Fix compiler warnings in Zephyr and FlexPRET support files (#479)

* Fix compiler warnings in Zephyr and FlexPRET support files

* Typo in flexpret support

* Change atomics from handling int32 to just int

* More lf_atomic fixes

* atomics

* Update lf-ref

* Fix forgotten atomics int32->int changes

* Do not use vfprintf for Zephyr it causes strange intermittent memory issues

* Undo cbprintf fix real culprit, the number of stacks allocated for threads

core/threaded/reactor_threaded.c

@@ -176,15 +176,15 @@ void lf_set_present(lf_port_base_t* port) {
     return;
   environment_t* env = port->source_reactor->environment;
   bool* is_present_field = &port->is_present;
-  int ipfas = lf_atomic_fetch_add32(&env->is_present_fields_abbreviated_size, 1);
+  int ipfas = lf_atomic_fetch_add(&env->is_present_fields_abbreviated_size, 1);
   if (ipfas < env->is_present_fields_size) {
     env->is_present_fields_abbreviated[ipfas] = is_present_field;
   }
   *is_present_field = true;
 
   // Support for sparse destination multiports.
   if (port->sparse_record && port->destination_channel >= 0 && port->sparse_record->size >= 0) {
-    size_t next = (size_t)lf_atomic_fetch_add32(&port->sparse_record->size, 1);
+    size_t next = (size_t)lf_atomic_fetch_add(&port->sparse_record->size, 1);
     if (next >= port->sparse_record->capacity) {
       // Buffer is full. Have to revert to the classic iteration.
       port->sparse_record->size = -1;
@@ -1023,11 +1023,11 @@ int lf_reactor_c_main(int argc, const char* argv[]) {
 #endif
 
   LF_PRINT_DEBUG("Start time: " PRINTF_TIME "ns", start_time);
-  struct timespec physical_time_timespec = {start_time / BILLION, start_time % BILLION};
 
 #ifdef MINIMAL_STDLIB
   lf_print("---- Start execution ----");
 #else
+  struct timespec physical_time_timespec = {start_time / BILLION, start_time % BILLION};
   lf_print("---- Start execution at time %s---- plus %ld nanoseconds", ctime(&physical_time_timespec.tv_sec),
            physical_time_timespec.tv_nsec);
 #endif // MINIMAL_STDLIB

core/threaded/scheduler_GEDF_NP.c

@@ -228,14 +228,14 @@ reaction_t* lf_sched_get_ready_reaction(lf_scheduler_t* scheduler, int worker_nu
 
 void lf_sched_done_with_reaction(size_t worker_number, reaction_t* done_reaction) {
   (void)worker_number; // Suppress unused parameter warning.
-  if (!lf_atomic_bool_compare_and_swap32((int32_t*)&done_reaction->status, queued, inactive)) {
+  if (!lf_atomic_bool_compare_and_swap((int*)&done_reaction->status, queued, inactive)) {
     lf_print_error_and_exit("Unexpected reaction status: %d. Expected %d.", done_reaction->status, queued);
   }
 }
 
 void lf_scheduler_trigger_reaction(lf_scheduler_t* scheduler, reaction_t* reaction, int worker_number) {
   (void)worker_number; // Suppress unused parameter warning.
-  if (reaction == NULL || !lf_atomic_bool_compare_and_swap32((int32_t*)&reaction->status, inactive, queued)) {
+  if (reaction == NULL || !lf_atomic_bool_compare_and_swap((int*)&reaction->status, inactive, queued)) {
     return;
   }
   LF_PRINT_DEBUG("Scheduler: Enqueueing reaction %s, which has level %lld.", reaction->name, LF_LEVEL(reaction->index));

