Merge remote-tracking branch 'origin/main' into lfc-federated

.github/workflows/ci.yml

@@ -29,7 +29,9 @@ jobs:
       # - name: Setup upterm session
       #   uses: lhotari/action-upterm@v1
       - name: Format check
-        run: make format-check
+        run: |
+          clang-format --version
+          make format-check
 
       - name: Run unit tests
         run: make unit-test
@@ -51,4 +53,4 @@ jobs:
           lcov-file: build/coverage.info
           delete-old-comments: true
           github-token: ${{ secrets.GITHUB_TOKEN }}
-        if:  ${{ github.event_name == 'pull_request' }}
+        if:  ${{ github.event_name == 'pull_request' }}

CMakeLists.txt

@@ -63,6 +63,9 @@ elseif (PLATFORM STREQUAL "ZEPHYR")
 elseif (PLATFORM STREQUAL "PICO")
   add_library(reactor-uc STATIC ${SOURCES})
   target_link_libraries(reactor-uc PUBLIC pico_stdlib pico_sync)
+
+elseif (PLATFORM STREQUAL "PATMOS")
+  add_library(reactor-uc STATIC ${SOURCES})
 else ()
   message(FATAL_ERROR "No valid platform specified")
 endif ()

README.md

@@ -39,16 +39,16 @@ hello/build/app
 
 ### Zephyr
 Compile and run a simple test on Zephyr. This requires a correctly configured
-Zehyr environment, with West installed in a Python virtual environment which is
-activated. Inspect `.github/actions/zephyr/action.yml` for an example of how to setup your Zephyr workspace. 
+Zehyr environment, with West installed in a Python virtual environment, is
+activated. Inspect `.github/actions/zephyr/action.yml` for an example of setting up your Zephyr workspace. 
 
 First a simple HelloWorld on the `native_posix` target:
 ```shell
 cd examples/zephyr/hello
 west build -b native_posix -p always -t run
 ```
 
-Then a simple blinky targeting NXP FRDM K64F. This will run with most boards supporting Zephyr that has a user LED.
+Then a simple blinky targeting NXP FRDM K64F. This will run with most boards supporting Zephyr that have a user LED.
 ```shell
 cd examples/zephyr/blinky
 west build -b frdm_k64f -p always
@@ -76,7 +76,7 @@ make
 ```
 
 ### Lingua Franca
-Reactor-uc includes a limited version of the Lingua Franca Compiler (lfc) found in `~/lfc`. In the future, the
+Reactor-uc includes a limited version of the Lingua Franca Compiler (lfc) found in `lfc`. In the future, the
 `reactor-uc` specific code-generation will be merged back upstream. By sourcing `env.bash`, `env.fish` or `env.zsh` the
 Lingua Franca Compiler will be aliased by `lfcg`.
 
@@ -93,8 +93,8 @@ test/lf/bin/HelloUc
 
 ### Project templates
 To start using reactor-uc in a project we recommend using one of our project templates:
-- [Zephyr](https://github.com/lf-lang/lf-west-template/tree/reactor-uc)
-- [Polulu 3Pi Robot](https://github.com/lf-lang/lf-3pi-template/tree/reactor-uc)
+- [Zephyr](https://github.com/lf-lang/lf-zephyr-uc-template)
+- [RIOT](https://github.com/lf-lang/lf-riot-uc-template/)
 - [Raspberry Pi Pico](https://github.com/lf-lang/lf-pico-template/tree/reactor-uc)
 
 

