Compatibility with v0.6.0

.github/workflows/ci.yml

@@ -0,0 +1,51 @@
+name: 'CI'
+on:
+  pull_request:
+  push:
+    branches:
+      - main
+
+jobs:
+  find-latest-release:
+    uses: lf-lang/lingua-franca/.github/workflows/latest-release.yml@master
+
+  check-compile:
+    runs-on: ubuntu-latest
+    needs: find-latest-release
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+      - name: Set up Java 17
+        run: |
+          echo "$JAVA_HOME_17_X64/bin" >> $GITHUB_PATH
+          echo "JAVA_HOME=$JAVA_HOME_17_X64" >> $GITHUB_ENV
+        shell: bash
+      - name: Install dev dependencies
+        run: |
+          sudo apt update
+          sudo apt install cmake make gcc gcc-arm-none-eabi libnewlib-arm-none-eabi
+      - uses: lf-lang/action-check-lf-files@main
+        with:
+          check_mode: "compile"
+          no_compile_flag: false
+          exclude_dirs: '["failing", "experimental"]'
+          checkout_dir: '../lingua-franca'
+          compiler_ref: ${{ needs.find-latest-release.outputs.ref }}
+
+  check-format:
+    runs-on: ubuntu-latest
+    needs: find-latest-release
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Java 17
+        run: |
+          echo "$JAVA_HOME_17_X64/bin" >> $GITHUB_PATH
+          echo "JAVA_HOME=$JAVA_HOME_17_X64" >> $GITHUB_ENV
+        shell: bash
+      - uses: lf-lang/action-check-lf-files@main
+        with:
+          check_mode: "format"
+          exclude_dirs: '["failing", "experimental"]'
+          checkout_dir: '../lingua-franca'
+          compiler_ref: ${{ needs.find-latest-release.outputs.ref }}

src/AccelerometerDisplay.lf

@@ -1,50 +1,50 @@
 /**
  * Display three dimensions of accelerometer measurements on the LCD display of the
- * <a href="https://www.pololu.com/docs/0J86">Pololu 3pi+ 2040 robot</a>.
- * To run this program, first put the robot in BOOTSEL mode (hold button B while
- * resetting). Then the sequence of commands is something like this:
- *
+ * <a href="https://www.pololu.com/docs/0J86">Pololu 3pi+ 2040 robot</a>. To run this program, first
+ * put the robot in BOOTSEL mode (hold button B while resetting). Then the sequence of commands is
+ * something like this:
  * ```
  *     $ cd ~/lf-pico
  *     $ lfc src/AccelerometerDisplay.lf
  *     ...
  *     $ picotool load -x bin/AccelerometerDisplay.elf
  * ```
+
  *
- * This compiles the program, loads it into flash memory on the robot, and begins
- * executing it.
+ * This compiles the program, loads it into flash memory on the robot, and begins executing it.
  *
  * @author Edward A. Lee
  */
- target C {
-    platform: "RP2040",
-    threading: false,
+target C {
+  platform: "RP2040",
+  single-threaded: true
 }
 
 import Accelerometer from "lib/IMU.lf"
 import Display from "lib/Display.lf"
 
 main reactor {
-    a = new Accelerometer()
-    d = new Display()
-    timer t(0, 250 msec)
-    reaction(t) -> a.trigger {=
-        lf_set(a.trigger, true);
-    =}
+  a = new Accelerometer()
+  d = new Display()
+  timer t(0, 250 msec)
+
+  reaction(t) -> a.trigger {=
+    lf_set(a.trigger, true);
+  =}
 
-    reaction(a.x, a.y, a.z) -> d.line0, d.line1, d.line2 {=
-        /// TODO: define max string size for line
-        /// based on font you can have 4 or 8 lines 
-        static char buf0[17];
-        static char buf1[17];
-        static char buf2[17];
+  reaction(a.x, a.y, a.z) -> d.line0, d.line1, d.line2 {=
+    /// TODO: define max string size for line
+    /// based on font you can have 4 or 8 lines
+    static char buf0[17];
+    static char buf1[17];
+    static char buf2[17];
 