core/threaded/scheduler_NP.c

@@ -77,7 +77,7 @@ static inline void _lf_sched_insert_reaction(lf_scheduler_t* scheduler, reaction
     scheduler->indexes[reaction_level] = 0;
   }
 #endif
-  int reaction_q_level_index = lf_atomic_fetch_add32((int32_t*)&scheduler->indexes[reaction_level], 1);
+  int reaction_q_level_index = lf_atomic_fetch_add((int*)&scheduler->indexes[reaction_level], 1);
   assert(reaction_q_level_index >= 0);
   LF_PRINT_DEBUG("Scheduler: Accessing triggered reactions at the level %zu with index %d.", reaction_level,
                  reaction_q_level_index);
@@ -203,7 +203,7 @@ static void _lf_scheduler_try_advance_tag_and_distribute(lf_scheduler_t* schedul
 static void _lf_sched_wait_for_work(lf_scheduler_t* scheduler, size_t worker_number) {
   // Increment the number of idle workers by 1 and check if this is the last
   // worker thread to become idle.
-  if (lf_atomic_add_fetch32((int32_t*)&scheduler->number_of_idle_workers, 1) == (int)scheduler->number_of_workers) {
+  if (lf_atomic_add_fetch((int*)&scheduler->number_of_idle_workers, 1) == (int)scheduler->number_of_workers) {
     // Last thread to go idle
     LF_PRINT_DEBUG("Scheduler: Worker %zu is the last idle thread.", worker_number);
     // Call on the scheduler to distribute work or advance tag.
@@ -322,7 +322,7 @@ reaction_t* lf_sched_get_ready_reaction(lf_scheduler_t* scheduler, int worker_nu
     // the current level (if there is a causality loop)
     LF_MUTEX_LOCK(&scheduler->custom_data->array_of_mutexes[current_level]);
 #endif
-    int current_level_q_index = lf_atomic_add_fetch32((int32_t*)&scheduler->indexes[current_level], -1);
+    int current_level_q_index = lf_atomic_add_fetch((int*)&scheduler->indexes[current_level], -1);
     if (current_level_q_index >= 0) {
       LF_PRINT_DEBUG("Scheduler: Worker %d popping reaction with level %zu, index "
                      "for level: %d.",
@@ -361,7 +361,7 @@ reaction_t* lf_sched_get_ready_reaction(lf_scheduler_t* scheduler, int worker_nu
  */
 void lf_sched_done_with_reaction(size_t worker_number, reaction_t* done_reaction) {
   (void)worker_number;
-  if (!lf_atomic_bool_compare_and_swap32((int32_t*)&done_reaction->status, queued, inactive)) {
+  if (!lf_atomic_bool_compare_and_swap((int*)&done_reaction->status, queued, inactive)) {
     lf_print_error_and_exit("Unexpected reaction status: %d. Expected %d.", done_reaction->status, queued);
   }
 }
@@ -388,7 +388,7 @@ void lf_sched_done_with_reaction(size_t worker_number, reaction_t* done_reaction
 void lf_scheduler_trigger_reaction(lf_scheduler_t* scheduler, reaction_t* reaction, int worker_number) {
   (void)worker_number;
 
-  if (reaction == NULL || !lf_atomic_bool_compare_and_swap32((int32_t*)&reaction->status, inactive, queued)) {
+  if (reaction == NULL || !lf_atomic_bool_compare_and_swap((int*)&reaction->status, inactive, queued)) {
     return;
   }
   LF_PRINT_DEBUG("Scheduler: Enqueueing reaction %s, which has level %lld.", reaction->name, LF_LEVEL(reaction->index));

