Source/Components/Interfaces/DebugService/DebugService.cpp

@@ -7,11 +7,15 @@
 #include "GAM.h"
 #include "GlobalObjectsDatabase.h"
 #include "HighResolutionTimer.h"
+#include "LoggerService.h"
 #include "Message.h"
 #include "ObjectBuilder.h"
 #include "ObjectRegistryDatabase.h"
+#include "Threads.h"
+#include "Sleep.h"
 #include "StreamString.h"
 #include "TimeoutType.h"
+#include "TcpLogger.h"
 #include "TypeConversion.h"
 #include "ReferenceT.h"
 
@@ -95,6 +99,8 @@ DebugService::DebugService()
   isPaused = false;
   manualConfigSet = false;
   activeClient = NULL_PTR(BasicTCPSocket *);
+  streamerPacketOffset = 0u;
+  streamerSequenceNumber = 0u;
 }
 
 DebugService::~DebugService() {
@@ -186,6 +192,70 @@ bool DebugService::Initialise(StructuredDataI &data) {
   return true;
 }
 
+void DebugService::InjectTcpLoggerIfNeeded() {
+  if (logPort == 0u)
+    return;
+
+  // Check if the ORD already contains a LoggerService with at least one TcpLogger.
+  // If so, leave it untouched.
+  Reference existing = ObjectRegistryDatabase::Instance()->Find("LoggerService");
+  if (existing.IsValid()) {
+    ReferenceContainer *rc = dynamic_cast<ReferenceContainer *>(existing.operator->());
+    if (rc != NULL_PTR(ReferenceContainer *)) {
+      for (uint32 i = 0u; i < rc->Size(); i++) {
+        ReferenceT<TcpLogger> child = rc->Get(i);
+        if (child.IsValid()) {
+          printf("[DebugService] Found existing TcpLogger in LoggerService — skipping injection.\n");
+          return;
+        }
+      }
+    }
+  }
+
+  // Build a CDB that mirrors the config-file declaration:
+  //   LoggerService node (current position)
+  //     Class    = LoggerService
+  //     CPUs     = 1
+  //     DebugConsumer (child)
+  //       Class  = TcpLogger
+  //       Port   = <logPort>
+  ConfigurationDatabase lsCdb;
+  (void)lsCdb.Write("Class", "LoggerService");
+  uint32 cpus = 1u;
+  (void)lsCdb.Write("CPUs", cpus);
+  // ReferenceContainer::Initialise only instantiates children whose names
+  // start with '+' (matching the StandardParser convention).
+  if (lsCdb.CreateRelative("+DebugConsumer")) {
+    (void)lsCdb.Write("Class", "TcpLogger");
+    uint32 p = static_cast<uint32>(logPort);
+    (void)lsCdb.Write("Port", p);
+    (void)lsCdb.MoveToAncestor(1u);
+  }
+  (void)lsCdb.MoveToRoot();
+
+  ReferenceT<LoggerService> ls(
+      "LoggerService", GlobalObjectsDatabase::Instance()->GetStandardHeap());
+  if (!ls.IsValid()) {
+    printf("[DebugService] Failed to create LoggerService object.\n");
+    return;
+  }
+  ls->SetName("LoggerService");
+  if (!ls->Initialise(lsCdb)) {
+    printf("[DebugService] LoggerService::Initialise() failed.\n");
+    return;
+  }
+
+  // Insert into the ORD so it is findable by name and cleaned up on shutdown.
+  if (!ObjectRegistryDatabase::Instance()->Insert(ls)) {
+    printf("[DebugService] Failed to insert LoggerService into ORD.\n");
+    // Keep a local reference anyway so the logger thread stays alive.
+  }
+
+  // The ORD now holds a reference to ls; the LoggerService stays alive until
+  // ObjectRegistryDatabase::Purge().  No need to store a local reference.
+  printf("[DebugService] Auto-injected LoggerService + TcpLogger on port %u.\n", logPort);
+}
+
 void DebugService::SetFullConfig(ConfigurationDatabase &config) {
   config.MoveToRoot();
   config.Copy(fullConfig);
@@ -215,9 +285,48 @@ static void BuildCDBFromContainer(ReferenceContainer *container,
     if (className != NULL_PTR(const char8 *))
       (void)cdb.Write("Class", className);
 
-    // Export the object's own properties (standard fields, parameters).
-    // Custom config-file-only fields (PVName etc.) are not available here.
-    (void)child->ExportData(cdb);
+    // Export scalar parameters via a SEPARATE CDB so the live cursor is
+    // never touched by ExportData.  Then copy only top-level LEAF values
+    // (i.e. scalars where MoveRelative fails) and skip sub-nodes.
+    //
+    // This avoids two ExportData pitfalls:
+    //   1. ReferenceContainer::ExportData writes numeric-indexed child nodes
+    //      (+0, +1, ...) — those are sub-nodes and get filtered out.
+    //   2. Some DataSource ExportData implementations follow internal
+    //      references and write sibling objects as children — also sub-nodes,
+    //      also filtered out.
+    //
+    // Scalar parameters (ControlPort, UdpPort, CPUs, Port, ...) pass through
+    // because they are leaf values, not sub-nodes.
+    {
+      ConfigurationDatabase exportCdb;
+      if (child->ExportData(exportCdb)) {
+        exportCdb.MoveToRoot();
+        uint32 nExport = exportCdb.GetNumberOfChildren();
+        for (uint32 j = 0u; j < nExport; j++) {
+          const char8 *ek = exportCdb.GetChildName(j);
+          if (StringHelper::Compare(ek, "Class") == 0 ||
+              StringHelper::Compare(ek, "Name") == 0 ||
+              StringHelper::Compare(ek, "IsContainer") == 0)
+            continue;
+          // Sub-node check: MoveRelative succeeds only for nodes, not scalars
+          if (exportCdb.MoveRelative(ek)) {
+            exportCdb.MoveToAncestor(1u);
+            continue; // skip sub-nodes entirely
+          }
+          // Leaf scalar — convert to string and write into the main CDB
+          AnyType at = exportCdb.GetType(ek);
+          if (at.GetDataPointer() != NULL_PTR(void *)) {
+            char8 buf[1024];
+            AnyType st(CharString, 0u, buf);
+            st.SetNumberOfElements(0, 1024);
+            if (TypeConvert(st, at)) {
+              (void)cdb.Write(ek, buf);
+            }
+          }
+        }
+      }
+    }
 
