diff --git a/algos/template/algo_template_marte2_tester.cfg b/algos/template/algo_template_marte2_tester.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..22e53265eb0418192ea32cb5e64af32ee6264a4b
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+++ b/algos/template/algo_template_marte2_tester.cfg
@@ -0,0 +1,444 @@
++MDSParamLoader1 = {
+ Class = MDSObjLoader // Compulsory
+ //Shot = "-1" // Optional if defined in MDSObjConnection
+
+ +MDSConnection1 = {
+ Class = MDSObjConnection // Compulsory
+ ClientType = "Thin" //( "Thin" | "Distributed" ) // Optional. Default: "Thin"
+ Server = "tcvscd.crpp.tcv:8000" // Compulsory if ClientType = "Thin"
+ Tree = "martetest" // Compulsory
+ Shot = "10" // Optional if defined in MDSObjLoader
+
+ +k = { Class = MDSParameter Path = "k" }
+ +tp-ks1 = { Class = MDSParameter Path = "ks1" }
+ +tp-kv1 = { Class = MDSParameter Path = "kv1" }
+ +tp-km1 = { Class = MDSParameter Path = "km1" }
+
+ /*
+ +gainStruct-gain_a = {
+ Class = MDSParameter // Compulsory
+ Path = "\\TREE_NAME::TOP:NODE2" // Compulsory
+ DataOrientation = ( "RowMajor" | "ColumnMajor" ) // Only for 2D matrices. Optional. Default: "ColumnMajor"
+ }
+ +gainStruct-gain_b = {
+ Class = MDSParameter // Compulsory
+ Path = "\\TREE_NAME::TOP:NODE3" // Compulsory
+ DataOrientation = ( "RowMajor" | "ColumnMajor" ) // Only for 2D matrices. Optional. Default: "ColumnMajor"
+ }
+ */
+ }
+}
+
+$TestApp = {
+ Class = RealTimeApplication
+ +Functions = {
+ Class = ReferenceContainer
+ +GAMTimer = {
+ Class = IOGAM
+ InputSignals = {
+ Counter = { DataSource = Timer Type = uint32 }
+ Time = { Frequency = 1000 DataSource = Timer Type = uint32 }
+ }
+ OutputSignals = {
+ Counter = { DataSource = DDB1 Type = uint32 }
+ Time = { DataSource = DDB1 Type = uint32 }
+ }
+ }
+ +Constants = {
+ Class = ConstantGAM
+ OutputSignals = {
+ zero = { DataSource = DDB1 Type = float32 NumberOfElements = 1 NumberOfDimensions=0 Default=0 }
+ input-signal1 = { DataSource = DDB1 Type = float32 NumberOfElements = 1 NumberOfDimensions=0 Default=0 }
+ input-signal2 = { DataSource = DDB1 Type = float32 NumberOfElements = 1 NumberOfDimensions=0 Default=0 }
+
+ }
+ }
+ +ReaderBroker = {
+ Class = IOGAM
+ InputSignals = {
+ mdsint1 = { DataSource = MDSReader_0 Type = uint32 NumberOfElements = 1 }
+ Time = { DataSource = MDSReader_0 Type = int32 NumberOfElements = 1 }
+ }
+ OutputSignals = {
+ mdsint1 = { DataSource = DDB1 Type = uint32 NumberOfElements = 1 }
+ mdsintime = { DataSource = DDB1 Type = int32 NumberOfElements = 1 }
+ }
+ }
+ +Wavegen0TimeBroker = {
+ Class = IOGAM
+ InputSignals = {
+ Time = { DataSource = DDB1 Type = uint32 }
+ }
+ OutputSignals = {
+ time = { DataSource = MDSWavegen_0 Type = int32 }
+ }
+ }
+ +Wavegen0DataBroker = {
+ Class = IOGAM
+ InputSignals = {
+ wavegen_0 = { DataSource = MDSWavegen_0 Type = float32 NumberOfElements = 1 }
+ }
+ OutputSignals = {
+ wavegen_0 = { DataSource = DDB1 Type = float32 NumberOfElements = 1 }
+ }
+ }
+ +GAMSimulink1 = {
+ Class = SimulinkWrapperGAM
+ Library = "/root/algo_template.so"
+ SymbolPrefix = "algo_template"
+ Verbosity = 2
+ SkipInvalidTunableParams = 1