core/threaded/scheduler_adaptive.c

@@ -207,7 +207,7 @@ static void worker_assignments_free(lf_scheduler_t* scheduler) {
 static reaction_t* get_reaction(lf_scheduler_t* scheduler, size_t worker) {
   worker_assignments_t* worker_assignments = scheduler->custom_data->worker_assignments;
 #ifndef FEDERATED
-  int index = lf_atomic_add_fetch32((int32_t*)(worker_assignments->num_reactions_by_worker + worker), -1);
+  int index = lf_atomic_add_fetch(worker_assignments->num_reactions_by_worker + worker, -1);
   if (index >= 0) {
     return worker_assignments->reactions_by_worker[worker][index];
   }
@@ -223,9 +223,9 @@ static reaction_t* get_reaction(lf_scheduler_t* scheduler, size_t worker) {
     old_num_reactions = current_num_reactions;
     if (old_num_reactions <= 0)
       return NULL;
-  } while ((current_num_reactions = lf_atomic_val_compare_and_swap32(
-                (int32_t*)(worker_assignments->num_reactions_by_worker + worker), old_num_reactions,
-                (index = old_num_reactions - 1))) != old_num_reactions);
+  } while ((current_num_reactions =
+                lf_atomic_val_compare_and_swap(worker_assignments->num_reactions_by_worker + worker, old_num_reactions,
+                                               (index = old_num_reactions - 1))) != old_num_reactions);
   return worker_assignments->reactions_by_worker[worker][index];
 #endif
 }
@@ -282,7 +282,7 @@ static void worker_assignments_put(lf_scheduler_t* scheduler, reaction_t* reacti
   hash = hash ^ (hash >> 31);
   size_t worker = hash % worker_assignments->num_workers_by_level[level];
   size_t num_preceding_reactions =
-      lf_atomic_fetch_add32((int32_t*)&worker_assignments->num_reactions_by_worker_by_level[level][worker], 1);
+      lf_atomic_fetch_add(&worker_assignments->num_reactions_by_worker_by_level[level][worker], 1);
   worker_assignments->reactions_by_worker_by_level[level][worker][num_preceding_reactions] = reaction;
 }
 
@@ -383,7 +383,7 @@ static bool worker_states_finished_with_level_locked(lf_scheduler_t* scheduler,
   assert(((int64_t)worker_assignments->num_reactions_by_worker[worker]) <= 0);
   // Why use an atomic operation when we are supposed to be "as good as locked"? Because I took a
   // shortcut, and the shortcut was imperfect.
-  size_t ret = lf_atomic_add_fetch32((int32_t*)&worker_states->num_loose_threads, -1);
+  size_t ret = lf_atomic_add_fetch(&worker_states->num_loose_threads, -1);
   assert(ret <= worker_assignments->max_num_workers); // Check for underflow
   return !ret;
 }
@@ -726,7 +726,7 @@ void lf_sched_done_with_reaction(size_t worker_number, reaction_t* done_reaction
 
 void lf_scheduler_trigger_reaction(lf_scheduler_t* scheduler, reaction_t* reaction, int worker_number) {
   LF_ASSERT(worker_number >= -1, "Sched: Invalid worker number");
-  if (!lf_atomic_bool_compare_and_swap32((int32_t*)&reaction->status, inactive, queued))
+  if (!lf_atomic_bool_compare_and_swap((int*)&reaction->status, inactive, queued))
     return;
   worker_assignments_put(scheduler, reaction);
 }

lingua-franca-ref.txt

@@ -1 +1 @@
-master
+zephyr-tests

low_level_platform/api/platform/lf_atomic.h

@@ -11,14 +11,14 @@
 #include <stdbool.h>
 
 /**
- * @brief Atomically fetch a 32bit integer from memory and add a value to it.
+ * @brief Atomically fetch an integer from memory and add a value to it.
  * Return the value that was previously in memory.
  *
  * @param ptr A pointer to the memory location.
  * @param val The value to be added.
  * @return The value previously in memory.
  */
-int32_t lf_atomic_fetch_add32(int32_t* ptr, int32_t val);
+int lf_atomic_fetch_add(int* ptr, int val);
 
 /**
  * @brief Atomically fetch 64-bit integer from memory and add a value to it.
@@ -31,14 +31,14 @@ int32_t lf_atomic_fetch_add32(int32_t* ptr, int32_t val);
 int64_t lf_atomic_fetch_add64(int64_t* ptr, int64_t val);
 
