Merge pull request #250 from lf-lang/single-threaded

Mentions of "unthreaded" replaced with "single-threaded"

.github/workflows/ci.yml

@@ -12,12 +12,12 @@ jobs:
   unit-tests-single:
     uses: ./.github/workflows/unit-tests.yml
     with:
-      cmake-args: '-UNUMBER_OF_WORKERS -DLF_UNTHREADED=1'
+      cmake-args: '-UNUMBER_OF_WORKERS -DLF_SINGLE_THREADED=1'
 
   unit-tests-multi:
     uses: ./.github/workflows/unit-tests.yml
     with:
-      cmake-args: '-DNUMBER_OF_WORKERS=4 -DLF_THREADED=1'
+      cmake-args: '-DNUMBER_OF_WORKERS=4 -ULF_SINGLE_THREADED'
 
   build-rti:
     uses: ./.github/workflows/build-rti.yml

CMakeLists.txt

@@ -15,13 +15,11 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
     set(CMAKE_BUILD_TYPE ${DEFAULT_BUILD_TYPE} CACHE STRING "Choose the type of build." FORCE)
 endif()
 
-# Whether or not we are using THREADED or UNTHREADEd runtime is a global
+# Whether or not we are using THREADED or SINGLE-THREADED runtime is a global
 # flag. If it is passed to cmake. Then add it as a global compile def which
 # is inherited by all child nodes (add_subdirectory)
-if(DEFINED LF_THREADED)
-    add_compile_definitions(LF_THREADED=1)
-else()
-    add_compile_definitions(LF_UNTHREADED=1)
+if(DEFINED LF_SINGLE_THREADED)
+    add_compile_definitions(LF_SINGLE_THREADED=1)
 endif()
 
 set(Test test)

core/CMakeLists.txt

@@ -15,22 +15,22 @@ list(APPEND INFO_SOURCES ${GENERAL_SOURCES})
 # Create the core library
 add_library(core ${GENERAL_SOURCES})
 
-# Add sources for either threaded or unthreaded runtime
+# Add sources for either threaded or single-threaded runtime
 if (DEFINED FEDERATED)
     include(federated/CMakeLists.txt)
 endif()
 
-# Add sources for either threaded or unthreaded runtime
-if(DEFINED LF_THREADED)
+# Add sources for either threaded or single-threaded runtime
+if(DEFINED LF_SINGLE_THREADED)
+    message(STATUS "Including sources for single-threaded runtime.")
+    list(APPEND SINGLE_THREADED_SOURCES reactor.c)
+    target_sources(core PRIVATE ${SINGLE_THREADED_SOURCES})
+    list(APPEND INFO_SOURCES ${SINGLE_THREADED_SOURCES})
+else()
     message(STATUS "Including sources for threaded runtime with \
 ${NUMBER_OF_WORKERS} worker(s) with scheduler=${SCHEDULER} and \
 tracing=${LF_TRACE}.")
     include(threaded/CMakeLists.txt)
-else()
-    message(STATUS "Including sources for unthreaded runtime.")
-    list(APPEND SINGLE_THREADED_SOURCES reactor.c)
-    target_sources(core PRIVATE ${SINGLE_THREADED_SOURCES})
-    list(APPEND INFO_SOURCES ${SINGLE_THREADED_SOURCES})
 endif()
 
 
@@ -75,7 +75,7 @@ if(DEFINED _LF_CLOCK_SYNC_ON)
 endif()
 
 # Link with thread library, unless if we are targeting the Zephyr RTOS
-if(DEFINED LF_THREADED OR DEFINED LF_TRACE)
+if(NOT DEFINED LF_SINGLE_THREADED OR DEFINED LF_TRACE)
     if(NOT ${CMAKE_SYSTEM_NAME} STREQUAL "Zephyr")
         find_package(Threads REQUIRED)
         target_link_libraries(core PUBLIC Threads::Threads)
@@ -112,9 +112,8 @@ define(FEDERATED_DECENTRALIZED)
 define(FEDERATED)
 define(FEDERATED_AUTHENTICATED)
 define(LF_REACTION_GRAPH_BREADTH)
-define(LF_THREADED)
 define(LF_TRACE)
-define(LF_UNTHREADED)
+define(LF_SINGLE_THREADED)
 define(LOG_LEVEL)
 define(MODAL_REACTORS)
 define(NUMBER_OF_FEDERATES)

core/environment.c

@@ -34,15 +34,15 @@
 #include "lf_types.h"
 #include <string.h>
 #include "trace.h"
-#ifdef LF_THREADED
+#if !defined(LF_SINGLE_THREADED)
 #include "scheduler.h"
 #endif
 
