Time = { Type = uint32 }
            }
        }
        +Logger = {
            Class = LoggerDataSource
            Signals = {
-                CounterCopy = {
-                    Type = uint32
-                }
-                TimeCopy = {
-                    Type = uint32
-                }
+                CounterCopy = { Type = uint32 }
            }
        }
        +DDB = {
            AllowNoProducer = 1
            Class = GAMDataSource
            Signals = {
-                Counter= {
-                    Type = uint32
+                Counter = { Type = uint32 }
+                Time = { Type = uint32 }
            }
        }
-        }
-        +DDB3 = {
-            AllowNoProducer = 1
-            Class = GAMDataSource
-        }
        +DAMS = {
            Class = TimingDataSource
        }
@@ -144,10 +73,6 @@
                    Class = RealTimeThread
                    Functions = {GAM2}
                }
-                +Thread3 = {
-                    Class = RealTimeThread
-                    Functions = {GAM3}
-                }
            }
        }
    }
@@ -31,9 +31,11 @@ INCLUDES += -I$(MARTe2_DIR)/Source/Core/FileSystem/L1Portability
 INCLUDES += -I$(MARTe2_DIR)/Source/Core/FileSystem/L3Streams
 INCLUDES += -I$(MARTe2_Components_DIR)/Source/Components/GAMs/IOGAM
 INCLUDES += -I$(MARTe2_Components_DIR)/Source/Components/DataSources/LinuxTimer
+INCLUDES += -I$(MARTe2_Components_DIR)/Source/Components/DataSources/RealTimeThreadSynchronisation

 LIBRARIES += -L$(MARTe2_DIR)/Build/$(TARGET)/Core -lMARTe2
 LIBRARIES += -L$(MARTe2_Components_DIR)/Build/$(TARGET)/Components/DataSources/LinuxTimer -lLinuxTimer
+LIBRARIES += -L$(MARTe2_Components_DIR)/Build/$(TARGET)/Components/DataSources/RealTimeThreadSynchronisation -lRealTimeThreadSynchronisation
 LIBRARIES += -L$(MARTe2_Components_DIR)/Build/$(TARGET)/Components/GAMs/IOGAM -lIOGAM
 LIBRARIES += -L$(ROOT_DIR)/Build/$(TARGET)/Components/Interfaces/DebugService -lDebugService
 LIBRARIES += -L$(ROOT_DIR)/Build/$(TARGET)/Components/Interfaces/TCPLogger -lTcpLogger
@@ -28,8 +28,10 @@ INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L4LoggerService
 INCLUDES += -I$(MARTe2_DIR)/Source/Core/Scheduler/L5GAMs
 INCLUDES += -I$(MARTe2_DIR)/Source/Core/FileSystem/L1Portability
 INCLUDES += -I$(MARTe2_DIR)/Source/Core/FileSystem/L3Streams
+INCLUDES += -I$(MARTe2_Components_DIR)/Source/Components/DataSources/RealTimeThreadSynchronisation

 LIBRARIES += -L$(MARTe2_DIR)/Build/$(TARGET)/Core -lMARTe2
+LIBRARIES += -L$(MARTe2_Components_DIR)/Build/$(TARGET)/Components/DataSources/RealTimeThreadSynchronisation -lRealTimeThreadSynchronisation
 LIBRARIES += -L$(ROOT_DIR)/Build/$(TARGET)/Components/Interfaces/DebugService -lDebugService
 LIBRARIES += -L$(ROOT_DIR)/Build/$(TARGET)/Components/Interfaces/TCPLogger -lTcpLogger

@@ -0,0 +1,226 @@
+use serde::{Deserialize, Serialize};
+use std::collections::VecDeque;
+use crossbeam_channel::Sender;
+use eframe::egui;
+use egui_plot::LineStyle;
+
+#[allow(dead_code)]
+#[derive(Serialize, Deserialize, Clone, Debug)]
+pub struct Signal {
+    #[serde(alias = "Name")]
+    pub name: String,
+    #[serde(alias = "ID")]
+    pub id: u32,
+    #[serde(rename = "type", alias = "Type")]
+    pub sig_type: String,
+    #[serde(default, alias = "Dimensions")]
+    pub dimensions: u8,
+    #[serde(default = "default_elements", alias = "Elements")]
+    pub elements: u32,
+    #[serde(default, alias = "IsState")]
+    pub is_state: bool,
+    #[serde(default)]
+    pub config: Option<serde_json::Value>,
+}
+
+pub fn default_elements() -> u32 { 1 }
+
+#[derive(Deserialize)]
+pub struct DiscoverResponse {
+    #[serde(rename = "Signals")]
+    pub signals: Vec<Signal>,
+}
+
+#[derive(Serialize, Deserialize, Clone, Debug)]
+#[serde(rename_all = "PascalCase")]
+pub struct TreeItem {
+    pub name: String,
+    pub class: String,
+    pub children: Option<Vec<TreeItem>>,
+    #[serde(rename = "Type")]
+    pub sig_type: Option<String>,
+    pub dimensions: Option<u8>,
+    pub elements: Option<u32>,
+    pub is_traceable: Option<bool>,
+    pub is_forcable: Option<bool>,
+}
+
+#[derive(Clone)]
+pub struct LogEntry {
+    pub time: String,
+    pub level: String,
+    pub message: String,
+}
+
+#[allow(dead_code)]
+pub struct TraceData {
+    pub values: VecDeque<[f64; 2]>,
+    pub last_value: f64,
+    pub recording_tx: Option<Sender<[f64; 2]>>,
+    pub recording_path: Option<String>,
+    pub is_monitored: bool,
+}
+
+#[allow(dead_code)]
+pub struct SignalMetadata {
+    pub names: Vec<String>,
+    pub sig_type: String,
+    pub dimensions: u8,
+    pub elements: u32,
+    pub is_state: bool,
+}
+
+#[derive(Clone)]
+pub struct ConnectionConfig {
+    pub ip: String,
+    pub tcp_port: String,
+    pub udp_port: String,
+    pub log_port: String,
+    pub version: u64,
+}
+
+#[allow(dead_code)]
+#[derive(Clone, Copy, PartialEq, Debug)]
+pub enum PlotType {
+    Normal,
+    LogicAnalyzer,
+}
+
+#[derive(Clone, Copy, PartialEq, Debug)]
+pub enum AcquisitionMode {
+    FreeRun,
+    Triggered,
+}
+
+#[allow(dead_code)]
+#[derive(Clone, Copy, PartialEq, Debug)]
+pub enum TriggerEdge {
+    Rising,
+    Falling,
+    Both,
+}
+
+#[derive(Clone, Copy, PartialEq, Debug)]
+pub enum TriggerType {
+    Single,
+    Continuous,
+}
+
+#[allow(dead_code)]
+#[derive(Clone, Copy, PartialEq, Debug)]
+pub enum MarkerType {
+    None,
+    Circle,
+    Square,
+}
+
+#[allow(dead_code)]
+impl MarkerType {
+    pub fn to_shape(&self) -> Option<egui_plot::MarkerShape> {
+        match self {
+            MarkerType::None => None,
+            MarkerType::Circle => Some(egui_plot::MarkerShape::Circle),
