Merge branch 'main' into transient-fed

.github/workflows/api-docs.yml

@@ -6,17 +6,18 @@ on:
 
 jobs:
   build:
-
     runs-on: macos-latest
-
     steps:
     - name: Requirements
-      run: brew install doxygen
-        && brew install sphinx-doc
-        && pip3 install sphinx-rtd-theme
-        && pip3 install breathe
-        && pip3 install sphinx-sitemap
-        && pip3 install exhale
+      run: |
+        brew install doxygen
+        brew install sphinx-doc
+        python3 -m venv .venv
+        source .venv/bin/activate
+        pip3 install sphinx-rtd-theme
+        pip3 install breathe
+        pip3 install sphinx-sitemap
+        pip3 install exhale
     - name: Checkout repo
       uses: actions/[email protected]
     - name: Build docs

.github/workflows/ci.yml

@@ -55,6 +55,14 @@ jobs:
       compiler-ref: ${{ needs.fetch-lf.outputs.ref }}
     if: ${{ !github.event.pull_request.draft ||contains( github.event.pull_request.labels.*.name, 'zephyr') }}
 
+  lf-default-flexpret:
+   needs: [fetch-lf]
+   uses: lf-lang/lingua-franca/.github/workflows/c-flexpret-tests.yml@master
+   with:
+     runtime-ref: ${{ github.ref }}
+     compiler-ref: ${{ needs.fetch-lf.outputs.ref }}
+   if: ${{ !github.event.pull_request.draft ||contains( github.event.pull_request.labels.*.name, 'flexpret') }}
+
   lf-default:
     needs: [fetch-lf]
     uses: lf-lang/lingua-franca/.github/workflows/c-tests.yml@master

.github/workflows/unit-tests.yml

@@ -11,7 +11,7 @@ jobs:
   run:
     strategy:
       matrix:
-        platform: [ubuntu-latest, macos-latest, windows-latest]
+        platform: [ubuntu-latest, macos-latest]
     runs-on: ${{ matrix.platform }}
 
     steps:
@@ -24,4 +24,13 @@ jobs:
           cd build
           cmake .. ${{ inputs.cmake-args }}
           cmake --build .
-          make test
+          sudo make test
+      - name: Run RTI unit tests
+        run: |
+          cd core/federated/RTI
+          mkdir build
+          cd build
+          cmake ..
+          cmake --build .
+          ctest
+          

.gitignore

@@ -16,3 +16,6 @@ util/tracing/trace_to_csv.o
 util/tracing/trace_to_influxdb
 util/tracing/trace_to_influxdb.o
 util/tracing/trace_util.o
+
+# Generated trace lib
+trace/**/*.a

CMakeLists.txt

@@ -22,10 +22,6 @@ if(DEFINED LF_SINGLE_THREADED)
     add_compile_definitions(LF_SINGLE_THREADED=1)
 endif()
 
-# Warnings as errors
-add_compile_options(-Werror)
-
-set(Test test)
 set(Lib lib)
 set(CoreLibPath core)
 set(CoreLib reactor-c)
@@ -42,7 +38,6 @@ include_directories(${CMAKE_SOURCE_DIR}/include/core/utils)
 include_directories(${CMAKE_SOURCE_DIR}/include/api)
 
 enable_testing()
-add_subdirectory(${Test})
 add_subdirectory(${Lib})
 add_subdirectory(${CoreLibPath})
 

README.md

@@ -41,6 +41,11 @@ To run tests for the multithreaded runtime, provide a nonzero number of workers
 when invoking `cmake`. For example:
 
 - `cmake .. -DNUMBER_OF_WORKERS=2`
+- `cmake --build .`
+- `sudo make test`
+
+Note that one of the tests in the multithreaded test suite requires sudo because
+it changes the scheduling policy and priorities.
 
 To define/undefine other preprocessor definitions such as `LOG_LEVEL`, pass them as
 arguments to `cmake` in the same way as with `NUMBER_OF_WORKERS`, using the same

core/CMakeLists.txt

@@ -55,13 +55,26 @@ lf_enable_compiler_warnings(reactor-c)
 
 if (DEFINED LF_TRACE)
     include(${LF_ROOT}/trace/api/CMakeLists.txt)
-    if(NOT LF_TRACE_PLUGIN)
-        set(LF_TRACE_PLUGIN lf::trace-impl)
+    target_link_libraries(reactor-c PUBLIC lf::trace-api)
+    # If the user specified an external trace plugin. Find it and link with it
+    if (LF_TRACE_PLUGIN)
+        message(STATUS "Linking trace plugin library ${LF_TRACE_PLUGIN}")
+        find_library(TRACE_LIB NAMES ${LF_TRACE_PLUGIN} HINTS "${LF_ROOT}")
+        if (NOT TRACE_LIB)
+            message(FATAL_ERROR "The trace plugin library ${LF_TRACE_PLUGIN} not found")
+        endif()
+        # We also link with libdl because it is needed for some platforms.
+        # TODO: Figure out why this is the case and how to avoid it.
+        target_link_libraries(reactor-c PRIVATE ${TRACE_LIB} dl)
+    else()
+    # If not, use the default implementation
+        message(STATUS "Linking with default trace implementation")
         include(${LF_ROOT}/trace/impl/CMakeLists.txt)
+        target_link_libraries(reactor-c PRIVATE lf::trace-impl)
     endif()
-    message(STATUS "linking trace plugin library ${LF_TRACE_PLUGIN}")
-    target_link_libraries(reactor-c PUBLIC lf::trace-api)
-    target_link_libraries(reactor-c PRIVATE "${LF_TRACE_PLUGIN}")
+else()
+    include(${LF_ROOT}/trace/api/types/CMakeLists.txt)
+    target_link_libraries(reactor-c PUBLIC lf::trace-api-types)
 endif()
 
 include(${LF_ROOT}/version/api/CMakeLists.txt)
@@ -109,7 +122,7 @@ if(DEFINED FEDERATED_AUTHENTICATED)
     target_link_libraries(reactor-c PUBLIC OpenSSL::SSL)
 endif()
 
