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ChangeLog

This file tracks user visible API changes

0.9.2

bugfix release:

  • blockdiagram: don't reject connections among iblocks
  • ubx.lua: handle different libubx naming schemes

0.9.1

  • trig, ptrig, trig_utils: add every member to configure reduced frequency triggering. If set, the respective block will be only triggered every every time with respect to the base frequency.

  • blockdiagram, hierarchical composition: add support for adding subsystems without a namespace, i.e. effectively merging them. If a subsystem is added to the subsystems table without a name, then it will me merged similar to when multiple models are provided on the cmdline. However, in the latter case, the merged models override existing entries, whereas when specified in subsystems, the parent subsystem takes precedence. This feature is mainly useful to avoid deep hierarchies. In addition this cleans up the merge function and adds a verbose -v option to ubx-launch, for printing early messages (mainly merge actions for now).

  • ubx-mq

    • add support for writing to mqueues. Example: ubx-mq write mymq "{0,0.01,0,0.1,0}" -r 0.1
    • show types in mq listing (this requires latest uutils v1.1.0.

  • rtlog:

    • move spinlock into shm and initialize with PTHREAD_PROCESS_SHARED cmdline tools such as ubx-mq create processes and nodes that log to the same shm. Hence we set the default to shared. Users that really need to squeeze performance can explicitely set this back to PTHREAD_PROCESS_PRIVATE.

    • don't delete the log shm upon cleanup and don't truncate it during node init if the size is correct. This avoids unnecessary reopening (incl. seeks backs) especially in multi-node setups and facilitates debugging by preserving the log buffer.

  • ubx.lua: add generic connect function. This replaces conn_lfds_cyclic and conn_uni and allows the following connection types:

    • cblock to cblock
    • cblock to existing iblocks (and vice versa)
    • cblock to non-existing iblock (and vice versa). In this case the iblock block will be created.

    See the user docs for more information.

  • ubx_ports_connect: check and enforce that types and data length match.

  • lfds_cyclic: make buffer_len config optional and let it default to 1 if unset.

  • removed the deprecated file_logger block. This was messy and hard to maintain. The preferred approach to log is now by using ubx/mqueue blocks and ubx-mq(1).

  • std_blocks: cleanup block naming. all blocks under std_blocks/ are now called ubx/BLOCKNAME.

0.9.0

  • typemacros: added def_cfg_set_fun to define type safe configuration setters akin akin to def_cfg_getptr_fun. See examples/platform/platform_launch/main.c for a usage example.

  • std_blocks: added saturation block. This multi-length block will limit the given signal to the configured minima and maxima.

  • trig, ptrig: added multi-chain (i.e. formerly called trig_blocks lists). The desired number of chains can now be configured using num_chains and it can be switched among these via the active_chain port. To make this feasible, a number of cleanups and renames was done in trig_utils:

    • the previous trig_blocks config was renamed to chain0. Additional chains are called chain1, chain2 etc.
    • struct trig_info was renamed to struct ubx_chain
    • trig_info_* API was renamed to trig_chain_*
    • stuct ubx_trig_spec was renamed to struct ubx_triggee
    • tstat.block_name renamed to tstat.id

  • add function based predicates blk_is_*, port_is_* and cfg_is_* to replace the old IS_ macros .

  • lfds_cyclic: added allow_partial config to allow transporting messags that are < data_len. If unset, the new default is to reject these. This also extends the lua port_clone_conn function with an optional allow_partial parameter.

  • ubx_node_info_t renamed to ubx_node_t for consistency. ubx_node_t variables renamed from ni to nd.

  • ubx-genblock updated to generate state of the art blocks

  • ubx_ports_connect_uni/ubx_ports_disconnect_uni/

    • renamed: dropped _uni suffix
    • made iblock parameter const

  • ubx_block_: store ports and configs in a utlist.h double linked list instead of a dynamic array (background).

  • registration of static blocks has changed. Use the types ubx_proto_block_t, ubx_proto_port_t and ubx_proto_config_t to define blocks definition and ubx_block_register(ubx_node_t*, ubx_block_proto_t* bt) to register them. Note that this only changed for the static definition/registration of blocks. At runtime (i.e. in hooks etc) the non-_proto_ versions are used as before (background).

  • ubx_config_add2 adds a config incl min/max constraints and attrs.

  • The attributes CONFIG_ATTR_CLONED and PORT_ATTR_CLONED are set for ports/configs that were created as a consequence of creating a block by cloning. Put differently, these attributes are unset for configs and ports that were added dynamically.

