Unit testing of thread scheduling API + additional fixes

.github/workflows/unit-tests.yml

@@ -11,7 +11,7 @@ jobs:
   run:
     strategy:
       matrix:
-        platform: [ubuntu-latest, macos-latest, windows-latest]
+        platform: [ubuntu-latest, macos-latest]
     runs-on: ${{ matrix.platform }}
 
     steps:
@@ -24,4 +24,13 @@ jobs:
           cd build
           cmake .. ${{ inputs.cmake-args }}
           cmake --build .
-          make test
+          sudo make test
+      - name: Run RTI unit tests
+        run: |
+          cd core/federated/RTI
+          mkdir build
+          cd build
+          cmake ..
+          cmake --build .
+          ctest
+

.gitignore

@@ -16,3 +16,6 @@ util/tracing/trace_to_csv.o
 util/tracing/trace_to_influxdb
 util/tracing/trace_to_influxdb.o
 util/tracing/trace_util.o
+
+# Generated trace lib
+trace/**/*.a

CMakeLists.txt

@@ -22,10 +22,6 @@ if(DEFINED LF_SINGLE_THREADED)
     add_compile_definitions(LF_SINGLE_THREADED=1)
 endif()
 
-# Warnings as errors
-add_compile_options(-Werror)
-
-set(Test test)
 set(Lib lib)
 set(CoreLibPath core)
 set(CoreLib reactor-c)
@@ -42,7 +38,6 @@ include_directories(${CMAKE_SOURCE_DIR}/include/core/utils)
 include_directories(${CMAKE_SOURCE_DIR}/include/api)
 
 enable_testing()
-add_subdirectory(${Test})
 add_subdirectory(${Lib})
 add_subdirectory(${CoreLibPath})
 

README.md

@@ -41,6 +41,11 @@ To run tests for the multithreaded runtime, provide a nonzero number of workers
 when invoking `cmake`. For example:
 
 - `cmake .. -DNUMBER_OF_WORKERS=2`
+- `cmake --build .`
+- `sudo make test`
+
+Note that one of the tests in the multithreaded test suite requires sudo because
+it changes the scheduling policy and priorities.
 
 To define/undefine other preprocessor definitions such as `LOG_LEVEL`, pass them as
 arguments to `cmake` in the same way as with `NUMBER_OF_WORKERS`, using the same

core/federated/RTI/CMakeLists.txt

@@ -1,58 +1,15 @@
-# This is a cmake build script providing a solution for compiling
-# the RTI in this directory..
-#
-# Usage:
-#
-# To compile with cmake, run the following commands:
-#
-# $> mkdir build && cd build
-# $> cmake ../
-# $> make
-# $> sudo make install
-#
-# This create a binary RTI in the current working directory. Please put this in
-# a directory that is on the path.
-#
-# To enable DEBUG messages, use the following build commands instead:
-#
-# $> mkdir build && cd build
-# $> cmake -DCMAKE_BUILD_TYPE=DEBUG ../
-# $> make
-# $> sudo make install
-#
-# If you would like to go back to non-DEBUG mode, you would have to remove all
-# contents of the `build` folder.
-
-# To enable simple HMAC-based authentication of federates,
-# add `-DAUTH=ON` option to the cmake command as shown below:
-#
-# $> mkdir build && cd build
-# $> cmake -DAUTH=ON ../
-# $> make
-# $> sudo make install
-#
-# If you would like to go back to non-AUTH mode, you would have to remove all
-# contents of the `build` folder.
-
 cmake_minimum_required(VERSION 3.12)
 project(RTI VERSION 1.0.0 LANGUAGES C)
 
