Major functionality implemented (missing reconfig).

Source/Components/Interfaces/DebugService/DebugBrokerWrapper.h

@@ -9,6 +9,7 @@
 #include "MemoryMapBroker.h"
 #include "ObjectBuilder.h"
 #include "ObjectRegistryDatabase.h"
+#include "Threads.h"
 #include "Vec.h"
 
 // Original broker headers
@@ -26,22 +27,91 @@
 
 namespace MARTe {
 
+// Recursive search for any object with a given name anywhere in the registry.
+// Used to find GAMs regardless of nesting level.
+static Reference FindByNameRecursive(ReferenceContainer *container,
+                                     const char8 *name) {
+  if (container == NULL_PTR(ReferenceContainer *))
+    return Reference();
+  uint32 n = container->Size();
+  for (uint32 i = 0; i < n; i++) {
+    Reference child = container->Get(i);
+    if (!child.IsValid())
+      continue;
+    if (StringHelper::Compare(child->GetName(), name) == 0)
+      return child;
+    ReferenceContainer *sub =
+        dynamic_cast<ReferenceContainer *>(child.operator->());
+    if (sub != NULL_PTR(ReferenceContainer *)) {
+      Reference found = FindByNameRecursive(sub, name);
+      if (found.IsValid())
+        return found;
+    }
+  }
+  return Reference();
+}
+
 /**
  * @brief Helper for optimized signal processing within brokers.
  */
 class DebugBrokerHelper {
 public:
+  // Evaluate a break condition against the current live value of a signal.
+  // Returns true if the condition is met and execution should be paused.
+  // Only called when signal->breakOp != BREAK_OFF; reads memoryAddress directly.
+  static bool EvaluateBreak(const DebugSignalInfo *s) {
+    if (s->memoryAddress == NULL_PTR(void *)) return false;
+    float64 val = 0.0;
+    const TypeDescriptor &t = s->type;
+    if      (t == Float64Bit)           val = *static_cast<const float64 *>(s->memoryAddress);
+    else if (t == Float32Bit)           val = *static_cast<const float32 *>(s->memoryAddress);
+    else if (t == UnsignedInteger32Bit) val = *static_cast<const uint32  *>(s->memoryAddress);
+    else if (t == SignedInteger32Bit)   val = *static_cast<const int32   *>(s->memoryAddress);
+    else if (t == UnsignedInteger64Bit) val = static_cast<float64>(*static_cast<const uint64 *>(s->memoryAddress));
+    else if (t == SignedInteger64Bit)   val = static_cast<float64>(*static_cast<const int64  *>(s->memoryAddress));
+    else if (t == UnsignedInteger16Bit) val = *static_cast<const uint16  *>(s->memoryAddress);
+    else if (t == SignedInteger16Bit)   val = *static_cast<const int16   *>(s->memoryAddress);
+    else if (t == UnsignedInteger8Bit)  val = *static_cast<const uint8   *>(s->memoryAddress);
+    else if (t == SignedInteger8Bit)    val = *static_cast<const int8    *>(s->memoryAddress);
+    else return false; // unsupported type — skip
+    const float64 thr = s->breakThreshold;
+    switch (s->breakOp) {
+      case BREAK_GT:  return val >  thr;
+      case BREAK_LT:  return val <  thr;
+      case BREAK_EQ:  return val == thr;
+      case BREAK_GEQ: return val >= thr;
+      case BREAK_LEQ: return val <= thr;
+      case BREAK_NEQ: return val != thr;
+      default: return false;
+    }
+  }
+
+  // Spin-wait point for output brokers — called from Execute() AFTER Process().
+  // Spins while paused, then consumes one step counter tick (if stepping).
+  // Input brokers must NOT call this — they complete normally to avoid blocking
+  // cross-thread EventSem posts (RealTimeThreadSynchBroker would time out).
+  static void OutputPauseAndStep(DebugService *service, const char8 *gamName) {
+    if (service == NULL_PTR(DebugService *)) return;
+    // Wait if already paused (manual PAUSE or breakpoint from a previous cycle)
+    while (service->IsPaused()) Sleep::MSec(10);
+    // Pass the OS thread name so per-thread step filtering works.
+    const char8 *tName = Threads::Name(Threads::Id());
+    service->ConsumeStepIfNeeded(gamName, tName);
+    while (service->IsPaused()) Sleep::MSec(10);
+  }
+
   static void Process(DebugService *service,
                       DebugSignalInfo **signalInfoPointers,
                       Vec<uint32> &activeIndices, Vec<uint32> &activeSizes,
-                      FastPollingMutexSem &activeMutex) {
+                      FastPollingMutexSem &activeMutex,
+                      volatile bool *anyBreakFlag,
+                      Vec<uint32> *breakIndices) {
     if (service == NULL_PTR(DebugService *))
       return;
 
-    // Re-establish break logic
-    while (service->IsPaused()) {
-      Sleep::MSec(10);
-    }
+    // NOTE: No spin here. Spinning for paused state is handled in Execute() of
+    // OUTPUT brokers only (see OutputPauseAndStep). Input brokers must not block
+    // because that prevents cross-thread EventSem posts from completing.
 
     activeMutex.FastLock();
     uint32 n = activeIndices.Size();
@@ -59,6 +129,23 @@ public:
         }
       }
     }
+
+    // Conditional break check — zero cost when anyBreakFlag is false
+    // (single volatile read; the RT loop never pays for this when no break is set).
+    if (*anyBreakFlag && !service->IsPaused() &&
+        breakIndices != NULL_PTR(Vec<uint32> *)) {
+      uint32 nb = breakIndices->Size();
+      for (uint32 i = 0; i < nb; i++) {
+        uint32 idx = (*breakIndices)[i];
+        DebugSignalInfo *s = signalInfoPointers[idx];
+        if (s != NULL_PTR(DebugSignalInfo *) && s->breakOp != BREAK_OFF &&
+            EvaluateBreak(s)) {
+          service->SetPaused(true);
+          break;
+        }
+      }
+    }
+
     activeMutex.FastUnLock();
   }
 
@@ -69,7 +156,8 @@ public:
               uint32 numCopies, MemoryMapBrokerCopyTableEntry *copyTable,
               const char8 *functionName, SignalDirection direction,
               volatile bool *anyActiveFlag, Vec<uint32> *activeIndices,
-              Vec<uint32> *activeSizes, FastPollingMutexSem *activeMutex) {
+              Vec<uint32> *activeSizes, FastPollingMutexSem *activeMutex,
+              volatile bool *anyBreakFlag, Vec<uint32> *breakIndices) {
     if (numCopies > 0) {
       signalInfoPointers = new DebugSignalInfo *[numCopies];
       for (uint32 i = 0; i < numCopies; i++)
@@ -126,21 +214,14 @@ public:
               (direction == InputSignals) ? "InputSignals" : "OutputSignals";
           const char8 *dirStrShort = (direction == InputSignals) ? "In" : "Out";
 
-          // Try to find the GAM with different path variations
+          // Search recursively through the entire registry for the GAM by name.
+          // Direct Find("GAM1") only checks top-level; the GAM may be nested
+          // several levels deep inside a RealTimeApplication container.
           Reference gamRef =
-              ObjectRegistryDatabase::Instance()->Find(functionName);
-          if (!gamRef.IsValid()) {
-            // Try with "App.Functions." prefix
-            StreamString tryPath;
-            tryPath.Printf("App.Functions.%s", functionName);
-            gamRef = ObjectRegistryDatabase::Instance()->Find(tryPath.Buffer());
-          }
-          if (!gamRef.IsValid()) {
-            // Try with "Functions." prefix
-            StreamString tryPath;
-            tryPath.Printf("Functions.%s", functionName);
-            gamRef = ObjectRegistryDatabase::Instance()->Find(tryPath.Buffer());
-          }
+              FindByNameRecursive(ObjectRegistryDatabase::Instance(),
+                                  functionName);
+          fprintf(stderr, ">> GAM lookup '%s': %s\n", functionName,
+                  gamRef.IsValid() ? "FOUND" : "NOT FOUND");
 
           if (gamRef.IsValid()) {
             StreamString absGamPath;
@@ -164,8 +245,12 @@ public:
       }
 
       // Register broker in DebugService for optimized control
+      bool isOutputBroker = (direction == OutputSignals);
       service->RegisterBroker(signalInfoPointers, numCopies, mmb, anyActiveFlag,
-                              activeIndices, activeSizes, activeMutex);
+                              activeIndices, activeSizes, activeMutex,
+                              anyBreakFlag, breakIndices,
+                              (functionName != NULL_PTR(const char8 *)) ? functionName : dsPath.Buffer(),
+                              isOutputBroker);
     }
   }
 };
@@ -180,6 +265,9 @@ public:
     signalInfoPointers = NULL_PTR(DebugSignalInfo **);
     numSignals = 0;
     anyActive = false;
+    anyBreakActive = false;
+    isOutput = false;
+    gamName[0] = '\0';
   }
 
   virtual ~DebugBrokerWrapper() {
@@ -189,9 +277,15 @@ public:
 
   virtual bool Execute() {
     bool ret = BaseClass::Execute();
-    if (ret && (anyActive || (service && service->IsPaused()))) {
+    if (ret && (anyActive || anyBreakActive)) {
       DebugBrokerHelper::Process(service, signalInfoPointers, activeIndices,
-                                 activeSizes, activeMutex);
+                                 activeSizes, activeMutex,
+                                 &anyBreakActive, &breakIndices);
+    }
+    // Output brokers are the safe pause point: base Execute has already
+    // committed data / posted any cross-thread EventSems.
+    if (ret && isOutput) {
+      DebugBrokerHelper::OutputPauseAndStep(service, gamName);
     }
     return ret;
   }
@@ -203,10 +297,13 @@ public:
             direction == InputSignals ? "In" : "Out");
     if (ret) {
       numSignals = this->GetNumberOfCopies();
+      isOutput = (direction == OutputSignals);
+      StringHelper::CopyN(gamName, name, 255u);
       DebugBrokerHelper::InitSignals(this, ds, service, signalInfoPointers,
                                      numSignals, this->copyTable, name,
                                      direction, &anyActive, &activeIndices,
-                                     &activeSizes, &activeMutex);
+                                     &activeSizes, &activeMutex,
+                                     &anyBreakActive, &breakIndices);
     }
     return ret;
   }
@@ -218,10 +315,13 @@ public:
             direction == InputSignals ? "In" : "Out");
     if (ret) {
       numSignals = this->GetNumberOfCopies();
+      isOutput = (direction == OutputSignals);
+      StringHelper::CopyN(gamName, name, 255u);
       DebugBrokerHelper::InitSignals(this, ds, service, signalInfoPointers,
                                      numSignals, this->copyTable, name,
                                      direction, &anyActive, &activeIndices,
-                                     &activeSizes, &activeMutex);
+                                     &activeSizes, &activeMutex,
+                                     &anyBreakActive, &breakIndices);
     }
     return ret;
   }
@@ -230,8 +330,12 @@ public:
   DebugSignalInfo **signalInfoPointers;
   uint32 numSignals;
   volatile bool anyActive;
+  volatile bool anyBreakActive;
+  bool isOutput;
+  char8 gamName[256];
   Vec<uint32> activeIndices;
   Vec<uint32> activeSizes;
+  Vec<uint32> breakIndices;
   FastPollingMutexSem activeMutex;
 };
 