     ReferenceContainer *sub =
         dynamic_cast<ReferenceContainer *>(child.operator->());
@@ -229,10 +338,24 @@ static void BuildCDBFromContainer(ReferenceContainer *container,
 }
 
 void DebugService::RebuildConfigFromRegistry() {
-  ConfigurationDatabase newConfig;
-  BuildCDBFromContainer(ObjectRegistryDatabase::Instance(), newConfig);
-  newConfig.MoveToRoot();
-  newConfig.Copy(fullConfig);
+  fullConfig = ConfigurationDatabase();
+  BuildCDBFromContainer(ObjectRegistryDatabase::Instance(), fullConfig);
+
+  // ExportData on ReferenceContainer subclasses (including DebugService itself)
+  // only writes Name/IsContainer/indexed children — it never re-emits the
+  // config-file parameters that were read in Initialise().  Write them back
+  // explicitly from the member variables that Initialise() stored.
+  const char8 *myName = GetName();
+  if (myName != NULL_PTR(const char8 *)) {
+    if (fullConfig.MoveRelative(myName)) {
+      (void)fullConfig.Write("ControlPort", static_cast<uint32>(controlPort));
+      (void)fullConfig.Write("UdpPort", static_cast<uint32>(streamPort));
+      (void)fullConfig.Write("LogPort", static_cast<uint32>(logPort));
+      if (streamIP.Size() > 0u)
+        (void)fullConfig.Write("StreamIP", streamIP.Buffer());
+      (void)fullConfig.MoveToAncestor(1u);
+    }
+  }
 }
 
 static void PatchItemInternal(const char8 *originalName,
@@ -416,63 +539,62 @@ ErrorManagement::ErrorType DebugService::Server(ExecutionInfo &info) {
     return ErrorManagement::NoError;
   if (info.GetStage() == ExecutionInfo::StartupStage) {
     serverThreadId = Threads::Id();
+    // Wait for ObjectRegistryDatabase::Initialise() to finish processing all
+    // sibling objects (LoggerService etc. come after DebugService in the config).
+    // 500 ms is well above any realistic initialisation time.
+    Sleep::MSec(500u);
+    InjectTcpLoggerIfNeeded();
     return ErrorManagement::NoError;
   }
-  while (info.GetStage() == ExecutionInfo::MainStage) {
-    while (activeClient == NULL_PTR(BasicTCPSocket *)) {
-      BasicTCPSocket *newClient = tcpServer.WaitConnection(TTInfiniteWait);
-      if (newClient != NULL_PTR(BasicTCPSocket *)) {
-        // Single connection mode: disconnect any existing client first
-        activeClient = newClient;
-      }
+  // The MARTe2 framework calls Execute() in a loop; each call should do
+  // one unit of work and return so the framework can check for Stop().
+  // This replaces the old internal infinite-while pattern.
+  if (activeClient == NULL_PTR(BasicTCPSocket *)) {
+    // Wait briefly for a new connection; return so the framework loop can
+    // check if Stop() was requested between calls.
+    BasicTCPSocket *newClient = tcpServer.WaitConnection(TimeoutType(100));
+    if (newClient != NULL_PTR(BasicTCPSocket *)) {
+      activeClient = newClient;
     }
-    // Single connection mode: only check client 0
-    {
-      if (activeClient != NULL_PTR(BasicTCPSocket *)) {
-        // Check if client is still connected
-        if (!activeClient->IsConnected()) {
-          activeClient->Close();
-          delete activeClient;
-          activeClient = NULL_PTR(BasicTCPSocket *);
-
-        } else {
-          char buffer[1024];
-          uint32 size = 1024;
-          if (activeClient->Read(buffer, size)) {
-            if (size > 0) {
-              // Process each line separately
-              char *ptr = buffer;
-              char *end = buffer + size;
-              while (ptr < end) {
-                char *newline = (char *)memchr(ptr, '\n', end - ptr);
-                if (!newline) {
-                  break;
-                }
-                *newline = '\0';
-                // Skip carriage return if present
-                if (newline > ptr && *(newline - 1) == '\r')
-                  *(newline - 1) = '\0';
-                StreamString command;
-                uint32 len = (uint32)(newline - ptr);
-                command.Write(ptr, len);
-                if (command.Size() > 0) {
-                  HandleCommand(command, activeClient);
-                }
-                ptr = newline + 1;
-              }
+  } else {
+    // Check if client is still connected
+    if (!activeClient->IsConnected()) {
+      activeClient->Close();
+      delete activeClient;
+      activeClient = NULL_PTR(BasicTCPSocket *);
+    } else {
+      char buffer[1024];
+      uint32 size = 1024;
+      if (activeClient->Read(buffer, size)) {
+        if (size > 0) {
+          // Process each line separately
+          char *ptr = buffer;
+          char *end = buffer + size;
+          while (ptr < end) {
+            char *newline = (char *)memchr(ptr, '\n', end - ptr);
+            if (!newline) {
+              break;
             }
-          } else {
-            // // Read failed (client disconnected or error), clean up
-            if (activeClient != NULL_PTR(BasicTCPSocket *)) {
-              activeClient->Close();
-              delete activeClient;
-              activeClient = NULL_PTR(BasicTCPSocket *);
+            *newline = '\0';
+            // Skip carriage return if present
+            if (newline > ptr && *(newline - 1) == '\r')
+              *(newline - 1) = '\0';
+            StreamString command;
+            uint32 len = (uint32)(newline - ptr);
+            command.Write(ptr, len);
+            if (command.Size() > 0) {
+              HandleCommand(command, activeClient);
             }
+            ptr = newline + 1;
           }
         }
+      } else {
+        // Read failed (client disconnected or error), clean up
+        activeClient->Close();
+        delete activeClient;
+        activeClient = NULL_PTR(BasicTCPSocket *);
       }
     }
-    Sleep::MSec(10);
   }
   return ErrorManagement::NoError;
 }
@@ -484,71 +606,68 @@ ErrorManagement::ErrorType DebugService::Streamer(ExecutionInfo &info) {
     streamerThreadId = Threads::Id();
     return ErrorManagement::NoError;
   }
+  // Set UDP destination (idempotent, called each Execute() invocation)
   InternetHost dest(streamPort, streamIP.Buffer());
   (void)udpSocket.SetDestination(dest);
-  uint8 packetBuffer[4096];
-  uint32 packetOffset = 0;
-  uint32 sequenceNumber = 0;
-  while (info.GetStage() == ExecutionInfo::MainStage) {
-    // Poll monitored signals
-    uint64 currentTimeMs = (uint64)((float64)HighResolutionTimer::Counter() *
-                                    HighResolutionTimer::Period() * 1000.0);
-    mutex.FastLock();
-    for (uint32 i = 0; i < monitoredSignals.Size(); i++) {
-      if (currentTimeMs >= (monitoredSignals[i].lastPollTime + monitoredSignals[i].periodMs)) {
-        monitoredSignals[i].lastPollTime = currentTimeMs;
-        uint64 ts = (uint64)((float64)HighResolutionTimer::Counter() *
-                             HighResolutionTimer::Period() * 1000000.0);
 
