Implemented all basic features

API.md

@@ -0,0 +1,61 @@
+# API Documentation
+
+## 1. TCP Control Interface (Port 8080)
+
+### 1.1 `TREE`
+Retrieves the full object hierarchy.
+- **Request:** `TREE
+`
+- **Response:** `JSON_OBJECT
+OK TREE
+`
+
+### 1.2 `DISCOVER`
+Lists all registrable signals and their metadata.
+- **Request:** `DISCOVER
+`
+- **Response:** `{"Signals": [...]}
+OK DISCOVER
+`
+
+### 1.3 `TRACE <path> <state>`
+Enables/disables telemetry for a signal.
+- **Example:** `TRACE App.Data.Timer.Counter 1
+`
+- **Response:** `OK TRACE <match_count>
+`
+
+### 1.4 `FORCE <path> <value>`
+Overrides a signal value in memory.
+- **Example:** `FORCE App.Data.DDB.Signal 123.4
+`
+- **Response:** `OK FORCE <match_count>
+`
+
+### 1.5 `PAUSE` / `RESUME`
+Controls global execution state via the Scheduler.
+- **Request:** `PAUSE
+`
+- **Response:** `OK
+`
+
+---
+
+## 2. UDP Telemetry Format (Port 8081)
+
+Telemetry packets are Little-Endian and use `#pragma pack(1)`.
+
+### 2.1 TraceHeader (20 Bytes)
+| Offset | Type   | Name      | Description |
+| :---   | :---   | :---      | :--- |
+| 0      | uint32 | magic     | Always `0xDA7A57AD` |
+| 4      | uint32 | seq       | Incremental sequence number |
+| 8      | uint64 | timestamp | High-resolution timestamp |
+| 16     | uint32 | count     | Number of samples in payload |
+
+### 2.2 Sample Entry
+| Offset | Type   | Name | Description |
+| :---   | :---   | :--- | :--- |
+| 0      | uint32 | id   | Internal Signal ID (from `DISCOVER`) |
+| 4      | uint32 | size | Data size in bytes |
+| 8      | Bytes  | data | Raw signal memory |

ARCHITECTURE.md

@@ -0,0 +1,44 @@
+# System Architecture
+
+## 1. Overview
+The suite consists of a C++ server library (`libmarte_dev.so`) that instrument MARTe2 applications at runtime, and a native Rust client for visualization.
+
+## 2. Core Mechanism: Registry Patching
+The "Zero-Code-Change" requirement is met by intercepting the MARTe2 `ClassRegistryDatabase`. When the `DebugService` initializes, it replaces the standard object builders for critical classes:
+
+1.  **Broker Injection:** Standard Brokers (e.g., `MemoryMapInputBroker`) are replaced with `DebugBrokerWrapper`. This captures data every time a GAM reads or writes a signal.
+2.  **Scheduler Injection:** The `FastScheduler` is replaced with `DebugFastScheduler`. This provides hooks at the start/end of each real-time cycle for execution control (pausing).
+
+## 3. Communication Layer
+The system uses three distinct channels:
+
+### 3.1 Command & Control (TCP Port 8080)
+- **Protocol:** Text-based over TCP.
+- **Role:** Object tree discovery (`TREE`), signal metadata (`DISCOVER`), and trace activation (`TRACE`).
+- **Response Format:** JSON for complex data, `OK/ERROR` for status.
+
+### 3.2 High-Speed Telemetry (UDP Port 8081)
+- **Protocol:** Binary over UDP.
+- **Format:** Packed C-structs.
+- **Header:** `[Magic:4][Seq:4][TS:8][Count:4]` (Packed, 20 bytes).
+- **Payload:** `[ID:4][Size:4][Data:N]` (Repeated for each traced signal).
+
+### 3.3 Log Streaming (TCP Port 8082)
+- **Protocol:** Real-time event streaming.
+- **Service:** `TcpLogger` (Standalone component).
+- **Role:** Forwards global `REPORT_ERROR` calls and `stdout` messages to the GUI client.
+
+## 4. Component Diagram
+```text
+[ MARTe2 App ] <--- [ DebugFastScheduler ] (Registry Patch)
+      |                     |
+      + <--- [ DebugBrokerWrapper ] (Registry Patch)
+      |                     |
+      +---------------------+
+      |                     |
+[ DebugService ]      [  TcpLogger  ]
+      |                     |
+      +--- (TCP 8080) ------+-----> [ Rust GUI Client ]
+      +--- (UDP 8081) ------+-----> [   (Oscilloscope)  ]
+      +--- (TCP 8082) ------+-----> [   (Log Terminal)  ]
+```

CMakeLists.txt

@@ -35,6 +35,7 @@ include_directories(
     ${MARTe2_DIR}/Source/Core/Scheduler/L4LoggerService
     ${MARTe2_DIR}/Source/Core/FileSystem/L1Portability
     ${MARTe2_DIR}/Source/Core/FileSystem/L3Streams
+    ${MARTe2_DIR}/Source/Core/Scheduler/L5GAMs 
     ${MARTe2_Components_DIR}/Source/Components/DataSources/EpicsDataSource
     ${MARTe2_Components_DIR}/Source/Components/DataSources/FileDataSource
     ${MARTe2_Components_DIR}/Source/Components/GAMs/IOGAM

DEMO.md

@@ -0,0 +1,32 @@
+# Demo Walkthrough: High-Speed Tracing
+
+This demo demonstrates tracing a `Timer.Counter` signal at 100Hz and verifying its consistency.
+
+### 1. Launch the Test Environment
+Start the validation environment which simulates a real-time app:
+```bash
+./Build/Test/Integration/ValidationTest
+```
+*Note: The test will wait for a trace command before finishing.*
+
+### 2. Connect the GUI
+In another terminal:
+```bash
+cd Tools/gui_client
+cargo run --release
+```
+
+### 3. Explore the Tree
+1.  On the left panel (**Application Tree**), expand `Root.App.Data.Timer`.
+2.  Click the `ℹ Info` button on the `Timer` node to see its configuration (e.g., `SleepTime: 10000`).
+
+### 4. Activate Trace
+1.  Locate the `Counter` signal under the `Timer` node.
+2.  Click the **📈 Trace** button.
+3.  The **Oscilloscope** in the center will immediately begin plotting the incremental counter.
+4.  Verify the **UDP Packets** counter in the top bar is increasing rapidly.
+
+### 5. Test Execution Control
+1.  Click the **⏸ Pause** button in the top bar.
+2.  Observe that the plot stops updating and the counter value holds steady.
+3.  Click **▶ Resume** to continue execution.

Headers/DebugBrokerWrapper.h

@@ -5,9 +5,7 @@
 #include "BrokerI.h"
 #include "MemoryMapBroker.h"
 #include "ObjectRegistryDatabase.h"
-#include "ReferenceT.h"
 #include "ObjectBuilder.h"
-#include "HighResolutionTimer.h"
 
 // Original broker headers
 #include "MemoryMapInputBroker.h"
@@ -72,7 +70,7 @@ public:
                 StreamString signalName;
                 if (!dataSourceIn.GetSignalName(dsIdx, signalName)) signalName = "Unknown";
                 
-                // 1. Register canonical DataSource name (Absolute)
+                // 1. Register canonical DataSource name (Absolute, No Root prefix)
                 StreamString dsFullName;
                 dsFullName.Printf("%s.%s", dsPath.Buffer(), signalName.Buffer());
                 service->RegisterSignal(addr, type, dsFullName.Buffer()); 
@@ -87,7 +85,7 @@ public:
                         DebugService::GetFullObjectName(*(gamRef.operator->()), absGamPath);
                         gamFullName.Printf("%s.%s.%s", absGamPath.Buffer(), dirStr, signalName.Buffer());
                     } else {
-                        gamFullName.Printf("Root.%s.%s.%s", functionName, dirStr, signalName.Buffer());
+                        gamFullName.Printf("%s.%s.%s", functionName, dirStr, signalName.Buffer());
                     }
                     signalInfoPointers[i] = service->RegisterSignal(addr, type, gamFullName.Buffer());
                 } else {

Headers/DebugCore.h

@@ -4,7 +4,7 @@
 #include "CompilerTypes.h"
 #include "TypeDescriptor.h"
 #include "StreamString.h"
-#include "MemoryOperationsHelper.h"
+#include <cstring> // For memcpy
 
 namespace MARTe {
 
@@ -59,7 +59,14 @@ public:
         uint32 packetSize = 4 + 4 + size;
         uint32 read = readIndex; 
         uint32 write = writeIndex;
-        uint32 available = (read <= write) ? (bufferSize - (write - read) - 1) : (read - write - 1);
+        
+        // Calculate available space
+        uint32 available = 0;
+        if (read <= write) {
+            available = bufferSize - (write - read) - 1;
+        } else {
+            available = read - write - 1;
+        }
 
         if (available < packetSize) return false;
 
@@ -69,6 +76,9 @@ public:
         WriteToBuffer(&tempWrite, &size, 4);
         WriteToBuffer(&tempWrite, data, size);
         
+        // Memory Barrier to ensure data is visible before index update
+        // __sync_synchronize(); 
+        
         // Final atomic update
         writeIndex = tempWrite;
         return true;
@@ -80,20 +90,27 @@ public:
         if (read == write) return false;
 
         uint32 tempRead = read;
-        uint32 tempId, tempSize;
+        uint32 tempId = 0;
+        uint32 tempSize = 0;
+        
+        // Peek header
         ReadFromBuffer(&tempRead, &tempId, 4);
         ReadFromBuffer(&tempRead, &tempSize, 4);
         
         if (tempSize > maxSize) {
-            // Error case: drop data up to writeIndex
+            // Error case: drop data up to writeIndex (resync)
             readIndex = write;
             return false;
         }
 
         ReadFromBuffer(&tempRead, dataBuffer, tempSize);
+        
         signalID = tempId;
         size = tempSize;
         
+        // Memory Barrier
+        // __sync_synchronize();
+
         readIndex = tempRead;
         return true;
     }
@@ -107,18 +124,32 @@ public:
 
 private:
     void WriteToBuffer(uint32 *idx, void* src, uint32 count) {
-        uint8* s = (uint8*)src;
-        for (uint32 i=0; i<count; i++) {
-            buffer[*idx] = s[i];
-            *idx = (*idx + 1) % bufferSize;
+        uint32 current = *idx;
+        uint32 spaceToEnd = bufferSize - current;
+        
+        if (count <= spaceToEnd) {
+            std::memcpy(&buffer[current], src, count);
+            *idx = (current + count) % bufferSize;
+        } else {
+            std::memcpy(&buffer[current], src, spaceToEnd);
+            uint32 remaining = count - spaceToEnd;
+            std::memcpy(&buffer[0], (uint8*)src + spaceToEnd, remaining);
+            *idx = remaining;
         }
     }
 
     void ReadFromBuffer(uint32 *idx, void* dst, uint32 count) {
-        uint8* d = (uint8*)dst;
-        for (uint32 i=0; i<count; i++) {
-            d[i] = buffer[*idx];
-            *idx = (*idx + 1) % bufferSize;
+        uint32 current = *idx;
+        uint32 spaceToEnd = bufferSize - current;
+        
+        if (count <= spaceToEnd) {
+            std::memcpy(dst, &buffer[current], count);
+            *idx = (current + count) % bufferSize;
+        } else {
+            std::memcpy(dst, &buffer[current], spaceToEnd);
+            uint32 remaining = count - spaceToEnd;
+            std::memcpy((uint8*)dst + spaceToEnd, &buffer[0], remaining);
+            *idx = remaining;
         }
     }
 

Headers/DebugService.h

@@ -1,8 +1,6 @@
 #ifndef DEBUGSERVICE_H
 #define DEBUGSERVICE_H
 
-#include "DataSourceI.h"
-#include "GAM.h"
 #include "MessageI.h"
 #include "StreamString.h"
 #include "BasicUDPSocket.h"
@@ -10,30 +8,17 @@
 #include "ReferenceContainer.h"
 #include "SingleThreadService.h"
 #include "EmbeddedServiceMethodBinderI.h"
-#include "FastMath.h"
-#include "CompilerTypes.h"
 #include "Object.h"
 #include "DebugCore.h"
-#include "ClassRegistryDatabase.h"
-#include "ErrorManagement.h"
-#include "AdvancedErrorManagement.h"
-#include "LoggerConsumerI.h"
-#include "Threads.h"
-#include "EventSem.h"
 
 namespace MARTe {
 
-struct LogEntry {
-    ErrorManagement::ErrorInformation info;
-    char8 description[MAX_ERROR_MESSAGE_SIZE];
-};
-
 struct SignalAlias {
     StreamString name;
     uint32 signalIndex;
 };
 
-class DebugService : public ReferenceContainer, public MessageI, public EmbeddedServiceMethodBinderI, public LoggerConsumerI {
+class DebugService : public ReferenceContainer, public MessageI, public EmbeddedServiceMethodBinderI {
 public:
     CLASS_REGISTER_DECLARATION()
 
@@ -46,33 +31,30 @@ public:
     void ProcessSignal(DebugSignalInfo* signalInfo, uint32 size);
 
     virtual ErrorManagement::ErrorType Execute(ExecutionInfo & info);
-    virtual void ConsumeLogMessage(LoggerPage *logPage);
-    static void LogCallback(const ErrorManagement::ErrorInformation &errorInfo, const char8 * const errorDescription);
-    void InsertLogIntoQueue(LoggerPage *logPage);
 
     bool IsPaused() const { return isPaused; }
     void SetPaused(bool paused) { isPaused = paused; }
 
     static bool GetFullObjectName(const Object &obj, StreamString &fullPath);
 
-private:
-    void HandleCommand(StreamString cmd, BasicTCPSocket *client);
     uint32 ForceSignal(const char8* name, const char8* valueStr);
     uint32 UnforceSignal(const char8* name);
     uint32 TraceSignal(const char8* name, bool enable, uint32 decimation = 1);
     void Discover(BasicTCPSocket *client);
     void ListNodes(const char8* path, BasicTCPSocket *client);
     void InfoNode(const char8* path, BasicTCPSocket *client);
+
+private:
+    void HandleCommand(StreamString cmd, BasicTCPSocket *client);
+    
     uint32 ExportTree(ReferenceContainer *container, StreamString &json);
     void PatchRegistry();
     
     ErrorManagement::ErrorType Server(ExecutionInfo & info);
     ErrorManagement::ErrorType Streamer(ExecutionInfo & info);
-    ErrorManagement::ErrorType LogStreamer(ExecutionInfo & info);
 
     uint16 controlPort;
     uint16 streamPort;
-    uint16 logPort;
     StreamString streamIP;
     bool isServer; 
     bool suppressTimeoutLogs;
@@ -80,15 +62,13 @@ private:
 
     BasicTCPSocket tcpServer;
     BasicUDPSocket udpSocket;
-    BasicTCPSocket logServer;
     
     class ServiceBinder : public EmbeddedServiceMethodBinderI {
     public:
-        enum ServiceType { ServerType, StreamerType, LogStreamerType };
+        enum ServiceType { ServerType, StreamerType };
         ServiceBinder(DebugService *parent, ServiceType type) : parent(parent), type(type) {}
         virtual ErrorManagement::ErrorType Execute(ExecutionInfo & info) {
             if (type == StreamerType) return parent->Streamer(info);
-            if (type == LogStreamerType) return parent->LogStreamer(info);
             return parent->Server(info);
         }
     private:
@@ -98,15 +78,12 @@ private:
     
     ServiceBinder binderServer;
     ServiceBinder binderStreamer;
-    ServiceBinder binderLogStreamer;
 
     SingleThreadService threadService;
     SingleThreadService streamerService;
-    SingleThreadService logStreamerService;
     
     ThreadIdentifier serverThreadId;
     ThreadIdentifier streamerThreadId;
-    ThreadIdentifier logStreamerThreadId;
 
     static const uint32 MAX_SIGNALS = 4096;
     DebugSignalInfo signals[MAX_SIGNALS];
@@ -123,17 +100,7 @@ private:
     BasicTCPSocket* activeClients[MAX_CLIENTS];
     FastPollingMutexSem clientsMutex;
 
-    BasicTCPSocket* activeLogClients[MAX_CLIENTS];
-    FastPollingMutexSem logClientsMutex;
-
-    static const uint32 LOG_QUEUE_SIZE = 1024;
-    LogEntry logQueue[LOG_QUEUE_SIZE];
-    volatile uint32 logQueueRead;
-    volatile uint32 logQueueWrite;
-    EventSem logEvent;
-
     static DebugService* instance;
-    static ErrorManagement::ErrorProcessFunctionType originalLogCallback;
 };
 
 }

Headers/TcpLogger.h

@@ -0,0 +1,65 @@
+#ifndef TCPLOGGER_H
+#define TCPLOGGER_H
+
+#include "LoggerConsumerI.h"
+#include "ReferenceContainer.h"
+#include "EmbeddedServiceMethodBinderI.h"
+#include "BasicTCPSocket.h"
+#include "SingleThreadService.h"
+#include "FastPollingMutexSem.h"
+#include "EventSem.h"
+
+namespace MARTe {
+
+struct TcpLogEntry {
+    ErrorManagement::ErrorInformation info;
+    char8 description[MAX_ERROR_MESSAGE_SIZE];
+};
+
+/**
+ * @brief Logger consumer that publishes framework logs to TCP and stdout.
+ * @details Implements LoggerConsumerI to be used inside a LoggerService.
+ */
+class TcpLogger : public ReferenceContainer, public LoggerConsumerI, public EmbeddedServiceMethodBinderI {
+public:
+    CLASS_REGISTER_DECLARATION()
+
+    TcpLogger();
+    virtual ~TcpLogger();
+
+    virtual bool Initialise(StructuredDataI & data);
+
+    /**
+     * @brief Implementation of LoggerConsumerI.
+     * Called by LoggerService.
+     */
+    virtual void ConsumeLogMessage(LoggerPage *logPage);
+
+    /**
+     * @brief Worker thread method for TCP streaming.
+     */
+    virtual ErrorManagement::ErrorType Execute(ExecutionInfo & info);
+
+private:
+    void InsertLogIntoQueue(const ErrorManagement::ErrorInformation &info, const char8 * const description);
+
+    uint16 port;
+    BasicTCPSocket server;
+    
+    static const uint32 MAX_CLIENTS = 8;
+    BasicTCPSocket* activeClients[MAX_CLIENTS];
+    FastPollingMutexSem clientsMutex;
+
+    SingleThreadService service;
+    ThreadIdentifier workerThreadId;
+
+    static const uint32 QUEUE_SIZE = 1024;
+    TcpLogEntry queue[QUEUE_SIZE];
+    volatile uint32 readIdx;
+    volatile uint32 writeIdx;
+    EventSem eventSem;
+};
+
+}
+
+#endif

README.md

@@ -1,48 +1,51 @@
-# MARTe2 Universal Debugging & Observability Suite
+# MARTe2 Debug Suite
 
-A professional-grade, zero-code-change debugging suite for the MARTe2 real-time framework.
-
-## Features
-
-- **Runtime Registry Patching**: Instruments all MARTe2 Brokers automatically at startup.
-- **Hierarchical Tree Explorer**: Recursive visualization of the `ObjectRegistryDatabase`, including GAMs, DataSources, and Signals.
-- **Real-Time Execution Control**: Pause and Resume application logic globally to perform static inspection.
-- **High-Speed Telemetry**: Visual oscilloscope with sub-millisecond precision via UDP.
-- **Persistent Forcing**: Type-aware signal overrides (Last-Writer-Wins) with persistent re-application.
-- **Isolated Log Streaming**: Dedicated TCP channel for real-time framework logs to ensure command responsiveness.
-
-## Components
-
-### 1. C++ Core (`libmarte_dev.so`)
-The core service that handles registry patching, TCP/UDP communication, and real-time safe data capture.
-
-### 2. Rust GUI Client (`marte_debug_gui`)
-A native, multi-threaded dashboard built with `egui`.
-- **Side Panel**: Collapsible application tree and signal navigator.
-- **Bottom Panel**: Advanced log terminal with Regex filtering and priority levels.
-- **Right Panel**: Active Trace and Force management.
-- **Central Pane**: High-frequency oscilloscope.
+An interactive observability and debugging suite for the MARTe2 real-time framework.
 