@@ -243,6 +347,9 @@ public:
     signalInfoPointers = NULL_PTR(DebugSignalInfo **);
     numSignals = 0;
     anyActive = false;
+    anyBreakActive = false;
+    isOutput = false;
+    gamName[0] = '\0';
   }
 
   virtual ~DebugBrokerWrapperNoOptim() {
@@ -252,9 +359,13 @@ public:
 
   virtual bool Execute() {
     bool ret = BaseClass::Execute();
-    if (ret && (anyActive || (service && service->IsPaused()))) {
+    if (ret && (anyActive || anyBreakActive)) {
       DebugBrokerHelper::Process(service, signalInfoPointers, activeIndices,
-                                 activeSizes, activeMutex);
+                                 activeSizes, activeMutex,
+                                 &anyBreakActive, &breakIndices);
+    }
+    if (ret && isOutput) {
+      DebugBrokerHelper::OutputPauseAndStep(service, gamName);
     }
     return ret;
   }
@@ -264,10 +375,13 @@ public:
     bool ret = BaseClass::Init(direction, ds, name, gamMem);
     if (ret) {
       numSignals = this->GetNumberOfCopies();
+      isOutput = (direction == OutputSignals);
+      StringHelper::CopyN(gamName, name, 255u);
       DebugBrokerHelper::InitSignals(this, ds, service, signalInfoPointers,
                                      numSignals, this->copyTable, name,
                                      direction, &anyActive, &activeIndices,
-                                     &activeSizes, &activeMutex);
+                                     &activeSizes, &activeMutex,
+                                     &anyBreakActive, &breakIndices);
     }
     return ret;
   }
@@ -276,8 +390,12 @@ public:
   DebugSignalInfo **signalInfoPointers;
   uint32 numSignals;
   volatile bool anyActive;
+  volatile bool anyBreakActive;
+  bool isOutput;
+  char8 gamName[256];
   Vec<uint32> activeIndices;
   Vec<uint32> activeSizes;
+  Vec<uint32> breakIndices;
   FastPollingMutexSem activeMutex;
 };
 
@@ -288,6 +406,8 @@ public:
     signalInfoPointers = NULL_PTR(DebugSignalInfo **);
     numSignals = 0;
     anyActive = false;
+    anyBreakActive = false;
+    gamName[0] = '\0';
   }
   virtual ~DebugMemoryMapAsyncOutputBroker() {
     if (signalInfoPointers)
@@ -295,9 +415,14 @@ public:
   }
   virtual bool Execute() {
     bool ret = MemoryMapAsyncOutputBroker::Execute();
-    if (ret && (anyActive || (service && service->IsPaused()))) {
+    if (ret && (anyActive || anyBreakActive)) {
       DebugBrokerHelper::Process(service, signalInfoPointers, activeIndices,
-                                 activeSizes, activeMutex);
+                                 activeSizes, activeMutex,
+                                 &anyBreakActive, &breakIndices);
+    }
+    // Async output brokers are always output direction
+    if (ret) {
+      DebugBrokerHelper::OutputPauseAndStep(service, gamName);
     }
     return ret;
   }
@@ -313,10 +438,11 @@ public:
         numberOfBuffersIn, cpuMaskIn, stackSizeIn);
     if (ret) {
       numSignals = this->GetNumberOfCopies();
+      StringHelper::CopyN(gamName, (functionName != NULL_PTR(const char8 *)) ? functionName : "", 255u);
       DebugBrokerHelper::InitSignals(
           this, dataSourceIn, service, signalInfoPointers, numSignals,
           this->copyTable, functionName, direction, &anyActive, &activeIndices,
-          &activeSizes, &activeMutex);
+          &activeSizes, &activeMutex, &anyBreakActive, &breakIndices);
     }
     return ret;
   }
@@ -324,8 +450,11 @@ public:
   DebugSignalInfo **signalInfoPointers;
   uint32 numSignals;
   volatile bool anyActive;
+  volatile bool anyBreakActive;
+  char8 gamName[256];
   Vec<uint32> activeIndices;
   Vec<uint32> activeSizes;
+  Vec<uint32> breakIndices;
   FastPollingMutexSem activeMutex;
 };
 
@@ -338,6 +467,8 @@ public:
     signalInfoPointers = NULL_PTR(DebugSignalInfo **);
     numSignals = 0;
     anyActive = false;
+    anyBreakActive = false;
+    gamName[0] = '\0';
   }
   virtual ~DebugMemoryMapAsyncTriggerOutputBroker() {
     if (signalInfoPointers)
@@ -345,9 +476,13 @@ public:
   }
   virtual bool Execute() {
     bool ret = MemoryMapAsyncTriggerOutputBroker::Execute();
-    if (ret && (anyActive || (service && service->IsPaused()))) {
+    if (ret && (anyActive || anyBreakActive)) {
       DebugBrokerHelper::Process(service, signalInfoPointers, activeIndices,
-                                 activeSizes, activeMutex);
+                                 activeSizes, activeMutex,
+                                 &anyBreakActive, &breakIndices);
+    }
+    if (ret) {
+      DebugBrokerHelper::OutputPauseAndStep(service, gamName);
     }
     return ret;
   }
@@ -363,10 +498,11 @@ public:
         stackSizeIn);
     if (ret) {
       numSignals = this->GetNumberOfCopies();
+      StringHelper::CopyN(gamName, (functionName != NULL_PTR(const char8 *)) ? functionName : "", 255u);
       DebugBrokerHelper::InitSignals(
           this, dataSourceIn, service, signalInfoPointers, numSignals,
           this->copyTable, functionName, direction, &anyActive, &activeIndices,
-          &activeSizes, &activeMutex);
+          &activeSizes, &activeMutex, &anyBreakActive, &breakIndices);
     }
     return ret;
   }
@@ -374,8 +510,11 @@ public:
   DebugSignalInfo **signalInfoPointers;
   uint32 numSignals;
   volatile bool anyActive;
+  volatile bool anyBreakActive;
+  char8 gamName[256];
   Vec<uint32> activeIndices;
   Vec<uint32> activeSizes;
+  Vec<uint32> breakIndices;
   FastPollingMutexSem activeMutex;
 };
 

Source/Components/Interfaces/DebugService/DebugCore.h

@@ -8,6 +8,17 @@
 
 namespace MARTe {
 
+// Break condition operators stored in DebugSignalInfo::breakOp
+enum BreakOp {
+    BREAK_OFF = 0,
+    BREAK_GT  = 1,  // >
+    BREAK_LT  = 2,  // <
+    BREAK_EQ  = 3,  // ==
+    BREAK_GEQ = 4,  // >=
+    BREAK_LEQ = 5,  // <=
+    BREAK_NEQ = 6   // !=
+};
+
 struct DebugSignalInfo {
     void* memoryAddress;
     TypeDescriptor type;
@@ -20,6 +31,9 @@ struct DebugSignalInfo {
     uint32 internalID;
     volatile uint32 decimationFactor;
     volatile uint32 decimationCounter;
+    // Conditional break fields (zero-cost when breakOp == BREAK_OFF)
+    volatile uint8 breakOp;         // BreakOp enum value
+    float64 breakThreshold;         // comparison threshold
 };
 
 #pragma pack(push, 1)

Source/Components/Interfaces/DebugService/DebugService.cpp

@@ -7,11 +7,15 @@
 #include "GAM.h"
 #include "GlobalObjectsDatabase.h"
 #include "HighResolutionTimer.h"
+#include "LoggerService.h"
 #include "Message.h"
 #include "ObjectBuilder.h"
 #include "ObjectRegistryDatabase.h"
+#include "Threads.h"
+#include "Sleep.h"
 #include "StreamString.h"
 #include "TimeoutType.h"
+#include "TcpLogger.h"
 #include "TypeConversion.h"
 #include "ReferenceT.h"
 
@@ -93,7 +97,11 @@ DebugService::DebugService()
   isServer = false;
   suppressTimeoutLogs = true;
   isPaused = false;
+  stepRemaining = 0u;
+  manualConfigSet = false;
   activeClient = NULL_PTR(BasicTCPSocket *);
+  streamerPacketOffset = 0u;
+  streamerSequenceNumber = 0u;
 }
 
 DebugService::~DebugService() {
@@ -157,18 +165,10 @@ 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
+  // Do NOT call MoveToRoot() on the shared CDB here — that corrupts the
+  // ReferenceContainer::Initialise() traversal cursor for sibling objects.
+  // Just capture the local subtree; full config is rebuilt lazily from the
+  // live ObjectRegistryDatabase when ServeConfig/EnrichWithConfig is called.
   (void)data.Copy(fullConfig);
 
   if (isServer) {
@@ -193,9 +193,170 @@ bool DebugService::Initialise(StructuredDataI &data) {
   return true;
 }
 
