UARTChannel

examples/riot/coap_federated/receiver/Makefile

@@ -16,7 +16,7 @@ DEVELHELP ?= 1
 QUIET ?= 1
 
 # Enable reactor-uc features
-CFLAGS += -DNETWORK_CHANNEL_COAP_RIOT
+CFLAGS += -DNETWORK_CHANNEL_COAP
 REACTION_QUEUE_SIZE = 32
 EVENT_QUEUE_SIZE = 32
 

examples/riot/coap_federated/sender/Makefile

@@ -16,7 +16,7 @@ DEVELHELP ?= 1
 QUIET ?= 1
 
 # Enable reactor-uc features
-CFLAGS += -DNETWORK_CHANNEL_COAP_RIOT
+CFLAGS += -DNETWORK_CHANNEL_COAP
 REACTION_QUEUE_SIZE = 32
 EVENT_QUEUE_SIZE = 32
 

examples/riot/coap_federated/sender/main.c

@@ -8,7 +8,7 @@ typedef struct {
   char msg[512];
 } lf_msg_t;
 
-size_t serialize_msg_t(const void *user_struct, size_t user_struct_size, unsigned char *msg_buf) {
+int serialize_msg_t(const void *user_struct, size_t user_struct_size, unsigned char *msg_buf) {
   (void)user_struct_size;
   const lf_msg_t *msg = user_struct;
 

examples/riot/coap_federated_lf/Makefile

@@ -24,9 +24,6 @@ DEVELHELP ?= 1
 # Change this to 0 show compiler invocation lines by default:
 QUIET ?= 1
 
-# Enable reactor-uc features
-CFLAGS += -DNETWORK_CHANNEL_COAP_RIOT
-
 # Configure CoAP retransmission timeout
 CFLAGS += -DCONFIG_GCOAP_NO_RETRANS_BACKOFF=1
 CFLAGS += -DCONFIG_COAP_ACK_TIMEOUT_MS=400

examples/riot/hello_lf/Makefile

@@ -5,7 +5,7 @@ LF_MAIN ?= HelloLF
 
 # Enable reactor-uc features
 # CFLAGS += -DNETWORK_CHANNEL_TCP_POSIX
-# CFLAGS += -DNETWORK_CHANNEL_COAP_RIOT
+# CFLAGS += -DNETWORK_CHANNEL_COAP
 
 # Execute the LF compiler if build target is "all"
 ifeq ($(firstword $(MAKECMDGOALS)),all)

include/reactor-uc/federated.h

@@ -73,4 +73,4 @@ void FederatedInputConnection_ctor(FederatedInputConnection *self, Reactor *pare
                                    bool *payload_used_buf, size_t payload_size, size_t payload_buf_capacity);
 
 void Federated_distribute_start_tag(Environment *env, instant_t start_time);
-#endif
+#endif

include/reactor-uc/network_channel.h

@@ -31,14 +31,27 @@ typedef enum {
 typedef enum {
   NETWORK_CHANNEL_TYPE_TCP_IP,
   NETWORK_CHANNEL_TYPE_COAP_UDP_IP,
+  NETWORK_CHANNEL_TYPE_UART
 } NetworkChannelType;
 
+typedef enum {
+  NETWORK_CHANNEL_MODE_ASYNC,
+  NETWORK_CHANNEL_MODE_POLLED,
+} NetworkChannelMode;
+
 char *NetworkChannel_state_to_string(NetworkChannelState state);
 
 typedef struct FederatedConnectionBundle FederatedConnectionBundle;
 typedef struct NetworkChannel NetworkChannel;
+typedef struct PolledNetworkChannel PolledNetworkChannel;
+typedef struct AsyncNetworkChannel AsyncNetworkChannel;
 
 struct NetworkChannel {
+  /**
+   * @brief Specifies if this NetworkChannel is a aync or async channel
+   */
+  NetworkChannelMode mode;
+
   /**
    * @brief Expected time until a connection is established after calling @p open_connection.
    */
@@ -95,6 +108,19 @@ struct NetworkChannel {
   void (*free)(NetworkChannel *self);
 };
 