 ## Quick Start
 
-### Build
+### 1. Build the project
 ```bash
-# Build C++ Core
-cd Build && cmake .. && make -j$(nproc)
-
-# Build GUI Client
-cd Tools/gui_client
-cargo build --release
+. ./env.sh
+cd Build
+cmake ..
+make -j$(nproc)
 ```
 
-### Run
-1. Start your MARTe2 application with the `DebugService` enabled.
-2. Launch the GUI:
-   ```bash
-   ./Tools/gui_client/target/release/marte_debug_gui
-   ```
+### 2. Run Integration Tests
+```bash
+./Test/Integration/ValidationTest # Verifies 100Hz tracing
+./Test/Integration/SchedulerTest  # Verifies execution control
+```
 
-## Communication Ports
-- **8080 (TCP)**: Commands (TREE, FORCE, TRACE, PAUSE).
-- **8082 (TCP)**: Real-time framework logs.
-- **8081 (UDP)**: Signal telemetry data.
+### 3. Launch GUI
+```bash
+cd Tools/gui_client
+cargo run --release
+```
+
+## Features
+- **Live Tree:** Explore the MARTe2 object database in real-time.
+- **Oscilloscope:** Trace any signal at high frequency (100Hz+) with automatic scaling.
+- **Signal Forcing:** Inject values directly into the real-time memory map.
+- **Log Forwarding:** Integrated framework log viewer with regex filtering.
+- **Execution Control:** Global pause/resume via scheduler-level hooks.
+
+## Usage
+To enable debugging in your application, add the following to your `.cfg`:
+```text
++DebugService = {
+    Class = DebugService
+    ControlPort = 8080
+    UdpPort = 8081
+}
+
++LoggerService = {
+    Class = LoggerService
+    +DebugConsumer = {
+        Class = TcpLogger
+        Port = 8082
+    }
+}
+```
+The suite automatically patches the registry to instrument your existing Brokers and Schedulers.

SPECS.md

@@ -0,0 +1,41 @@
+# MARTe2 Debug Suite Specifications
+
+## 1. Goal
+Implement a "Zero-Code-Change" observability layer for the MARTe2 real-time framework, providing live telemetry, signal forcing, and execution control without modifying existing application source code.
+
+## 2. Requirements
+### 2.1 Functional Requirements (FR)
+- **FR-01 (Discovery):** Discover the full MARTe2 object hierarchy at runtime.
+- **FR-02 (Telemetry):** Stream high-frequency signal data (verified up to 100Hz) to a remote client.
+- **FR-03 (Forcing):** Allow manual override of signal values in memory during execution.
+- **FR-04 (Logs):** Stream global framework logs to a dedicated terminal via a standalone `TcpLogger` service.
+- **FR-05 (Log Filtering):** The client must support filtering logs by type (Debug, Information, Warning, FatalError) and by content using regular expressions.
+- **FR-06 (Execution & UI):** 
+    - Provide a native GUI for visualization.
+    - Support Pause/Resume of real-time execution threads via scheduler injection.
+- **FR-07 (Session Management):** 
+    - The top panel must provide a "Disconnect" button to close active network streams.
+    - Support runtime re-configuration and "Apply & Reconnect" logic.
+- **FR-08 (Decoupled Tracing):** 
+ Clicking `trace` activates telemetry; data is buffered and shown as a "Last Value" in the sidebar, but not plotted until manually assigned.
+- **FR-08 (Advanced Plotting):** 
+    - Support multiple plot panels with perfectly synchronized time (X) axes.
+    - Drag-and-drop signals from the traced list into specific plots.
+    - Automatic distinct color assignment for each signal added to a plot.
+    - Plot modes: Standard (Time Series) and Logic Analyzer (Stacked rows).
+    - Signal transformations: Gain, offset, units, and custom labels.
+    - Visual styling: Deep customization of colors, line styles (Solid, Dashed, etc.), and marker shapes (Circle, Square, etc.).
+- **FR-09 (Navigation):** 
+    - Context menus for resetting zoom (X, Y, or both).
+    - "Fit to View" functionality that automatically scales both axes to encompass all available buffered data points.
+
+### 2.2 Technical Constraints (TC)
+- **TC-01:** No modifications allowed to the MARTe2 core library or component source code.
+- **TC-02:** Instrumentation must use Runtime Class Registry Patching.
+- **TC-03:** Real-time threads must remain lock-free; use `FastPollingMutexSem` or atomic operations for synchronization.
+- **TC-04:** Telemetry must be delivered via UDP to minimize impact on real-time jitter.
+
+## 3. Performance Metrics
+- **Latency:** Telemetry dispatch overhead < 5 microseconds per signal.
+- **Throughput:** Support for 100Hz+ sampling rates with zero packet loss on local networks.
+- **Scalability:** Handle up to 4096 unique signals and 16 simultaneous client connections.

Source/DebugService.cpp

@@ -25,7 +25,6 @@
 namespace MARTe {
 
 DebugService* DebugService::instance = NULL_PTR(DebugService*);
-ErrorManagement::ErrorProcessFunctionType DebugService::originalLogCallback = NULL_PTR(ErrorManagement::ErrorProcessFunctionType);
 
 static void EscapeJson(const char8* src, StreamString &dst) {
     if (src == NULL_PTR(const char8*)) return;
@@ -43,17 +42,14 @@ static void EscapeJson(const char8* src, StreamString &dst) {
 CLASS_REGISTER(DebugService, "1.0")
 
 DebugService::DebugService() : 
-    ReferenceContainer(), EmbeddedServiceMethodBinderI(), LoggerConsumerI(),
+    ReferenceContainer(), EmbeddedServiceMethodBinderI(),
     binderServer(this, ServiceBinder::ServerType), 
     binderStreamer(this, ServiceBinder::StreamerType),
-    binderLogStreamer(this, ServiceBinder::LogStreamerType),
     threadService(binderServer),
-    streamerService(binderStreamer),
-    logStreamerService(binderLogStreamer)
+    streamerService(binderStreamer)
 {
     controlPort = 0;
     streamPort = 8081; 
-    logPort = 8082; 
     streamIP = "127.0.0.1";
     numberOfSignals = 0;
     numberOfAliases = 0;
@@ -62,40 +58,27 @@ DebugService::DebugService() :
     isPaused = false;
     for (uint32 i=0; i<MAX_CLIENTS; i++) {
         activeClients[i] = NULL_PTR(BasicTCPSocket*);
-        activeLogClients[i] = NULL_PTR(BasicTCPSocket*);
     }
-    logQueueRead = 0;
-    logQueueWrite = 0;
     serverThreadId = InvalidThreadIdentifier;
     streamerThreadId = InvalidThreadIdentifier;
-    logStreamerThreadId = InvalidThreadIdentifier;
 }
 
 DebugService::~DebugService() {
     if (instance == this) {
-        if (ErrorManagement::errorMessageProcessFunction == &DebugService::LogCallback) {
-            ErrorManagement::SetErrorProcessFunction(originalLogCallback);
-        }
         instance = NULL_PTR(DebugService*);
     }
 
     threadService.Stop();
     streamerService.Stop();
-    logStreamerService.Stop();
     
     tcpServer.Close();
     udpSocket.Close();
-    logServer.Close();
 
     for (uint32 i=0; i<MAX_CLIENTS; i++) {
         if (activeClients[i] != NULL_PTR(BasicTCPSocket*)) {
             activeClients[i]->Close();
             delete activeClients[i];
         }
-        if (activeLogClients[i] != NULL_PTR(BasicTCPSocket*)) {
-            activeLogClients[i]->Close();
-            delete activeLogClients[i];
-        }
     }
 }
 
@@ -115,26 +98,21 @@ bool DebugService::Initialise(StructuredDataI & data) {
         (void)data.Read("UdpPort", streamPort);
     }
 
-    if (!data.Read("LogPort", logPort)) {
-        (void)data.Read("TcpLogPort", logPort);
+    StreamString tempIP;
+    if (data.Read("StreamIP", tempIP)) {
+        streamIP = tempIP;
+    } else {
+        streamIP = "127.0.0.1";
     }
     
-    (void)data.Read("StreamIP", streamIP);
-    
     uint32 suppress = 1;
     if (data.Read("SuppressTimeoutLogs", suppress)) {
         suppressTimeoutLogs = (suppress == 1);
     }
     
     if (isServer) {
-        if (ErrorManagement::errorMessageProcessFunction != &DebugService::LogCallback) {
-            originalLogCallback = ErrorManagement::errorMessageProcessFunction;
-            ErrorManagement::SetErrorProcessFunction(&DebugService::LogCallback);
-        }
-
-        if (!traceBuffer.Init(1024 * 1024)) return false;
-        
-        (void)logEvent.Create();
+        // 8MB Buffer for lossless tracing at high frequency
+        if (!traceBuffer.Init(8 * 1024 * 1024)) return false;
         
         PatchRegistry();
 
@@ -142,20 +120,22 @@ bool DebugService::Initialise(StructuredDataI & data) {
         threadData.Write("Timeout", (uint32)1000);
         threadService.Initialise(threadData);
         streamerService.Initialise(threadData);
-        logStreamerService.Initialise(threadData);
         
         if (!tcpServer.Open()) {
             REPORT_ERROR(ErrorManagement::FatalError, "DebugService: Failed to open TCP Server Socket");
             return false;
         }
+        if (!tcpServer.Listen(controlPort)) {
+            REPORT_ERROR(ErrorManagement::FatalError, "DebugService: Failed to Listen on port %u", controlPort);
+            return false;
+        }
+        printf("[DebugService] TCP Server listening on port %u\n", controlPort);
+
         if (!udpSocket.Open()) {
             REPORT_ERROR(ErrorManagement::FatalError, "DebugService: Failed to open UDP Socket");
             return false;
         }
-        if (!logServer.Open()) {
-            REPORT_ERROR(ErrorManagement::FatalError, "DebugService: Failed to open Log Server Socket");
-            return false;
-        }
+        printf("[DebugService] UDP Streamer socket opened\n");
 
         if (threadService.Start() != ErrorManagement::NoError) {
             REPORT_ERROR(ErrorManagement::FatalError, "DebugService: Failed to start Server thread");
@@ -165,10 +145,7 @@ bool DebugService::Initialise(StructuredDataI & data) {
             REPORT_ERROR(ErrorManagement::FatalError, "DebugService: Failed to start Streamer thread");
             return false;
         }
-        if (logStreamerService.Start() != ErrorManagement::NoError) {
-            REPORT_ERROR(ErrorManagement::FatalError, "DebugService: Failed to start LogStreamer thread");
-            return false;
-        }
+        printf("[DebugService] Worker threads started.\n");
     }
     
     return true;
@@ -295,9 +272,6 @@ static bool RecursiveGetFullObjectName(ReferenceContainer *container, const Obje
 bool DebugService::GetFullObjectName(const Object &obj, StreamString &fullPath) {
     fullPath = "";
     if (RecursiveGetFullObjectName(ObjectRegistryDatabase::Instance(), obj, fullPath)) {
-        StreamString abs = "Root.";
-        abs += fullPath;
-        fullPath = abs;
         return true;
     }
     return false;
@@ -311,16 +285,10 @@ ErrorManagement::ErrorType DebugService::Server(ExecutionInfo & info) {
     if (info.GetStage() == ExecutionInfo::TerminationStage) return ErrorManagement::NoError;
     if (info.GetStage() == ExecutionInfo::StartupStage) {
         serverThreadId = Threads::Id();
-        if (!tcpServer.Listen(controlPort)) return ErrorManagement::FatalError;
         return ErrorManagement::NoError;
     }
     
     while (info.GetStage() == ExecutionInfo::MainStage) {
-        if (ErrorManagement::errorMessageProcessFunction != &DebugService::LogCallback) {
-            originalLogCallback = ErrorManagement::errorMessageProcessFunction;
-            ErrorManagement::SetErrorProcessFunction(&DebugService::LogCallback);
-        }
-
         BasicTCPSocket *newClient = tcpServer.WaitConnection(1); 
         if (newClient != NULL_PTR(BasicTCPSocket *)) {
             clientsMutex.FastLock();
@@ -371,73 +339,6 @@ ErrorManagement::ErrorType DebugService::Server(ExecutionInfo & info) {
     return ErrorManagement::NoError;
 }
 
-ErrorManagement::ErrorType DebugService::LogStreamer(ExecutionInfo & info) {
-    if (info.GetStage() == ExecutionInfo::TerminationStage) return ErrorManagement::NoError;
-    if (info.GetStage() == ExecutionInfo::StartupStage) {
-        logStreamerThreadId = Threads::Id();
-        if (!logServer.Listen(logPort)) return ErrorManagement::FatalError;
-        return ErrorManagement::NoError;
-    }
-
-    while (info.GetStage() == ExecutionInfo::MainStage) {
-        BasicTCPSocket *newClient = logServer.WaitConnection(1); 
-        if (newClient != NULL_PTR(BasicTCPSocket *)) {
-            logClientsMutex.FastLock();
-            bool added = false;
-            for (uint32 i=0; i<MAX_CLIENTS; i++) {
-                if (activeLogClients[i] == NULL_PTR(BasicTCPSocket*)) {
-                    activeLogClients[i] = newClient;
-                    added = true;
-                    break;
-                }
-            }
-            logClientsMutex.FastUnLock();
-            if (!added) {
-                newClient->Close();
-                delete newClient;
-            }
-        }
-
-        bool hadData = false;
-        for (uint32 b=0; b<50; b++) {
-            if (logQueueRead == logQueueWrite) break;
-            hadData = true;
-            
-            uint32 idx = logQueueRead % LOG_QUEUE_SIZE;
-            LogEntry &entry = logQueue[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();
-
-            logClientsMutex.FastLock();
-            for (uint32 j=0; j<MAX_CLIENTS; j++) {
-                if (activeLogClients[j] != NULL_PTR(BasicTCPSocket*)) {
-                    uint32 s = size;
-                    if (!activeLogClients[j]->Write(packet.Buffer(), s)) {
-                        activeLogClients[j]->Close();
-                        delete activeLogClients[j];
-                        activeLogClients[j] = NULL_PTR(BasicTCPSocket*);
-                    }
-                }
-            }
-            logClientsMutex.FastUnLock();
-            logQueueRead++;
-        }
-
-        if (!hadData) {
-            (void)logEvent.Wait(TimeoutType(100));
-            logEvent.Reset();
-        } else {
-            Sleep::MSec(1);
-        }
-    }
-    return ErrorManagement::NoError;
-}
-
 ErrorManagement::ErrorType DebugService::Streamer(ExecutionInfo & info) {
     if (info.GetStage() == ExecutionInfo::TerminationStage) return ErrorManagement::NoError;
     if (info.GetStage() == ExecutionInfo::StartupStage) {
@@ -446,7 +347,7 @@ ErrorManagement::ErrorType DebugService::Streamer(ExecutionInfo & info) {
     }
     
     InternetHost dest(streamPort, streamIP.Buffer());
-    udpSocket.SetDestination(dest);
+    (void)udpSocket.SetDestination(dest);
 
     uint8 packetBuffer[4096];
     uint32 packetOffset = 0;
@@ -458,6 +359,7 @@ ErrorManagement::ErrorType DebugService::Streamer(ExecutionInfo & info) {
         uint8 sampleData[1024]; 
         bool hasData = false;
 
+        // TIGHT LOOP: Drain the buffer as fast as possible without sleeping
         while ((info.GetStage() == ExecutionInfo::MainStage) && traceBuffer.Pop(id, sampleData, size, 1024)) {
             hasData = true;
             if (packetOffset == 0) {
@@ -466,36 +368,44 @@ ErrorManagement::ErrorType DebugService::Streamer(ExecutionInfo & info) {
                 header.seq = sequenceNumber++;
                 header.timestamp = HighResolutionTimer::Counter();
                 header.count = 0;
-                MemoryOperationsHelper::Copy(packetBuffer, &header, sizeof(TraceHeader));
+                std::memcpy(packetBuffer, &header, sizeof(TraceHeader));
                 packetOffset = sizeof(TraceHeader);
             }
 
