Solve merge conflicts with main

.github/actions/memory-report/action.yml

@@ -0,0 +1,31 @@
+name: Fetch memory usage statistics
+description: Fetch memory usage statistics from compiled tests for a specific branch
+
+inputs:
+  branch:
+    required: true
+
+outputs:
+  report:
+    description: "Memory usage statistics"
+    value: ${{ steps.make_report.outputs.report }}
+
+runs:
+  using: "composite"
+  steps:
+    - name: Checkout
+      uses: actions/checkout@v3
+      with:
+        submodules: recursive
+        ref: ${{ inputs.branch }}
+    - name: Report
+      id: make_report
+      shell: bash
+      # For the multi line output
+      # https://stackoverflow.com/questions/74137120/how-to-fix-or-avoid-error-unable-to-process-file-command-output-successfully
+      run: |
+        make unit-test
+        EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
+        echo "report<<$EOF" >> $GITHUB_OUTPUT
+        echo "$(cat build/test/unit/*.size)" >> $GITHUB_OUTPUT
+        echo "$EOF" >> $GITHUB_OUTPUT

.github/workflows/memory.yml

@@ -0,0 +1,61 @@
+name: Memory usage report
+
+on:
+  pull_request:
+
+permissions:
+  contents: write
+  pull-requests: write
+
+jobs:
+  ci:
+    name: Report memory usage
+    runs-on: ubuntu-latest
+    steps:
+      # To get the potential changes to CI
+      - name: Checkout
+        uses: actions/checkout@v3
+        with:
+          submodules: recursive
+
+      - name: Generate memory usage report (base branch)
+        id: base
+        uses: ./.github/actions/memory-report
+        with:
+          branch: ${{ github.base_ref }}
+      - name: Generate memory usage report (head branch) # I.e. the PR branch
+        id: head
+        uses: ./.github/actions/memory-report
+        with:
+          branch: ${{ github.head_ref }}
+
+      - name: Compare
+        run: |
+          echo "$BASE_REPORT" > base_report.txt
+          echo "$HEAD_REPORT" > head_report.txt
+          python3 -m pip install -r scripts/ci/reports/requirements.txt
+          python3 scripts/ci/reports/parse-reports.py \
+                  head_report.txt \
+                  base_report.txt \
+                  report
+        env:
+          BASE_REPORT: ${{ steps.base.outputs.report }}
+          HEAD_REPORT: ${{ steps.head.outputs.report }}
+
+      # This in conjunction with create-or-update-comment allows us to only
+      # comment once and update it after
+      - name: Find Comment
+        uses: peter-evans/find-comment@v3
+        id: fc
+        with:
+          issue-number: ${{ github.event.pull_request.number }}
+          comment-author: 'github-actions[bot]'
+          body-includes: Memory report
+
+      - name: Create or update comment
+        uses: peter-evans/create-or-update-comment@v4
+        with:
+          comment-id: ${{ steps.fc.outputs.comment-id }}
+          issue-number: ${{ github.event.pull_request.number }}
+          body-path: report.md
+          edit-mode: replace

CMakeLists.txt

@@ -59,6 +59,9 @@ elseif (PLATFORM STREQUAL "ZEPHYR")
   zephyr_library_named(reactor-uc)
   zephyr_library_sources(${SOURCES})
   zephyr_library_link_libraries(kernel)
+elseif (PLATFORM STREQUAL "PICO")
+  add_library(reactor-uc STATIC ${SOURCES})
+  target_link_libraries(reactor-uc PUBLIC pico_stdlib pico_sync)
 else ()
   message(FATAL_ERROR "No valid platform specified")
 endif ()

LICENSE

@@ -0,0 +1,24 @@
+BSD 2-Clause License
+
+Copyright (c) 2024, The Lingua Franca Coordination Language
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Makefile

@@ -1,6 +1,6 @@
-.PHONY: clean test coverage asan format format-check ci lf-test lib proto
+.PHONY: clean test coverage asan format format-check ci lf-test lib proto examples 
 
-test: unit-test lf-test
+test: unit-test lf-test examples
 
 
 # Generate protobuf code
@@ -14,7 +14,7 @@ lib:
 	make -C build
 
 
-# Build and run examples
+# Build examples
 examples:
 	cmake -Bbuild -DBUILD_EXAMPLES=ON .
 	cmake --build build

README.md

@@ -75,10 +75,10 @@ which enable distributed embedded systems.
 
