Add preliminary support for ESP IDF and FreeRTOS

.gitignore

@@ -11,3 +11,4 @@ cmake-build-release
 doc/html
 doc/latex
 doc/markdown/platform
+sdkconfig

CMakeLists.txt

@@ -66,6 +66,15 @@ elseif (PLATFORM STREQUAL "PICO")
 
 elseif (PLATFORM STREQUAL "PATMOS")
   add_library(reactor-uc STATIC ${SOURCES})
+elseif( PLATFORM STREQUAL "FREERTOS")
+  add_library(reactor-uc STATIC ${SOURCES})
+  # Include FreeRTOSConfig directory 
+  target_include_directories(reactor-uc PUBLIC ${FREERTOS_CONFIG_PATH})
+
+  target_link_libraries(reactor-uc PUBLIC FreeRTOS-Kernel FreeRTOS-Kernel-Heap1)
+elseif (PLATFORM STREQUAL "ESP_IDF")
+  add_library(reactor-uc STATIC ${SOURCES})
+  target_link_libraries(reactor-uc PUBLIC idf::freertos idf::spi_flash idf::esp_timer)
 else ()
   message(FATAL_ERROR "No valid platform specified")
 endif ()

examples/README.md

@@ -0,0 +1,86 @@
+# Reactor-UC Examples
+
+This directory contains example applications for the Reactor-UC runtime across various platforms. These examples demonstrate the core functionality of the framework and can serve as a starting point for exploring Reactor-UC.
+
+## Directory Structure
+
+```
+examples/
+├── common/          # Shared header files used across examples
+├── esp-idf/         # Espressif ESP-IDF examples
+├── freertos/        # FreeRTOS examples
+├── posix/           # POSIX-compliant systems (Linux, macOS)
+├── pico/            # Raspberry Pi Pico examples
+├── zephyr/          # Zephyr RTOS examples
+├── riot/            # RIOT OS examples
+├── flexpret/        # FlexPRET platform examples
+└── fed-template/    # Federated application templates
+```
+
+## Building All Examples
+
+Each platform directory contains a `buildAll.sh` script to build all examples for that platform:
+
+```sh
+cd examples/<platform>
+./buildAll.sh
+```
+
+To build all examples across all platforms (requires all platform dependencies installed):
+
+```sh
+cd examples
+./runAll.sh
+```
+
+## WSL (Windows Subsystem for Linux) Considerations
+
+If you're developing on Windows using WSL, there are important considerations when working with embedded devices.
+
+### Serial Port Access
+
+WSL2 doesn't natively support USB device passthrough. To access serial ports from your embedded devices, you can follow the [Microsoft WSL USB guide](https://learn.microsoft.com/en-us/windows/wsl/connect-usb).
+
+### Configuring Runtime Duration for Serial Monitoring
+
+When using WSL with external serial ports, it's convenient to configure your application to run indefinitely. Otherwise, the program may terminate before you can connect your serial monitor.
+
+Edit the timeout in the `LF_ENTRY_POINT` macro in the `examples/common/timer_source.h` file:
+
+```c
+// Run for 1 second (default)
+LF_ENTRY_POINT(TimerSource, 32, 32, SEC(1), false, false);
+
+// Run indefinitely (recommended for WSL with external serial monitors)
+LF_ENTRY_POINT(TimerSource, 32, 32, FOREVER, false, false);
+
+// Run for other durations
+LF_ENTRY_POINT(TimerSource, 32, 32, MINS(5), false, false);  // 5 minutes
+LF_ENTRY_POINT(TimerSource, 32, 32, HOUR(1), false, false);  // 1 hour
+```
+
+This ensures your device continues outputting serial data, giving you enough time to connect your serial monitor on the Windows side.
+
+## Troubleshooting
+
+### Build Failures
+
+If you encounter build issues:
+
+1. Clean the build directory:
+   ```sh
+   rm -rf build && mkdir build
+   ```
+
+2. Verify all prerequisites are installed for your platform
+
+3. Check that platform-specific environment variables are set correctly
+
+## Contributing
+
+When adding new examples:
+
+1. Place shared code in `common/`
+2. Follow the existing directory structure for platform-specific examples
+3. Add a `buildAll.sh` script for batch building
+4. Test on the target platform before submitting a PR

examples/common/timer_source.h

@@ -1,25 +1,45 @@
 #include "reactor-uc/reactor-uc.h"
 #include "reactor-uc/schedulers/dynamic/scheduler.h"
 
-LF_DEFINE_TIMER_STRUCT(TimerSource, t, 1, 0);
-LF_DEFINE_TIMER_CTOR(TimerSource, t, 1, 0);
+LF_DEFINE_REACTION_STRUCT(TimerSource, s, 0);
 LF_DEFINE_REACTION_STRUCT(TimerSource, r, 0);
-LF_DEFINE_REACTION_CTOR(TimerSource, r, 0, NULL, NULL);
+
+LF_DEFINE_TIMER_STRUCT(TimerSource, t, 1, 0);
+LF_DEFINE_STARTUP_STRUCT(TimerSource, 1, 0);
 
 typedef struct {
   Reactor super;
+
   LF_TIMER_INSTANCE(TimerSource, t);
   LF_REACTION_INSTANCE(TimerSource, r);
-  LF_REACTOR_BOOKKEEPING_INSTANCES(1,1,0);
+
+  LF_REACTION_INSTANCE(TimerSource, s);
+  LF_STARTUP_INSTANCE(TimerSource);
+
+  LF_REACTOR_BOOKKEEPING_INSTANCES(2,2,0);
 } TimerSource;
 
