Merge Branch Develop into Freeze

.github/workflows/systemtests.yml

@@ -23,10 +23,11 @@ jobs:
         echo "source-dir=$GITHUB_WORKSPACE" >> "$GITHUB_OUTPUT"
         echo "build-dir=$GITHUB_WORKSPACE/build" >> "$GITHUB_OUTPUT"
 
-    - name: Install lipcap-dev
+    # TODO: Enable this and the POWERLINK module back when the CI is fixed: see https://github.com/eclipse-4diac/4diac-forte/issues/287
+    #- name: Install lipcap-dev
       # libpcap-dev is required for the POWERLINK module
       # TODO: Put this in 4diac-fortebuildcontainer
-      run: apt-get update && apt-get install -y libpcap-dev
+     # run: apt-get update && apt-get install -y libpcap-dev
 
     - name: Configure CMake
       run: >
@@ -51,10 +52,10 @@ jobs:
         -DFORTE_MODULE_RT_Events=ON
         -DFORTE_MODULE_SIGNALPROCESSING=ON
         -DFORTE_MODULE_UTILS=ON
-        -DFORTE_MODULE_POWERLINK=ON
         -DFORTE_TESTS=ON
         -DFORTE_SYSTEM_TESTS=ON
         -DFORTE_TEST_SANITIZE=ON
+#        -DFORTE_MODULE_POWERLINK=ON
 
     - name: Build
       run: cmake --build ${{ steps.strings.outputs.build-dir }}

buildsupport/forte.cmake

@@ -152,7 +152,7 @@ FUNCTION(forte_replace_sourcefile_cpp)
 ENDFUNCTION(forte_replace_sourcefile_cpp)
 
 # Add a new possible timer to be created. Pass an extra variable to be used as 
-# name for the timer handler. If not passed, the default empty string will be used
+# name for the timer handler. If not passed, the default string will be used
 FUNCTION(forte_add_timerhandler CLASSNAME FILENAME) 
     set_property(GLOBAL APPEND PROPERTY FORTE_TIMERHANDLER_CLASS ${CLASSNAME})
     set_property(GLOBAL APPEND PROPERTY FORTE_TIMERHANDLER_FILENAME "${FILENAME}.h")
@@ -242,6 +242,12 @@ MACRO(forte_add_handler CLASSNAME FILENAME)
     set_property(GLOBAL APPEND PROPERTY FORTE_HANDLER_FILENAME "${FILENAME}.h")
 ENDMACRO(forte_add_handler)
 
+MACRO(forte_add_ecet CLASSNAME FILENAME ECET_NAME)
+    set_property(GLOBAL APPEND PROPERTY FORTE_ECET_CLASS ${CLASSNAME})
+    set_property(GLOBAL APPEND PROPERTY FORTE_ECET_FILENAME "${FILENAME}.h")
+    set_property(GLOBAL APPEND PROPERTY FORTE_ECET_NAME "${ECET_NAME}")
+ENDMACRO(forte_add_ecet)
+
 MACRO(forte_add_startup_hook FUNCTION_NAME)
     set_property(GLOBAL APPEND PROPERTY FORTE_STARTUP_HOOK_FUNCTIONS ${FUNCTION_NAME})
 ENDMACRO(forte_add_startup_hook)