-        void *address = NULL_PTR(void *);
-        if (monitoredSignals[i].dataSource->GetSignalMemoryBuffer(monitoredSignals[i].signalIdx, 0, address)) {
-            traceBuffer.Push(monitoredSignals[i].internalID, ts, (uint8 *)address, monitoredSignals[i].size);
-        }
+  // Poll monitored signals
+  uint64 currentTimeMs = (uint64)((float64)HighResolutionTimer::Counter() *
+                                  HighResolutionTimer::Period() * 1000.0);
+  mutex.FastLock();
+  for (uint32 i = 0; i < monitoredSignals.Size(); i++) {
+    if (currentTimeMs >= (monitoredSignals[i].lastPollTime + monitoredSignals[i].periodMs)) {
+      monitoredSignals[i].lastPollTime = currentTimeMs;
+      uint64 ts = (uint64)((float64)HighResolutionTimer::Counter() *
+                           HighResolutionTimer::Period() * 1000000.0);
+      void *address = NULL_PTR(void *);
+      if (monitoredSignals[i].dataSource->GetSignalMemoryBuffer(monitoredSignals[i].signalIdx, 0, address)) {
+        traceBuffer.Push(monitoredSignals[i].internalID, ts, (uint8 *)address, monitoredSignals[i].size);
       }
     }
-    mutex.FastUnLock();
+  }
+  mutex.FastUnLock();
 
-    uint32 id, size;
-    uint64 ts;
-    uint8 sampleData[1024];
-    bool hasData = false;
-    while ((info.GetStage() == ExecutionInfo::MainStage) &&
-           traceBuffer.Pop(id, ts, sampleData, size, 1024)) {
-      hasData = true;
-      if (packetOffset == 0) {
-        TraceHeader header;
-        header.magic = 0xDA7A57AD;
-        header.seq = sequenceNumber++;
-        header.timestamp = HighResolutionTimer::Counter();
-        header.count = 0;
-        memcpy(packetBuffer, &header, sizeof(TraceHeader));
-        packetOffset = sizeof(TraceHeader);
-      }
-      if (packetOffset + 16 + size > 1400) {
-        uint32 toWrite = packetOffset;
-        (void)udpSocket.Write((char8 *)packetBuffer, toWrite);
-        TraceHeader header;
-        header.magic = 0xDA7A57AD;
-        header.seq = sequenceNumber++;
-        header.timestamp = HighResolutionTimer::Counter();
-        header.count = 0;
-        memcpy(packetBuffer, &header, sizeof(TraceHeader));
-        packetOffset = sizeof(TraceHeader);
-      }
-      memcpy(&packetBuffer[packetOffset], &id, 4);
-      memcpy(&packetBuffer[packetOffset + 4], &ts, 8);
-      memcpy(&packetBuffer[packetOffset + 12], &size, 4);
-      memcpy(&packetBuffer[packetOffset + 16], sampleData, size);
-      packetOffset += (16 + size);
-      ((TraceHeader *)packetBuffer)->count++;
+  // Drain ring buffer into UDP packet(s)
+  uint32 id, size;
+  uint64 ts;
+  uint8 sampleData[1024];
+  bool hasData = false;
+  while (traceBuffer.Pop(id, ts, sampleData, size, 1024)) {
+    hasData = true;
+    if (streamerPacketOffset == 0u) {
+      TraceHeader header;
+      header.magic = 0xDA7A57AD;
+      header.seq = streamerSequenceNumber++;
+      header.timestamp = HighResolutionTimer::Counter();
+      header.count = 0;
+      memcpy(streamerPacketBuffer, &header, sizeof(TraceHeader));
+      streamerPacketOffset = sizeof(TraceHeader);
     }
-    if (packetOffset > 0) {
-      uint32 toWrite = packetOffset;
-      (void)udpSocket.Write((char8 *)packetBuffer, toWrite);
-      packetOffset = 0;
+    if (streamerPacketOffset + 16u + size > 1400u) {
+      uint32 toWrite = streamerPacketOffset;
+      (void)udpSocket.Write((char8 *)streamerPacketBuffer, toWrite);
+      TraceHeader header;
+      header.magic = 0xDA7A57AD;
+      header.seq = streamerSequenceNumber++;
+      header.timestamp = HighResolutionTimer::Counter();
+      header.count = 0;
+      memcpy(streamerPacketBuffer, &header, sizeof(TraceHeader));
+      streamerPacketOffset = sizeof(TraceHeader);
     }
-    if (!hasData)
-      Sleep::MSec(1);
+    memcpy(&streamerPacketBuffer[streamerPacketOffset], &id, 4);
+    memcpy(&streamerPacketBuffer[streamerPacketOffset + 4], &ts, 8);
+    memcpy(&streamerPacketBuffer[streamerPacketOffset + 12], &size, 4);
+    memcpy(&streamerPacketBuffer[streamerPacketOffset + 16], sampleData, size);
+    streamerPacketOffset += (16u + size);
+    ((TraceHeader *)streamerPacketBuffer)->count++;
+  }
+  if (streamerPacketOffset > 0u) {
+    uint32 toWrite = streamerPacketOffset;
+    (void)udpSocket.Write((char8 *)streamerPacketBuffer, toWrite);
+    streamerPacketOffset = 0u;
+  }
+  if (!hasData) {
+    Sleep::MSec(1);
   }
   return ErrorManagement::NoError;
 }
@@ -659,55 +778,66 @@ void DebugService::HandleCommand(StreamString cmd, BasicTCPSocket *client) {
                         msgConfig.Write("Mode", "ExpectsReply");
                     }
             
-                    if (payload.Size() > 0u) {
+                    // Parse payload key=value lines into a ConfigurationDatabase.
+                    // ConstantGAM::SetOutput (and similar handlers) expect a
+                    // ReferenceT<StructuredDataI> inserted into the Message's
+                    // reference container — NOT a sub-node of the message config.
+                    ReferenceT<ConfigurationDatabase> paramCdb(
+                        "ConfigurationDatabase",
+                        GlobalObjectsDatabase::Instance()->GetStandardHeap());
+
+                    if (payload.Size() > 0u && paramCdb.IsValid()) {
                       payload.Seek(0u);
                       StreamString line;
                       while (payload.GetToken(line, "\n", term)) {
                         if (line.Size() > 0u) {
                           const char8 *eq = StringHelper::SearchChar(line.Buffer(), '=');
                           if (eq != NULL_PTR(const char8 *)) {
-                            StreamString key, val;
                             uint32 eqPos = (uint32)(eq - line.Buffer());
                             (void)line.Seek(0u);
 