+struct PolledNetworkChannel {
+  NetworkChannel super;
+
+  /**
+   * @brief Polls for new data and calls the callback handler if a message is successfully decoded
+   */
+  void (*poll)(NetworkChannel *self);
+};
+
+struct AsyncNetworkChannel {
+  NetworkChannel super;
+};
+
 #if defined(PLATFORM_POSIX)
 #ifdef NETWORK_CHANNEL_TCP_POSIX
 #include "platform/posix/tcp_ip_channel.h"
@@ -109,9 +135,12 @@ struct NetworkChannel {
 #ifdef NETWORK_CHANNEL_TCP_POSIX
 #include "platform/posix/tcp_ip_channel.h"
 #endif
-#ifdef NETWORK_CHANNEL_COAP_RIOT
+#ifdef NETWORK_CHANNEL_COAP
 #include "platform/riot/coap_udp_ip_channel.h"
 #endif
+#ifdef NETWORK_CHANNEL_UART
+#include "platform/riot/uart_channel.h"
+#endif
 
 #elif defined(PLATFORM_PICO)
 #ifdef NETWORK_CHANNEL_TCP_POSIX
@@ -126,4 +155,5 @@ struct NetworkChannel {
 #else
 #error "Platform not supported"
 #endif
+
 #endif // REACTOR_UC_NETWORK_CHANNEL_H

include/reactor-uc/network_channel/uart_channel.h

@@ -0,0 +1,20 @@
+#ifndef REACTOR_UC_UART_CHANNEL_H
+#define REACTOR_UC_UART_CHANNEL_H
+
+typedef enum UartDataBits UartDataBits;
+typedef enum UartParityBits UartParityBits;
+typedef enum UartStopBits UartStopBits;
+
+enum UartDataBits { UC_UART_DATA_BITS_5, UC_UART_DATA_BITS_6, UC_UART_DATA_BITS_7, UC_UART_DATA_BITS_8 };
+
+enum UartParityBits {
+  UC_UART_PARITY_NONE,
+  UC_UART_PARITY_EVEN,
+  UC_UART_PARITY_ODD,
+  UC_UART_PARITY_MARK,
+  UC_UART_PARITY_SPACE
+};
+
+enum UartStopBits { UC_UART_STOP_BITS_1, UC_UART_STOP_BITS_2 };
+
+#endif

include/reactor-uc/platform/riot/uart_channel.h

@@ -0,0 +1,48 @@
+#ifndef REACTOR_UC_RIOT_UART_CHANNEL_H
+#define REACTOR_UC_RIOT_UART_CHANNEL_H
+
+#include "reactor-uc/network_channel/uart_channel.h"
+#include "reactor-uc/network_channel.h"
+#include "reactor-uc/environment.h"
+
+#include "periph/uart.h"
+#include "cond.h"
+
+typedef struct FederatedConnectionBundle FederatedConnectionBundle;
+typedef struct UartPolledChannel UartPolledChannel;
+typedef struct UartAsyncChannel UartAsyncChannel;
+
+#define UART_CHANNEL_BUFFERSIZE 1024
+// The UartChannel is not connection-oriented and will always appear as connected, so no need to wait.
+#define UART_CHANNEL_EXPECTED_CONNECT_DURATION MSEC(0)
+
+struct UartPolledChannel {
+  PolledNetworkChannel super;
+  NetworkChannelState state;
+
+  FederateMessage output;
+  unsigned char write_buffer[UART_CHANNEL_BUFFERSIZE];
+  unsigned char receive_buffer[UART_CHANNEL_BUFFERSIZE];
+  unsigned int receive_buffer_index;
+  uart_t uart_dev;
+
+  FederatedConnectionBundle *federated_connection;
+  void (*receive_callback)(FederatedConnectionBundle *conn, const FederateMessage *message);
+};
+
+struct UartAsyncChannel {
+  UartPolledChannel super;
+
+  char decode_thread_stack[THREAD_STACKSIZE_MAIN];
+  int decode_thread_pid;
+  mutex_t receive_lock;
+  cond_t receive_cv;
+};
+
+void UartPolledChannel_ctor(UartPolledChannel *self, uint32_t uart_device, uint32_t baud, UartDataBits data_bits,
+                            UartParityBits parity, UartStopBits stop_bits);
+
+void UartAsyncChannel_ctor(UartAsyncChannel *self, uint32_t uart_device, uint32_t baud, UartDataBits data_bits,
+                           UartParityBits parity, UartStopBits stop_bits);
+
+#endif

