Transient Federates (#251)

* reactor-uc debugging

* Drop handshake responses if handshake is already completed.

* reverting LF_DEBUG prints

* bugs

* Bring back interrupt disabling in UartPolledChannel_poll

* changes

* reverting changes

* cleaning

* semi working version

* transient

* adding new parameters to StartupCoordinator_ctor

* transient stuff

* merging with main

* adding joining_policy attribute

* cleaning up

* refactor

* more cleaning up

* clean up

* stuff

* working version

* fixing test

* lfc shebang

* formatting

* fixing startup in non-federated

* startup coordinator

* revert CmakeGenerator changes

* revert lfc.cmake

* handling joining time announcement

* testing support for annotations

* feedback from edward

* fix lfc

* fixing comments on NeighborInformation struct

* reverting unnecessary changes

* fix example

---------

Co-authored-by: erlingrj <[email protected]>

Author: tanneberger

examples/posix/federated/receiver.c

@@ -69,7 +69,7 @@ LF_FEDERATED_CONNECTION_BUNDLE_CTOR_SIGNATURE(Receiver, Sender) {
 }
 
 LF_DEFINE_STARTUP_COORDINATOR_STRUCT(Federate, 1, 6);
-LF_DEFINE_STARTUP_COORDINATOR_CTOR(Federate, 1, 1, 6);
+LF_DEFINE_STARTUP_COORDINATOR_CTOR(Federate, 1, 1, 6, JOIN_IMMEDIATELY);
 
 LF_DEFINE_CLOCK_SYNC_STRUCT(Federate, 1, 2);
 LF_DEFINE_CLOCK_SYNC_DEFAULTS_CTOR(Federate, 1, 2, true);

examples/posix/federated/sender.c

@@ -80,7 +80,7 @@ LF_FEDERATED_CONNECTION_BUNDLE_CTOR_SIGNATURE(Sender, Receiver) {
 }
 
 LF_DEFINE_STARTUP_COORDINATOR_STRUCT(Federate, 1, 6);
-LF_DEFINE_STARTUP_COORDINATOR_CTOR(Federate, 1, 1, 6);
+LF_DEFINE_STARTUP_COORDINATOR_CTOR(Federate, 1, 1, 6, JOIN_IMMEDIATELY);
 
 LF_DEFINE_CLOCK_SYNC_STRUCT(Federate, 1, 2);
 LF_DEFINE_CLOCK_SYNC_DEFAULTS_CTOR(Federate, 1, 2, true);

examples/riot/coap_federated/receiver/main.c

@@ -69,7 +69,7 @@ LF_FEDERATED_CONNECTION_BUNDLE_CTOR_SIGNATURE(Receiver, Sender) {
 }
 
 LF_DEFINE_STARTUP_COORDINATOR_STRUCT(Federate, 1, 6);
-LF_DEFINE_STARTUP_COORDINATOR_CTOR(Federate, 1, 1, 6);
+LF_DEFINE_STARTUP_COORDINATOR_CTOR(Federate, 1, 1, 6, JOIN_IMMEDIATELY);
 
 LF_DEFINE_CLOCK_SYNC_STRUCT(Federate, 1, 2);
 LF_DEFINE_CLOCK_SYNC_DEFAULTS_CTOR(Federate, 1, 2, false);

examples/riot/coap_federated/sender/main.c

@@ -75,7 +75,7 @@ LF_FEDERATED_CONNECTION_BUNDLE_CTOR_SIGNATURE(Sender, Receiver) {
 }
 
 LF_DEFINE_STARTUP_COORDINATOR_STRUCT(Federate, 1, 6);
-LF_DEFINE_STARTUP_COORDINATOR_CTOR(Federate, 1, 1, 6);
+LF_DEFINE_STARTUP_COORDINATOR_CTOR(Federate, 1, 1, 6, JOIN_IMMEDIATELY);
 
 LF_DEFINE_CLOCK_SYNC_STRUCT(Federate, 1, 2);
 LF_DEFINE_CLOCK_SYNC_DEFAULTS_CTOR(Federate, 1, 1, true);

examples/zephyr/basic_federated/common/receiver.h

@@ -83,7 +83,7 @@ LF_FEDERATED_CONNECTION_BUNDLE_CTOR_SIGNATURE(Receiver, Sender) {
 }
 
