Zephyr federated support

core/federated/clock-sync.c

@@ -31,12 +31,15 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
 #ifdef FEDERATED
+#ifdef PLATFORM_ZEPHYR
+#else
+#include <sys/socket.h>
+#include <netinet/in.h>
+#endif
 #include <errno.h>
 #include <math.h>
 #include <string.h>
 #include <stdlib.h>
-#include <sys/socket.h>
-#include <netinet/in.h>
 
 #include "platform.h"
 #include "clock-sync.h"

core/federated/federate.c

@@ -33,6 +33,8 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifdef FEDERATED
 #ifdef PLATFORM_ARDUINO
 #error To be implemented. No support for federation on Arduino yet.
+#elif PLATFORM_ZEPHYR
+#warning Federated support on Zephyr is still experimental.
 #else
 #include <arpa/inet.h>  // inet_ntop & inet_pton
 #include <netdb.h>      // Defines getaddrinfo(), freeaddrinfo() and struct addrinfo.
@@ -2439,6 +2441,7 @@ void terminate_execution(environment_t* env) {
     // possibility of deadlock. To ensure this, this
     // function should NEVER be called while holding any mutex lock.
     lf_mutex_lock(&outbound_socket_mutex);
+    // FIXME: Should this be _fed.number_of_outbound_p2p_connections instead?
     for (int i=0; i < NUMBER_OF_FEDERATES; i++) {
         // Close outbound connections, in case they have not closed themselves.
         // This will result in EOF being sent to the remote federate, I think.

core/platform/lf_zephyr_support.c

@@ -300,7 +300,7 @@ int _lf_unthreaded_notify_of_event() {
 #warning "Threaded support on Zephyr is still experimental."
 
 // FIXME: What is an appropriate stack size?
-#define _LF_STACK_SIZE 1024
+#define _LF_STACK_SIZE 4096
 // FIXME: What is an appropriate thread prio?
 #define _LF_THREAD_PRIORITY 5
 
@@ -315,7 +315,38 @@ int _lf_unthreaded_notify_of_event() {
 #define USER_THREADS 0
 #endif
 
+#if defined(FEDERATED) && defined(FEDERATED_DECENTRALIZED)
+#define RTI_SOCKET_LISTENER_THREAD 1
+#define FEDERATE_SOCKET_LISTENER_THREADS NUMBER_OF_FEDERATES
+#define P2P_HANDLER_THREAD 1
+
+#elif defined(FEDERATED) && defined(FEDERATED_CENTRALIZED)
+#define RTI_SOCKET_LISTENER_THREAD 1
+#define FEDERATE_SOCKET_LISTENER_THREADS 0
+#define P2P_HANDLER_THREAD 0
+
+#else 
+#define RTI_SOCKET_LISTENER_THREAD 0
+#define FEDERATE_SOCKET_LISTENER_THREADS 0
+#define P2P_HANDLER_THREAD 0
+#endif
+
+#if defined(FEDERATED) && defined(_LF_CLOCK_SYNC_ON)
+#define CLOCK_SYNC_THREAD 1
+#else
+#define CLOCK_SYNC_THREAD 0
+#endif
+
+#ifndef WORKERS_NEEDED_FOR_FEDERATE
+#define WORKERS_NEEDED_FOR_FEDERATE 0
+#endif
+
 #define NUMBER_OF_THREADS (NUMBER_OF_WORKERS \
+                           + WORKERS_NEEDED_FOR_FEDERATE \
+                           + RTI_SOCKET_LISTENER_THREAD \
+                           + FEDERATE_SOCKET_LISTENER_THREADS \
+                           + P2P_HANDLER_THREAD \
+                           + CLOCK_SYNC_THREAD \
                            + USER_THREADS)
 
 K_MUTEX_DEFINE(thread_mutex);

include/core/federated/net_util.h

@@ -40,12 +40,14 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #ifdef PLATFORM_ARDUINO
 #error To be implemented. No support for federation on Arduino yet.
+#elif PLATFORM_ZEPHYR
+#warning Federated support on Zephyr is still experimental.
 #else
 #include <sys/socket.h>
-#include <regex.h>
 #endif
 
 #include <sys/types.h>
+#include <regex.h>
 #include <stdbool.h>
 
 #include "../platform.h"
@@ -364,12 +366,14 @@ bool validate_user(const char* user);
 bool extract_match_group(const char* rti_addr, char* dest, regmatch_t group,
 		int max_len, int min_len, const char* err_msg);
 
+
 /**
  * Extract match groups from the rti_addr regex.
  * @return true if success, else false.
  */
 bool extract_match_groups(const char* rti_addr, char** rti_addr_strs, bool** rti_addr_flags, regmatch_t* group_array, int* gids, int* max_lens, int* min_lens, const char** err_msgs);
 
+
 /**
  * Extract the host, port and user from rti_addr.
  */

include/core/platform/lf_zephyr_support.h

@@ -39,6 +39,8 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <stdlib.h> //malloc, calloc, free, realloc
 
 #include <zephyr/kernel.h>
+#include <zephyr/posix/sys/socket.h>
+#include <zephyr/posix/netdb.h>
 
 #define NO_TTY
 #ifdef LF_THREADED