Merge branch 'main' into min-sleep-busy-wait

Author: byeonggiljun

.github/workflows/api-docs.yml

@@ -6,17 +6,18 @@ on:
 
 jobs:
   build:
-
     runs-on: macos-latest
-
     steps:
     - name: Requirements
-      run: brew install doxygen
-        && brew install sphinx-doc
-        && pip3 install sphinx-rtd-theme
-        && pip3 install breathe
-        && pip3 install sphinx-sitemap
-        && pip3 install exhale
+      run: |
+        brew install doxygen
+        brew install sphinx-doc
+        python3 -m venv .venv
+        source .venv/bin/activate
+        pip3 install sphinx-rtd-theme
+        pip3 install breathe
+        pip3 install sphinx-sitemap
+        pip3 install exhale
     - name: Checkout repo
       uses: actions/checkout@1.0.0
     - name: Build docs

.github/workflows/build-rti.yml

@@ -4,16 +4,32 @@ on:
   workflow_call:
 
 jobs:
-  run:
+  native-build:
     strategy:
       matrix:
-        platform: [ubuntu-latest, macos-latest, windows-latest]
+        platform: [ubuntu-24.04, macos-latest, windows-latest]
     runs-on: ${{ matrix.platform }}
 
     steps:
       - name: Check out reactor-c repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
       - name: Build the RTI with AUTH=OFF
         run: .github/scripts/build-rti.sh -DAUTH=OFF
       - name: Build the RTI with AUTH=ON
         run: .github/scripts/build-rti.sh -DAUTH=ON
+
+  docker-build:
+    runs-on: ubuntu-24.04
+    steps:
+      - name: Check out reactor-c repository
+        uses: actions/checkout@v4
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      - name: Build Docker image
+        uses: docker/build-push-action@v6
+        with:
+          file: ./core/federated/RTI/rti.Dockerfile
+          context: .
+          platforms: linux/amd64, linux/arm64, linux/arm/v7, linux/riscv64
+          push: false
+          tags: lflang/rti:latest

.github/workflows/build-trace-tools.yml

@@ -7,7 +7,7 @@ jobs:
   run:
     strategy:
       matrix:
-        platform: [ubuntu-latest, macos-latest, windows-latest]
+        platform: [ubuntu-24.04, macos-latest, windows-latest]
     runs-on: ${{ matrix.platform }}
 
     steps:

.github/workflows/ci.yml

@@ -11,7 +11,7 @@ on:
 
 concurrency:
   group: ci-${{ github.ref }}-${{ github.event_path }}
-  cancel-in-progress: ${{ github.ref != 'refs/heads/master' }}
+  cancel-in-progress: ${{ github.ref != 'refs/heads/main' }}
 
 jobs:
   check-labels:
@@ -55,6 +55,14 @@ jobs:
       compiler-ref: ${{ needs.fetch-lf.outputs.ref }}
     if: ${{ !github.event.pull_request.draft ||contains( github.event.pull_request.labels.*.name, 'zephyr') }}
 
+  lf-default-flexpret:
+    needs: [fetch-lf]
+    uses: lf-lang/lingua-franca/.github/workflows/c-flexpret-tests.yml@master
+    with:
+      runtime-ref: ${{ github.ref }}
+      compiler-ref: ${{ needs.fetch-lf.outputs.ref }}
+    if: ${{ !github.event.pull_request.draft ||contains( github.event.pull_request.labels.*.name, 'flexpret') }}
+
   lf-default:
     needs: [fetch-lf]
     uses: lf-lang/lingua-franca/.github/workflows/c-tests.yml@master
@@ -89,4 +97,4 @@ jobs:
       compiler-ref: ${{ needs.fetch-lf.outputs.ref }}
       scheduler: ADAPTIVE
       all-platforms: ${{ !github.event.pull_request.draft || contains( github.event.pull_request.labels.*.name, 'mac') || contains( github.event.pull_request.labels.*.name, 'windows') }}
-    if: ${{ !github.event.pull_request.draft || contains( github.event.pull_request.labels.*.name, 'schedulers') }}
+    if: ${{ !github.event.pull_request.draft || contains( github.event.pull_request.labels.*.name, 'schedulers') }}

.github/workflows/clang-format.yml

@@ -5,12 +5,15 @@ on: [pull_request]
 
 jobs:
   clang-format:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v2
-      - name: Install clang-tidy
+      - name: Install clang-tidy and clang-format
         run: |
           sudo apt-get update
           sudo apt-get install -y clang-tidy
+          sudo apt-get install -y pipx
+          pipx install clang-format
+          clang-format --version
       - name: Analyze
         run: make format-check

