Merge pull request #1581 from lf-lang/arduino-mbed-support

Arduino MBED RTOS Support

.github/workflows/c-arduino-tests.yml

@@ -57,5 +57,6 @@ jobs:
           arduino-cli core install arduino:megaavr
           arduino-cli core install arduino:samd
           arduino-cli core install arduino:sam
+          arduino-cli core install arduino:mbed
       - name: Perform Arduino tests for C target with default scheduler
         run: ./gradlew test --tests org.lflang.tests.runtime.CArduinoTest.runArduinoTests

.github/workflows/ci.yml

@@ -70,7 +70,7 @@ jobs:
 
   # Run the C Arduino integration tests.
   c-arduino-tests:
-    uses: lf-lang/lingua-franca/.github/workflows/c-arduino-tests.yml@master
+    uses: lf-lang/lingua-franca/.github/workflows/c-arduino-tests.yml@arduino-mbed-support
     needs: cancel
 
   # Run the C Zephyr integration tests.

org.lflang/src/org/lflang/federated/extensions/CExtension.java

@@ -611,7 +611,7 @@ private String generateCodeToInitializeFederate(FederateInstance federate, Linke
         code.pr(String.join("\n",
                             "// Initialize the socket mutex",
                             "lf_mutex_init(&outbound_socket_mutex);",
-                            "lf_cond_init(&port_status_changed);"
+                            "lf_cond_init(&port_status_changed, &mutex);"
         ));
 
         // Find the STA (A.K.A. the global STP offset) for this federate.

org.lflang/src/org/lflang/generator/c/CGenerator.java

@@ -537,7 +537,7 @@ public void doGenerate(Resource resource, LFGeneratorContext context) {
                 }
             } else {
                 try {
-                    FileUtil.arduinoDeleteHelper(fileConfig.getSrcGenPath().resolve("src/"));
+                    FileUtil.arduinoDeleteHelper(fileConfig.getSrcGenPath().resolve("src/"), targetConfig.threading);
                     FileUtil.relativeIncludeHelper(fileConfig.getSrcGenPath().resolve("src/"));
                 } catch (IOException e) {
                     //noinspection ThrowableNotThrown,ResultOfMethodCallIgnored
@@ -1913,11 +1913,10 @@ protected void setUpGeneralParameters() {
             // So that each separate compile knows about modal reactors, do this:
             targetConfig.compileDefinitions.put("MODAL_REACTORS", "TRUE");
         }
-        if (targetConfig.threading && targetConfig.platformOptions.platform == Platform.ARDUINO) {
-            //Add error message when user attempts to set threading=true for Arduino
-            if (targetConfig.setByUser.contains(TargetProperty.THREADING)) {
-                System.out.println("Threading is incompatible on Arduino. Setting threading to false.");
-            }
+        if (targetConfig.threading && targetConfig.platformOptions.platform == Platform.ARDUINO 
+            && (targetConfig.platformOptions.board == null || !targetConfig.platformOptions.board.contains("mbed"))) {
+            //non-MBED boards should not use threading
+            System.out.println("Threading is incompatible on your current Arduino flavor. Setting threading to false.");
             targetConfig.threading = false;
         }
 

org.lflang/src/org/lflang/generator/c/CPreambleGenerator.java

@@ -80,12 +80,6 @@ public static String generateDefineDirectives(
         code.pr("#define LOG_LEVEL " + logLevel);
         code.pr("#define TARGET_FILES_DIRECTORY " + addDoubleQuotes(srcGenPath.toString()));
 
-
-        if (targetConfig.platformOptions.platform == Platform.ARDUINO) {
-            code.pr("#define MICROSECOND_TIME");
-            code.pr("#define BIT_32");
-        }
-
         if (tracing != null) {
             targetConfig.compileDefinitions.put("LF_TRACE", tracing.traceFileName);
         }

