Basic federated support on Zephyr (#73)

* first sketch of tcp/ip bundle on unix

* fixed bug in bundle and added errors

* factoring out encoding and decoding of protobuf

* working state with extra function to toggle blocking vs non-blocking

* Add nanopb to external. USe its CMake system. Address some compiler warnings

* clang-format

* Move generated files out of `include`

* Address all compiler warnings

* Getting it to compile on Zephyr and CI

* Federated dump

* Removing some clang-tidy warnings and add thread_func implementation

* Temporary dump

* Trying to get a simple fed_conn example running

* Add tag field to protobuf message

* Fix typo in TcpIpBundle

* Add function lf_time_add

* Add simple blocking federated support without clock sync or start tag agreement or shutdown agreement.

* Add makefile target to generate proto source flies

* Undo change to CMakeLists

* Improve protobuf structure

* Dump temporary work on getting basic federation working on Zephyr

* Formatting

* Dump

* Remove ioctl from TcpIpChannel

* Make NetworkcChannel blocking. Fix some typos. Remove some debug prints.

* Reorganization, works with single TCP federate

* Reorganize the basic_federated Zephyr test

* Add Platform_vprintf to the Platform API to let boards control logging

* include logging.h in reactor-uc.h

* Add some preliminary support for actions without type

* Add a guard region around the stack of the TcpIpChannel receive pthread

* Use Platform_vprintf in our logging system

* Make sure we dont try to sleep of physical clock is already at wakup time (not only if it is passed it)

* Uncomment

* Add macros for federated

* Make unit tests run a little shorter

* Typo

* CMake formatting

* Port Zephyr examples to use macro-madness

* Define board in Cmake

* Format

* Fix typo

* Add flag for posix-tcp

* Format

* CMake

* Cmake

* Some debug prints

* Fix minor mistakes. Typeless Actions still not supported

* Make some minor edits and improve docs

* Formatting

* CI update clang-format

* CI debug

* Undo

* Use ubuntu24 in CI

* Final formatting

* Improve Zephyr examples

* Set logging to debug by default

* Make physical action test more deterministic

* Ops, found mistake in the port implementation

* Make federated zephyr reliable by adding waits (stupid)

* Format

* Add error to throw()

* Formatting

---------

Co-authored-by: tanneberger <github@tanneberger.me>
Co-authored-by: Lasse Rosenow <lasse.j.rosenow@gmail.com>

.github/workflows/ci.yml

@@ -13,14 +13,15 @@ permissions:
 jobs:
   ci:
     name: ci
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
     steps:
       - name: Checkout
         uses: actions/checkout@v3
         with:
             submodules: recursive
       - name: Install deps
-        run: sudo apt-get install lcov
+        run: |
+          sudo apt-get install lcov
       - name: Setup java and gradle for compiling lfc
         uses: ./.github/actions/prepare-build-env 
       # Uncomment to SSH into the runner.

CMakeLists.txt

@@ -9,9 +9,9 @@ set(BUILD_UNIT_TESTS OFF CACHE BOOL "Build unit tests")
 set(TEST_COVERAGE OFF CACHE BOOL "Compute test coverage")
 set(ASAN OFF CACHE BOOL "Compile with AddressSanitizer")
 set(PLATFORM "POSIX" CACHE STRING "Platform to target")
-
 set(EVENT_QUEUE_SIZE 10 CACHE STRING "Static size of the event queue")
 set(REACTION_QUEUE_SIZE 10 CACHE STRING "Static size of the reaction queue")
+set(NETWORK_POSIX_TCP OFF CACHE BOOL "Use POSIX TCP NetworkChannel")
 
 # Code coverage setup 
 if(TEST_COVERAGE)
@@ -39,23 +39,30 @@ if(BUILD_TESTS)
   endif()
 endif()
 
-# Add nanopb library manually
-set(NANOPB_PATH external/nanopb)
-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.
 
 file(GLOB SOURCES "src/*.c" "external/proto/*.c")
 