examples/riot/README.md

@@ -0,0 +1,96 @@
+# RIOT Examples
+
+This doc explains how to compile and run the various RIOT OS examples.
+
+## Setup RIOT Environment
+
+Make sure that the environment variable `RIOTBASE` points to a `RIOT` codebase.
+
+## Build and Run
+
+### Blinky
+
+```shell
+cd blinky
+make BOARD=native all term
+```
+
+### Hello
+
+```shell
+cd hello
+make BOARD=native all term
+```
+
+### CoAP Federated
+
+The federated example using CoAP channels needs to be run using 2 terminals.
+Make sure to set the `PORT` environment variable to the correct `tap` interface such as `tap0` or `tap1` as can be seen in the code below.
+
+#### Preparation
+
+First you need to create the `tap` interfaces so that the `sender` and `receiver` application can communicate through the (linux) host.
+
+```shell
+sudo $RIOTBASE/dist/tools/tapsetup/tapsetup
+```
+
+#### Get IPv6 address of receiver
+
+Enter the directory of the `sender` application:
+
+```shell
+cd coap_federated/sender
+```
+
+Get the IP address of the `receiver` by specifying the `PORT=tap1` and `ONLY_PRINT_IP=1` environment variables:
+
+*If the program returns more than one IP-Address then select the one that starts with `fe80`*.
+
+```shell
+make ONLY_PRINT_IP=1 BOARD=native PORT=tap1 all term
+```
+
+The resulting program will print out the IPv6 address of `tap1` and terminate. 
+This address must be used when starting the sender below.
+
+
+#### Get IPv6 address of sender
+
+Enter the directory of the `receiver` application:
+
+```shell
+cd coap_federated/receiver
+```
+
+Get the IP address of the `sender` by specifying the `PORT=tap0` and `ONLY_PRINT_IP=1` environment variables:
+
+*If the program returns more than one IP-Address then select the one that starts with `fe80`*.
+
+```shell
+make ONLY_PRINT_IP=1 BOARD=native PORT=tap0 all term
+```
+
+The resulting program will print out the IPv6 address of `tap0` and terminate. 
+This address must be used when starting the receiver below.
+
+#### Start the applications
+
+##### Sender
+Start the sender with `PORT=tap0`, make sure to replace `REMOTE_ADDRESS` with 
+the address of `tap1` that you found above.  
+
+```shell
+cd sender
+make REMOTE_ADDRESS=fe80::8cc3:33ff:febb:1b3 BOARD=native PORT=tap0 all term
+```
+
+##### Receiver
+
+Start the receiver with `PORT=tap1`, make sure to replace `REMOTE_ADDRESS` with 
+the address of `tap0` that you found above.  
+
+```shell
+cd receiver
+make REMOTE_ADDRESS=fe80::44e5:1bff:fee4:dac8 BOARD=native PORT=tap1 all term
+```

examples/riot/coap_federated/receiver/Makefile

@@ -0,0 +1,45 @@
+# name of your application
+APPLICATION = lf-coap-federated-receiver
+
+# This has to be the absolute path to the RIOT base directory:
+RIOTBASE ?= $(CURDIR)/../../../../../RIOT
+
+# If no BOARD is found in the environment, use this default:
+BOARD ?= native
+
+# Comment this out to disable code in RIOT that does safety checking
+# which is not needed in a production environment but helps in the
+# development process:
+DEVELHELP ?= 1
+
+# Change this to 0 show compiler invocation lines by default:
+QUIET ?= 1
+
+# Enable reactor-uc features
+CFLAGS += -DNETWORK_CHANNEL_COAP_RIOT
+REACTION_QUEUE_SIZE = 32
+EVENT_QUEUE_SIZE = 32
+
+CFLAGS += -DTHREAD_STACKSIZE_DEFAULT=10000
+CFLAGS += -DTHREAD_STACKSIZE_MAIN=10000
+CFLAGS += -DISR_STACKSIZE=10000
+
+# Configure CoAP retransmission timeout
+CFLAGS += -DCONFIG_GCOAP_NO_RETRANS_BACKOFF=1
+CFLAGS += -DCONFIG_COAP_ACK_TIMEOUT_MS=400
+CFLAGS += -DCONFIG_COAP_MAX_RETRANSMIT=4
+
+# Check if ONLY_PRINT_IP is defined
+# If ONLY_PRINT_IP is defined the REMOTE_ADDRESS is not needed
+ifdef ONLY_PRINT_IP
+  # ONLY_PRINT_IP is defined => Set CFLAGS for it
+  CFLAGS += -DONLY_PRINT_IP=$(ONLY_PRINT_IP)
+else ifdef REMOTE_ADDRESS
+  # REMOTE_ADDRESS is defined => Set CFLAGS for it
+  CFLAGS += -DREMOTE_ADDRESS=\"$(REMOTE_ADDRESS)\"
+else
+  # Neither is defined
+  $(error Either define REMOTE_ADDRESS or set ONLY_PRINT_IP=1 to print the IP-Address of this device.)
+endif
+
+include $(CURDIR)/../../../../make/riot/riot.mk