.github/workflows/unit-tests.yml

@@ -11,7 +11,7 @@ jobs:
   run:
     strategy:
       matrix:
-        platform: [ubuntu-latest, macos-latest, windows-latest]
+        platform: [ubuntu-24.04, macos-latest]
     runs-on: ${{ matrix.platform }}
 
     steps:
@@ -24,4 +24,13 @@ jobs:
           cd build
           cmake .. ${{ inputs.cmake-args }}
           cmake --build .
-          make test
+          sudo make test
+      - name: Run RTI unit tests
+        run: |
+          cd core/federated/RTI
+          mkdir build
+          cd build
+          cmake ..
+          cmake --build .
+          ctest
+          

.gitignore

@@ -16,3 +16,6 @@ util/tracing/trace_to_csv.o
 util/tracing/trace_to_influxdb
 util/tracing/trace_to_influxdb.o
 util/tracing/trace_util.o
+
+# Generated trace lib
+trace/**/*.a

CMakeLists.txt

@@ -22,10 +22,6 @@ if(DEFINED LF_SINGLE_THREADED)
     add_compile_definitions(LF_SINGLE_THREADED=1)
 endif()
 
-# Warnings as errors
-add_compile_options(-Werror)
-
-set(Test test)
 set(Lib lib)
 set(CoreLibPath core)
 set(CoreLib reactor-c)
@@ -42,7 +38,6 @@ include_directories(${CMAKE_SOURCE_DIR}/include/core/utils)
 include_directories(${CMAKE_SOURCE_DIR}/include/api)
 
 enable_testing()
-add_subdirectory(${Test})
 add_subdirectory(${Lib})
 add_subdirectory(${CoreLibPath})
 

README.md

@@ -41,6 +41,11 @@ To run tests for the multithreaded runtime, provide a nonzero number of workers
 when invoking `cmake`. For example:
 
 - `cmake .. -DNUMBER_OF_WORKERS=2`
+- `cmake --build .`
+- `sudo make test`
+
+Note that one of the tests in the multithreaded test suite requires sudo because
+it changes the scheduling policy and priorities.
 
 To define/undefine other preprocessor definitions such as `LOG_LEVEL`, pass them as
 arguments to `cmake` in the same way as with `NUMBER_OF_WORKERS`, using the same

core/CMakeLists.txt

@@ -7,7 +7,7 @@ include(${LF_ROOT}/core/lf_utils.cmake)
 list(APPEND GENERAL_SOURCES tag.c clock.c port.c mixed_radix.c reactor_common.c lf_token.c environment.c)
 
 # Add tracing support if requested
-if (DEFINED LF_TRACE)
+if(DEFINED LF_TRACE)
     message(STATUS "Including sources specific to tracing.")
     list(APPEND GENERAL_SOURCES tracepoint.c)
 endif()
@@ -16,7 +16,7 @@ endif()
 list(APPEND REACTORC_SOURCES ${GENERAL_SOURCES})
 
 # Add sources for either threaded or single-threaded runtime
-if (DEFINED FEDERATED)
+if(DEFINED FEDERATED)
     include(federated/CMakeLists.txt)
     include(federated/network/CMakeLists.txt)
 endif()
@@ -35,14 +35,14 @@ endif()
 
 # Add sources for the local RTI if we are using scheduling enclaves
 if(DEFINED LF_ENCLAVES)
-include(federated/RTI/local_rti.cmake)
+    include(federated/RTI/local_rti.cmake)
 endif()
 
 # Include sources from subdirectories
 include(utils/CMakeLists.txt)
 
-if (DEFINED MODAL_REACTORS)
-include(modal_models/CMakeLists.txt)
+if(DEFINED MODAL_REACTORS)
+    include(modal_models/CMakeLists.txt)
 endif()
 
 # Print sources used for compilation
@@ -53,15 +53,28 @@ add_library(reactor-c)
 target_sources(reactor-c PRIVATE ${REACTORC_SOURCES})
 lf_enable_compiler_warnings(reactor-c)
 
-if (DEFINED LF_TRACE)
+if(DEFINED LF_TRACE)
     include(${LF_ROOT}/trace/api/CMakeLists.txt)
-    if(NOT LF_TRACE_PLUGIN)
-        set(LF_TRACE_PLUGIN lf::trace-impl)
+    target_link_libraries(reactor-c PUBLIC lf::trace-api)
+    # If the user specified an external trace plugin. Find it and link with it
+    if (LF_TRACE_PLUGIN)
+        message(STATUS "Linking trace plugin library ${LF_TRACE_PLUGIN}")
+        find_library(TRACE_LIB NAMES ${LF_TRACE_PLUGIN} HINTS "${LF_ROOT}")
+        if (NOT TRACE_LIB)
+            message(FATAL_ERROR "The trace plugin library ${LF_TRACE_PLUGIN} not found")
+        endif()
+        # We also link with libdl because it is needed for some platforms.
+        # TODO: Figure out why this is the case and how to avoid it.
+        target_link_libraries(reactor-c PRIVATE ${TRACE_LIB} dl)
+    else()
+    # If not, use the default implementation
+        message(STATUS "Linking with default trace implementation")
         include(${LF_ROOT}/trace/impl/CMakeLists.txt)
+        target_link_libraries(reactor-c PRIVATE lf::trace-impl)
     endif()
-    message(STATUS "linking trace plugin library ${LF_TRACE_PLUGIN}")
-    target_link_libraries(reactor-c PUBLIC lf::trace-api)
-    target_link_libraries(reactor-c PRIVATE "${LF_TRACE_PLUGIN}")
+else()
+    include(${LF_ROOT}/trace/api/types/CMakeLists.txt)
+    target_link_libraries(reactor-c PUBLIC lf::trace-api-types)
 endif()
 
