ADASModel added and tested

lf-lang · Jul 23, 2024 · 27ef659 · 27ef659
1 parent 863401e
commit 27ef659
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Showing 6 changed files with 137 additions and 13 deletions.
diff --git a/test/C/Makefile b/test/C/Makefile
@@ -1,13 +1,15 @@
-APP?=ScheduleTest
+APP?=SimpleConnection
+FUNC?=_sinkreaction_function_0
 SRC_DIR=$(CURDIR)/src/static/patmos
 DEST_DIR=$(CURDIR)/src-gen/static/$(APP)
 INCD_DIR=$(CURDIR)/include
 export LF_PROJECT_ROOT:=$(DEST_DIR)
 export LF_MAIN_TARGET:=$(APP)
+export LF_WCET_FUNC:=$(FUNC)
 
 .PHONY: gen copy comp all clean wcet sim lin
 
-all: del gen copy comp sim
+all: del gen copy comp lin sim wcet
 gen: 
 	lfc-dev src/static/$(APP).lf 
 copy:

diff --git a/test/C/src/static/ADASModel.lf b/test/C/src/static/ADASModel.lf
@@ -0,0 +1,110 @@
+/** FIXME: Turn this program into a test case. */
+target C {
+  timeout: 1 sec,
+  scheduler: STATIC,
+  build-type: Debug,
+  single-threaded: true
+}
+
+preamble {=
+  typedef int c_frame_t;
+  typedef int l_frame_t;
+=}
+
+realtime reactor Camera {
+  output out: {= c_frame_t =}
+  state frame: {= c_frame_t =}
+  timer t(0, 17 msec)  // 60 fps
+
+  @wcet("93572 nsec")  // RPI4
+  reaction(t) -> out {=
+    // Capture a frame.
+    //lf_print("Camera reaction");
+    self->frame = 1;
+    lf_set(out, self->frame);
+  =}
+}
+
+realtime reactor LiDAR {
+  output out: {= l_frame_t =}
+  state frame: {= l_frame_t =}
+  timer t(0, 34 msec)  // 30 fps
+
+  @wcet("97942 nsec")  // RPI4
+  reaction(t) -> out {=
+      // Capture a frame.
+    //  lf_print("LiDAR Reaction");
+      self->frame = 2;
+      lf_set(out, self->frame);
+  =}
+}
+
+realtime reactor Brakes {
+  input inADAS: int
+  state brakesApplied: int = 0
+
+  // RPI4
+  @wcet("5037 nsec")
+  reaction(inADAS) {=
+     // Actuate brakes.
+    // lf_print("Brakes reaction");
+     self->brakesApplied = 1;
+  =}
+}
+
+reactor ADASProcessor {
+  input in1: {= l_frame_t =}
+  input in2: {= c_frame_t =}
+  input a_in: int
+  output out1: int
+  output out2: int
+  output a_out: int
+  state requestStop: int
+
+  // RPI4
+  @wcet("5592 nsec")
+  reaction(in1, in2) -> a_out {=
+            // ... Detect danger
+      // and request stop.
+    //  lf_print("ADASProcessor reaction 1");
+            lf_set_present(a_out);
+            self->requestStop = 1;
+  =}
+
+  // RPI4
+  @wcet("6741 nsec")
+  reaction(a_in) -> out1, out2 {=
+    //  lf_print("ADASProcessor reaction 2");
+        if (self->requestStop == 1) {
+            lf_set_present(out1);
+            lf_set_present(out2);
+        }
+  =} deadline(20 msec) {=
+    //  lf_print("Deadline reaction");
+  =}
+}
+
+reactor Dashboard {
+  input in: int
+  state received: int
+
+  // RPI4
+  @wcet("4815 nsec")
+  reaction(in) {=
+    //  lf_print("Dashboard reaction");
+        self->received = 1;
+  =}
+}
+
+main reactor ADASModel {
+  c = new Camera()
+  l = new LiDAR()
+  p = new ADASProcessor()
+  b = new Brakes()
+  d = new Dashboard()
+  l.out -> p.in1
+  c.out -> p.in2
+  p.out2 -> d.in
+  p.out1 -> b.inADAS after 5 msec
+  p.a_out -> p.a_in after 50 msec
+}
diff --git a/test/C/src/static/ScheduleTest.lf b/test/C/src/static/ScheduleTest.lf
@@ -6,7 +6,9 @@ target C {
   // workers: 2,
   timeout: 100 sec,
   fast: true,
+  build-type: Debug,
   single-threaded: true,
+  tracing: false
 }
 