 /**
- * @brief Atomically fetch a 32-bit integer from memory and add a value to it.
+ * @brief Atomically fetch an integer from memory and add a value to it.
  * Return the new value of the memory.
  *
  * @param ptr A pointer to the memory location.
  * @param val The value to be added.
  * @return The new value in memory.
  */
-int32_t lf_atomic_add_fetch32(int32_t* ptr, int32_t val);
+int lf_atomic_add_fetch(int* ptr, int val);
 
 /**
  * @brief Atomically fetch a 64-bit integer from memory and add a value to it.
@@ -60,7 +60,7 @@ int64_t lf_atomic_add_fetch64(int64_t* ptr, int64_t val);
  * @param newval The value to swap in.
  * @return Whether a swap was performed or not.
  */
-bool lf_atomic_bool_compare_and_swap32(int32_t* ptr, int32_t oldval, int32_t newval);
+bool lf_atomic_bool_compare_and_swap(int* ptr, int oldval, int newval);
 
 /**
  * @brief Atomically perform a compare-and-swap operation on a 64 bit integer in
@@ -75,7 +75,7 @@ bool lf_atomic_bool_compare_and_swap32(int32_t* ptr, int32_t oldval, int32_t new
 bool lf_atomic_bool_compare_and_swap64(int64_t* ptr, int64_t oldval, int64_t newval);
 
 /**
- * @brief Atomically perform a compare-and-swap operation on a 32 bit integer in
+ * @brief Atomically perform a compare-and-swap operation on an integer in
  * memory. If the value in memory is equal to `oldval` replace it with `newval`.
  * Return the content of the memory before the potential swap operation is
  * performed.
@@ -85,7 +85,7 @@ bool lf_atomic_bool_compare_and_swap64(int64_t* ptr, int64_t oldval, int64_t new
  * @param newval The value to swap in.
  * @return The value in memory prior to the swap.
  */
-int32_t lf_atomic_val_compare_and_swap32(int32_t* ptr, int32_t oldval, int32_t newval);
+int lf_atomic_val_compare_and_swap(int* ptr, int oldval, int newval);
 
 /**
  * @brief Atomically perform a compare-and-swap operation on a 64 bit integer in

low_level_platform/api/platform/lf_zephyr_support.h

@@ -50,6 +50,8 @@ typedef struct {
 } lf_cond_t;
 typedef struct k_thread* lf_thread_t;
 
+void _lf_initialize_clock_zephyr_common();
+
 #endif // !LF_SINGLE_THREADED
 
 #endif // LF_ZEPHYR_SUPPORT_H

low_level_platform/impl/src/lf_atomic_gcc_clang.c

@@ -11,17 +11,17 @@
 #include "platform/lf_atomic.h"
 #include "low_level_platform.h"
 
-int32_t lf_atomic_fetch_add32(int32_t* ptr, int32_t value) { return __sync_fetch_and_add(ptr, value); }
+int lf_atomic_fetch_add(int* ptr, int value) { return __sync_fetch_and_add(ptr, value); }
 int64_t lf_atomic_fetch_add64(int64_t* ptr, int64_t value) { return __sync_fetch_and_add(ptr, value); }
-int32_t lf_atomic_add_fetch32(int32_t* ptr, int32_t value) { return __sync_add_and_fetch(ptr, value); }
+int lf_atomic_add_fetch(int* ptr, int value) { return __sync_add_and_fetch(ptr, value); }
 int64_t lf_atomic_add_fetch64(int64_t* ptr, int64_t value) { return __sync_add_and_fetch(ptr, value); }
-bool lf_atomic_bool_compare_and_swap32(int32_t* ptr, int32_t oldval, int32_t newval) {
+bool lf_atomic_bool_compare_and_swap(int* ptr, int oldval, int newval) {
   return __sync_bool_compare_and_swap(ptr, oldval, newval);
 }
 bool lf_atomic_bool_compare_and_swap64(int64_t* ptr, int64_t oldval, int64_t newval) {
   return __sync_bool_compare_and_swap(ptr, oldval, newval);
 }
-int32_t lf_atomic_val_compare_and_swap32(int32_t* ptr, int32_t oldval, int32_t newval) {
+int lf_atomic_val_compare_and_swap(int* ptr, int oldval, int newval) {
   return __sync_val_compare_and_swap(ptr, oldval, newval);
 }
 int64_t lf_atomic_val_compare_and_swap64(int64_t* ptr, int64_t oldval, int64_t newval) {