dependencies.spdx

@@ -0,0 +1,41 @@
+## This file conforms to ISO/IEC 5962:2021 a.k.a. SPDX-2.2.1 (lite variant)
+SPDXVersion: SPDX-2.2
+DataLicense: CC0-1.0
+SPDXID: SPDXRef-DOCUMENT
+DocumentName: Eclipse-4diac-FORTE-SBOM
+DocumentNamespace: https://eclipse.dev/4diac/
+Creator: Organization: Eclipse-4diac
+Created: 2024-11-21T14:43:43Z
+CreatorComment: <text>This file documents optional external dependencies of 4diac FORTE in a standardised machine-readable format</text>
+
+## This package
+#####################################
+PackageName: 4diac-FORTE
+SPDXID: SPDXRef-4diac-FORTE
+PackageComment: <text>4diac FORTE source code</text>
+ExternalRef: PACKAGE-MANAGER purl pkg:github/eclipse-4diac/4diac-forte@develop
+PackageVersion: develop
+PackageSupplier: Organization: Eclipse-4diac
+Relationship: SPDXRef-DOCUMENT DESCRIBES SPDXRef-4diac-FORTE
+PackageDownloadLocation: https://github.com/eclipse-4diac/4diac-forte/archive/develop.zip
+FilesAnalyzed: false
+PackageLicenseConcluded: NOASSERTION
+PackageLicenseDeclared: NOASSERTION
+PackageCopyrightText: NOASSERTION
+
+## Optional dependencies
+#####################################
+PackageName: open62541
+SPDXID: SPDXRef-open62541
+PackageComment: <text>OPC-UA support library</text>
+ExternalRef: PACKAGE-MANAGER purl pkg:github/open62541/[email protected]
+PackageVersion: 1.4.7
+PackageSupplier: Organization: open62541
+Relationship: SPDXRef-open62541 OPTIONAL_DEPENDENCY_OF SPDXRef-4diac-FORTE
+PackageDownloadLocation: https://github.com/open62541/open62541/archive/refs/tags/v1.4.7.zip
+PackageChecksum: SHA256: 598889ae4bdc468d39c5c961ba76c648747b64337a9d0c0ef07b032c4819dea8
+FilesAnalyzed: false
+PackageLicenseConcluded: NOASSERTION
+PackageLicenseDeclared: NOASSERTION
+PackageCopyrightText: NOASSERTION
+

setup_zephyr.sh

@@ -47,6 +47,7 @@ if [ -d "$forte_bin_dir" ]; then
     -DFORTE_SUPPORT_BOOT_FILE=ON \
     -DFORTE_BUILD_EXECUTABLE=OFF \
     -DFORTE_BUILD_STATIC_LIBRARY=ON \
+    -DFORTE_C_INTERFACE=ON \
     -DFORTE_MODULE_CONVERT=ON \
     -DFORTE_MODULE_IEC61131=ON \
     -DFORTE_IO=ON \

src/CMakeLists.txt

@@ -159,6 +159,42 @@ CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/arch/timerHandlerFactory.cpp.in ${CMA
 forte_replacefile_if_changed(${CMAKE_BINARY_DIR}/arch/timerHandlerFactory_new.cpp ${CMAKE_BINARY_DIR}/arch/timerHandlerFactory.cpp)
 file(REMOVE ${CMAKE_BINARY_DIR}/arch/timerHandlerFactory_new.cpp)
 
+#############################################################################
+# Configure ECETs
+#############################################################################
+
+GET_PROPERTY(ECET_CLASS GLOBAL PROPERTY FORTE_ECET_CLASS)
+GET_PROPERTY(ECET_FILENAME GLOBAL PROPERTY FORTE_ECET_FILENAME)
+GET_PROPERTY(ECET_NAME GLOBAL PROPERTY FORTE_ECET_NAME)
+
+LIST(LENGTH ECET_CLASS ECET_CLASS_LEN)
+math(EXPR ECET_CLASS_LEN  ${ECET_CLASS_LEN}-1)
+
+SET(ECET_INCLUDE "")
+SET(ECET_CREATE "")
+SET(ECET_ENUM "")
+
+
+FOREACH(POS RANGE ${ECET_CLASS_LEN})
+  LIST(GET ECET_CLASS      ${POS} CLASS) 
+  LIST(GET ECET_FILENAME   ${POS} FILENAME)
+  LIST(GET ECET_NAME   ${POS} NAME_)
+
+  SET(ECET_INCLUDE  "${ECET_INCLUDE}#include \"${FILENAME}\"\n")
+
+  SET(ECET_ENUM  "${ECET_ENUM}\n    ${NAME_},")
+
+  SET(ECET_CREATE "${ECET_CREATE}  if(ecetToCreate == AvailableEcets::${NAME_}) return new ${CLASS}();\n")
+  math(EXPR ECET_ID           ${ECET_ID}+1)
+ENDFOREACH(POS)
+
+CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/core/ecetFactory.cpp.in ${CMAKE_BINARY_DIR}/core/ecetFactory_new.cpp)
+forte_replacefile_if_changed(${CMAKE_BINARY_DIR}/core/ecetFactory_new.cpp ${CMAKE_BINARY_DIR}/core/ecetFactory.cpp)
+file(REMOVE ${CMAKE_BINARY_DIR}/core/ecetFactory_new.cpp)
+
+CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/core/ecetFactory.h.in ${CMAKE_BINARY_DIR}/core/ecetFactory_new.h)
+forte_replacefile_if_changed(${CMAKE_BINARY_DIR}/core/ecetFactory_new.h ${CMAKE_BINARY_DIR}/core/ecetFactory.h)
+file(REMOVE ${CMAKE_BINARY_DIR}/core/ecetFactory_new.h)
 #############################################################################
 # Configure startuphook
 #############################################################################