-        snprintf(buf0, 17, "x:%2.4f", a.x->value);
-        snprintf(buf1, 17, "y:%2.4f", a.y->value);
-        snprintf(buf2, 17, "z:%2.4f", a.z->value);
-        
-        lf_set(d.line0, buf0);
-        lf_set(d.line1, buf1);
-        lf_set(d.line2, buf2);
-    =}
-}
+    snprintf(buf0, 17, "x:%2.4f", a.x->value);
+    snprintf(buf1, 17, "y:%2.4f", a.y->value);
+    snprintf(buf2, 17, "z:%2.4f", a.z->value);
+
+    lf_set(d.line0, buf0);
+    lf_set(d.line1, buf1);
+    lf_set(d.line2, buf2);
+  =}
+}

src/Blink.lf

@@ -9,7 +9,7 @@ target C {
     name: "rp2040",
     board: "pololu_3pi_2040_robot"
   },
-  threading: false,
+  single-threaded: true
 }
 
 preamble {=
@@ -19,13 +19,14 @@ preamble {=
 =}
 
 main reactor {
-  timer t(0, 250 ms);
-  state led_on:bool = false;
+  timer t(0, 250 ms)
+  state led_on: bool = false
 
   reaction(startup) {=
     gpio_init(PICO_DEFAULT_LED_PIN);
     gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
   =}
+
   reaction(t) {=
     self->led_on = !self->led_on;
     printf("LED State: %b\n", self->led_on);

src/BumpDisplay.lf

@@ -1,7 +1,6 @@
 /**
  * Display messages when the bump sensors on the
- * <a href="https://www.pololu.com/docs/0J86">Pololu 3pi+ 2040 robot</a>
- * are triggered.
+ * <a href="https://www.pololu.com/docs/0J86">Pololu 3pi+ 2040 robot</a> are triggered.
  * @author Abhi Gundrala
  * @author Edward A. Lee
  */
@@ -10,26 +9,29 @@ target C {
     name: "rp2040",
     board: "pololu_3pi_2040_robot"
   },
-  threading: false,
+  single-threaded: true
 }
 
 import Bump from "lib/Bump.lf"
 import Display from "lib/Display.lf"
 
 main reactor {
-    bump = new Bump();
-    disp = new Display();
-    logical action clear; 
-    reaction(bump.left) -> disp.line0, clear {=
-        lf_set(disp.line0, "Left Bumped!");
-        lf_schedule(clear, SEC(2));
-    =}
-    reaction(bump.right) -> disp.line1, clear {=
-        lf_set(disp.line1, "Right Bumped!");
-        lf_schedule(clear, SEC(2));
-    =}
-    reaction(clear) -> disp.line0, disp.line1 {=
-        lf_set(disp.line0, "");
-        lf_set(disp.line1, "");
-    =}
+  bump = new Bump()
+  disp = new Display()
+  logical action clear
+
+  reaction(bump.left) -> disp.line0, clear {=
+    lf_set(disp.line0, "Left Bumped!");
+    lf_schedule(clear, SEC(2));
+  =}
+
+  reaction(bump.right) -> disp.line1, clear {=
+    lf_set(disp.line1, "Right Bumped!");
+    lf_schedule(clear, SEC(2));
+  =}
+
+  reaction(clear) -> disp.line0, disp.line1 {=
+    lf_set(disp.line0, "");
+    lf_set(disp.line1, "");
+  =}
 }

src/EncoderDisplay.lf

@@ -9,7 +9,7 @@ target C {
     name: "rp2040",
     board: "pololu_3pi_2040_robot"
   },
-  threading: false,
+  single-threaded: true
 }
 
 import Display from "lib/Display.lf"
@@ -19,7 +19,7 @@ main reactor {
   display = new Display()
   encoder = new Encoders()
 