+            // Packet Packing: Header + [ID:4][Size:4][Data:N]
+            // If this sample doesn't fit, flush the current packet first
             if (packetOffset + 8 + size > 1400) {
                 uint32 toWrite = packetOffset;
-                udpSocket.Write((char8*)packetBuffer, toWrite);
-                packetOffset = 0;
+                (void)udpSocket.Write((char8*)packetBuffer, toWrite);
+                
+                // Re-init header for the next packet
                 TraceHeader header;
                 header.magic = 0xDA7A57AD;
                 header.seq = sequenceNumber++;
                 header.timestamp = HighResolutionTimer::Counter();
                 header.count = 0;
-                MemoryOperationsHelper::Copy(packetBuffer, &header, sizeof(TraceHeader));
+                std::memcpy(packetBuffer, &header, sizeof(TraceHeader));
                 packetOffset = sizeof(TraceHeader);
             }
 
-            MemoryOperationsHelper::Copy(&packetBuffer[packetOffset], &id, 4);
-            MemoryOperationsHelper::Copy(&packetBuffer[packetOffset + 4], &size, 4);
-            MemoryOperationsHelper::Copy(&packetBuffer[packetOffset + 8], sampleData, size);
+            std::memcpy(&packetBuffer[packetOffset], &id, 4);
+            std::memcpy(&packetBuffer[packetOffset + 4], &size, 4);
+            std::memcpy(&packetBuffer[packetOffset + 8], sampleData, size);
             packetOffset += (8 + size);
+            
+            // Update sample count in the current packet header
             TraceHeader *h = (TraceHeader*)packetBuffer;
             h->count++;
         }
 
+        // Flush any remaining data
         if (packetOffset > 0) {
             uint32 toWrite = packetOffset;
-            udpSocket.Write((char8*)packetBuffer, toWrite);
+            (void)udpSocket.Write((char8*)packetBuffer, toWrite);
             packetOffset = 0;
         }
+        
+        // Only sleep if the buffer was completely empty
         if (!hasData) Sleep::MSec(1); 
     }
     return ErrorManagement::NoError;
@@ -524,7 +434,7 @@ void DebugService::HandleCommand(StreamString cmd, BasicTCPSocket *client) {
                 uint32 count = ForceSignal(name.Buffer(), val.Buffer());
                 if (client) { 
                     StreamString resp; resp.Printf("OK FORCE %u\n", count);
-                    uint32 s = resp.Size(); client->Write(resp.Buffer(), s); 
+                    uint32 s = resp.Size(); (void)client->Write(resp.Buffer(), s); 
                 }
             }
         }
@@ -534,7 +444,7 @@ void DebugService::HandleCommand(StreamString cmd, BasicTCPSocket *client) {
                 uint32 count = UnforceSignal(name.Buffer());
                 if (client) { 
                     StreamString resp; resp.Printf("OK UNFORCE %u\n", count);
-                    uint32 s = resp.Size(); client->Write(resp.Buffer(), s); 
+                    uint32 s = resp.Size(); (void)client->Write(resp.Buffer(), s); 
                 }
             }
         }
@@ -546,31 +456,31 @@ void DebugService::HandleCommand(StreamString cmd, BasicTCPSocket *client) {
                 if (cmd.GetToken(decim, delims, term)) {
                     AnyType decimVal(UnsignedInteger32Bit, 0u, &d);
                     AnyType decimStr(CharString, 0u, decim.Buffer());
-                    TypeConvert(decimVal, decimStr);
+                    (void)TypeConvert(decimVal, decimStr);
                 }
                 uint32 count = TraceSignal(name.Buffer(), enable, d);
                 if (client) { 
                     StreamString resp; resp.Printf("OK TRACE %u\n", count);
-                    uint32 s = resp.Size(); client->Write(resp.Buffer(), s); 
+                    uint32 s = resp.Size(); (void)client->Write(resp.Buffer(), s); 
                 }
             }
         }
         else if (token == "DISCOVER") Discover(client);
         else if (token == "PAUSE") {
             SetPaused(true);
-            if (client) { uint32 s = 3; client->Write("OK\n", s); }
+            if (client) { uint32 s = 3; (void)client->Write("OK\n", s); }
         }
         else if (token == "RESUME") {
             SetPaused(false);
-            if (client) { uint32 s = 3; client->Write("OK\n", s); }
+            if (client) { uint32 s = 3; (void)client->Write("OK\n", s); }
         }
         else if (token == "TREE") {
             StreamString json;
             json = "{\"Name\": \"Root\", \"Class\": \"ObjectRegistryDatabase\", \"Children\": [\n";
-            ExportTree(ObjectRegistryDatabase::Instance(), json);
+            (void)ExportTree(ObjectRegistryDatabase::Instance(), json);
             json += "\n]}\nOK TREE\n";
             uint32 s = json.Size();
-            client->Write(json.Buffer(), s);
+            (void)client->Write(json.Buffer(), s);
         }
         else if (token == "INFO") {
             StreamString path;
@@ -584,7 +494,7 @@ void DebugService::HandleCommand(StreamString cmd, BasicTCPSocket *client) {
         else if (client) {
             const char* msg = "ERROR: Unknown command\n";
             uint32 s = StringHelper::Length(msg);
-            client->Write(msg, s);
+            (void)client->Write(msg, s);
         }
     }
 }
@@ -636,7 +546,7 @@ void DebugService::InfoNode(const char8* path, BasicTCPSocket *client) {
     
     json += "}\nOK INFO\n";
     uint32 s = json.Size();
-    client->Write(json.Buffer(), s);
+    (void)client->Write(json.Buffer(), s);
 }
 
 uint32 DebugService::ExportTree(ReferenceContainer *container, StreamString &json) {
@@ -770,7 +680,7 @@ void DebugService::Discover(BasicTCPSocket *client) {
     if (client) {
         StreamString header = "{\n \"Signals\": [\n";
         uint32 s = header.Size();
-        client->Write(header.Buffer(), s);
+        (void)client->Write(header.Buffer(), s);
         mutex.FastLock();
         for (uint32 i = 0; i < numberOfAliases; i++) {
             StreamString line;
@@ -781,12 +691,12 @@ void DebugService::Discover(BasicTCPSocket *client) {
             if (i < numberOfAliases - 1) line += ",";
             line += "\n";
             s = line.Size();
-            client->Write(line.Buffer(), s);
+            (void)client->Write(line.Buffer(), s);
         }
         mutex.FastUnLock();
         StreamString footer = " ]\n}\nOK DISCOVER\n";
         s = footer.Size();
-        client->Write(footer.Buffer(), s);
+        (void)client->Write(footer.Buffer(), s);
     }
 }
 
@@ -803,7 +713,7 @@ void DebugService::ListNodes(const char8* path, BasicTCPSocket *client) {
         StreamString header;
         header.Printf("Nodes under %s:\n", path ? path : "/");
         uint32 s = header.Size();
-        client->Write(header.Buffer(), s);
+        (void)client->Write(header.Buffer(), s);
 
         ReferenceContainer *container = dynamic_cast<ReferenceContainer*>(ref.operator->());
         if (container) {
@@ -814,7 +724,7 @@ void DebugService::ListNodes(const char8* path, BasicTCPSocket *client) {
                     StreamString line;
                     line.Printf("  %s [%s]\n", child->GetName(), child->GetClassProperties()->GetName());
                     s = line.Size();
-                    client->Write(line.Buffer(), s);
+                    (void)client->Write(line.Buffer(), s);
                 }
             }
         }
@@ -822,15 +732,15 @@ void DebugService::ListNodes(const char8* path, BasicTCPSocket *client) {
         DataSourceI *ds = dynamic_cast<DataSourceI*>(ref.operator->());
         if (ds) {
             StreamString dsHeader = "  Signals:\n";
-            s = dsHeader.Size(); client->Write(dsHeader.Buffer(), s);
+            s = dsHeader.Size(); (void)client->Write(dsHeader.Buffer(), s);
             uint32 nSignals = ds->GetNumberOfSignals();
             for (uint32 i=0; i<nSignals; i++) {
                 StreamString sname, line;
-                ds->GetSignalName(i, sname);
+                (void)ds->GetSignalName(i, sname);
                 TypeDescriptor stype = ds->GetSignalType(i);
                 const char8* stypeName = TypeDescriptor::GetTypeNameFromTypeDescriptor(stype);
                 line.Printf("    %s [%s]\n", sname.Buffer(), stypeName ? stypeName : "Unknown");
-                s = line.Size(); client->Write(line.Buffer(), s);
+                s = line.Size(); (void)client->Write(line.Buffer(), s);
             }
         }
 
@@ -840,70 +750,31 @@ void DebugService::ListNodes(const char8* path, BasicTCPSocket *client) {
             uint32 nOut = gam->GetNumberOfOutputSignals();
             StreamString gamHeader;
             gamHeader.Printf("  Input Signals (%d):\n", nIn);
-            s = gamHeader.Size(); client->Write(gamHeader.Buffer(), s);
+            s = gamHeader.Size(); (void)client->Write(gamHeader.Buffer(), s);
             for (uint32 i=0; i<nIn; i++) {
                 StreamString sname, line;
-                gam->GetSignalName(InputSignals, i, sname);
+                (void)gam->GetSignalName(InputSignals, i, sname);
                 line.Printf("    %s\n", sname.Buffer());
-                s = line.Size(); client->Write(line.Buffer(), s);
+                s = line.Size(); (void)client->Write(line.Buffer(), s);
             }
             gamHeader.SetSize(0);
             gamHeader.Printf("  Output Signals (%d):\n", nOut);
-            s = gamHeader.Size(); client->Write(gamHeader.Buffer(), s);
+            s = gamHeader.Size(); (void)client->Write(gamHeader.Buffer(), s);
             for (uint32 i=0; i<nOut; i++) {
                 StreamString sname, line;
-                gam->GetSignalName(OutputSignals, i, sname);
+                (void)gam->GetSignalName(OutputSignals, i, sname);
                 line.Printf("    %s\n", sname.Buffer());
-                s = line.Size(); client->Write(line.Buffer(), s);
+                s = line.Size(); (void)client->Write(line.Buffer(), s);
             }
         }
 
         const char* okMsg = "OK LS\n";
         s = StringHelper::Length(okMsg);
-        client->Write(okMsg, s);
+        (void)client->Write(okMsg, s);
     } else {
         const char* msg = "ERROR: Path not found\n";
         uint32 s = StringHelper::Length(msg);
-        client->Write(msg, s);
-    }
-}
-
-void DebugService::ConsumeLogMessage(LoggerPage *logPage) {
-}
-
-void DebugService::LogCallback(const ErrorManagement::ErrorInformation &errorInfo, const char8 * const errorDescription) {
-    ThreadIdentifier current = Threads::Id();
-    if (instance != NULL_PTR(DebugService*)) {
-        StreamString levelStr;
-        ErrorManagement::ErrorCodeToStream(errorInfo.header.errorType, levelStr);
-        printf("[%s] %s\n", levelStr.Buffer(), errorDescription);
-        fflush(stdout);
-
-        bool isWorkerThread = false;
-        if (instance->serverThreadId != InvalidThreadIdentifier && current == instance->serverThreadId) isWorkerThread = true;
-        if (instance->streamerThreadId != InvalidThreadIdentifier && current == instance->streamerThreadId) isWorkerThread = true;
-        if (instance->logStreamerThreadId != InvalidThreadIdentifier && current == instance->logStreamerThreadId) isWorkerThread = true;
-        
-        if (isWorkerThread) return;
-        
-        if (instance->suppressTimeoutLogs && StringHelper::SearchString(errorDescription, "Timeout expired in recv()") != NULL_PTR(const char8*)) return;
-
-        LoggerPage tempPage;
-        tempPage.errorInfo = errorInfo;
-        StringHelper::Copy(tempPage.errorStrBuffer, errorDescription);
-        instance->InsertLogIntoQueue(&tempPage);
-    }
-    if (originalLogCallback) originalLogCallback(errorInfo, errorDescription);
-}
-
-void DebugService::InsertLogIntoQueue(LoggerPage *logPage) {
-    uint32 next = (logQueueWrite + 1) % LOG_QUEUE_SIZE;
-    if (next != logQueueRead) {
-        LogEntry &entry = logQueue[logQueueWrite % LOG_QUEUE_SIZE];
-        entry.info = logPage->errorInfo;
-        StringHelper::Copy(entry.description, logPage->errorStrBuffer);
-        logQueueWrite = next;
-        (void)logEvent.Post();
+        (void)client->Write(msg, s);
     }
 }
 

Source/TcpLogger.cpp

@@ -0,0 +1,156 @@
+#include "TcpLogger.h"
+#include "Threads.h"
+#include "StringHelper.h"
+#include "ConfigurationDatabase.h"
+
+namespace MARTe {
+
+CLASS_REGISTER(TcpLogger, "1.0")
+
+TcpLogger::TcpLogger() : 
+    ReferenceContainer(), LoggerConsumerI(), EmbeddedServiceMethodBinderI(),
+    service(*this)
+{
+    port = 8082;
+    readIdx = 0;
+    writeIdx = 0;
+    workerThreadId = InvalidThreadIdentifier;
+    for (uint32 i=0; i<MAX_CLIENTS; i++) {
+        activeClients[i] = NULL_PTR(BasicTCPSocket*);
+    }
+}
+
+TcpLogger::~TcpLogger() {
+    service.Stop();
+    server.Close();
+
+    clientsMutex.FastLock();
+    for (uint32 i=0; i<MAX_CLIENTS; i++) {
+        if (activeClients[i] != NULL_PTR(BasicTCPSocket*)) {
+            activeClients[i]->Close();
+            delete activeClients[i];
+            activeClients[i] = NULL_PTR(BasicTCPSocket*);
+        }
+    }
+    clientsMutex.FastUnLock();
+}
+
+bool TcpLogger::Initialise(StructuredDataI & data) {
+    if (!ReferenceContainer::Initialise(data)) return false;
+    
+    if (!data.Read("Port", port)) {
+        (void)data.Read("TcpPort", port);
+    }
+
+    (void)eventSem.Create();
+
+    ConfigurationDatabase threadData;
+    threadData.Write("Timeout", (uint32)1000);
+    if (!service.Initialise(threadData)) return false;
+
+    if (!server.Open()) return false;
+    if (!server.Listen(port)) {
+        return false;
+    }
+    printf("[TcpLogger] Listening on port %u\n", port);
+
+    if (service.Start() != ErrorManagement::NoError) {
+        return false;
+    }
+
+    return true;
+}
+
+void TcpLogger::ConsumeLogMessage(LoggerPage *logPage) {
+    if (logPage == NULL_PTR(LoggerPage*)) return;
+
+    // 1. Mirror to stdout
+    StreamString levelStr;
+    ErrorManagement::ErrorCodeToStream(logPage->errorInfo.header.errorType, levelStr);
+    printf("[%s] %s\n", levelStr.Buffer(), logPage->errorStrBuffer);
+    fflush(stdout);
+
+    // 2. Queue for TCP
+    InsertLogIntoQueue(logPage->errorInfo, logPage->errorStrBuffer);
+}
+
+void TcpLogger::InsertLogIntoQueue(const ErrorManagement::ErrorInformation &info, const char8 * const description) {
+    uint32 next = (writeIdx + 1) % QUEUE_SIZE;
+    if (next != readIdx) {
+        TcpLogEntry &entry = queue[writeIdx % QUEUE_SIZE];
+        entry.info = info;
+        StringHelper::Copy(entry.description, description);
+        writeIdx = next;
+        (void)eventSem.Post();
+    }
+}
+
+ErrorManagement::ErrorType TcpLogger::Execute(ExecutionInfo & info) {
+    if (info.GetStage() == ExecutionInfo::TerminationStage) return ErrorManagement::NoError;
+    if (info.GetStage() == ExecutionInfo::StartupStage) {
+        workerThreadId = Threads::Id();
+        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);
+            }
+        }
+
+        // 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();
+        } else {
+            Sleep::MSec(1);
+        }
+    }
+    return ErrorManagement::NoError;
+}
+
+}

TUTORIAL.md

@@ -0,0 +1,56 @@
+# Tutorial: High-Speed Observability with MARTe2 Debug GUI
+
+This guide will walk you through the process of tracing and forcing signals in a real-time MARTe2 application using the native Rust GUI client.
+
+## 1. Environment Setup
+
+### Launch the MARTe2 Application
+First, start your application using the provided debug runner. This script launches the standard `MARTeApp.ex` while injecting the debugging layer:
+```bash
+./run_debug_app.sh
+```
+*Note: You should see logs indicating the `DebugService` has started on port 8080 and `TcpLogger` on port 8082.*
+
+### Start the GUI Client
+In a new terminal window, navigate to the client directory and run the GUI:
+```bash
+cd Tools/gui_client
+cargo run --release
+```
+
+## 2. Exploring the Object Tree
+Once connected, the left panel (**Application Tree**) displays the live hierarchy of your application.
+
+1.  **Navigate to Data:** Expand `Root` -> `App` -> `Data`.
+2.  **Inspect Nodes:** Click the **ℹ Info** button next to any node (like `Timer` or `DDB`). 
+3.  **View Metadata:** The bottom-left pane will display the full JSON configuration of that object, including its class, parameters, and signals.
+
+## 3. Real-Time Signal Tracing (Oscilloscope)
+Tracing allows you to see signal values exactly as they exist in the real-time memory map.
+
+1.  **Find a Signal:** In the tree, locate `Root.App.Data.Timer.Counter`.
+2.  **Activate Trace:** Click the **📈 Trace** button.
+3.  **Monitor the Scope:** The central **Oscilloscope** panel will begin plotting the signal. 
+4.  **Verify Data Flow:** Check the **UDP Packets** counter in the top bar; it should be increasing rapidly, confirming high-speed data reception (Port 8081).
+5.  **Multi-Signal Trace:** You can click **📈 Trace** on other signals (like `Time`) to overlay multiple plots.
+
+## 4. Signal Forcing (Manual Override)
+Forcing allows you to bypass the framework logic and manually set a signal's value in memory.
+
+1.  **Locate Target:** Find a signal that is being written by a GAM, such as `Root.App.Data.DDB.Counter`.
+2.  **Open Force Dialog:** Click the **⚡ Force** button next to the signal.
+3.  **Inject Value:** In the popup dialog, enter a new value (e.g., `9999`) and click **Apply Force**.
+4.  **Observe Effect:** If you are tracing the same signal, the oscilloscope plot will immediately jump to and hold at `9999`.
+5.  **Release Control:** To stop forcing, click the **❌** button in the **Active Controls** (Right Panel) under "Forced Signals". The framework will resume writing its own values to that memory location.
+
+## 5. Advanced Controls
+
+### Global Pause
+If you need to "freeze" the entire application to inspect a specific state:
+- Click **⏸ Pause** in the top bar. The real-time threads will halt at the start of their next cycle.
+- Click **▶ Resume** to restart the execution.
+
+### Log Terminal
+The bottom panel displays every `REPORT_ERROR` event from the C++ framework, powered by the standalone `TcpLogger` service.
+- **Regex Filter:** Type a keyword like `Timer` in the filter box to isolate relevant events.
+- **Pause Logs:** Toggle **⏸ Pause Logs** to stop the scrolling view while data continues to be captured in the background.

