Support for Arduino platforms

.github/workflows/c-tests.yml

@@ -46,6 +46,17 @@ jobs:
       - name: Install RTI
         uses: ./.github/actions/install-rti
         if: ${{ runner.os == 'macOS' || runner.os == 'Linux' }}
+      - name: Install Arduino Platform for MacOS
+        run: |
+          brew install --cask arduino
+        if: ${{ runner.os == 'macOS' }}
+      - name: Install Arduino Platform 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 
+        if: ${{ runner.os == 'Linux' }}
       - name: Build RTI docker image
         uses: ./.github/actions/build-rti-docker
         if: ${{ runner.os == 'Linux' }}

.github/workflows/ci.yml

@@ -54,7 +54,7 @@ jobs:
 
   # Run the C integration tests.
   c-tests:
-    uses: lf-lang/lingua-franca/.github/workflows/c-tests.yml@master
+    uses: lf-lang/lingua-franca/.github/workflows/c-tests.yml@arduino-support
     needs: cancel
 
   # Run the CCpp integration tests.

.gitmodules

@@ -10,6 +10,9 @@
 [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/Configurators.java

@@ -83,7 +83,8 @@ public static boolean compatibleWithThreadingOff(TestCategory category) {
             || category == TestCategory.SERIALIZATION
             || category == TestCategory.FEDERATED
             || category == TestCategory.DOCKER_FEDERATED
-            || category == TestCategory.DOCKER;
+            || category == TestCategory.DOCKER
+            || category == TestCategory.ARDUINO; //TODO: Should have a better solution for having Arduino Tests not execute.
 
         // SERIALIZATION and TARGET tests are excluded on Windows.
         excluded |= TestBase.isWindows() && (category == TestCategory.TARGET);

org.lflang.tests/src/org/lflang/tests/RuntimeTest.java

@@ -102,7 +102,6 @@ public void runAsFederated() {
                     true);
     }
 
-
     @Test
     public void runConcurrentTests() {
         runTestsForTargets(Message.DESC_CONCURRENT,
@@ -157,7 +156,6 @@ public void runDockerFederatedTests() {
                            false);
     }
 
-
     @Test
     public void runWithThreadingOff() {
         Assumptions.assumeTrue(supportsSingleThreadedExecution(), Message.NO_SINGLE_THREADED_SUPPORT);

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

@@ -15,10 +15,7 @@
 import java.io.BufferedWriter;
 import java.util.Arrays;
 import java.util.Collections;
-import java.util.HashMap;
-import java.util.Map;
 import java.util.List;
-import java.util.ArrayList;
 import java.util.Objects;
 import java.util.Properties;
 import java.util.Set;
@@ -100,8 +97,6 @@ public abstract class TestBase {
     /** The targets for which to run the tests. */
     private final List<Target> targets;
 
-
-
     /**
      * An enumeration of test levels.
      * @author Marten Lohstroh <[email protected]>
@@ -134,6 +129,7 @@ public static class Message {
         public static final String DESC_DOCKER_FEDERATED = "Run docker federated tests.";
         public static final String DESC_CONCURRENT = "Run concurrent tests.";
         public static final String DESC_TARGET_SPECIFIC = "Run target-specific tests";
+        public static final String DESC_ARDUINO = "Running Arduino tests.";
         public static final String DESC_AS_CCPP = "Running C tests as CCpp.";
         public static final String DESC_SINGLE_THREADED = "Run non-concurrent and non-federated tests with threading = off.";
         public static final String DESC_SCHED_SWAPPING = "Running with non-default runtime scheduler ";

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

@@ -150,6 +150,7 @@ public enum TestCategory {
         DOCKER(true),
         DOCKER_FEDERATED(true, "docker" + File.separator + "federated"),
         SERIALIZATION(false),
+        ARDUINO(false),
         TARGET(false);
 
         /**

org.lflang.tests/src/org/lflang/tests/runtime/CCppTest.java

@@ -43,6 +43,7 @@ private static boolean isExcludedFromCCpp(TestCategory category) {
         boolean excluded = category == TestCategory.SERIALIZATION;
         excluded |= isWindows() && category == TestCategory.DOCKER_FEDERATED;
         excluded |= isMac() && (category == TestCategory.DOCKER_FEDERATED || category == TestCategory.DOCKER);
+        excluded |= (category == TestCategory.ARDUINO);
         return !excluded;
     }
 }

org.lflang.tests/src/org/lflang/tests/runtime/CTest.java

@@ -24,12 +24,16 @@
 ***************/
 package org.lflang.tests.runtime;
 