 /**
  * @brief Initialize the threaded part of the environment struct.
  */
 static void environment_init_threaded(environment_t* env, int num_workers) {
-#ifdef LF_THREADED
+#if !defined(LF_SINGLE_THREADED)
     env->num_workers = num_workers;
     env->thread_ids = (lf_thread_t*)calloc(num_workers, sizeof(lf_thread_t));
     lf_assert(env->thread_ids != NULL, "Out of memory");
@@ -64,10 +64,10 @@ static void environment_init_threaded(environment_t* env, int num_workers) {
 #endif
 }
 /**
- * @brief Initialize the unthreaded-specific parts of the environment struct.
+ * @brief Initialize the single-threaded-specific parts of the environment struct.
  */
-static void environment_init_unthreaded(environment_t* env) {
-#ifdef LF_UNTHREADED
+static void environment_init_single_threaded(environment_t* env) {
+#ifdef LF_SINGLE_THREADED
     // Reaction queue ordered first by deadline, then by level.
     // The index of the reaction holds the deadline in the 48 most significant bits,
     // the level in the 16 least significant bits.
@@ -126,14 +126,14 @@ void environment_init_tags( environment_t *env, instant_t start_time, interval_t
 }
 
 static void environment_free_threaded(environment_t* env) {
-#ifdef LF_THREADED
+#if !defined(LF_SINGLE_THREADED)
     free(env->thread_ids);
     lf_sched_free(env->scheduler);   
 #endif
 }
 
-static void environment_free_unthreaded(environment_t* env) {
-#ifdef LF_UNTHREADED
+static void environment_free_single_threaded(environment_t* env) {
+#ifdef LF_SINGLE_THREADED
     pqueue_free(env->reaction_q);
 #endif
 }
@@ -166,7 +166,7 @@ void environment_free(environment_t* env) {
     pqueue_free(env->next_q);
 
     environment_free_threaded(env);
-    environment_free_unthreaded(env);
+    environment_free_single_threaded(env);
     environment_free_modes(env);
     environment_free_federated(env);
     trace_free(env->trace);
@@ -230,7 +230,7 @@ int environment_init(
 
     // Initialize functionality depending on target properties.
     environment_init_threaded(env, num_workers);
-    environment_init_unthreaded(env);
+    environment_init_single_threaded(env);
     environment_init_modes(env, num_modes, num_state_resets);
     environment_init_federated(env, num_is_present_fields);
 

core/federated/RTI/CMakeLists.txt

@@ -79,8 +79,8 @@ IF(CMAKE_BUILD_TYPE MATCHES DEBUG)
     target_compile_definitions(RTI PUBLIC LOG_LEVEL=4)
 ENDIF(CMAKE_BUILD_TYPE MATCHES DEBUG)
 
-# Set LF_THREADING to get the threaded support and FEDERATED to get federated compilation support
-target_compile_definitions(RTI PUBLIC LF_THREADED=1 FEDERATED=1)
+# Set FEDERATED to get federated compilation support
+target_compile_definitions(RTI PUBLIC FEDERATED=1)
 target_compile_definitions(RTI PUBLIC PLATFORM_${CMAKE_SYSTEM_NAME})
 
 # Set RTI Tracing

core/platform/arduino_mbed/ConditionWrapper.cpp

@@ -27,7 +27,7 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *  @author{Anirudh Rengarajan <[email protected]>}
  */
 
-#if defined(LF_THREADED)
+#if !defined(LF_SINGLE_THREADED)
 #include "mbed.h"
 #include "MutexWrapper.h"
 

core/platform/arduino_mbed/MutexWrapper.cpp

@@ -27,7 +27,7 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *  @author{Anirudh Rengarajan <[email protected]>}
  */
 