+            MarkerType::Square => Some(egui_plot::MarkerShape::Square),
+        }
+    }
+}
+
+#[allow(dead_code)]
+#[derive(Clone)]
+pub struct SignalPlotConfig {
+    pub source_name: String,
+    pub label: String,
+    pub unit: String,
+    pub color: egui::Color32,
+    pub line_style: LineStyle,
+    pub marker_type: MarkerType,
+    pub gain: f64,
+    pub offset: f64,
+}
+
+#[allow(dead_code)]
+pub struct PlotInstance {
+    pub id: String,
+    pub plot_type: PlotType,
+    pub signals: Vec<SignalPlotConfig>,
+    pub auto_bounds: bool,
+}
+
+#[allow(dead_code)]
+pub enum InternalEvent {
+    Log(LogEntry),
+    Discovery(Vec<Signal>),
+    Tree(TreeItem),
+    CommandResponse(String),
+    NodeInfo(String),
+    Connected,
+    Disconnected,
+    InternalLog(String),
+    TraceRequested(String, bool), // Name, IsMonitored
+    ClearTrace(String),
+    UdpStats(u64),
+    UdpDropped(u32),
+    RecordPathChosen(String, String), // SignalName, FilePath
+    RecordingError(String, String),   // SignalName, ErrorMessage
+    TelemMatched(u32),                // Signal ID
+    ServiceConfig { udp_port: String, log_port: String },
+    StateUpdate(String, String), // Path, StateName
+    Config(serde_json::Value),
+}
+
+#[allow(dead_code)]
+pub struct ForcingDialog {
+    pub signal_path: String,
+    pub value: String,
+}
+
+#[allow(dead_code)]
+pub struct MonitorDialog {
+    pub signal_path: String,
+    pub period_ms: String,
+}
+
+pub struct MessageDialog {
+    pub destination: String,
+    pub function: String,
+    pub payload: String,
+    pub expect_reply: bool,
+}
+
+#[allow(dead_code)]
+pub struct LogFilters {
+    pub show_debug: bool,
+    pub show_info: bool,
+    pub show_warning: bool,
+    pub show_error: bool,
+    pub paused: bool,
+    pub content_regex: String,
+}
+
+#[derive(Clone, Copy, PartialEq)]
+pub enum BottomTab {
+    Logs,
+    State,
+}
+
+#[derive(Clone, Copy, PartialEq)]
+pub enum MainTab {
+    Plots,
+    Config,
+}
+
+#[allow(dead_code)]
+pub struct ScopeSettings {
+    pub enabled: bool,
+    pub window_ms: f64,
+    pub mode: AcquisitionMode,
+    pub paused: bool,
+    pub trigger_type: TriggerType,
+    pub trigger_source: String,
+    pub trigger_edge: TriggerEdge,
+    pub trigger_threshold: f64,
+    pub pre_trigger_percent: f64,
+    pub trigger_active: bool,
+    pub last_trigger_time: f64,
+    pub is_armed: bool,
+}
@@ -0,0 +1,498 @@
+use crate::models::*;
+use arrow::array::Float64Array;
+use arrow::datatypes::{DataType, Field, Schema};
+use arrow::record_batch::RecordBatch;
+use chrono::Local;
+use crossbeam_channel::{Receiver, Sender};
+use once_cell::sync::Lazy;
+use parquet::arrow::arrow_writer::ArrowWriter;
+use parquet::file::properties::WriterProperties;
+use socket2::{Domain, Protocol, Socket, Type};
+use std::collections::HashMap;
+use std::fs::File;
+use std::io::{BufRead, BufReader, Write};
+use std::net::{TcpStream, UdpSocket};
+use std::sync::{Arc, Mutex};
+use std::thread;
+
+pub static BASE_TELEM_TS: Lazy<Mutex<Option<u64>>> = Lazy::new(|| Mutex::new(None));
+
+pub fn tcp_command_worker(
+    shared_config: Arc<Mutex<ConnectionConfig>>,
+    rx_cmd: Receiver<String>,
+    tx_events: Sender<InternalEvent>,
+) {
+    let mut current_version = 0;
+    let mut current_addr = String::new();
+    loop {
+        {
+            let config = shared_config.lock().unwrap();
+            if config.version != current_version {
+                current_version = config.version;
+                current_addr = format!("{}:{}", config.ip, config.tcp_port);
+            }
+        }
+        if current_addr.is_empty() || current_addr.starts_with(":") {
+            thread::sleep(std::time::Duration::from_secs(1));
+            continue;
+        }
+        if let Ok(mut stream) = TcpStream::connect(&current_addr) {
+            let _ = stream.set_nodelay(true);
+            let mut reader = BufReader::new(stream.try_clone().unwrap());
+            let _ = tx_events.send(InternalEvent::Connected);
+            let stop_flag = Arc::new(Mutex::new(false));
+            let stop_flag_reader = stop_flag.clone();
+            let tx_events_inner = tx_events.clone();
+            thread::spawn(move || {
+                let mut line = String::new();
+                let mut json_acc = String::new();
+                let mut in_json = false;
+                while reader.read_line(&mut line).is_ok() {
+                    if *stop_flag_reader.lock().unwrap() {
+                        break;
+                    }
+                    let trimmed = line.trim();
+                    if trimmed.is_empty() {
+                        line.clear();
+                        continue;
+                    }
+
+                    if !in_json && trimmed.starts_with("{") {
+                        in_json = true;
+                        json_acc.clear();
+                    }
+
+                    if in_json {
+                        json_acc.push_str(trimmed);
+                        if trimmed.contains("OK DISCOVER") {
+                            in_json = false;
+                            let json_clean =
+                                json_acc.split("OK DISCOVER").next().unwrap_or("").trim();
+                            match serde_json::from_str::<DiscoverResponse>(json_clean) {
+                                Ok(resp) => {
+                                    let _ = tx_events_inner
+                                        .send(InternalEvent::Discovery(resp.signals));
+                                }
+                                Err(e) => {
+                                    let _ =