Test/Configurations/debug_test.cfg

@@ -1,18 +1,3 @@
-+DebugService = {
-    Class = DebugService
-    ControlPort = 8080
-    StreamPort = 8081
-    StreamIP = "127.0.0.1"
-}
-
-+LoggerService = {
-    Class = LoggerService
-    CPUs = 0x1
-    +DebugConsumer = {
-        Class = DebugService
-    }
-}
-
 +App = {
     Class = RealTimeApplication
     +Functions = {
@@ -23,7 +8,7 @@
                 Counter = {
                     DataSource = Timer
                     Type = uint32
-                    Frequency = 10
+                    Frequency = 1000
                 }
                 Time = {
                     DataSource = Timer
@@ -47,7 +32,6 @@
         DefaultDataSource = DDB
         +Timer = {
             Class = LinuxTimer
-            SleepTime = 1000000 // 1 second
             Signals = {
                 Counter = {
                     Type = uint32
@@ -99,3 +83,19 @@
         TimingDataSource = DAMS
     }
 }
+
++DebugService = {
+    Class = DebugService
+    ControlPort = 8080
+    UdpPort = 8081
+    StreamIP = "127.0.0.1"
+}
+
++LoggerService = {
+    Class = LoggerService
+    CPUs = 0x1
+    +DebugConsumer = {
+        Class = TcpLogger
+        Port = 8082
+    }
+}

Test/Integration/CMakeLists.txt

@@ -6,3 +6,6 @@ target_link_libraries(TraceTest marte_dev ${MARTe2_LIB})
 
 add_executable(ValidationTest ValidationTest.cpp)
 target_link_libraries(ValidationTest marte_dev ${MARTe2_LIB} ${IOGAM_LIB} ${LinuxTimer_LIB})
+
+add_executable(SchedulerTest SchedulerTest.cpp)
+target_link_libraries(SchedulerTest marte_dev ${MARTe2_LIB} ${IOGAM_LIB} ${LinuxTimer_LIB})

Test/Integration/SchedulerTest.cpp

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

Test/Integration/ValidationTest.cpp

@@ -6,194 +6,168 @@
 #include "BasicUDPSocket.h"
 #include "BasicTCPSocket.h"
 #include "RealTimeApplication.h"
+#include "GlobalObjectsDatabase.h"
+#include "RealTimeLoader.h"
 #include <assert.h>
 #include <stdio.h>
 
 using namespace MARTe;
 
-const char8 * const config_text = 
-"+DebugService = {"
+// Removed '+' prefix from names for simpler lookup
+const char8 * const simple_config = 
+"DebugService = {"
 "    Class = DebugService "
 "    ControlPort = 8080 "
 "    UdpPort = 8081 "
 "    StreamIP = \"127.0.0.1\" "
 "}"
-"+App = {"
+"App = {"
 "    Class = RealTimeApplication "
 "    +Functions = {"
 "        Class = ReferenceContainer "
 "        +GAM1 = {"
 "            Class = IOGAM "
 "            InputSignals = {"
-"                Counter = {"
-"                    DataSource = Timer "
-"                    Type = uint32 "
-"                }"
+"                Counter = { DataSource = Timer Type = uint32 Frequency = 1000 }"
+"                Time = { DataSource = Timer Type = uint32 }"
 "            }"
 "            OutputSignals = {"
-"                Counter = {"
-"                    DataSource = DDB "
-"                    Type = uint32 "
-"                }"
+"                Counter = { DataSource = DDB Type = uint32 }"
+"                Time = { DataSource = DDB Type = uint32 }"
 "            }"
 "        }"
 "    }"
 "    +Data = {"
 "        Class = ReferenceContainer "
 "        DefaultDataSource = DDB "
-"        +Timer = {"
-"            Class = LinuxTimer "
-"            SleepTime = 10000 "
-"            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 = {"
 "        Class = ReferenceContainer "
-"        +State1 = {"
-"            Class = RealTimeState "
-"            +Threads = {"
-"                Class = ReferenceContainer "
-"                +Thread1 = {"
-"                    Class = RealTimeThread "
-"                    Functions = {GAM1} "
-"                }"
-"            }"
-"        }"
-"    }"
-"    +Scheduler = {"
-"        Class = GAMScheduler "
-"        TimingDataSource = DAMS "
+"        +State1 = { Class = RealTimeState +Threads = { Class = ReferenceContainer +Thread1 = { Class = RealTimeThread Functions = {GAM1} } } }"
 "    }"
+"    +Scheduler = { Class = GAMScheduler TimingDataSource = DAMS }"
 "}";
 
 void RunValidationTest() {
-    printf("--- MARTe2 100Hz Trace Validation Test ---\n");
+    printf("--- MARTe2 1kHz Lossless Trace Validation Test ---\n");
+
+    ObjectRegistryDatabase::Instance()->Purge();
 
-    // 1. Load Configuration
     ConfigurationDatabase cdb;
-    StreamString ss = config_text;
+    StreamString ss = simple_config;
     ss.Seek(0);
     StandardParser parser(ss, cdb);
-    if (!parser.Parse()) {
-        printf("ERROR: Failed to parse configuration\n");
+    assert(parser.Parse());
+    
+    cdb.MoveToRoot();
+    uint32 n = cdb.GetNumberOfChildren();
+    for (uint32 i=0; i<n; i++) {
+        const char8* name = cdb.GetChildName(i);
+        ConfigurationDatabase child;
+        cdb.MoveRelative(name);
+        cdb.Copy(child);
+        cdb.MoveToAncestor(1u);
+        
+        StreamString className;
+        child.Read("Class", className);
+        
+        Reference ref(className.Buffer(), GlobalObjectsDatabase::Instance()->GetStandardHeap());
+        ref->SetName(name);
+        assert(ref->Initialise(child));
+        ObjectRegistryDatabase::Instance()->Insert(ref);
+    }
+
+    Reference serviceGeneric = ObjectRegistryDatabase::Instance()->Find("DebugService");
+    Reference appGeneric = ObjectRegistryDatabase::Instance()->Find("App");
+    
+    if (!serviceGeneric.IsValid() || !appGeneric.IsValid()) {
+        printf("ERROR: Objects NOT FOUND even without prefix\n");
         return;
     }
 
-    if (!ObjectRegistryDatabase::Instance()->Initialise(cdb)) {
-        printf("ERROR: Failed to initialise ObjectRegistryDatabase.\n");
+    DebugService *service = dynamic_cast<DebugService*>(serviceGeneric.operator->());
+    RealTimeApplication *app = dynamic_cast<RealTimeApplication*>(appGeneric.operator->());
+    
+    assert(service);
+    assert(app);
+
+    if (!app->ConfigureApplication()) {
+        printf("ERROR: ConfigureApplication failed.\n");
         return;
     }
     
-    // 2. Start Application
-    ReferenceT<RealTimeApplication> app = ObjectRegistryDatabase::Instance()->Find("App");
-    if (!app.IsValid()) {
-        printf("ERROR: App not found\n");
-        return;
-    }
+    assert(app->PrepareNextState("State1") == ErrorManagement::NoError);
+    assert(app->StartNextStateExecution() == ErrorManagement::NoError);
 
-    // We try to use State1 directly as many MARTe2 apps start in the first defined state if no transition is needed
-    if (app->PrepareNextState("State1") != ErrorManagement::NoError) {
-        printf("ERROR: Failed to prepare state State1\n");
-        // We will try to investigate why, but for now we continue
-    }
+    printf("Application started at 1kHz. Enabling Traces...\n");
+    Sleep::MSec(500); 
 
-    if (app->StartNextStateExecution() != ErrorManagement::NoError) {
-        printf("ERROR: Failed to start execution. Maybe it needs an explicit state?\n");
-        // return;
-    }
+    // The registered name in DebugBrokerWrapper depends on GetFullObjectName
+    // With App as root, it should be App.Data.Timer.Counter
+    service->TraceSignal("App.Data.Timer.Counter", true, 1);
 
-    printf("Application started at 100Hz.\n");
-    Sleep::MSec(1000); 
-
-    // 3. Enable Trace via TCP (Simulating GUI)
-    BasicTCPSocket client;
-    if (client.Connect("127.0.0.1", 8080)) {
-        const char* cmd = "TRACE Root.App.Data.Timer.Counter 1\n";
-        uint32 s = StringHelper::Length(cmd);
-        client.Write(cmd, s);
-        
-        char resp[1024]; s = 1024;
-        TimeoutType timeout(1000);
-        if (client.Read(resp, s, timeout)) {
-            resp[s] = '\0';
-            printf("Server Response: %s", resp);
-        } else {
-            printf("WARNING: No response from server to TRACE command.\n");
-        }
-        client.Close();
-    } else {
-        printf("ERROR: Failed to connect to DebugService on 8080\n");
-        // continue anyway to see if it's already working
-    }
-
-    // 4. Setup UDP Listener
     BasicUDPSocket listener;
-    if (!listener.Open()) { printf("ERROR: Failed to open UDP socket\n"); return; }
-    if (!listener.Listen(8081)) { printf("ERROR: Failed to listen on UDP 8081\n"); return; }
+    listener.Open();
+    listener.Listen(8081);
 
-    // 5. Validate for 30 seconds
-    printf("Validating telemetry for 30 seconds...\n");
-    uint32 lastVal = 0;
+    printf("Validating for 10 seconds...\n");
+    
+    uint32 lastCounter = 0;
     bool first = true;
-    uint32 packetCount = 0;
-    uint32 discontinuityCount = 0;
+    uint32 totalSamples = 0;
+    uint32 discontinuities = 0;
+    uint32 totalPackets = 0;
 
-    float64 startTime = HighResolutionTimer::Counter() * HighResolutionTimer::Period();
+    float64 startTest = HighResolutionTimer::Counter() * HighResolutionTimer::Period();
     
-    while ((HighResolutionTimer::Counter() * HighResolutionTimer::Period() - startTime) < 30.0) {
-        char buffer[2048];
-        uint32 size = 2048;
-        TimeoutType timeout(500); 
-        
-        if (listener.Read(buffer, size, timeout)) {
+    while ((HighResolutionTimer::Counter() * HighResolutionTimer::Period() - startTest) < 10.0) {
+        char buffer[4096];
+        uint32 size = 4096;
+        if (listener.Read(buffer, size, TimeoutType(100))) {
+            totalPackets++;
             TraceHeader *h = (TraceHeader*)buffer;
-            if (h->magic == 0xDA7A57AD && h->count > 0) {
-                uint32 offset = sizeof(TraceHeader);
-                // Packet format: [Header][ID:4][Size:4][Value:N]
+            if (h->magic != 0xDA7A57AD) continue;
+
+            uint32 offset = sizeof(TraceHeader);
+            for (uint32 i=0; i<h->count; i++) {
+                uint32 sigId = *(uint32*)(&buffer[offset]);
                 uint32 val = *(uint32*)(&buffer[offset + 8]);
                 
-                if (!first) {
-                    if (val != lastVal + 1) {
-                        discontinuityCount++;
+                if (sigId == 0) { 
+                    if (!first) {
+                        if (val != lastCounter + 1) {
+                            discontinuities++;
+                        }
                     }
+                    lastCounter = val;
+                    totalSamples++;
                 }
-                lastVal = val;
-                first = false;
-                packetCount++;
                 
-                if (packetCount % 500 == 0) {
-                    printf("Received %u packets... Current Value: %u\n", packetCount, val);
-                }
+                uint32 sigSize = *(uint32*)(&buffer[offset + 4]);
+                offset += (8 + sigSize);
             }
+            first = false;
         }
     }
 
-    printf("Test Finished.\n");
-    printf("Total Packets Received: %u (Expected ~3000)\n", packetCount);
-    printf("Discontinuities: %u\n", discontinuityCount);
+    printf("\n--- Test Results ---\n");
+    printf("Total UDP Packets: %u\n", totalPackets);
+    printf("Total Counter Samples: %u\n", totalSamples);
+    printf("Counter Discontinuities: %u\n", discontinuities);
 
-    float64 actualFreq = (float64)packetCount / 30.0;
-    printf("Average Frequency: %.2f Hz\n", actualFreq);
-
-    if (packetCount < 100) {
-        printf("FAILURE: Almost no packets received. Telemetry is broken.\n");
-    } else if (packetCount < 2500) {
-        printf("WARNING: Too few packets received (Expected 3000, Got %u).\n", packetCount);
-    } else if (discontinuityCount > 100) {
-        printf("FAILURE: Too many discontinuities (%u).\n", discontinuityCount);
+    if (totalSamples < 9000) {
+        printf("FAILURE: Underflow - samples missing (%u).\n", totalSamples);
+    } else if (discontinuities > 10) { 
+        printf("FAILURE: Excessive discontinuities detected! (%u)\n", discontinuities);
     } else {
-        printf("VALIDATION SUCCESSFUL!\n");
+        printf("VALIDATION SUCCESSFUL: 1kHz Lossless Tracing Verified.\n");
     }
 
     app->StopCurrentStateExecution();
-    listener.Close();
+    ObjectRegistryDatabase::Instance()->Purge();
 }
 
 int main() {

Test/UnitTests/main.cpp

@@ -1,35 +1,108 @@
 #include <stdio.h>
 #include <assert.h>
 #include "DebugCore.h"
+#include "DebugService.h"
+#include "TcpLogger.h"
+#include "ConfigurationDatabase.h"
+#include "ObjectRegistryDatabase.h"
+#include "StandardParser.h"
 
 using namespace MARTe;
 
 void TestRingBuffer() {
     printf("Testing TraceRingBuffer...\n");
     TraceRingBuffer rb;
-    assert(rb.Init(1024));
+    // Each entry is 4(ID) + 4(Size) + 4(Val) = 12 bytes.
+    // 100 entries = 1200 bytes.
+    assert(rb.Init(2048));
     
-    uint32 id = 42;
-    uint32 val = 12345678;
+    // Fill buffer to test wrap-around
+    uint32 id = 1;
+    uint32 val = 0xAAAAAAAA;
     uint32 size = 4;
     
-    assert(rb.Push(id, &val, size));
-    assert(rb.Count() > 0);
+    for (int i=0; i<100; i++) {
+        id = i;
+        val = 0xBBBB0000 | i;
+        if (!rb.Push(id, &val, size)) {
+            printf("Failed at iteration %d\n", i);
+            assert(false);
+        }
+    }
     
-    uint32 poppedId = 0;
-    uint32 poppedVal = 0;
-    uint32 poppedSize = 0;
+    assert(rb.Count() == 100 * (4 + 4 + 4));
     
-    assert(rb.Pop(poppedId, &poppedVal, poppedSize, 4));
-    assert(poppedId == 42);
-    assert(poppedVal == 12345678);
-    assert(poppedSize == 4);
+    uint32 pId, pVal, pSize;
+    for (int i=0; i<100; i++) {
+        assert(rb.Pop(pId, &pVal, pSize, 4));
+        assert(pId == (uint32)i);
+        assert(pVal == (0xBBBB0000 | (uint32)i));
+    }
     
+    assert(rb.Count() == 0);
     printf("TraceRingBuffer test passed.\n");
 }
 
+void TestSuffixMatch() {
+    printf("Testing SuffixMatch...\n");
+    
+    DebugService service;
+    uint32 mock = 0;
+    service.RegisterSignal(&mock, UnsignedInteger32Bit, "App.Data.Timer.Counter");
+    
+    // Should match
+    assert(service.TraceSignal("App.Data.Timer.Counter", true) == 1);
+    assert(service.TraceSignal("Timer.Counter", true) == 1);
+    assert(service.TraceSignal("Counter", true) == 1);
+    
+    // Should NOT match
+    assert(service.TraceSignal("App.Timer", true) == 0);
+    assert(service.TraceSignal("unt", true) == 0);
+    
+    printf("SuffixMatch test passed.\n");
+}
+
+void TestTcpLogger() {
+    printf("Testing TcpLogger...\n");
+    TcpLogger logger;
+    ConfigurationDatabase config;
+    config.Write("Port", (uint16)9999);
+    assert(logger.Initialise(config));
+    
+    REPORT_ERROR_STATIC(ErrorManagement::Information, "Unit Test Log Message");
+    
+    printf("TcpLogger basic test passed.\n");
+}
+
+void TestDebugServiceRegistration() {
+    printf("Testing DebugService Signal Registration...\n");
+    DebugService service;
+    uint32 val1 = 10;
+    float32 val2 = 20.0;
+    
+    DebugSignalInfo* s1 = service.RegisterSignal(&val1, UnsignedInteger32Bit, "Signal1");
+    DebugSignalInfo* s2 = service.RegisterSignal(&val2, Float32Bit, "Signal2");
+    
+    assert(s1 != NULL_PTR(DebugSignalInfo*));
+    assert(s2 != NULL_PTR(DebugSignalInfo*));
+    assert(s1->internalID == 0);
+    assert(s2->internalID == 1);
+    
+    // Re-register same address
+    DebugSignalInfo* s1_alias = service.RegisterSignal(&val1, UnsignedInteger32Bit, "Signal1_Alias");
+    assert(s1_alias == s1); 
+    
+    printf("DebugService registration test passed.\n");
+}
+
 int main(int argc, char **argv) {
-    printf("Running MARTe2 Component Tests...\n");
+    printf("Running MARTe2 Debug Suite Unit Tests...\n");
+    
     TestRingBuffer();
+    TestDebugServiceRegistration();
+    TestSuffixMatch();
+    TestTcpLogger();
+    
+    printf("\nALL UNIT TESTS PASSED!\n");
     return 0;
 }

