LFC federated RIOT fixes (#192)

* Have LFC generate a main function that can optionally be included in the build

* CI

* CI

* CI

* Setup LFC in RIOT container

* Switch to riot master

* Fix

* Install LFC deps in zephyr CI also

* WIP

* WIP

* WIP: SimpleFederated.lf now compiles.
But invoking CMake correctly to generate two binaries and a shell script in `bin` is not working

* Generate a launch script for federated native

* Make federated launch script executable

* WIP

* Rework the handling of connections

* Various fixes to get all standalone tests to pass again

* Formatting

* More WIP

* Formatting

* More WIP

* Add @interface attr

* More WIP

* More WIP

* More WIP

* All tests are passing

* Refactor

* Formatting

* Refactorings

* More docs

* CI

* Fixes

* TcpIp fixes

* Revert more tcp stuff

* Avoid flooding log when a federate closes a socket

* Remove merge mistake

* Formatting

* Fix posix federated

* More minor fixes

* Format

* Minimum event queue of 2

* Remove some dead code

* Also close send_failed socketpair on reset

* Generate return 0 in main function

* Only generate launch script when we target native

* Set timeout of 1minute on our LF tests

* Add some info prints

* Add was_ever_connected API to network_channel

* Fix some warnings in unit-tests

* Avoid some unnecessary LF_INFO calls

* Do not timestamp logs for FlexPRET

* Format

* Make RIOT compile

* Fix makefile and missing comma

* Remove build.sh in riot Lf example

* Use global _lf_environment

* Fix missing _lf_environment in test

* Dont need environment arg to TcpIp and CoapUdp ctors

* Coap updates

* Remove stale ref

* Fix APPLICATION name

* Fix make clean

* Add all riot examples to the CI again

* Fix hello_lf example make clean command not working

* Rename FEDERATION -> FEDERATE

* Make build scripts more realistic

---------

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

examples/riot/blinky/build.sh

@@ -0,0 +1,2 @@
+#!/bin/bash
+make all

examples/riot/buildAll.sh

@@ -2,22 +2,12 @@
 
 set -e
 
-# List of folders
-FOLDERS=("blinky" "hello" "hello_lf")
-
-# List of boards
-BOARDS=("native" "nucleo-f429zi")
-
-# Iterate over each board
-for board in "${BOARDS[@]}"; do
-	# Command to execute in each folder
-	COMMAND="make BOARD=$board all"
-
-	# Iterate over each folder and execute the command
-	for dir in "${FOLDERS[@]}"; do
-		echo "Entering $dir"
-			pushd $dir
-			$COMMAND
-			popd
-	done
+# Iterate over each folder and execute the command
+for dir in ./*; do
+    if [ -d $dir ]; then
+        echo "Entering $dir"
+            pushd $dir
+            ./build.sh
+            popd
+    fi
 done

examples/riot/coap_federated/build.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+REMOTE_ADDRESS=fe80::8cc3:33ff:febb:1b3 make all -C ./sender
+REMOTE_ADDRESS=fe80::44e5:1bff:fee4:dac8 make all -C ./receiver

examples/riot/coap_federated_lf/Makefile

@@ -0,0 +1,35 @@
+REACTOR_UC_PATH ?= $(CURDIR)/../../../
+
+# The name of the LF application inside "./src" to build/run/flash etc.
+LF_MAIN ?= CoapFederatedLF
+FEDERATE ?= r1
+
+# Execute the LF compiler if build target is "all"
+ifeq ($(firstword $(MAKECMDGOALS)),all)
+  _ :=  $(shell $(REACTOR_UC_PATH)/lfc/bin/lfc-dev src/$(LF_MAIN).lf)
+endif
+
+# ---- RIOT specific configuration ----
+# 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
+
+# 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_COAP_RIOT
+
+# Configure CoAP retransmission timeout
+CFLAGS += -DCONFIG_GCOAP_NO_RETRANS_BACKOFF=1
+CFLAGS += -DCONFIG_COAP_ACK_TIMEOUT_MS=400
+CFLAGS += -DCONFIG_COAP_MAX_RETRANSMIT=4
+
+include $(REACTOR_UC_PATH)/make/riot/riot-lfc.mk