+                                        tx_events_inner.send(InternalEvent::InternalLog(format!(
+                                            "Discovery JSON Error: {} | Payload: {}",
+                                            e, json_clean
+                                        )));
+                                }
+                            }
+                            json_acc.clear();
+                        } else if trimmed.contains("OK TREE") {
+                            in_json = false;
+                            let json_clean = json_acc.split("OK TREE").next().unwrap_or("").trim();
+                            match serde_json::from_str::<TreeItem>(json_clean) {
+                                Ok(resp) => {
+                                    let _ = tx_events_inner.send(InternalEvent::Tree(resp));
+                                }
+                                Err(e) => {
+                                    let _ = tx_events_inner.send(InternalEvent::InternalLog(
+                                        format!("Tree JSON Error: {}", e),
+                                    ));
+                                }
+                            }
+                            json_acc.clear();
+                        } else if trimmed.contains("OK INFO") {
+                            in_json = false;
+                            let json_clean = json_acc.split("OK INFO").next().unwrap_or("").trim();
+                            let _ = tx_events_inner
+                                .send(InternalEvent::NodeInfo(json_clean.to_string()));
+                            json_acc.clear();
+                        } else if trimmed.contains("OK CONFIG") {
+                            in_json = false;
+                            let json_clean = json_acc.split("OK CONFIG").next().unwrap_or("").trim();
+                            match serde_json::from_str::<serde_json::Value>(json_clean) {
+                                Ok(val) => {
+                                    let _ = tx_events_inner.send(InternalEvent::Config(val));
+                                }
+                                Err(e) => {
+                                    let _ = tx_events_inner.send(InternalEvent::InternalLog(
+                                        format!("Config JSON Error: {} | Payload sample: {}", e, &json_clean[..json_clean.len().min(100)]),
+                                    ));
+                                }
+                            }
+                            json_acc.clear();
+                        }
+                    } else {
+                        if trimmed.starts_with("OK SERVICE_INFO") {
+                            let parts: Vec<&str> = trimmed.split_whitespace().collect();
+                            let mut udp = String::new();
+                            let mut log = String::new();
+                            for p in parts {
+                                if p.starts_with("UDP_STREAM:") {
+                                    udp = p.split(':').nth(1).unwrap_or("").to_string();
+                                }
+                                if p.starts_with("TCP_LOG:") {
+                                    log = p.split(':').nth(1).unwrap_or("").to_string();
+                                }
+                            }
+                            if !udp.is_empty() || !log.is_empty() {
+                                let _ = tx_events_inner.send(InternalEvent::ServiceConfig {
+                                    udp_port: udp,
+                                    log_port: log,
+                                });
+                            }
+                        }
+                        let _ = tx_events_inner
+                            .send(InternalEvent::CommandResponse(trimmed.to_string()));
+                    }
+                    line.clear();
+                }
+            });
+            while let Ok(cmd) = rx_cmd.recv() {
+                {
+                    let config = shared_config.lock().unwrap();
+                    if config.version != current_version {
+                        *stop_flag.lock().unwrap() = true;
+                        let _ = tx_events.send(InternalEvent::Disconnected);
+                        break;
+                    }
+                }
+                if stream.write_all(format!("{}
+", cmd).as_bytes()).is_err() {
+                    let _ = tx_events.send(InternalEvent::Disconnected);
+                    break;
+                }
+                thread::sleep(std::time::Duration::from_millis(100));
+            }
+            let _ = tx_events.send(InternalEvent::Disconnected);
+        }
+        thread::sleep(std::time::Duration::from_secs(2));
+    }
+}
+
+pub fn tcp_log_worker(shared_config: Arc<Mutex<ConnectionConfig>>, tx_events: Sender<InternalEvent>) {
+    let mut current_version = 0;
+    let mut current_addr = String::new();
+    loop {
+        {
+            let config = shared_config.lock().unwrap();
+            if config.version != current_version {
+                current_version = config.version;
+                current_addr = format!("{}:{}", config.ip, config.log_port);
+            }
+        }
+        if current_addr.is_empty() || current_addr.starts_with(":") {
+            thread::sleep(std::time::Duration::from_secs(1));
+            continue;
+        }
+        if let Ok(stream) = TcpStream::connect(&current_addr) {
+            let mut reader = BufReader::new(stream);
+            let mut line = String::new();
+            while reader.read_line(&mut line).is_ok() {
+                if shared_config.lock().unwrap().version != current_version {
+                    break;
