Support for Patmos platform on static-schedule-single-thread branch by direct Makefile

test/C/src/static/ADASModel.lf

@@ -0,0 +1,110 @@
+/** FIXME: Turn this program into a test case. */
+target C {
+  timeout: 1 sec,
+  scheduler: STATIC,
+  build-type: Debug,
+  single-threaded: true
+}
+
+preamble {=
+  typedef int c_frame_t;
+  typedef int l_frame_t;
+=}
+
+realtime reactor Camera {
+  output out: {= c_frame_t =}
+  state frame: {= c_frame_t =}
+  timer t(0, 17 msec)  // 60 fps
+
+  @wcet("93572 nsec")  // RPI4
+  reaction(t) -> out {=
+    // Capture a frame.
+    //lf_print("Camera reaction");
+    self->frame = 1;
+    lf_set(out, self->frame);
+  =}
+}
+
+realtime reactor LiDAR {
+  output out: {= l_frame_t =}
+  state frame: {= l_frame_t =}
+  timer t(0, 34 msec)  // 30 fps
+
+  @wcet("97942 nsec")  // RPI4
+  reaction(t) -> out {=
+      // Capture a frame.
+    //  lf_print("LiDAR Reaction");
+      self->frame = 2;
+      lf_set(out, self->frame);
+  =}
+}
+
+realtime reactor Brakes {
+  input inADAS: int
+  state brakesApplied: int = 0
+
+  // RPI4
+  @wcet("5037 nsec")
+  reaction(inADAS) {=
+     // Actuate brakes.
+    // lf_print("Brakes reaction");
+     self->brakesApplied = 1;
+  =}
+}
+
+reactor ADASProcessor {
+  input in1: {= l_frame_t =}
+  input in2: {= c_frame_t =}
+  input a_in: int
+  output out1: int
+  output out2: int
+  output a_out: int
+  state requestStop: int
+
+  // RPI4
+  @wcet("5592 nsec")
+  reaction(in1, in2) -> a_out {=
+            // ... Detect danger
+      // and request stop.
+    //  lf_print("ADASProcessor reaction 1");
+            lf_set_present(a_out);
+            self->requestStop = 1;
+  =}
+
+  // RPI4
+  @wcet("6741 nsec")
+  reaction(a_in) -> out1, out2 {=
+    //  lf_print("ADASProcessor reaction 2");
+        if (self->requestStop == 1) {
+            lf_set_present(out1);
+            lf_set_present(out2);
+        }
+  =} deadline(20 msec) {=
+    //  lf_print("Deadline reaction");
+  =}
+}
+
+reactor Dashboard {
+  input in: int
+  state received: int
+
+  // RPI4
+  @wcet("4815 nsec")
+  reaction(in) {=
+    //  lf_print("Dashboard reaction");
+        self->received = 1;
+  =}
+}
+
+main reactor ADASModel {
+  c = new Camera()
+  l = new LiDAR()
+  p = new ADASProcessor()
+  b = new Brakes()
+  d = new Dashboard()
+  l.out -> p.in1
+  c.out -> p.in2
+  p.out2 -> d.in
+  p.out1 -> b.inADAS after 5 msec
+  p.a_out -> p.a_in after 50 msec
+}

test/C/src/static/ScheduleTest.lf

@@ -6,7 +6,9 @@ target C {
   // workers: 2,
   timeout: 100 sec,
   fast: true,
+  build-type: Debug,
   single-threaded: true,
+  tracing: false
 }
 
 preamble {=

test/C/src/static/SimpleConnection.lf

@@ -16,7 +16,8 @@ reactor Source {
     state s:int = 0
     reaction(t) -> out {=
         lf_set(out, self->s);
-        lf_print("Sent %d @ %lld", self->s++, lf_time_logical_elapsed());
+        self->s++;
+        // lf_print("Sent %d @ %lld", self->s, lf_time_logical_elapsed());
     =}
     reaction(t) -> out {=
         int v = -1 * self->s;
@@ -29,14 +30,14 @@ reactor Sink {
     state last_received:int = 0
     reaction(in) {=
         self->last_received = in->value;
-        lf_print("Received %d @ %lld", in->value, lf_time_logical_elapsed());
+        // lf_print("Received %d @ %lld", in->value, lf_time_logical_elapsed());
     =}
     reaction(shutdown) {=
         if (self->last_received != EXPECTED) {
-            fprintf(stderr, "FAILURE: Expected %d, Received %d\n", EXPECTED, self->last_received);
+            // fprintf(stderr, "FAILURE: Expected %d, Received %d\n", EXPECTED, self->last_received);
             exit(1);
         } else {
-            lf_print("Successfully received %d", self->last_received);
+            // lf_print("Successfully received %d", self->last_received);
         }
     =}
 }
@@ -45,6 +46,4 @@ main reactor {
     source = new Source()
     sink = new Sink()
     source.out -> sink.in after 2 sec
-    // source.out -> sink.in after 500 msec
-    // source.out -> sink.in
 }