+void DebugService::InjectTcpLoggerIfNeeded() {
+  if (logPort == 0u)
+    return;
+
+  // Check if the ORD already contains a LoggerService with at least one TcpLogger.
+  // If so, leave it untouched.
+  Reference existing = ObjectRegistryDatabase::Instance()->Find("LoggerService");
+  if (existing.IsValid()) {
+    ReferenceContainer *rc = dynamic_cast<ReferenceContainer *>(existing.operator->());
+    if (rc != NULL_PTR(ReferenceContainer *)) {
+      for (uint32 i = 0u; i < rc->Size(); i++) {
+        ReferenceT<TcpLogger> child = rc->Get(i);
+        if (child.IsValid()) {
+          printf("[DebugService] Found existing TcpLogger in LoggerService — skipping injection.\n");
+          return;
+        }
+      }
+    }
+  }
+
+  // Build a CDB that mirrors the config-file declaration:
+  //   LoggerService node (current position)
+  //     Class    = LoggerService
+  //     CPUs     = 1
+  //     DebugConsumer (child)
+  //       Class  = TcpLogger
+  //       Port   = <logPort>
+  ConfigurationDatabase lsCdb;
+  (void)lsCdb.Write("Class", "LoggerService");
+  uint32 cpus = 1u;
+  (void)lsCdb.Write("CPUs", cpus);
+  // ReferenceContainer::Initialise only instantiates children whose names
+  // start with '+' (matching the StandardParser convention).
+  if (lsCdb.CreateRelative("+DebugConsumer")) {
+    (void)lsCdb.Write("Class", "TcpLogger");
+    uint32 p = static_cast<uint32>(logPort);
+    (void)lsCdb.Write("Port", p);
+    (void)lsCdb.MoveToAncestor(1u);
+  }
+  (void)lsCdb.MoveToRoot();
+
+  ReferenceT<LoggerService> ls(
+      "LoggerService", GlobalObjectsDatabase::Instance()->GetStandardHeap());
+  if (!ls.IsValid()) {
+    printf("[DebugService] Failed to create LoggerService object.\n");
+    return;
+  }
+  ls->SetName("LoggerService");
+  if (!ls->Initialise(lsCdb)) {
+    printf("[DebugService] LoggerService::Initialise() failed.\n");
+    return;
+  }
+
+  // Insert into the ORD so it is findable by name and cleaned up on shutdown.
+  if (!ObjectRegistryDatabase::Instance()->Insert(ls)) {
+    printf("[DebugService] Failed to insert LoggerService into ORD.\n");
+    // Keep a local reference anyway so the logger thread stays alive.
+  }
+
+  // The ORD now holds a reference to ls; the LoggerService stays alive until
+  // ObjectRegistryDatabase::Purge().  No need to store a local reference.
+  printf("[DebugService] Auto-injected LoggerService + TcpLogger on port %u.\n", logPort);
+}
+
 void DebugService::SetFullConfig(ConfigurationDatabase &config) {
   config.MoveToRoot();
   config.Copy(fullConfig);
+  manualConfigSet = true;
+}
+
+static void BuildCDBFromContainer(ReferenceContainer *container,
+                                  ConfigurationDatabase &cdb) {
+  if (container == NULL_PTR(ReferenceContainer *))
+    return;
+  uint32 n = container->Size();
+  for (uint32 i = 0u; i < n; i++) {
+    Reference child = container->Get(i);
+    if (!child.IsValid())
+      continue;
+    const char8 *name = child->GetName();
+    if (name == NULL_PTR(const char8 *))
+      continue;
+
+    bool created = cdb.CreateRelative(name);
+    if (!created) {
+      if (!cdb.MoveRelative(name))
+        continue;
+    }
+
+    const char8 *className = child->GetClassProperties()->GetName();
+    if (className != NULL_PTR(const char8 *))
+      (void)cdb.Write("Class", className);
+
+    // Export scalar parameters via a SEPARATE CDB so the live cursor is
+    // never touched by ExportData.  Then copy only top-level LEAF values
+    // (i.e. scalars where MoveRelative fails) and skip sub-nodes.
+    //
+    // This avoids two ExportData pitfalls:
+    //   1. ReferenceContainer::ExportData writes numeric-indexed child nodes
+    //      (+0, +1, ...) — those are sub-nodes and get filtered out.
+    //   2. Some DataSource ExportData implementations follow internal
+    //      references and write sibling objects as children — also sub-nodes,
+    //      also filtered out.
+    //
+    // Scalar parameters (ControlPort, UdpPort, CPUs, Port, ...) pass through
+    // because they are leaf values, not sub-nodes.
+    {
+      ConfigurationDatabase exportCdb;
+      if (child->ExportData(exportCdb)) {
+        exportCdb.MoveToRoot();
+        uint32 nExport = exportCdb.GetNumberOfChildren();
+        for (uint32 j = 0u; j < nExport; j++) {
+          const char8 *ek = exportCdb.GetChildName(j);
+          if (StringHelper::Compare(ek, "Class") == 0 ||
+              StringHelper::Compare(ek, "Name") == 0 ||
+              StringHelper::Compare(ek, "IsContainer") == 0)
+            continue;
+          // Sub-node check: MoveRelative succeeds only for nodes, not scalars
+          if (exportCdb.MoveRelative(ek)) {
+            exportCdb.MoveToAncestor(1u);
+            continue; // skip sub-nodes entirely
+          }
+          // Leaf scalar — convert to string and write into the main CDB
+          AnyType at = exportCdb.GetType(ek);
+          if (at.GetDataPointer() != NULL_PTR(void *)) {
+            char8 buf[1024];
+            AnyType st(CharString, 0u, buf);
+            st.SetNumberOfElements(0, 1024);
+            if (TypeConvert(st, at)) {
+              (void)cdb.Write(ek, buf);
+            }
+          }
+        }
+      }
+    }
+
+    ReferenceContainer *sub =
+        dynamic_cast<ReferenceContainer *>(child.operator->());
+    if (sub != NULL_PTR(ReferenceContainer *))
+      BuildCDBFromContainer(sub, cdb);
+
+    (void)cdb.MoveToAncestor(1u);
+  }
+}
+
+void DebugService::RebuildConfigFromRegistry() {
+  fullConfig = ConfigurationDatabase();
+  BuildCDBFromContainer(ObjectRegistryDatabase::Instance(), fullConfig);
+
+  // ExportData on ReferenceContainer subclasses (including DebugService itself)
+  // only writes Name/IsContainer/indexed children — it never re-emits the
+  // config-file parameters that were read in Initialise().  Write them back
+  // explicitly from the member variables that Initialise() stored.
+  const char8 *myName = GetName();
+  if (myName != NULL_PTR(const char8 *)) {
+    if (fullConfig.MoveRelative(myName)) {
+      (void)fullConfig.Write("ControlPort", static_cast<uint32>(controlPort));
+      (void)fullConfig.Write("UdpPort", static_cast<uint32>(streamPort));
+      (void)fullConfig.Write("LogPort", static_cast<uint32>(logPort));
+      if (streamIP.Size() > 0u)
+        (void)fullConfig.Write("StreamIP", streamIP.Buffer());
+      (void)fullConfig.MoveToAncestor(1u);
+    }
+  }
 }
 
 static void PatchItemInternal(const char8 *originalName,
@@ -247,7 +408,7 @@ DebugSignalInfo *DebugService::RegisterSignal(void *memoryAddress,
                                               const char8 *name,
                                               uint8 numberOfDimensions,
                                               uint32 numberOfElements) {
-  printf("<debug> registering: %s\n", name);
+  fprintf(stderr, "<debug> RegisterSignal[%p]: %s\n", (void*)this, name);
   mutex.FastLock();
   DebugSignalInfo *res = NULL_PTR(DebugSignalInfo *);
   uint32 sigIdx = 0xFFFFFFFF;
@@ -271,6 +432,8 @@ DebugSignalInfo *DebugService::RegisterSignal(void *memoryAddress,
     res->internalID = sigIdx;
     res->decimationFactor = 1;
     res->decimationCounter = 0;
+    res->breakOp = BREAK_OFF;
+    res->breakThreshold = 0.0;
     signals.Push(res);
   }
   if (sigIdx != 0xFFFFFFFF) {
@@ -314,7 +477,10 @@ void DebugService::RegisterBroker(DebugSignalInfo **signalPointers,
                                   volatile bool *anyActiveFlag,
                                   Vec<uint32> *activeIndices,
                                   Vec<uint32> *activeSizes,
-                                  FastPollingMutexSem *activeMutex) {
+                                  FastPollingMutexSem *activeMutex,
+                                  volatile bool *anyBreakFlag,
+                                  Vec<uint32> *breakIndices,
+                                  const char8 *gamName, bool isOutput) {
   mutex.FastLock();
   BrokerInfo b;
   b.signalPointers = signalPointers;
@@ -324,6 +490,11 @@ void DebugService::RegisterBroker(DebugSignalInfo **signalPointers,
   b.activeIndices = activeIndices;
   b.activeSizes = activeSizes;
   b.activeMutex = activeMutex;
+  b.anyBreakFlag = anyBreakFlag;
+  b.breakIndices = breakIndices;
+  b.isOutput = isOutput;
+  if (gamName != NULL_PTR(const char8 *))
+    b.gamName = gamName;
   brokers.Push(b);
   mutex.FastUnLock();
 }
@@ -365,6 +536,28 @@ void DebugService::UpdateBrokersActiveStatus() {
   }
 }
 