+                }
+                let trimmed = line.trim();
+                if trimmed.starts_with("LOG ") {
+                    let parts: Vec<&str> = trimmed[4..].splitn(2, ' ').collect();
+                    if parts.len() == 2 {
+                        let _ = tx_events.send(InternalEvent::Log(LogEntry {
+                            time: Local::now().format("%H:%M:%S%.3f").to_string(),
+                            level: parts[0].to_string(),
+                            message: parts[1].to_string(),
+                        }));
+                    }
+                }
+                line.clear();
+            }
+        }
+        thread::sleep(std::time::Duration::from_secs(2));
+    }
+}
+
+#[allow(dead_code)]
+pub fn recording_worker(
+    rx: Receiver<[f64; 2]>,
+    path: String,
+    signal_name: String,
+    tx_events: Sender<InternalEvent>,
+) {
+    let file = match File::create(&path) {
+        Ok(f) => f,
+        Err(e) => {
+            let _ = tx_events.send(InternalEvent::RecordingError(
+                signal_name,
+                format!("File Error: {}", e),
+            ));
+            return;
+        }
+    };
+    let schema = Arc::new(Schema::new(vec![
+        Field::new("timestamp", DataType::Float64, false),
+        Field::new("value", DataType::Float64, false),
+    ]));
+    let mut writer = match ArrowWriter::try_new(
+        file,
+        schema.clone(),
+        Some(WriterProperties::builder().build()),
+    ) {
+        Ok(w) => w,
+        Err(e) => {
+            let _ = tx_events.send(InternalEvent::RecordingError(
+                signal_name,
+                format!("Parquet Error: {}", e),
+            ));
+            return;
+        }
+    };
+    let (mut t_acc, mut v_acc) = (Vec::with_capacity(1000), Vec::with_capacity(1000));
+    while let Ok([t, v]) = rx.recv() {
+        t_acc.push(t);
+        v_acc.push(v);
+        if t_acc.len() >= 1000 {
+            let batch = RecordBatch::try_new(
+                schema.clone(),
+                vec![
+                    Arc::new(Float64Array::from(t_acc.clone())),
+                    Arc::new(Float64Array::from(v_acc.clone())),
+                ],
+            )
+            .unwrap();
+            let _ = writer.write(&batch);
+            t_acc.clear();
+            v_acc.clear();
+        }
+    }
+    if !t_acc.is_empty() {
+        let batch = RecordBatch::try_new(
+            schema.clone(),
+            vec![
+                Arc::new(Float64Array::from(t_acc)),
+                Arc::new(Float64Array::from(v_acc)),
+            ],
+        )
+        .unwrap();
+        let _ = writer.write(&batch);
+    }
+    let _ = writer.close();
+}
+
+pub fn udp_worker(
+    shared_config: Arc<Mutex<ConnectionConfig>>,
+    id_to_meta: Arc<Mutex<HashMap<u32, SignalMetadata>>>,
+    traced_data: Arc<Mutex<HashMap<String, TraceData>>>,
+    tx_events: Sender<InternalEvent>,
+) {
+    let mut current_version = 0;
+    let mut socket: Option<UdpSocket> = None;
+    let mut last_seq: Option<u32> = None;
+    let mut last_warning_time = std::time::Instant::now();
+
+    loop {
+        let (ver, port) = {
+            let config = shared_config.lock().unwrap();
+            (config.version, config.udp_port.clone())
+        };
+        if ver != current_version || socket.is_none() {
+            current_version = ver;
+            {
+                let mut base = BASE_TELEM_TS.lock().unwrap();
+                *base = None;
+            }
+            if port.is_empty() {
+                socket = None;
+                continue;
+            }
+            let port_num: u16 = port.parse().unwrap_or(8081);
+            let s = Socket::new(Domain::IPV4, Type::DGRAM, Some(Protocol::UDP)).ok();
+            let mut bound = false;
+            if let Some(sock) = s {
+                let _ = sock.set_reuse_address(true);
+                #[cfg(all(unix, not(target_os = "solaris"), not(target_os = "illumos")))]
+                let _ = sock.set_reuse_port(true);
+                let _ = sock.set_recv_buffer_size(10 * 1024 * 1024);
+                let addr = format!("0.0.0.0:{}", port_num)
+                    .parse::<std::net::SocketAddr>()
+                    .unwrap();
+                if sock.bind(&addr.into()).is_ok() {
+                    socket = Some(sock.into());
+                    bound = true;
+                }
+            }
+            if !bound {
+                thread::sleep(std::time::Duration::from_secs(5));
+                continue;
+            }
+            let _ = socket
+                .as_ref()
+                .unwrap()
+                .set_read_timeout(Some(std::time::Duration::from_millis(500)));
+            last_seq = None;
+        }
+        let s = if let Some(sock) = socket.as_ref() {
+            sock
+        } else {
+            thread::sleep(std::time::Duration::from_secs(1));
+            continue;
+        };
+        let mut buf = [0u8; 4096];
+        let mut total_packets = 0u64;
+        loop {
+            if shared_config.lock().unwrap().version != current_version {
+                break;
+            }
+            if let Ok(n) = s.recv(&mut buf) {
+                total_packets += 1;
+                if (total_packets % 500) == 0 {
+                    let _ = tx_events.send(InternalEvent::UdpStats(total_packets));
+                }
+                if n < 20 {
+                    continue;
+                }
+                if u32::from_le_bytes(buf[0..4].try_into().unwrap()) != 0xDA7A57AD {
+                    continue;
+                }
+                let seq = u32::from_le_bytes(buf[4..8].try_into().unwrap());