+set(NANOPB_PATH external/nanopb)
+
 if (PLATFORM STREQUAL "POSIX")
   add_library(reactor-uc STATIC ${SOURCES})
-  target_link_libraries(reactor-uc PRIVATE pthread)
+  # Add nanopb library manually
+  add_library(nanopb ${NANOPB_PATH}/pb_common.c ${NANOPB_PATH}/pb_encode.c ${NANOPB_PATH}/pb_decode.c)
+  set_target_properties(nanopb PROPERTIES C_CLANG_TIDY "") # Disable clang-tidy for this external lib.
+
+  target_link_libraries(reactor-uc PRIVATE pthread nanopb)
   if(BUILD_EXAMPLES)
     add_subdirectory(examples/posix)
   endif ()
 elseif (PLATFORM STREQUAL "ZEPHYR")
   zephyr_library_named(reactor-uc)
   zephyr_library_sources(${SOURCES})
   zephyr_library_link_libraries(kernel)
+
+  zephyr_library_named(nanopb)
+  zephyr_library_sources(${NANOPB_PATH}/pb_common.c ${NANOPB_PATH}/pb_encode.c ${NANOPB_PATH}/pb_decode.c)
+  target_link_libraries(reactor-uc PRIVATE nanopb)
+
 elseif (PLATFORM STREQUAL "PICO")
   add_library(reactor-uc STATIC ${SOURCES})
   target_link_libraries(reactor-uc PUBLIC pico_stdlib pico_sync)
@@ -64,8 +71,11 @@ else ()
 endif ()
 
 add_compile_definitions("PLATFORM_${PLATFORM}")
+# TODO: Improve this here
+if(NETWORK_POSIX_TCP)
+  target_compile_definitions(reactor-uc PRIVATE NETWORK_POSIX_TCP)
+endif()
 
-target_link_libraries(reactor-uc PRIVATE nanopb)
 target_compile_options(reactor-uc PRIVATE -Wall -Wextra -Werror)
 add_compile_options (-fdiagnostics-color=always)
 target_include_directories(reactor-uc PUBLIC ${CMAKE_CURRENT_LIST_DIR}/include ${CMAKE_CURRENT_LIST_DIR}/external)

README.md

@@ -35,10 +35,16 @@ Zehyr environment, with West installed in a Python virtual environment which is
 activated:
 
 ```
-cd examples/zephyr
+cd examples/zephyr/hello
 west build -b qemu_cortex_m3 -p always -t run
 ```
 
+```
+cd examples/zephyr/blinky
+west build -b frdm_k64f -p always
+west flash
+```
+
 For more information on running LF programs using the reactor-uc runtime on 
 Zephyr take a look at this template: https://github.com/lf-lang/lf-west-template/tree/reactor-uc
 
@@ -108,6 +114,11 @@ which enable distributed embedded systems.
 
 ## Troubleshooting
 
+### Formatting
+We are using `clang-format` version 18.1.3 which is default with Ubuntu 24.04 for formatting in CI.
+
+### LFC
+
 If you get the following CMake error when calling `lfc/bin/lfc-dev`
 ```
 CMake Error at CMakeLists.txt:7 (message):

examples/posix/CMakeLists.txt

@@ -1,5 +1,7 @@
 cmake_minimum_required(VERSION 3.20.0)
-set(PLATFORM "POSIX" CACHE STRING "Platform to target")
+
+# TODO: Make this more nicer
+target_compile_definitions(reactor-uc PRIVATE NETWORK_POSIX_TCP)
 
 # Find all .c files in the src directory
 file(GLOB C_FILES "${CMAKE_CURRENT_SOURCE_DIR}/*.c")
@@ -27,5 +29,3 @@ add_custom_target(examples
     COMMAND ${CMAKE_COMMAND} -E echo "Running all executables"
     DEPENDS ${EXECUTABLES}
 )
-
-# Add each executable to the custom target