 preamble {=

diff --git a/test/C/src/static/SimpleConnection.lf b/test/C/src/static/SimpleConnection.lf
@@ -16,7 +16,8 @@ reactor Source {
     state s:int = 0
     reaction(t) -> out {=
         lf_set(out, self->s);
-        lf_print("Sent %d @ %lld", self->s++, lf_time_logical_elapsed());
+        self->s++;
+        // lf_print("Sent %d @ %lld", self->s, lf_time_logical_elapsed());
     =}
     reaction(t) -> out {=
         int v = -1 * self->s;
@@ -29,14 +30,14 @@ reactor Sink {
     state last_received:int = 0
     reaction(in) {=
         self->last_received = in->value;
-        lf_print("Received %d @ %lld", in->value, lf_time_logical_elapsed());
+        // lf_print("Received %d @ %lld", in->value, lf_time_logical_elapsed());
     =}
     reaction(shutdown) {=
         if (self->last_received != EXPECTED) {
-            fprintf(stderr, "FAILURE: Expected %d, Received %d\n", EXPECTED, self->last_received);
+            // fprintf(stderr, "FAILURE: Expected %d, Received %d\n", EXPECTED, self->last_received);
             exit(1);
         } else {
-            lf_print("Successfully received %d", self->last_received);
+            // lf_print("Successfully received %d", self->last_received);
         }
     =}
 }
@@ -45,6 +46,4 @@ main reactor {
     source = new Source()
     sink = new Sink()
     source.out -> sink.in after 2 sec
-    // source.out -> sink.in after 500 msec
-    // source.out -> sink.in
 }
diff --git a/test/C/src/static/patmos/Makefile b/test/C/src/static/patmos/Makefile
@@ -19,15 +19,26 @@ CC := patmos-clang
 
 CFLAGS := $(INCS) -DINITIAL_EVENT_QUEUE_SIZE=10 -DINITIAL_REACT_QUEUE_SIZE=10 -DLF_REACTION_GRAPH_BREADTH=1 
 CFLAGS += -DLF_SINGLE_THREADED=0 -DSCHEDULER=SCHED_STATIC
-SRC_FILES := _$(LF_MAIN_TARGET_LC)_main.c $(LF_MAIN_TARGET).c lib/schedule.c _sink.c _source.c static_schedule.c
-SRC_FILES += core/reactor_common.c core/lf_token.c core/reactor.c core/tag.c core/environment.c 
+SRC_FILES := _$(LF_MAIN_TARGET_LC)_main.c $(LF_MAIN_TARGET).c
+
+ifeq ($(LF_MAIN_TARGET), SimpleConnection)
+	SRC_FILES += _sink.c _source.c static_schedule.c 
+else ifeq ($(LF_MAIN_TARGET), ScheduleTest)
+	SRC_FILES += _sink.c _source.c static_schedule.c 
+else ifeq ($(LF_MAIN_TARGET), Philosophers)
+	SRC_FILES += _arbitrator.c _broadcast.c _benchmarkrunner.c _philosopher.c 
+else ifeq ($(LF_MAIN_TARGET), ADASModel)
+	SRC_FILES += _adasprocessor.c _brakes.c _camera.c _dashboard.c _lidar.c static_schedule.c 
+endif
+
+SRC_FILES += lib/schedule.c core/reactor_common.c core/lf_token.c core/reactor.c core/tag.c core/environment.c 
 SRC_FILES += core/utils/util.c core/utils/vector.c  core/utils/circular_buffer.c
 SRC_FILES += core/utils/pqueue.c core/utils/pqueue_tag.c core/utils/pqueue_base.c
 SRC_FILES += core/utils/hashset/hashset_itr.c core/utils/hashset/hashset.c 
 SRC_FILES += core/clock.c core/platform/lf_atomic_irq.c 
 SRC_FILES += core/platform/lf_patmos_support.c core/platform/lf_atomic_patmos.c 
-# SRC_FILES += core/threaded/scheduler_adaptive.c core/threaded/scheduler_GEDF_NP.c core/threaded/reactor_threaded.c core/threaded/watchdog.c
 SRC_FILES += core/threaded/scheduler_instance.c core/threaded/scheduler_static.c
+# SRC_FILES += core/threaded/scheduler_adaptive.c core/threaded/scheduler_GEDF_NP.c core/threaded/reactor_threaded.c core/threaded/watchdog.c
 #  core/threaded/scheduler_sync_tag_advance.c core/threaded/scheduler_NP.c
 # SRC_FILES += core/federated/RTI/rti_local.c 
 OBJ_FILES := $(patsubst %.c,%.o,$(SRC_FILES))
@@ -44,6 +55,6 @@ $(OBJ_FILES): %.o: %.c
 clean:
 	rm -f $(OBJ_FILES) $(EXE_NAME)
 wcet: $(EXE_NAME)
-	platin wcet --disable-ait -i lf.pml -b $(EXE_NAME) -e _sinkreaction_function_0 --report report.txt
+	platin wcet --disable-ait -i lf.pml -b $(EXE_NAME) -e $(LF_WCET_FUNC) --target-call-return-costs --report report.txt
 	# platin visualize -i lf.pml -f main --show-timings=platin
 
diff --git a/test/C/src/static/patmos/lf_patmos_support.c b/test/C/src/static/patmos/lf_patmos_support.c
@@ -65,7 +65,7 @@ void _lf_initialize_clock()
 int _lf_clock_gettime(instant_t *t)
 {
 
-    assert(t != NULL);
+    // assert(t != NULL);
 
     *t = get_cpu_usecs() * 1000;