Support for Arduino platforms

.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 = [email protected]:lf-lang/reactor-rs.git

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

@@ -111,6 +111,14 @@ public void runConcurrentTests() {
 
     }
 
+    @Test
+    public void runArduinoTests() {
+        runTestsFor(List.of(Target.C),
+                    Message.DESC_ARDUINO, 
+                    TestCategory.ARDUINO::equals, Configurators::noChanges, TestLevel.BUILD,
+                    false);
+    }
+
     @Test
     public void runFederatedTests() {
         Assumptions.assumeTrue(supportsFederatedExecution(), Message.NO_FEDERATION_SUPPORT);

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

@@ -10,6 +10,7 @@
 import java.lang.reflect.Constructor;
 import java.lang.reflect.InvocationTargetException;
 import java.nio.file.Path;
+import java.nio.file.Paths;
 import java.io.File;
 import java.io.FileWriter;
 import java.io.BufferedWriter;
@@ -134,6 +135,7 @@ 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 ";
@@ -463,7 +465,10 @@ private GeneratorResult generateCode(LFTest test) {
     private void execute(LFTest test, GeneratorResult generatorResult) {
         final List<ProcessBuilder> pbList = getExecCommand(test, generatorResult);
         if (pbList.isEmpty()) {
-            return;
+            var srcBasePath = test.fileConfig.srcPkgPath.resolve("src");
+            if (!srcBasePath.relativize(test.fileConfig.srcPath).toString().equalsIgnoreCase(TestCategory.ARDUINO.getPath())) {
+                return;
+            } 
         }
         try {
             for (ProcessBuilder pb : pbList) {

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/CTest.java

@@ -81,6 +81,12 @@ public void runMultiportTests() {
         super.runMultiportTests();
     }
 
+    @Test
+    @Override
+    public void runArduinoTests() {
+        super.runArduinoTests();
+    }
+
     @Test
     @Override
     public void runWithThreadingOff() {

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

@@ -260,7 +260,6 @@ public class TargetConfig {
      */
     public boolean exportToYaml = false;
 
-
     /** Rust-specific configuration. */
     public final RustTargetConfig rust = new RustTargetConfig();
 

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

@@ -1322,6 +1322,7 @@ 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
@@ -108,6 +112,11 @@ public boolean runCCompiler(
         // Make sure the build directory exists
         Files.createDirectories(buildPath);
 
+        // 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(buildPath.toString(), File.separator, "BoardOptions.cmake"));
+        }
+
         LFCommand compile = compileCmakeCommand(file, noBinary);
         if (compile == null) {
             return false;
@@ -146,7 +155,6 @@ 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 +169,7 @@ public boolean runCCompiler(
                 generator.reportCommandErrors(build.getErrors().toString());
             }
 
-
-            if (makeReturnCode == 0 && build.getErrors().toString().length() == 0) {
+            if (makeReturnCode == 0 && (build.getErrors().toString().length() == 0 || targetConfig.platform == Platform.ARDUINO)) {
                 System.out.println("SUCCESS: Compiling generated code for "+ fileConfig.name +" finished with no errors.");
             }
 
@@ -197,6 +204,11 @@ 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(1));
+        }
+
         if (GeneratorUtils.isHostWindows()) {
             arguments.add("-DCMAKE_SYSTEM_VERSION=\"10.0\"");
         }

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

@@ -91,19 +91,24 @@ CodeBuilder generateCMakeCode(
         cMakeCode.newLine();
 
         cMakeCode.pr("cmake_minimum_required(VERSION 3.13)");
-        cMakeCode.pr("project("+executableName+" LANGUAGES C)");
-        cMakeCode.newLine();
-
-        cMakeCode.pr("# Require C11");
-        cMakeCode.pr("set(CMAKE_C_STANDARD 11)");
-        cMakeCode.pr("set(CMAKE_C_STANDARD_REQUIRED ON)");
+        if(this.targetConfig.platform == Platform.ARDUINO){
+            cMakeCode.pr("project("+executableName+" CXX)");
+        }else{
+            cMakeCode.pr("project("+executableName+" LANGUAGES C)");
+        }
         cMakeCode.newLine();
 
-        cMakeCode.pr("# Require C++17");
-        cMakeCode.pr("set(CMAKE_CXX_STANDARD 17)");
-        cMakeCode.pr("set(CMAKE_CXX_STANDARD_REQUIRED ON)");
-        cMakeCode.newLine();
+        if(this.targetConfig.platform != Platform.ARDUINO) {
+            cMakeCode.pr("# Require C11");
+            cMakeCode.pr("set(CMAKE_C_STANDARD 11)");
+            cMakeCode.pr("set(CMAKE_C_STANDARD_REQUIRED ON)");
+            cMakeCode.newLine();
 