+import java.util.List;
+
 import org.junit.jupiter.api.Assumptions;
 import org.junit.jupiter.api.Disabled;
 import org.junit.jupiter.api.Test;
 
 import org.lflang.Target;
+import org.lflang.tests.Configurators;
 import org.lflang.tests.RuntimeTest;
+import org.lflang.tests.TestRegistry.TestCategory;
 
 /**
  * Collection of tests for the C target.
@@ -81,6 +85,15 @@ public void runMultiportTests() {
         super.runMultiportTests();
     }
 
+    @Test
+    public void runArduinoTests() {
+        Assumptions.assumeFalse(isWindows(), Message.NO_WINDOWS_SUPPORT);
+        super.runTestsFor(List.of(Target.C),
+                          Message.DESC_ARDUINO,
+                          TestCategory.ARDUINO::equals, Configurators::noChanges, TestLevel.BUILD,
+                          false);
+    }
+
     @Test
     @Override
     public void runWithThreadingOff() {

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

@@ -53,6 +53,11 @@ public class TargetConfig {
      */
     public Set<TargetProperty> setByUser = new HashSet<>();
 
+    /**
+     * Specify Baud Rate for Embedded Devices, including Arduino.
+     */
+    public int baudRate = 9600;
+
     /**
      * A list of custom build commands that replace the default build process of
      * directly invoking a designated compiler. A common usage of this target
@@ -260,7 +265,6 @@ public class TargetConfig {
      */
     public boolean exportToYaml = false;
 
-
     /** Rust-specific configuration. */
     public final RustTargetConfig rust = new RustTargetConfig();
 

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

@@ -56,7 +56,16 @@
  * @author{Marten Lohstroh <[email protected]>}
  */
 public enum TargetProperty {
-
+
+    /**
+     * Directive to specify the baud-rate used by the runtime for embedded systems (Arduino).
+     */
+    BAUD_RATE("baud-rate", PrimitiveType.NON_NEGATIVE_INTEGER,
+            List.of(Target.C, Target.CCPP),
+            (config, value, err) -> {
+                config.baudRate = ASTUtils.toInteger(value);
+            }),
+
     /**
      * Directive to let the generator use the custom build command.
      */
@@ -1322,6 +1331,7 @@ public String toString() {
      */
     public enum Platform {
         AUTO,
+        ARDUINO("Arduino"),
         LINUX("Linux"),
         MAC("Darwin"),
         WINDOWS("Windows");

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

@@ -25,9 +25,11 @@
 
 package org.lflang.generator.c;
 
+import java.io.File;
 import java.io.IOException;
 import java.nio.file.Files;
 import java.nio.file.Path;
+import java.nio.file.Paths;
 import java.util.ArrayList;
 import java.util.List;
 
@@ -40,6 +42,8 @@
 import org.lflang.util.FileUtil;
 import org.lflang.util.LFCommand;
 
+import org.lflang.TargetProperty.Platform;
+
 
 /**
  * Responsible for creating and executing the necessary CMake command to compile code that is generated
@@ -146,7 +150,6 @@ public boolean runCCompiler(
             LFCommand build = buildCmakeCommand(file, noBinary);
 
             makeReturnCode = build.run(context.getCancelIndicator());
-
             if (makeReturnCode != 0 &&
                     context.getMode() == LFGeneratorContext.Mode.STANDALONE &&
                     !outputContainsKnownCMakeErrors(build.getErrors().toString())) {
@@ -161,8 +164,7 @@ public boolean runCCompiler(
                 generator.reportCommandErrors(build.getErrors().toString());
             }
 
-
-            if (makeReturnCode == 0 && build.getErrors().toString().length() == 0) {
+            if (makeReturnCode == 0 && (build.getErrors().toString().length() == 0)) {
                 System.out.println("SUCCESS: Compiling generated code for "+ fileConfig.name +" finished with no errors.");
             }
 
@@ -197,6 +199,13 @@ public LFCommand compileCmakeCommand(
             FileUtil.toUnixString(fileConfig.getSrcGenPath())
         ));
 
+        if(targetConfig.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\"");
         }

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

@@ -92,8 +92,8 @@ CodeBuilder generateCMakeCode(
 
         cMakeCode.pr("cmake_minimum_required(VERSION 3.13)");
         cMakeCode.pr("project("+executableName+" LANGUAGES C)");
-        cMakeCode.newLine();
 
