42 lines
1.9 KiB
Markdown
42 lines
1.9 KiB
Markdown
# System Architecture
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## 1. Overview
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The suite consists of a C++ server library (`libmarte_dev.so`) that instrument MARTe2 applications at runtime, and a native Rust client for visualization.
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## 2. Core Mechanism: Registry Patching
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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:
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1. **Broker Injection:** Standard Brokers (e.g., `MemoryMapInputBroker`) are replaced with `DebugBrokerWrapper`. This captures data every time a GAM reads or writes a signal.
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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).
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## 3. Communication Layer
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The system uses three distinct channels:
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### 3.1 Command & Control (TCP Port 8080)
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- **Protocol:** Text-based over TCP.
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- **Role:** Object tree discovery (`TREE`), signal metadata (`DISCOVER`), and trace activation (`TRACE`).
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- **Response Format:** JSON for complex data, `OK/ERROR` for status.
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### 3.2 High-Speed Telemetry (UDP Port 8081)
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- **Protocol:** Binary over UDP.
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- **Format:** Packed C-structs.
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- **Header:** `[Magic:4][Seq:4][TS:8][Count:4]` (Packed, 20 bytes).
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- **Payload:** `[ID:4][Size:4][Data:N]` (Repeated for each traced signal).
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### 3.3 Log Streaming (TCP Port 8082)
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- **Protocol:** Real-time event streaming.
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- **Role:** Forwards global `REPORT_ERROR` calls from the framework to the GUI client.
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## 4. Component Diagram
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```text
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[ MARTe2 App ] <--- [ DebugFastScheduler ] (Registry Patch)
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+ <--- [ DebugBrokerWrapper ] (Registry Patch)
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[ DebugService ] <----------+
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+---- (TCP 8080) ----> [ Rust GUI Client ]
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+---- (UDP 8081) ----> [ (Oscilloscope) ]
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+---- (TCP 8082) ----> [ (Log Terminal) ]
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```
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