+ TunableParamExternalSource= "MDSParamLoader1"
+ //NonVirtualBusMode = "ByteArray" // NOTE: homogeneus buses are not handled correctly, wrong
+ // handling of NumberOfElements = 1
+ NonVirtualBusMode = "Structured"
+
+ InputSignals = {
+ realtime = { DataSource = DDB1 Type = float32 NumberOfElements = 1 NumberOfDimensions=0 Alias = wavegen_0 }
+ //input = { DataSource = DDB1 Type = float32 NumberOfElements = 1 NumberOfDimensions=0 Alias = wavegen_0 }
+ input={
+ signal1 = { Type = float32 NumberOfDimensions = 0 NumberOfElements = 1 DataSource = DDB1 Alias = input-signal1 }
+ signal2 = { Type = float32 NumberOfDimensions = 0 NumberOfElements = 1 DataSource = DDB1 Alias = input-signal2 }
+}
+ /*
+ inputbus = {
+ sig1 = { Type = float32 NumberOfDimensions = 0 NumberOfElements = 1 DataSource = DDB1 Alias = wavegen_0 }
+ sig2 = { Type = float32 NumberOfDimensions = 0 NumberOfElements = 1 DataSource = DDB1 Alias = wavegen_0 }
+ }
+ */
+ }
+ OutputSignals = {
+ //algo_template_outport = { DataSource = DDB1 Type = uint8 NumberOfElements = 8 NumberOfDimensions = 1 }
+
+ /*
+ outputs2 = { DataSource = DDB1 Type = float32 NumberOfElements = 1 NumberOfDimensions=0 }
+ outputv1 = { DataSource = DDB1 Type = float32 NumberOfElements = 1 NumberOfDimensions=0 }
+ outputv2 = { DataSource = DDB1 Type = float32 NumberOfElements = 1 NumberOfDimensions=0 }
+ outputm1 = { DataSource = DDB1 Type = float32 NumberOfElements = 1 NumberOfDimensions=0 }
+ outputm2 = { DataSource = DDB1 Type = float32 NumberOfElements = 1 NumberOfDimensions=0 }
+ */
+
+ /*
+ outputbus1 = { DataSource = DDB1 Type = uint8 NumberOfElements = 12 NumberOfDimensions = 1 }
+ outputbus2 = { DataSource = DDB1 Type = float32 NumberOfElements = 1 NumberOfDimensions = 0 } // TODO: bug here, a bus cannot have numelem=1
+ */
+
+ /*
+ outputbus1 = {
+ sig1 = { Type = float32 NumberOfDimensions = 0 NumberOfElements = 1 DataSource = DDB1 Alias = outputbus1sig1 }
+ sig2 = { Type = float32 NumberOfDimensions = 0 NumberOfElements = 1 DataSource = DDB1 Alias = outputbus1sig2 }
+ sig3 = { Type = int32 NumberOfDimensions = 0 NumberOfElements = 1 DataSource = DDB1 Alias = outputbus1sig3 }
+ subbus1 = {
+ sig1 = { Type = float32 NumberOfDimensions = 0 NumberOfElements = 1 DataSource = DDB1 Alias = outputbus1sig4 }
+ sig2 = { Type = float32 NumberOfDimensions = 0 NumberOfElements = 1 DataSource = DDB1 Alias = outputbus1sig5 }
+ }
+ }
+ outputbus2 = {
+ sig1 = { Type = float32 NumberOfDimensions = 0 NumberOfElements = 1 DataSource = DDB1 Alias = outputbus1sig6 }
+ sig2 = { Type = float32 NumberOfDimensions = 0 NumberOfElements = 1 DataSource = DDB1 Alias = outputbus1sig7 }
+ }
+ */
+
+output={
+ signal1 = { Type = float32 NumberOfDimensions = 0 NumberOfElements = 1 DataSource = DDB1 Alias = output-signal1 }
+ signal2 = { Type = float32 NumberOfDimensions = 0 NumberOfElements = 1 DataSource = DDB1 Alias = output-signal2 }
+ signal3 = { Type = int32 NumberOfDimensions = 0 NumberOfElements = 1 DataSource = DDB1 Alias = output-signal3 }
+}
+ }
+ Parameters = {
+ //k2 = (float32) 2.5
+ //vectorParameter = (uint32) { 0, 1, 2, 3 }