  • ubx_port_add ubx_inport_add, ubx_outport_add: the parameter state has been dropped (as has the member in ubx_port_t. Instead attrs has been added as parameter #4. Check ubx_proto.h for the new prototypes.

  • ubx_types.h: converted object names (node, block, port, config) from dynamically allocated strings to fixed strings where possible.

  • ubx_types.h:

    • removed port state, which was never used. The functions ubx_port_add (lua ubx.port_add) consequently drop the last parameter.

    • removed port direction attributes PORT_DIR_OUT and PORT_DIR_IN. Instead this is determined from a non-NULL in_ or out_type ptr. The macros IS_OUTPORT, IS_INPORT and IS_INOUTPORT do this in a portable way.

    • removed port statistics (were never used)

  • renamed constants for consistency:

    • BLOCK_NAME_MAXLEN -> UBX_BLOCK_NAME_MAXLEN
    • PORT_NAME_MAXLEN -> UBX_PORT_NAME_MAXLEN
    • TYPE_NAME_MAXLEN -> UBX_TYPE_NAME_MAXLEN
    • LOG_MSG_MAXLEN -> UBX_LOG_MSG_MAXLEN
    • TYPE_HASH_LEN -> UBX_TYPE_HASH_LEN
    • TYPE_HASHSTR_LEN -> UBX_TYPE_HASHSTR_LEN

v0.8.1

  • doc improvements:

    • added examples/usc/threshold.usc gentle example
    • docs/user/ introduction improved

  • added math_double block which supports a large number of math.h functions.

  • std_blocks/examples cleanup

    • simple_fifo and random moved under examples/
    • added skelleton.c as a minimal but complete empty block
    • added threshold example block for use in simple usc intro

  • trig, ptrig:

    • indepent of tstats_output_rate, all stats are written to the port tstats (if it exists) in stop().
    • config autostop_steps added to stop ptrig after triggering this number of times.

  • port_clone_conn: add loglevel_overruns argument.

  • const block refactored into a generic block that is configured with the ubx type_name and data_len, and then with the actual value of the type. Both a cblock cconst and an iblock iconst variant are available.

  • blockdiagram: small extension to support dynamic configurations. If a config does not exist in state preinit, configuration will be retried in inactive.

  • core: add ubx_node_clear. This function stops, cleans up and removes all non-prototype blocks.

  • ptrig: add CPU affinity config (optional). This takes a list of the cores to run on. Default is no affinity.

  • lfds_cyclic: add loglevel_overruns config. This allows configuring the loglevel of overrun conditions, or silencing them completly by setting the value -1.

v0.8.0

  • triggers: if num_steps is 0, this will be interpreted as the default (1 step). To disable triggering of a block, set to -1.

  • Accessors for all stdtypes are defined using def_type_accessors, hence blocks can use these instead of defining their own.

  • core: cleanup of port read/write and config accessors. The macros

    • def_write_fun and def_read_fun
    • def_write_arr_fun def_read_arr_fun
    • def_write_dynarr_fun and def_read_dynarr_fun

    have been deprecated in favor of the following new ones (the macro parameters are the same, so simple renaming will work in most cases):

    • def_port_readers(FUNCNAME, TYPENAME) def_port_writers(FUNCNAME, TYPENAME)

    will each define both single element function as well as the array version, e.g. for the writer side:

    long FUNCNAME(const ubx_port_t* p, TYPENAME* val) long FUNCNAME_array(const ubx_port_t* p, TYPENAME* val, const int len)

    For convenience, the the macros def_port_accessors(SUFFIX, TYPENAME) and def_type_accessors(SUFFIX, TYPENAME) can be used to define both port readers and writers or port readers, writers and config accessors respectively (Note: these take a function name suffix instead of the whole name).

    Internally, the implementation is both safer and significantly faster due to avoiding a hash table lookup.

  • lua: conn_uni: iblock name generation scheme changed from using a timestamp to an incrementing counter. This is to facilitate testing, that can rely on reproducable names.

  • tools: ubx_launch, ubx_ilaunch, ubx_genblock, ubx_log and ubx_tocarr are renamed to ubx-launch, ubx-ilaunch, ubx-genblock, ubx-log and ubx_tocarr respectively.

  • convert CONFIG_DUMPABLE and CONFIG_MLOCK_ALL to node attributes. These can now be set as ubx-launch parameters (or at C-API level by setting the respective bits in the attrs parameter).

  • doc: generate block reStructuredText docs using ubx-modinfo

  • core: added ubx_module_get function and extended Lua load_module to return the module id (i.e. path from which it was loaded). The latter can be passed to the former function (e.g. for looking up an spdx license id).