 ## References
 `reactor-uc` draws inspiration from the following existing open-source projects:
-- reactor-cpp
-- reactor-c
-- qpc
-- ssm-runtime
+- [reactor-cpp](https://github.com/lf-lang/reactor-cpp)
+- [reactor-c](https://github.com/lf-lang/reactor-c)
+- [qpc](https://github.com/QuantumLeaps/qpc)
+- [ssm-runtime](https://github.com/QuantumLeaps/qpc)
 
 ## TODO for the MVP:
 - [x] Timers
@@ -98,12 +98,13 @@ which enable distributed embedded systems.
 - [x] More platform abstractions (Riot, Zephyr and FlexPRET/InterPRET)
 - [x] Reconsider where to buffer data (outputs vs inputs)
 - [x] Consider if we should have FIFOs of pending events, not just a single for a trigger.
-- [ ] Runtime errors
-- [ ] Logging
+- [x] Runtime errors
+- [x] Logging
+- [x] Delayed connections
+- [x] Basic decentralized federations
 - [ ] Multiports and banks
 - [ ] Modal reactors
-- [ ] Federated
-- [ ] Delayed connections
+
 
 ## Troubleshooting
 

examples/pico/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.20.0)
+set(PLATFORM "PICO" CACHE STRING "Platform to target")
+set(BUILD_EXAMPLES OFF CAHCHE BOOL)
+
+if (DEFINED ENV{PICO_SDK_PATH})
+  include("$ENV{PICO_SDK_PATH}/pico_sdk_init.cmake")
+else()
+  message(FATAL_ERROR "PICO_SDK_PATH environment variable not set")
+endif()
+
+project(reactor-uc-pico)
+pico_sdk_init()
+add_subdirectory(../../ reactor-uc)
+
+add_executable(hello_world
+   timer_ex.c
+)
+
+target_link_libraries(hello_world PRIVATE reactor-uc)

examples/pico/timer_ex.c

@@ -0,0 +1,47 @@
+#include "reactor-uc/reactor-uc.h"
+
+typedef struct {
+  Timer super;
+  Reaction *effects[0];
+} MyTimer;
+
+typedef struct {
+  Reaction super;
+} MyReaction;
+
+struct MyReactor {
+  Reactor super;
+  MyReaction my_reaction;
+  MyTimer timer;
+  Reaction *_reactions[1];
+  Trigger *_triggers[1];
+};
+
+void timer_handler(Reaction *_self) {
+  struct MyReactor *self = (struct MyReactor *)_self->parent;
+  printf("Hello World @ %lld\n", self->super.env->current_tag.time);
+}
+
+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);
+}
+
+struct MyReactor my_reactor;
+Environment env;
+int main() {
+  Environment_ctor(&env, (Reactor *)&my_reactor);
+  env.set_timeout(&env, SEC(1));
+  MyReactor_ctor(&my_reactor, &env);
+  env.assemble(&env);
+  env.start(&env);
+  return 0;
+}

examples/posix/CMakeLists.txt

@@ -29,9 +29,3 @@ add_custom_target(examples
 )
 
 # Add each executable to the custom target
-foreach(EXEC_NAME ${EXECUTABLES})
-    add_custom_command(TARGET examples
-        COMMAND ${EXEC_NAME}
-        COMMENT "Running ${EXEC_NAME}"
-    )
-endforeach()

examples/posix/testing_fed_conn.c

@@ -120,8 +120,8 @@ typedef struct {
   msg_t buffer[1];
 } ConnSender;
 
-void ConnSender_ctor(ConnSender *self, Reactor *parent, FederatedConnectionBundle *bundle, Port *upstream) {
-  FederatedOutputConnection_ctor(&self->super, parent, bundle, 0, upstream, &self->buffer[0], sizeof(self->buffer[0]));
+void ConnSender_ctor(ConnSender *self, Reactor *parent, FederatedConnectionBundle *bundle) {
+  FederatedOutputConnection_ctor(&self->super, parent, bundle, 0, &self->buffer[0], sizeof(self->buffer[0]));
 }
 
 typedef struct {
@@ -133,20 +133,21 @@ typedef struct {
 
 void SenderRecvConn_ctor(SenderRecvBundle *self, Sender *parent) {
   TcpIpChannel_ctor(&self->channel, "127.0.0.1", PORT_NUM, AF_INET);
-  ConnSender_ctor(&self->conn, &parent->super, &self->super, &parent->out.super.super);
+  ConnSender_ctor(&self->conn, &parent->super, &self->super);
   self->output[0] = &self->conn.super;
+  CONN_REGISTER_UPSTREAM(self->conn, parent->out);
 