examples/riot/coap_federated/receiver/main.c

@@ -0,0 +1,117 @@
+#include "reactor-uc/platform/riot/coap_udp_ip_channel.h"
+#include "reactor-uc/reactor-uc.h"
+
+#ifndef REMOTE_ADDRESS
+#define REMOTE_ADDRESS "fe80::44e5:1bff:fee4:dac8"
+#endif
+
+#define REMOTE_PROTOCOL_FAMILY AF_INET6
+
+typedef struct {
+  int size;
+  char msg[512];
+} lf_msg_t;
+
+lf_ret_t deserialize_msg_t(void *user_struct, const unsigned char *msg_buf, size_t msg_size) {
+  (void)msg_size;
+
+  lf_msg_t *msg = user_struct;
+  memcpy(&msg->size, msg_buf, sizeof(msg->size));
+  memcpy(msg->msg, msg_buf + sizeof(msg->size), msg->size);
+
+  return LF_OK;
+}
+
+LF_DEFINE_REACTION_STRUCT(Receiver, r, 0)
+LF_DEFINE_REACTION_CTOR(Receiver, r, 0)
+LF_DEFINE_INPUT_STRUCT(Receiver, in, 1, 0, lf_msg_t, 0)
+LF_DEFINE_INPUT_CTOR(Receiver, in, 1, 0, lf_msg_t, 0)
+
+typedef struct {
+  Reactor super;
+  LF_REACTION_INSTANCE(Receiver, r);
+  LF_PORT_INSTANCE(Receiver, in, 1);
+  int cnt;
+  LF_REACTOR_BOOKKEEPING_INSTANCES(1, 1, 0);
+} Receiver;
+
+LF_DEFINE_REACTION_BODY(Receiver, r) {
+  LF_SCOPE_SELF(Receiver);
+  LF_SCOPE_ENV();
+  LF_SCOPE_PORT(Receiver, in);
+  printf("Input triggered @ %" PRId64 " with %s size %d\n", env->get_elapsed_logical_time(env), in->value.msg,
+         in->value.size);
+}
+
+LF_REACTOR_CTOR_SIGNATURE_WITH_PARAMETERS(Receiver, InputExternalCtorArgs *in_external) {
+  LF_REACTOR_CTOR_PREAMBLE();
+  LF_REACTOR_CTOR(Receiver);
+  LF_INITIALIZE_REACTION(Receiver, r);
+  LF_INITIALIZE_INPUT(Receiver, in, 1, in_external);
+
+  // Register reaction as an effect of in
+  LF_PORT_REGISTER_EFFECT(self->in, self->r, 1);
+}
+
+LF_DEFINE_FEDERATED_INPUT_CONNECTION(Receiver, in, lf_msg_t, 5, MSEC(100), false)
+
+typedef struct {
+  FederatedConnectionBundle super;
+  CoapUdpIpChannel channel;
+  LF_FEDERATED_INPUT_CONNECTION_INSTANCE(Receiver, in);
+  LF_FEDERATED_CONNECTION_BUNDLE_BOOKKEEPING_INSTANCES(1, 0)
+} LF_FEDERATED_CONNECTION_BUNDLE_NAME(Receiver, Sender);
+
+LF_FEDERATED_CONNECTION_BUNDLE_CTOR_SIGNATURE(Receiver, Sender) {
+  LF_FEDERATED_CONNECTION_BUNDLE_CTOR_PREAMBLE();
+  CoapUdpIpChannel_ctor(&self->channel, parent->env, REMOTE_ADDRESS, REMOTE_PROTOCOL_FAMILY);
+  LF_FEDERATED_CONNECTION_BUNDLE_CALL_CTOR();
+  LF_INITIALIZE_FEDERATED_INPUT_CONNECTION(Receiver, in, deserialize_msg_t);
+}
+
+typedef struct {
+  Reactor super;
+  LF_CHILD_REACTOR_INSTANCE(Receiver, receiver, 1);
+  LF_FEDERATED_CONNECTION_BUNDLE_INSTANCE(Receiver, Sender);
+  LF_FEDERATE_BOOKKEEPING_INSTANCES(1);
+  LF_CHILD_INPUT_SOURCES(receiver, in, 1, 1, 0);
+} MainRecv;
+
+LF_REACTOR_CTOR_SIGNATURE(MainRecv) {
+  LF_REACTOR_CTOR(MainRecv);
+  LF_FEDERATE_CTOR_PREAMBLE();
+  LF_DEFINE_CHILD_INPUT_ARGS(receiver, in, 1, 1);
+  LF_INITIALIZE_CHILD_REACTOR_WITH_PARAMETERS(Receiver, receiver, 1, _receiver_in_args[i]);
+  LF_INITIALIZE_FEDERATED_CONNECTION_BUNDLE(Receiver, Sender);
+  LF_BUNDLE_REGISTER_DOWNSTREAM(Receiver, Sender, receiver, in);
+}
+
+LF_ENTRY_POINT_FEDERATED(MainRecv, SEC(1), true, true, 1, false)
+
+void print_ip_addresses(void) {
+  gnrc_netif_t *netif = gnrc_netif_iter(NULL);
+  char addr_str[IPV6_ADDR_MAX_STR_LEN];
+
+  while (netif) {
+    size_t max_addr_count = 4;
+    ipv6_addr_t addrs[max_addr_count];
+    gnrc_netif_ipv6_addrs_get(netif, addrs, max_addr_count * sizeof(ipv6_addr_t));
+
+    for (size_t i = 0; i < 2; i++) {
+      if (ipv6_addr_to_str(addr_str, &addrs[i], sizeof(addr_str))) {
+        LF_INFO(NET, "IPv6 address: %s", addr_str);
+      }
+    }
+
+    netif = gnrc_netif_iter(netif);
+  }
+}
+
+int main() {
+#ifdef ONLY_PRINT_IP
+  print_ip_addresses();
+#else
+  lf_start();
+#endif
+  return 0;
+}