examples/riot/coap_federated_lf/build.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+FEDERATE=r1 PORT=tap0 make all
+FEDERATE=r2 PORT=tap1 make all

examples/riot/coap_federated_lf/src/CoapFederatedLF.lf

@@ -0,0 +1,41 @@
+target uC {
+    platform: RIOT,
+    timeout: 1sec
+  }
+
+  reactor Src(id: int = 0) {
+    output out: int
+    reaction(startup) -> out{=
+      printf("Hello from Src!\n");
+      lf_set(out, self->id);
+    =}
+  }
+
+  reactor Dst {
+    input in: int
+    state check: bool = false
+    reaction(startup) {=
+      printf("Hello from Dst!\n");
+    =}
+    reaction(in) {=
+      printf("Received %d from Src\n", in->value);
+      validate(in->value == 42);
+      self->check = true;
+      env->request_shutdown(env);
+    =}
+
+    reaction(shutdown) {=
+      validate(self->check);
+    =}
+  }
+
+  federated reactor {
+    @interface_coap(name="if1", address="fe80::44e5:1bff:fee4:dac8")
+    r1 = new Src(id=42)
+
+    @interface_coap(name="if1", address="fe80::8cc3:33ff:febb:1b3")
+    r2 = new Dst()
+
+    @link(left="if1", right="if1")
+    r1.out -> r2.in 
+  }

examples/riot/hello/build.sh

@@ -0,0 +1,2 @@
+#!/bin/bash
+make all

examples/riot/hello_lf/Makefile

@@ -8,7 +8,7 @@ LF_MAIN ?= HelloLF
 # CFLAGS += -DNETWORK_CHANNEL_COAP_RIOT
 
 # Execute the LF compiler if build target is "all"
-ifeq ($(MAKECMDGOALS),all)
+ifeq ($(firstword $(MAKECMDGOALS)),all)
   _ :=  $(shell $(REACTOR_UC_PATH)/lfc/bin/lfc-dev src/$(LF_MAIN).lf)
 endif
 

examples/riot/hello_lf/build.sh

@@ -0,0 +1,2 @@
+#!/bin/bash
+make all

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

@@ -4,6 +4,8 @@ import org.lflang.AttributeUtils.getInterfaceAttributes
 import org.lflang.lf.Attribute
 import java.math.BigInteger
 import java.util.concurrent.atomic.AtomicInteger
+import java.net.InetAddress
+import java.net.UnknownHostException
 
 
 /** A class representing an IPAddress, either v4 or v6. */
@@ -22,10 +24,12 @@ sealed class IPAddress {
         }
 
         companion object {
-            fun isValidIPv4(address: String): Boolean {
-                val regex = Regex("^([0-9]{1,3}\\.){3}[0-9]{1,3}$")
-                return regex.matches(address) &&
-                        address.split(".").all { it.toIntOrNull() in 0..255 }
+            fun isValidIPv4(ip: String): Boolean {
+                return try {
+                    InetAddress.getByName(ip) is java.net.Inet4Address
+                } catch (e: UnknownHostException) {
+                    false
+                }
             }
         }
     }
@@ -36,9 +40,12 @@ sealed class IPAddress {
         }
 
         companion object {
-            fun isValidIPv6(address: String): Boolean {
-                val regex = Regex("(([0-9a-fA-F]{1,4}:){7}[0-9a-fA-F]{1,4})|(::)")
-                return regex.matches(address)
+            fun isValidIPv6(ip: String): Boolean {
+                return try {
+                    InetAddress.getByName(ip) is java.net.Inet6Address
+                } catch (e: UnknownHostException) {
+                    false
+                }
             }
         }
     }

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

@@ -206,7 +206,7 @@ abstract class UcNetworkChannel(
                 COAP_UDP_IP -> {
                     val srcEp = (srcIf as UcCoapUdpIpInterface).createEndpoint()
                     val destEp = (destIf as UcCoapUdpIpInterface).createEndpoint()
-                    channel = UcCoapUdpIpChannel(srcEp, destEp, serverLhs)
+                    channel = UcCoapUdpIpChannel(srcEp, destEp)
                 }
 