-#if defined(LF_THREADED)
+#if !defined(LF_SINGLE_THREADED)
 #include "mbed.h"
 #include "rtos.h"
 using namespace rtos;

core/platform/arduino_mbed/ThreadWrapper.cpp

@@ -27,7 +27,7 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *  @author{Anirudh Rengarajan <[email protected]>}
  */
 
-#if defined(LF_THREADED)
+#if !defined(LF_SINGLE_THREADED)
 #include "mbed.h"
 #include "rtos.h"
 

core/platform/lf_C11_threads_support.c

@@ -1,4 +1,4 @@
-#if defined(LF_THREADED) && !defined(PLATFORM_ARDUINO)
+#if !defined(LF_SINGLE_THREADED) && !defined(PLATFORM_ARDUINO)
 #include "platform.h"
 #include "lf_C11_threads_support.h"
 

core/platform/lf_POSIX_threads_support.c

@@ -1,4 +1,4 @@
-#if defined(LF_THREADED) && !defined(PLATFORM_ARDUINO)
+#if !defined(LF_SINGLE_THREADED) && !defined(PLATFORM_ARDUINO)
 #include "platform.h"
 #include "lf_POSIX_threads_support.h"
 

core/platform/lf_arduino_support.c

@@ -125,7 +125,7 @@ int _lf_clock_now(instant_t* t) {
     return 0;
 }
 
-#if defined(LF_UNTHREADED)
+#if defined(LF_SINGLE_THREADED)
 
 int lf_enable_interrupts_nested() {
     if (_lf_num_nested_critical_sections++ == 0) {
@@ -152,7 +152,7 @@ int lf_disable_interrupts_nested() {
  * Handle notifications from the runtime of changes to the event queue.
  * If a sleep is in progress, it should be interrupted.
 */
-int _lf_unthreaded_notify_of_event() {
+int _lf_single_threaded_notify_of_event() {
    _lf_async_event = true;
    return 0;
 }

core/platform/lf_linux_support.c

@@ -39,11 +39,11 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define LF_MAX_SLEEP_NS USEC(UINT64_MAX)
 #define LF_MIN_SLEEP_NS USEC(10)
 
-#if defined LF_UNTHREADED
+#if defined LF_SINGLE_THREADED
     #include "lf_os_single_threaded_support.c"
 #endif
 
-#if defined LF_THREADED
+#if !defined LF_SINGLE_THREADED
     #if __STDC_VERSION__ < 201112L || defined (__STDC_NO_THREADS__)
         // (Not C++11 or later) or no threads support
         #include "lf_POSIX_threads_support.c"

core/platform/lf_macos_support.c

@@ -35,11 +35,11 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "tag.h"
 #define LF_MIN_SLEEP_NS USEC(10)
 
-#if defined LF_UNTHREADED
+#if defined LF_SINGLE_THREADED
     #include "lf_os_single_threaded_support.c"
 #endif
 
-#if defined LF_THREADED
+#if !defined LF_SINGLE_THREADED
     #if __STDC_VERSION__ < 201112L || defined (__STDC_NO_THREADS__)
         // (Not C++11 or later) or no threads support
         #include "lf_POSIX_threads_support.c"

core/platform/lf_nrf52_support.c

@@ -285,7 +285,7 @@ int lf_disable_interrupts_nested() {
  * 
  * @return int 
  */
-int _lf_unthreaded_notify_of_event() {
+int _lf_single_threaded_notify_of_event() {
     _lf_async_event = true;
     return 0;
 }

core/platform/lf_os_single_threaded_support.c

@@ -1,4 +1,4 @@
-#if defined LF_UNTHREADED && !defined(PLATFORM_ARDUINO)
+#if defined LF_SINGLE_THREADED && !defined(PLATFORM_ARDUINO)
 /**
  * @file lf_os_single_threaded_support.c
  * @author Marten Lohstroh ([email protected])
@@ -16,7 +16,7 @@
 #endif
 
 /**
- * @brief Unthreaded support under a OS is a special case in which we assume
+ * @brief Single-threaded support under a OS is a special case in which we assume
  * only a single execution context. Other threads scheduling physical actions
  * are not a use-case. ISRs scheduling physical actions are also not a use-case.
  * 
@@ -30,7 +30,7 @@ int lf_enable_interrupts_nested() {
     return 0;
 }
 