+        cMakeCode.newLine();
         cMakeCode.pr("# Require C11");
         cMakeCode.pr("set(CMAKE_C_STANDARD 11)");
         cMakeCode.pr("set(CMAKE_C_STANDARD_REQUIRED ON)");
@@ -242,6 +242,11 @@ CodeBuilder generateCMakeCode(
         cMakeCode.pr(")");
         cMakeCode.newLine();
 
+        if(this.targetConfig.platform == Platform.ARDUINO) {
+            cMakeCode.pr("target_link_arduino_libraries ( ${LF_MAIN_TARGET} PRIVATE core)");
+            cMakeCode.pr("target_enable_arduino_upload(${LF_MAIN_TARGET})");
+        }
+
         // Add the include file
         for (String includeFile : targetConfig.cmakeIncludesWithoutPath) {
             cMakeCode.pr("include(\""+includeFile+"\")");

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

@@ -39,6 +39,12 @@ public static List<String> getCTargetSrc() {
         );
     }
 
+    public static List<String> getArduinoTargetHeaders() {
+        return List.of(
+            "Arduino.h"
+        );
+    }
+
     public static List<String> getCTargetHeader() {
         return List.of(
             "include/ctarget/ctarget.h"
@@ -95,6 +101,8 @@ private static List<String> getPlatformFiles() {
             "platform/lf_macos_support.h",
             "platform/lf_windows_support.c",
             "platform/lf_windows_support.h",
+            "platform/lf_arduino_support.c",
+            "platform/lf_arduino_support.h",
             "platform/lf_linux_support.c",
             "platform/lf_linux_support.h"
         );

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

@@ -41,6 +41,7 @@ STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
 import java.io.File;
 import java.io.IOException;
 import java.nio.file.Files;
+import java.nio.file.Paths;
 import java.util.LinkedHashSet;
 import java.util.LinkedList;
 import java.util.List;
@@ -553,6 +554,12 @@ public void doGenerate(Resource resource, LFGeneratorContext context) {
                     // for federated programs.
                     copyUserFiles(this.targetConfig, this.fileConfig);
                 }
+
+                // If we are running an Arduino Target, need to copy over the BoardOptions file.
+                if(targetConfig.platform == Platform.ARDUINO) {
+                    FileUtil.copyFile(FileUtil.globFilesEndsWith(fileConfig.srcPath, "BoardOptions.cmake").get(0), Paths.get(fileConfig.getSrcGenPath().toString(),File.separator, "BoardOptions.cmake"));
+                }
+
                 // Copy the core lib
                 FileUtil.copyFilesFromClassPath(
                     "/lib/c/reactor-c/core",
@@ -1086,7 +1093,9 @@ private void pickCompilePlatform() {
         if (targetConfig.platform != Platform.AUTO) {
             osName = targetConfig.platform.toString();
         }
-        if (osName.contains("mac") || osName.contains("darwin")) {
+        if (osName.contains("arduino")) {
+            return;
+        } else if (osName.contains("mac") || osName.contains("darwin")) {
             if (mainDef != null && !targetConfig.useCmake) {
                 targetConfig.compileAdditionalSources.add(
                      "core" + File.separator + "platform" + File.separator + "lf_macos_support.c"
@@ -2244,6 +2253,14 @@ protected void setUpGeneralParameters() {
             // So that each separate compile knows about modal reactors, do this:
             targetConfig.compileDefinitions.put("MODAL_REACTORS", "");
         }
+        if(targetConfig.threading && targetConfig.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.threading) {
             pickScheduler();
         }

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

@@ -5,6 +5,7 @@
 import org.lflang.TargetConfig;
 import org.lflang.generator.CodeBuilder;
 import org.lflang.util.StringUtil;
+import org.lflang.TargetProperty.Platform;
 
 public class CMainGenerator {
     private TargetConfig targetConfig;
@@ -36,6 +37,21 @@ public String generateCode() {
      * Generate the `main` function.
      */
     private String generateMainFunction() {
+        if (targetConfig.platform == Platform.ARDUINO) {
+            /**
+                FIXME: Add configurations for two scenarios: 
+                - Logging
+                - Baud Rate
+            */
+            return String.join("\n",
+            "// Arduino setup() and loop() functions",
+            "void setup() {",
+                "Serial.begin(" + targetConfig.baudRate + ");", //TODO: Enable Serial by default, have option to disable. Have option to specify baud rate (9600 by default)",
+                "lf_reactor_c_main(0, NULL);",
+            "}",
+            "void loop() {}"
+            );
+        }
         return String.join("\n",
             "int main(int argc, char* argv[]) {",
             "    return lf_reactor_c_main(argc, argv);",