+LF_DEFINE_REACTION_CTOR(TimerSource, s, 0, NULL, NULL);
+LF_DEFINE_REACTION_CTOR(TimerSource, r, 1, NULL, NULL);
+
+LF_DEFINE_STARTUP_CTOR(TimerSource);
+LF_DEFINE_TIMER_CTOR(TimerSource, t, 1, 0);
 
 LF_REACTOR_CTOR_SIGNATURE(TimerSource) {
   LF_REACTOR_CTOR_PREAMBLE();
   LF_REACTOR_CTOR(TimerSource);
-  LF_INITIALIZE_REACTION(TimerSource, r, NEVER);
+
   LF_INITIALIZE_TIMER(TimerSource, t, MSEC(0), MSEC(500));
+  LF_INITIALIZE_STARTUP(TimerSource);
+
+  LF_INITIALIZE_REACTION(TimerSource, s, NEVER);
+  LF_STARTUP_REGISTER_EFFECT(self->s);
+
+  LF_INITIALIZE_REACTION(TimerSource, r, NEVER);
   LF_TIMER_REGISTER_EFFECT(self->t, self->r);
+
 }
 
+// Replace SEC(1) with FOREVER to run indefinitely. 
+// You can also use MINS(...) or HOURS(...) to specify other durations.
 LF_ENTRY_POINT(TimerSource,32,32, SEC(1), false, false);

examples/esp-idf/blink/CMakeLists.txt

@@ -0,0 +1,38 @@
+cmake_minimum_required(VERSION 3.20.0)
+set(PLATFORM "ESP_IDF" CACHE STRING "Platform to target")
+set(BUILD_EXAMPLES OFF CAHCHE BOOL)
+
+set(IDF_COMPONENTS "freertos" "esptool_py" "driver" "led_strip")
+
+if(DEFINED ENV{IDF_PATH})
+else()
+    message(FATAL_ERROR "IDF_PATH environment variable not set")
+endif()
+
+# Include for ESP-IDF build system functions
+include($ENV{IDF_PATH}/tools/cmake/idf.cmake)
+# Set led_strip component path
+set(EXTRA_COMPONENT_DIRS $ENV{IDF_PATH}/../idf-extra-components/led_strip)
+idf_build_component($ENV{IDF_PATH}/../idf-extra-components/led_strip)
+
+project(blink)
+
+# Create idf::{target} and idf::freertos static libraries
+idf_build_process(${IDF_TARGET} 
+                COMPONENTS ${IDF_COMPONENTS} 
+                SDKCONFIG ${CMAKE_CURRENT_LIST_DIR}/sdkconfig
+                BUILD_DIR ${CMAKE_BINARY_DIR})
+
+add_subdirectory(../../../ reactor-uc)
+
+# Suppress unused parameter warnings for reactor-uc and main executable
+# This is needed because ESP-IDF headers (e.g., spinlock.h) have unused parameters
+target_compile_options(reactor-uc PRIVATE -Wno-unused-parameter)
+
+set(elf_file ${CMAKE_PROJECT_NAME}.elf)
+add_executable(${elf_file} main.c)
+target_link_libraries(${elf_file} PRIVATE reactor-uc idf::led_strip idf::driver)
+
+idf_build_executable(${elf_file})
+
+