-if(DEFINED _LF_CLOCK_SYNC_ON)
+if(DEFINED FEDERATED)
   find_library(MATH_LIBRARY m)
   if(MATH_LIBRARY)
     target_link_libraries(reactor-c PUBLIC ${MATH_LIBRARY})
@@ -128,8 +141,9 @@ target_compile_definitions(reactor-c PRIVATE INITIAL_EVENT_QUEUE_SIZE=${INITIAL_
 target_compile_definitions(reactor-c PRIVATE INITIAL_REACT_QUEUE_SIZE=${INITIAL_REACT_QUEUE_SIZE})
 target_compile_definitions(reactor-c PUBLIC PLATFORM_${CMAKE_SYSTEM_NAME})
 
-# Macro for translating a command-line argument into compile definition for
-# reactor-c lib
+# If variable X is defined in cMake (set using SET()) or passed in as a command-line
+# argument using -DX=<value>, then make it a compiler flag for reactor-c so that X
+# is also defined in the C code for reactor-c.
 macro(define X)
     if(DEFINED ${X})
         message(STATUS ${X}=${${X}})
@@ -142,9 +156,9 @@ message(STATUS "Applying preprocessor definitions...")
 define(_LF_CLOCK_SYNC_ATTENUATION)
 define(_LF_CLOCK_SYNC_COLLECT_STATS)
 define(_LF_CLOCK_SYNC_EXCHANGES_PER_INTERVAL)
-define(_LF_CLOCK_SYNC_INITIAL)
-define(_LF_CLOCK_SYNC_ON)
+define(LF_CLOCK_SYNC) # 1 for OFF, 2 for INIT and 3 for ON.
 define(_LF_CLOCK_SYNC_PERIOD_NS)
+define(_LF_FEDERATE_NAMES_COMMA_SEPARATED)
 define(ADVANCE_MESSAGE_INTERVAL)
 define(EXECUTABLE_PREAMBLE)
 define(FEDERATED_CENTRALIZED)

core/clock.c

@@ -8,9 +8,14 @@
 #include "clock.h"
 #include "low_level_platform.h"
 
-#if defined(_LF_CLOCK_SYNC_ON)
+// If we are federated, include clock-sync API (and implementation)
+#if defined(FEDERATED)
 #include "clock-sync.h"
-#endif
+#else
+// In the unfederated case, just provide empty implementations.
+void clock_sync_add_offset(instant_t* t) { (void)t; }
+void clock_sync_subtract_offset(instant_t* t) { (void)t; }
+#endif // defined(FEDERATED)
 
 static instant_t last_read_physical_time = NEVER;
 
@@ -20,9 +25,7 @@ int lf_clock_gettime(instant_t* now) {
   if (res != 0) {
     return -1;
   }
-#if defined(_LF_CLOCK_SYNC_ON)
-  clock_sync_apply_offset(now);
-#endif
+  clock_sync_add_offset(now);
   do {
     // Atomically fetch the last read value. This is done with
     // atomics to guarantee that it works on 32bit platforms as well.
@@ -42,19 +45,15 @@ int lf_clock_gettime(instant_t* now) {
 }
 
 int lf_clock_interruptable_sleep_until_locked(environment_t* env, instant_t wakeup_time) {
-#if defined(_LF_CLOCK_SYNC_ON)
   // Remove any clock sync offset and call the Platform API.
-  clock_sync_remove_offset(&wakeup_time);
-#endif
+  clock_sync_subtract_offset(&wakeup_time);
   return _lf_interruptable_sleep_until_locked(env, wakeup_time);
 }
 
 #if !defined(LF_SINGLE_THREADED)
 int lf_clock_cond_timedwait(lf_cond_t* cond, instant_t wakeup_time) {
-#if defined(_LF_CLOCK_SYNC_ON)
   // Remove any clock sync offset and call the Platform API.
-  clock_sync_remove_offset(&wakeup_time);
-#endif
+  clock_sync_subtract_offset(&wakeup_time);
   return _lf_cond_timedwait(cond, wakeup_time);
 }
-#endif
+#endif // !defined(LF_SINGLE_THREADED)

core/environment.c

@@ -1,32 +1,11 @@
 /**
  * @file
- * @author Erling R. Jellum ([email protected])
+ * @author Erling R. Jellum
+ * @copyright (c) 2023-2024, The Norwegian University of Science and Technology.
+ * License: <a href="https://github.com/lf-lang/reactor-c/blob/main/LICENSE.md">BSD 2-clause</a>
  *
- * @section LICENSE
- * Copyright (c) 2023, The Norwegian University of Science and Technology.
- *
- * 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.
- *
- * @section DESCRIPTION Functions intitializing and freeing memory for environments.
- *  See environment.h for docs.
+ * This file defines functions intitializing and freeing memory for environments.
+ * See environment.h for docs.
  */
 
 #include "environment.h"