src/arch/zephyr/README.md

@@ -42,6 +42,7 @@ ExternalProject_Add(forte
 			-DFORTE_SUPPORT_BOOT_FILE=ON
 			-DFORTE_BUILD_EXECUTABLE=OFF
 			-DFORTE_BUILD_STATIC_LIBRARY=ON
+			-DFORTE_C_INTERFACE=ON
 			-DFORTE_MODULE_CONVERT=ON
 			-DFORTE_MODULE_IEC61131=ON
 			-DFORTE_IO=ON
@@ -53,23 +54,23 @@ ExternalProject_Add(forte
 			-DFORTE_EXTERNAL_MODULES_DIRECTORY=${forte_src_dir}/ExportedFBs
 			-DCMAKE_C_COMPILER=${CMAKE_C_COMPILER}
 			-DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}
-			-DFORTE_LOGLEVEL=LOGINFO
+			-DFORTE_LOGLEVEL=NOLOG
 			-DCMAKE_BUILD_TYPE=MINSIZEREL
 			-DCMAKE_C_FLAGS_DEBUG="-g"
 			-DCMAKE_CXX_FLAGS=${external_project_cxxflags}
 			-DFORTE_SOURCE_DIR=${forte_src_dir}
 			../../
 	BUILD_COMMAND
 		ninja
-	BUILD_BYPRODUCTS ${FORTE_LIB_DIR}/libforte-static.a
+	BUILD_BYPRODUCTS ${FORTE_LIB_DIR}/libforte-c-static.a
 	INSTALL_COMMAND ""
 )
 
 add_dependencies(forte zephyr_interface)
 