 set(CoreLib ../../../core)
 set(LF_ROOT ${CMAKE_CURRENT_LIST_DIR}/../../..)
-
 set(IncludeDir ../../../include/core)
-include_directories(../../../include)
-include_directories(${IncludeDir})
-include_directories(${IncludeDir}/federated)
-include_directories(${IncludeDir}/federated/network)
-include_directories(${IncludeDir}/modal_models)
-include_directories(${IncludeDir}/utils)
-
-
-# Declare a new executable target and list all its sources
-add_executable(
-    RTI
-    main.c
+set(RTI_LIB rti_lib)
+set(RTI_MAIN RTI)
+
+# Add common RTI functionality to a static library. This is done to simplify
+# the building of unit tests.
+add_library(${RTI_LIB} STATIC
     rti_common.c
     rti_remote.c
     ${CoreLib}/tracepoint.c
@@ -64,6 +21,17 @@ add_executable(
     ${CoreLib}/utils/pqueue_tag.c
     ${CoreLib}/utils/pqueue.c
 )
+
+# Add the main target which will link with the library.
+add_executable(${RTI_MAIN} main.c)
+
+target_include_directories(${RTI_LIB} PUBLIC ../../../include)
+target_include_directories(${RTI_LIB} PUBLIC ${IncludeDir})
+target_include_directories(${RTI_LIB} PUBLIC ${IncludeDir}/federated)
+target_include_directories(${RTI_LIB} PUBLIC ${IncludeDir}/federated/network)
+target_include_directories(${RTI_LIB} PUBLIC ${IncludeDir}/modal_models)
+target_include_directories(${RTI_LIB} PUBLIC ${IncludeDir}/utils)
+
 if (NOT DEFINED LOG_LEVEL)
     set(LOG_LEVEL 0)
 ENDIF(NOT DEFINED LOG_LEVEL)
@@ -73,62 +41,79 @@ IF(CMAKE_BUILD_TYPE MATCHES DEBUG)
     message("-- Building RTI with DEBUG messages enabled")
     set(LOG_LEVEL 4)
 ENDIF(CMAKE_BUILD_TYPE MATCHES DEBUG)
-target_compile_definitions(RTI PUBLIC LOG_LEVEL=${LOG_LEVEL})
+target_compile_definitions(${RTI_LIB} PUBLIC LOG_LEVEL=${LOG_LEVEL})
 
 include(${LF_ROOT}/version/api/CMakeLists.txt)
-target_link_libraries(RTI lf::version-api)
+target_link_libraries(${RTI_LIB} PUBLIC lf::version-api)
 
 include(${LF_ROOT}/logging/api/CMakeLists.txt)
-target_link_libraries(RTI lf::logging-api)
+target_link_libraries(${RTI_LIB} PUBLIC lf::logging-api)
 
 include(${LF_ROOT}/tag/api/CMakeLists.txt)
-target_link_libraries(RTI lf::tag-api)
+target_link_libraries(${RTI_LIB} PUBLIC lf::tag-api)
 
 include(${LF_ROOT}/platform/api/CMakeLists.txt)
-target_link_libraries(RTI lf::platform-api)
+target_link_libraries(${RTI_LIB} PUBLIC lf::platform-api)
 
 include(${LF_ROOT}/platform/impl/CMakeLists.txt)
-target_link_libraries(RTI lf::platform-impl)
+target_link_libraries(${RTI_LIB} PUBLIC lf::platform-impl)
 
 include(${LF_ROOT}/trace/api/CMakeLists.txt)
-target_link_libraries(RTI lf::trace-api)
+target_link_libraries(${RTI_LIB} PUBLIC lf::trace-api)
 
 include(${LF_ROOT}/trace/impl/CMakeLists.txt)
-target_link_libraries(RTI lf::trace-impl)
+target_link_libraries(${RTI_LIB} PUBLIC  lf::trace-impl)
 
 include(${LF_ROOT}/low_level_platform/impl/CMakeLists.txt)
-target_link_libraries(RTI lf::low-level-platform-impl)
+target_link_libraries(${RTI_LIB} PUBLIC  lf::low-level-platform-impl)
 
 include(${LF_ROOT}/low_level_platform/api/CMakeLists.txt)
-target_link_libraries(RTI lf::low-level-platform-api)
+target_link_libraries(${RTI_LIB} PUBLIC  lf::low-level-platform-api)
 