+void DebugService::UpdateBrokersBreakStatus() {
+  for (uint32 i = 0; i < brokers.Size(); i++) {
+    Vec<uint32> tempBreak;
+    uint32 count = 0;
+    for (uint32 j = 0; j < brokers[i].numSignals; j++) {
+      DebugSignalInfo *s = brokers[i].signalPointers[j];
+      if (s != NULL_PTR(DebugSignalInfo *) && s->breakOp != BREAK_OFF) {
+        tempBreak.Push(j);
+        count++;
+      }
+    }
+    if (brokers[i].activeMutex)
+      brokers[i].activeMutex->FastLock();
+    if (brokers[i].breakIndices)
+      *(brokers[i].breakIndices) = tempBreak;
+    if (brokers[i].anyBreakFlag)
+      *(brokers[i].anyBreakFlag) = (count > 0);
+    if (brokers[i].activeMutex)
+      brokers[i].activeMutex->FastUnLock();
+  }
+}
+
 ErrorManagement::ErrorType DebugService::Execute(ExecutionInfo &info) {
   return ErrorManagement::FatalError;
 }
@@ -379,63 +572,62 @@ ErrorManagement::ErrorType DebugService::Server(ExecutionInfo &info) {
     return ErrorManagement::NoError;
   if (info.GetStage() == ExecutionInfo::StartupStage) {
     serverThreadId = Threads::Id();
+    // Wait for ObjectRegistryDatabase::Initialise() to finish processing all
+    // sibling objects (LoggerService etc. come after DebugService in the config).
+    // 500 ms is well above any realistic initialisation time.
+    Sleep::MSec(500u);
+    InjectTcpLoggerIfNeeded();
     return ErrorManagement::NoError;
   }
-  while (info.GetStage() == ExecutionInfo::MainStage) {
-    while (activeClient == NULL_PTR(BasicTCPSocket *)) {
-      BasicTCPSocket *newClient = tcpServer.WaitConnection(TTInfiniteWait);
-      if (newClient != NULL_PTR(BasicTCPSocket *)) {
-        // Single connection mode: disconnect any existing client first
-        activeClient = newClient;
-      }
+  // The MARTe2 framework calls Execute() in a loop; each call should do
+  // one unit of work and return so the framework can check for Stop().
+  // This replaces the old internal infinite-while pattern.
+  if (activeClient == NULL_PTR(BasicTCPSocket *)) {
+    // Wait briefly for a new connection; return so the framework loop can
+    // check if Stop() was requested between calls.
+    BasicTCPSocket *newClient = tcpServer.WaitConnection(TimeoutType(100));
+    if (newClient != NULL_PTR(BasicTCPSocket *)) {
+      activeClient = newClient;
     }
-    // Single connection mode: only check client 0
-    {
-      if (activeClient != NULL_PTR(BasicTCPSocket *)) {
-        // Check if client is still connected
-        if (!activeClient->IsConnected()) {
-          activeClient->Close();
-          delete activeClient;
-          activeClient = NULL_PTR(BasicTCPSocket *);
-
-        } else {
-          char buffer[1024];
-          uint32 size = 1024;
-          if (activeClient->Read(buffer, size)) {
-            if (size > 0) {
-              // Process each line separately
-              char *ptr = buffer;
-              char *end = buffer + size;
-              while (ptr < end) {
-                char *newline = (char *)memchr(ptr, '\n', end - ptr);
-                if (!newline) {
-                  break;
-                }
-                *newline = '\0';
-                // Skip carriage return if present
-                if (newline > ptr && *(newline - 1) == '\r')
-                  *(newline - 1) = '\0';
-                StreamString command;
-                uint32 len = (uint32)(newline - ptr);
-                command.Write(ptr, len);
-                if (command.Size() > 0) {
-                  HandleCommand(command, activeClient);
-                }
-                ptr = newline + 1;
-              }
+  } else {
+    // Check if client is still connected
+    if (!activeClient->IsConnected()) {
+      activeClient->Close();
+      delete activeClient;
+      activeClient = NULL_PTR(BasicTCPSocket *);
+    } else {
+      char buffer[1024];
+      uint32 size = 1024;
+      if (activeClient->Read(buffer, size)) {
+        if (size > 0) {
+          // Process each line separately
+          char *ptr = buffer;
+          char *end = buffer + size;
+          while (ptr < end) {
+            char *newline = (char *)memchr(ptr, '\n', end - ptr);
+            if (!newline) {
+              break;
             }
-          } else {
-            // // Read failed (client disconnected or error), clean up
-            if (activeClient != NULL_PTR(BasicTCPSocket *)) {
-              activeClient->Close();
-              delete activeClient;
-              activeClient = NULL_PTR(BasicTCPSocket *);
+            *newline = '\0';
+            // Skip carriage return if present
+            if (newline > ptr && *(newline - 1) == '\r')
+              *(newline - 1) = '\0';
+            StreamString command;
+            uint32 len = (uint32)(newline - ptr);
+            command.Write(ptr, len);
+            if (command.Size() > 0) {
+              HandleCommand(command, activeClient);
             }
+            ptr = newline + 1;
           }
         }
+      } else {
+        // Read failed (client disconnected or error), clean up
+        activeClient->Close();
+        delete activeClient;
+        activeClient = NULL_PTR(BasicTCPSocket *);
       }
     }
-    Sleep::MSec(10);
   }
   return ErrorManagement::NoError;
 }
@@ -447,71 +639,68 @@ ErrorManagement::ErrorType DebugService::Streamer(ExecutionInfo &info) {
     streamerThreadId = Threads::Id();
     return ErrorManagement::NoError;
   }
+  // Set UDP destination (idempotent, called each Execute() invocation)
   InternetHost dest(streamPort, streamIP.Buffer());
   (void)udpSocket.SetDestination(dest);
-  uint8 packetBuffer[4096];
-  uint32 packetOffset = 0;
-  uint32 sequenceNumber = 0;
-  while (info.GetStage() == ExecutionInfo::MainStage) {
-    // Poll monitored signals
-    uint64 currentTimeMs = (uint64)((float64)HighResolutionTimer::Counter() *
-                                    HighResolutionTimer::Period() * 1000.0);
-    mutex.FastLock();
-    for (uint32 i = 0; i < monitoredSignals.Size(); i++) {
-      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);
-        }
+  // Poll monitored signals
+  uint64 currentTimeMs = (uint64)((float64)HighResolutionTimer::Counter() *
+                                  HighResolutionTimer::Period() * 1000.0);
+  mutex.FastLock();
+  for (uint32 i = 0; i < monitoredSignals.Size(); i++) {
+    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);
       }
     }
-    mutex.FastUnLock();
+  }
+  mutex.FastUnLock();
 
-    uint32 id, size;
-    uint64 ts;
-    uint8 sampleData[1024];
-    bool hasData = false;
-    while ((info.GetStage() == ExecutionInfo::MainStage) &&
-           traceBuffer.Pop(id, ts, sampleData, size, 1024)) {
-      hasData = true;
-      if (packetOffset == 0) {
-        TraceHeader header;
-        header.magic = 0xDA7A57AD;
-        header.seq = sequenceNumber++;
-        header.timestamp = HighResolutionTimer::Counter();
-        header.count = 0;
-        memcpy(packetBuffer, &header, sizeof(TraceHeader));
-        packetOffset = sizeof(TraceHeader);
-      }
-      if (packetOffset + 16 + size > 1400) {
-        uint32 toWrite = packetOffset;
-        (void)udpSocket.Write((char8 *)packetBuffer, toWrite);
-        TraceHeader header;
-        header.magic = 0xDA7A57AD;
-        header.seq = sequenceNumber++;
-        header.timestamp = HighResolutionTimer::Counter();
-        header.count = 0;
-        memcpy(packetBuffer, &header, sizeof(TraceHeader));
-        packetOffset = sizeof(TraceHeader);
-      }
-      memcpy(&packetBuffer[packetOffset], &id, 4);
-      memcpy(&packetBuffer[packetOffset + 4], &ts, 8);
-      memcpy(&packetBuffer[packetOffset + 12], &size, 4);
-      memcpy(&packetBuffer[packetOffset + 16], sampleData, size);
-      packetOffset += (16 + size);
-      ((TraceHeader *)packetBuffer)->count++;
+  // Drain ring buffer into UDP packet(s)
+  uint32 id, size;
+  uint64 ts;
+  uint8 sampleData[1024];
+  bool hasData = false;
+  while (traceBuffer.Pop(id, ts, sampleData, size, 1024)) {
+    hasData = true;
+    if (streamerPacketOffset == 0u) {
+      TraceHeader header;
+      header.magic = 0xDA7A57AD;
+      header.seq = streamerSequenceNumber++;
+      header.timestamp = HighResolutionTimer::Counter();
+      header.count = 0;
+      memcpy(streamerPacketBuffer, &header, sizeof(TraceHeader));
+      streamerPacketOffset = sizeof(TraceHeader);
     }
-    if (packetOffset > 0) {
-      uint32 toWrite = packetOffset;
-      (void)udpSocket.Write((char8 *)packetBuffer, toWrite);
-      packetOffset = 0;
+    if (streamerPacketOffset + 16u + size > 1400u) {
+      uint32 toWrite = streamerPacketOffset;
+      (void)udpSocket.Write((char8 *)streamerPacketBuffer, toWrite);
+      TraceHeader header;
+      header.magic = 0xDA7A57AD;
+      header.seq = streamerSequenceNumber++;
+      header.timestamp = HighResolutionTimer::Counter();
+      header.count = 0;
+      memcpy(streamerPacketBuffer, &header, sizeof(TraceHeader));
+      streamerPacketOffset = sizeof(TraceHeader);
     }
-    if (!hasData)
-      Sleep::MSec(1);
+    memcpy(&streamerPacketBuffer[streamerPacketOffset], &id, 4);
+    memcpy(&streamerPacketBuffer[streamerPacketOffset + 4], &ts, 8);
+    memcpy(&streamerPacketBuffer[streamerPacketOffset + 12], &size, 4);
+    memcpy(&streamerPacketBuffer[streamerPacketOffset + 16], sampleData, size);
+    streamerPacketOffset += (16u + size);
+    ((TraceHeader *)streamerPacketBuffer)->count++;
+  }
+  if (streamerPacketOffset > 0u) {
+    uint32 toWrite = streamerPacketOffset;
+    (void)udpSocket.Write((char8 *)streamerPacketBuffer, toWrite);
+    streamerPacketOffset = 0u;
+  }
+  if (!hasData) {
+    Sleep::MSec(1);
   }
   return ErrorManagement::NoError;
 }
@@ -575,6 +764,72 @@ void DebugService::HandleCommand(StreamString cmd, BasicTCPSocket *client) {
           (void)client->Write(resp.Buffer(), s);
         }
       }
+    } else if (token == "STEP") {
+      StreamString nStr;
+      uint32 n = 1u;
+      if (cmd.GetToken(nStr, delims, term)) {
+        AnyType nVal(UnsignedInteger32Bit, 0u, &n);
+        AnyType nS(CharString, 0u, nStr.Buffer());
+        (void)TypeConvert(nVal, nS);
+      }
+      // Optional thread name: STEP <n> [<threadName>]
+      StreamString threadStr;
+      const char8 *threadArg = NULL_PTR(const char8 *);
+      if (cmd.GetToken(threadStr, delims, term) && threadStr.Size() > 0u) {
+        threadArg = threadStr.Buffer();
+      }
+      Step(n, threadArg);
+      if (client) {
+        StreamString resp;
+        resp.Printf("OK STEP %u\n", n);
+        uint32 s = resp.Size();
+        (void)client->Write(resp.Buffer(), s);
+      }
+    } else if (token == "STEP_STATUS") {
+      GetStepStatus(client);
+    } else if (token == "VALUE") {
+      StreamString sigName;
+      if (cmd.GetToken(sigName, delims, term)) {
+        GetSignalValue(sigName.Buffer(), client);
+      } else if (client) {
+        const char8 *errResp = "{\"Error\": \"Missing signal name\"}\nOK VALUE\n";
+        uint32 s = StringHelper::Length(errResp);
+        (void)client->Write(errResp, s);
+      }
+    } else if (token == "BREAK") {
+      // BREAK <signal> <op> <threshold>   — set break condition
+      // BREAK <signal> OFF                — clear break condition
+      StreamString name, opStr;
+      if (cmd.GetToken(name, delims, term) && cmd.GetToken(opStr, delims, term)) {
+        uint32 count = 0;
+        if (opStr == "OFF") {
+          count = ClearBreak(name.Buffer());
+        } else {
+          StreamString threshStr;
+          if (cmd.GetToken(threshStr, delims, term)) {
+            uint8 op = BREAK_OFF;
+            if      (opStr == ">")  op = BREAK_GT;
+            else if (opStr == "<")  op = BREAK_LT;
+            else if (opStr == "==") op = BREAK_EQ;
+            else if (opStr == ">=") op = BREAK_GEQ;
+            else if (opStr == "<=") op = BREAK_LEQ;
+            else if (opStr == "!=") op = BREAK_NEQ;
+            if (op != BREAK_OFF) {
+              float64 threshold = 0.0;
+              AnyType thrVal(Float64Bit, 0u, &threshold);
+              AnyType thrStr(CharString, 0u, threshStr.Buffer());
+              (void)TypeConvert(thrVal, thrStr);
+              count = SetBreak(name.Buffer(), op, threshold);
+            }
+          }
+        }
+        if (client) {
+          StreamString resp;
+          resp.Printf("OK BREAK %u\n", count);
+          uint32 s = resp.Size();
+          (void)client->Write(resp.Buffer(), s);
+        }
+      }
     } else if (token == "DISCOVER")
       Discover(client);
         else if (token == "MSG") {
@@ -622,55 +877,66 @@ void DebugService::HandleCommand(StreamString cmd, BasicTCPSocket *client) {
                         msgConfig.Write("Mode", "ExpectsReply");
                     }
             