-int _lf_unthreaded_notify_of_event() {
+int _lf_single_threaded_notify_of_event() {
     return 0;
 }
 

core/platform/lf_rp2040_support.c

@@ -31,6 +31,10 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  * @author{Abhi Gundrala <[email protected]>}
  */
 
+#if !defined(LF_SINGLE_THREADED)
+#error "Only the single-threaded runtime has support for RP2040"
+#endif
+
 #include "lf_rp2040_support.h"
 #include "platform.h"
 #include "utils/util.h"
@@ -59,7 +63,7 @@ static uint32_t _lf_num_nested_crit_sec = 0;
 
 /**
  * Initialize basic runtime infrastructure and 
- * synchronization structs for an unthreaded runtime.
+ * synchronization structs for an single-threaded runtime.
  */
 void _lf_initialize_clock(void) {
     // init stdio lib
@@ -113,8 +117,8 @@ int lf_sleep(interval_t sleep_duration) {
  * by the argument or return early if the binary 
  * _lf_sem_irq_event semaphore is released before the target time.
  *
- * The semaphore is released using the _lf_unthreaded_notify_of_event
- * which is called by lf_schedule in the unthreaded runtime for physical actions.
+ * The semaphore is released using the _lf_single_threaded_notify_of_event
+ * which is called by lf_schedule in the single_threaded runtime for physical actions.
  *
  * @param  env  pointer to environment struct this runs in.
  * @param  wakeup_time  time in nanoseconds since boot to sleep until.
@@ -145,7 +149,7 @@ int _lf_interruptable_sleep_until_locked(environment_t* env, instant_t wakeup_ti
     return ret_code;
 }
 
-#ifdef LF_UNTHREADED
+#if defined(LF_SINGLE_THREADED)
 /**
  * The single thread RP2040 platform support treats second core
  * routines similar to external interrupt routine threads.
@@ -205,16 +209,13 @@ int lf_enable_interrupts_nested() {
  *
  * @return error code or 0 on success
  */
-int _lf_unthreaded_notify_of_event() {
+int _lf_single_threaded_notify_of_event() {
     // notify main sleep loop of event
     sem_release(&_lf_sem_irq_event);
     return 0;
 }
-#endif //LF_UNTHREADED
+#endif // LF_SINGLE_THREADED
 
-#ifdef LF_THREADED
-#error "Threading for baremetal RP2040 not supported"
-#endif //LF_THREADED
 
 #endif // PLATFORM_RP2040
 

core/platform/lf_windows_support.c

@@ -158,12 +158,12 @@ int lf_nanosleep(interval_t sleep_duration) {
     return lf_sleep(sleep_duration);
 }
 
-#if defined(LF_UNTHREADED)
+#if defined(LF_SINGLE_THREADED)
 #include "lf_os_single_threaded_support.c"
 #endif
 
 
-#if defined(LF_THREADED)
+#if !defined(LF_SINGLE_THREADED)
 int lf_available_cores() {
     SYSTEM_INFO sysinfo;
     GetSystemInfo(&sysinfo);

core/platform/lf_zephyr_clock_counter.c

@@ -210,7 +210,7 @@ int _lf_interruptable_sleep_until_locked(environment_t* env, instant_t wakeup) {
 /**
  * We notify of async events by setting the flag and giving the semaphore.
  */
-int _lf_unthreaded_notify_of_event() {
+int _lf_single_threaded_notify_of_event() {
    async_event = true;
     k_sem_give(&semaphore);
    return 0;

core/platform/lf_zephyr_clock_kernel.c

@@ -94,7 +94,7 @@ int _lf_interruptable_sleep_until_locked(environment_t* env, instant_t wakeup) {
  * Asynchronous events are notified by setting a flag which breaks the sleeping
  * thread out of the busy-wait.
  */
-int _lf_unthreaded_notify_of_event() {
+int _lf_single_threaded_notify_of_event() {
    async_event = true;
    return 0;
 }

core/platform/lf_zephyr_support.c

@@ -74,8 +74,7 @@ int lf_enable_interrupts_nested() {
     return 0;
 }
 
-#if defined(LF_THREADED)
-
+#if !defined(LF_SINGLE_THREADED)
 #if !defined(LF_ZEPHYR_STACK_SIZE)
     #define LF_ZEPHYR_STACK_SIZE LF_ZEPHYR_STACK_SIZE_DEFAULT
 #endif