+ //matrixParameter = (float64) { {0.0, 1.0}, {2.0, 3.0} }
+ //ks1 = (float32) 1.0;
+ tp-ks2 = (float32) 1.0
+ //kv1 = (float32) { 1.0, 1.0 }
+ tp-kv2 = (float32) { 1.0, 1.0 }
+ //km1 = (float32) {{ 1.0, 1.0 }, { 1.0, 1.0 }}
+ tp-km2 = (float32) {{ 1.0, 1.0 }, { 1.0, 1.0 }}
+ }
+ }
+ +StorageBroker = {
+ Class = IOGAM
+ InputSignals = {
+ wavegen_00 = { DataSource = DDB1 Type = float32 Alias=wavegen_0 }
+ wavegen_0 = { DataSource = DDB1 Type = float32 }
+
+ /*
+ outputbus1sig1 = { DataSource = DDB1 Type = float32 }
+ outputbus1sig2 = { DataSource = DDB1 Type = float32 }
+ outputbus1sig3 = { DataSource = DDB1 Type = int32 }
+ outputbus1sig4 = { DataSource = DDB1 Type = float32 }
+ outputbus1sig5 = { DataSource = DDB1 Type = float32 }
+ outputbus1sig6 = { DataSource = DDB1 Type = float32 }
+ outputbus1sig7 = { DataSource = DDB1 Type = float32 }
+ */
+
+ Thread1_CycleTime = { DataSource = Timings Type = uint32 Alias = State1.Thread1_CycleTime }
+ GAMSimulink1_ReadTime = { DataSource = Timings Type = uint32 }
+ GAMSimulink1_ExecTime = { DataSource = Timings Type = uint32 }
+ GAMSimulink1_WriteTime = { DataSource = Timings Type = uint32 }
+ }
+ OutputSignals = {
+ outputs1 = { DataSource = MDSWriter_0 Type = float32 }
+ wavegen_0 = { DataSource = MDSWriter_0 Type = float32 }
+
+ /*
+ outputbus1sig1 = { DataSource = MDSWriter_0 Type = float32 }
+ outputbus1sig2 = { DataSource = MDSWriter_0 Type = float32 }
+ outputbus1sig3 = { DataSource = MDSWriter_0 Type = int32 }
+ outputbus1sig4 = { DataSource = MDSWriter_0 Type = float32 }
+ outputbus1sig5 = { DataSource = MDSWriter_0 Type = float32 }
+ outputbus1sig6 = { DataSource = MDSWriter_0 Type = float32 }
+ outputbus1sig7 = { DataSource = MDSWriter_0 Type = float32 }
+ */
+
+ Thread1_Cycletime = { DataSource = MDSWriter_0 Type = uint32 }
+ GAMSimulink1_ReadTime = { DataSource = MDSWriter_0 Type = uint32 }
+ GAMSimulink1_ExecTime = { DataSource = MDSWriter_0 Type = uint32 }
+ GAMSimulink1_WriteTime = { DataSource = MDSWriter_0 Type = uint32 }
+ }
+ }
+ +LoggerBroker = {
+ Class = IOGAM
+ InputSignals = {
+ Counter = { DataSource = DDB1 Type = uint32 }
+ //wavegen_0 = { DataSource = DDB1 Type = float32 }
+
+
+ //outputs2 = { DataSource = DDB1 Type = float32 }
+ //outputv1 = { DataSource = DDB1 Type = float32 }
+ //outputv2 = { DataSource = DDB1 Type = float32 }
+ //outputm1 = { DataSource = DDB1 Type = float32 }
+ //outputm2 = { DataSource = DDB1 Type = float32 }
+ //mdsint1 = { DataSource = DDB1 Type = uint32 }
+ //mdsintime = { DataSource = DDB1 Type = int32 }
+
+ }
+ OutputSignals = {
+ Counter = { DataSource = LoggerDataSource Type = uint32 }
+ //outputs1 = { DataSource = LoggerDataSource Type = float32 }
+ //outputs2 = { DataSource = LoggerDataSource Type = float32 }
+ //outputv1 = { DataSource = LoggerDataSource Type = float32 }
+ //outputv2 = { DataSource = LoggerDataSource Type = float32 }
+ //outputm1 = { DataSource = LoggerDataSource Type = float32 }
+ //outputm2 = { DataSource = LoggerDataSource Type = float32 }
+ //mdsint1 = { DataSource = LoggerDataSource Type = uint32 }
+ //mdsintime = { DataSource = LoggerDataSource Type = int32 }
+ }
+ }
+ }