-                    if (payload.Size() > 0u) {
+                    // Parse payload key=value lines into a ConfigurationDatabase.
+                    // ConstantGAM::SetOutput (and similar handlers) expect a
+                    // ReferenceT<StructuredDataI> inserted into the Message's
+                    // reference container — NOT a sub-node of the message config.
+                    ReferenceT<ConfigurationDatabase> paramCdb(
+                        "ConfigurationDatabase",
+                        GlobalObjectsDatabase::Instance()->GetStandardHeap());
+
+                    if (payload.Size() > 0u && paramCdb.IsValid()) {
                       payload.Seek(0u);
                       StreamString line;
                       while (payload.GetToken(line, "\n", term)) {
                         if (line.Size() > 0u) {
                           const char8 *eq = StringHelper::SearchChar(line.Buffer(), '=');
                           if (eq != NULL_PTR(const char8 *)) {
-                            StreamString key, val;
                             uint32 eqPos = (uint32)(eq - line.Buffer());
                             (void)line.Seek(0u);
 
-                            char8* keyBuf = new char8[eqPos + 1];
+                            char8 keyBuf[256] = {'\0'};
                             uint32 keyReadSize = eqPos;
-                            if (line.Read(keyBuf, keyReadSize)) {
-                                keyBuf[eqPos] = '\0';
-                                key = keyBuf;
-                            }
-                            delete[] keyBuf;
+                            (void)line.Read(keyBuf, keyReadSize);
 
                             (void)line.Seek(eqPos + 1u);
-                            uint32 valLen = line.Size() - eqPos - 1u;
-                            char8* valBuf = new char8[valLen + 1];
-                            uint32 valReadSize = valLen;
-                            if (line.Read(valBuf, valReadSize)) {
-                                valBuf[valLen] = '\0';
-                                val = valBuf;
+                            uint32 valLen = (uint32)(line.Size() - eqPos - 1u);
+                            char8 valBuf[1024] = {'\0'};
+                            (void)line.Read(valBuf, valLen);
+
+                            // Trim trailing whitespace from value
+                            for (int32 ti = (int32)valLen - 1; ti >= 0; ti--) {
+                              if (valBuf[ti] == ' ' || valBuf[ti] == '\r' || valBuf[ti] == '\t')
+                                valBuf[ti] = '\0';
+                              else
+                                break;
                             }
-                            delete[] valBuf;
 
-                                            if (key.Size() > 0u) {
-                                              if (msgConfig.CreateRelative("Payload")) {
-                                                (void)msgConfig.Write(key.Buffer(), val.Buffer());
-                                                (void)msgConfig.MoveToAncestor(1u);
-                                              }
-                                            }
+                            StreamString key = keyBuf;
+                            key = key.Buffer();  // trim happens via assignment
+                            // Trim leading whitespace from key
+                            const char8 *kp = keyBuf;
+                            while (*kp == ' ' || *kp == '\t') kp++;
 
+                            if (*kp != '\0') {
+                              (void)paramCdb->Write(kp, valBuf);
+                            }
                           }
                         }
                         line = "";
                       }
                     }
 
-                                            ErrorManagement::ErrorType err = ErrorManagement::ParametersError;
-                                                    if (msg->Initialise(msgConfig)) {
+                    ErrorManagement::ErrorType err = ErrorManagement::ParametersError;
+                    if (msg->Initialise(msgConfig)) {
+                      if (paramCdb.IsValid() && payload.Size() > 0u) {
+                        // Insert the CDB as a ReferenceT<StructuredDataI> parameter
+                        (void)msg->Insert(paramCdb);
+                      }
                                                         // Find destination object in the global database
                                                         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
                                                             StreamString myPath;
                                                             if (!GetFullObjectName(*this, myPath)) {
                                                                 sender = NULL_PTR(Object*);
@@ -679,10 +945,13 @@ void DebugService::HandleCommand(StreamString cmd, BasicTCPSocket *client) {
                                                             if (wait) {
                                                               err = MessageI::WaitForReply(msg, TTInfiniteWait);
                                                             } else {
-                                                              err = MessageI::SendMessage(msg, sender);
+                                                              (void)MessageI::SendMessage(msg, sender);
+                                                              // Fire-and-forget: destination found, message sent.
+                                                              // Whether the recipient had a matching filter is not
+                                                              // reported back to the caller — return OK.
+                                                              err = ErrorManagement::NoError;
                                                             }
                                                         } else {
-                                            
                                                     printf("<debug> MSG: Destination object %s not found in ORD\n", dest.Buffer());
                                                 }
                                                 
@@ -785,8 +1054,13 @@ void DebugService::HandleCommand(StreamString cmd, BasicTCPSocket *client) {
 void DebugService::EnrichWithConfig(const char8 *path, StreamString &json) {
   if (path == NULL_PTR(const char8 *))
     return;
+  if (!manualConfigSet) {
+    RebuildConfigFromRegistry();
+  }
   fullConfig.MoveToRoot();
 
+  fprintf(stderr, "[EnrichWithConfig] path=%s\n", path);
+
   const char8 *current = path;
   bool ok = true;
   while (ok) {
@@ -801,29 +1075,49 @@ void DebugService::EnrichWithConfig(const char8 *path, StreamString &json) {
       ok = false;
     }
 
+    // Normalise short direction names to both forms so we search consistently.
+    // Paths use "In"/"Out" (alias convention); CDBs may store either form.
+    bool found = false;
+
+    // 1. Try exact match (bare name - rebuilt-from-registry CDBs use this)
     if (fullConfig.MoveRelative(part.Buffer())) {
-      // Found exact
-    } else {
-      bool found = false;
+      fprintf(stderr, "[EnrichWithConfig] nav exact '%s' OK\n", part.Buffer());
+      found = true;
+    }
+
+    // 2. Try +name (raw config-file CDBs prefix nodes with '+')
+    if (!found) {
+      StreamString prefixed;
+      prefixed.Printf("+%s", part.Buffer());
+      if (fullConfig.MoveRelative(prefixed.Buffer())) {
+        fprintf(stderr, "[EnrichWithConfig] nav prefixed '%s' OK\n", prefixed.Buffer());
+        found = true;
+      }
+    }
+
+    // 3. Expand short direction aliases: In -> InputSignals / Out -> OutputSignals
+    if (!found) {
       if (part == "In") {
         if (fullConfig.MoveRelative("InputSignals")) {
+          fprintf(stderr, "[EnrichWithConfig] nav 'In'->InputSignals OK\n");
+          found = true;
+        } else if (fullConfig.MoveRelative("+InputSignals")) {
+          fprintf(stderr, "[EnrichWithConfig] nav 'In'->+InputSignals OK\n");
           found = true;
         }
       } else if (part == "Out") {
         if (fullConfig.MoveRelative("OutputSignals")) {
           found = true;
+        } else if (fullConfig.MoveRelative("+OutputSignals")) {
+          found = true;
         }
       }
+    }
 
