Build Zephyr examples in CI (#100)

* Add CI action to build the Zephyr examples

* Add CI action to build Pico examples

* Use caching to speed things up

.github/actions/pico/action.yml

@@ -0,0 +1,30 @@
+name: Install and build Zephyr dependencies
+description: Install and build Zephyr dependencies
+runs:
+  using: "composite"
+  steps:
+    - name: Install packages
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y --no-install-recommends git cmake tar build-essential \
+          gcc-arm-none-eabi libnewlib-arm-none-eabi libstdc++-arm-none-eabi-newlib
+      shell: bash
+
+    - name: Cache Pico SDK
+      id: cache-pico-sdk
+      uses: actions/cache@v4
+      with:
+        path: /opt/pico-sdk
+        key: pico-sdk-${{ runner.os }}
+
+    - name: Install pico-sdk
+      if: steps.cache-pico-sdk.outputs.cache-hit != 'true'
+      run: | 
+        git clone https://github.com/raspberrypi/pico-sdk /opt/pico-sdk
+        echo "PICO_SDK_PATH=/opt/pico-sdk" >> $GITHUB_ENV 
+      shell: bash
+
+    - name: Set environment variables
+      run: | 
+        echo "PICO_SDK_PATH=/opt/pico-sdk" >> $GITHUB_ENV 
+      shell: bash

.github/actions/zephyr/action.yml

@@ -0,0 +1,60 @@
+name: Install and build Zephyr dependencies
+description: Install and build Zephyr dependencies
+runs:
+  using: "composite"
+  steps:
+    - name: Setup environment variables
+      run: |
+        echo "SDK_VERSION=0.16.8" >> $GITHUB_ENV
+      shell: bash
+    - name: Dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y --no-install-recommends git cmake ninja-build gperf \
+            ccache dfu-util device-tree-compiler wget \
+            python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
+            make gcc gcc-multilib g++-multilib libsdl2-dev libmagic1
+      shell: bash
+    - name: Install West
+      run: pip install west
+      shell: bash
+
+    - name: Cache SDK
+      id: cache-zephyr-sdk
+      uses: actions/cache@v4
+      with:
+        path: /opt/zephyr-sdk-${{env.SDK_VERSION}}
+        key: zephyr-sdk-${{env.SDK_VERSION}}-${{ runner.os }}
+
+    - name: Install Zephyr SDK
+      if: steps.cache-zephyr-sdk.outputs.cache-hit != 'true'
+      run : |
+        wget -q "https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v${{env.SDK_VERSION}}/zephyr-sdk-${{env.SDK_VERSION}}_linux-x86_64.tar.xz"
+        wget -O - "https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v${{env.SDK_VERSION}}/sha256.sum" | shasum --check --ignore-missing
+        sudo tar xvf "zephyr-sdk-${{env.SDK_VERSION}}_linux-x86_64.tar.xz" --directory /opt/
+      shell: bash
+
+    - name: Cache Zephyr RTOS
+      id: cache-zephyr-rtos
+      uses: actions/cache@v4
+      with:
+        path: /opt/lf-west-template
+        key: lf-west-template-${{ runner.os }}
+
+    - name: Download and install Zephyr RTOS with the lf-west-template
+      if: steps.cache-zephyr-rtos.outputs.cache-hit != 'true'
+      run: |
+          cd /opt
+          git clone https://github.com/lf-lang/lf-west-template && cd lf-west-template
+          west update
+      shell: bash
+    - name: Setup environment variables
+      run: |
+          cd "/opt/zephyr-sdk-${{env.SDK_VERSION}}"
+          sudo ./setup.sh -t all -h -c
+          echo "ZEPHYR_BASE=/opt/lf-west-template/deps/zephyr" >> $GITHUB_ENV
+          echo "ZEPHYR_SDK_INSTALL_DIR=/opt/zephyr-sdk-${{env.SDK_VERSION}}/" >> $GITHUB_ENV
+          cd /opt/lf-west-template
+          west zephyr-export
+          pip install -r deps/zephyr/scripts/requirements.txt
+      shell: bash

.github/workflows/ci.yml

@@ -22,8 +22,9 @@ jobs:
       - name: Install deps
         run: |
           sudo apt-get install lcov
-      - name: Setup java and gradle for compiling lfc
-        uses: ./.github/actions/prepare-build-env 
+      # 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 
       # Uncomment to SSH into the runner.
       # - name: Setup upterm session
       #   uses: lhotari/action-upterm@v1

.github/workflows/pico.yml

@@ -0,0 +1,22 @@
+name: Pico examples
+
+on:
+  pull_request:
+
+jobs:
+  ci:
+    name: Build Pico examples
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+        with:
+          submodules: recursive
+      - name: Install dependencies
+        uses: ./.github/actions/pico
+      - name: Build examples
+        run: |
+          cd examples/pico
+          cmake -Bbuild && cd build
+          make
+      

.github/workflows/zephyr.yml

@@ -0,0 +1,21 @@
+name: Zephyr examples
+
+on:
+  pull_request:
+
+jobs:
+  ci:
+    name: Build zephyr examples
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+        with:
+          submodules: recursive
+      - name: Install dependencies
+        uses: ./.github/actions/zephyr
+      - name: Build examples
+        run: |
+          cd examples/zephyr
+          ./buildAll.sh
+      

README.md

@@ -1,7 +1,7 @@
 # reactor-uc
 
 `reactor-uc` is a task scheduling runtime implementing the reactor
-model-of-computation target at embedded and resource-constrained 32 bit systems.
+model-of-computation target at embedded and resource-constrained systems.
 
