LFC: Add RIOT (#156)

* WIP

* Add RIOT platform

* Fix makefile generation

* Move some configuration into riot.mk

* Add fallback values

* IT WORKS

* Move more configuration into riot.mk

* Fix old examples

* Fix test

---------

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

Author: LasseRosenow

examples/riot/blinky/Makefile

@@ -1,6 +1,9 @@
 # name of your application
 APPLICATION = lf-test
 
+# This has to be the absolute path to the RIOT base directory:
+RIOTBASE ?= $(CURDIR)/../../../../RIOT
+
 # If no BOARD is found in the environment, use this default:
 BOARD ?= native
 
@@ -14,7 +17,7 @@ QUIET ?= 1
 
 # Enable reactor-uc features
 # CFLAGS += -DNETWORK_CHANNEL_TCP_POSIX
-CFLAGS += -DEVENT_QUEUE_SIZE=32
-CFLAGS += -DREACTION_QUEUE_SIZE=32
+REACTION_QUEUE_SIZE = 32
+EVENT_QUEUE_SIZE = 32
 
 include $(CURDIR)/../../../make/riot/riot.mk

examples/riot/hello/Makefile

@@ -1,6 +1,9 @@
 # name of your application
 APPLICATION = lf-test
 
+# This has to be the absolute path to the RIOT base directory:
+RIOTBASE ?= $(CURDIR)/../../../../RIOT
+
 # If no BOARD is found in the environment, use this default:
 BOARD ?= native
 
@@ -14,7 +17,7 @@ QUIET ?= 1
 
 # Enable reactor-uc features
 # CFLAGS += -DNETWORK_CHANNEL_TCP_POSIX
-CFLAGS += -DEVENT_QUEUE_SIZE=32
-CFLAGS += -DREACTION_QUEUE_SIZE=32
+REACTION_QUEUE_SIZE = 32
+EVENT_QUEUE_SIZE = 32
 
 include $(CURDIR)/../../../make/riot/riot.mk

examples/riot/hello_lf/Makefile

@@ -0,0 +1,27 @@
+# name of your application
+APPLICATION = HelloLF
+
+# This has to be the absolute path to the RIOT base directory:
+# TODO: In the lingo template this should point to ./RIOT because we plan to include RIOT as a submodule there
+RIOTBASE ?= $(CURDIR)/../../../../RIOT
+
+# Path of generated lf c-code
+SRC_GEN_PATH = $(CURDIR)/src-gen/$(APPLICATION)
+
+# TODO: Can we call lfc here directly?
+
+# If no BOARD is found in the environment, use this default:
+BOARD ?= native
+
+# Comment this out to disable code in RIOT that does safety checking
+# which is not needed in a production environment but helps in the
+# development process:
+DEVELHELP ?= 1
+
+# Change this to 0 show compiler invocation lines by default:
+QUIET ?= 1
+
+# Enable reactor-uc features
+# CFLAGS += -DNETWORK_CHANNEL_TCP_POSIX
+
+include $(SRC_GEN_PATH)/reactor-uc/make/riot/riot.mk

examples/riot/hello_lf/main.c

@@ -0,0 +1,5 @@
+#include "lf_main.h"
+
+int main() {
+  lf_start();
+}

examples/riot/hello_lf/src/HelloLF.lf

@@ -0,0 +1,9 @@
+target uC {
+  platform: RIOT
+}
+
+main reactor {
+  reaction(startup) {=
+    printf("Hello from LF my!\n");
+  =}
+}

lfc/core/src/main/java/org/lflang/target/property/type/PlatformType.java

@@ -18,6 +18,7 @@ public enum Platform {
     LINUX("Linux", true),
     MAC("Darwin", true),
     ZEPHYR("Zephyr", true),
+    RIOT("RIOT", true),
     FLEXPRET("FlexPRET", true),
     WINDOWS("Windows", true);
 