 LF_DEFINE_STARTUP_COORDINATOR_STRUCT(Federate, 1, 6);
-LF_DEFINE_STARTUP_COORDINATOR_CTOR(Federate, 1, 1, 6);
+LF_DEFINE_STARTUP_COORDINATOR_CTOR(Federate, 1, 1, 6, JOIN_IMMEDIATELY);
 LF_DEFINE_CLOCK_SYNC_STRUCT(Federate, 1, 2);
 LF_DEFINE_CLOCK_SYNC_DEFAULTS_CTOR(Federate, 1, 2, true);
 

examples/zephyr/basic_federated/federated_sender/src/sender.c

@@ -134,7 +134,7 @@ LF_FEDERATED_CONNECTION_BUNDLE_CTOR_SIGNATURE(Sender, Receiver2) {
 }
 
 LF_DEFINE_STARTUP_COORDINATOR_STRUCT(Federate, 2, 9);
-LF_DEFINE_STARTUP_COORDINATOR_CTOR(Federate, 2, 1, 9);
+LF_DEFINE_STARTUP_COORDINATOR_CTOR(Federate, 2, 1, 9, JOIN_IMMEDIATELY);
 
 LF_DEFINE_CLOCK_SYNC_STRUCT(Federate, 2, 3);
 LF_DEFINE_CLOCK_SYNC_DEFAULTS_CTOR(Federate, 2, 3, true);
@@ -175,4 +175,4 @@ int main() {
   setup_led();
   action_ptr = &main_reactor.sender->act;
   lf_start();
-}
+}

external/proto/message.pb.c

@@ -1,7 +1,7 @@
 /* Automatically generated nanopb constant definitions */
-/* Generated by nanopb-1.0.0-dev */
+/* Generated by nanopb-0.4.9.1 */
 
-#include "message.pb.h"
+#include "./message.pb.h"
 #if PB_PROTO_HEADER_VERSION != 40
 #error Regenerate this file with the current version of nanopb generator.
 #endif
@@ -27,6 +27,9 @@ PB_BIND(StartTimeRequest, StartTimeRequest, AUTO)
 PB_BIND(StartTimeResponse, StartTimeResponse, AUTO)
 
 
+PB_BIND(JoiningTimeAnnouncement, JoiningTimeAnnouncement, AUTO)
+
+
 PB_BIND(StartupCoordination, StartupCoordination, AUTO)
 
 

external/proto/message.pb.h

@@ -1,9 +1,9 @@
 /* Automatically generated nanopb header */
-/* Generated by nanopb-1.0.0-dev */
+/* Generated by nanopb-0.4.9.1 */
 
-#ifndef PB_MESSAGE_PB_H_INCLUDED
-#define PB_MESSAGE_PB_H_INCLUDED
-#include "nanopb/pb.h"
+#ifndef PB_EXTERNAL_PROTO_MESSAGE_PB_H_INCLUDED
+#define PB_EXTERNAL_PROTO_MESSAGE_PB_H_INCLUDED
+#include <nanopb/pb.h>
 
 #if PB_PROTO_HEADER_VERSION != 40
 #error Regenerate this file with the current version of nanopb generator.
@@ -58,9 +58,14 @@ typedef struct _StartTimeRequest {
 
 /* The response to a StartTimeRequest, telling the transient federate the start time of the federation. */
 typedef struct _StartTimeResponse {
-    int64_t time;
+    int64_t elapsed_logical_time;
+    int64_t federation_start_time;
 } StartTimeResponse;
 
+typedef struct _JoiningTimeAnnouncement {
+    int64_t joining_time;
+} JoiningTimeAnnouncement;
+
 /* The union of all messages that is handled by the StartupCoordinator. */
 typedef struct _StartupCoordination {
     pb_size_t which_message;
@@ -70,6 +75,7 @@ typedef struct _StartupCoordination {
         StartTimeProposal start_time_proposal;
         StartTimeResponse start_time_response;
         StartTimeRequest start_time_request;
+        JoiningTimeAnnouncement joining_time_announcement;
     } message;
 } StartupCoordination;
 
@@ -164,14 +170,16 @@ extern "C" {
 
 
 
