Add very basic support for FlexPRET platform

.github/workflows/ci.yml

@@ -22,9 +22,8 @@ jobs:
       - name: Install deps
         run: |
           sudo apt-get install lcov
-      # Commented out because we dont do LFC tests at the moment.
-      # - name: Setup java and gradle for compiling lfc
-      #   uses: ./.github/actions/prepare-build-env 
+      - name: Setup java and gradle for compiling lfc
+        uses: ./.github/actions/prepare-build-env 
       # Uncomment to SSH into the runner.
       # - name: Setup upterm session
       #   uses: lhotari/action-upterm@v1
@@ -33,6 +32,7 @@ jobs:
           source env.bash
           make format-check
           make unit-test
+          make lf-test
           make examples
           make coverage
       - name: Coverage

CMakeLists.txt

@@ -40,18 +40,16 @@ if(BUILD_TESTS)
   endif()
 endif()
 
-
 file(GLOB SOURCES "src/*.c" "external/proto/*.c")
-
 set(NANOPB_PATH external/nanopb)
 
 if (PLATFORM STREQUAL "POSIX")
   add_library(reactor-uc STATIC ${SOURCES})
-  # Add nanopb library manually
-  add_library(nanopb ${NANOPB_PATH}/pb_common.c ${NANOPB_PATH}/pb_encode.c ${NANOPB_PATH}/pb_decode.c)
-  set_target_properties(nanopb PROPERTIES C_CLANG_TIDY "") # Disable clang-tidy for this external lib.
-
-  target_link_libraries(reactor-uc PRIVATE pthread nanopb)
+  target_link_libraries(reactor-uc PRIVATE pthread)
+elseif (PLATFORM STREQUAL "FLEXPRET")
+  add_library(reactor-uc STATIC ${SOURCES})
+  add_subdirectory($ENV{FP_SDK_PATH} BINARY_DIR)
+  target_link_libraries(reactor-uc PUBLIC fp-sdk)
 elseif (PLATFORM STREQUAL "ZEPHYR")
   zephyr_library_named(reactor-uc)
   zephyr_library_sources(${SOURCES})
@@ -68,6 +66,13 @@ else ()
   message(FATAL_ERROR "No valid platform specified")
 endif ()
 
+# Add nanopb library. Note that for Zephyr it is built customly above.
+if (NOT PLATFORM STREQUAL "ZEPHYR")
+  add_library(nanopb ${NANOPB_PATH}/pb_common.c ${NANOPB_PATH}/pb_encode.c ${NANOPB_PATH}/pb_decode.c)
+  set_target_properties(nanopb PROPERTIES C_CLANG_TIDY "") # Disable clang-tidy for this external lib.
+  target_link_libraries(reactor-uc PRIVATE nanopb)
+endif()
+
 # Add compile definitions for platform and network channel specifics.
 target_compile_definitions(reactor-uc PRIVATE "PLATFORM_${PLATFORM}")
 
@@ -80,6 +85,7 @@ if(NETWORK_CHANNEL_TCP_POSIX)
 endif()
 
 target_compile_options(reactor-uc PRIVATE -Wall -Wextra -Werror)
+target_compile_options(reactor-uc PUBLIC -Wno-zero-length-bounds -Wno-stack-usage)
 
 
 add_compile_options (-fdiagnostics-color=always)

Makefile

@@ -1,6 +1,6 @@
 .PHONY: clean test coverage asan format format-check ci lf-test lib proto examples 
 
-test: unit-test examples
+test: unit-test lf-test examples
 
 # Generate protobuf code
 proto:

examples/common/timer_source.h

@@ -1,8 +1,8 @@
 #include "reactor-uc/reactor-uc.h"
 