lfc/core/src/main/java/org/lflang/validation/AttributeSpec.java

@@ -253,6 +253,19 @@ enum AttrParamType {
         new AttributeSpec(List.of(new AttrParamSpec(VALUE_ATTR, AttrParamType.INT, false))));
     // @interface:tcp(name="string", address="string") e.g. @interface:tcp(name="if1",
     // address="127.0.0.1")
+
+    ATTRIBUTE_SPECS_BY_NAME.put(
+        "interface_uart",
+        new AttributeSpec(
+            List.of(
+                new AttrParamSpec("name", AttrParamType.STRING, true),
+                new AttrParamSpec("uart_device", AttrParamType.INT, true),
+                new AttrParamSpec("baud_rate", AttrParamType.INT, true),
+                new AttrParamSpec("data_bits", AttrParamType.STRING, true),
+                new AttrParamSpec("parity", AttrParamType.STRING, true),
+                new AttrParamSpec("stop_bits", AttrParamType.STRING, true),
+                new AttrParamSpec("async", AttrParamType.BOOLEAN, true))));
+
     ATTRIBUTE_SPECS_BY_NAME.put(
         "interface_tcp",
         new AttributeSpec(

lfc/core/src/main/kotlin/org/lflang/generator/uc/UcActionGenerator.kt

@@ -3,13 +3,13 @@ package org.lflang.generator.uc
 import org.lflang.*
 import org.lflang.generator.PrependOperator
 import org.lflang.generator.orZero
-import org.lflang.generator.uc.UcReactorGenerator.Companion.hasStartup
-import org.lflang.generator.uc.UcReactorGenerator.Companion.hasShutdown
 import org.lflang.generator.uc.UcReactorGenerator.Companion.codeType
 import org.lflang.generator.uc.UcReactorGenerator.Companion.getEffects
 import org.lflang.generator.uc.UcReactorGenerator.Companion.getObservers
 import org.lflang.generator.uc.UcReactorGenerator.Companion.getSources
 import org.lflang.AttributeUtils.getMaxNumberOfPendingEvents
+import org.lflang.generator.uc.UcReactorGenerator.Companion.hasShutdown
+import org.lflang.generator.uc.UcReactorGenerator.Companion.hasStartup
 import org.lflang.lf.*
 
 class UcActionGenerator(private val reactor: Reactor) {
@@ -22,61 +22,72 @@ class UcActionGenerator(private val reactor: Reactor) {
             }
     }
 
-    /** Returns the C Enum representing the type of action.*/
-    private val Action.actionType
-        get(): String = if (isPhysical) "PHYSICAL_ACTION" else "LOGICAL_ACTION"
+  /** Returns the C Enum representing the type of action. */
+  private val Action.actionType
+    get(): String = if (isPhysical) "PHYSICAL_ACTION" else "LOGICAL_ACTION"
 
-    private fun generateSelfStruct(action: Action) = with(PrependOperator) {
+  private fun generateSelfStruct(action: Action) =
+      with(PrependOperator) {
         """
             |LF_DEFINE_ACTION_STRUCT${if (action.type == null) "_VOID" else ""}(${reactor.codeType}, ${action.name}, ${action.actionType}, ${reactor.getEffects(action).size}, ${reactor.getSources(action).size}, ${reactor.getObservers(action).size}, ${action.maxNumPendingEvents} ${if (action.type != null) ", ${action.type.toText()}" else ""});
             |
-        """.trimMargin()
-    }
+        """
+            .trimMargin()
+      }
 
-    private fun generateCtor(action: Action) = with(PrependOperator) {
+  private fun generateCtor(action: Action) =
+      with(PrependOperator) {
         """
             |LF_DEFINE_ACTION_CTOR${if (action.type == null) "_VOID" else ""}(${reactor.codeType}, ${action.name}, ${action.actionType}, ${reactor.getEffects(action).size}, ${reactor.getSources(action).size}, ${reactor.getObservers(action).size}, ${action.maxNumPendingEvents} ${if (action.type != null) ", ${action.type.toText()}" else ""});
             |
-        """.trimMargin()
-    }
+        """
+            .trimMargin()
+      }
 
-    private fun generateCtor(builtin: BuiltinTrigger) =
-        (if (builtin == BuiltinTrigger.STARTUP) "LF_DEFINE_STARTUP_CTOR" else "LF_DEFINE_SHUTDOWN_CTOR") +
-                "(${reactor.codeType});\n"
+  private fun generateCtor(builtin: BuiltinTrigger) =
+      (if (builtin == BuiltinTrigger.STARTUP) "LF_DEFINE_STARTUP_CTOR"
+      else "LF_DEFINE_SHUTDOWN_CTOR") + "(${reactor.codeType});\n"
 
+  fun generateCtors(): String {
+    var code = reactor.allActions.joinToString(separator = "\n") { generateCtor(it) }
+    if (reactor.hasStartup) code += generateCtor(BuiltinTrigger.STARTUP)
+    if (reactor.hasShutdown) code += generateCtor(BuiltinTrigger.SHUTDOWN)
+    return code
+  }
 