  • core: added functions for ubx_type_t lookup via hash or hashstr.

  • added PID controller block and extended ramp block with a data_len parameter to allow vector ramp output. Added helper functions for reading/writing arrays (def_write_dynarr_fun and def_read_dynarr_fun) where the size is determined at run-time. Added helpers for resizing port data lenght (ubx_inport_resize and ubx_outport_resize).

  • ubx_launch: -c options now supports multiple arguments and will merge all given models into the first before launching. Use-case is for late addition of policy (e.g. ptrig blocks etc.) to otherwise reusable compositions.

  • blockdiagram: drop the start directive that was used to pass the last blocks to be started (i.e. ptrig) to the launch logic. This is not necessary anymore, as the launch logic will ensure to startup active blocks (see BLOCK_ATTR_ACTIVE) after all others.

  • blockdiagram: add composition support to permit hierarchical composition of usc systems. This change introduces the subsystems keyword and is backwards compatible with existing compositions.

  • ubx-launch: -s option added for printing usc launch messages to stderr (in additon to the rtlog). Useful for debugging when long messages may get truncated in the rtlog.

  • triggering: trig, ptrig, trig_utils

    • tstat_utils: rename to trig_utils. Created generic trigger implementation in trig_utils for use by trig and ptrig as well as custom user triggers.

    • ptrig and trig converted to use generic trigger handling from trig_utils

    • tstats_enabled renamed to tstats_mode. Values are

      • 0: off
      • 1: total tstats only
      • 2: total and per block tstats

    • ptrig and trig: new config tstats_output_rate for configuring how often statistics are written to the tstats port.

    • config tstats_print_on_stop dropped. New behavior is: if tstats_mode is non-zero, then stats will be logged on stop.

  • stattypes: merge into stdtypes as this only contains the ubx_tstat type. Hence, there is no need to import stattypes anymore.

v0.7.1

  • core: add environment variable UBX_PATH that can be used to specify alternative installation paths. If defined, ubx will search the colon separated list of directories for ubx headers and modules.

  • core: ffi: types: strip preprocessor directives from types that are fed to the ffi. This is to allow include guards in these header files.

  • config: add min/max specifiers for introducing constraints such as optional or mandatory configs.

  • struct ubx_block: added attributes variable (attrs) and defined first block attributes (BLOCK_ATTR_TRIGGER and BLOCK_ATTR_ACTIVE). These will be used by tools such as ubx_launch, so blocks should be updated to define these appropriately.

  • blockdiagram.load: change to return system or fail and exit

  • rtlog: enable gcc format checking. This checks the provided arguments match the given format string.

  • ubx_tocarr: cmdline args added to allow overriding output file file

v0.7.0

  • ubxcore: ubx_node_cleanup changed to remove blocks and unload modules, but to leaving the node intact. For destroying a node, ubx_node_rm was introduced.

  • ubx.lua: config_get returns nil if a config doesn't exist instead of throwing and error

  • added ubx-modinfo tool for offline module introspection

  • lfds_cyclic: increased loglevel for buffer overflow logging to NOTICE.

  • introduced real-time safe logging and switched core and std_blocks to it

  • data_size: changed return value to long (signed) to be able to signal errors via negative return value.

v0.6.2

  • renamed TSC configure option tsc-timers to timesrc-tsc

  • added hooks for extra checking -check and -werror and two checks for unconnected in- and outports.

  • removed generated ubx_proto.h from git

  • cleanup: headers moved to include/ubx/. pkg-config file adapted, so this change should be transparent.

  • trig, tstat: timing statistics support generalized for use in non-core blocks.

  • support for using TSC timers (x86) as a low-overhead time source for timing statistics.

  • ubx.lua use unversioned libubx.so

  • bugfix in ubx_port_add (see 28e6d8acc42)

v0.6.1

  • ubx_launch, blockdiagram: exit and complain loudly if launching a blockdiagram fails

v0.6.0

  • updated all blocks to new config handling

  • switch len and ptr* ubx_config_get_data_ptr to be streamlined with the new cfg_getptr_* utilities and to allow reporting errors. The new prototype is:

 `long ubx_config_get_data_ptr(ubx_block_t *b, const char *name,
 void **ptr)

len < 0 signifies and error, 0 that the config is unset and > 0 means configured and array lenght of len.