Tools/gui_client/Cargo.lock

@@ -525,12 +525,6 @@ dependencies = [
  "syn",
 ]
 
-[[package]]
-name = "byteorder"
-version = "1.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
-
 [[package]]
 name = "byteorder-lite"
 version = "0.1.0"
@@ -1798,16 +1792,15 @@ dependencies = [
 name = "marte_debug_gui"
 version = "0.1.0"
 dependencies = [
- "byteorder",
  "chrono",
  "crossbeam-channel",
  "eframe",
- "egui",
  "egui_plot",
+ "once_cell",
  "regex",
  "serde",
  "serde_json",
- "tokio",
+ "socket2",
 ]
 
 [[package]]
@@ -1859,17 +1852,6 @@ dependencies = [
  "simd-adler32",
 ]
 
-[[package]]
-name = "mio"
-version = "1.1.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a69bcab0ad47271a0234d9422b131806bf3968021e5dc9328caf2d4cd58557fc"
-dependencies = [
- "libc",
- "wasi",
- "windows-sys 0.61.2",
-]
-
 [[package]]
 name = "moxcms"
 version = "0.7.11"
@@ -2891,12 +2873,12 @@ dependencies = [
 
 [[package]]
 name = "socket2"
-version = "0.6.2"
+version = "0.5.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "86f4aa3ad99f2088c990dfa82d367e19cb29268ed67c574d10d0a4bfe71f07e0"
+checksum = "e22376abed350d73dd1cd119b57ffccad95b4e585a7cda43e286245ce23c0678"
 dependencies = [
  "libc",
- "windows-sys 0.60.2",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
@@ -3081,34 +3063,6 @@ dependencies = [
  "zerovec",
 ]
 
-[[package]]
-name = "tokio"
-version = "1.49.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "72a2903cd7736441aac9df9d7688bd0ce48edccaadf181c3b90be801e81d3d86"
-dependencies = [
- "bytes",
- "libc",
- "mio",
- "parking_lot",
- "pin-project-lite",
- "signal-hook-registry",
- "socket2",
- "tokio-macros",
- "windows-sys 0.61.2",
-]
-
-[[package]]
-name = "tokio-macros"
-version = "2.6.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "af407857209536a95c8e56f8231ef2c2e2aff839b22e07a1ffcbc617e9db9fa5"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn",
-]
-
 [[package]]
 name = "toml_datetime"
 version = "0.7.5+spec-1.1.0"

Tools/gui_client/Cargo.toml

@@ -5,12 +5,11 @@ edition = "2021"
 
 [dependencies]
 eframe = "0.31.0"
-egui = "0.31.0"
 egui_plot = "0.31.0"
-tokio = { version = "1.0", features = ["full"] }
 serde = { version = "1.0", features = ["derive"] }
 serde_json = "1.0"
-byteorder = "1.4"
 chrono = "0.4"
 crossbeam-channel = "0.5"
-regex = "1.12.3"
+regex = "1.10"
+socket2 = { version = "0.5", features = ["all"] }
+once_cell = "1.21.3"

Tools/gui_client/src/main.rs

@@ -1,5 +1,5 @@
 use eframe::egui;
-use egui_plot::{Line, Plot, PlotPoints};
+use egui_plot::{Line, Plot, PlotPoints, MarkerShape, LineStyle, PlotBounds};
 use std::collections::{HashMap, VecDeque};
 use std::net::{TcpStream, UdpSocket};
 use std::io::{Write, BufReader, BufRead};
@@ -8,7 +8,11 @@ use std::thread;
 use serde::{Deserialize, Serialize};
 use chrono::Local;
 use crossbeam_channel::{unbounded, Receiver, Sender};
+use socket2::{Socket, Domain, Type, Protocol};
 use regex::Regex;
+use once_cell::sync::Lazy;
+
+static APP_START_TIME: Lazy<std::time::Instant> = Lazy::new(std::time::Instant::now);
 
 // --- Models ---
 
@@ -51,6 +55,7 @@ struct LogEntry {
 
 struct TraceData {
     values: VecDeque<[f64; 2]>, 
+    last_value: f64,
 }
 
 struct SignalMetadata {
@@ -58,6 +63,57 @@ struct SignalMetadata {
     sig_type: String,
 }
 
+#[derive(Clone)]
+struct ConnectionConfig {
+    ip: String,
+    tcp_port: String,
+    udp_port: String,
+    log_port: String,
+    version: u64, 
+}
+
+#[derive(Clone, Copy, PartialEq, Debug)]
+enum PlotType {
+    Normal,
+    LogicAnalyzer,
+}
+
+#[derive(Clone, Copy, PartialEq, Debug)]
+enum MarkerType {
+    None,
+    Circle,
+    Square,
+}
+
+impl MarkerType {
+    fn to_shape(&self) -> Option<MarkerShape> {
+        match self {
+            MarkerType::None => None,
+            MarkerType::Circle => Some(MarkerShape::Circle),
+            MarkerType::Square => Some(MarkerShape::Square),
+        }
+    }
+}
+
+#[derive(Clone)]
+struct SignalPlotConfig {
+    source_name: String,
+    label: String,
+    unit: String,
+    color: egui::Color32,
+    line_style: LineStyle,
+    marker_type: MarkerType,
+    gain: f64,
+    offset: f64,
+}
+
+struct PlotInstance {
+    id: String,
+    plot_type: PlotType,
+    signals: Vec<SignalPlotConfig>,
+    auto_bounds: bool,
+}
+
 enum InternalEvent {
     Log(LogEntry),
     Discovery(Vec<Signal>),
@@ -65,64 +121,55 @@ enum InternalEvent {
     CommandResponse(String),
     NodeInfo(String),
     Connected,
+    Disconnected,
     InternalLog(String),
     TraceRequested(String),
     ClearTrace(String),
     UdpStats(u64), 
+    UdpDropped(u32),
 }
 
 // --- App State ---
 
 struct ForcingDialog {
     signal_path: String,
-    sig_type: String,
-    dims: u8,
-    elems: u32,
     value: String,
 }
 
 struct LogFilters {
-    content_regex: String,
     show_debug: bool,
     show_info: bool,
     show_warning: bool,
     show_error: bool,
     paused: bool,
+    content_regex: String,
 }
 
 struct MarteDebugApp {
-    #[allow(dead_code)]
     connected: bool,
-    tcp_addr: String,
-    log_addr: String,
-    
-    signals: Vec<Signal>,
+    is_breaking: bool,
+    config: ConnectionConfig,
+    shared_config: Arc<Mutex<ConnectionConfig>>,
     app_tree: Option<TreeItem>,
-    
-    traced_signals: Arc<Mutex<HashMap<String, TraceData>>>,
     id_to_meta: Arc<Mutex<HashMap<u32, SignalMetadata>>>,
-    
+    traced_signals: Arc<Mutex<HashMap<String, TraceData>>>,
+    plots: Vec<PlotInstance>,
     forced_signals: HashMap<String, String>,
-    is_paused: bool,
-    
     logs: VecDeque<LogEntry>,
     log_filters: LogFilters,
-    
-    // UI Panels
     show_left_panel: bool,
     show_right_panel: bool,
     show_bottom_panel: bool,
-    
     selected_node: String,
     node_info: String,
-    
     udp_packets: u64,
-    
+    udp_dropped: u64,
     forcing_dialog: Option<ForcingDialog>,
-    
+    style_editor: Option<(usize, usize)>,
     tx_cmd: Sender<String>,
     rx_events: Receiver<InternalEvent>,
     internal_tx: Sender<InternalEvent>,
+    shared_x_range: Option<[f64; 2]>,
 }
 
 impl MarteDebugApp {
@@ -130,192 +177,124 @@ impl MarteDebugApp {
         let (tx_cmd, rx_cmd_internal) = unbounded::<String>();
         let (tx_events, rx_events) = unbounded::<InternalEvent>();
         let internal_tx = tx_events.clone();
-        
-        let tcp_addr = "127.0.0.1:8080".to_string();
-        let log_addr = "127.0.0.1:8082".to_string();
-        
+        let config = ConnectionConfig { ip: "127.0.0.1".to_string(), tcp_port: "8080".to_string(), udp_port: "8081".to_string(), log_port: "8082".to_string(), version: 0 };
+        let shared_config = Arc::new(Mutex::new(config.clone()));
         let id_to_meta = Arc::new(Mutex::new(HashMap::new()));
         let traced_signals = Arc::new(Mutex::new(HashMap::new()));
-        
         let id_to_meta_clone = id_to_meta.clone();
         let traced_signals_clone = traced_signals.clone();
-
+        let shared_config_cmd = shared_config.clone();
+        let shared_config_log = shared_config.clone();
+        let shared_config_udp = shared_config.clone();
         let tx_events_c = tx_events.clone();
-        thread::spawn(move || {
-            tcp_command_worker(tcp_addr, rx_cmd_internal, tx_events_c);
-        });
-
+        thread::spawn(move || { tcp_command_worker(shared_config_cmd, rx_cmd_internal, tx_events_c); });
         let tx_events_log = tx_events.clone();
-        thread::spawn(move || {
-            tcp_log_worker(log_addr, tx_events_log);
-        });
-
+        thread::spawn(move || { tcp_log_worker(shared_config_log, tx_events_log); });
         let tx_events_udp = tx_events.clone();
-        thread::spawn(move || {
-            udp_worker(8081, id_to_meta_clone, traced_signals_clone, tx_events_udp);
-        });
+        thread::spawn(move || { udp_worker(shared_config_udp, id_to_meta_clone, traced_signals_clone, tx_events_udp); });
 
         Self {
-            connected: false,
-            tcp_addr: "127.0.0.1:8080".to_string(),
-            log_addr: "127.0.0.1:8082".to_string(),
-            signals: Vec::new(),
-            app_tree: None,
-            id_to_meta,
-            traced_signals,
-            forced_signals: HashMap::new(),
-            is_paused: false,
-            logs: VecDeque::with_capacity(2000),
-            log_filters: LogFilters {
-                content_regex: "".to_string(),
-                show_debug: true,
-                show_info: true,
-                show_warning: true,
-                show_error: true,
-                paused: false,
-            },
-            show_left_panel: true,
-            show_right_panel: true,
-            show_bottom_panel: true,
-            selected_node: "".to_string(),
-            node_info: "".to_string(),
-            udp_packets: 0,
-            forcing_dialog: None,
-            tx_cmd,
-            rx_events,
-            internal_tx,
+            connected: false, is_breaking: false, config, shared_config, app_tree: None, id_to_meta, traced_signals,
+            plots: vec![PlotInstance { id: "Plot 1".to_string(), plot_type: PlotType::Normal, signals: Vec::new(), auto_bounds: true }],
+            forced_signals: HashMap::new(), logs: VecDeque::with_capacity(2000),
+            log_filters: LogFilters { show_debug: true, show_info: true, show_warning: true, show_error: true, paused: false, content_regex: "".to_string() },
+            show_left_panel: true, show_right_panel: true, show_bottom_panel: true,
+            selected_node: "".to_string(), node_info: "".to_string(),
+            udp_packets: 0, udp_dropped: 0,
+            forcing_dialog: None, style_editor: None,
+            tx_cmd, rx_events, internal_tx,
+            shared_x_range: None,
         }
     }
 
+    fn next_color(idx: usize) -> egui::Color32 {
+        let colors = [
+            egui::Color32::from_rgb(100, 200, 255), egui::Color32::from_rgb(255, 100, 100),
+            egui::Color32::from_rgb(100, 255, 100), egui::Color32::from_rgb(255, 200, 100),
+            egui::Color32::from_rgb(255, 100, 255), egui::Color32::from_rgb(100, 255, 255),
+            egui::Color32::from_rgb(200, 255, 100), egui::Color32::WHITE,
+        ];
+        colors[idx % colors.len()]
+    }
+
     fn render_tree(&mut self, ui: &mut egui::Ui, item: &TreeItem, path: String) {
-        let current_path = if path.is_empty() { 
-            item.name.clone() 
-        } else if path == "Root" {
-            item.name.clone()
-        } else { 
-            format!("{}.{}", path, item.name) 
-        };
-        
+        let current_path = if path.is_empty() { if item.name == "Root" { "".to_string() } else { item.name.clone() } }
+        else { if path.is_empty() { item.name.clone() } else { format!("{}.{}", path, item.name) } };
+        let label = if item.class == "Signal" { format!("📈 {}", item.name) } else { item.name.clone() };
         if let Some(children) = &item.children {
-            let header = egui::CollapsingHeader::new(format!("{} [{}]", item.name, item.class))
-                .id_salt(&current_path);
-            
+            let header = egui::CollapsingHeader::new(format!("{} [{}]", label, item.class)).id_salt(&current_path);
             header.show(ui, |ui| {
-                ui.horizontal(|ui| {
-                    if ui.selectable_label(self.selected_node == current_path, "ℹ Info").clicked() {
-                        self.selected_node = current_path.clone();
-                        let _ = self.tx_cmd.send(format!("INFO {}", current_path));
-                    }
-                });
-                for child in children {
-                    self.render_tree(ui, child, current_path.clone());
-                }
+                ui.horizontal(|ui| { if !current_path.is_empty() { if ui.selectable_label(self.selected_node == current_path, "ℹ Info").clicked() { self.selected_node = current_path.clone(); let _ = self.tx_cmd.send(format!("INFO {}", current_path)); } } });
+                for child in children { self.render_tree(ui, child, current_path.clone()); }
             });
         } else {
             ui.horizontal(|ui| {
-                if ui.selectable_label(self.selected_node == current_path, format!("{} [{}]", item.name, item.class)).clicked() {
-                    self.selected_node = current_path.clone();
-                    let _ = self.tx_cmd.send(format!("INFO {}", current_path));
-                }
+                if ui.selectable_label(self.selected_node == current_path, format!("{} [{}]", label, item.class)).clicked() { self.selected_node = current_path.clone(); let _ = self.tx_cmd.send(format!("INFO {}", current_path)); }
                 if item.class.contains("Signal") {
-                    if ui.button("📈 Trace").clicked() {
-                        let _ = self.tx_cmd.send(format!("TRACE {} 1", current_path));
-                        let _ = self.internal_tx.send(InternalEvent::TraceRequested(current_path.clone()));
-                    }
-                    if ui.button("⚡ Force").clicked() {
-                        self.forcing_dialog = Some(ForcingDialog {
-                            signal_path: current_path.clone(),
-                            sig_type: item.sig_type.clone().unwrap_or_else(|| "Unknown".to_string()),
-                            dims: item.dimensions.unwrap_or(0),
-                            elems: item.elements.unwrap_or(1),
-                            value: "".to_string(),
-                        });
-                    }
+                    if ui.button("Trace").clicked() { let _ = self.tx_cmd.send(format!("TRACE {} 1", current_path)); let _ = self.internal_tx.send(InternalEvent::TraceRequested(current_path.clone())); }
+                    if ui.button("⚡ Force").clicked() { self.forcing_dialog = Some(ForcingDialog { signal_path: current_path.clone(), value: "".to_string() }); }
                 }
             });
         }
     }
 }
 
-fn tcp_command_worker(addr: String, rx_cmd: Receiver<String>, tx_events: Sender<InternalEvent>) {
+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 {
-        if let Ok(mut stream) = TcpStream::connect(&addr) {
+        { 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 && trimmed.starts_with("{") { in_json = true; json_acc.clear(); }
                     if in_json {
                         json_acc.push_str(trimmed);
-                        if trimmed == "OK DISCOVER" {
-                            in_json = false;
-                            let json_clean = json_acc.trim_end_matches("OK DISCOVER").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!("JSON Parse Error (Discover): {}", e))); }
-                            }
-                            json_acc.clear();
-                        } else if trimmed == "OK TREE" {
-                            in_json = false;
-                            let json_clean = json_acc.trim_end_matches("OK TREE").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!("JSON Parse Error (Tree): {}", e))); }
-                            }
-                            json_acc.clear();
-                        } else if trimmed == "OK INFO" {
-                            in_json = false;
-                            let json_clean = json_acc.trim_end_matches("OK INFO").trim();
-                            let _ = tx_events_inner.send(InternalEvent::NodeInfo(json_clean.to_string()));
-                            json_acc.clear();
-                        }
-                    } else {
-                        let _ = tx_events_inner.send(InternalEvent::CommandResponse(trimmed.to_string()));
-                    }
+                        if trimmed == "OK DISCOVER" { in_json = false; let json_clean = json_acc.trim_end_matches("OK DISCOVER").trim(); if let Ok(resp) = serde_json::from_str::<DiscoverResponse>(json_clean) { let _ = tx_events_inner.send(InternalEvent::Discovery(resp.signals)); } json_acc.clear(); }
+                        else if trimmed == "OK TREE" { in_json = false; let json_clean = json_acc.trim_end_matches("OK TREE").trim(); if let Ok(resp) = serde_json::from_str::<TreeItem>(json_clean) { let _ = tx_events_inner.send(InternalEvent::Tree(resp)); } json_acc.clear(); }
+                        else if trimmed == "OK INFO" { in_json = false; let json_clean = json_acc.trim_end_matches("OK INFO").trim(); let _ = tx_events_inner.send(InternalEvent::NodeInfo(json_clean.to_string())); json_acc.clear(); }
+                    } else { let _ = tx_events_inner.send(InternalEvent::CommandResponse(trimmed.to_string())); }
                     line.clear();
                 }
             });
-
             while let Ok(cmd) = rx_cmd.recv() {
-                if stream.write_all(format!("{}\n", cmd).as_bytes()).is_err() {
-                    break;
-                }
+                { let config = shared_config.lock().unwrap(); if config.version != current_version { *stop_flag.lock().unwrap() = true; break; } }
+                if stream.write_all(format!("{}\n", cmd).as_bytes()).is_err() { break; }
             }
+            let _ = tx_events.send(InternalEvent::Disconnected);
         }
         thread::sleep(std::time::Duration::from_secs(2));
     }
 }
 
-fn tcp_log_worker(addr: String, tx_events: Sender<InternalEvent>) {
+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 {
-        if let Ok(stream) = TcpStream::connect(&addr) {
+        { 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(),
-                        }));
-                    }
+                    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();
             }
@@ -324,76 +303,82 @@ fn tcp_log_worker(addr: String, tx_events: Sender<InternalEvent>) {
     }
 }
 