+ +Data = {
+ Class = ReferenceContainer
+ DefaultDataSource = DDB1
+ +DDB1 = { Class = GAMDataSource }
+ +LoggerDataSource = { Class = LoggerDataSource }
+ +Timings = { Class = TimingDataSource }
+ +Timer = {
+ Class = LinuxTimer
+ SleepNature = "Busy" // Default | Busy
+ ExecutionMode = RealTimeThread // IndependentThread | RealTimeThread
+ CPUMask = 0x8 // IndependentThread CPU mask
+ Signals = {
+ Counter = { Type = uint32 }
+ Time = { Type = uint32 }
+ }
+ }
+ +MDSReader_0 = {
+ Class = MDSReader
+ TreeName = "martetest" //Compulsory. Name of the MDSplus tree.
+ ShotNumber = 10 //Compulsory. 0 --> last shot number (to use 0 shotid.sys must exist)
+ Frequency = 1 // in Hz. Is the cycle time of the real time application.
+ Signals = {
+ mdsint1 = {
+ NodeName = "AI.CH003" // node of the tree node
+ Type = "uint32" //Can be any of the node supported types
+ NumberOfElements = 1
+ DataManagement = 0 //could be 0, 1 or 2
+ HoleManagement = 1 //could be 0 or 1
+ }
+ Time = { //Compulsory
+ Type = "int32" //can be any of the supported types
+ NumberOfElements = 1 //must be always one.
+ }
+ }
+ }
+ +MDSWavegen_0 = {
+ Class = MDSObjWavegen
+ Server="tcvscd.crpp.tcv"
+ Tree="martetest"
+ Shot = 10
+ Frequency = 1000
+ Verbosity = 2
+ Interpolation = 1
+ TimeOffset = 0.000
+ +sig1 = { Class=MDSWgSigSingle Path="ai.ch004" }
+ Signals = {
+ time = { Type = int32 }
+ wavegen_0 = { Type = float32 NumberOfElements = 1 }
+ }
+ }
+ +MDSWriter_0 = {
+ Class = MDSWriter
+ NumberOfBuffers = 2000 //Compulsory. Number of buffers in the circular buffer defined above. Each buffer is capable of holding a copy of all the DataSourceI signals.
+ CPUMask = 0x8 //Compulsory. Affinity assigned to the threads responsible for asynchronously flush data into the MDSplus database.
+ StackSize = 10000000 //Compulsory. Stack size of the thread above.
+ TreeName = "martetest" //Compulsory. Name of the MDSplus tree.
+ PulseNumber = -1 //Optional. If -1 a new pulse will be created and the MDSplus pulse number incremented.
+ StoreOnTrigger = 0 //Compulsory. If 0 all the data in the circular buffer is continuously stored. If 1 data is stored when the Trigger signal is 1 (see below).
+ EventName = "updatejScope" //Compulsory. Event sent to jScope when TimeRefresh seconds have elapsed.
+ TimeRefresh = 5 //Compulsory. An event with the name set in the property EventName is sent to jScope when TimeRefresh seconds have elapsed.
+ NumberOfPreTriggers = 0 //Compulsory iff StoreOnTrigger = 1. Number of cycles to store before the trigger.
+ NumberOfPostTriggers = 0 //Compulsory iff StoreOnTrigger = 1. Number of cycles to store after the trigger.
+ Signals = {
+ /*
+ Trigger = { //Compulsory when StoreOnTrigger = 1. Must be set in index 0 of the Signals node. When the value of this signal is 1 data will be stored.
+ Type = uint8 //Type must be uint8
+ }
+ Time = { //Compulsory when StoreOnTrigger = 1. Can be store in any index, but TimeSignal must be set = 1
+ Type = uint32 //Type must be uint32 or int32
+ TimeSignal = 1 //When set, this signal will be considered as the time source against which all signals will be stored.