-DEFINE_TIMER_STRUCT(TimerSource, t, 1);
-DEFINE_TIMER_CTOR(TimerSource, t, 1);
-DEFINE_REACTION_STRUCT(TimerSource, r, 1);
+DEFINE_TIMER_STRUCT(TimerSource, t, 1, 0);
+DEFINE_TIMER_CTOR(TimerSource, t, 1, 0);
+DEFINE_REACTION_STRUCT(TimerSource, r, 0);
 DEFINE_REACTION_CTOR(TimerSource, r, 0);
 
 typedef struct {

examples/flexpret/CMakeLists.txt

@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.22)
+
+if(NOT DEFINED ENV{FP_SDK_PATH})
+  message(FATAL_ERROR "FP_SDK_PATH environment variable not set!")
+endif()
+
+include($ENV{FP_SDK_PATH}/cmake/riscv-toolchain.cmake)
+include($ENV{FP_SDK_PATH}/cmake/fp-app.cmake)
+
+project(fp-lf)
+
+# add_executable(fp-hello src/main.c)
+# add_subdirectory(src-gen/HelloFlexPRET)
+# target_link_libraries(fp-hello PUBLIC HelloFlexPRET)
+# fp_add_outputs(fp-hello)
+
+
+add_executable(fp-smoke src/main.c)
+add_subdirectory(src-gen/Smoke)
+target_link_libraries(fp-smoke PUBLIC Smoke)
+fp_add_outputs(fp-smoke)

examples/flexpret/src/HelloFlexPRET.lf

@@ -0,0 +1,9 @@
+target uC {
+  platform: FlexPRET
+}
+
+main reactor {
+  reaction(startup) {=
+    printf("Hello, FlexPRET!\n");
+  =}
+}

examples/flexpret/src/Smoke.lf

@@ -0,0 +1,30 @@
+target uC {
+  platform: FlexPRET
+}
+
+reactor R1 {
+  output out: int
+
+  reaction(startup) -> out {=
+    lf_set(out, 42);
+  =}
+}
+
+reactor R2 {
+  input in: int
+
+  reaction(startup) {=
+    printf("Hello from R2, FlexPRET!\n");
+  =}
+
+  reaction(in) {=
+    printf("Received: %d\n", in->value);
+    validate(in->value == 42);
+  =}
+}
+
+main reactor {
+  r1 = new R1()
+  r2 = new R2()
+  r1.out -> r2.in
+}

examples/flexpret/src/main.c

@@ -0,0 +1,5 @@
+#include "lf_main.h"
+
+int main() {
+  lf_start();
+}

examples/posix/federated/receiver.c

@@ -21,8 +21,8 @@ lf_ret_t deserialize_msg_t(void *user_struct, const unsigned char *msg_buf, size
 
 DEFINE_REACTION_STRUCT(Receiver, r, 0);
 DEFINE_REACTION_CTOR(Receiver, r, 0);
-DEFINE_INPUT_STRUCT(Receiver, in, 1, msg_t, 0);
-DEFINE_INPUT_CTOR(Receiver, in, 1, msg_t, 0);
+DEFINE_INPUT_STRUCT(Receiver, in, 1, 0, msg_t, 0);
+DEFINE_INPUT_CTOR(Receiver, in, 1, 0, msg_t, 0);
 
 typedef struct {
   Reactor super;
@@ -40,14 +40,14 @@ DEFINE_REACTION_BODY(Receiver, r) {
          in->value.size);
 }
 
-REACTOR_CTOR_SIGNATURE(Receiver) {
+REACTOR_CTOR_SIGNATURE_WITH_PARAMETERS(Receiver, InputExternalCtorArgs in_external) {
   REACTOR_CTOR_PREAMBLE();
   REACTOR_CTOR(Receiver);
   INITIALIZE_REACTION(Receiver, r);
-  INITIALIZE_INPUT(Receiver, in);
+  INITIALIZE_INPUT(Receiver, in, in_external);
 
   // Register reaction as an effect of in
-  INPUT_REGISTER_EFFECT(in, r);
+  PORT_REGISTER_EFFECT(in, r);
 }
 