-  TcpIpChannel *channel = &self->channel;
-  int ret = channel->super.bind(channel);
+  NetworkChannel *channel = (NetworkChannel *)&self->channel;
+  int ret = channel->bind(channel);
   validate(ret == LF_OK);
   printf("Sender: Bound\n");
 
   // accept one connection
-  bool new_connection = channel->super.accept(channel);
+  bool new_connection = channel->accept(channel);
   validate(new_connection);
   printf("Sender: Accepted\n");
 
-  FederatedConnectionBundle_ctor(&self->super, &parent->super, &self->channel, NULL, 0,
+  FederatedConnectionBundle_ctor(&self->super, &parent->super, &self->channel.super, NULL, 0,
                                  (FederatedOutputConnection **)&self->output, 1);
 }
 
@@ -173,17 +174,17 @@ void RecvSenderBundle_ctor(RecvSenderBundle *self, Reactor *parent) {
   TcpIpChannel_ctor(&self->channel, "127.0.0.1", PORT_NUM, AF_INET);
   self->inputs[0] = &self->conn.super;
 
-  TcpIpChannel *channel = &self->channel;
+  NetworkChannel *channel = (NetworkChannel *)&self->channel;
 
   lf_ret_t ret;
   do {
-    ret = channel->super.connect(channel);
+    ret = channel->connect(channel);
   } while (ret != LF_OK);
   validate(ret == LF_OK);
   printf("Recv: Connected\n");
 
-  FederatedConnectionBundle_ctor(&self->super, parent, &self->channel, (FederatedInputConnection **)&self->inputs, 1,
-                                 NULL, 0);
+  FederatedConnectionBundle_ctor(&self->super, parent, &self->channel.super, (FederatedInputConnection **)&self->inputs,
+                                 1, NULL, 0);
 }
 
 // Reactor main
@@ -233,9 +234,9 @@ void *main_sender(void *unused) {
   (void)unused;
   Environment_ctor(&env_send, (Reactor *)&sender);
   MainSender_ctor(&sender, &env_send);
-  env_send.set_timeout(&env_send, SEC(1));
-  env_send.net_channel_size = 1;
-  env_send.net_channels = (TcpIpChannel **)&sender.net_channel;
+  env_send.scheduler.set_timeout(&env_send.scheduler, SEC(1));
+  env_send.net_bundles_size = 1;
+  env_send.net_bundles = (FederatedConnectionBundle **)&sender.bundle;
   env_send.assemble(&env_send);
   env_send.start(&env_send);
   return NULL;
@@ -248,11 +249,11 @@ void *main_recv(void *unused) {
   Environment_ctor(&env_recv, (Reactor *)&receiver);
   env_recv.platform->enter_critical_section(env_recv.platform);
   MainRecv_ctor(&receiver, &env_recv);
-  env_recv.set_timeout(&env_recv, SEC(1));
-  env_recv.keep_alive = true;
+  env_recv.scheduler.set_timeout(&env_recv.scheduler, SEC(1));
+  env_recv.scheduler.keep_alive = true;
   env_recv.has_async_events = true;
-  env_recv.net_channel_size = 1;
-  env_recv.net_channels = (TcpIpChannel **)&receiver.net_channels;
+  env_recv.net_bundles_size = 1;
+  env_recv.net_bundles = (FederatedConnectionBundle **)&receiver.bundle;
   env_recv.assemble(&env_recv);
   env_recv.platform->leave_critical_section(env_recv.platform);
   env_recv.start(&env_recv);

examples/posix/testing_posix_tcp_ip_channel_client.c

@@ -24,19 +24,19 @@ int main() {
   TcpIpChannel_ctor(&channel, host, port, AF_INET);
 
   // binding to that address
-  channel.super.connect(&channel);
+  channel.super.connect(&channel.super);
 
   // change the super to non-blocking
-  channel.super.change_block_state(&channel, false);
+  channel.super.change_block_state(&channel.super, false);
 
   for (int i = 0; i < NUM_ITER; i++) {
     // sending message
-    channel.super.send(&channel, &port_message);
+    channel.super.send(&channel.super, &port_message);
 
     // waiting for reply
     TaggedMessage *received_message = NULL;
     do {
-      received_message = channel.super.receive(&channel);
+      received_message = channel.super.receive(&channel.super);
     } while (received_message == NULL);
 
     printf("Received message with connection number %i and content %s\n", received_message->conn_id,
@@ -45,5 +45,5 @@ int main() {
     sleep(i);
   }
 
-  channel.super.close(&channel);
+  channel.super.close(&channel.super);
 }