-                            char8* keyBuf = new char8[eqPos + 1];
+                            char8 keyBuf[256] = {'\0'};
                             uint32 keyReadSize = eqPos;
-                            if (line.Read(keyBuf, keyReadSize)) {
-                                keyBuf[eqPos] = '\0';
-                                key = keyBuf;
-                            }
-                            delete[] keyBuf;
+                            (void)line.Read(keyBuf, keyReadSize);
 
                             (void)line.Seek(eqPos + 1u);
-                            uint32 valLen = line.Size() - eqPos - 1u;
-                            char8* valBuf = new char8[valLen + 1];
-                            uint32 valReadSize = valLen;
-                            if (line.Read(valBuf, valReadSize)) {
-                                valBuf[valLen] = '\0';
-                                val = valBuf;
+                            uint32 valLen = (uint32)(line.Size() - eqPos - 1u);
+                            char8 valBuf[1024] = {'\0'};
+                            (void)line.Read(valBuf, valLen);
+
+                            // Trim trailing whitespace from value
+                            for (int32 ti = (int32)valLen - 1; ti >= 0; ti--) {
+                              if (valBuf[ti] == ' ' || valBuf[ti] == '\r' || valBuf[ti] == '\t')
+                                valBuf[ti] = '\0';
+                              else
+                                break;
                             }
-                            delete[] valBuf;
 
-                                            if (key.Size() > 0u) {
-                                              if (msgConfig.CreateRelative("Payload")) {
-                                                (void)msgConfig.Write(key.Buffer(), val.Buffer());
-                                                (void)msgConfig.MoveToAncestor(1u);
-                                              }
-                                            }
+                            StreamString key = keyBuf;
+                            key = key.Buffer();  // trim happens via assignment
+                            // Trim leading whitespace from key
+                            const char8 *kp = keyBuf;
+                            while (*kp == ' ' || *kp == '\t') kp++;
 
+                            if (*kp != '\0') {
+                              (void)paramCdb->Write(kp, valBuf);
+                            }
                           }
                         }
                         line = "";
                       }
                     }
 
-                                            ErrorManagement::ErrorType err = ErrorManagement::ParametersError;
-                                                    if (msg->Initialise(msgConfig)) {
+                    ErrorManagement::ErrorType err = ErrorManagement::ParametersError;
+                    if (msg->Initialise(msgConfig)) {
+                      if (paramCdb.IsValid() && payload.Size() > 0u) {
+                        // Insert the CDB as a ReferenceT<StructuredDataI> parameter
+                        (void)msg->Insert(paramCdb);
+                      }
                                                         // Find destination object in the global database
                                                         Reference destObj = ObjectRegistryDatabase::Instance()->Find(dest.Buffer());
                                                         if (destObj.IsValid()) {
                                                             Object* sender = this;
-                                                            // Double check if we are in the registry to be a valid sender
                                                             StreamString myPath;
                                                             if (!GetFullObjectName(*this, myPath)) {
                                                                 sender = NULL_PTR(Object*);
@@ -716,10 +846,13 @@ void DebugService::HandleCommand(StreamString cmd, BasicTCPSocket *client) {
                                                             if (wait) {
                                                               err = MessageI::WaitForReply(msg, TTInfiniteWait);
                                                             } else {
-                                                              err = MessageI::SendMessage(msg, sender);
+                                                              (void)MessageI::SendMessage(msg, sender);
+                                                              // Fire-and-forget: destination found, message sent.
+                                                              // Whether the recipient had a matching filter is not
+                                                              // reported back to the caller — return OK.
+                                                              err = ErrorManagement::NoError;
                                                             }
                                                         } else {
-                                            
                                                     printf("<debug> MSG: Destination object %s not found in ORD\n", dest.Buffer());
                                                 }
                                                 

Source/Components/Interfaces/DebugService/DebugService.h

@@ -9,6 +9,7 @@
 #include "MessageI.h"
 #include "Object.h"
 #include "ReferenceContainer.h"
+#include "ReferenceT.h"
 #include "SingleThreadService.h"
 #include "StreamString.h"
 #include "Vec.h"
@@ -92,6 +93,7 @@ public:
 private:
   void HandleCommand(StreamString cmd, BasicTCPSocket *client);
   void UpdateBrokersActiveStatus();
+  void InjectTcpLoggerIfNeeded();
 
   uint32 ExportTree(ReferenceContainer *container, StreamString &json, const char8 *pathPrefix);
   void PatchRegistry();
@@ -122,7 +124,6 @@ private:
       if (type == StreamerType) {
         return parent->Streamer(info);
       }
-      printf("serve TCP\n");
       return parent->Server(info);
     }
 
@@ -150,6 +151,11 @@ private:
 
   BasicTCPSocket *activeClient;
 
+  // Streamer state persisted across Execute() calls (framework loops Execute)
+  uint8 streamerPacketBuffer[4096];
+  uint32 streamerPacketOffset;
+  uint32 streamerSequenceNumber;
+
   ConfigurationDatabase fullConfig;
   bool manualConfigSet;
 

Source/Components/Interfaces/TCPLogger/TcpLogger.cpp

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

Source/Components/Interfaces/TCPLogger/TcpLogger.h

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

Test/Configurations/debug_test.cfg

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

Test/Integration/ConfigCommandTest.cpp

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

Test/Integration/IntegrationTests.cpp

@@ -21,7 +21,7 @@ void timeout_handler(int sig) {
 }
 
 void ErrorProcessFunction(const MARTe::ErrorManagement::ErrorInformation &errorInfo, const char8 * const errorDescription) {
-    // printf("[MARTe Error] %s: %s\n", errorInfo.className, errorDescription);
+    printf("[MARTe Error] %s: %s\n", errorInfo.className, errorDescription);
 }
 