 # Set the STANDALONE_RTI flag to include the rti_remote and rti_common.
-target_compile_definitions(RTI PUBLIC STANDALONE_RTI=1)
+target_compile_definitions(${RTI_LIB} PUBLIC STANDALONE_RTI=1)
 
 # Set FEDERATED to get federated compilation support
-target_compile_definitions(RTI PUBLIC FEDERATED=1)
-
-target_compile_definitions(RTI PUBLIC PLATFORM_${CMAKE_SYSTEM_NAME})
+target_compile_definitions(${RTI_LIB} PUBLIC FEDERATED=1)
+target_compile_definitions(${RTI_LIB} PUBLIC PLATFORM_${CMAKE_SYSTEM_NAME})
 
 # Set RTI Tracing
-target_compile_definitions(RTI PUBLIC RTI_TRACE)
+target_compile_definitions(${RTI_LIB} PUBLIC RTI_TRACE)
 
 # Warnings as errors
-target_compile_options(RTI PUBLIC -Werror)
+target_compile_options(${RTI_LIB} PUBLIC -Werror)
+
 # Find threads and link to it
 find_package(Threads REQUIRED)
-target_link_libraries(RTI Threads::Threads)
+target_link_libraries(${RTI_LIB} PUBLIC Threads::Threads)
 
 # Option for enabling federate authentication by RTI.
 option(AUTH "Federate authentication by RTI enabled." OFF)
 IF(AUTH MATCHES ON)
-  add_compile_definitions(__RTI_AUTH__)
+  target_compile_definitions(${RTI_LIB} PUBLIC __RTI_AUTH__)
   # Find OpenSSL and link to it
   find_package(OpenSSL REQUIRED)
-  target_link_libraries(RTI OpenSSL::SSL)
+  target_link_libraries(${RTI_LIB} PUBLIC OpenSSL::SSL)
 ENDIF(AUTH MATCHES ON)
 
+# Link the main target with the library.
+target_link_libraries(${RTI_MAIN} PRIVATE ${RTI_LIB})
+
 install(
     TARGETS RTI
     DESTINATION bin
 )
+
+# Build unit tests
+enable_testing()
+set(TEST_DIR ${CMAKE_CURRENT_SOURCE_DIR}/test)
+set(TEST_SRCS
+    ${TEST_DIR}/rti_common_test.c
+)
+foreach(TEST_SRC ${TEST_SRCS})
+    get_filename_component(TEST_NAME ${TEST_SRC} NAME_WE)
+    add_executable(${TEST_NAME} ${TEST_SRC})
+    add_test(NAME ${TEST_NAME} COMMAND ${TEST_NAME})
+    target_link_libraries(${TEST_NAME} PUBLIC ${RTI_LIB})
+    target_include_directories(${TEST_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+endforeach()

core/federated/RTI/README.md

@@ -8,6 +8,11 @@ make
 sudo make install
 ```
 
+To run the unit tests
+```bash
+make test
+```
+
 **Note:** To enable DEBUG messages, use the following build commands instead:
 
