Martino Ferrari
146 lines
7.6 KiB
Markdown
146 lines
7.6 KiB
Markdown
# MARTe2 Debug Suite Specifications
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**Version:** 2.0
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**Status:** Active / Implemented
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---
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## 1. Executive Summary
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This project implements a "Zero-Code-Change" observability and debugging layer for the
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MARTe2 real-time framework. Developers can trace, force, and monitor any signal in a
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running MARTe2 application without modifying existing source code.
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The suite ships two interchangeable transport backends sharing a common abstract interface:
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- **`DebugService`** — TCP command channel + binary UDP telemetry + `TcpLogger` sidecar.
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Paired with a native Rust/egui GUI.
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- **`WebDebugService`** — HTTP command endpoint + Server-Sent Events telemetry, with an
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embedded single-page browser UI. No additional client software required.
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---
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## 2. System Architecture
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- **`DebugServiceI` (Abstract Interface):** Singleton that decouples the broker injection
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layer from the transport. Defined in `DebugServiceI.h`.
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- **`DebugService` (TCP/UDP Transport):** TCP text command channel (port 8080), binary UDP
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telemetry (port 8081), `TcpLogger` log sidecar (port 8082).
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- **`WebDebugService` (HTTP/SSE Transport):** Single HTTP port (default 8090) serving the
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embedded web UI, command API, and SSE telemetry stream.
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- **`DebugBrokerWrapper` (Injection Layer):** C++ template wrappers injected via registry
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patching. Depend only on `DebugServiceI`; transport-agnostic.
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- **`TcpLogger` (Log Sidecar):** Optional standalone component forwarding `REPORT_ERROR`
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events to TCP clients on a dedicated port (used with `DebugService` only).
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---
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## 3. Requirements
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### 3.1 Functional Requirements (FR)
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- **FR-01 (Discovery):** Discover the full MARTe2 object hierarchy at runtime. The client
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SHALL request the full application tree and display it hierarchically.
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- **FR-02 (Telemetry):** Stream high-frequency signal data (verified > 100 Hz) to a remote
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client. `DebugService` uses binary UDP; `WebDebugService` uses SSE.
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- **FR-03 (Forcing):** Allow manual override of signal values in memory during execution.
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The override SHALL persist across RT cycles until explicitly released.
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- **FR-04 (Logs):** Forward all `REPORT_ERROR` events to a connected client in real time.
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`DebugService` uses `TcpLogger` on a dedicated TCP port. `WebDebugService` embeds logs
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in the SSE stream.
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- **FR-05 (Log Filtering):** The client SHOULD support filtering log output by level and
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by content.
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- **FR-06 (Execution Control):** Provide pause and resume for all patched RT threads,
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allowing static inspection of the system state.
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- **FR-07 (Breakpoints):** Halt execution when a signal crosses a threshold. Supported
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operators: `>`, `<`, `==`, `>=`, `<=`, `!=`.
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- **FR-08 (Execution Stepping):** After a pause or breakpoint, allow resuming for exactly
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N output-broker cycles then pausing again. Optional per-thread filter.
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- **FR-09 (Decoupled Tracing):** Activating a trace SHALL only stream data; displaying
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the data (plot, sidebar) is the client's responsibility.
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- **FR-10 (Signal Monitoring):** Poll any `DataSourceI` signal at a configurable period
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without requiring that signal to be traced at full RT rate.
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- **FR-11 (Config Awareness):** The service SHALL accept and store a full copy of the
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application's CDB (`SetFullConfig`). `INFO` and `DISCOVER` responses SHALL be enriched
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with additional metadata fields from this CDB.
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- **FR-12 (Config Serving):** Provide a `CONFIG` command returning the full stored
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configuration as JSON.
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- **FR-13 (MARTe2 Messaging):** Allow sending `Message` objects to any ORD object via an
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`MSG` command.
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- **FR-14 (Dual Transport):** Both `DebugService` and `WebDebugService` SHALL implement
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the identical `DebugServiceI` interface and be mutually exclusive singletons. Switching
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transport SHALL require only a config change (different class name, different port).
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- **FR-15 (Embedded Web UI):** `WebDebugService` SHALL serve a self-contained single-page
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application with real-time plotting (Chart.js), signal tree, force/break/monitor dialogs,
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and an integrated log viewer — without any external server or build tooling.