 add_library(forte_lib STATIC IMPORTED GLOBAL)
 add_dependencies(forte_lib forte)
-set_target_properties(forte_lib PROPERTIES IMPORTED_LOCATION ${FORTE_LIB_DIR}/libforte-static.a)
+set_target_properties(forte_lib PROPERTIES IMPORTED_LOCATION ${FORTE_LIB_DIR}/libforte-c-static.a)
 target_include_directories(forte_lib INTERFACE ${forte_src_dir}/src/arch)
 ```
 
@@ -97,7 +98,6 @@ CONFIG_CPP=y
 CONFIG_STD_CPP20=y
 CONFIG_REQUIRES_FULL_LIBCPP=y
 CONFIG_COMPILER_OPT="-Werror"
-CONFIG_POSIX_CLOCK=y
 
 # Dynamic thread creation for 4diac FORTE
 CONFIG_DYNAMIC_THREAD=y
@@ -110,6 +110,8 @@ CONFIG_HEAP_MEM_POOL_SIZE=64000
 
 # TCP/IP networking for 4diac FORTE
 CONFIG_NETWORKING=y
+CONFIG_NET_SOCKETS=y
+CONFIG_POSIX_API=y
 CONFIG_NET_ARP=y
 CONFIG_NET_UDP=y
 CONFIG_NET_TCP=y
@@ -121,10 +123,8 @@ CONFIG_NET_IPV4=y
 
 CONFIG_NET_MAX_CONN=20
 CONFIG_NET_CONTEXT_RCVTIMEO=y
-CONFIG_POSIX_MAX_FDS=12
+CONFIG_ZVFS_OPEN_MAX=12
 CONFIG_NET_MAX_CONTEXTS=16
-CONFIG_NET_SOCKETS=y
-CONFIG_NET_SOCKETS_POSIX_NAMES=y # unset if CONFIG_POSIX_API=y
 
 CONFIG_NET_PROMISCUOUS_MODE=y
 # CONFIG_ETH_MCUX_PROMISCUOUS_MODE=y # required by NXP MCUX SOCs

src/arch/zephyr/forte_thread.cpp

@@ -40,7 +40,7 @@ void CZephyrThread::threadFunction(void* arg1, void* arg2, void* arg3) {
 forte::arch::CThreadBase<k_tid_t, nullptr, CZephyrThread>::TThreadHandleType CZephyrThread::createThread(long paStackSize) {
   if (thread == nullptr) return nullptr;
   auto thread_id = k_thread_create(thread, stack, paStackSize, threadFunction, this, NULL, NULL, 10, K_FP_REGS, K_NO_WAIT);
-  k_thread_name_set(thread_id, "forte_thread");
+  if (thread_id) k_thread_name_set(thread_id, "forte_thread");
   return thread_id;
 }
 

src/arch/zephyr/sockhand.h

@@ -17,7 +17,7 @@
 
 #include "devlog.h"
 
-#include <zephyr/net/net_ip.h>
+#include <zephyr/net/net_if.h>
 #include <zephyr/posix/arpa/inet.h>
 #include <zephyr/net/socket.h>
 #include <zephyr/kernel.h>

src/arch/zephyr/zephyrtiha.cpp

@@ -33,7 +33,7 @@ CZephyrTimerHandler::CZephyrTimerHandler(CDeviceExecution& paDeviceExecution) :
     return;
   }
   thread_id = k_thread_create(thread, stack, stackSize, thread_fn, this, NULL, NULL, 1, K_FP_REGS, K_FOREVER);
-  k_thread_name_set(thread_id, "forte_tiha");
+  if (thread_id) k_thread_name_set(thread_id, "forte_tiha");
 }
 
 CZephyrTimerHandler::~CZephyrTimerHandler() {
@@ -48,6 +48,9 @@ CZephyrTimerHandler::~CZephyrTimerHandler() {
 }
 
 void CZephyrTimerHandler::enableHandler() {
+  if (thread == nullptr) {
+    return;
+  }
   const auto period = K_NSEC(forte::core::constants::cNanosecondsPerSecond / getTicksPerSecond());
   k_timer_start(&timer, period, period);
   k_thread_start(thread_id);

src/com/opc_ua/CMakeLists.txt

@@ -91,6 +91,8 @@ if (FORTE_COM_OPC_UA)
 
     add_subdirectory(FBs)    
     add_subdirectory(types)
+    add_subdirectory(detail)
+
 
     if(FORTE_COM_OPC_UA_ENCRYPTION)
       SET(FORTE_COM_OPC_UA_ENCRYPTION_INCLUDE_DIR "" CACHE STRING "ABSOLUTE path to encryption headers")

src/com/opc_ua/detail/CMakeLists.txt

@@ -0,0 +1,4 @@
+
+if(FORTE_COM_OPC_UA_MULTICAST)
+  forte_add_sourcefile_hcpp(lds_me_handler)
+endif(FORTE_COM_OPC_UA_MULTICAST)

src/com/opc_ua/detail/lds_me_handler.cpp

@@ -0,0 +1,100 @@
+
+#include "lds_me_handler.h"
+
+#include "devlog.h"
+
+using namespace forte::com::opc_ua::detail;
+
+LdsMeHandler::LdsMeHandler(UA_Server& paUaServer) : mUaServer{paUaServer}  {
+  UA_Server_setServerOnNetworkCallback(&mUaServer, serverOnNetworkCallback, this);
+}
+
+LdsMeHandler::~LdsMeHandler() {
+  for(const auto& registeredServer : mRegisteredServers){