-fn udp_worker(port: u16, id_to_meta: Arc<Mutex<HashMap<u32, SignalMetadata>>>, traced_data: Arc<Mutex<HashMap<String, TraceData>>>, tx_events: Sender<InternalEvent>) {
-    if let Ok(socket) = UdpSocket::bind(format!("0.0.0.0:{}", port)) {
+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;
+    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;
+            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 start_time = std::time::Instant::now();
         let mut total_packets = 0u64;
-
         loop {
-            if let Ok(n) = socket.recv(&mut buf) {
+            if shared_config.lock().unwrap().version != current_version { break; }
+            if let Ok(n) = s.recv(&mut buf) {
                 total_packets += 1;
-                if (total_packets % 100) == 0 {
-                    let _ = tx_events.send(InternalEvent::UdpStats(total_packets));
-                }
-
+                if (total_packets % 500) == 0 { let _ = tx_events.send(InternalEvent::UdpStats(total_packets)); }
                 if n < 20 { continue; }
-                
                 let mut magic_buf = [0u8; 4]; magic_buf.copy_from_slice(&buf[0..4]);
                 if u32::from_le_bytes(magic_buf) != 0xDA7A57AD { continue; }
-
-                let mut count_buf = [0u8; 4]; count_buf.copy_from_slice(&buf[16..20]);
-                let count = u32::from_le_bytes(count_buf);
-                
+                let mut seq_buf = [0u8; 4]; seq_buf.copy_from_slice(&buf[4..8]);
+                let seq = u32::from_le_bytes(seq_buf);
+                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 now = APP_START_TIME.elapsed().as_secs_f64();
                 let mut offset = 20;
-                let now = start_time.elapsed().as_secs_f64();
-
+                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();
-                let mut data_map = traced_data.lock().unwrap();
-
                 for _ in 0..count {
                     if offset + 8 > n { break; }
-                    let mut id_buf = [0u8; 4]; id_buf.copy_from_slice(&buf[offset..offset+4]);
-                    let id = u32::from_le_bytes(id_buf);
-                    let mut size_buf = [0u8; 4]; size_buf.copy_from_slice(&buf[offset+4..offset+8]);
-                    let size = u32::from_le_bytes(size_buf);
+                    let id = u32::from_le_bytes(buf[offset..offset+4].try_into().unwrap());
+                    let size = u32::from_le_bytes(buf[offset+4..offset+8].try_into().unwrap());
                     offset += 8;
                     if offset + size as usize > n { break; }
-                    
                     let data_slice = &buf[offset..offset + size as usize];
-
                     if let Some(meta) = metas.get(&id) {
                         let t = meta.sig_type.as_str();
                         let val = match size {
                             1 => { if t.contains('u') { data_slice[0] as f64 } else { (data_slice[0] as i8) as f64 } },
-                            2 => {
-                                let mut b = [0u8; 2]; b.copy_from_slice(data_slice);
-                                if t.contains('u') { u16::from_le_bytes(b) as f64 } else { i16::from_le_bytes(b) as f64 }
-                            },
-                            4 => {
-                                let mut b = [0u8; 4]; b.copy_from_slice(data_slice);
-                                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 mut b = [0u8; 8]; b.copy_from_slice(data_slice);
-                                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 }
-                            },
+                            2 => { let b = data_slice[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 = data_slice[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 = data_slice[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 {
-                            if let Some(entry) = data_map.get_mut(name) {
-                                entry.values.push_back([now, val]);
-                                if entry.values.len() > 2000 { entry.values.pop_front(); }
-                            }
-                        }
+                        for name in &meta.names { local_updates.entry(name.clone()).or_default().push([now, val]); last_values.insert(name.clone(), 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(lv) = last_values.get(&name) { entry.last_value = *lv; }
+                            while entry.values.len() > 10000 { entry.values.pop_front(); }
+                        }
+                    }
+                }
             }
         }
     }
@@ -403,257 +388,175 @@ impl eframe::App for MarteDebugApp {
     fn update(&mut self, ctx: &egui::Context, _frame: &mut eframe::Frame) {
         while let Ok(event) = self.rx_events.try_recv() {
             match event {
-                InternalEvent::Log(log) => {
-                    if !self.log_filters.paused {
-                        self.logs.push_back(log);
-                        if self.logs.len() > 2000 { self.logs.pop_front(); }
-                    }
-                }
-                InternalEvent::InternalLog(msg) => {
-                    self.logs.push_back(LogEntry {
-                        time: Local::now().format("%H:%M:%S").to_string(),
-                        level: "GUI_ERROR".to_string(),
-                        message: msg,
-                    });
-                }
-                InternalEvent::Discovery(signals) => {
-                    let mut metas = self.id_to_meta.lock().unwrap();
-                    metas.clear();
-                    for s in &signals {
-                        let meta = metas.entry(s.id).or_insert_with(|| SignalMetadata { names: Vec::new(), sig_type: s.sig_type.clone() });
-                        if !meta.names.contains(&s.name) { meta.names.push(s.name.clone()); }
-                    }
-                    self.signals = signals;
-                }
-                InternalEvent::Tree(tree) => {
-                    self.app_tree = Some(tree);
-                }
-                InternalEvent::NodeInfo(info) => {
-                    self.node_info = info;
-                }
-                InternalEvent::TraceRequested(name) => {
-                    let mut data_map = self.traced_signals.lock().unwrap();
-                    data_map.entry(name).or_insert_with(|| TraceData { values: VecDeque::with_capacity(2000) });
-                }
-                InternalEvent::ClearTrace(name) => {
-                    let mut data_map = self.traced_signals.lock().unwrap();
-                    data_map.remove(&name);
-                }
-                InternalEvent::CommandResponse(resp) => {
-                    self.logs.push_back(LogEntry {
-                        time: Local::now().format("%H:%M:%S").to_string(),
-                        level: "CMD_RESP".to_string(),
-                        message: resp,
-                    });
-                }
-                InternalEvent::UdpStats(count) => {
-                    self.udp_packets = count;
-                }
-                InternalEvent::Connected => {
-                    let _ = self.tx_cmd.send("TREE".to_string());
-                    let _ = self.tx_cmd.send("DISCOVER".to_string());
-                }
+                InternalEvent::Log(log) => { if !self.log_filters.paused { self.logs.push_back(log); if self.logs.len() > 2000 { self.logs.pop_front(); } } }
+                InternalEvent::Discovery(signals) => { let mut metas = self.id_to_meta.lock().unwrap(); metas.clear(); for s in &signals { let meta = metas.entry(s.id).or_insert_with(|| SignalMetadata { names: Vec::new(), sig_type: s.sig_type.clone() }); if !meta.names.contains(&s.name) { meta.names.push(s.name.clone()); } } }
+                InternalEvent::Tree(tree) => { self.app_tree = Some(tree); }
+                InternalEvent::NodeInfo(info) => { self.node_info = info; }
+                InternalEvent::TraceRequested(name) => { let mut data_map = self.traced_signals.lock().unwrap(); data_map.entry(name).or_insert_with(|| TraceData { values: VecDeque::with_capacity(10000), last_value: 0.0 }); }
+                InternalEvent::ClearTrace(name) => { let mut data_map = self.traced_signals.lock().unwrap(); data_map.remove(&name); for plot in &mut self.plots { plot.signals.retain(|s| s.source_name != name); } }
+                InternalEvent::UdpStats(count) => { self.udp_packets = count; }
+                InternalEvent::UdpDropped(dropped) => { self.udp_dropped += dropped as u64; }
+                InternalEvent::Connected => { self.connected = true; let _ = self.tx_cmd.send("TREE".to_string()); let _ = self.tx_cmd.send("DISCOVER".to_string()); }
+                InternalEvent::Disconnected => { self.connected = false; }
+                InternalEvent::InternalLog(msg) => { self.logs.push_back(LogEntry { time: Local::now().format("%H:%M:%S").to_string(), level: "GUI_ERROR".to_string(), message: msg }); }
+                InternalEvent::CommandResponse(resp) => { self.logs.push_back(LogEntry { time: Local::now().format("%H:%M:%S").to_string(), level: "CMD_RESP".to_string(), message: resp }); }
             }
         }
 
+        if let Some(dragged_name) = ctx.data_mut(|d| d.get_temp::<String>(egui::Id::new("drag_signal"))) {
+            egui::Area::new(egui::Id::new("drag_ghost")).fixed_pos(ctx.input(|i| i.pointer.hover_pos().unwrap_or(egui::Pos2::ZERO))).order(egui::Order::Tooltip).show(ctx, |ui| { ui.group(|ui| { ui.label(format!("📈 {}", dragged_name)); }); });
+        }
+
         if let Some(dialog) = &mut self.forcing_dialog {
             let mut close = false;
-            egui::Window::new("Force Signal").collapsible(false).resizable(false).show(ctx, |ui| {
-                ui.label(format!("Signal: {}", dialog.signal_path));
-                ui.label(format!("Type: {} (Dims: {}, Elems: {})", dialog.sig_type, dialog.dims, dialog.elems));
-                ui.horizontal(|ui| {
-                    ui.label("Value:");
-                    ui.text_edit_singleline(&mut dialog.value);
-                });
-                ui.horizontal(|ui| {
-                    if ui.button("Apply Force").clicked() {
-                        let _ = self.tx_cmd.send(format!("FORCE {} {}", dialog.signal_path, dialog.value));
-                        self.forced_signals.insert(dialog.signal_path.clone(), dialog.value.clone());
-                        close = true;
-                    }
-                    if ui.button("Cancel").clicked() { close = true; }
-                });
-            });
+            egui::Window::new("Force Signal").show(ctx, |ui| { ui.label(&dialog.signal_path); ui.text_edit_singleline(&mut dialog.value); ui.horizontal(|ui| { if ui.button("Apply").clicked() { let _ = self.tx_cmd.send(format!("FORCE {} {}", dialog.signal_path, dialog.value)); self.forced_signals.insert(dialog.signal_path.clone(), dialog.value.clone()); close = true; } if ui.button("Cancel").clicked() { close = true; } }); });
             if close { self.forcing_dialog = None; }
         }
 
-        egui::TopBottomPanel::top("top_panel").show(ctx, |ui| {
+        if let Some((p_idx, s_idx)) = self.style_editor {
+            let mut close = false;
+            egui::Window::new("Signal Style").show(ctx, |ui| {
+                if let Some(plot) = self.plots.get_mut(p_idx) {
+                    if let Some(sig) = plot.signals.get_mut(s_idx) {
+                        ui.horizontal(|ui| { ui.label("Label:"); ui.text_edit_singleline(&mut sig.label); });
+                        ui.horizontal(|ui| { ui.label("Unit:"); ui.text_edit_singleline(&mut sig.unit); });
+                        ui.horizontal(|ui| { ui.label("Color:"); let mut color = sig.color.to_array(); if ui.color_edit_button_srgba_unmultiplied(&mut color).changed() { sig.color = egui::Color32::from_rgba_unmultiplied(color[0], color[1], color[2], color[3]); } });
+                        ui.horizontal(|ui| { ui.label("Gain:"); ui.add(egui::DragValue::new(&mut sig.gain).speed(0.1)); });
+                        ui.horizontal(|ui| { ui.label("Offset:"); ui.add(egui::DragValue::new(&mut sig.offset).speed(1.0)); });
+                        if ui.button("Close").clicked() { close = true; }
+                    }
+                }
+            });
+            if close { self.style_editor = None; }
+        }
+
+        egui::TopBottomPanel::top("top").show(ctx, |ui| {
             ui.horizontal(|ui| {
                 ui.toggle_value(&mut self.show_left_panel, "🗂 Tree");
-                ui.toggle_value(&mut self.show_right_panel, "⚙ Debug");
+                ui.toggle_value(&mut self.show_right_panel, "📊 Signals");
                 ui.toggle_value(&mut self.show_bottom_panel, "📜 Logs");
                 ui.separator();
-                ui.heading("MARTe2 Debug Explorer");
+                if ui.button("➕ Plot").clicked() { self.plots.push(PlotInstance { id: format!("Plot {}", self.plots.len()+1), plot_type: PlotType::Normal, signals: Vec::new(), auto_bounds: true }); }
                 ui.separator();
-                if ui.button("🔄 Refresh").clicked() {
-                    let _ = self.tx_cmd.send("TREE".to_string());
-                    let _ = self.tx_cmd.send("DISCOVER".to_string());
-                }
+                let (btn_text, btn_color) = if self.is_breaking { ("▶ Resume", egui::Color32::GREEN) } else { ("⏸ Pause", egui::Color32::YELLOW) };
+                if ui.button(egui::RichText::new(btn_text).color(btn_color)).clicked() { self.is_breaking = !self.is_breaking; let _ = self.tx_cmd.send(if self.is_breaking { "PAUSE".to_string() } else { "RESUME".to_string() }); }
                 ui.separator();
-                if self.is_paused {
-                    if ui.button("▶ Resume").clicked() {
-                        let _ = self.tx_cmd.send("RESUME".to_string());
-                        self.is_paused = false;
-                    }
-                } else {
-                    if ui.button("⏸ Pause").clicked() {
-                        let _ = self.tx_cmd.send("PAUSE".to_string());
-                        self.is_paused = true;
-                    }
-                }
-                ui.with_layout(egui::Layout::right_to_left(egui::Align::Center), |ui| {
-                    ui.label(format!("UDP Packets: {}", self.udp_packets));
+                ui.menu_button("🔌 Connection", |ui| {
+                    egui::Grid::new("conn_grid").num_columns(2).show(ui, |ui| {
+                        ui.label("IP:"); ui.text_edit_singleline(&mut self.config.ip); ui.end_row();
+                        ui.label("Control:"); ui.text_edit_singleline(&mut self.config.tcp_port); ui.end_row();
+                        ui.label("Telemetry:"); ui.text_edit_singleline(&mut self.config.udp_port); ui.end_row();
+                        ui.label("Logs:"); ui.text_edit_singleline(&mut self.config.log_port); ui.end_row();
+                    });
+                    ui.separator();
+                    if ui.button("🔄 Apply & Reconnect").clicked() { self.config.version += 1; *self.shared_config.lock().unwrap() = self.config.clone(); ui.close_menu(); }
+                    if ui.button("❌ Disconnect").clicked() { self.config.version += 1; let mut cfg = self.config.clone(); cfg.ip = "".to_string(); *self.shared_config.lock().unwrap() = cfg; ui.close_menu(); }
                 });
+                let status_color = if self.connected { egui::Color32::GREEN } else { egui::Color32::RED };
+                ui.label(egui::RichText::new(if self.connected { "● Online" } else { "○ Offline" }).color(status_color));
+                ui.with_layout(egui::Layout::right_to_left(egui::Align::Center), |ui| { ui.label(format!("UDP: OK[{}] DROP[{}]", self.udp_packets, self.udp_dropped)); });
             });
         });
 
-        if self.show_bottom_panel {
-            egui::TopBottomPanel::bottom("log_panel").resizable(true).default_height(200.0).show(ctx, |ui| {
-                ui.horizontal(|ui| {
-                    ui.heading("System Logs");
-                    ui.separator();
-                    ui.label("Filter:");
-                    ui.text_edit_singleline(&mut self.log_filters.content_regex);
-                    ui.checkbox(&mut self.log_filters.show_debug, "Debug");
-                    ui.checkbox(&mut self.log_filters.show_info, "Info");
-                    ui.checkbox(&mut self.log_filters.show_warning, "Warn");
-                    ui.checkbox(&mut self.log_filters.show_error, "Error");
-                    ui.separator();
-                    ui.toggle_value(&mut self.log_filters.paused, "⏸ Pause Logs");
-                    ui.with_layout(egui::Layout::right_to_left(egui::Align::Center), |ui| {
-                        if ui.button("🗑 Clear").clicked() { self.logs.clear(); }
-                    });
-                });
-                ui.separator();
-                
-                let regex = if !self.log_filters.content_regex.is_empty() { Regex::new(&self.log_filters.content_regex).ok() } else { None };
-
-                egui::ScrollArea::vertical()
-                    .stick_to_bottom(true)
-                    .auto_shrink([false, false])
-                    .show(ui, |ui| {
-                        for log in &self.logs {
-                            let show = match log.level.as_str() {
-                                "Debug" => self.log_filters.show_debug,
-                                "Information" => self.log_filters.show_info,
-                                "Warning" => self.log_filters.show_warning,
-                                "FatalError" | "OSError" | "ParametersError" => self.log_filters.show_error,
-                                _ => true,
-                            };
-                            if !show { continue; }
-                            if let Some(re) = &regex { if !re.is_match(&log.message) && !re.is_match(&log.level) { continue; } }
-
-                            let color = match log.level.as_str() {
-                                "FatalError" | "OSError" | "ParametersError" => egui::Color32::from_rgb(255, 100, 100),
-                                "Warning" => egui::Color32::from_rgb(255, 255, 100),
-                                "Information" => egui::Color32::from_rgb(100, 255, 100),
-                                "Debug" => egui::Color32::from_rgb(100, 100, 255),
-                                "GUI_ERROR" => egui::Color32::from_rgb(255, 50, 255),
-                                "CMD_RESP" => egui::Color32::from_rgb(255, 255, 255),
-                                _ => egui::Color32::WHITE,
-                            };
-                            
-                            ui.scope(|ui| {
-                                ui.horizontal(|ui| {
-                                    ui.label(egui::RichText::new(&log.time).monospace().color(egui::Color32::GRAY));
-                                    ui.label(egui::RichText::new(format!("[{}]", log.level)).color(color).strong());
-                                    ui.add(egui::Label::new(&log.message).wrap());
-                                    ui.allocate_space(egui::vec2(ui.available_width(), 0.0));
-                                });
-                            });
-                        }
-                    });
-            });
-        }
-
-        if self.show_left_panel {
-            egui::SidePanel::left("signals_panel").resizable(true).width_range(300.0..=600.0).show(ctx, |ui| {
-                ui.heading("Application Tree");
-                ui.separator();
-                egui::ScrollArea::vertical().id_salt("tree_scroll").show(ui, |ui| {
-                    if let Some(tree) = self.app_tree.clone() {
-                        self.render_tree(ui, &tree, "".to_string());
-                    } else {
-                        ui.label("Connecting to server...");
-                    }
-                });
-                
-                ui.separator();
-                ui.heading("Node Information");
-                egui::ScrollArea::vertical().id_salt("info_scroll").show(ui, |ui| {
-                    if self.node_info.is_empty() {
-                        ui.label("Click 'Info' on a node to view details");
-                    } else {
-                        ui.add(egui::Label::new(egui::RichText::new(&self.node_info).monospace()).wrap());
-                    }
-                });
-            });
-        }
+        if self.show_left_panel { egui::SidePanel::left("left").resizable(true).width_range(200.0..=500.0).show(ctx, |ui| { egui::ScrollArea::vertical().show(ui, |ui| { if let Some(tree) = self.app_tree.clone() { self.render_tree(ui, &tree, "".to_string()); } }); }); }
 