+                if let Some(last) = last_seq {
+                    if seq != last + 1 && seq > last {
+                        let _ = tx_events.send(InternalEvent::UdpDropped(seq - last - 1));
+                    }
+                }
+                last_seq = Some(seq);
+                let count = u32::from_le_bytes(buf[16..20].try_into().unwrap());
+
+                let mut offset = 20;
+                let mut local_updates: HashMap<String, Vec<[f64; 2]>> = HashMap::new();
+                let mut last_values: HashMap<String, f64> = HashMap::new();
+                let metas = id_to_meta.lock().unwrap();
+
+                if metas.is_empty() && count > 0 && last_warning_time.elapsed().as_secs() > 5 {
+                    let _ = tx_events.send(InternalEvent::InternalLog(
+                        "UDP received but Metadata empty. Still discovering?".to_string(),
+                    ));
+                    last_warning_time = std::time::Instant::now();
+                }
+
+                for _ in 0..count {
+                    if offset + 16 > n {
+                        break;
+                    }
+                    let id = u32::from_le_bytes(buf[offset..offset + 4].try_into().unwrap());
+                    let ts_raw =
+                        u64::from_le_bytes(buf[offset + 4..offset + 12].try_into().unwrap());
+                    let size =
+                        u32::from_le_bytes(buf[offset + 12..offset + 16].try_into().unwrap());
+                    offset += 16;
+
+                    if offset + size as usize > n {
+                        break;
+                    }
+                    let data_slice = &buf[offset..offset + size as usize];
+
+                    let mut base_ts_guard = BASE_TELEM_TS.lock().unwrap();
+                    if base_ts_guard.is_none() {
+                        *base_ts_guard = Some(ts_raw);
+                    }
+
+                    let base = base_ts_guard.unwrap();
+                    let ts_s = if ts_raw >= base {
+                        (ts_raw - base) as f64 / 1000000.0
+                    } else {
+                        0.0
+                    };
+                    drop(base_ts_guard);
+
+                    if let Some(meta) = metas.get(&id) {
+                        let _ = tx_events.send(InternalEvent::TelemMatched(id));
+
+                        if meta.is_state {
+                            let state_name = String::from_utf8_lossy(data_slice)
+                                .trim_matches(char::from(0))
+                                .to_string();
+                            for name in &meta.names {
+                                let _ = tx_events.send(InternalEvent::StateUpdate(name.clone(), state_name.clone()));
+                            }
+                        } else {
+                            let t = meta.sig_type.as_str();
+                            let type_size = if meta.elements > 0 { size / meta.elements } else { size };
+                            
+                            for i in 0..meta.elements {
+                                let elem_offset = (i * type_size) as usize;
+                                if elem_offset + type_size as usize > data_slice.len() { break; }
+                                let elem_data = &data_slice[elem_offset..elem_offset + type_size as usize];
+
+                                let val = match type_size {
+                                    1 => {
+                                        if t.contains('u') {
+                                            elem_data[0] as f64
+                                        } else {
+                                            (elem_data[0] as i8) as f64
+                                        }
+                                    }
+                                    2 => {
+                                        let b = elem_data[0..2].try_into().unwrap();
+                                        if t.contains('u') {
+                                            u16::from_le_bytes(b) as f64
+                                        } else {
+                                            i16::from_le_bytes(b) as f64
+                                        }
+                                    }
+                                    4 => {
+                                        let b = elem_data[0..4].try_into().unwrap();
+                                        if t.contains("float") {
+                                            f32::from_le_bytes(b) as f64
+                                        } else if t.contains('u') {
+                                            u32::from_le_bytes(b) as f64
+                                        } else {
+                                            i32::from_le_bytes(b) as f64
+                                        }
+                                    }
+                                    8 => {
+                                        let b = elem_data[0..8].try_into().unwrap();
+                                        if t.contains("float") {
+                                            f64::from_le_bytes(b)
+                                        } else if t.contains('u') {
+                                            u64::from_le_bytes(b) as f64
+                                        } else {
+                                            i64::from_le_bytes(b) as f64
+                                        }
+                                    }
+                                    _ => 0.0,
+                                };
+
+                                for name in &meta.names {