+    deregisterDiscoveryServer(registeredServer.mString);
+  }
+  UA_Server_setServerOnNetworkCallback(&mUaServer, nullptr, nullptr);
+}
+
+void LdsMeHandler::configureServer(UA_ServerConfig& paUaServerConfig, const std::string& paServerName) {
+  UA_String_clear(&paUaServerConfig.mdnsConfig.mdnsServerName);
+  paUaServerConfig.mdnsConfig.mdnsServerName = UA_String_fromChars(paServerName.c_str());
+  // Enable the mDNS announce and response functionality
+  paUaServerConfig.mdnsEnabled = true;
+}
+
+void LdsMeHandler::serverOnNetworkCallback(const UA_ServerOnNetwork* paServerOnNetwork, UA_Boolean paIsServerAnnounce, UA_Boolean paIsTxtReceived, void* paData) { 
+
+  if(!paIsTxtReceived) {
+    return; // we wait until the corresponding TXT record is announced.
+  }
+
+  DEVLOG_DEBUG("[OPC UA LDS ME]: mDNS %s '%.*s' with url '%.*s'\n", paIsServerAnnounce ? "announce" : "remove", paServerOnNetwork->serverName.length,
+      paServerOnNetwork->serverName.data, paServerOnNetwork->discoveryUrl.length, paServerOnNetwork->discoveryUrl.data);
+
+  // check if server is LDS
+  bool isServerLDS = false;
+
+  UA_StringRAII ldsStr("LDS");
+  for(unsigned int i = 0; i < paServerOnNetwork->serverCapabilitiesSize; i++) {
+    if(UA_String_equal(&paServerOnNetwork->serverCapabilities[i], &ldsStr.mString)) {
+      isServerLDS = true;
+      break;
+    }
+  }
+
+  // skip non-LDS servers
+  if(!isServerLDS) {
+    return;
+  }
+
+  auto handler = static_cast<LdsMeHandler*>(paData);
+
+  auto foundDiscoveryUrl = handler->mRegisteredServers.end();
+  for(auto iter = handler->mRegisteredServers.begin(); iter != handler->mRegisteredServers.end(); iter++) {
+    if(UA_String_equal(&paServerOnNetwork->discoveryUrl, &iter->mString)) {
+      foundDiscoveryUrl = iter;
+      break;
+    }
+  }
+
+  // if a new server is being announced
+  if(paIsServerAnnounce && foundDiscoveryUrl == handler->mRegisteredServers.end()) {
+    if(handler->registerDiscoveryServer(paServerOnNetwork->discoveryUrl)){
+        handler->mRegisteredServers.emplace_back(paServerOnNetwork->discoveryUrl);
+    }
+  // if a known server is being un-announced
+  } else if(!paIsServerAnnounce && foundDiscoveryUrl != handler->mRegisteredServers.end()) {
+    handler->deregisterDiscoveryServer(foundDiscoveryUrl->mString);
+    handler->mRegisteredServers.erase(foundDiscoveryUrl);
+  }
+}
+
+bool LdsMeHandler::registerDiscoveryServer(const UA_String& paDiscoveryUrl) {
+
+  UA_ClientConfig clientConfig;
+  memset(&clientConfig, 0, sizeof(UA_ClientConfig));
+  UA_ClientConfig_setDefault(&clientConfig);
+  auto retVal = UA_Server_registerDiscovery(&mUaServer, &clientConfig, paDiscoveryUrl, UA_STRING_NULL);
+  if( UA_STATUSCODE_GOOD != retVal) {
+    DEVLOG_ERROR("[OPC UA LDSME]: Could not register with LDS. Error: %s\n", UA_StatusCode_name(retVal));
+    return false;
+  }
+  DEVLOG_INFO("[OPC UA LDSME]: Registered to LDS '%.*s'\n", paDiscoveryUrl.length, paDiscoveryUrl.data);
+  return true;
+}
+
+void LdsMeHandler::deregisterDiscoveryServer(const UA_String& paDiscoveryUrl) {
+  UA_ClientConfig clientConfig;
+  memset(&clientConfig, 0, sizeof(UA_ClientConfig));
+  UA_ClientConfig_setDefault(&clientConfig);
+
+  auto retVal = UA_Server_deregisterDiscovery(&mUaServer, &clientConfig, paDiscoveryUrl);
+  // if unregister fails, we don't do anything else
+  if( UA_STATUSCODE_GOOD != retVal) {
+    DEVLOG_ERROR("[OPC UA LDSME]: Could not deregister with LDS. Error: %s\n", UA_StatusCode_name(retVal));
+    return;
+  }
+
+  DEVLOG_INFO("[OPC UA LDSME]: Unregistered from LDS '%.*s'\n", paDiscoveryUrl.length, paDiscoveryUrl.data);
+}