org.lflang/src/org/lflang/util/ArduinoUtil.java

@@ -66,9 +66,10 @@ private LFCommand arduinoCompileCommand(FileConfig fileConfig, TargetConfig targ
                 var fileWriter = new FileWriter(testScript.getAbsoluteFile(), true);
                 BufferedWriter bufferedWriter = new BufferedWriter(fileWriter);
                 String board = targetConfig.platformOptions.board != null ? targetConfig.platformOptions.board : "arduino:avr:leonardo";
+                String isThreaded = targetConfig.platformOptions.board.contains("mbed") ? "-DLF_THREADED" : "-DLF_UNTHREADED";
                 bufferedWriter.write("arduino-cli compile -b " + board + " --build-property " +
-                    "compiler.c.extra_flags=\"-DLF_UNTHREADED -DPLATFORM_ARDUINO -DINITIAL_EVENT_QUEUE_SIZE=10 -DINITIAL_REACT_QUEUE_SIZE=10\" " +
-                    "--build-property compiler.cpp.extra_flags=\"-DLF_UNTHREADED -DPLATFORM_ARDUINO -DINITIAL_EVENT_QUEUE_SIZE=10 -DINITIAL_REACT_QUEUE_SIZE=10\" "
+                    "compiler.c.extra_flags=\"" + isThreaded + " -DPLATFORM_ARDUINO -DINITIAL_EVENT_QUEUE_SIZE=10 -DINITIAL_REACT_QUEUE_SIZE=10\" " +
+                    "--build-property compiler.cpp.extra_flags=\"" + isThreaded + " -DPLATFORM_ARDUINO -DINITIAL_EVENT_QUEUE_SIZE=10 -DINITIAL_REACT_QUEUE_SIZE=10\" "
                     + srcGenPath.toString());
                 bufferedWriter.close();
                 return commandFactory.createCommand(

org.lflang/src/org/lflang/util/FileUtil.java

@@ -394,20 +394,22 @@ private static boolean copyDirectoryFromJar(JarURLConnection connection, final P
      * @param dir The folder to search for folders and files to delete. 
      * @throws IOException If the given folder and unneeded files cannot be deleted.
      */
-    public static void arduinoDeleteHelper(Path dir) throws IOException {
+    public static void arduinoDeleteHelper(Path dir, boolean threadingOn) throws IOException {
         deleteDirectory(dir.resolve("core/federated")); // TODO: Add Federated Support to Arduino
         deleteDirectory(dir.resolve("include/core/federated")); // TODO: Add Federated Support to Arduino
 
-        deleteDirectory(dir.resolve("core/threaded")); // No Threaded Support for Arduino
-        deleteDirectory(dir.resolve("include/core/threaded")); // No Threaded Support for Arduino
+        if (!threadingOn) {
+            deleteDirectory(dir.resolve("core/threaded")); // No Threaded Support for Arduino
+            deleteDirectory(dir.resolve("include/core/threaded")); // No Threaded Support for Arduino
+            deleteDirectory(dir.resolve("core/platform/arduino_mbed")); // No Threaded Support for Arduino
+        } 
 
         List<Path> allPaths = Files.walk(dir)
                     .sorted(Comparator.reverseOrder())
                     .collect(Collectors.toList());
         for (Path path : allPaths) {
             String toCheck = path.toString().toLowerCase();
-            if (toCheck.contains("cmake") || toCheck.contains("semaphore")
-            || (toCheck.contains("core/platform/") && !toCheck.contains("lf_arduino"))) {
+            if (toCheck.contains("cmake")) {
                 Files.delete(path);
             }
         }
@@ -444,7 +446,7 @@ private static String fileNameMatchConverter(String fileName, Path currPath, Map
      */
     public static boolean isCFile(Path path) {
         String fileName = path.getFileName().toString();
-        return fileName.endsWith(".c") || fileName.endsWith(".h");
+        return fileName.endsWith(".c") || fileName.endsWith(".cpp") || fileName.endsWith(".h");
     }
 
     /**

test/C/src/arduino/BlinkMBED.lf

@@ -0,0 +1,22 @@
+/**
+ * This example demonstrates a very simple blink program that will turn on and
+ * off an LED on the Arduino Board with a 50% duty cycle switching every
+ * half-second.
+ */
+target C {
+    platform: {
+        name: "arduino",
+        board: "arduino:mbed:nano33ble"
+    }
+}
+
+main reactor BlinkMBED {
+    timer t1(0, 1 sec)
+    timer t2(500 msec, 1 sec)
+
+    reaction(startup) {= pinMode(LED_BUILTIN, OUTPUT); =}
+
+    reaction(t1) {= digitalWrite(LED_BUILTIN, HIGH); =}
+
+    reaction(t2) {= digitalWrite(LED_BUILTIN, LOW); =}
+}