Distribute the start tag within the federation (#81)

* Update proto messages and have a  start_tag_signal that is handled and used to distribute start tags

* Fix examples

* Refactor a little

* Formatting

* Only schedule timers and startup after start tag has been acquired

* Remove unused proto messages

* Fix up tests

* Correctly initialize start_time

* Some refactoring

* Formatting

* Fix pico

* Try porting tcp_channel_test to new FederateMessage

* Final portings

.clang-format

@@ -3,4 +3,5 @@ BasedOnStyle: LLVM
 Language: Cpp
 IndentWidth: 2
 ColumnLimit: 120
-AllowShortIfStatementsOnASingleLine: false
+AllowShortIfStatementsOnASingleLine: false
+SortIncludes: false

Makefile

@@ -1,26 +1,23 @@
 .PHONY: clean test coverage asan format format-check ci lf-test lib proto examples 
 
-test: unit-test lf-test examples
-
+test: unit-test examples
 
 # Generate protobuf code
 proto:
-	python external/nanopb/generator/nanopb_generator.py -Iexternal/nanopb/generator/proto/ -Iexternal/proto -L'#include "nanopb/%s"' -Dexternal/proto message.proto
+	python3 external/nanopb/generator/nanopb_generator.py -Iexternal/nanopb/generator/proto/ -Iexternal/proto -L'#include "nanopb/%s"' -Dexternal/proto message.proto
 
 # Build reactor-uc as a static library
 lib:
 	cmake -Bbuild 
 	cmake --build build
 	make -C build
 
-
 # Build examples
 examples:
 	cmake -Bbuild -DBUILD_EXAMPLES=ON .
 	cmake --build build
 	make examples -C build
 
-
 # Build and run the unit tests
 unit-test:
 	cmake -Bbuild -DBUILD_TESTS=ON

examples/pico/CMakeLists.txt

@@ -12,8 +12,7 @@ project(reactor-uc-pico)
 pico_sdk_init()
 add_subdirectory(../../ reactor-uc)
 
-add_executable(hello_world
-   timer_ex.c
+add_executable(blinky blinky.c
 )
 
-target_link_libraries(hello_world PRIVATE reactor-uc)
+target_link_libraries(blinky PRIVATE reactor-uc)

examples/pico/blinky.c

@@ -0,0 +1,87 @@
+#include "pico/stdlib.h"
+#include "reactor-uc/reactor-uc.h"
+
+#ifdef CYW43_WL_GPIO_LED_PIN
+#include "pico/cyw43_arch.h"
+#endif
+
+// Perform initialisation
+int pico_led_init(void) {
+#if defined(PICO_DEFAULT_LED_PIN)
+  // A device like Pico that uses a GPIO for the LED will define PICO_DEFAULT_LED_PIN
+  // so we can use normal GPIO functionality to turn the led on and off
+  gpio_init(PICO_DEFAULT_LED_PIN);
+  gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
+  return PICO_OK;
+#elif defined(CYW43_WL_GPIO_LED_PIN)
+  // For Pico W devices we need to initialise the driver etc
+  return cyw43_arch_init();
+#else
+#error "No LED pin defined for Pico"
+#endif
+}
+
+// Turn the led on or off
+void pico_set_led(bool led_on) {
+#if defined(PICO_DEFAULT_LED_PIN)
+  // Just set the GPIO on or off
+  gpio_put(PICO_DEFAULT_LED_PIN, led_on);
+#elif defined(CYW43_WL_GPIO_LED_PIN)
+  // Ask the wifi "driver" to set the GPIO on or off
+  cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, led_on);
+#else
+#error "No LED pin defined for Pico"
+#endif
+}
+
+typedef struct {
+  Timer super;
+  Reaction *effects[0];
+} MyTimer;
+
+typedef struct {
+  Reaction super;
+} MyReaction;
+
+struct MyReactor {
+  Reactor super;
+  MyReaction my_reaction;
+  MyTimer timer;
+  bool led_on;
+  Reaction *_reactions[1];
+  Trigger *_triggers[1];
+};
+
+void timer_handler(Reaction *_self) {
+  struct MyReactor *self = (struct MyReactor *)_self->parent;
+  Environment *env = self->super.env;
+  printf("Hello World @ %lld\n", env->get_elapsed_logical_time(env));
+  pico_set_led(!self->led_on);
+  self->led_on = !self->led_on;
+}
+
+void MyReaction_ctor(MyReaction *self, Reactor *parent) {
+  Reaction_ctor(&self->super, parent, timer_handler, NULL, 0, 0);
+}
+
+void MyReactor_ctor(struct MyReactor *self, Environment *env) {
+  self->_reactions[0] = (Reaction *)&self->my_reaction;
+  self->_triggers[0] = (Trigger *)&self->timer;
+  Reactor_ctor(&self->super, "MyReactor", env, NULL, NULL, 0, self->_reactions, 1, self->_triggers, 1);
+  MyReaction_ctor(&self->my_reaction, &self->super);
+  Timer_ctor(&self->timer.super, &self->super, MSEC(0), MSEC(100), self->timer.effects, 1);
+  TIMER_REGISTER_EFFECT(self->timer, self->my_reaction);
+  self->led_on = false;
+}
+
+struct MyReactor my_reactor;
+Environment env;
+int main() {
+  Environment_ctor(&env, (Reactor *)&my_reactor);
+  pico_led_init();
+  env.scheduler.duration = FOREVER;
+  MyReactor_ctor(&my_reactor, &env);
+  env.assemble(&env);
+  env.start(&env);
+  return 0;
+}

