Patmos (#141)

* first stab

* patmos fixes

* Patmos: fix function names

* clean up

* remove patmos examples, because they are in the template

* clean up

* clang19 formatting

* Some small fixes

---------

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

.github/workflows/ci.yml

@@ -29,7 +29,9 @@ jobs:
       # - name: Setup upterm session
       #   uses: lhotari/action-upterm@v1
       - name: Format check
-        run: make format-check
+        run: |
+          clang-format --version
+          make format-check
 
       - name: Run unit tests
         run: make unit-test
@@ -51,4 +53,4 @@ jobs:
           lcov-file: build/coverage.info
           delete-old-comments: true
           github-token: ${{ secrets.GITHUB_TOKEN }}
-        if:  ${{ github.event_name == 'pull_request' }}
+        if:  ${{ github.event_name == 'pull_request' }}

CMakeLists.txt

@@ -63,6 +63,9 @@ elseif (PLATFORM STREQUAL "ZEPHYR")
 elseif (PLATFORM STREQUAL "PICO")
   add_library(reactor-uc STATIC ${SOURCES})
   target_link_libraries(reactor-uc PUBLIC pico_stdlib pico_sync)
+
+elseif (PLATFORM STREQUAL "PATMOS")
+  add_library(reactor-uc STATIC ${SOURCES})
 else ()
   message(FATAL_ERROR "No valid platform specified")
 endif ()

include/reactor-uc/platform/patmos/patmos.h

@@ -0,0 +1,13 @@
+#ifndef REACTOR_UC_PLATFORM_PATMOS_H
+#define REACTOR_UC_PLATFORM_PATMOS_H
+
+#include "reactor-uc/platform.h"
+#include "stdbool.h"
+
+typedef struct {
+  Platform super;
+  bool async_event;
+} PlatformPatmos;
+
+void PlatformPatmos_ctor(Platform *self);
+#endif

src/federated.c

@@ -314,4 +314,4 @@ void FederatedConnectionBundle_validate(FederatedConnectionBundle *bundle) {
     validate(bundle->serialize_hooks[i]);
     validate(bundle->outputs[i]->super.super.parent);
   }
-}
+}

src/network_channel.c

@@ -28,6 +28,10 @@
 #error "NETWORK_POSIC_TCP not supported on FlexPRET"
 #endif
 
+#elif defined(PLATFORM_PATMOS)
+#ifdef NETWORK_CHANNEL_TCP_POSIX
+#error "NETWORK_POSIC_TCP not supported on FlexPRET"
+#endif
 #else
 #error "Platform not supported"
 #endif

src/platform.c

@@ -1,3 +1,4 @@
+
 #if defined(PLATFORM_POSIX)
 #include "platform/posix/posix.c"
 #elif defined(PLATFORM_RIOT)
@@ -8,6 +9,8 @@
 #include "platform/flexpret/flexpret.c"
 #elif defined(PLATFORM_PICO)
 #include "platform/pico/pico.c"
+#elif defined(PLATFORM_PATMOS)
+#include "platform/patmos/patmos.c"
 #else
 #error "NO PLATFORM SPECIFIED"
 #endif

src/platform/patmos/patmos.c

@@ -0,0 +1,109 @@
+#include "reactor-uc/platform/patmos/patmos.h"
+#include <assert.h>
+#include <stdbool.h>
+#include <string.h>
+
+#include <machine/rtc.h>
+#include <machine/exceptions.h>
+
+static PlatformPatmos platform;
+
+void Platform_vprintf(const char *fmt, va_list args) { vprintf(fmt, args); }
+
+lf_ret_t PlatformPatmos_initialize(Platform *self) {
+  (void)self;
+  return LF_OK;
+}
+
+instant_t PlatformPatmos_get_physical_time(Platform *self) {
+  (void)self;
+  return USEC(get_cpu_usecs());
+}
+
+lf_ret_t PlatformPatmos_wait_until_interruptible(Platform *untyped_self, instant_t wakeup_time) {
+  PlatformPatmos *self = (PlatformPatmos *)untyped_self;
+  self->async_event = false;
+  untyped_self->leave_critical_section(untyped_self); // turing on interrupts
+
+  instant_t now = untyped_self->get_physical_time(untyped_self);
+
+  // Do busy sleep
+  do {
+    now = untyped_self->get_physical_time(untyped_self);
+  } while ((now < wakeup_time) && !self->async_event);
+
+  untyped_self->enter_critical_section(untyped_self);
+
+  if (self->async_event) {
+    self->async_event = false;
+    return LF_ERR;
+  } else {
+    return LF_OK;
+  }
+
+  interval_t sleep_duration = wakeup_time - untyped_self->get_physical_time(untyped_self);
+  if (sleep_duration < 0) {
+    return LF_OK;
+  }
+
+  untyped_self->leave_critical_section(untyped_self);
+
+  return LF_OK;
+}
+
+lf_ret_t PlatformPatmos_wait_until(Platform *untyped_self, instant_t wakeup_time) {
+  interval_t sleep_duration = wakeup_time - untyped_self->get_physical_time(untyped_self);
+  if (sleep_duration < 0) {
+    return LF_OK;
+  }
+
+  instant_t now = untyped_self->get_physical_time(untyped_self);
+
+  // Do busy sleep
+  do {
+    now = untyped_self->get_physical_time(untyped_self);
+  } while (now < wakeup_time);
+  return LF_OK;
+}
+
+lf_ret_t PlatformPatmos_wait_for(Platform *self, interval_t duration) {
+  (void)self;
+  if (duration <= 0) {
+    return LF_OK;
+  }
+
+  instant_t now = self->get_physical_time(self);
+  instant_t wakeup = now + duration;
+
+  // Do busy sleep
+  do {
+    now = self->get_physical_time(self);
+  } while ((now < wakeup));
+
+  return LF_OK;
+}
+
+void PlatformPatmos_leave_critical_section(Platform *self) {
+  (void)self;
+  intr_enable();
+}
+
+void PlatformPatmos_enter_critical_section(Platform *self) {
+  (void)self;
+  intr_disable();
+}
+
+void PlatformPatmos_new_async_event(Platform *self) { ((PlatformPatmos *)self)->async_event = true; }
+
+void Platform_ctor(Platform *self) {
+  self->initialize = PlatformPatmos_initialize;
+  self->enter_critical_section = PlatformPatmos_enter_critical_section;
+  self->leave_critical_section = PlatformPatmos_leave_critical_section;
+  self->get_physical_time = PlatformPatmos_get_physical_time;
+  self->wait_until = PlatformPatmos_wait_until;
+  self->wait_for = PlatformPatmos_wait_for;
+  self->wait_until_interruptible = PlatformPatmos_wait_until_interruptible;
+  self->new_async_event = PlatformPatmos_new_async_event;
+}
+
+Platform *Platform_new(void) { return (Platform *)&platform; }

src/scheduler.c

@@ -1,5 +1,4 @@
 
-
 #if defined(SCHEDULER_DYNAMIC)
 #include "./schedulers/dynamic/scheduler.c"
 #elif defined(SCHEDULER_STATIC)