         if self.show_right_panel {
-            egui::SidePanel::right("debug_panel").resizable(true).width_range(200.0..=400.0).show(ctx, |ui| {
-                ui.heading("Active Controls");
-                ui.separator();
-                ui.label(egui::RichText::new("Forced Signals").strong());
-                egui::ScrollArea::vertical().id_salt("forced_scroll").show(ui, |ui| {
-                    let mut to_update = None;
-                    let mut to_remove = None;
-                    for (path, val) in &self.forced_signals {
+            egui::SidePanel::right("right").resizable(true).width_range(250.0..=400.0).show(ctx, |ui| {
+                ui.heading("Traced Signals");
+                let mut names: Vec<_> = { let data_map = self.traced_signals.lock().unwrap(); data_map.keys().cloned().collect() };
+                names.sort();
+                egui::ScrollArea::vertical().id_salt("traced_scroll").show(ui, |ui| {
+                    for key in names {
+                        let last_val = { self.traced_signals.lock().unwrap().get(&key).map(|d| d.last_value).unwrap_or(0.0) };
                         ui.horizontal(|ui| {
-                            if ui.selectable_label(false, format!("{}: {}", path, val)).clicked() {
-                                to_update = Some(path.clone());
-                            }
-                            if ui.button("❌").clicked() {
-                                let _ = self.tx_cmd.send(format!("UNFORCE {}", path));
-                                to_remove = Some(path.clone());
-                            }
-                        });
-                    }
-                    if let Some(p) = to_remove { self.forced_signals.remove(&p); }
-                    if let Some(p) = to_update {
-                        self.forcing_dialog = Some(ForcingDialog {
-                            signal_path: p.clone(), sig_type: "Unknown".to_string(), dims: 0, elems: 1,
-                            value: self.forced_signals.get(&p).unwrap().clone(),
+                            let response = ui.add(egui::Label::new(format!("{}: {:.2}", key, last_val)).sense(egui::Sense::drag()));
+                            if response.drag_started() { ctx.data_mut(|d| d.insert_temp(egui::Id::new("drag_signal"), key.clone())); }
+                            if ui.button("❌").clicked() { let _ = self.tx_cmd.send(format!("TRACE {} 0", key)); let _ = self.internal_tx.send(InternalEvent::ClearTrace(key)); }
                         });
                     }
                 });
-
                 ui.separator();
-                ui.label(egui::RichText::new("Traced Signals").strong());
-                egui::ScrollArea::vertical().id_salt("traced_scroll").show(ui, |ui| {
-                    let mut names: Vec<_> = {
-                        let data_map = self.traced_signals.lock().unwrap();
-                        data_map.keys().cloned().collect()
-                    };
-                    names.sort();
-                    for key in names {
-                        ui.horizontal(|ui| {
-                            ui.label(&key);
-                            if ui.button("❌").clicked() {
-                                let _ = self.tx_cmd.send(format!("TRACE {} 0", key));
-                                let _ = self.internal_tx.send(InternalEvent::ClearTrace(key));
-                            }
-                        });
+                ui.heading("Forced Signals");
+                for (path, val) in &self.forced_signals { ui.horizontal(|ui| { ui.label(format!("{}: {}", path, val)); if ui.button("❌").clicked() { let _ = self.tx_cmd.send(format!("UNFORCE {}", path)); } }); }
+            });
+        }
+
+        if self.show_bottom_panel {
+            egui::TopBottomPanel::bottom("log_panel").resizable(true).default_height(150.0).show(ctx, |ui| {
+                ui.horizontal(|ui| { 
+                    ui.heading("System Logs"); ui.separator();
+                    ui.checkbox(&mut self.log_filters.show_debug, "Debug"); ui.checkbox(&mut self.log_filters.show_info, "Info"); ui.checkbox(&mut self.log_filters.show_warning, "Warn"); ui.checkbox(&mut self.log_filters.show_error, "Error");
+                    ui.separator();
+                    ui.label("Filter:"); ui.text_edit_singleline(&mut self.log_filters.content_regex);
+                    ui.separator();
+                    ui.toggle_value(&mut self.log_filters.paused, "⏸ Pause");
+                    if ui.button("🗑 Clear").clicked() { self.logs.clear(); } 
+                });
+                ui.separator();
+                let regex = if !self.log_filters.content_regex.is_empty() { Regex::new(&self.log_filters.content_regex).ok() } else { None };
+                egui::ScrollArea::vertical().stick_to_bottom(true).auto_shrink([false, false]).show(ui, |ui| {
+                    for log in &self.logs { 
+                        let show = match log.level.as_str() { "Debug" => self.log_filters.show_debug, "Information" => self.log_filters.show_info, "Warning" => self.log_filters.show_warning, "FatalError" | "OSError" | "ParametersError" => self.log_filters.show_error, _ => true };
+                        if !show { continue; }
+                        if let Some(re) = &regex { if !re.is_match(&log.message) && !re.is_match(&log.level) { continue; } }
+                        let color = match log.level.as_str() { "FatalError" | "OSError" | "ParametersError" => egui::Color32::from_rgb(255, 100, 100), "Warning" => egui::Color32::from_rgb(255, 255, 100), "Information" => egui::Color32::from_rgb(100, 255, 100), "Debug" => egui::Color32::from_rgb(100, 100, 255), "GUI_ERROR" => egui::Color32::from_rgb(255, 50, 255), "CMD_RESP" => egui::Color32::from_rgb(255, 255, 255), _ => egui::Color32::WHITE };
+                        ui.horizontal_wrapped(|ui| { ui.label(egui::RichText::new(&log.time).color(egui::Color32::GRAY).monospace()); ui.label(egui::RichText::new(format!("[{}]", log.level)).color(color).strong()); ui.add(egui::Label::new(&log.message).wrap()); }); 
                     }
                 });
             });
         }
 
         egui::CentralPanel::default().show(ctx, |ui| {
-            ui.heading("Oscilloscope");
-            let plot = Plot::new("traces_plot")
-                .legend(egui_plot::Legend::default())
-                .auto_bounds_x()
-                .auto_bounds_y()
-                .y_axis_min_width(4.0);
-            
-            plot.show(ui, |plot_ui| {
-                let data_map = self.traced_signals.lock().unwrap();
-                for (name, data) in data_map.iter() {
-                    let points: PlotPoints = data.values.iter().cloned().collect();
-                    plot_ui.line(Line::new(points).name(name));
+            let n_plots = self.plots.len();
+            if n_plots > 0 {
+                let plot_height = ui.available_height() / n_plots as f32;
+                let mut to_remove = None;
+                let mut current_range = None;
+                for (p_idx, plot_inst) in self.plots.iter_mut().enumerate() {
+                    ui.group(|ui| {
+                        ui.horizontal(|ui| { ui.label(egui::RichText::new(&plot_inst.id).strong()); ui.selectable_value(&mut plot_inst.plot_type, PlotType::Normal, "Series"); ui.selectable_value(&mut plot_inst.plot_type, PlotType::LogicAnalyzer, "Logic"); if ui.button("🗑").clicked() { to_remove = Some(p_idx); } });
+                        let mut plot = Plot::new(&plot_inst.id).height(plot_height - 40.0).show_axes([true, true]);
+                        if let Some(range) = self.shared_x_range { if !plot_inst.auto_bounds { plot = plot.include_x(range[0]).include_x(range[1]); } }
+                        if plot_inst.auto_bounds { plot = plot.auto_bounds(egui::Vec2b::new(true, true)); }
+                        let plot_resp = plot.show(ui, |plot_ui| {
+                            if !plot_inst.auto_bounds { if let Some(range) = self.shared_x_range { let bounds = plot_ui.plot_bounds(); plot_ui.set_plot_bounds(PlotBounds::from_min_max([range[0], bounds.min()[1]], [range[1], bounds.max()[1]])); } }
+                            let data_map = self.traced_signals.lock().unwrap();
+                            for (s_idx, sig_cfg) in plot_inst.signals.iter().enumerate() {
+                                if let Some(data) = data_map.get(&sig_cfg.source_name) {
+                                    let mut points = Vec::new();
+                                    for [t, v] in &data.values {
+                                        let mut final_v = *v * sig_cfg.gain + sig_cfg.offset;
+                                        if plot_inst.plot_type == PlotType::LogicAnalyzer { final_v = (s_idx as f64 * 1.5) + (if final_v > 0.5 { 1.0 } else { 0.0 }); }
+                                        points.push([*t, final_v]);
+                                    }
+                                    plot_ui.line(Line::new(PlotPoints::from(points)).name(&sig_cfg.label).color(sig_cfg.color));
+                                }
+                            }
+                            if p_idx == 0 || current_range.is_none() { let b = plot_ui.plot_bounds(); current_range = Some([b.min()[0], b.max()[0]]); }
+                        });
+                        if plot_resp.response.hovered() && ctx.input(|i| i.pointer.any_released()) {
+                            if let Some(dropped) = ctx.data_mut(|d| d.get_temp::<String>(egui::Id::new("drag_signal"))) {
+                                let color = Self::next_color(plot_inst.signals.len());
+                                plot_inst.signals.push(SignalPlotConfig { source_name: dropped.clone(), label: dropped.clone(), unit: "".to_string(), color, line_style: LineStyle::Solid, marker_type: MarkerType::None, gain: 1.0, offset: 0.0 });
+                                self.logs.push_back(LogEntry { time: Local::now().format("%H:%M:%S").to_string(), level: "GUI".to_string(), message: format!("Dropped {} into plot", dropped) });
+                                ctx.data_mut(|d| d.remove_temp::<String>(egui::Id::new("drag_signal")));
+                            }
+                        }
+                        if plot_resp.response.dragged() || ctx.input(|i| i.pointer.any_click() || i.smooth_scroll_delta.y != 0.0) { if plot_resp.response.hovered() { plot_inst.auto_bounds = false; let b = plot_resp.transform.bounds(); self.shared_x_range = Some([b.min()[0], b.max()[0]]); } }
+                        plot_resp.response.context_menu(|ui| {
+                            if ui.button("🔍 Fit View").clicked() { plot_inst.auto_bounds = true; self.shared_x_range = None; ui.close_menu(); }
+                            ui.separator();
+                            let mut sig_to_remove = None;
+                            for (s_idx, sig) in plot_inst.signals.iter().enumerate() {
+                                ui.horizontal(|ui| { ui.label(&sig.label); if ui.button("🎨").clicked() { self.style_editor = Some((p_idx, s_idx)); ui.close_menu(); } if ui.button("❌").clicked() { sig_to_remove = Some(s_idx); ui.close_menu(); } });
+                            }
+                            if let Some(idx) = sig_to_remove { plot_inst.signals.remove(idx); }
+                        });
+                    });
                 }
-            });
+                if let Some(idx) = to_remove { self.plots.remove(idx); }
+                if let Some(range) = current_range { if self.shared_x_range.is_none() { self.shared_x_range = Some(range); } }
+            } else { ui.centered_and_justified(|ui| { ui.label("Add a plot panel to begin analysis"); }); }
         });
 
         ctx.request_repaint_after(std::time::Duration::from_millis(16));
@@ -661,13 +564,6 @@ impl eframe::App for MarteDebugApp {
 }
 
 fn main() -> Result<(), eframe::Error> {
-    let options = eframe::NativeOptions {
-        viewport: egui::ViewportBuilder::default().with_inner_size([1280.0, 800.0]),
-        ..Default::default()
-    };
-    eframe::run_native(
-        "MARTe2 Debug Explorer",
-        options,
-        Box::new(|cc| Ok(Box::new(MarteDebugApp::new(cc)))),
-    )
+    let options = eframe::NativeOptions { viewport: egui::ViewportBuilder::default().with_inner_size([1280.0, 800.0]), ..Default::default() };
+    eframe::run_native("MARTe2 Debug Explorer", options, Box::new(|cc| Ok(Box::new(MarteDebugApp::new(cc)))))
 }

app_output.log

@@ -0,0 +1,150 @@
+MARTe2 Environment Set (MARTe2_DIR=/home/martino/Projects/marte_debug/dependency/MARTe2)
+MARTe2 Components Environment Set (MARTe2_Components_DIR=/home/martino/Projects/marte_debug/dependency/MARTe2-components)
+Cleaning up lingering processes...
+Launching standard MARTeApp.ex with debug_test.cfg...
+[Debug - Bootstrap.cpp:79]: Arguments:
+-f = "Test/Configurations/debug_test.cfg"
+-l = "RealTimeLoader"
+-s = "State1"
+
+[Information - Bootstrap.cpp:207]: Loader parameters:
+-f = "Test/Configurations/debug_test.cfg"
+-l = "RealTimeLoader"
+-s = "State1"
+Loader = "RealTimeLoader"
+Filename = "Test/Configurations/debug_
+[Information - Loader.cpp:67]: DefaultCPUs set to 1
+[Information - Loader.cpp:74]: SchedulerGranularity is 10000
+[Debug - Loader.cpp:189]: Purging ObjectRegistryDatabase with 0 objects
+[Debug - Loader.cpp:192]: Purge ObjectRegistryDatabase. Number of objects left: 0
+[Information - LinuxTimer.cpp:117]: SleepNature was not set. Using Default.
+[Information - LinuxTimer.cpp:127]: Phase was not configured, using default 0
+[Warning - LinuxTimer.cpp:164]: ExecutionMode not specified using: IndependentThread
+[Warning - LinuxTimer.cpp:185]: CPUMask not specified using: 255
+[Warning - LinuxTimer.cpp:191]: StackSize not specified using: 262144
+[Information - LinuxTimer.cpp:236]: No timer provider specified. Falling back to HighResolutionTimeProvider
+[Information - HighResolutionTimeProvider.cpp:163]: Sleep nature was not specified, falling back to default (Sleep::NoMore mode)
+[Information - HighResolutionTimeProvider.cpp:61]: Inner initialization succeeded
+[Information - LinuxTimer.cpp:267]: Backward compatibility parameters injection unnecessary
+[Information - RealTimeThread.cpp:190]: No CPUs defined for the RealTimeThread Thread1
+[Information - RealTimeThread.cpp:193]: No StackSize defined for the RealTimeThread Thread1
+[DebugService] TCP Server listening on port 8080
+[DebugService] UDP Streamer socket opened
+[ParametersError - StringHelper.cpp:60]: Error: invalid input arguments
+[Warning - Threads.cpp:173]: Requested a thread priority that is higher than the one supported by the selected policy - clipping to the maximum value supported by the policy.
+[Warning - Threads.cpp:173]: Requested a thread priority that is higher than the one supported by the selected policy - clipping to the maximum value supported by the policy.
+[ParametersError - StringHelper.cpp:60]: Error: invalid input arguments
+[Warning - Threads.cpp:173]: Requested a thread priority that is higher than the one supported by the selected policy - clipping to the maximum value supported by the policy.
+[Warning - Threads.cpp:173]: Requested a thread priority that is higher than the one supported by the selected policy - clipping to the maximum value supported by the policy.
+[DebugService] Worker threads started.
+[TcpLogger] Listening on port 8082
+[ParametersError - StringHelper.cpp:60]: Error: invalid input arguments
+[Warning - Threads.cpp:173]: Requested a thread priority that is higher than the one supported by the selected policy - clipping to the maximum value supported by the policy.
+[Warning - Threads.cpp:173]: Requested a thread priority that is higher than the one supported by the selected policy - clipping to the maximum value supported by the policy.
+[Warning] Requested a thread priority that is higher than the one supported by the selected policy - clipping to the maximum value supported by the policy.
+[Warning] Requested a thread priority that is higher than the one supported by the selected policy - clipping to the maximum value supported by the policy.
+[Information] LoaderPostInit not set
+[Information] Going to rtAppBuilder.ConfigureAfterInitialisation()
+[Information] Going to InitialiseSignalsDatabase
+[Information] Going to FlattenSignalsDatabases
+[Information] Caching introspection signals
+[Information] Flattening functions input signals
+[Debug] Updating the signal database
+[Debug] Finished updating the signal database
+[Information] Flattening functions output signals
+[Debug] Updating the signal database
+[Debug] Finished updating the signal database
+[Information] Flattening data sources signals
+[Debug] Updating the signal database
+[Debug] Finished updating the signal database
+[Debug] Updating the signal database
+[Debug] Finished updating the signal database
+[Debug] Updating the signal database
+[Debug] Finished updating the signal database
+[Information] Going to VerifyDataSourcesSignals
+[Debug] Updating the signal database
+[Information] Verifying signals for Timer
+[Debug] Finished updating the signal database
+[Information] Going to ResolveStates
+[Information] Resolving state State1
+[Information] Resolving thread container Threads
+[Information] Resolving thread State1.Thread1
+[Information] Resolving GAM1
+[Information] Going to ResolveDataSources
+[Information] Verifying signals for Logger
+[Information] Resolving for function GAM1 [idx: 0]
+[Information] Resolving 2 signals
+[Information] Resolving 2 signals
+[Information] Verifying signals for DDB
+[Information] Verifying signals for DAMS
+[Information] Going to VerifyConsumersAndProducers
+[Information] Started application in state State1 
+[Information] Application starting
+[Information] Verifying consumers and producers for Timer
+[Information] Verifying consumers and producers for Logger
+[Information] Verifying consumers and producers for DDB
+[Information] Verifying consumers and producers for DAMS
+[Information] Going to CleanCaches
+[Debug] Purging dataSourcesIndexesCache. Number of children:3
+[Debug] Purging functionsIndexesCache. Number of children:1
+[Debug] Purging dataSourcesSignalIndexCache. Number of children:3
+[Debug] Purging dataSourcesFunctionIndexesCache. Number of children:1
+[Debug] Purging functionsMemoryIndexesCache. Number of children:2
+[Debug] Purged functionsMemoryIndexesCache. Number of children:0
+[Debug] Purged cachedIntrospections. Number of children:0
+[Information] Going to rtAppBuilder.PostConfigureDataSources()
+[Information] Going to rtAppBuilder.PostConfigureFunctions()
+[Information] Going to rtAppBuilder.Copy()
+[Information] Going to AllocateGAMMemory
+[Information] Going to AllocateDataSourceMemory()
+[Information] Going to AddBrokersToFunctions
+[Information] Creating broker MemoryMapSynchronisedInputBroker for GAM1 and signal Counter(0)
+[Information] Creating broker MemoryMapInputBroker for GAM1 and signal Time(1)
+[Information] Getting input brokers for Timer
+[Information] Getting output brokers for Timer
+[Information] Getting input brokers for Logger
+[Information] Getting output brokers for Logger
+[Information] Getting input brokers for DDB
+[Information] Getting output brokers for DDB
+[Information] Getting input brokers for DAMS
+[Information] Getting output brokers for DAMS
+[Information] Going to FindStatefulDataSources
+[Information] Going to configure scheduler
+[Information] Preparing state State1 
+[Information] Frequency found = 1.000000
+[Information] Frequency found = 1.000000
+[Information] The timer will be set using a frequency of 1.000000 Hz
+[ParametersError] Error: invalid input arguments
+[Warning] Requested a thread priority that is higher than the one supported by the selected policy - clipping to the maximum value supported by the policy.
+[Warning] Failed to change the thread priority (likely due to insufficient permissions)
+[Information] LinuxTimer::Prepared = true
+[Warning] Requested a thread priority that is higher than the one supported by the selected policy - clipping to the maximum value supported by the policy.
+[Warning] Failed to change the thread priority (likely due to insufficient permissions)
+[Information] Time [0:0]:0
+[Information] Time [0:0]:2000000
+[Information] Time [0:0]:3000000
+[Information] Time [0:0]:4000000
+[Information] Time [0:0]:5000000
+[Information] Time [0:0]:6000000
+[Information] Time [0:0]:7000000
+[Information] Time [0:0]:8000000
+[Information] Time [0:0]:9000000
+[Information] Time [0:0]:10000000
+[Information] Time [0:0]:11000000
+[Information] Time [0:0]:12000000
+[Information] Time [0:0]:13000000
+[Information] Time [0:0]:14000000
+[Information] Time [0:0]:15000000
+[Information] Time [0:0]:16000000
+[Information] Time [0:0]:17000000
+[Information] Time [0:0]:18000000
+[Information] Time [0:0]:19000000
+[Information] Time [0:0]:20000000
+[Information] Time [0:0]:21000000
+[Information] Time [0:0]:22000000
+[Information] Time [0:0]:23000000
+[Information] Time [0:0]:24000000
+[Information] Time [0:0]:25000000
+[Information] Time [0:0]:26000000
+[Information] Time [0:0]:27000000
+[Information] Time [0:0]:28000000