 DEFINE_FEDERATED_INPUT_CONNECTION(Receiver, in, msg_t, 5, MSEC(100), false);
@@ -71,12 +71,14 @@ typedef struct {
   CHILD_REACTOR_INSTANCE(Receiver, receiver);
   FEDERATED_CONNECTION_BUNDLE_INSTANCE(Receiver, Sender);
   FEDERATE_BOOKKEEPING_INSTANCES(0,0,1,1);
+  CHILD_INPUT_SOURCES(receiver, in, 0);
 } MainRecv;
 
 REACTOR_CTOR_SIGNATURE(MainRecv) {
   FEDERATE_CTOR_PREAMBLE();
   REACTOR_CTOR(MainRecv);
-  INITIALIZE_CHILD_REACTOR(Receiver, receiver);
+  DEFINE_CHILD_INPUT_ARGS(receiver, in);
+  INITIALIZE_CHILD_REACTOR_WITH_PARAMETERS(Receiver, receiver, _receiver_in_args);
   INITIALIZE_FEDERATED_CONNECTION_BUNDLE(Receiver, Sender);
   BUNDLE_REGISTER_DOWNSTREAM(Receiver, Sender, receiver, in);
 }

examples/posix/federated/sender.c

@@ -21,11 +21,11 @@ size_t serialize_msg_t(const void *user_struct, size_t user_struct_size, unsigne
   return sizeof(msg->size) + msg->size;
 }
 
-DEFINE_TIMER_STRUCT(Sender, t, 1)
-DEFINE_TIMER_CTOR(Sender, t, 1)
+DEFINE_TIMER_STRUCT(Sender, t, 1, 0)
+DEFINE_TIMER_CTOR(Sender, t, 1, 0)
 DEFINE_REACTION_STRUCT(Sender, r, 1)
 DEFINE_REACTION_CTOR(Sender, r, 0)
-DEFINE_OUTPUT_STRUCT(Sender, out, 1)
+DEFINE_OUTPUT_STRUCT(Sender, out, 1, interval_t)
 DEFINE_OUTPUT_CTOR(Sender, out, 1)  
 
 typedef struct {
@@ -48,16 +48,16 @@ DEFINE_REACTION_BODY(Sender, r) {
   lf_set(out, val);
 }
 
-REACTOR_CTOR_SIGNATURE_WITH_PARAMETERS(Sender, Connection **conn_out, size_t conn_out_num) {
+REACTOR_CTOR_SIGNATURE_WITH_PARAMETERS(Sender, OutputExternalCtorArgs out_external) {
   REACTOR_CTOR_PREAMBLE();
   REACTOR_CTOR(Sender);
   INITIALIZE_REACTION(Sender, r);
   INITIALIZE_TIMER(Sender, t, MSEC(0), SEC(1));
-  INITIALIZE_OUTPUT(Sender, out, conn_out, conn_out_num);
+  INITIALIZE_OUTPUT(Sender, out, out_external);
 
   TIMER_REGISTER_EFFECT(t, r);
   REACTION_REGISTER_EFFECT(r, out);
-  OUTPUT_REGISTER_SOURCE(out, r);
+  PORT_REGISTER_SOURCE(out, r);
 }
 
 DEFINE_FEDERATED_OUTPUT_CONNECTION(Sender, out, msg_t, 1)
@@ -85,12 +85,15 @@ typedef struct {
   FEDERATED_CONNECTION_BUNDLE_INSTANCE(Sender, Receiver);
   TcpIpChannel channel;
   FEDERATE_BOOKKEEPING_INSTANCES(0,0,1,1);
-  CONTAINED_OUTPUT_CONNECTIONS(sender, out, 1);
+  CHILD_OUTPUT_CONNECTIONS(sender, out, 1);
+  CHILD_OUTPUT_EFFECTS(sender, out, 0);
+  CHILD_OUTPUT_OBSERVERS(sender, out, 0);
 } MainSender;
 