low_level_platform/impl/src/lf_atomic_irq.c

@@ -17,9 +17,9 @@
 int lf_disable_interrupts_nested();
 int lf_enable_interrupts_nested();
 
-int32_t lf_atomic_fetch_add32(int32_t* ptr, int32_t value) {
+int lf_atomic_fetch_add(int* ptr, int value) {
   lf_disable_interrupts_nested();
-  int32_t res = *ptr;
+  int res = *ptr;
   *ptr += value;
   lf_enable_interrupts_nested();
   return res;
@@ -33,7 +33,7 @@ int64_t lf_atomic_fetch_add64(int64_t* ptr, int64_t value) {
   return res;
 }
 
-int32_t lf_atomic_add_fetch32(int32_t* ptr, int32_t value) {
+int lf_atomic_add_fetch(int* ptr, int value) {
   lf_disable_interrupts_nested();
   int res = *ptr + value;
   *ptr = res;
@@ -49,7 +49,7 @@ int64_t lf_atomic_add_fetch64(int64_t* ptr, int64_t value) {
   return res;
 }
 
-bool lf_atomic_bool_compare_and_swap32(int32_t* ptr, int32_t oldval, int32_t newval) {
+bool lf_atomic_bool_compare_and_swap(int* ptr, int oldval, int newval) {
   lf_disable_interrupts_nested();
   bool res = false;
   if ((*ptr) == oldval) {
@@ -71,7 +71,7 @@ bool lf_atomic_bool_compare_and_swap64(int64_t* ptr, int64_t oldval, int64_t new
   return res;
 }
 
-int32_t lf_atomic_val_compare_and_swap32(int32_t* ptr, int32_t oldval, int32_t newval) {
+int lf_atomic_val_compare_and_swap(int* ptr, int oldval, int newval) {
   lf_disable_interrupts_nested();
   int res = *ptr;
   if ((*ptr) == oldval) {

low_level_platform/impl/src/lf_atomic_windows.c

@@ -10,17 +10,17 @@
 #include "platform/lf_atomic.h"
 #include <windows.h>
 
-int32_t lf_atomic_fetch_add32(int32_t* ptr, int32_t value) { return InterlockedExchangeAdd(ptr, value); }
+int lf_atomic_fetch_add(int* ptr, int value) { return InterlockedExchangeAdd(ptr, value); }
 int64_t lf_atomic_fetch_add64(int64_t* ptr, int64_t value) { return InterlockedExchangeAdd64(ptr, value); }
-int32_t lf_atomic_add_fetch32(int32_t* ptr, int32_t value) { return InterlockedAdd(ptr, value); }
+int lf_atomic_add_fetch(int* ptr, int value) { return InterlockedAdd(ptr, value); }
 int64_t lf_atomic_add_fetch64(int64_t* ptr, int64_t value) { return InterlockedAdd64(ptr, value); }
-bool lf_atomic_bool_compare_and_swap32(int32_t* ptr, int32_t oldval, int32_t newval) {
+bool lf_atomic_bool_compare_and_swap(int* ptr, int oldval, int newval) {
   return (InterlockedCompareExchange(ptr, newval, oldval) == oldval);
 }
 bool lf_atomic_bool_compare_and_swap64(int64_t* ptr, int64_t oldval, int64_t newval) {
   return (InterlockedCompareExchange64(ptr, newval, oldval) == oldval);
 }
-int32_t lf_atomic_val_compare_and_swap32(int32_t* ptr, int32_t oldval, int32_t newval) {
+int lf_atomic_val_compare_and_swap(int* ptr, int oldval, int newval) {
   return InterlockedCompareExchange(ptr, newval, oldval);
 }
 int64_t lf_atomic_val_compare_and_swap64(int64_t* ptr, int64_t oldval, int64_t newval) {

low_level_platform/impl/src/lf_flexpret_support.c

@@ -178,10 +178,7 @@ int lf_available_cores() {
   return FP_THREADS - 1; // Return the number of Flexpret HW threads
 }
 