  • configurations are not initalized to size 1 by default. This was useful back in the day when most configurations were of len 1, but this is not true anymore and it makes in cumbersome to distinguish between unconfigured and configurations with value 0. This is mainly visible through ubx_config_get_data_ptr, which may now return NULL and len=0. Blocks must handle this case.

  • cfg_getptr_[char|int|...] convenience functions added. These functions allow retrieving configuration in a somewhat more typesafe manner. Example:

    long len;
uint32_t *val;

len = cfg_getptr_uint32(b, "myconf", &val);

if(len == 0)
    /* myconf unconfigured */
else if(len > 1)
    /* myconfig configured, use val */
else
    /* len < 0, error */

  • removed unused and deprecated lfds_cyclic_raw block.

v0.5.1

  • blockdiagram, ubx_launch: moved node config from configurations to a separate top level section node_configurations. This avoids that configurations becomes a hybrid dictionary/array which causes problems when importing from json.

  • pkg-config: ubx_moddir renamed to UBX_MODDIR for consistency.

v0.5.0

  • support for node configuration in C and via the ubx_launch DSL. Using the node (global) configuration mechanism multiple block configurations can be setup to refer to the same configuration value. This way, only one "screw" needs to be turned to change the configuration for all blocks, and the required memory is only allocated once.

    Note that it is transparent to the blocks whether they are configured individually or via a node config.

    For an example, take a look at node_config_demo.usc

  • the static initialization of block configuration array length has changed during the refactoring for node config support:

/* old way */
ubx_config_t blk_conf[] = {
	{ .name="foo", .type_name="char", .value = { .len=32 }
	{ NULL }
};
/* new way */
ubx_config_t blk_conf[] = {
	{ .name="foo", .type_name="char", .data_len=32 }
	{ NULL }
};

if you didn't use this (probably the case for most blocks), there's nothing to change.

v0.4.0

  • ubx_launch: shutdown option -b added to shutdown when a (trigger) block is stopped.

  • ubx_data_free: removed unused ni argument

  • enabled full warnings -Wall -Wextra -Werror and fixed all occurences.

  • added ubx_outport_add and ubx_inport_add convenience functions.

  • thorough cleanup of ptrig:

    • removed ifdef'ed timing statistics
    • removed MAX_BLOCKS define for number of timing blocks
    • tstats_print_on_stop config to print statistics

  • ubx_types.h: reduce BLOCK_NAME_MAXLEN to 30

  • more tests added: ptrig

  • various fixes

v0.3.4

  • ramp block generalized to support all basic types

  • various fixes

v0.3.4

  • simple ramp block added

  • blockmodel: pulldown support added.

  • promoted get_num_configs and get_num_ports to public IF.

  • ubx_ts_to_ns added to convert ubx_timespec to uint64_t ns.

  • ubx_launch: -t added to run for a specific amount of time.

v0.3.3

  • ubx_launch start directive e5a716c4c096020ec0767a7eb87c3952977919a2

  • ubx_launch JSON support 4cc5fc83ae966153289c4dc9733d77737f7342e1

  • various smaller cleanups

< v0.3.2

  • support for type registration in C++ added 0736a5172e7fb2a93dc7c9f42c525c0e5626ae0e

  • introduce ubx_ilaunch for interactive mode 1725f6172d92730044928ffaf984ec8b57be8bcb. Renamed non interactive version to ubx_launch.

  • file2carr.lua renamed to ubx_tocarr a3eee190b93423a49a678d20b239bc1dd30a3444

  • install core modules into $(prefix)/lib/microblx/<major.minor>/ 51e1bbb6c79dc3aa9081802334c54f2c5bab1270

  • [9ff5615f9d] removed std Lua modules provided by separate package uutils (see README.md).

  • [469e930b8a] Clang dependency removed: compiling with gcc works when using initialization as demonstrated in std_blocks/cppdemo.

  • [4213621d55] merged support for autotools build

  • [4e3a0b9a72] OO support for node, block, port, config, data and type. Removed old and unused Lua functions.

  • [65cd7088c6] interaction blocks are not strongly typed, i.e. instead if data element size and number of buffer elements, the type name, array len and number of buffer elements are given. This will help ensure type safety for inter-process iblocks.

  • [575d26d8ea] removed ubx_connect_one and ubx_connect. Use ubx_connect_out, ubx_connect_in and ubx_connect_uni instead.

  • the port direction attrs PORT_DIR_IN/OUT/INOUT can be ommitted in the definition of block ports. They are automatically inferred from the presence of in_type_name / out_type_name.

  • renamed module_init/module_cleanup to UBX_MODULE_INIT/UBX_MODULE_CLEANUP