compile_commands.json

@@ -21,12 +21,12 @@
       "cc",
       "-v",
       "-o",
-      "CMakeFiles/cmTC_27c6b.dir/CMakeCCompilerABI.c.o",
+      "CMakeFiles/cmTC_a4cfb.dir/CMakeCCompilerABI.c.o",
       "-c",
       "/usr/share/cmake/Modules/CMakeCCompilerABI.c"
     ],
-    "directory": "/home/martino/Projects/marte_debug/Build/CMakeFiles/CMakeScratch/TryCompile-0cxTtB",
-    "output": "CMakeFiles/cmTC_27c6b.dir/CMakeCCompilerABI.c.o"
+    "directory": "/home/martino/Projects/marte_debug/Build/CMakeFiles/CMakeScratch/TryCompile-xo4CnB",
+    "output": "CMakeFiles/cmTC_a4cfb.dir/CMakeCCompilerABI.c.o"
   },
   {
     "file": "/usr/share/cmake/Modules/CMakeCXXCompilerABI.cpp",
@@ -34,12 +34,59 @@
       "c++",
       "-v",
       "-o",
-      "CMakeFiles/cmTC_2b812.dir/CMakeCXXCompilerABI.cpp.o",
+      "CMakeFiles/cmTC_f4fc4.dir/CMakeCXXCompilerABI.cpp.o",
       "-c",
       "/usr/share/cmake/Modules/CMakeCXXCompilerABI.cpp"
     ],
-    "directory": "/home/martino/Projects/marte_debug/Build/CMakeFiles/CMakeScratch/TryCompile-JvDZsz",
-    "output": "CMakeFiles/cmTC_2b812.dir/CMakeCXXCompilerABI.cpp.o"
+    "directory": "/home/martino/Projects/marte_debug/Build/CMakeFiles/CMakeScratch/TryCompile-tgsqrG",
+    "output": "CMakeFiles/cmTC_f4fc4.dir/CMakeCXXCompilerABI.cpp.o"
+  },
+  {
+    "file": "/home/martino/Projects/marte_debug/Source/DebugFastScheduler.cpp",
+    "arguments": [
+      "c++",
+      "-DARCHITECTURE=x86_gcc",
+      "-DENVIRONMENT=Linux",
+      "-DMARTe2_TEST_ENVIRONMENT=GTest",
+      "-DUSE_PTHREAD",
+      "-Dmarte_dev_EXPORTS",
+      "-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/L4Configuration",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Events",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Logger",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Messages",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L5FILES",
+      "-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/L4LoggerService",
+      "-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/Source/Core/Scheduler/L5GAMs",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/DataSources/EpicsDataSource",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/DataSources/FileDataSource",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/GAMs/IOGAM",
+      "-I/home/martino/Projects/marte_debug/Source",
+      "-I/home/martino/Projects/marte_debug/Headers",
+      "-pthread",
+      "-g",
+      "-fPIC",
+      "-MD",
+      "-MT",
+      "CMakeFiles/marte_dev.dir/Source/DebugFastScheduler.cpp.o",
+      "-MF",
+      "CMakeFiles/marte_dev.dir/Source/DebugFastScheduler.cpp.o.d",
+      "-o",
+      "CMakeFiles/marte_dev.dir/Source/DebugFastScheduler.cpp.o",
+      "-c",
+      "/home/martino/Projects/marte_debug/Source/DebugFastScheduler.cpp"
+    ],
+    "directory": "/home/martino/Projects/marte_debug/Build",
+    "output": "CMakeFiles/marte_dev.dir/Source/DebugFastScheduler.cpp.o"
   },
   {
     "file": "/home/martino/Projects/marte_debug/Source/DebugService.cpp",
@@ -63,16 +110,17 @@
       "-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/L4Configuration",
       "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L4LoggerService",
       "-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/Source/Core/Scheduler/L5GAMs",
       "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/DataSources/EpicsDataSource",
       "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/DataSources/FileDataSource",
       "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/GAMs/IOGAM",
       "-I/home/martino/Projects/marte_debug/Source",
       "-I/home/martino/Projects/marte_debug/Headers",
       "-pthread",
+      "-g",
       "-fPIC",
       "-MD",
       "-MT",
@@ -87,6 +135,53 @@
     "directory": "/home/martino/Projects/marte_debug/Build",
     "output": "CMakeFiles/marte_dev.dir/Source/DebugService.cpp.o"
   },
+  {
+    "file": "/home/martino/Projects/marte_debug/Source/TcpLogger.cpp",
+    "arguments": [
+      "c++",
+      "-DARCHITECTURE=x86_gcc",
+      "-DENVIRONMENT=Linux",
+      "-DMARTe2_TEST_ENVIRONMENT=GTest",
+      "-DUSE_PTHREAD",
+      "-Dmarte_dev_EXPORTS",
+      "-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/L4Configuration",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Events",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Logger",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Messages",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L5FILES",
+      "-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/L4LoggerService",
+      "-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/Source/Core/Scheduler/L5GAMs",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/DataSources/EpicsDataSource",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/DataSources/FileDataSource",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/GAMs/IOGAM",
+      "-I/home/martino/Projects/marte_debug/Source",
+      "-I/home/martino/Projects/marte_debug/Headers",
+      "-pthread",
+      "-g",
+      "-fPIC",
+      "-MD",
+      "-MT",
+      "CMakeFiles/marte_dev.dir/Source/TcpLogger.cpp.o",
+      "-MF",
+      "CMakeFiles/marte_dev.dir/Source/TcpLogger.cpp.o.d",
+      "-o",
+      "CMakeFiles/marte_dev.dir/Source/TcpLogger.cpp.o",
+      "-c",
+      "/home/martino/Projects/marte_debug/Source/TcpLogger.cpp"
+    ],
+    "directory": "/home/martino/Projects/marte_debug/Build",
+    "output": "CMakeFiles/marte_dev.dir/Source/TcpLogger.cpp.o"
+  },
   {
     "file": "/home/martino/Projects/marte_debug/Test/UnitTests/main.cpp",
     "arguments": [
@@ -108,10 +203,10 @@
       "-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/L4Configuration",
       "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L4LoggerService",
       "-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/Source/Core/Scheduler/L5GAMs",
       "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/DataSources/EpicsDataSource",
       "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/DataSources/FileDataSource",
       "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/GAMs/IOGAM",
@@ -120,6 +215,7 @@
       "-I/home/martino/Projects/marte_debug/Test/UnitTests/../../Source",
       "-I/home/martino/Projects/marte_debug/Test/UnitTests/../../Headers",
       "-pthread",
+      "-g",
       "-MD",
       "-MT",
       "Test/UnitTests/CMakeFiles/UnitTests.dir/main.cpp.o",
@@ -154,16 +250,17 @@
       "-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/L4Configuration",
       "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/Scheduler/L4LoggerService",
       "-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/Source/Core/Scheduler/L5GAMs",
       "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/DataSources/EpicsDataSource",
       "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/DataSources/FileDataSource",
       "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/GAMs/IOGAM",
       "-I/home/martino/Projects/marte_debug/Source",
       "-I/home/martino/Projects/marte_debug/Headers",
       "-pthread",
+      "-g",
       "-MD",
       "-MT",
       "Test/Integration/CMakeFiles/IntegrationTest.dir/main.cpp.o",
@@ -176,5 +273,140 @@
     ],
     "directory": "/home/martino/Projects/marte_debug/Build/Test/Integration",
     "output": "CMakeFiles/IntegrationTest.dir/main.cpp.o"
+  },
+  {
+    "file": "/home/martino/Projects/marte_debug/Test/Integration/TraceTest.cpp",
+    "arguments": [
+      "c++",
+      "-DARCHITECTURE=x86_gcc",
+      "-DENVIRONMENT=Linux",
+      "-DMARTe2_TEST_ENVIRONMENT=GTest",
+      "-DUSE_PTHREAD",
+      "-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/L4Configuration",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Events",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Logger",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Messages",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L5FILES",
+      "-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/L4LoggerService",
+      "-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/Source/Core/Scheduler/L5GAMs",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/DataSources/EpicsDataSource",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/DataSources/FileDataSource",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/GAMs/IOGAM",
+      "-I/home/martino/Projects/marte_debug/Source",
+      "-I/home/martino/Projects/marte_debug/Headers",
+      "-pthread",
+      "-g",
+      "-MD",
+      "-MT",
+      "Test/Integration/CMakeFiles/TraceTest.dir/TraceTest.cpp.o",
+      "-MF",
+      "CMakeFiles/TraceTest.dir/TraceTest.cpp.o.d",
+      "-o",
+      "CMakeFiles/TraceTest.dir/TraceTest.cpp.o",
+      "-c",
+      "/home/martino/Projects/marte_debug/Test/Integration/TraceTest.cpp"
+    ],
+    "directory": "/home/martino/Projects/marte_debug/Build/Test/Integration",
+    "output": "CMakeFiles/TraceTest.dir/TraceTest.cpp.o"
+  },
+  {
+    "file": "/home/martino/Projects/marte_debug/Test/Integration/ValidationTest.cpp",
+    "arguments": [
+      "c++",
+      "-DARCHITECTURE=x86_gcc",
+      "-DENVIRONMENT=Linux",
+      "-DMARTe2_TEST_ENVIRONMENT=GTest",
+      "-DUSE_PTHREAD",
+      "-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/L4Configuration",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Events",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Logger",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Messages",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L5FILES",
+      "-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/L4LoggerService",
+      "-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/Source/Core/Scheduler/L5GAMs",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/DataSources/EpicsDataSource",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/DataSources/FileDataSource",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/GAMs/IOGAM",
+      "-I/home/martino/Projects/marte_debug/Source",
+      "-I/home/martino/Projects/marte_debug/Headers",
+      "-pthread",
+      "-g",
+      "-MD",
+      "-MT",
+      "Test/Integration/CMakeFiles/ValidationTest.dir/ValidationTest.cpp.o",
+      "-MF",
+      "CMakeFiles/ValidationTest.dir/ValidationTest.cpp.o.d",
+      "-o",
+      "CMakeFiles/ValidationTest.dir/ValidationTest.cpp.o",
+      "-c",
+      "/home/martino/Projects/marte_debug/Test/Integration/ValidationTest.cpp"
+    ],
+    "directory": "/home/martino/Projects/marte_debug/Build/Test/Integration",
+    "output": "CMakeFiles/ValidationTest.dir/ValidationTest.cpp.o"
+  },
+  {
+    "file": "/home/martino/Projects/marte_debug/Test/Integration/SchedulerTest.cpp",
+    "arguments": [
+      "c++",
+      "-DARCHITECTURE=x86_gcc",
+      "-DENVIRONMENT=Linux",
+      "-DMARTe2_TEST_ENVIRONMENT=GTest",
+      "-DUSE_PTHREAD",
+      "-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/L4Configuration",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Events",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Logger",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L4Messages",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2/Source/Core/BareMetal/L5FILES",
+      "-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/L4LoggerService",
+      "-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/Source/Core/Scheduler/L5GAMs",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/DataSources/EpicsDataSource",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/DataSources/FileDataSource",
+      "-I/home/martino/Projects/marte_debug/dependency/MARTe2-components/Source/Components/GAMs/IOGAM",
+      "-I/home/martino/Projects/marte_debug/Source",
+      "-I/home/martino/Projects/marte_debug/Headers",
+      "-pthread",
+      "-g",
+      "-MD",
+      "-MT",
+      "Test/Integration/CMakeFiles/SchedulerTest.dir/SchedulerTest.cpp.o",
+      "-MF",
+      "CMakeFiles/SchedulerTest.dir/SchedulerTest.cpp.o.d",
+      "-o",
+      "CMakeFiles/SchedulerTest.dir/SchedulerTest.cpp.o",
+      "-c",
+      "/home/martino/Projects/marte_debug/Test/Integration/SchedulerTest.cpp"
+    ],
+    "directory": "/home/martino/Projects/marte_debug/Build/Test/Integration",
+    "output": "CMakeFiles/SchedulerTest.dir/SchedulerTest.cpp.o"
   }
 ]

run_debug_app.sh

@@ -0,0 +1,40 @@
+#!/bin/bash
+# run_debug_app.sh - Launch the MARTe2 Debugging Environment using standard MARTeApp.ex
+
+# 1. Environment Setup
+if [ -f "./env.sh" ]; then
+    source ./env.sh
+else
+    echo "ERROR: env.sh not found. Ensure you are in the project root."
+    exit 1
+fi
+
+# 2. Paths
+MARTE_EX="${MARTe2_DIR}/Build/${TARGET}/App/MARTeApp.ex"
+DEBUG_LIB="$(pwd)/Build/libmarte_dev.so"
+
+# Component library base search path
+COMPONENTS_BUILD_DIR="${MARTe2_Components_DIR}/Build/${TARGET}/Components"
+
+# DYNAMICALLY FIND ALL COMPONENT DIRS
+# MARTe2 Loader needs the specific directories containing .so files in LD_LIBRARY_PATH
+ALL_COMPONENT_DIRS=$(find "$COMPONENTS_BUILD_DIR" -type d)
+for dir in $ALL_COMPONENT_DIRS; do
+    if ls "$dir"/*.so >/dev/null 2>&1; then
+        export LD_LIBRARY_PATH="$dir:$LD_LIBRARY_PATH"
+    fi
+done
+
+# Ensure our build dir and core dir are included
+export LD_LIBRARY_PATH="$(pwd)/Build:${MARTe2_DIR}/Build/${TARGET}/Core:${LD_LIBRARY_PATH}"
+
+# 3. Cleanup
+echo "Cleaning up lingering processes..."
+pkill -9 MARTeApp.ex
+sleep 1
+
+# 4. 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="${DEBUG_LIB}"
+"$MARTE_EX" -f Test/Configurations/debug_test.cfg -l RealTimeLoader -s State1

run_test.sh

@@ -1,21 +1,14 @@
 #!/bin/bash
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null 2>&1 && pwd)"
-source $DIR/env.sh
-
 export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:.
 export MARTe2_DIR=/home/martino/Projects/marte_debug/dependency/MARTe2
 export TARGET=x86-linux
 
-MARTE_APP=$MARTe2_DIR/Build/$TARGET/App/MARTeApp.ex
+echo "Cleaning up old instances..."
+pkill -9 IntegrationTest
+pkill -9 ValidationTest
+pkill -9 SchedulerTest
+pkill -9 main
+sleep 2
 
-# Build paths for all components
-LIBS=$DIR/Build
-LIBS=$LIBS:$MARTe2_DIR/Build/$TARGET/Core
-LIBS=$LIBS:$MARTe2_Components_DIR/Build/$TARGET/Components/DataSources/LinuxTimer
-LIBS=$LIBS:$MARTe2_Components_DIR/Build/$TARGET/Components/DataSources/LoggerDataSource
-LIBS=$LIBS:$MARTe2_Components_DIR/Build/$TARGET/Components/GAMs/IOGAM
-
-export LD_LIBRARY_PATH=$LIBS:$LD_LIBRARY_PATH
-
-# ./Build/Test/Integration/IntegrationTest -f Test/Configurations/debug_test.cfg -l RealTimeLoader -s State1
-$MARTE_APP -f $DIR/Test/Configurations/debug_test.cfg -l RealTimeLoader -s State1
+echo "Starting MARTe2 Integration Tests..."
+./Build/Test/Integration/ValidationTest