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### 3.2 Technical Constraints (TC)
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- **TC-01:** No modifications allowed to the MARTe2 core library or component source code.
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- **TC-02:** Instrumentation MUST use runtime class registry patching (`ClassRegistryDatabase`).
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- **TC-03:** RT-path methods (`ProcessSignal`, `IsPaused`) MUST be lock-free or use only
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`FastPollingMutexSem`; no heap allocation on the RT path.
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- **TC-04:** `DebugService` telemetry MUST use UDP to minimise jitter impact.
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- **TC-05:** No STL — use `Vec<T>` and `StreamString` throughout.
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- **TC-06:** C++98 compatibility for all source files (no `auto`, no range-for, no raw
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string literals).
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- **TC-07:** The `DebugServiceI` abstract interface MUST be the only dependency of
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`DebugBrokerWrapper`. Concrete transport headers MUST NOT be included by broker code.
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---
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## 4. Performance Requirements
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- **Latency:** `ProcessSignal` overhead < 5 µs per signal when tracing is inactive.
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- **Throughput:** Support > 100 Hz signal tracing with zero sample loss on local networks
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(UDP transport).
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- **Scalability:** Handle up to 4096 unique signals.
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- **Ring buffer size:** `TraceRingBuffer` initialised to 4 MB in both transports.
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- **SSE clients:** `WebDebugService` supports up to 8 simultaneous SSE clients.
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- **TCP rate limit:** Server disconnects clients sending > 100 commands/s.
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- **VALUE output cap:** `GetSignalValue` returns at most 256 elements per call.
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---
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## 5. Performance Hardening Log
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| Fix | Category | Description |
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| **#1** | Naming | `STREAMER_MTU = 1400`, `STREAMER_BUFFER_SIZE = 4096` replace magic numbers |
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| **#2** | Concurrency | `tracePushMutex` serialises multi-producer `TraceRingBuffer::Push()` |
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| **#3** | Concurrency | Break indices copied under `activeMutex`; condition evaluated outside lock |
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| **#4** | Concurrency | `Atomic::Add` for lock-free per-signal decimation counter |
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| **#5** | Robustness | `TraceRingBuffer::Pop` skips corrupt entry; full discard only when unrecoverable |
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| **#6** | Security | TCP command rate-limit: > 100 cmd/s → client disconnect |
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| **#7** | Latency | `Vec::Swap` inside spinlock; deallocation outside — shorter lock hold time |
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| **#8** | Robustness | 30-second idle timeout on active TCP client |
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| **#9** | Safety | `VALUE` output capped at 256 elements; `"truncated":true` flag included |
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| **#10** | Correctness | `inputBuffer` reassembles split TCP commands; bounded at 8 KiB |
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| **#11** | Correctness | `Initialise()` never calls `MoveToRoot()` on the framework-supplied CDB |
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---
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## 6. Command Protocol Summary
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| Command | Transport | Description |
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| `DISCOVER` | Both | Full signal list with metadata |
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| `TREE` | Both | Live ORD hierarchy as JSON |
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| `INFO <path>` | Both | Node metadata enriched from CDB |
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| `LS [path]` | Both | Immediate children of ORD node |
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| `TRACE <name> <0\|1> [dec]` | Both | Enable/disable signal tracing |
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| `FORCE <name> <value>` | Both | Persistent signal value injection |
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| `UNFORCE <name>` | Both | Remove forced value |
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| `BREAK <name> <op> <thr>` | Both | Set conditional breakpoint |
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| `BREAK <name> OFF` | Both | Clear breakpoint |
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| `PAUSE` | Both | Halt all RT threads |
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| `RESUME` | Both | Release paused RT threads |
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| `STEP <n> [thread]` | Both | Run N cycles then pause |
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| `STEP_STATUS` | Both | Query pause/step state |
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| `VALUE <name>` | Both | Read current signal value |
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| `MONITOR SIGNAL <name> <ms>` | Both | Register slow-rate polling |
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| `UNMONITOR SIGNAL <name>` | Both | Stop slow-rate polling |
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| `CONFIG` | Both | Full CDB as JSON |
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| `MSG <obj> <fn> [k=v …]` | Both | Send MARTe2 Message |
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| `SERVICE_INFO` | Both | Transport metadata |
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