examples/posix/testing_fed_conn_receiver.c

@@ -101,7 +101,7 @@ void MainRecv_ctor(MainRecv *self, Environment *env) {
   Reactor_ctor(&self->super, "MainRecv", env, NULL, self->_children, 1, NULL, 0, NULL, 0);
 }
 
-ENTRY_POINT_FEDERATED(MainRecv, SEC(1), true, true, 1)
+ENTRY_POINT_FEDERATED(MainRecv, SEC(1), true, true, 1, false)
 
 int main() {
   lf_start();

examples/posix/testing_fed_conn_sender.c

@@ -153,7 +153,7 @@ void MainSender_ctor(MainSender *self, Environment *env) {
   CONN_REGISTER_UPSTREAM(self->bundle.conn, self->sender.out);
   Reactor_ctor(&self->super, "MainSender", env, NULL, self->_children, 1, NULL, 0, NULL, 0);
 }
-ENTRY_POINT_FEDERATED(MainSender, SEC(1), true, false, 1)
+ENTRY_POINT_FEDERATED(MainSender, SEC(1), true, false, 1, true)
 
 int main() {
   lf_start();

examples/posix/timer_ex.c

@@ -46,7 +46,7 @@ int main() {
   struct MyReactor my_reactor;
   Environment env;
   Environment_ctor(&env, (Reactor *)&my_reactor);
-  env.scheduler.set_timeout(&env.scheduler, SEC(1));
+  env.scheduler.duration = MSEC(100);
   MyReactor_ctor(&my_reactor, &env);
   env.assemble(&env);
   env.start(&env);

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

@@ -100,7 +100,7 @@ void MainRecv_ctor(MainRecv *self, Environment *env) {
   self->_bundles[0] = &self->bundle.super;
 }
 
-ENTRY_POINT_FEDERATED(MainRecv, FOREVER, true, true, 1)
+ENTRY_POINT_FEDERATED(MainRecv, FOREVER, true, true, 1, false)
 
 int main() {
   setup_led();

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

@@ -100,7 +100,7 @@ void MainRecv_ctor(MainRecv *self, Environment *env) {
   self->_bundles[0] = &self->bundle.super;
 }
 
-ENTRY_POINT_FEDERATED(MainRecv, FOREVER, true, true, 1)
+ENTRY_POINT_FEDERATED(MainRecv, FOREVER, true, true, 1, false)
 
 int main() {
   setup_led();

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

@@ -180,7 +180,7 @@ void MainSender_ctor(MainSender *self, Environment *env) {
   self->_bundles[1] = &self->bundle2.super;
 }
 
-ENTRY_POINT_FEDERATED(MainSender, FOREVER, true, true, 2)
+ENTRY_POINT_FEDERATED(MainSender, FOREVER, true, true, 2, true)
 
 int main() {
   setup_button();

external/proto/message.pb.c

@@ -9,7 +9,15 @@
 PB_BIND(Tag, Tag, AUTO)
 
 
+PB_BIND(StartTagSignal, StartTagSignal, AUTO)
+
+
 PB_BIND(TaggedMessage, TaggedMessage, 2)
 
 
+PB_BIND(FederateMessage, FederateMessage, 2)
+
+
+
+
 

external/proto/message.pb.h

@@ -9,36 +9,74 @@
 #error Regenerate this file with the current version of nanopb generator.
 #endif
 
+/* Enum definitions */
+typedef enum _MessageType {
+    MessageType_TAGGED_MESSAGE = 1,
+    MessageType_START_TAG_SIGNAL = 2
+} MessageType;
+
 /* Struct definitions */
 typedef struct _Tag {
     int64_t time;
     uint32_t microstep;
 } Tag;
 