examples/riot/coap_federated/sender/Makefile

@@ -0,0 +1,45 @@
+# name of your application
+APPLICATION = lf-coap-federated-sender
+
+# This has to be the absolute path to the RIOT base directory:
+RIOTBASE ?= $(CURDIR)/../../../../../RIOT
+
+# If no BOARD is found in the environment, use this default:
+BOARD ?= native
+
+# Comment this out to disable code in RIOT that does safety checking
+# which is not needed in a production environment but helps in the
+# development process:
+DEVELHELP ?= 1
+
+# Change this to 0 show compiler invocation lines by default:
+QUIET ?= 1
+
+# Enable reactor-uc features
+CFLAGS += -DNETWORK_CHANNEL_COAP_RIOT
+REACTION_QUEUE_SIZE = 32
+EVENT_QUEUE_SIZE = 32
+
+CFLAGS += -DTHREAD_STACKSIZE_DEFAULT=10000
+CFLAGS += -DTHREAD_STACKSIZE_MAIN=10000
+CFLAGS += -DISR_STACKSIZE=10000
+
+# Configure CoAP retransmission timeout
+CFLAGS += -DCONFIG_GCOAP_NO_RETRANS_BACKOFF=1
+CFLAGS += -DCONFIG_COAP_ACK_TIMEOUT_MS=400
+CFLAGS += -DCONFIG_COAP_MAX_RETRANSMIT=4
+
+# Check if ONLY_PRINT_IP is defined
+# If ONLY_PRINT_IP is defined the REMOTE_ADDRESS is not needed
+ifdef ONLY_PRINT_IP
+  # ONLY_PRINT_IP is defined => Set CFLAGS for it
+  CFLAGS += -DONLY_PRINT_IP=$(ONLY_PRINT_IP)
+else ifdef REMOTE_ADDRESS
+  # REMOTE_ADDRESS is defined => Set CFLAGS for it
+  CFLAGS += -DREMOTE_ADDRESS=\"$(REMOTE_ADDRESS)\"
+else
+  # Neither is defined
+  $(error Either define REMOTE_ADDRESS or set ONLY_PRINT_IP=1 to print the IP-Address of this device)
+endif
+
+include $(CURDIR)/../../../../make/riot/riot.mk