-      if (!found) {
-        StreamString prefixed;
-        prefixed.Printf("+%s", part.Buffer());
-        if (fullConfig.MoveRelative(prefixed.Buffer())) {
-          // Found prefixed
-        } else {
-          return; // Not found
-        }
-      }
+    if (!found) {
+      fprintf(stderr, "[EnrichWithConfig] FAILED at part '%s'\n", part.Buffer());
+      fullConfig.MoveToRoot();
+      return;
     }
   }
 
@@ -886,6 +1180,14 @@ void DebugService::JsonifyDatabase(ConfigurationDatabase &db,
 void DebugService::ServeConfig(BasicTCPSocket *client) {
   if (client == NULL_PTR(BasicTCPSocket *))
     return;
+
+  // If no manual config was injected (test case), rebuild from the live registry.
+  // In production, Initialise() only captures the DebugService subtree (to avoid
+  // corrupting the shared CDB cursor), so we always need to rebuild here.
+  if (!manualConfigSet) {
+    RebuildConfigFromRegistry();
+  }
+
   StreamString json;
   fullConfig.MoveToRoot();
   JsonifyDatabase(fullConfig, json);
@@ -930,6 +1232,7 @@ void DebugService::InfoNode(const char8 *path, BasicTCPSocket *client) {
     }
     EnrichWithConfig(path, json);
   } else {
+    StreamString enrichAlias;
     mutex.FastLock();
     bool found = false;
     for (uint32 i = 0; i < aliases.Size(); i++) {
@@ -941,13 +1244,21 @@ void DebugService::InfoNode(const char8 *path, BasicTCPSocket *client) {
         json.Printf("\"Name\": \"%s\", \"Class\": \"Signal\", \"Type\": "
                     "\"%s\", \"ID\": %d",
                     s->name.Buffer(), tname ? tname : "Unknown", s->internalID);
-        EnrichWithConfig(aliases[i].name.Buffer(), json);
+        enrichAlias = aliases[i].name;
         found = true;
         break;
       }
     }
+    if (!found) {
+      fprintf(stderr, "[InfoNode][%p] signal '%s' NOT found in %u aliases:\n", (void*)this, path, (uint32)aliases.Size());
+      for (uint32 i = 0; i < aliases.Size(); i++) {
+        fprintf(stderr, "  alias[%u] = '%s'\n", i, aliases[i].name.Buffer());
+      }
+    }
     mutex.FastUnLock();
-    if (!found)
+    if (found)
+      EnrichWithConfig(enrichAlias.Buffer(), json);
+    else
       json += "\"Error\": \"Object not found\"";
   }
   json += "}\nOK INFO\n";
@@ -1157,6 +1468,159 @@ uint32 DebugService::TraceSignal(const char8 *name, bool enable,
   return count;
 }
 
+void DebugService::ConsumeStepIfNeeded(const char8 *gamName,
+                                       const char8 *threadName) {
+  if (stepRemaining == 0u) return;
+  mutex.FastLock();
+  // If a thread filter is set, only the matching OS thread consumes step credits.
+  if (stepThreadFilter.Size() > 0u &&
+      (threadName == NULL_PTR(const char8 *) || stepThreadFilter != threadName)) {
+    mutex.FastUnLock();
+    return;
+  }
+  if (stepRemaining > 0u) {
+    stepRemaining--;
+    if (stepRemaining == 0u) {
+      isPaused = true;
+      pausedAtGam = (gamName != NULL_PTR(const char8 *)) ? gamName : "";
+    }
+  }
+  mutex.FastUnLock();
+}
+
+void DebugService::Step(uint32 n, const char8 *threadName) {
+  mutex.FastLock();
+  stepRemaining = n;
+  isPaused = false;
+  stepThreadFilter = (threadName != NULL_PTR(const char8 *)) ? threadName : "";
+  mutex.FastUnLock();
+}
+
+void DebugService::GetStepStatus(BasicTCPSocket *client) {
+  if (client == NULL_PTR(BasicTCPSocket *)) return;
+  mutex.FastLock();
+  bool paused = isPaused;
+  uint32 remaining = stepRemaining;
+  StreamString gam = pausedAtGam;
+  StreamString threadFilter = stepThreadFilter;
+  mutex.FastUnLock();
+  StreamString resp;
+  resp.Printf("{\"Paused\": %s, \"PausedAtGam\": \"%s\", \"StepRemaining\": %u, \"StepThread\": \"%s\"}\nOK STEP_STATUS\n",
+              paused ? "true" : "false",
+              gam.Buffer(),
+              remaining,
+              threadFilter.Buffer());
+  uint32 s = resp.Size();
+  (void)client->Write(resp.Buffer(), s);
+}
+
+void DebugService::GetSignalValue(const char8 *name, BasicTCPSocket *client) {
+  if (client == NULL_PTR(BasicTCPSocket *)) return;
+  mutex.FastLock();
+  DebugSignalInfo *sig = NULL_PTR(DebugSignalInfo *);
+  for (uint32 i = 0u; i < aliases.Size(); i++) {
+    if (aliases[i].name == name ||
+        SuffixMatch(aliases[i].name.Buffer(), name)) {
+      sig = signals[aliases[i].signalIndex];
+      break;
+    }
+  }
+  if (sig == NULL_PTR(DebugSignalInfo *)) {
+    mutex.FastUnLock();
+    StreamString resp;
+    resp.Printf("{\"Error\": \"Signal not found: %s\"}\nOK VALUE\n", name);
+    uint32 s = resp.Size();
+    (void)client->Write(resp.Buffer(), s);
+    return;
+  }
+  TypeDescriptor td = sig->type;
+  uint32 nElem = sig->numberOfElements;
+  uint32 byteSize = (td.numberOfBits > 0u) ? (td.numberOfBits / 8u) : 1u;
+  uint32 totalBytes = byteSize * nElem;
+  if (totalBytes > 1024u) { totalBytes = 1024u; nElem = totalBytes / byteSize; }
+  // Copy bytes while holding the mutex to avoid data races with the RT thread
+  uint8 localBuf[1024];
+  memset(localBuf, 0, sizeof(localBuf));
+  if (sig->memoryAddress != NULL_PTR(void *)) {
+    memcpy(localBuf, sig->memoryAddress, totalBytes);
+  }
+  mutex.FastUnLock();
+
+  // Build the value string via CharString TypeConvert — the same path used by
+  // EnrichWithConfig/JsonifyDatabase, which is known to work for all types.
+  StreamString valueStr;
+  if (nElem > 1u) {
+    // Array or matrix: produce comma-separated text
+    for (uint32 i = 0u; i < nElem; i++) {
+      char8 elemBuf[128] = {'\0'};
+      AnyType srcElem(td, 0u, (void *)(localBuf + i * byteSize));
+      AnyType dstStr(CharString, 0u, elemBuf);
+      dstStr.SetNumberOfElements(0u, 128u);
+      (void)TypeConvert(dstStr, srcElem);
+      if (i > 0u) valueStr += ", ";
+      valueStr += elemBuf;
+    }
+  } else {
+    char8 elemBuf[256] = {'\0'};
+    AnyType srcElem(td, 0u, (void *)localBuf);
+    AnyType dstStr(CharString, 0u, elemBuf);
+    dstStr.SetNumberOfElements(0u, 256u);
+    (void)TypeConvert(dstStr, srcElem);
+    valueStr = elemBuf;
+  }
+
+  StreamString resp;
+  resp += "{\"Name\": \"";
+  resp += name;
+  resp += "\", \"Value\": \"";
+  // Escape the value text (quotes inside a string value)
+  const char8 *vp = valueStr.Buffer();
+  while (vp != NULL_PTR(const char8 *) && *vp != '\0') {
+    if (*vp == '"') resp += "\\\"";
+    else if (*vp == '\\') resp += "\\\\";
+    else { char8 tmp[2] = { *vp, '\0' }; resp += tmp; }
+    vp++;
+  }
+  resp += "\", \"Elements\": ";
+  resp.Printf("%u}\nOK VALUE\n", nElem);
+  uint32 s = resp.Size();
+  (void)client->Write(resp.Buffer(), s);
+}
+
+uint32 DebugService::SetBreak(const char8 *name, uint8 op, float64 threshold) {
+  mutex.FastLock();
+  uint32 count = 0;
+  for (uint32 i = 0; i < aliases.Size(); i++) {
+    if (aliases[i].name == name ||
+        SuffixMatch(aliases[i].name.Buffer(), name)) {
+      DebugSignalInfo *s = signals[aliases[i].signalIndex];
+      s->breakThreshold = threshold;
+      s->breakOp = op;
+      count++;
+    }
+  }
+  if (count > 0)
+    UpdateBrokersBreakStatus();
+  mutex.FastUnLock();
+  return count;
+}
+
+uint32 DebugService::ClearBreak(const char8 *name) {
+  mutex.FastLock();
+  uint32 count = 0;
+  for (uint32 i = 0; i < aliases.Size(); i++) {
+    if (aliases[i].name == name ||
+        SuffixMatch(aliases[i].name.Buffer(), name)) {
+      signals[aliases[i].signalIndex]->breakOp = BREAK_OFF;
+      count++;
+    }
+  }
+  if (count > 0)
+    UpdateBrokersBreakStatus();
+  mutex.FastUnLock();
+  return count;
+}
+
 bool DebugService::IsInstrumented(const char8 *fullPath, bool &traceable,
                                  bool &forcable) {
   mutex.FastLock();