-    fun generateCtors(): String {
-        var code = reactor.allActions.joinToString(separator = "\n") { generateCtor(it) }
-        if (reactor.hasStartup) code += generateCtor(BuiltinTrigger.STARTUP);
-        if (reactor.hasShutdown) code += generateCtor(BuiltinTrigger.SHUTDOWN);
-        return code;
+  private fun generateSelfStruct(builtin: BuiltinTrigger) =
+      (if (builtin == BuiltinTrigger.STARTUP) "LF_DEFINE_STARTUP_STRUCT"
+      else "LF_DEFINE_SHUTDOWN_STRUCT") +
+          "(${reactor.codeType}, ${reactor.getEffects(builtin).size}, ${reactor.getObservers(builtin).size});\n"
+
+  fun generateSelfStructs(): String {
+    var code = reactor.allActions.joinToString(separator = "\n") { generateSelfStruct(it) }
+    if (reactor.hasStartup) {
+      code += generateSelfStruct(BuiltinTrigger.STARTUP)
     }
+    if (reactor.hasShutdown) {
+      code += generateSelfStruct(BuiltinTrigger.SHUTDOWN)
+    }
+    return code
+  }
 
-    private fun generateSelfStruct(builtin: BuiltinTrigger) =
-        (if (builtin == BuiltinTrigger.STARTUP) "LF_DEFINE_STARTUP_STRUCT" else "LF_DEFINE_SHUTDOWN_STRUCT") +
-                "(${reactor.codeType}, ${reactor.getEffects(builtin).size}, ${reactor.getObservers(builtin).size});\n"
+  fun generateReactorStructFields(): String {
+    var code =
+        reactor.allActions.joinToString(
+            prefix = "// Actions and builtin triggers\n", separator = "\n", postfix = "\n") {
+              "LF_ACTION_INSTANCE(${reactor.codeType}, ${it.name});"
+            }
+    if (reactor.hasStartup) code += "LF_STARTUP_INSTANCE(${reactor.codeType});"
+    if (reactor.hasShutdown) code += "LF_SHUTDOWN_INSTANCE(${reactor.codeType});"
+    return code
+  }
 
-    fun generateSelfStructs(): String {
-        var code = reactor.allActions.joinToString(separator = "\n") { generateSelfStruct(it) }
-        if (reactor.hasStartup) {
-           code += generateSelfStruct(BuiltinTrigger.STARTUP) ;
-        }
-        if (reactor.hasShutdown) {
-            code += generateSelfStruct(BuiltinTrigger.SHUTDOWN) ;
-        }
-        return code;
-    }
+  private fun generateReactorCtorCode(action: Action) =
+      "LF_INITIALIZE_ACTION(${reactor.codeType}, ${action.name}, ${action.minDelay.orZero().toCCode()}, ${action.minSpacing.orZero().toCCode()});"
 
-    fun generateReactorStructFields(): String {
-        var code = reactor.allActions.joinToString(prefix = "// Actions and builtin triggers\n", separator = "\n", postfix = "\n") { "LF_ACTION_INSTANCE(${reactor.codeType}, ${it.name});" }
-        if (reactor.hasStartup) code += "LF_STARTUP_INSTANCE(${reactor.codeType});"
-        if (reactor.hasShutdown) code += "LF_SHUTDOWN_INSTANCE(${reactor.codeType});"
-        return code;
-    }
+  private fun generateReactorCtorCodeStartup() = "LF_INITIALIZE_STARTUP(${reactor.codeType});"
 
-    private fun generateReactorCtorCode(action: Action) = "LF_INITIALIZE_ACTION(${reactor.codeType}, ${action.name}, ${action.minDelay.orZero().toCCode()}, ${action.minSpacing.orZero().toCCode()});"
-    private fun generateReactorCtorCodeStartup() = "LF_INITIALIZE_STARTUP(${reactor.codeType});"
-    private fun generateReactorCtorCodeShutdown() = "LF_INITIALIZE_SHUTDOWN(${reactor.codeType});"
+  private fun generateReactorCtorCodeShutdown() = "LF_INITIALIZE_SHUTDOWN(${reactor.codeType});"
 
     fun generateReactorCtorCodes(): String {
         var code = reactor.allActions.joinToString(prefix = "// Initialize actions and builtin triggers\n", separator = "\n", postfix = "\n") { generateReactorCtorCode(it)}