-lf_thread_t lf_thread_self() {
-  // Not implemented.
-  return NULL;
-}
+lf_thread_t lf_thread_self() { return read_hartid(); }
 
 int lf_thread_create(lf_thread_t* thread, void* (*lf_thread)(void*), void* arguments) {
   /**

low_level_platform/impl/src/lf_platform_util.c

@@ -21,6 +21,6 @@ static thread_local int lf_thread_id_var = -1;
 
 int lf_thread_id() { return lf_thread_id_var; }
 
-void initialize_lf_thread_id() { lf_thread_id_var = lf_atomic_fetch_add32(&_lf_worker_thread_count, 1); }
+void initialize_lf_thread_id() { lf_thread_id_var = lf_atomic_fetch_add(&_lf_worker_thread_count, 1); }
 #endif
 #endif

low_level_platform/impl/src/lf_zephyr_clock_kernel.c

@@ -113,6 +113,7 @@ int _lf_interruptable_sleep_until_locked(environment_t* env, instant_t wakeup) {
     return 0;
   } else {
     lf_print_error_and_exit("k_sem_take returned %d", res);
+    return -1;
   }
 }
 

low_level_platform/impl/src/lf_zephyr_support.c

@@ -36,14 +36,21 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "platform/lf_platform_util.h"
 #include "low_level_platform.h"
 #include "tag.h"
+#include "logging.h"
 
 #include <zephyr/kernel.h>
+#include <zephyr/sys/cbprintf.h>
 
 // Keep track of nested critical sections
 static uint32_t num_nested_critical_sections = 0;
 // Keep track of IRQ mask when entering critical section so we can enable again after
 static volatile unsigned irq_mask = 0;
 
+// Catch kernel panics from Zephyr
+void k_sys_fatal_error_handler(unsigned int reason, const struct arch_esf* esf) {
+  lf_print_error_and_exit("Zephyr kernel panic reason=%d", reason);
+}
+
 int lf_sleep(interval_t sleep_duration) {
   k_sleep(K_NSEC(sleep_duration));
   return 0;
@@ -81,8 +88,12 @@ int lf_enable_interrupts_nested() {
 // If NUMBER_OF_WORKERS is not specified, or set to 0, then we default to 1.
 #if !defined(NUMBER_OF_WORKERS) || NUMBER_OF_WORKERS == 0
 #undef NUMBER_OF_WORKERS
+#if defined(LF_REACTION_GRAPH_BREADTH)
+#define NUMBER_OF_WORKERS LF_REACTION_GRAPH_BREADTH
+#else
 #define NUMBER_OF_WORKERS 1
 #endif
+#endif
 
 // If USER_THREADS is not specified, then default to 0.
 #if !defined(USER_THREADS)
@@ -149,9 +160,9 @@ int lf_thread_create(lf_thread_t* thread, void* (*lf_thread)(void*), void* argum
 int lf_thread_join(lf_thread_t thread, void** thread_return) { return k_thread_join(thread, K_FOREVER); }
 
 void initialize_lf_thread_id() {
-  static int _lf_worker_thread_count = 0;
+  static int32_t _lf_worker_thread_count = 0;
   int* thread_id = (int*)malloc(sizeof(int));
-  *thread_id = lf_atomic_fetch_add32(&_lf_worker_thread_count, 1);
+  *thread_id = lf_atomic_fetch_add(&_lf_worker_thread_count, 1);
   k_thread_custom_data_set(thread_id);
 }