-  timer t(0, 1s)
+  timer t(0, 1 s)
 
   reaction(t) -> encoder.trigger {=
     lf_set(encoder.trigger, true);
@@ -34,10 +34,10 @@ main reactor {
     snprintf(buf, 17, "L: %d", encoder.left->value);
     lf_set(display.line1, buf);
   =}
-  
+
   reaction(encoder.right) -> display.line2 {=
     static char buf[17];
     snprintf(buf, 17, "R: %d", encoder.right->value);
-    lf_set(display.line2, buf); 
+    lf_set(display.line2, buf);
   =}
-}
+}

src/GyroAngleDisplay.lf

@@ -1,9 +1,9 @@
 /**
  * Display measurements from the gyroscope on the
- * <a href="https://www.pololu.com/docs/0J86">Pololu 3pi+ 2040 robot</a>
- * with integration so the result is in degrees since reset.
- * The gyroscope is provided by an
- * <a href="https://www.pololu.com/file/0J1899/lsm6dso.pdf">ST LMS6DSO inertial measurement unit</a>.
+ * <a href="https://www.pololu.com/docs/0J86">Pololu 3pi+ 2040 robot</a> with integration so the
+ * result is in degrees since reset. The gyroscope is provided by an
+ * <a href="https://www.pololu.com/file/0J1899/lsm6dso.pdf">ST LMS6DSO inertial measurement
+ * unit</a>.
  * @author Abhi Gundrala
  * @author Edward A. Lee
  */
@@ -12,7 +12,7 @@ target C {
     name: "rp2040",
     board: "pololu_3pi_2040_robot"
   },
-  threading: false,
+  single-threaded: true
 }
 
 import Display from "lib/Display.lf"
@@ -22,7 +22,7 @@ main reactor {
   display = new Display()
   gyro = new GyroAngle()
 
-  timer t(0, 100ms)
+  timer t(0, 100 ms)
 
   reaction(t) -> gyro.trigger {=
     lf_set(gyro.trigger, true);
@@ -49,4 +49,4 @@ main reactor {
     snprintf(buf, 17, "z: %.1f", gyro.z->value);
     lf_set(display.line3, buf);
   =}
-}
+}

src/GyroDisplay.lf

@@ -1,9 +1,9 @@
 /**
  * Display measurements from the gyroscope on the
- * <a href="https://www.pololu.com/docs/0J86">Pololu 3pi+ 2040 robot</a>.
- * The gyroscope is provided by an
- * <a href="https://www.pololu.com/file/0J1899/lsm6dso.pdf">ST LMS6DSO inertial measurement unit</a>.
- * The display shows angular velocity in degrees per second.
+ * <a href="https://www.pololu.com/docs/0J86">Pololu 3pi+ 2040 robot</a>. The gyroscope is provided
+ * by an
+ * <a href="https://www.pololu.com/file/0J1899/lsm6dso.pdf">ST LMS6DSO inertial measurement
+ * unit</a>. The display shows angular velocity in degrees per second.
  * @author Abhi Gundrala
  * @author Edward A. Lee
  */
@@ -12,7 +12,7 @@ target C {
     name: "rp2040",
     board: "pololu_3pi_2040_robot"
   },
-  threading: false,
+  single-threaded: true
 }
 
 import Display from "lib/Display.lf"
@@ -22,7 +22,7 @@ main reactor {
   display = new Display()
   gyro = new Gyro()
 
-  timer t(0, 100ms)
+  timer t(0, 100 ms)
 
   reaction(t) -> gyro.trigger {=
     lf_set(gyro.trigger, true);
@@ -49,4 +49,4 @@ main reactor {
     snprintf(buf, 17, "z: %.1f", gyro.z->value);
     lf_set(display.line3, buf);
   =}
-}
+}