 // Forward declarations of other tests

Test/Integration/TreeCommandTest.cpp

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

Tools/gui_client/src/main.rs

@@ -155,12 +155,38 @@ struct PlotInstance {
     auto_bounds: bool,
 }
 
+#[derive(Clone, PartialEq)]
+enum MsgStatus {
+    Unknown,
+    Success,
+    Failure,
+}
+
+#[derive(Clone)]
+struct MessageHistoryEntry {
+    time: String,
+    destination: String,
+    function: String,
+    payload: String,
+    wait_reply: bool,
+    raw_cmd: String,
+    response: String,
+    status: MsgStatus,
+}
+
+#[derive(Clone, PartialEq)]
+enum MainTab {
+    Plots,
+    Config,
+}
+
 enum InternalEvent {
     Log(LogEntry),
     Discovery(Vec<Signal>),
     Tree(TreeItem),
     CommandResponse(String),
     NodeInfo(String),
+    ConfigResponse(String),
     Connected,
     Disconnected,
     InternalLog(String),
@@ -170,7 +196,7 @@ enum InternalEvent {
     UdpDropped(u32),
     RecordPathChosen(String, String), // SignalName, FilePath
     RecordingError(String, String),   // SignalName, ErrorMessage
-    TelemMatched(u32),                // Signal ID
+    TelemMatched(u32),
     ServiceConfig { udp_port: String, log_port: String },
 }
 
@@ -236,7 +262,6 @@ struct MarteDebugApp {
     node_info: String,
     udp_packets: u64,
     udp_dropped: u64,
-    telem_match_count: HashMap<u32, u64>,
     forcing_dialog: Option<ForcingDialog>,
     monitoring_dialog: Option<MonitorDialog>,
     message_dialog: Option<MessageDialog>,
@@ -246,6 +271,11 @@ struct MarteDebugApp {
     internal_tx: Sender<InternalEvent>,
     shared_x_range: Option<[f64; 2]>,
     scope: ScopeSettings,
+    active_main_tab: MainTab,
+    app_config_text: String,
+    message_history: Vec<MessageHistoryEntry>,
+    show_message_history: bool,
+    pending_msg_idx: Option<usize>,
 }
 
 impl MarteDebugApp {
@@ -317,7 +347,6 @@ impl MarteDebugApp {
             node_info: "".to_string(),
             udp_packets: 0,
             udp_dropped: 0,
-            telem_match_count: HashMap::new(),
             forcing_dialog: None,
             monitoring_dialog: None,
             message_dialog: None,
@@ -340,6 +369,11 @@ impl MarteDebugApp {
                 last_trigger_time: 0.0,
                 is_armed: true,
             },
+            active_main_tab: MainTab::Plots,
+            app_config_text: String::new(),
+            message_history: Vec::new(),
+            show_message_history: true,
+            pending_msg_idx: None,
         }
     }
 
@@ -545,6 +579,76 @@ impl MarteDebugApp {
     }
 }
 
+/// Emit the body of a JSON object as MARTe2 config lines at the given indent level.
+/// `Class` is always emitted first; child objects with a `Class` key get `+` prefix.
+fn json_node_to_marte(map: &serde_json::Map<String, serde_json::Value>, indent: usize) -> String {
+    let pad = "    ".repeat(indent);
+    let mut out = String::new();
+
+    // Class first
+    if let Some(serde_json::Value::String(cls)) = map.get("Class") {
+        out.push_str(&format!("{}Class = {}\n", pad, cls));
+    }
+
+    // Collect and sort remaining keys so output is deterministic
+    let mut keys: Vec<&String> = map.keys().filter(|k| k.as_str() != "Class").collect();
+    keys.sort();
+
+    for key in keys {
+        let val = &map[key];
+        match val {
+            serde_json::Value::Object(child_map) => {
+                let prefix = if child_map.contains_key("Class") { "+" } else { "" };
+                out.push_str(&format!("{}{}{} = {{\n", pad, prefix, key));
+                out.push_str(&json_node_to_marte(child_map, indent + 1));
+                out.push_str(&format!("{}}}\n", pad));
+            }
+            serde_json::Value::String(s) => {
+                out.push_str(&format!("{}{} = {}\n", pad, key, s));
+            }
+            serde_json::Value::Null => {
+                out.push_str(&format!("{}{} =\n", pad, key));
+            }
+            other => {
+                out.push_str(&format!("{}{} = {}\n", pad, key, other));
+            }
+        }
+    }
+    out
+}
+
+fn convert_config_json(json_text: &str) -> String {
+    let root = match serde_json::from_str::<serde_json::Value>(json_text) {
+        Ok(v) => v,
+        Err(_) => return json_text.to_string(),
+    };
+    let map = match root.as_object() {
+        Some(m) => m,
+        None => return json_text.to_string(),
+    };
+    let mut out = String::new();
+    let mut keys: Vec<&String> = map.keys().collect();
+    keys.sort();
+    for key in keys {
+        let val = &map[key];
+        match val {
+            serde_json::Value::Object(child_map) => {
+                // Top-level nodes always get + (they are named MARTe2 objects)
+                out.push_str(&format!("+{} = {{\n", key));
+                out.push_str(&json_node_to_marte(child_map, 1));
+                out.push_str("}\n\n");
+            }
+            serde_json::Value::String(s) => {
+                out.push_str(&format!("{} = {}\n", key, s));
+            }
+            other => {
+                out.push_str(&format!("{} = {}\n", key, other));
+            }
+        }
+    }
+    out
+}
+
 fn tcp_command_worker(
     shared_config: Arc<Mutex<ConnectionConfig>>,
     rx_cmd: Receiver<String>,
@@ -630,6 +734,12 @@ fn tcp_command_worker(
                             let _ = tx_events_inner
                                 .send(InternalEvent::NodeInfo(json_clean.to_string()));
                             json_acc.clear();
+                        } else if trimmed.contains("OK CONFIG") {
+                            in_json = false;
+                            let text = json_acc.split("OK CONFIG").next().unwrap_or("").trim();
+                            let _ = tx_events_inner
+                                .send(InternalEvent::ConfigResponse(text.to_string()));
+                            json_acc.clear();
                         }
                     } else {
                         if trimmed.starts_with("OK SERVICE_INFO") {
@@ -882,6 +992,23 @@ fn udp_worker(
                     last_warning_time = std::time::Instant::now();
                 }
 
+                // Resolve the base timestamp once per packet, not per signal.
+                // BASE_TELEM_TS is a global lazy Mutex; locking it inside the
+                // inner loop at 1 kHz × N_signals/packet was a major bottleneck.
+                let packet_base_ts: Option<u64> = {
+                    let mut guard = BASE_TELEM_TS.lock().unwrap();
+                    if guard.is_none() {
+                        // Peek at the first signal's timestamp to initialise base
+                        if n >= 20 + 12 {
+                            let first_ts = u64::from_le_bytes(
+                                buf[20 + 4..20 + 12].try_into().unwrap(),
+                            );
+                            *guard = Some(first_ts);
+                        }
+                    }
+                    *guard
+                };
+
                 for _ in 0..count {
                     if offset + 16 > n {
                         break;
@@ -898,21 +1025,15 @@ fn udp_worker(
                     }
                     let data_slice = &buf[offset..offset + size as usize];
 