examples/esp-idf/blink/main.c

@@ -0,0 +1,106 @@
+#include <stdio.h>
+#include <inttypes.h>
+#include "sdkconfig.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_chip_info.h"
+#include "esp_flash.h"
+#include "esp_system.h"
+#include "reactor-uc/reactor-uc.h"
+#include "sys/time.h"
+#include "esp_timer.h"
+#include "../../common/timer_source.h"
+#include "led_strip.h"
+#include "driver/gpio.h"
+
+#define BLINK_GPIO 8
+#define CONFIG_BLINK_LED_STRIP 1
+#define CONFIG_BLINK_LED_STRIP_BACKEND_SPI 1
+static uint8_t s_led_state = 0;
+
+#ifdef CONFIG_BLINK_LED_STRIP
+
+static led_strip_handle_t led_strip;
+
+static void blink_led(void)
+{
+  /* If the addressable LED is enabled */
+  if (s_led_state) {
+    /* Set the LED pixel using RGB from 0 (0%) to 255 (100%) for each color */
+    led_strip_set_pixel(led_strip, 0, 16, 16, 16);
+    /* Refresh the strip to send data */
+    led_strip_refresh(led_strip);
+  } else {
+    /* Set all LED off to clear all pixels */
+    led_strip_clear(led_strip);
+  }
+}
+
+static void configure_led(void)
+{
+  printf("Example configured to blink addressable LED!\n");
+  /* LED strip initialization with the GPIO and pixels number*/
+  led_strip_config_t strip_config = {
+    .strip_gpio_num = BLINK_GPIO,
+    .max_leds = 1, // at least one LED on board
+  };
+#if CONFIG_BLINK_LED_STRIP_BACKEND_RMT
+  led_strip_rmt_config_t rmt_config = {
+    .resolution_hz = 10 * 1000 * 1000, // 10MHz
+    .flags.with_dma = false,
+  };
+  ESP_ERROR_CHECK(led_strip_new_rmt_device(&strip_config, &rmt_config, &led_strip));
+#elif CONFIG_BLINK_LED_STRIP_BACKEND_SPI
+  led_strip_spi_config_t spi_config = {
+    .spi_bus = SPI2_HOST,
+    .flags.with_dma = true,
+  };
+  ESP_ERROR_CHECK(led_strip_new_spi_device(&strip_config, &spi_config, &led_strip));
+#else
+#error "unsupported LED strip backend"
+#endif
+  /* Set all LED off to clear all pixels */
+  led_strip_clear(led_strip);
+}
+
+#elif CONFIG_BLINK_LED_GPIO
+
+static void blink_led(void)
+{
+  /* Set the GPIO level according to the state (LOW or HIGH)*/
+  gpio_set_level(BLINK_GPIO, s_led_state);
+}
+
+static void configure_led(void)
+{
+  ESP_LOGI(TAG, "Example configured to blink GPIO LED!");
+  gpio_reset_pin(BLINK_GPIO);
+  /* Set the GPIO as a push/pull output */
+  gpio_set_direction(BLINK_GPIO, GPIO_MODE_OUTPUT);
+}
+
+#else
+#error "unsupported LED type"
+#endif
+
+LF_DEFINE_REACTION_BODY(TimerSource, r) {
+  LF_SCOPE_SELF(TimerSource);
+  LF_SCOPE_ENV();
+  printf("Turning the LED %s! @ lt=%lld, pt=%lld\n", s_led_state == true ? "ON" : "OFF", env->get_elapsed_logical_time(env), env->get_physical_time(env)); 
+  blink_led();
+  /* Toggle the LED state */
+  s_led_state = !s_led_state;
+}
+
+LF_DEFINE_REACTION_BODY(TimerSource, s) {
+  LF_SCOPE_SELF(TimerSource);
+  LF_SCOPE_ENV();
+  LF_SCOPE_STARTUP(TimerSource);
+  // Configure the LED on startup
+  configure_led();
+}
+
+void app_main(void)
+{
+  lf_start();
+}

examples/esp-idf/buildAll.sh

@@ -0,0 +1,18 @@
+#!/bin/bash
+set -e
+
+# Set the target platform
+IDF_TARGET="esp32c6"
+# List of folders
+FOLDERS=("hello" "blink")
+
+# Iterate over each folder and execute the command
+for dir in "${FOLDERS[@]}"; do
+    echo "Entering $dir"
+		pushd $dir
+
+    rm -rf build && mkdir build && cd build
+    cmake .. -DCMAKE_TOOLCHAIN_FILE=$IDF_PATH/tools/cmake/toolchain-${IDF_TARGET}.cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPLATFORM=ESP_IDF -DIDF_TARGET=${IDF_TARGET} -GNinja
+    cmake --build . -j
+		popd
+done

examples/esp-idf/hello/CMakeLists.txt

@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.20.0)
+set(PLATFORM "ESP_IDF" CACHE STRING "Platform to target")
+set(BUILD_EXAMPLES OFF CAHCHE BOOL)
+
+set(IDF_COMPONENTS "freertos" "esptool_py")
+
+if(DEFINED ENV{IDF_PATH})
+else()
+    message(FATAL_ERROR "IDF_PATH environment variable not set")
+endif()
+
+# Include for ESP-IDF build system functions
+include($ENV{IDF_PATH}/tools/cmake/idf.cmake)
+
+project(hello)
+
+# Create idf::{target} and idf::freertos static libraries
+idf_build_process(${IDF_TARGET} 
+                COMPONENTS ${IDF_COMPONENTS} 
+                SDKCONFIG ${CMAKE_CURRENT_LIST_DIR}/sdkconfig
+                BUILD_DIR ${CMAKE_BINARY_DIR})
+
+add_subdirectory(../../../ reactor-uc)
+
+# Suppress unused parameter warnings for reactor-uc and main executable
+# This is needed because ESP-IDF headers (e.g., spinlock.h) have unused parameters
+target_compile_options(reactor-uc PRIVATE -Wno-unused-parameter)
+
+set(elf_file ${CMAKE_PROJECT_NAME}.elf)
+add_executable(${elf_file} main.c)
+target_link_libraries(${elf_file} PRIVATE reactor-uc)
+
+idf_build_executable(${elf_file})