 REACTOR_CTOR_SIGNATURE(MainSender) {
   FEDERATE_CTOR_PREAMBLE();
-  INITIALIZE_CHILD_REACTOR_WITH_PARAMETERS(Sender, sender, self->_conns_sender_out_out, 1);
+  DEFINE_CHILD_OUTPUT_ARGS(sender, out);
+  INITIALIZE_CHILD_REACTOR_WITH_PARAMETERS(Sender, sender, _sender_out_args);
   INITIALIZE_FEDERATED_CONNECTION_BUNDLE(Sender, Receiver);
   BUNDLE_REGISTER_UPSTREAM(Sender, Receiver, sender, out);
   REACTOR_CTOR(MainSender);

examples/zephyr/basic_federated/common/receiver.h

@@ -35,8 +35,8 @@ typedef struct {
 DEFINE_REACTION_STRUCT(Receiver, r,  0);
 DEFINE_REACTION_CTOR(Receiver, r, 0)
 
-DEFINE_INPUT_STRUCT(Receiver, in, 1, msg_t, 0)
-DEFINE_INPUT_CTOR(Receiver, in, 1, msg_t, 0)
+DEFINE_INPUT_STRUCT(Receiver, in, 1, 0, msg_t, 0)
+DEFINE_INPUT_CTOR(Receiver, in, 1, 0, msg_t, 0)
 
 typedef struct {
   Reactor super;
@@ -54,14 +54,14 @@ DEFINE_REACTION_BODY(Receiver, r) {
          env->get_logical_time(env), env->get_physical_time(env));
 }
 
-REACTOR_CTOR_SIGNATURE(Receiver) {
+REACTOR_CTOR_SIGNATURE_WITH_PARAMETERS(Receiver, InputExternalCtorArgs in_external) {
   REACTOR_CTOR_PREAMBLE();
   REACTOR_CTOR(Receiver);
   INITIALIZE_REACTION(Receiver, r);
-  INITIALIZE_INPUT(Receiver, in);
+  INITIALIZE_INPUT(Receiver, in, in_external);
 
   // Register reaction as an effect of in
-  INPUT_REGISTER_EFFECT(in, r);
+  PORT_REGISTER_EFFECT(in, r);
 }
 
 
@@ -87,12 +87,14 @@ typedef struct {
   CHILD_REACTOR_INSTANCE(Receiver, receiver);
   FEDERATED_CONNECTION_BUNDLE_INSTANCE(Receiver, Sender);
   FEDERATE_BOOKKEEPING_INSTANCES(0,0,1,1);
+  CHILD_INPUT_SOURCES(receiver, in, 0);
 } MainRecv;
 
 REACTOR_CTOR_SIGNATURE(MainRecv) {
   FEDERATE_CTOR_PREAMBLE();
   REACTOR_CTOR(MainRecv);
-  INITIALIZE_CHILD_REACTOR(Receiver, receiver);
+  DEFINE_CHILD_INPUT_ARGS(receiver, in);
+  INITIALIZE_CHILD_REACTOR_WITH_PARAMETERS(Receiver, receiver, _receiver_in_args);
   INITIALIZE_FEDERATED_CONNECTION_BUNDLE(Receiver, Sender);
   BUNDLE_REGISTER_DOWNSTREAM(Receiver, Sender, receiver, in);
 }

examples/zephyr/basic_federated/federated_sender/src/sender.c

@@ -17,12 +17,16 @@ static const struct gpio_dt_spec button = GPIO_DT_SPEC_GET_OR(SW0_NODE, gpios, {
 static struct gpio_callback button_cb_data;
 static const struct gpio_dt_spec led = GPIO_DT_SPEC_GET(LED0_NODE, gpios);
 