-                    let mut base_ts_guard = BASE_TELEM_TS.lock().unwrap();
-                    if base_ts_guard.is_none() {
-                        *base_ts_guard = Some(ts_raw);
-                    }
-
-                    let base = base_ts_guard.unwrap();
-                    let ts_s = if ts_raw >= base {
-                        (ts_raw - base) as f64 / 1000000.0
+                    let ts_s = if let Some(base) = packet_base_ts {
+                        if ts_raw >= base { (ts_raw - base) as f64 / 1_000_000.0 } else { 0.0 }
                     } else {
-                        0.0 // Avoid huge jitter wrap-around
+                        0.0
                     };
-                    drop(base_ts_guard);
 
                     if let Some(meta) = metas.get(&id) {
-                        let _ = tx_events.send(InternalEvent::TelemMatched(id));
+                        // Do NOT send a channel event per signal — at 1kHz×N this
+                        // floods the event queue and causes the UI spiral slowdown.
                         let t = meta.sig_type.as_str();
                         let type_size = if meta.elements > 0 { size / meta.elements } else { size };
                         
@@ -1110,15 +1231,30 @@ impl eframe::App for MarteDebugApp {
                     });
                 }
                 InternalEvent::CommandResponse(resp) => {
+                    // Resolve pending MSG history entry
+                    if let Some(idx) = self.pending_msg_idx {
+                        if resp.contains("MSG") {
+                            if let Some(entry) = self.message_history.get_mut(idx) {
+                                entry.response = resp.clone();
+                                entry.status = if resp.starts_with("OK") {
+                                    MsgStatus::Success
+                                } else {
+                                    MsgStatus::Failure
+                                };
+                            }
+                            self.pending_msg_idx = None;
+                        }
+                    }
                     self.logs.push_back(LogEntry {
                         time: Local::now().format("%H:%M:%S").to_string(),
                         level: "CMD_RESP".to_string(),
                         message: resp,
                     });
                 }
-                InternalEvent::TelemMatched(id) => {
-                    *self.telem_match_count.entry(id).or_insert(0) += 1;
+                InternalEvent::ConfigResponse(text) => {
+                    self.app_config_text = convert_config_json(&text);
                 }
+                InternalEvent::TelemMatched(_) => {}
                 InternalEvent::RecordPathChosen(name, path) => {
                     let mut data_map = self.traced_signals.lock().unwrap();
                     if let Some(entry) = data_map.get_mut(&name) {
@@ -1275,16 +1411,23 @@ impl eframe::App for MarteDebugApp {
                 ui.horizontal(|ui| {
                     if ui.button("🚀 Send").clicked() {
                         let wait = if dialog.expect_reply { "1" } else { "0" };
-                        // Replace actual newlines with literal '\n' for the server-side tokenizer if needed,
-                        // or ensure the server handles the raw multi-line stream if the protocol allows it.
-                        // Given HandleCommand reads line-by-line, we must send it carefully.
-                        // Actually, our Server loop reads up to \n. 
-                        // So we should encode newlines in payload if we want to send them in one go.
                         let encoded_payload = dialog.payload.replace('\n', "\\n");
                         let cmd = format!(
                             "MSG {} {} {} {}",
                             dialog.destination, dialog.function, wait, encoded_payload
                         );
+                        let idx = self.message_history.len();
+                        self.message_history.push(MessageHistoryEntry {
+                            time: Local::now().format("%H:%M:%S").to_string(),
+                            destination: dialog.destination.clone(),
+                            function: dialog.function.clone(),
+                            payload: dialog.payload.clone(),
+                            wait_reply: dialog.expect_reply,
+                            raw_cmd: cmd.clone(),
+                            response: String::new(),
+                            status: MsgStatus::Unknown,
+                        });
+                        self.pending_msg_idx = Some(idx);
                         let _ = self.tx_cmd.send(cmd);
                         close = true;
                     }
@@ -1346,6 +1489,7 @@ impl eframe::App for MarteDebugApp {
             ui.horizontal(|ui| {
                 ui.toggle_value(&mut self.show_left_panel, "🗂 Tree");
                 ui.toggle_value(&mut self.show_right_panel, "📊 Signals");
+                ui.toggle_value(&mut self.show_message_history, "💬 Msgs");
                 ui.toggle_value(&mut self.show_bottom_panel, "📜 Logs");
                 ui.separator();
                 if ui.button("➕ Plot").clicked() {
@@ -1629,6 +1773,85 @@ impl eframe::App for MarteDebugApp {
                     for key in to_delete.iter() {
                         self.forced_signals.remove(key);
                     }
+
+                    if self.show_message_history {
+                        ui.separator();
+                        ui.horizontal(|ui| {
+                            ui.heading("Message History");
+                            ui.with_layout(egui::Layout::right_to_left(egui::Align::Center), |ui| {
+                                if ui.small_button("🗑 Clear").clicked() {
+                                    self.message_history.clear();
+                                    self.pending_msg_idx = None;
+                                }
+                            });
+                        });
+                        if self.message_history.is_empty() {
+                            ui.label(egui::RichText::new("No messages sent yet").italics().color(egui::Color32::GRAY));
+                        } else {
+                            egui::ScrollArea::vertical()
+                                .id_salt("msg_history_scroll")
+                                .max_height(300.0)
+                                .auto_shrink([false, true])
+                                .show(ui, |ui| {
+                                    let mut resend_cmd: Option<String> = None;
+                                    let mut edit_dialog: Option<MessageDialog> = None;
+                                    for entry in self.message_history.iter().rev() {
+                                        let (status_icon, status_color) = match entry.status {
+                                            MsgStatus::Success => ("✔", egui::Color32::from_rgb(100, 220, 100)),
+                                            MsgStatus::Failure => ("✘", egui::Color32::from_rgb(255, 100, 100)),
+                                            MsgStatus::Unknown => ("…", egui::Color32::from_rgb(255, 220, 50)),
+                                        };
+                                        ui.group(|ui| {
+                                            ui.horizontal(|ui| {
+                                                ui.label(egui::RichText::new(status_icon).color(status_color).strong());
+                                                ui.label(egui::RichText::new(&entry.time).color(egui::Color32::GRAY).monospace().small());
+                                            });
+                                            ui.label(format!("→ {}.{}", entry.destination, entry.function));
+                                            if !entry.payload.is_empty() {
+                                                ui.label(egui::RichText::new(&entry.payload).monospace().small().color(egui::Color32::from_rgb(180, 180, 255)));
+                                            }
+                                            if !entry.response.is_empty() {
+                                                ui.label(egui::RichText::new(&entry.response).small().color(status_color));
+                                            }
+                                            ui.horizontal(|ui| {
+                                                if ui.small_button("↩ Resend").clicked() {
+                                                    resend_cmd = Some(entry.raw_cmd.clone());
+                                                }
+                                                if ui.small_button("✏ Edit").clicked() {
+                                                    edit_dialog = Some(MessageDialog {
+                                                        destination: entry.destination.clone(),
+                                                        function: entry.function.clone(),
+                                                        payload: entry.payload.clone(),
+                                                        expect_reply: entry.wait_reply,
+                                                    });
+                                                }
+                                            });
+                                        });
+                                    }
+                                    if let Some(cmd) = resend_cmd {
+                                        let idx = self.message_history.len();
+                                        // find the matching history entry to clone metadata
+                                        if let Some(orig) = self.message_history.iter().find(|e| e.raw_cmd == cmd) {
+                                            self.message_history.push(MessageHistoryEntry {
+                                                time: Local::now().format("%H:%M:%S").to_string(),
+                                                destination: orig.destination.clone(),
+                                                function: orig.function.clone(),
+                                                payload: orig.payload.clone(),
+                                                wait_reply: orig.wait_reply,
+                                                raw_cmd: cmd.clone(),
+                                                response: String::new(),
+                                                status: MsgStatus::Unknown,
+                                            });
+                                        }
+                                        self.pending_msg_idx = Some(idx);
+                                        let _ = self.tx_cmd.send(cmd);
+                                    }
+                                    if let Some(dialog) = edit_dialog {
+                                        self.message_dialog = Some(dialog);
+                                    }
+                                });
+                        }
+                    }
                 });
         }
 