 ```bash
@@ -47,3 +52,4 @@ docker login -u [username]
 ```
 
 To authenticate, request a PAT on [DockerHub](https://hub.docker.com/settings/security).
+

test/RTI/rti_common_test.c → core/federated/RTI/test/rti_common_test.c

@@ -1,4 +1,3 @@
-#if defined STANDALONE_RTI
 #include <stdio.h>
 #include <stdlib.h>
 #include <assert.h>
@@ -246,7 +245,7 @@ static void multiple_nodes() {
   assert(lf_tag_compare(test_rti.scheduling_nodes[3]->min_delays[0].min_delay, (tag_t){NSEC(3), 0}) == 0);
 }
 
-int main(int argc, char** argv) {
+int main() {
   initialize_rti_common(&test_rti);
 
   // Tests for the function update_min_delays_upstream()
@@ -257,4 +256,3 @@ int main(int argc, char** argv) {
   two_nodes_normal_delay();
   multiple_nodes();
 }
-#endif

low_level_platform/api/low_level_platform.h

@@ -162,7 +162,7 @@ typedef struct {
  * @param cpu_number the CPU ID
  * @return 0 on success, platform-specific error number otherwise.
  */
-int lf_thread_set_cpu(lf_thread_t thread, int cpu_number);
+int lf_thread_set_cpu(lf_thread_t thread, size_t cpu_number);
 
 /**
  * @brief Set the priority of a thread.

low_level_platform/impl/src/lf_linux_support.c

@@ -45,9 +45,9 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #else
 #include "lf_POSIX_threads_support.c"
 
-int lf_thread_set_cpu(lf_thread_t thread, int cpu_number) {
-  // First verify that we have num_cores>cpu_number
-  if (lf_available_cores() <= cpu_number) {
+int lf_thread_set_cpu(lf_thread_t thread, size_t cpu_number) {
+  // Sanitize input
+  if (lf_available_cores() <= 0 || cpu_number >= (size_t)lf_available_cores()) {
     return -1;
   }
 
@@ -89,6 +89,7 @@ int lf_thread_set_priority(lf_thread_t thread, int priority) {
 
 int lf_thread_set_scheduling_policy(lf_thread_t thread, lf_scheduling_policy_t* policy) {
   int posix_policy, res;
+  bool set_priority;
   struct sched_param schedparam;
 
   // Get the current scheduling policy
@@ -103,14 +104,18 @@ int lf_thread_set_scheduling_policy(lf_thread_t thread, lf_scheduling_policy_t*
   switch (policy->policy) {
   case LF_SCHED_FAIR:
     posix_policy = SCHED_OTHER;
+    schedparam.sched_priority = 0;
+    set_priority = false;
     break;
   case LF_SCHED_TIMESLICE:
     posix_policy = SCHED_RR;
     schedparam.sched_priority = sched_get_priority_max(SCHED_RR);
+    set_priority = true;
     break;
   case LF_SCHED_PRIORITY:
     posix_policy = SCHED_FIFO;
     schedparam.sched_priority = sched_get_priority_max(SCHED_FIFO);
+    set_priority = true;
     break;
   default:
     return -1;
@@ -123,10 +128,13 @@ int lf_thread_set_scheduling_policy(lf_thread_t thread, lf_scheduling_policy_t*
     return res;
   }
 
-  // Set the priority
-  res = lf_thread_set_priority(thread, policy->priority);
-  if (res != 0)
-    return res;
+  // Set the priority of we chose a RT scheduler
+  if (set_priority) {
+    res = lf_thread_set_priority(thread, policy->priority);
+    if (res != 0) {
+      return res;
+    }
+  }
 
   return 0;
 }

low_level_platform/impl/src/lf_macos_support.c

@@ -42,7 +42,7 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 /**
  * Real-time scheduling API not implemented for macOS.
  */
-int lf_thread_set_cpu(lf_thread_t thread, int cpu_number) { return -1; }
+int lf_thread_set_cpu(lf_thread_t thread, size_t cpu_number) { return -1; }
 
 int lf_thread_set_priority(lf_thread_t thread, int priority) { return -1; }
 

low_level_platform/impl/src/lf_windows_support.c

@@ -190,7 +190,7 @@ int lf_thread_join(lf_thread_t thread, void** thread_return) {
 /**
  * Real-time scheduling API not implemented for Windows.
  */
-int lf_thread_set_cpu(lf_thread_t thread, int cpu_number) { return -1; }
+int lf_thread_set_cpu(lf_thread_t thread, size_t cpu_number) { return -1; }
 
 int lf_thread_set_priority(lf_thread_t thread, int priority) { return -1; }
 

low_level_platform/impl/src/lf_zephyr_support.c

@@ -157,7 +157,7 @@ int lf_thread_id() { return *((int*)k_thread_custom_data_get()); }
 
 lf_thread_t lf_thread_self() { return k_current_get(); }
 
-int lf_thread_set_cpu(lf_thread_t thread, int cpu_number) { return k_thread_cpu_pin(thread, cpu_number); }
+int lf_thread_set_cpu(lf_thread_t thread, size_t cpu_number) { return k_thread_cpu_pin(thread, cpu_number); }
 
 /**
  * Real-time scheduling API