-DEFINE_ACTION_STRUCT(Sender, act, PHYSICAL_ACTION, 1, 0, 10, bool);
-DEFINE_ACTION_CTOR(Sender, act, PHYSICAL_ACTION, 1, 0, 10, bool);
+typedef struct {
+  char msg[32];
+} msg_t;
+
+DEFINE_ACTION_STRUCT(Sender, act, PHYSICAL_ACTION, 1, 0, 0, 10, bool);
+DEFINE_ACTION_CTOR(Sender, act, PHYSICAL_ACTION, 1, 0, 0, 10, bool);
 DEFINE_REACTION_STRUCT(Sender, r, 1);
 DEFINE_REACTION_CTOR(Sender, r, 0);
 
-DEFINE_OUTPUT_STRUCT(Sender, out, 1)
+DEFINE_OUTPUT_STRUCT(Sender, out, 1, msg_t)
 DEFINE_OUTPUT_CTOR(Sender, out, 1)
 
 Sender_act *action_ptr = NULL;
@@ -62,9 +66,6 @@ void setup_led() {
   gpio_pin_configure_dt(&led, GPIO_OUTPUT_ACTIVE);
 }
 
-typedef struct {
-  char msg[32];
-} msg_t;
 
 typedef struct {
   Reactor super;
@@ -86,16 +87,16 @@ DEFINE_REACTION_BODY(Sender, r) {
   lf_set(out, val);
 }
 
-REACTOR_CTOR_SIGNATURE_WITH_PARAMETERS(Sender, Connection **conn_out, size_t conn_out_num) {
+REACTOR_CTOR_SIGNATURE_WITH_PARAMETERS(Sender, OutputExternalCtorArgs out_external) {
   REACTOR_CTOR_PREAMBLE();
   REACTOR_CTOR(Sender);
   INITIALIZE_REACTION(Sender, r);
   INITIALIZE_ACTION(Sender, act, MSEC(0));
-  INITIALIZE_OUTPUT(Sender, out, conn_out, conn_out_num);
+  INITIALIZE_OUTPUT(Sender, out, out_external);
 
   ACTION_REGISTER_EFFECT(act, r);
   REACTION_REGISTER_EFFECT(r, out);
-  OUTPUT_REGISTER_SOURCE(out, r);
+  PORT_REGISTER_SOURCE(out, r);
 }
 
 DEFINE_FEDERATED_OUTPUT_CONNECTION(Sender, out, msg_t, 1)
@@ -138,15 +139,18 @@ typedef struct {
   CHILD_REACTOR_INSTANCE(Sender, sender);
   FEDERATED_CONNECTION_BUNDLE_INSTANCE(Sender, Receiver1);
   FEDERATED_CONNECTION_BUNDLE_INSTANCE(Sender, Receiver2);
-  CONTAINED_OUTPUT_CONNECTIONS(sender, out, 2);
+  CHILD_OUTPUT_CONNECTIONS(sender, out, 2);
+  CHILD_OUTPUT_EFFECTS(sender, out, 0);
+  CHILD_OUTPUT_OBSERVERS(sender, out, 0);
   FEDERATE_BOOKKEEPING_INSTANCES(0,0,1,2);
 } MainSender;
 
 REACTOR_CTOR_SIGNATURE(MainSender) {
   FEDERATE_CTOR_PREAMBLE();
   REACTOR_CTOR(MainSender);
-
-  INITIALIZE_CHILD_REACTOR_WITH_PARAMETERS(Sender, sender, self->_conns_sender_out_out, 2);
+
+  DEFINE_CHILD_OUTPUT_ARGS(sender, out);
+  INITIALIZE_CHILD_REACTOR_WITH_PARAMETERS(Sender, sender, _sender_out_args);
   INITIALIZE_FEDERATED_CONNECTION_BUNDLE(Sender, Receiver1);
   INITIALIZE_FEDERATED_CONNECTION_BUNDLE(Sender, Receiver2);
 

examples/zephyr/hello_lf/CMakeLists.txt

@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.20.0)
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(HelloLF)
+
+target_sources(app PRIVATE src/main.c)
+add_subdirectory(src-gen/HelloLF)
+target_link_libraries(app PRIVATE HelloLF)