@@ -1712,6 +1935,35 @@ impl eframe::App for MarteDebugApp {
         }
 
         egui::CentralPanel::default().show(ctx, |ui| {
+            ui.horizontal(|ui| {
+                ui.selectable_value(&mut self.active_main_tab, MainTab::Plots, "📈 Plots");
+                ui.selectable_value(&mut self.active_main_tab, MainTab::Config, "⚙ Config");
+            });
+            ui.separator();
+            if self.active_main_tab == MainTab::Config {
+                ui.horizontal(|ui| {
+                    if ui.button("🔄 Refresh").clicked() {
+                        let _ = self.tx_cmd.send("CONFIG".to_string());
+                    }
+                    ui.label(egui::RichText::new("Application Configuration").color(egui::Color32::GRAY));
+                });
+                ui.separator();
+                egui::ScrollArea::both()
+                    .auto_shrink([false, false])
+                    .show(ui, |ui| {
+                        if self.app_config_text.is_empty() {
+                            ui.label(egui::RichText::new("Press Refresh to load the configuration").italics().color(egui::Color32::GRAY));
+                        } else {
+                            ui.add(
+                                egui::Label::new(
+                                    egui::RichText::new(&self.app_config_text).monospace(),
+                                )
+                                .selectable(true),
+                            );
+                        }
+                    });
+                return;
+            }
             let n_plots = self.plots.len();
             if n_plots > 0 {
                 let plot_height = ui.available_height() / n_plots as f32;
@@ -1909,6 +2161,241 @@ impl eframe::App for MarteDebugApp {
     }
 }
 