+
 /* Initializer values for message structs */
 #define Tag_init_default                         {0, 0}
 #define TaggedMessage_init_default               {Tag_init_default, 0, {0, {0}}}
 #define StartupHandshakeRequest_init_default     {0}
 #define StartupHandshakeResponse_init_default    {_StartupCoordinationState_MIN}
 #define StartTimeProposal_init_default           {0, 0}
 #define StartTimeRequest_init_default            {0}
-#define StartTimeResponse_init_default           {0}
+#define StartTimeResponse_init_default           {0, 0}
+#define JoiningTimeAnnouncement_init_default     {0}
 #define StartupCoordination_init_default         {0, {StartupHandshakeRequest_init_default}}
 #define ClockPriorityRequest_init_default        {0}
 #define ClockPriorityBroadcastRequest_init_default {0}
@@ -188,7 +196,8 @@ extern "C" {
 #define StartupHandshakeResponse_init_zero       {_StartupCoordinationState_MIN}
 #define StartTimeProposal_init_zero              {0, 0}
 #define StartTimeRequest_init_zero               {0}
-#define StartTimeResponse_init_zero              {0}
+#define StartTimeResponse_init_zero              {0, 0}
+#define JoiningTimeAnnouncement_init_zero        {0}
 #define StartupCoordination_init_zero            {0, {StartupHandshakeRequest_init_zero}}
 #define ClockPriorityRequest_init_zero           {0}
 #define ClockPriorityBroadcastRequest_init_zero  {0}
@@ -209,12 +218,15 @@ extern "C" {
 #define StartupHandshakeResponse_state_tag       1
 #define StartTimeProposal_time_tag               1
 #define StartTimeProposal_step_tag               2
-#define StartTimeResponse_time_tag               1
+#define StartTimeResponse_elapsed_logical_time_tag 1
+#define StartTimeResponse_federation_start_time_tag 2
+#define JoiningTimeAnnouncement_joining_time_tag 1
 #define StartupCoordination_startup_handshake_request_tag 1
 #define StartupCoordination_startup_handshake_response_tag 2
 #define StartupCoordination_start_time_proposal_tag 3
 #define StartupCoordination_start_time_response_tag 4
 #define StartupCoordination_start_time_request_tag 5
+#define StartupCoordination_joining_time_announcement_tag 6
 #define ClockPriority_priority_tag               1
 #define RequestSync_sequence_number_tag          1
 #define SyncResponse_sequence_number_tag         1
@@ -270,23 +282,31 @@ X(a, STATIC,   REQUIRED, UINT32,   step,              2)
 #define StartTimeRequest_DEFAULT NULL
 
 #define StartTimeResponse_FIELDLIST(X, a) \
-X(a, STATIC,   REQUIRED, INT64,    time,              1)
+X(a, STATIC,   REQUIRED, INT64,    elapsed_logical_time,   1) \
+X(a, STATIC,   REQUIRED, INT64,    federation_start_time,   2)
 #define StartTimeResponse_CALLBACK NULL
 #define StartTimeResponse_DEFAULT NULL
 
+#define JoiningTimeAnnouncement_FIELDLIST(X, a) \
+X(a, STATIC,   REQUIRED, INT64,    joining_time,      1)
+#define JoiningTimeAnnouncement_CALLBACK NULL
+#define JoiningTimeAnnouncement_DEFAULT NULL
+
 #define StartupCoordination_FIELDLIST(X, a) \
 X(a, STATIC,   ONEOF,    MESSAGE,  (message,startup_handshake_request,message.startup_handshake_request),   1) \
 X(a, STATIC,   ONEOF,    MESSAGE,  (message,startup_handshake_response,message.startup_handshake_response),   2) \
 X(a, STATIC,   ONEOF,    MESSAGE,  (message,start_time_proposal,message.start_time_proposal),   3) \
 X(a, STATIC,   ONEOF,    MESSAGE,  (message,start_time_response,message.start_time_response),   4) \
-X(a, STATIC,   ONEOF,    MESSAGE,  (message,start_time_request,message.start_time_request),   5)
+X(a, STATIC,   ONEOF,    MESSAGE,  (message,start_time_request,message.start_time_request),   5) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (message,joining_time_announcement,message.joining_time_announcement),   6)
 #define StartupCoordination_CALLBACK NULL
 #define StartupCoordination_DEFAULT NULL
 #define StartupCoordination_message_startup_handshake_request_MSGTYPE StartupHandshakeRequest
 #define StartupCoordination_message_startup_handshake_response_MSGTYPE StartupHandshakeResponse
 #define StartupCoordination_message_start_time_proposal_MSGTYPE StartTimeProposal
 #define StartupCoordination_message_start_time_response_MSGTYPE StartTimeResponse
 #define StartupCoordination_message_start_time_request_MSGTYPE StartTimeRequest
+#define StartupCoordination_message_joining_time_announcement_MSGTYPE JoiningTimeAnnouncement
 