 include(${LF_ROOT}/version/api/CMakeLists.txt)
@@ -93,43 +106,46 @@ target_include_directories(reactor-c PUBLIC ../include/core/threaded)
 target_include_directories(reactor-c PUBLIC ../include/core/utils)
 target_include_directories(reactor-c PUBLIC federated/RTI/)
 
-if (APPLE)
-    SET(CMAKE_C_ARCHIVE_CREATE   "<CMAKE_AR> Scr <TARGET> <LINK_FLAGS> <OBJECTS>")
+if(APPLE)
+    SET(CMAKE_C_ARCHIVE_CREATE "<CMAKE_AR> Scr <TARGET> <LINK_FLAGS> <OBJECTS>")
     SET(CMAKE_CXX_ARCHIVE_CREATE "<CMAKE_AR> Scr <TARGET> <LINK_FLAGS> <OBJECTS>")
-    SET(CMAKE_C_ARCHIVE_FINISH   "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
+    SET(CMAKE_C_ARCHIVE_FINISH "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
     SET(CMAKE_CXX_ARCHIVE_FINISH "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
 endif()
 
 # Link with OpenSSL library
 if(DEFINED FEDERATED_AUTHENTICATED)
-    if (APPLE)
+    if(APPLE)
         set(OPENSSL_ROOT_DIR /usr/local/opt/openssl)
     endif()
+
     find_package(OpenSSL REQUIRED)
     target_link_libraries(reactor-c PUBLIC OpenSSL::SSL)
 endif()
 
-if(DEFINED _LF_CLOCK_SYNC_ON)
+if(DEFINED FEDERATED)
   find_library(MATH_LIBRARY m)
   if(MATH_LIBRARY)
     target_link_libraries(reactor-c PUBLIC ${MATH_LIBRARY})
   endif()
 endif()
 
 # Unless specified otherwise initial event queue and reaction queue to size 10
-if (NOT DEFINED INITIAL_EVENT_QUEUE_SIZE)
+if(NOT DEFINED INITIAL_EVENT_QUEUE_SIZE)
     set(INITIAL_EVENT_QUEUE_SIZE 10)
 endif()
-if (NOT DEFINED INITIAL_REACT_QUEUE_SIZE)
+
+if(NOT DEFINED INITIAL_REACT_QUEUE_SIZE)
     set(INITIAL_REACT_QUEUE_SIZE 10)
 endif()
 
 target_compile_definitions(reactor-c PRIVATE INITIAL_EVENT_QUEUE_SIZE=${INITIAL_EVENT_QUEUE_SIZE})
 target_compile_definitions(reactor-c PRIVATE INITIAL_REACT_QUEUE_SIZE=${INITIAL_REACT_QUEUE_SIZE})
 target_compile_definitions(reactor-c PUBLIC PLATFORM_${CMAKE_SYSTEM_NAME})
 
-# Macro for translating a command-line argument into compile definition for
-# reactor-c lib
+# If variable X is defined in cMake (set using SET()) or passed in as a command-line
+# argument using -DX=<value>, then make it a compiler flag for reactor-c so that X
+# is also defined in the C code for reactor-c.
 macro(define X)
     if(DEFINED ${X})
         message(STATUS ${X}=${${X}})
@@ -142,9 +158,9 @@ message(STATUS "Applying preprocessor definitions...")
 define(_LF_CLOCK_SYNC_ATTENUATION)
 define(_LF_CLOCK_SYNC_COLLECT_STATS)
 define(_LF_CLOCK_SYNC_EXCHANGES_PER_INTERVAL)
-define(_LF_CLOCK_SYNC_INITIAL)
-define(_LF_CLOCK_SYNC_ON)
+define(LF_CLOCK_SYNC) # 1 for OFF, 2 for INIT and 3 for ON.
 define(_LF_CLOCK_SYNC_PERIOD_NS)
+define(_LF_FEDERATE_NAMES_COMMA_SEPARATED)
 define(ADVANCE_MESSAGE_INTERVAL)
 define(EXECUTABLE_PREAMBLE)
 define(FEDERATED_CENTRALIZED)