 ## Getting started
 

examples/zephyr/basic_federated/federated_receiver1/src/receiver.c

@@ -57,6 +57,7 @@ typedef struct {
   TcpIpChannel chan;
   ConnRecv conn;
   FederatedInputConnection *inputs[1];
+  deserialize_hook deserialize_hooks[1];
 } RecvSenderBundle;
 
 void RecvSenderBundle_ctor(RecvSenderBundle *self, Reactor *parent) {
@@ -65,7 +66,7 @@ void RecvSenderBundle_ctor(RecvSenderBundle *self, Reactor *parent) {
   self->inputs[0] = &self->conn.super;
 
   NetworkChannel *chan = &self->chan.super;
-  chan->open_connection(channel);
+  chan->open_connection(chan);
 
   lf_ret_t ret;
   LF_DEBUG(ENV, "Recv: Connecting");
@@ -74,8 +75,8 @@ void RecvSenderBundle_ctor(RecvSenderBundle *self, Reactor *parent) {
   } while (ret != LF_OK);
   LF_DEBUG(ENV, "Recv: Connected");
 
-  FederatedConnectionBundle_ctor(&self->super, parent, &self->chan.super, (FederatedInputConnection **)&self->inputs, 1,
-                                 NULL, 0);
+  FederatedConnectionBundle_ctor(&self->super, parent, &self->chan.super, (FederatedInputConnection **)&self->inputs,
+                                 self->deserialize_hooks, 1, NULL, NULL, 0);
 }
 
 typedef struct {
@@ -104,5 +105,5 @@ ENTRY_POINT_FEDERATED(MainRecv, FOREVER, true, true, 1, false)
 
 int main() {
   setup_led();
-  lf_MainRecv_start();
+  lf_start();
 }

examples/zephyr/basic_federated/federated_receiver2/src/receiver.c

@@ -57,6 +57,7 @@ typedef struct {
   TcpIpChannel chan;
   ConnRecv conn;
   FederatedInputConnection *inputs[1];
+  deserialize_hook deserialize_hooks[1];
 } RecvSenderBundle;
 
 void RecvSenderBundle_ctor(RecvSenderBundle *self, Reactor *parent) {
@@ -74,8 +75,8 @@ void RecvSenderBundle_ctor(RecvSenderBundle *self, Reactor *parent) {
   } while (ret != LF_OK);
   LF_DEBUG(ENV, "Recv: Connected");
 
-  FederatedConnectionBundle_ctor(&self->super, parent, &self->chan.super, (FederatedInputConnection **)&self->inputs, 1,
-                                 NULL, 0);
+  FederatedConnectionBundle_ctor(&self->super, parent, &self->chan.super, (FederatedInputConnection **)&self->inputs,
+                                 self->deserialize_hooks, 1, NULL, NULL, 0);
 }
 
 typedef struct {
@@ -104,5 +105,5 @@ ENTRY_POINT_FEDERATED(MainRecv, FOREVER, true, true, 1, false)
 
 int main() {
   setup_led();
-  lf_MainRecv_start();
+  lf_start();
 }

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

@@ -105,13 +105,15 @@ typedef struct {
   TcpIpChannel chan;
   ConnSender1 conn;
   FederatedOutputConnection *output[1];
+  serialize_hook serialize_hooks[1];
 } SenderRecv1Bundle;
 
 typedef struct {
   FederatedConnectionBundle super;
   TcpIpChannel chan;
   ConnSender2 conn;
   FederatedOutputConnection *output[1];
+  serialize_hook serialize_hooks[1];
 } SenderRecv2Bundle;
 
 void SenderRecv1Bundle_ctor(SenderRecv1Bundle *self, Reactor *parent) {
@@ -131,8 +133,8 @@ void SenderRecv1Bundle_ctor(SenderRecv1Bundle *self, Reactor *parent) {
   validate(ret == LF_OK);
   printf("Sender: Accepted 1\n");
 
-  FederatedConnectionBundle_ctor(&self->super, parent, &self->chan.super, NULL, 0,
-                                 (FederatedOutputConnection **)&self->output, 1);
+  FederatedConnectionBundle_ctor(&self->super, parent, &self->chan.super, NULL, NULL, 0,
+                                 (FederatedOutputConnection **)&self->output, self->serialize_hooks, 1);
 }
 
 void SenderRecv2Bundle_ctor(SenderRecv2Bundle *self, Reactor *parent) {
@@ -152,8 +154,8 @@ void SenderRecv2Bundle_ctor(SenderRecv2Bundle *self, Reactor *parent) {
   validate(ret == LF_OK);
   printf("Sender: Accepted 2\n");
 
-  FederatedConnectionBundle_ctor(&self->super, parent, &self->chan.super, NULL, 0,
-                                 (FederatedOutputConnection **)&self->output, 1);
+  FederatedConnectionBundle_ctor(&self->super, parent, &self->chan.super, NULL, NULL, 0,
+                                 (FederatedOutputConnection **)&self->output, self->serialize_hooks, 1);
 }
 // Reactor main
 typedef struct {
@@ -185,6 +187,6 @@ ENTRY_POINT_FEDERATED(MainSender, FOREVER, true, true, 2, true)
 int main() {
   setup_button();
   setup_led();
-  action_ptr = &MainSender_main.sender.action;
-  lf_MainSender_start();
+  action_ptr = &main_reactor.sender.action;
+  lf_start();
 }

examples/zephyr/buildAll.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+
+set -e
+
+# List of folders
+FOLDERS=("blinky" "hello" "basic_federated/federated_sender" "basic_federated/federated_receiver1" "basic_federated/federated_receiver2" )
+
+BOARD=frdm_k64f
+
+# Command to execute in each folder
+COMMAND="west build -b $BOARD -p always"
+
+# Iterate over each folder and execute the command
+for dir in "${FOLDERS[@]}"; do
+    echo "Entering $dir"
+		pushd $dir
+		$COMMAND
+		popd
+done