+ TimeSignalMultiplier = 1e-9 //Default = 1e-6. Multiplier to convert the time signal units into seconds,
+ }
+ */
+
+ Thread1_Cycletime = { NodeName = "ST.CH01" Period = 1 AutomaticSegmentation = 0 MakeSegmentAfterNWrites = 2000 SamplePhase = 0 }
+ GAMSimulink1_ReadTime = { NodeName = "ST.CH02" Period = 1 AutomaticSegmentation = 0 MakeSegmentAfterNWrites = 2000 SamplePhase = 0 }
+ GAMSimulink1_ExecTime = { NodeName = "ST.CH03" Period = 1 AutomaticSegmentation = 0 MakeSegmentAfterNWrites = 2000 SamplePhase = 0 }
+ GAMSimulink1_WriteTime = { NodeName = "ST.CH04" Period = 1 AutomaticSegmentation = 0 MakeSegmentAfterNWrites = 2000 SamplePhase = 0 }
+
+
+ outputs1 = { //As many as required.
+ NodeName = "AO.CH01" //Compulsory. MDSplus node name
+ Period = 1 //Compulsory. Period between signal samples.
+ AutomaticSegmentation = 0 // 1 || 0. When set to 1 MDSplus::putRow() is used instead of MDSplus::makeSegment()
+ MakeSegmentAfterNWrites = 2000 //Compulsory if AutomaticSegmentation = 0. Forces the creation of a segment after N MARTe cycles. If AutomaticSegmentation = 0 then MakeSegmentAfterNWrites = 1.
+ /*
+ DecimatedNodeName = "SIGUINT16D" //Optional. The node where MDSplus stores the automatically computed decimated signal. When AutomaticSegmentation = 1 this field is ignored.
+ MinMaxResampleFactor = 4 //Compulsory if DecimatedNodeName is set. Decimation factor that MDSplus applies to the decimated version of the signal. AutomaticSegmentation = 1 this field is ignored.
+ */
+ SamplePhase = 0 //Optional. Shift the time vector by SamplePhase * Period
+ //DiscontinuityFactor = 0. // Optional. A discontinuity is considered if the delta between two consecutive samples is greater than T+DiscontinuityFactor*T (where T is the nominal period) or
+ // minor than max(T-DiscontinuityFactor*T, 0). If a discontinuity is detected, the samples will be flushed and a new segment created for the next ones.
+ }
+
+
+ wavegen_0 = { NodeName = "AO.CH02" Period = 1 AutomaticSegmentation = 0 MakeSegmentAfterNWrites = 2000 SamplePhase = 0 }
+
+ /*
+ outputbus1sig1 = { NodeName = "AO.CH11" Period = 1 AutomaticSegmentation = 0 MakeSegmentAfterNWrites = 2000 SamplePhase = 0 }
+ outputbus1sig2 = { NodeName = "AO.CH12" Period = 1 AutomaticSegmentation = 0 MakeSegmentAfterNWrites = 2000 SamplePhase = 0 }
+ outputbus1sig3 = { NodeName = "AO.CH13" Period = 1 AutomaticSegmentation = 0 MakeSegmentAfterNWrites = 2000 SamplePhase = 0 }
+ outputbus1sig4 = { NodeName = "AO.CH14" Period = 1 AutomaticSegmentation = 0 MakeSegmentAfterNWrites = 2000 SamplePhase = 0 }
+ outputbus1sig5 = { NodeName = "AO.CH15" Period = 1 AutomaticSegmentation = 0 MakeSegmentAfterNWrites = 2000 SamplePhase = 0 }
+ outputbus1sig6 = { NodeName = "AO.CH16" Period = 1 AutomaticSegmentation = 0 MakeSegmentAfterNWrites = 2000 SamplePhase = 0 }
+ outputbus1sig7 = { NodeName = "AO.CH17" Period = 1 AutomaticSegmentation = 0 MakeSegmentAfterNWrites = 2000 SamplePhase = 0 }
+ */
+
+ }
+ /*
+ +Messages = { //Optional. If set a message will be fired every time one of the events below occur
+ Class = ReferenceContainer
+ +TreeOpenedOK = { //Optional, but if set, the name of the Object shall be TreeOpenedOK. If set a message containing a ConfigurationDatabase with param1=PULSE_NUMBER will be sent to the Destination, every time the Tree is successfully opened
+ Class = Message
+ Destination = SomeObject
+ Function = SomeFunction
+ Mode = ExpectsReply
+ }
+ +TreeOpenedFail = { //Optional, but if set, the name of the Object shall be TreeOpenedFail. If set a message will be sent to the Destination, every time the Tree cannot be successfully opened
+ Class = Message
+ Destination = SomeObject
+ Function = SomeFunction
+ Mode = ExpectsReply
+ }
+ +TreeFlushed = { //Optional, but if set, the name of the Object shall be TreeFlushed. If set a message will be sent to the Destination, every time the Tree is flushed.