+                                    let target_name = if meta.elements > 1 {
+                                        format!("{}[{}]", name, i)
+                                    } else {
+                                        name.clone()
+                                    };
+                                    local_updates
+                                        .entry(target_name.clone())
+                                        .or_default()
+                                        .push([ts_s, val]);
+                                    last_values.insert(target_name, val);
+                                }
+                            }
+                        }
+                    }
+                    offset += size as usize;
+                }
+                drop(metas);
+                if !local_updates.is_empty() {
+                    let mut data_map = traced_data.lock().unwrap();
+                    for (name, new_points) in local_updates {
+                        if let Some(entry) = data_map.get_mut(&name) {
+                            for point in new_points {
+                                entry.values.push_back(point);
+                                if let Some(tx) = &entry.recording_tx {
+                                    let _ = tx.send(point);
+                                }
+                            }
+                            if let Some(lv) = last_values.get(&name) {
+                                entry.last_value = *lv;
+                            }
+                            while entry.values.len() > 100000 {
+                                entry.values.pop_front();
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
@@ -51,6 +51,7 @@
      "-c",
      "-I../../../..//Source/Core/Types/Result",
      "-I../../../..//Source/Core/Types/Vec",
+      "-I../../../..//Source/Components/Interfaces/TCPLogger",
      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L0Types",
      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L1Portability",
      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L2Objects",
@@ -59,6 +60,7 @@
      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Logger",
      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Configuration",
      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L5GAMs",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L4StateMachine",
      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L1Portability",
      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L3Services",
      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L4Messages",
@@ -66,6 +68,7 @@
      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L5GAMs",
      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/FileSystem/L1Portability",
      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/FileSystem/L3Streams",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/DataSources/RealTimeThreadSynchronisation",
      "-fPIC",
      "-Wall",
      "-std=c++98",
@@ -89,298 +92,5 @@
    ],
    "directory": "/home/martino/Projects/marte_debug/Source/Components/Interfaces/DebugService",
    "output": "../../../..//Build/x86-linux/Components/Interfaces/DebugService/DebugService.o"
-  },
-  {
-    "file": "UnitTests.cpp",
-    "arguments": [
-      "g++",
-      "-c",
-      "-I../../Source/Core/Types/Result",
-      "-I../../Source/Core/Types/Vec",
-      "-I../../Source/Components/Interfaces/DebugService",
-      "-I../../Source/Components/Interfaces/TCPLogger",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L0Types",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L1Portability",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L2Objects",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L3Streams",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Messages",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Logger",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Configuration",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L5GAMs",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L1Portability",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L3Services",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L4Messages",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L4LoggerService",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L5GAMs",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/FileSystem/L1Portability",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/FileSystem/L3Streams",
-      "-fPIC",
-      "-Wall",
-      "-std=c++98",
-      "-Werror",
-      "-Wno-invalid-offsetof",
-      "-Wno-unused-variable",
-      "-fno-strict-aliasing",
-      "-frtti",
-      "-DMARTe2_TEST_ENVIRONMENT=GTest",
-      "-DARCHITECTURE=x86_gcc",
-      "-DENVIRONMENT=Linux",
-      "-DUSE_PTHREAD",
-      "-pthread",
-      "-Wno-deprecated-declarations",
-      "-Wno-unused-value",
-      "-g",
-      "-ggdb",
-      "UnitTests.cpp",
-      "-o",
-      "../../Build/x86-linux/Test/UnitTests/UnitTests/UnitTests.o"
-    ],
-    "directory": "/home/martino/Projects/marte_debug/Test/UnitTests",
-    "output": "../../Build/x86-linux/Test/UnitTests/UnitTests/UnitTests.o"
-  },
-  {
-    "file": "SchedulerTest.cpp",
-    "arguments": [
-      "g++",
-      "-c",
-      "-I../../Source/Core/Types/Result",
-      "-I../../Source/Core/Types/Vec",
-      "-I../../Source/Components/Interfaces/DebugService",
