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reactor-uc

reactor-uc is a task scheduling runtime implementing the reactor model-of-computation target at embedded and resource-constrained systems.

Getting started

NB: reactor-uc is still work-in-progress and sevearal reactor features are not supported yet. Moreover, the runtime has not been thoroughly tested so if you find any bugs or issues, please report them.

Initialize submodules

git submodule update --init

Setup the environment

source env.bash # or env.zsh or env.fish

Compile and run unit tests:

make test

Examples

Linux/POSIX

cd examples/posix
./buildAll.sh
hello/build/app

Zephyr

Compile and run a simple test on Zephyr. This requires a correctly configured Zehyr environment, with West installed in a Python virtual environment which is activated. Inspect .github/actions/zephyr/action.yml for an example of how to setup your Zephyr workspace.

First a simple HelloWorld on the native_posix target:

cd examples/zephyr/hello
west build -b native_posix -p always -t run

Then a simple blinky targeting NXP FRDM K64F. This will run with most boards supporting Zephyr that has a user LED.

cd examples/zephyr/blinky
west build -b frdm_k64f -p always
west flash

RIOT

Compile and run a simple blinky example on RIOT. This requires a correctly configured RIOT environment. Make sure that the environment variable RIOTBASE points to a RIOT codebase.

cd examples/riot/blinky
make BOARD=native all term

Pico

Download pico-sdk and define PICO_SDK_PATH as an environmental variable.

cd examples/pico
cmake -Bbuild
cd build
make

Lingua Franca

Reactor-uc includes a limited version of the Lingua Franca Compiler (lfc) found in ~/lfc. In the future, the reactor-uc specific code-generation will be merged back upstream. By sourcing env.bash, env.fish or env.zsh the Lingua Franca Compiler will be aliased by lfcg.

lfcg test/lf/src/HelloUc.lf

Since the target platform is set to Native,lfc will generate a main function and invoke CMake directly on the generated sources. Run the program with:

test/lf/bin/HelloUc

Project templates

To start using reactor-uc in a project we recommend using one of our project templates:

References

reactor-uc draws inspiration from the following existing open-source projects:

Troubleshooting

Formatting

We are using clang-format version 18.1.3 which is default with Ubuntu 24.04 for formatting in CI.

LFC

If you get the following CMake error when calling lfc/bin/lfc-dev

CMake Error at CMakeLists.txt:7 (message):
  Environment variable REACTOR_UC_PATH is not set.  Please source the
  env.bash in reactor-uc.

Please source env.bash, env.fish or env.zsh to get the REACTOR_UC_PATH environment variable defined.