+typedef struct _StartTagSignal {
+    Tag tag;
+} StartTagSignal;
+
 typedef PB_BYTES_ARRAY_T(832) TaggedMessage_payload_t;
 typedef struct _TaggedMessage {
     Tag tag;
     int32_t conn_id;
     TaggedMessage_payload_t payload;
 } TaggedMessage;
 
+typedef struct _FederateMessage {
+    MessageType type;
+    pb_size_t which_message;
+    union {
+        TaggedMessage tagged_message;
+        StartTagSignal start_tag_signal;
+    } message;
+} FederateMessage;
+
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+/* Helper constants for enums */
+#define _MessageType_MIN MessageType_TAGGED_MESSAGE
+#define _MessageType_MAX MessageType_START_TAG_SIGNAL
+#define _MessageType_ARRAYSIZE ((MessageType)(MessageType_START_TAG_SIGNAL+1))
+
+
+
+
+#define FederateMessage_type_ENUMTYPE MessageType
+
+
 /* Initializer values for message structs */
 #define Tag_init_default                         {0, 0}
+#define StartTagSignal_init_default              {Tag_init_default}
 #define TaggedMessage_init_default               {Tag_init_default, 0, {0, {0}}}
+#define FederateMessage_init_default             {_MessageType_MIN, 0, {TaggedMessage_init_default}}
 #define Tag_init_zero                            {0, 0}
+#define StartTagSignal_init_zero                 {Tag_init_zero}
 #define TaggedMessage_init_zero                  {Tag_init_zero, 0, {0, {0}}}
+#define FederateMessage_init_zero                {_MessageType_MIN, 0, {TaggedMessage_init_zero}}
 
 /* Field tags (for use in manual encoding/decoding) */
 #define Tag_time_tag                             1
 #define Tag_microstep_tag                        2
+#define StartTagSignal_tag_tag                   1
 #define TaggedMessage_tag_tag                    1
 #define TaggedMessage_conn_id_tag                2
 #define TaggedMessage_payload_tag                3
+#define FederateMessage_type_tag                 1
+#define FederateMessage_tagged_message_tag       2
+#define FederateMessage_start_tag_signal_tag     3
 
 /* Struct field encoding specification for nanopb */
 #define Tag_FIELDLIST(X, a) \
@@ -47,6 +85,12 @@ X(a, STATIC,   REQUIRED, UINT32,   microstep,         2)
 #define Tag_CALLBACK NULL
 #define Tag_DEFAULT NULL
 
+#define StartTagSignal_FIELDLIST(X, a) \
+X(a, STATIC,   REQUIRED, MESSAGE,  tag,               1)
+#define StartTagSignal_CALLBACK NULL
+#define StartTagSignal_DEFAULT NULL
+#define StartTagSignal_tag_MSGTYPE Tag
+
 #define TaggedMessage_FIELDLIST(X, a) \
 X(a, STATIC,   REQUIRED, MESSAGE,  tag,               1) \
 X(a, STATIC,   REQUIRED, INT32,    conn_id,           2) \
@@ -55,15 +99,30 @@ X(a, STATIC,   REQUIRED, BYTES,    payload,           3)
 #define TaggedMessage_DEFAULT NULL
 #define TaggedMessage_tag_MSGTYPE Tag
 
+#define FederateMessage_FIELDLIST(X, a) \
+X(a, STATIC,   REQUIRED, UENUM,    type,              1) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (message,tagged_message,message.tagged_message),   2) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (message,start_tag_signal,message.start_tag_signal),   3)
+#define FederateMessage_CALLBACK NULL
+#define FederateMessage_DEFAULT (const pb_byte_t*)"\x08\x01\x00"
+#define FederateMessage_message_tagged_message_MSGTYPE TaggedMessage
+#define FederateMessage_message_start_tag_signal_MSGTYPE StartTagSignal
+
 extern const pb_msgdesc_t Tag_msg;
+extern const pb_msgdesc_t StartTagSignal_msg;
 extern const pb_msgdesc_t TaggedMessage_msg;
+extern const pb_msgdesc_t FederateMessage_msg;
 
 /* Defines for backwards compatibility with code written before nanopb-0.4.0 */
 #define Tag_fields &Tag_msg
+#define StartTagSignal_fields &StartTagSignal_msg
 #define TaggedMessage_fields &TaggedMessage_msg
+#define FederateMessage_fields &FederateMessage_msg
 
 /* Maximum encoded size of messages (where known) */
-#define MESSAGE_PB_H_MAX_SIZE                    TaggedMessage_size
+#define FederateMessage_size                     870
+#define MESSAGE_PB_H_MAX_SIZE                    FederateMessage_size
+#define StartTagSignal_size                      19
 #define Tag_size                                 17
 #define TaggedMessage_size                       865