Source/Components/Interfaces/DebugService/DebugService.h

@@ -9,6 +9,7 @@
 #include "MessageI.h"
 #include "Object.h"
 #include "ReferenceContainer.h"
+#include "ReferenceT.h"
 #include "SingleThreadService.h"
 #include "StreamString.h"
 #include "Vec.h"
@@ -31,6 +32,12 @@ struct BrokerInfo {
   Vec<uint32> *activeIndices;
   Vec<uint32> *activeSizes;
   FastPollingMutexSem *activeMutex;
+  // Conditional break — mirrors activeIndices but for break-enabled signals
+  volatile bool *anyBreakFlag;
+  Vec<uint32> *breakIndices;
+  // GAM association for step-by-GAM
+  StreamString gamName;
+  bool isOutput;
 };
 
 class DebugService : public ReferenceContainer,
@@ -54,7 +61,10 @@ public:
   void RegisterBroker(DebugSignalInfo **signalPointers, uint32 numSignals,
                       MemoryMapBroker *broker, volatile bool *anyActiveFlag,
                       Vec<uint32> *activeIndices, Vec<uint32> *activeSizes,
-                      FastPollingMutexSem *activeMutex);
+                      FastPollingMutexSem *activeMutex,
+                      volatile bool *anyBreakFlag, Vec<uint32> *breakIndices,
+                      const char8 *gamName = NULL_PTR(const char8 *),
+                      bool isOutput = false);
 
   virtual ErrorManagement::ErrorType Execute(ExecutionInfo &info);
 
@@ -63,17 +73,34 @@ public:
   bool IsPaused() const { return isPaused; }
   void SetPaused(bool paused) { isPaused = paused; }
 
+  // Step-by-GAM / per-thread: called by each output broker.
+  // threadName is the OS thread name (from Threads::Name(Threads::Id())).
+  // Decrements stepRemaining only when stepThreadFilter is empty or matches;
+  // when stepRemaining reaches 0, sets isPaused = true and records gamName.
+  void ConsumeStepIfNeeded(const char8 *gamName,
+                           const char8 *threadName = NULL_PTR(const char8 *));
+
+  void GetStepStatus(BasicTCPSocket *client);
+  // Step n cycles; if threadName is non-null/non-empty, only that thread advances.
+  void Step(uint32 n, const char8 *threadName = NULL_PTR(const char8 *));
+
+  // Read the current raw value of a signal from its memory address.
+  void GetSignalValue(const char8 *name, BasicTCPSocket *client);
+
   static bool GetFullObjectName(const Object &obj, StreamString &fullPath);
 
   uint32 ForceSignal(const char8 *name, const char8 *valueStr);
   uint32 UnforceSignal(const char8 *name);
   uint32 TraceSignal(const char8 *name, bool enable, uint32 decimation = 1);
+  uint32 SetBreak(const char8 *name, uint8 op, float64 threshold);
+  uint32 ClearBreak(const char8 *name);
   bool IsInstrumented(const char8 *fullPath, bool &traceable, bool &forcable);
   void Discover(BasicTCPSocket *client);
   void InfoNode(const char8 *path, BasicTCPSocket *client);
   void ListNodes(const char8 *path, BasicTCPSocket *client);
   void ServeConfig(BasicTCPSocket *client);
   void SetFullConfig(ConfigurationDatabase &config);
+  void RebuildConfigFromRegistry();
 
   struct MonitoredSignal {
     ReferenceT<DataSourceI> dataSource;
@@ -91,6 +118,8 @@ public:
 private:
   void HandleCommand(StreamString cmd, BasicTCPSocket *client);
   void UpdateBrokersActiveStatus();
+  void UpdateBrokersBreakStatus();
+  void InjectTcpLoggerIfNeeded();
 
   uint32 ExportTree(ReferenceContainer *container, StreamString &json, const char8 *pathPrefix);
   void PatchRegistry();
@@ -108,6 +137,9 @@ private:
   bool isServer;
   bool suppressTimeoutLogs;
   volatile bool isPaused;
+  volatile uint32 stepRemaining;
+  StreamString pausedAtGam;
+  StreamString stepThreadFilter;  // empty = all threads; non-empty = only this OS thread name
 
   BasicTCPSocket tcpServer;
   BasicUDPSocket udpSocket;
@@ -121,7 +153,6 @@ private:
       if (type == StreamerType) {
         return parent->Streamer(info);
       }
-      printf("serve TCP\n");
       return parent->Server(info);
     }
 
@@ -149,7 +180,13 @@ private:
 
   BasicTCPSocket *activeClient;
 
+  // Streamer state persisted across Execute() calls (framework loops Execute)
+  uint8 streamerPacketBuffer[4096];
+  uint32 streamerPacketOffset;
+  uint32 streamerSequenceNumber;
+
   ConfigurationDatabase fullConfig;
+  bool manualConfigSet;
 
   static DebugService *instance;
 };

Source/Components/Interfaces/TCPLogger/TcpLogger.cpp

@@ -35,6 +35,11 @@ TcpLogger::~TcpLogger() {
     clientsMutex.FastUnLock();
 }
 
+bool TcpLogger::ExportData(StructuredDataI & data) {
+    bool ok = data.Write("Port", static_cast<uint32>(port));
+    return ok;
+}
+
 bool TcpLogger::Initialise(StructuredDataI & data) {
     if (!ReferenceContainer::Initialise(data)) return false;
     
@@ -92,64 +97,66 @@ ErrorManagement::ErrorType TcpLogger::Execute(ExecutionInfo & info) {
         return ErrorManagement::NoError;
     }
 
-    while (info.GetStage() == ExecutionInfo::MainStage) {
-        // 1. Check for new connections
-        BasicTCPSocket *newClient = server.WaitConnection(1); 
-        if (newClient != NULL_PTR(BasicTCPSocket *)) {
-            clientsMutex.FastLock();
-            bool added = false;
-            for (uint32 i=0; i<MAX_CLIENTS; i++) {
-                if (activeClients[i] == NULL_PTR(BasicTCPSocket*)) {
-                    activeClients[i] = newClient;
-                    added = true;
-                    break;
-                }
-            }
-            clientsMutex.FastUnLock();
-            if (!added) {
-                newClient->Close();
-                delete newClient;
-            } else {
-                (void)newClient->SetBlocking(false);
+    // Each Execute() call does one cycle. The MARTe2 framework loops Execute()
+    // so we must NOT spin in an infinite internal loop here — doing so prevents
+    // the framework from ever delivering the TerminationStage and causes
+    // Stop() to time out, leaving threads running after the destructor.
+
+    // 1. Check for new connections (1 ms timeout → returns promptly)
+    BasicTCPSocket *newClient = server.WaitConnection(1);
+    if (newClient != NULL_PTR(BasicTCPSocket *)) {
+        clientsMutex.FastLock();
+        bool added = false;
+        for (uint32 i=0; i<MAX_CLIENTS; i++) {
+            if (activeClients[i] == NULL_PTR(BasicTCPSocket*)) {
+                activeClients[i] = newClient;
+                added = true;
+                break;
             }
         }
-
-        // 2. Stream data to clients
-        bool hadData = false;
-        while (readIdx != writeIdx) {
-            hadData = true;
-            uint32 idx = readIdx % QUEUE_SIZE;
-            TcpLogEntry &entry = queue[idx];
-            
-            StreamString level;
-            ErrorManagement::ErrorCodeToStream(entry.info.header.errorType, level);
-            
-            StreamString packet;
-            packet.Printf("LOG %s %s\n", level.Buffer(), entry.description);
-            uint32 size = packet.Size();
-
-            clientsMutex.FastLock();
-            for (uint32 j=0; j<MAX_CLIENTS; j++) {
-                if (activeClients[j] != NULL_PTR(BasicTCPSocket*)) {
-                    uint32 s = size;
-                    if (!activeClients[j]->Write(packet.Buffer(), s)) {
-                        activeClients[j]->Close();
-                        delete activeClients[j];
-                        activeClients[j] = NULL_PTR(BasicTCPSocket*);
-                    }
-                }
-            }
-            clientsMutex.FastUnLock();
-            readIdx = (readIdx + 1) % QUEUE_SIZE;
-        }
-
-        if (!hadData) {
-            (void)eventSem.Wait(TimeoutType(100));
-            eventSem.Reset();
+        clientsMutex.FastUnLock();
+        if (!added) {
+            newClient->Close();
+            delete newClient;
         } else {
-            Sleep::MSec(1);
+            (void)newClient->SetBlocking(false);
         }
     }
+
+    // 2. Stream queued entries to clients
+    bool hadData = false;
+    while (readIdx != writeIdx) {
+        hadData = true;
+        uint32 idx = readIdx % QUEUE_SIZE;
+        TcpLogEntry &entry = queue[idx];
+
+        StreamString level;
+        ErrorManagement::ErrorCodeToStream(entry.info.header.errorType, level);
+
+        StreamString packet;
+        packet.Printf("LOG %s %s\n", level.Buffer(), entry.description);
+        uint32 size = packet.Size();
+
+        clientsMutex.FastLock();
+        for (uint32 j=0; j<MAX_CLIENTS; j++) {
+            if (activeClients[j] != NULL_PTR(BasicTCPSocket*)) {
+                uint32 s = size;
+                if (!activeClients[j]->Write(packet.Buffer(), s)) {
+                    activeClients[j]->Close();
+                    delete activeClients[j];
+                    activeClients[j] = NULL_PTR(BasicTCPSocket*);
+                }
+            }
+        }
+        clientsMutex.FastUnLock();
+        readIdx = (readIdx + 1) % QUEUE_SIZE;
+    }
+
+    if (!hadData) {
+        // Brief wait so we don't busy-spin; return so Stop() can take effect
+        (void)eventSem.Wait(TimeoutType(10));
+        eventSem.Reset();
+    }
     return ErrorManagement::NoError;
 }
 

Source/Components/Interfaces/TCPLogger/TcpLogger.h

@@ -29,6 +29,8 @@ public:
 
     virtual bool Initialise(StructuredDataI & data);
 
+    virtual bool ExportData(StructuredDataI & data);
+
     /**
      * @brief Implementation of LoggerConsumerI.
      * Called by LoggerService.