+ Class = Message
+ Destination = SomeObject
+ Function = SomeFunction
+ Mode = ExpectsReply
+ }
+ }
+ */
+ }
+ }
+ +States = {
+ Class = ReferenceContainer
+ +State1 = {
+ Class = RealTimeState
+ +Threads = {
+ Class = ReferenceContainer
+ +Thread1 = {
+ Class = RealTimeThread
+ CPUs = 0x4
+ Functions = {
+ GAMTimer
+ Constants
+ //ReaderBroker
+ Wavegen0TimeBroker
+ Wavegen0DataBroker
+ GAMSimulink1
+ StorageBroker
+ //LoggerBroker
+ }
+ }
+ }
+ }
+ }
+ +Scheduler = {
+ Class = GAMScheduler
+ TimingDataSource = Timings
+ }
+}
+
+
+
+/**
+ * @brief MDSReader is a data source which allows to read data from a MDSplus tree.
+ * @details MDSReader is an input data source which takes data from MDSPlus nodes (as many as desired) and publishes it on a real time application.
+ *
+ * The MDSReader can either interpolate, decimate or take the raw data, as it is, from the tree depending on the parameter called "DataManagement" which is given
+ * in the configuration file.
+ * Moreover, this data source can deal with discontinuous data and has a configuration parameter for managing the absence of data.
+ * DataManagement can take the following values:
+ * <ul>
+ * <li>0 --> MDSReader takes the data from the tree as it is (raw). In this configuration, the frequency/numberOfElements must be the same than the node sampling frequency.</li>
+ * <li>1--> MDSReader interpolates the signal taking as a reference the two nearest data values. If the frequency/numberOfElements is smaller than the sample frequency
+ * of the MDSplus node the data source interpolates the signal. If the frequency/numberOfElements larger than the node sample frequency the signals is decimated.</li>
+ * <li>2 --> MDSReader holds the value following the criteria of the nearest value given specific time. I.e the node data is (t1, d1) = (1, 1) and (t2, d2) = (2, 5) and the currentTime is t = 1.6 the
+ * nearest data to the given time is 5.</li>
+ * </ul>
+ *
+ * HoleManagement can take the following values:
+ * <ul>
+ * <li>0 --> MDSreader fills the absence of data with 0</li>
+ * <li>1 --> MDSReader fills the absence of data with the last value.</li>
+ * </ul>
+ *
+ * Even if the MDSReader can deal with the absence of data, the sampling time must be constant with-in the node, however the sampling time between
+ * nodes can be different.
+ *
+ * The MDSReader can handle as many nodes as desired. Each node can have their on data type, maximum number of segments, elements per segment and sampling time. When the
+ * end of a node is reached the data of the corresponding node is filled with 0 and the data source continuous running until all nodes reach the end.
+ *
+ * The supported types for the nodes are:
+ * <ul>
+ * <li>uint8</li>
+ * <li>int8</li>
+ * <li>uint16</li>
+ * <li>int16</li>
+ * <li>uint32</li>
+ * <li>int32</li>
+ * <li>uint64</li>
+ * <li>int64</li>
+ * <li>float32</li>
+ * <li>float64</li>
+ * </ul>
+ *
+ * The last signal specified must be the time.
+ * The supported type for the time are:
+ * <ul>
+ * <li>uint32</li>
+ * <li>int32</li>
+ * <li>uint64</li>
+ * <li>int64</li>
+ * </ul>
+ */