-      "-I../../Source/Components/Interfaces/TCPLogger",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L0Types",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L1Portability",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L2Objects",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L3Streams",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Messages",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Logger",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Configuration",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L5GAMs",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L6App",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L1Portability",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L3Services",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L4Messages",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L4LoggerService",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L5GAMs",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/FileSystem/L1Portability",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/FileSystem/L3Streams",
-      "-fPIC",
-      "-Wall",
-      "-std=c++98",
-      "-Werror",
-      "-Wno-invalid-offsetof",
-      "-Wno-unused-variable",
-      "-fno-strict-aliasing",
-      "-frtti",
-      "-DMARTe2_TEST_ENVIRONMENT=GTest",
-      "-DARCHITECTURE=x86_gcc",
-      "-DENVIRONMENT=Linux",
-      "-DUSE_PTHREAD",
-      "-pthread",
-      "-Wno-deprecated-declarations",
-      "-Wno-unused-value",
-      "-g",
-      "-ggdb",
-      "SchedulerTest.cpp",
-      "-o",
-      "../../Build/x86-linux/Test/Integration/Integration/SchedulerTest.o"
-    ],
-    "directory": "/home/martino/Projects/marte_debug/Test/Integration",
-    "output": "../../Build/x86-linux/Test/Integration/Integration/SchedulerTest.o"
-  },
-  {
-    "file": "TraceTest.cpp",
-    "arguments": [
-      "g++",
-      "-c",
-      "-I../../Source/Core/Types/Result",
-      "-I../../Source/Core/Types/Vec",
-      "-I../../Source/Components/Interfaces/DebugService",
-      "-I../../Source/Components/Interfaces/TCPLogger",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L0Types",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L1Portability",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L2Objects",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L3Streams",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Messages",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Logger",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Configuration",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L5GAMs",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L6App",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L1Portability",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L3Services",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L4Messages",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L4LoggerService",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L5GAMs",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/FileSystem/L1Portability",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/FileSystem/L3Streams",
-      "-fPIC",
-      "-Wall",
-      "-std=c++98",
-      "-Werror",
-      "-Wno-invalid-offsetof",
-      "-Wno-unused-variable",
-      "-fno-strict-aliasing",
-      "-frtti",
-      "-DMARTe2_TEST_ENVIRONMENT=GTest",
-      "-DARCHITECTURE=x86_gcc",
-      "-DENVIRONMENT=Linux",
-      "-DUSE_PTHREAD",
-      "-pthread",
-      "-Wno-deprecated-declarations",
-      "-Wno-unused-value",
-      "-g",
-      "-ggdb",
-      "TraceTest.cpp",
-      "-o",
-      "../../Build/x86-linux/Test/Integration/Integration/TraceTest.o"
-    ],
-    "directory": "/home/martino/Projects/marte_debug/Test/Integration",
-    "output": "../../Build/x86-linux/Test/Integration/Integration/TraceTest.o"
-  },
-  {
-    "file": "ValidationTest.cpp",
-    "arguments": [
-      "g++",
-      "-c",
-      "-I../../Source/Core/Types/Result",
-      "-I../../Source/Core/Types/Vec",
-      "-I../../Source/Components/Interfaces/DebugService",
-      "-I../../Source/Components/Interfaces/TCPLogger",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L0Types",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L1Portability",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L2Objects",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L3Streams",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Messages",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Logger",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Configuration",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L5GAMs",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L6App",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L1Portability",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L3Services",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L4Messages",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L4LoggerService",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L5GAMs",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/FileSystem/L1Portability",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/FileSystem/L3Streams",
-      "-fPIC",
-      "-Wall",
-      "-std=c++98",
-      "-Werror",
-      "-Wno-invalid-offsetof",
-      "-Wno-unused-variable",
-      "-fno-strict-aliasing",
-      "-frtti",
-      "-DMARTe2_TEST_ENVIRONMENT=GTest",
-      "-DARCHITECTURE=x86_gcc",
-      "-DENVIRONMENT=Linux",
-      "-DUSE_PTHREAD",
-      "-pthread",
-      "-Wno-deprecated-declarations",
-      "-Wno-unused-value",
-      "-g",
-      "-ggdb",
-      "ValidationTest.cpp",
-      "-o",
-      "../../Build/x86-linux/Test/Integration/Integration/ValidationTest.o"
-    ],
-    "directory": "/home/martino/Projects/marte_debug/Test/Integration",
-    "output": "../../Build/x86-linux/Test/Integration/Integration/ValidationTest.o"
-  },
-  {
-    "file": "ConfigCommandTest.cpp",