Test/Configurations/debug_test.cfg

@@ -26,6 +26,16 @@
                 }
             }
         }
+        +CGAM = {
+            Class = ConstantGAM
+            OutputSignals = {
+                Test = {
+                    DataSource = DDB2
+                    Type = float32
+                    Default = 0.123
+                }
+            }
+        }    
         +GAM2 = {
             Class = IOGAM
             InputSignals = {
@@ -36,6 +46,10 @@
                 Time = {
                     DataSource = TimerSlow
                 }
+                Test = {
+                    DataSource = DDB2
+                    Type = float32
+                }
             }
             OutputSignals = {
                 Counter = {
@@ -46,6 +60,10 @@
                     Type = uint32
                     DataSource = Logger
                 }
+                ConstOut = {
+                    DataSource = Logger
+                    Type = float32
+                }
             }
         }
         +GAM3 = {
@@ -122,6 +140,10 @@
                 }
             }
         }
+        +DDB2 = {
+            AllowNoProducer = 1
+            Class = GAMDataSource
+        }
         +DDB3 = {
             AllowNoProducer = 1
             Class = GAMDataSource
@@ -142,7 +164,7 @@
                 }
                 +Thread2 = {
                     Class = RealTimeThread
-                    Functions = {GAM2}
+                    Functions = {GAM2 CGAM}
                 }
                 +Thread3 = {
                     Class = RealTimeThread
@@ -165,11 +187,3 @@
     StreamIP = "127.0.0.1"
 }
 
-+LoggerService = {
-    Class = LoggerService
-    CPUs = 0x1
-    +DebugConsumer = {
-        Class = TcpLogger
-        Port = 8082
-    }
-}

Test/Integration/ConfigCommandTest.cpp

@@ -27,16 +27,18 @@ const char8 * const config_command_text =
 "            CustomGAMField = \"GAMValue\" "
 "            InputSignals = {"
 "                Counter = { DataSource = Timer Type = uint32 Frequency = 1000 PVName = \"PROC:VAR:1\" }"
+"                Time = { DataSource = Timer Type = uint32 }"
 "            }"
 "            OutputSignals = {"
 "                Counter = { DataSource = DDB Type = uint32 }"
+"                Time = { DataSource = DDB Type = uint32 }"
 "            }"
 "        }"
 "    }"
 "    +Data = {"
 "        Class = ReferenceContainer "
-"        +Timer = { Class = LinuxTimer SleepTime = 1000 Signals = { Counter = { Type = uint32 } } }"
-"        +DDB = { Class = GAMDataSource Signals = { Counter = { Type = uint32 } } }"
+"        +Timer = { Class = LinuxTimer SleepTime = 1000 Signals = { Counter = { Type = uint32 } Time = { Type = uint32 } } }"
+"        +DDB = { Class = GAMDataSource Signals = { Counter = { Type = uint32 } Time = { Type = uint32 } } }"
 "        +DAMS = { Class = TimingDataSource }"
 "    }"
 "    +States = {"
@@ -97,16 +99,12 @@ void TestConfigCommands() {
 
     // Start the application to trigger broker execution and signal registration
     ReferenceT<RealTimeApplication> app = ObjectRegistryDatabase::Instance()->Find("App");
-    if (app.IsValid()) {
-        if (app->ConfigureApplication()) {
-            if (app->PrepareNextState("State1") == ErrorManagement::NoError) {
-                if (app->StartNextStateExecution() == ErrorManagement::NoError) {
-                    printf("Application started (for signal registration).\n");
-                    Sleep::MSec(500); // Wait for some cycles
-                }
-            }
-        }
-    }
+    assert(app.IsValid());
+    assert(app->ConfigureApplication());
+    assert(app->PrepareNextState("State1") == ErrorManagement::NoError);
+    assert(app->StartNextStateExecution() == ErrorManagement::NoError);
+    printf("Application started (for signal registration).\n");
+    Sleep::MSec(500); // Wait for some cycles
 
     ReferenceT<DebugService> service = ObjectRegistryDatabase::Instance()->Find("DebugService");
     if (service.IsValid()) {

Test/Integration/IntegrationTests.cpp

@@ -21,7 +21,7 @@ void timeout_handler(int sig) {
 }
 
 void ErrorProcessFunction(const MARTe::ErrorManagement::ErrorInformation &errorInfo, const char8 * const errorDescription) {
-    // printf("[MARTe Error] %s: %s\n", errorInfo.className, errorDescription);
+    printf("[MARTe Error] %s: %s\n", errorInfo.className, errorDescription);
 }
 
 // Forward declarations of other tests
@@ -80,7 +80,7 @@ int main() {
   Sleep::MSec(1000);
 
   printf("\n--- Test 5: Config & Metadata Enrichment ---\n");
-  // TestConfigCommands(); // Skipping for now
+  TestConfigCommands();
   Sleep::MSec(1000);
 
   printf("\n--- Test 6: TREE Command Enhancement ---\n");

Test/Integration/TreeCommandTest.cpp

@@ -39,17 +39,19 @@ void TestTreeCommand() {
   "            Class = IOGAM "
   "            InputSignals = {"
   "                Counter = { DataSource = Timer Type = uint32 Frequency = 1000 }"
+  "                Time = { DataSource = Timer Type = uint32 }"
   "            }"
   "            OutputSignals = {"
   "                Counter = { DataSource = DDB Type = uint32 }"
+  "                Time = { DataSource = DDB Type = uint32 }"
   "            }"
   "        }"
   "    }"
   "    +Data = {"
   "        Class = ReferenceContainer "
   "        DefaultDataSource = DDB "
-  "        +Timer = { Class = LinuxTimer SleepTime = 1000 Signals = { Counter = { Type = uint32 } } }"
-  "        +DDB = { Class = GAMDataSource Signals = { Counter = { Type = uint32 } } }"
+  "        +Timer = { Class = LinuxTimer SleepTime = 1000 Signals = { Counter = { Type = uint32 } Time = { Type = uint32 } } }"
+  "        +DDB = { Class = GAMDataSource Signals = { Counter = { Type = uint32 } Time = { Type = uint32 } } }"
   "        +DAMS = { Class = TimingDataSource }"
   "    }"
   "    +States = {"

Test/UnitTests/UnitTests.cpp

@@ -63,14 +63,61 @@ public:
         Vec<uint32> sizes;
         FastPollingMutexSem mutex;
         DebugSignalInfo* ptrs[1] = { service.signals[0] };
-        service.RegisterBroker(ptrs, 1, NULL_PTR(MemoryMapBroker*), &active, &indices, &sizes, &mutex);
+        volatile bool anyBreak = false;
+        Vec<uint32> breakIdx;
+        service.RegisterBroker(ptrs, 1, NULL_PTR(MemoryMapBroker*), &active, &indices, &sizes, &mutex, &anyBreak, &breakIdx);
         service.UpdateBrokersActiveStatus();
         assert(active == true);
         assert(indices.Size() == 1);
         assert(indices[0] == 0);
 
         // Helper Process
-        DebugBrokerHelper::Process(&service, ptrs, indices, sizes, mutex);
+        DebugBrokerHelper::Process(&service, ptrs, indices, sizes, mutex, &anyBreak, &breakIdx);
+
+        // 4. Step / per-thread filter
+        // STEP with no thread filter — all threads can consume
+        service.Step(2u, NULL_PTR(const char8 *));
+        assert(!service.IsPaused());
+        assert(service.stepRemaining == 2u);
+        service.ConsumeStepIfNeeded("GAM1", "ThreadA");
+        assert(service.stepRemaining == 1u);
+        assert(!service.IsPaused());
+        service.ConsumeStepIfNeeded("GAM1", "ThreadB");
+        assert(service.stepRemaining == 0u);
+        assert(service.IsPaused());
+        assert(service.pausedAtGam == "GAM1");
+
+        // STEP with a thread filter — only matching thread consumes
+        service.Step(2u, "ThreadA");
+        assert(!service.IsPaused());
+        assert(service.stepThreadFilter == "ThreadA");
+        // ThreadB should be ignored
+        service.ConsumeStepIfNeeded("GAMB", "ThreadB");
+        assert(service.stepRemaining == 2u);  // unchanged
+        assert(!service.IsPaused());
+        // ThreadA consumes both credits
+        service.ConsumeStepIfNeeded("GAMA1", "ThreadA");
+        assert(service.stepRemaining == 1u);
+        assert(!service.IsPaused());
+        service.ConsumeStepIfNeeded("GAMA2", "ThreadA");
+        assert(service.stepRemaining == 0u);
+        assert(service.IsPaused());
+        assert(service.pausedAtGam == "GAMA2");
+
+        // STEP with unknown thread (NULL threadName arg to ConsumeStep) is also filtered out
+        service.Step(1u, "ThreadA");
+        service.ConsumeStepIfNeeded("X", NULL_PTR(const char8 *));
+        assert(service.stepRemaining == 1u);  // not consumed
+        service.SetPaused(false);
+        service.Step(0u, NULL_PTR(const char8 *));
+
+        // 5. VALUE command (NULL client — smoke test, no crash)
+        service.HandleCommand("VALUE X.Y.Z", NULL_PTR(BasicTCPSocket*));
+        service.HandleCommand("VALUE NoSuchSignal", NULL_PTR(BasicTCPSocket*));
+        service.HandleCommand("STEP 1 ThreadA", NULL_PTR(BasicTCPSocket*));
+        assert(service.stepThreadFilter == "ThreadA");
+        service.HandleCommand("STEP 3", NULL_PTR(BasicTCPSocket*));
+        assert(service.stepThreadFilter.Size() == 0u);
     }
 };
 
@@ -86,9 +133,9 @@ void timeout_handler(int sig) {
 int main() {
     signal(SIGALRM, timeout_handler);
     alarm(10); 
-    printf("--- MARTe2 Debug Suite COVERAGE V29 ---\n");
+    printf("--- MARTe2 Debug Suite COVERAGE V30 ---\n");
     MARTe::TestTcpLogger();
     MARTe::DebugServiceTest::TestAll();
-    printf("\nCOVERAGE V29 PASSED!\n");
+    printf("\nCOVERAGE V30 PASSED!\n");
     return 0;
 }

run_debug_app.sh

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