lfc/core/src/main/kotlin/org/lflang/generator/uc/UcMakeGenerator.kt

@@ -17,9 +17,9 @@ class UcMakeGenerator(private val main: Reactor, private val targetConfig: Targe
     private val S = '$' // a little trick to escape the dollar sign with $S
     fun generateMake(sources: List<Path>) = with(PrependOperator) {
         """
-            | # Makefile genrated for ${fileConfig.name}
+            | # Makefile generated for ${fileConfig.name}
             |LF_SOURCES = \
-        ${" |    "..sources.joinWithLn { it.toUnixString() + " \\ "}}
+        ${" |    "..sources.joinWithLn { it.toUnixString() + if (it != sources.last()) " \\" else ""}}
             |REACTION_QUEUE_SIZE = ${max(main.getReactionQueueSize(), 1)}
             |EVENT_QUEUE_SIZE = ${max(main.getEventQueueSize(), 1)}
             |

make/riot/riot.mk

@@ -1,7 +1,28 @@
 RIOT_MK_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
 
-# This has to be the absolute path to the RIOT base directory:
-RIOTBASE ?= $(RIOT_MK_DIR)/../../../RIOT
+# Include generated sources and makefiles if SRC_GEN_PATH is defined
+ifdef SRC_GEN_PATH
+include $(SRC_GEN_PATH)/Makefile
+
+# Include generated c files
+SRC += $(patsubst %, $(SRC_GEN_PATH)/%, $(LF_SOURCES)) main.c
+
+# Include generated h files
+CFLAGS += -I$(SRC_GEN_PATH)
+endif
+
+# Check if required environment variables exist
+ifndef RIOTBASE
+$(error RIOTBASE is not defined. Please define it!)
+endif
+
+ifndef EVENT_QUEUE_SIZE
+$(error EVENT_QUEUE_SIZE is not defined. Please define it!)
+endif
+
+ifndef REACTION_QUEUE_SIZE
+$(error REACTION_QUEUE_SIZE is not defined. Please define it!)
+endif
 
 # Comment this out to disable code in RIOT that does safety checking
 # which is not needed in a production environment but helps in the
@@ -14,10 +35,12 @@ QUIET ?= 1
 # Use a peripheral timer for the delay, if available
 FEATURES_OPTIONAL += periph_timer
 
-# External modules
+# Include reactor-uc as an external module
 EXTERNAL_MODULE_DIRS += $(RIOT_MK_DIR)/external_modules
 USEMODULE += reactor-uc
 
-
+# Apply project reactor-uc configuration variables
+CFLAGS += -DEVENT_QUEUE_SIZE=$(EVENT_QUEUE_SIZE)
+CFLAGS += -DREACTION_QUEUE_SIZE=$(REACTION_QUEUE_SIZE)
 
 include $(RIOTBASE)/Makefile.include

test/platform/riot/coap_channel_test/Makefile

@@ -1,6 +1,9 @@
 # name of your application
 APPLICATION = lf-coap-channel-test
 
+# This has to be the absolute path to the RIOT base directory:
+RIOTBASE ?= $(CURDIR)/../../../../../RIOT
+
 # If no BOARD is found in the environment, use this default:
 BOARD ?= native
 
@@ -20,8 +23,8 @@ USEMODULE += ztimer_sec
 # Enable reactor-uc features
 # CFLAGS += -DNETWORK_CHANNEL_TCP_POSIX
 CFLAGS += -DNETWORK_CHANNEL_COAP_RIOT
-CFLAGS += -DEVENT_QUEUE_SIZE=32
-CFLAGS += -DREACTION_QUEUE_SIZE=32
+REACTION_QUEUE_SIZE = 32
+EVENT_QUEUE_SIZE = 32
 
 CFLAGS += -DTHREAD_STACKSIZE_DEFAULT=10000
 CFLAGS += -DTHREAD_STACKSIZE_MAIN=10000