                 CUSTOM -> {
@@ -242,17 +242,24 @@ class UcTcpIpChannel(
 class UcCoapUdpIpChannel(
     src: UcCoapUdpIpEndpoint,
     dest: UcCoapUdpIpEndpoint,
-    serverLhs: Boolean = true,
-) : UcNetworkChannel(COAP_UDP_IP, src, dest, serverLhs) {
-    private val srcAddr = src.ipAddress.address
-    private val destAddr = dest.ipAddress.address
+    // TODO: In CoAP every node is a server and a client => default server to false for now
+) : UcNetworkChannel(COAP_UDP_IP, src, dest, false) {
+    private val srcAddr = src
+    private val destAddr = dest
+
+    private fun getIpProtocolFamily(ip: IPAddress): String {
+        return when (ip) {
+            is IPAddress.IPv4 -> "AF_INET"
+            is IPAddress.IPv6 -> "AF_INET6"
+            else -> throw IllegalArgumentException("Unknown IP address type")
+        }
+    }
 
     override fun generateChannelCtorSrc() =
-        "CoapUdpIpChannel_ctor(&self->channel, \"${if (serverLhs) srcAddr else destAddr}\", AF_INET, ${serverLhs});"
+        "CoapUdpIpChannel_ctor(&self->channel, \"${destAddr.ipAddress.address}\", ${getIpProtocolFamily(destAddr.ipAddress)});"
 
     override fun generateChannelCtorDest() =
-        "CoapUdpIpChannel_ctor(&self->channel, \"${if (serverLhs) srcAddr else destAddr}\" AF_INET, ${!serverLhs});"
-
+        "CoapUdpIpChannel_ctor(&self->channel, \"${srcAddr.ipAddress.address}\", ${getIpProtocolFamily(srcAddr.ipAddress)});"
 
     override val codeType: String
         get() = "CoapUdpIpChannel"

make/riot/riot-lfc.mk

@@ -5,17 +5,32 @@ ifndef LF_MAIN
   $(error LF_MAIN is not defined. Please define it!)
 endif
 
-# Name of your RIOT application
-APPLICATION ?= $(LF_MAIN)
+ifndef RIOTBASE
+  $(error RIOTBASE is not defined. Please define it!)
+endif
+
+# Check if this is a federated program
+ifdef FEDERATE
+  # Name of your RIOT application
+  APPLICATION ?= $(LF_MAIN)-$(FEDERATE)
 
-# Path of generated lf c-code
-LF_SRC_GEN_PATH ?= $(CURDIR)/src-gen/$(LF_MAIN)
+  # Path of generated lf c-code
+  LF_SRC_GEN_PATH ?= $(CURDIR)/src-gen/$(LF_MAIN)/$(FEDERATE)
+else
+  # Name of your RIOT application
+  APPLICATION ?= $(LF_MAIN)
+
+  # Path of generated lf c-code
+  LF_SRC_GEN_PATH ?= $(CURDIR)/src-gen/$(LF_MAIN)
+endif
 
 # Only include generated files if build target is not "clean"
 # In this case the src-gen folder was deleted
-ifeq ($(MAKECMDGOALS),clean)
+ifeq ($(firstword $(MAKECMDGOALS)),clean)
   # Delete src-gen folder if build target is "clean"
   _ :=  $(shell rm -rf $(LF_SRC_GEN_PATH))
+
+  include $(RIOTBASE)/Makefile.include
 else
   # Include the Makefile of the generated target application
   include $(LF_SRC_GEN_PATH)/Makefile
@@ -28,6 +43,7 @@ else
 
   # Include generated h files
   CFLAGS += -I$(LF_SRC_GEN_PATH)
+
+  include $(RIOT_MK_DIR)/riot.mk
 endif
 
-include $(RIOT_MK_DIR)/riot.mk