 #define ClockPriorityRequest_FIELDLIST(X, a) \
 
@@ -360,6 +380,7 @@ extern const pb_msgdesc_t StartupHandshakeResponse_msg;
 extern const pb_msgdesc_t StartTimeProposal_msg;
 extern const pb_msgdesc_t StartTimeRequest_msg;
 extern const pb_msgdesc_t StartTimeResponse_msg;
+extern const pb_msgdesc_t JoiningTimeAnnouncement_msg;
 extern const pb_msgdesc_t StartupCoordination_msg;
 extern const pb_msgdesc_t ClockPriorityRequest_msg;
 extern const pb_msgdesc_t ClockPriorityBroadcastRequest_msg;
@@ -379,6 +400,7 @@ extern const pb_msgdesc_t FederateMessage_msg;
 #define StartTimeProposal_fields &StartTimeProposal_msg
 #define StartTimeRequest_fields &StartTimeRequest_msg
 #define StartTimeResponse_fields &StartTimeResponse_msg
+#define JoiningTimeAnnouncement_fields &JoiningTimeAnnouncement_msg
 #define StartupCoordination_fields &StartupCoordination_msg
 #define ClockPriorityRequest_fields &ClockPriorityRequest_msg
 #define ClockPriorityBroadcastRequest_fields &ClockPriorityBroadcastRequest_msg
@@ -397,13 +419,14 @@ extern const pb_msgdesc_t FederateMessage_msg;
 #define ClockSyncMessage_size                    24
 #define DelayRequest_size                        11
 #define DelayResponse_size                       22
+#define EXTERNAL_PROTO_MESSAGE_PB_H_MAX_SIZE     FederateMessage_size
 #define FederateMessage_size                     868
-#define MESSAGE_PB_H_MAX_SIZE                    FederateMessage_size
+#define JoiningTimeAnnouncement_size             11
 #define RequestSync_size                         11
 #define StartTimeProposal_size                   17
 #define StartTimeRequest_size                    0
-#define StartTimeResponse_size                   11
-#define StartupCoordination_size                 19
+#define StartTimeResponse_size                   22
+#define StartupCoordination_size                 24
 #define StartupHandshakeRequest_size             0
 #define StartupHandshakeResponse_size            2
 #define SyncResponse_size                        22

external/proto/message.proto

@@ -41,7 +41,14 @@ message StartTimeProposal {
 message StartTimeRequest{ }
 
 // The response to a StartTimeRequest, telling the transient federate the start time of the federation.
-message StartTimeResponse{ required int64 time = 1; }
+message StartTimeResponse {
+  required int64 elapsed_logical_time = 1;
+  required int64 federation_start_time = 2;
+}
+
+message JoiningTimeAnnouncement {
+  required int64 joining_time = 1;
+}
 
 // The union of all messages that is handled by the StartupCoordinator.
 message StartupCoordination {
@@ -51,6 +58,7 @@ message StartupCoordination {
     StartTimeProposal start_time_proposal = 3;
     StartTimeResponse start_time_response = 4;
     StartTimeRequest start_time_request = 5;
+    JoiningTimeAnnouncement joining_time_announcement = 6;
   }
 }
 
@@ -110,4 +118,4 @@ message FederateMessage {
     StartupCoordination startup_coordination = 3;
     ClockSyncMessage clock_sync_msg = 4;
   }
-}
+}

include/reactor-uc/environment.h

@@ -150,4 +150,7 @@ struct Environment {
 void Environment_ctor(Environment *self, Reactor *main, Scheduler *scheduler, bool fast_mode);
 void Environment_free(Environment *self);
 
+void Environment_schedule_startups(const Environment *self, tag_t start_tag);
+void Environment_schedule_timers(Environment *self, const Reactor *reactor, tag_t start_tag);
+
 #endif