-    "arguments": [
-      "g++",
-      "-c",
-      "-I../../Source/Core/Types/Result",
-      "-I../../Source/Core/Types/Vec",
-      "-I../../Source/Components/Interfaces/DebugService",
-      "-I../../Source/Components/Interfaces/TCPLogger",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L0Types",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L1Portability",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L2Objects",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L3Streams",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Messages",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Logger",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Configuration",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L5GAMs",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L6App",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L1Portability",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L3Services",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L4Messages",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L4LoggerService",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L5GAMs",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/FileSystem/L1Portability",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/FileSystem/L3Streams",
-      "-fPIC",
-      "-Wall",
-      "-std=c++98",
-      "-Werror",
-      "-Wno-invalid-offsetof",
-      "-Wno-unused-variable",
-      "-fno-strict-aliasing",
-      "-frtti",
-      "-DMARTe2_TEST_ENVIRONMENT=GTest",
-      "-DARCHITECTURE=x86_gcc",
-      "-DENVIRONMENT=Linux",
-      "-DUSE_PTHREAD",
-      "-pthread",
-      "-Wno-deprecated-declarations",
-      "-Wno-unused-value",
-      "-g",
-      "-ggdb",
-      "ConfigCommandTest.cpp",
-      "-o",
-      "../../Build/x86-linux/Test/Integration/Integration/ConfigCommandTest.o"
-    ],
-    "directory": "/home/martino/Projects/marte_debug/Test/Integration",
-    "output": "../../Build/x86-linux/Test/Integration/Integration/ConfigCommandTest.o"
-  },
-  {
-    "file": "IntegrationTests.cpp",
-    "arguments": [
-      "g++",
-      "-c",
-      "-I../../Source/Core/Types/Result",
-      "-I../../Source/Core/Types/Vec",
-      "-I../../Source/Components/Interfaces/DebugService",
-      "-I../../Source/Components/Interfaces/TCPLogger",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L0Types",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L1Portability",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L2Objects",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L3Streams",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Messages",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Logger",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Configuration",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L5GAMs",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L6App",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L1Portability",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L3Services",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L4Messages",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L4LoggerService",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L5GAMs",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/FileSystem/L1Portability",
-      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/FileSystem/L3Streams",
-      "-fPIC",
-      "-Wall",
-      "-std=c++98",
-      "-Werror",
-      "-Wno-invalid-offsetof",
-      "-Wno-unused-variable",
-      "-fno-strict-aliasing",
-      "-frtti",
-      "-DMARTe2_TEST_ENVIRONMENT=GTest",
-      "-DARCHITECTURE=x86_gcc",
-      "-DENVIRONMENT=Linux",
-      "-DUSE_PTHREAD",
-      "-pthread",
-      "-Wno-deprecated-declarations",
-      "-Wno-unused-value",
-      "-g",
-      "-ggdb",
-      "IntegrationTests.cpp",
-      "-o",
-      "../../Build/x86-linux/Test/Integration/Integration/IntegrationTests.o"
-    ],
-    "directory": "/home/martino/Projects/marte_debug/Test/Integration",
-    "output": "../../Build/x86-linux/Test/Integration/Integration/IntegrationTests.o"
  }
 ]
@@ -6,11 +6,12 @@ export MARTe2_DIR=$DIR/dependency/MARTe2
 export MARTe2_Components_DIR=$DIR/dependency/MARTe2-components
 export TARGET=x86-linux
 export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$MARTe2_DIR/Build/$TARGET/Core
-export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$MARTe2_Components_DIR/Build/$TARGET/Components
-export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$DIR/Build/$TARGET/Components/Interfaces/DebugService
-export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$DIR/Build/$TARGET/Components/Interfaces/TCPLogger
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$MARTe2_Components_DIR/Build/$TARGET/Components/Components
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$MARTe2_Components_DIR/Build/$TARGET/Components/DataSources/RealTimeThreadSynchronisation
 export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$MARTe2_Components_DIR/Build/$TARGET/Components/DataSources/LinuxTimer
 export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$MARTe2_Components_DIR/Build/$TARGET/Components/DataSources/LoggerDataSource
 export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$MARTe2_Components_DIR/Build/$TARGET/Components/GAMs/IOGAM
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$DIR/Build/$TARGET/Components/Interfaces/DebugService
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$DIR/Build/$TARGET/Components/Interfaces/TCPLogger
 echo "MARTe2 Environment Set (MARTe2_DIR=$MARTe2_DIR)"
 echo "MARTe2 Components Environment Set (MARTe2_Components_DIR=$MARTe2_Components_DIR)"