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    /// Parse MARTe2 config text into a serde_json Value tree so tests can do
+    /// structural comparisons without caring about whitespace or key ordering.
+    ///
+    /// Rules:
+    ///   `[+]Name = {`  → start of a named block
+    ///   `}`            → close current block
+    ///   `Name = Value` → leaf key-value (value stripped of surrounding quotes)
+    ///   `Name = {value}` (e.g. `Functions = {GAM1}`) → leaf, not a block
+    fn parse_marte_config(text: &str) -> serde_json::Value {
+        let mut stack: Vec<serde_json::Map<String, serde_json::Value>> =
+            vec![serde_json::Map::new()];
+        let mut name_stack: Vec<String> = vec![];
+        for line in text.lines() {
+            let trimmed = line.trim();
+            if trimmed.is_empty() || trimmed.starts_with("//") || trimmed.starts_with("/*") {
+                continue;
+            }
+            if trimmed == "}" {
+                if stack.len() > 1 {
+                    let child = stack.pop().unwrap();
+                    let name = name_stack.pop().unwrap();
+                    stack.last_mut().unwrap().insert(name, serde_json::Value::Object(child));
+                }
+                continue;
+            }
+            let clean = trimmed.trim_start_matches('+');
+            if let Some(eq_pos) = clean.find('=') {
+                let key = clean[..eq_pos].trim().to_string();
+                let val = clean[eq_pos + 1..].trim();
+                // A block opens only if the value is exactly `{`
+                if val == "{" {
+                    stack.push(serde_json::Map::new());
+                    name_stack.push(key);
+                } else {
+                    let val_clean = val.trim_matches('"').to_string();
+                    stack.last_mut().unwrap().insert(key, serde_json::Value::String(val_clean));
+                }
+            }
+        }
+        serde_json::Value::Object(stack.remove(0))
+    }
+
+    /// Recursively assert that every object key with a `Class` value in `expected`
+    /// also exists with the same `Class` in `actual`.  Missing non-Class keys are
+    /// tolerated because `ExportData()` does not re-emit config-file-only fields
+    /// (e.g. signal configurations, Frequency, Samples).
+    fn assert_classes_match(
+        expected: &serde_json::Value,
+        actual: &serde_json::Value,
+        path: &str,
+    ) {
+        use serde_json::Value;
+        if let (Value::Object(exp_map), Value::Object(act_map)) = (expected, actual) {
+            if let Some(Value::String(exp_class)) = exp_map.get("Class") {
+                let act_class = act_map
+                    .get("Class")
+                    .and_then(|v| v.as_str())
+                    .unwrap_or("<missing>");
+                assert_eq!(
+                    exp_class.as_str(),
+                    act_class,
+                    "Class mismatch at '{}': expected '{}', got '{}'",
+                    path,
+                    exp_class,
+                    act_class
+                );
+            }
+            for (key, exp_child) in exp_map {
+                if key == "Class" {
+                    continue;
+                }
+                if let Some(act_child) = act_map.get(key) {
+                    let child_path = if path.is_empty() {
+                        key.clone()
+                    } else {
+                        format!("{}.{}", path, key)
+                    };
+                    assert_classes_match(exp_child, act_child, &child_path);
+                }
+                // Extra keys added by MARTe2 runtime are allowed
+            }
+        }
+    }
+
+    // ----- Unit tests for the JSON → MARTe2 converter -----
+
+    #[test]
+    fn test_convert_basic_structure() {
+        let json = r#"{"App":{"Class":"RealTimeApplication","Functions":{"Class":"ReferenceContainer","GAM1":{"Class":"IOGAM"}}}}"#;
+        let out = convert_config_json(json);
+        let parsed = parse_marte_config(&out);
+
+        assert_eq!(
+            parsed["App"]["Class"],
+            serde_json::Value::String("RealTimeApplication".into())
+        );
+        assert_eq!(
+            parsed["App"]["Functions"]["Class"],
+            serde_json::Value::String("ReferenceContainer".into())
+        );
+        assert_eq!(
+            parsed["App"]["Functions"]["GAM1"]["Class"],
+            serde_json::Value::String("IOGAM".into())
+        );
+        // Objects with Class must get + prefix
+        assert!(out.contains("+App = {"), "top-level object missing +");
+        assert!(out.contains("    +Functions = {"), "nested object with Class missing +");
+        assert!(out.contains("        +GAM1 = {"), "leaf object with Class missing +");
+    }
+
+    #[test]
+    fn test_no_plus_for_blocks_without_class() {
+        let json = r#"{"App":{"Class":"RealTimeApplication","Signals":{"Counter":{"Type":"uint32"}}}}"#;
+        let out = convert_config_json(json);
+        // Signals block has no Class → no + prefix
+        assert!(out.contains("    Signals = {"), "plain block should not have +");
+        assert!(!out.contains("    +Signals"), "plain block must not have + prefix");
+    }
+
+    #[test]
+    fn test_class_emitted_first() {
+        let json = r#"{"App":{"ZZZKey":"last","Class":"RealTimeApplication","AAA":"first_alpha"}}"#;
+        let out = convert_config_json(json);
+        let class_pos = out.find("Class = RealTimeApplication").unwrap();
+        let zzz_pos = out.find("ZZZKey = last").unwrap();
+        assert!(
+            class_pos < zzz_pos,
+            "Class must appear before other keys in the block"
+        );
+    }
+
+    #[test]
+    fn test_leaf_values_preserved() {
+        let json = r#"{"App":{"Class":"RealTimeApplication","ControlPort":"8080","StreamIP":"127.0.0.1"}}"#;
+        let out = convert_config_json(json);
+        assert!(out.contains("ControlPort = 8080"));
+        assert!(out.contains("StreamIP = 127.0.0.1"));
+    }
+
+    #[test]
+    fn test_round_trip_parse() {
+        // Build a JSON that mirrors what the server produces for debug_test.cfg
+        let json = r#"{
+            "App": {
+                "Class": "RealTimeApplication",
+                "Data": {"Class": "ReferenceContainer",
+                    "DDB": {"Class": "GAMDataSource"},
+                    "Timer": {"Class": "LinuxTimer"}
+                },
+                "Functions": {"Class": "ReferenceContainer",
+                    "GAM1": {"Class": "IOGAM"},
+                    "GAM2": {"Class": "IOGAM"}
+                },
+                "Scheduler": {"Class": "GAMScheduler", "TimingDataSource": "DAMS"},
+                "States": {"Class": "ReferenceContainer",
+                    "State1": {"Class": "RealTimeState"}
+                }
+            },
+            "DebugService": {
+                "Class": "DebugService",
+                "ControlPort": "8080",
+                "UdpPort": "8081"
+            }
+        }"#;
+        let out = convert_config_json(json);
+        let cfg_path = concat!(
+            env!("CARGO_MANIFEST_DIR"),
+            "/../../Test/Configurations/debug_test.cfg"
+        );
+        let original = std::fs::read_to_string(cfg_path).expect("debug_test.cfg not found");
+
+        // Parse both into trees and check that all Class values from the
+        // converted output are consistent with the original config
+        let converted_tree = parse_marte_config(&out);
+        let original_tree = parse_marte_config(&original);
+        assert_classes_match(&converted_tree, &original_tree, "");
+        // And vice-versa for the subset present in the JSON fixture
+        assert_classes_match(&original_tree, &converted_tree, "");
+    }
+
+    // ----- Integration test (requires running MARTe2 app) -----
+
+    #[test]
+    #[ignore = "requires running MARTe2 debug app — start with ./run_debug_app.sh first"]
+    fn test_live_config_matches_debug_test_cfg() {
+        use std::io::{BufRead, BufReader, Write};
+        use std::net::TcpStream;
+        use std::time::Duration;
+
+        let mut stream = TcpStream::connect("127.0.0.1:8080")
+            .expect("Could not connect to DebugService on 127.0.0.1:8080");
+        stream
+            .set_read_timeout(Some(Duration::from_secs(15)))
+            .unwrap();
+        stream.write_all(b"CONFIG\n").unwrap();
+
+        // Accumulate lines until the "OK CONFIG" sentinel
+        let reader = BufReader::new(stream);
+        let mut json_lines: Vec<String> = Vec::new();
+        for line in reader.lines() {
+            let line = line.expect("read error while receiving CONFIG response");
+            if line.trim() == "OK CONFIG" {
+                break;
+            }
+            json_lines.push(line);
+        }
+        let json_text = json_lines.join("\n");
+        assert!(!json_text.is_empty(), "Received empty CONFIG response from server");
+
+        // Convert server JSON to MARTe2 syntax
+        let converted = convert_config_json(&json_text);
+        assert!(!converted.is_empty(), "convert_config_json produced empty output");
+
+        // Load the reference config
+        let cfg_path = concat!(
+            env!("CARGO_MANIFEST_DIR"),
+            "/../../Test/Configurations/debug_test.cfg"
+        );
+        let original = std::fs::read_to_string(cfg_path).expect("debug_test.cfg not found");
+
+        let expected_tree = parse_marte_config(&original);
+        let actual_tree = parse_marte_config(&converted);
+
+        // Every named object present in the original config must appear in the live
+        // config with the same Class.  Config-file-only fields (InputSignals,
+        // OutputSignals, Frequency, etc.) are intentionally not checked because
+        // ExportData() does not re-emit them after ConfigureApplication().
+        assert_classes_match(&expected_tree, &actual_tree, "");
+    }
+}
+
 fn main() -> Result<(), eframe::Error> {
     let options = eframe::NativeOptions {
         viewport: egui::ViewportBuilder::default().with_inner_size([1280.0, 800.0]),