+            cMakeCode.pr("# Require C++17");
+            cMakeCode.pr("set(CMAKE_CXX_STANDARD 17)");
+            cMakeCode.pr("set(CMAKE_CXX_STANDARD_REQUIRED ON)");
+            cMakeCode.newLine();
+        }
         // Set the build type
         cMakeCode.pr("set(DEFAULT_BUILD_TYPE " + targetConfig.cmakeBuildType + ")\n");
         cMakeCode.pr("if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)\n");
@@ -129,7 +134,9 @@ CodeBuilder generateCMakeCode(
 
         cMakeCode.pr("include_directories(${CoreLib})");
         cMakeCode.pr("include_directories(${CoreLib}/platform)");
-        cMakeCode.pr("include_directories(${CoreLib}/federated)");
+        if(this.targetConfig.platform != Platform.ARDUINO) {
+            cMakeCode.pr("include_directories(${CoreLib}/federated)");
+        }
         cMakeCode.newLine();
 
         cMakeCode.pr("set(LF_MAIN_TARGET "+executableName+")");
@@ -242,6 +249,11 @@ 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/CCompiler.java

@@ -26,6 +26,7 @@
 package org.lflang.generator.c;
 
 import java.io.IOException;
+import java.lang.annotation.Target;
 import java.nio.file.Path;
 import java.nio.file.Paths;
 import java.util.ArrayList;
@@ -38,6 +39,7 @@
 import org.lflang.generator.LFGeneratorContext;
 import org.lflang.util.FileUtil;
 import org.lflang.util.LFCommand;
+import org.lflang.TargetProperty.Platform;;
 
 /**
  * Responsible for creating and executing the necessary native command to compile code that is generated
@@ -160,7 +162,7 @@ public LFCommand compileCCommand(
             boolean noBinary
     ) {
 
-        String cFilename = getTargetFileName(fileToCompile, CppMode);
+        String cFilename = getTargetFileName(fileToCompile, CppMode, targetConfig);
 
         Path relativeSrcPath = fileConfig.getOutPath().relativize(
             fileConfig.getSrcGenPath().resolve(Paths.get(cFilename)));
@@ -233,9 +235,8 @@ 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) {
-        if (CppMode) {
-            // If the C++ mode is enabled, use a .cpp extension
+    static String getTargetFileName(String fileName, boolean CppMode, TargetConfig targetConfig) {
+        if(targetConfig.platform == Platform.ARDUINO || CppMode) {
             return fileName + ".cpp";
         }
         return fileName + ".c";

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"
@@ -93,6 +99,8 @@ private static List<String> getPlatformFiles() {
             "platform/lf_macos_support.h",
             "platform/lf_windows_support.c",
             "platform/lf_windows_support.h",
+            "platform/lf_arduino_support.cpp",
+            "platform/lf_arduino_support.h",
             "platform/lf_linux_support.c",
             "platform/lf_linux_support.h"
         );

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

@@ -545,7 +545,7 @@ 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, this.targetConfig);
             var targetFile = fileConfig.getSrcGenPath() + File.separator + cFilename;
             try {
                 if (isFederated) {
@@ -1086,7 +1086,14 @@ private void pickCompilePlatform() {
         if (targetConfig.platform != Platform.AUTO) {
             osName = targetConfig.platform.toString();
         }
-        if (osName.contains("mac") || osName.contains("darwin")) {
+
+        if (osName.contains("arduino")) {
+            if (mainDef != null) {
+                targetConfig.compileAdditionalSources.add(
+                     "core" + File.separator + "platform" + File.separator + "lf_arduino_support.cpp"
+                );
+            }
+        } 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"

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(9600); //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);",

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

@@ -6,6 +6,7 @@
 
 import org.lflang.TargetConfig;
 import org.lflang.TargetConfig.ClockSyncOptions;
+import org.lflang.TargetProperty.Platform;
 import org.lflang.TargetProperty.ClockSyncMode;
 import org.lflang.TargetProperty.CoordinationType;
 import org.lflang.generator.CodeBuilder;
@@ -36,6 +37,11 @@ public static String generateIncludeStatements(
     ) {
         var tracing = targetConfig.tracing;
         CodeBuilder code = new CodeBuilder();
+        if(targetConfig.platform == Platform.ARDUINO) {
+            CCoreFilesUtils.getArduinoTargetHeaders().forEach(
+                it -> code.pr("#include " + StringUtil.addDoubleQuotes(it))
+            );
+        }
         CCoreFilesUtils.getCTargetHeader().forEach(
             it -> code.pr("#include " + StringUtil.addDoubleQuotes(it))
         );
@@ -70,6 +76,12 @@ public static String generateDefineDirectives(
         CodeBuilder code = new CodeBuilder();
         code.pr("#define LOG_LEVEL " + logLevel);
         code.pr("#define TARGET_FILES_DIRECTORY " + addDoubleQuotes(srcGenPath.toString()));
+
+        //TODO: Define Global Support for 32-bit and Microsecond Granularity on Reactor-C
+        if(targetConfig.platform == Platform.ARDUINO) {
+            code.pr("#define GRAN_MICRO");
+            code.pr("#define BIT_32");
+        }
         if (isFederated) {
             code.pr("#define NUMBER_OF_FEDERATES " + numFederates);
             code.pr(generateFederatedDefineDirective(coordinationType));
@@ -90,6 +102,7 @@ public static String generateDefineDirectives(
                 targetConfig.clockSyncOptions
             ));
         }
+        code.newLine();
         return code.toString();
     }