Compile Flags#

The uLF runtime provides compile-time flags to configure platform selection, feature enabling, logging, memory allocation, and networking. These flags are set via CMake options or compiler definitions.

Platform Selection#

Select the target platform via CMake:

cmake -DPLATFORM=<platform> ..

Value	Description
`POSIX`	Linux/macOS (default)
`ZEPHYR`	Zephyr RTOS
`RIOT`	RIOT OS
`PICO`	Raspberry Pi Pico (RP2040/RP2350)
`FREERTOS`	FreeRTOS
`ESP_IDF`	ESP-IDF framework
`PATMOS`	Patmos processor
`FLEXPRET`	FlexPRET processor

This sets the PLATFORM_<NAME> compile definition (e.g., PLATFORM_POSIX).

Federation#

Enable federated execution and network channels:

cmake -DFEDERATED=ON -DNETWORK_CHANNEL_TCP_POSIX=ON ..

Flag	Default	Description
`FEDERATED`	`OFF`	Enable federated execution support
`NETWORK_CHANNEL_TCP_POSIX`	`OFF`	Enable TCP/IP network channel

Logging#

Log Levels#

Level	Value	Description
`LF_LOG_LEVEL_OFF`	0	Logging disabled
`LF_LOG_LEVEL_ERROR`	1	Errors only
`LF_LOG_LEVEL_WARN`	2	Warnings and errors
`LF_LOG_LEVEL_INFO`	3	Info, warnings, errors
`LF_LOG_LEVEL_LOG`	4	All log messages
`LF_LOG_LEVEL_DEBUG`	5	Debug messages

Global Configuration#

# Set global log level
target_compile_definitions(reactor-uc PUBLIC LF_LOG_LEVEL_ALL=LF_LOG_LEVEL_DEBUG)

# Disable all logging
target_compile_definitions(reactor-uc PUBLIC LF_LOG_DISABLE)

# Disable colored output
target_compile_definitions(reactor-uc PUBLIC LF_COLORIZE_LOGS=0)

# Disable timestamps
target_compile_definitions(reactor-uc PUBLIC LF_TIMESTAMP_LOGS=0)

Per-Module Configuration#

Override log level for specific modules:

Flag	Module
`LF_LOG_LEVEL_ENV`	Environment
`LF_LOG_LEVEL_SCHED`	Scheduler
`LF_LOG_LEVEL_QUEUE`	Event/reaction queues
`LF_LOG_LEVEL_FED`	Federated execution
`LF_LOG_LEVEL_TRIG`	Triggers
`LF_LOG_LEVEL_PLATFORM`	Platform layer
`LF_LOG_LEVEL_CONN`	Connections
`LF_LOG_LEVEL_NET`	Network channels
`LF_LOG_LEVEL_CLOCK_SYNC`	Clock synchronization

Example:

target_compile_definitions(reactor-uc PUBLIC
  LF_LOG_LEVEL_ALL=LF_LOG_LEVEL_WARN
  LF_LOG_LEVEL_NET=LF_LOG_LEVEL_DEBUG
)

Memory Configuration#

Buffer Sizes#

Flag	Default	Description
`SERIALIZATION_MAX_PAYLOAD_SIZE`	832	Max federated message payload (bytes)
`MEM_ALIGNMENT`	32	Memory alignment for structs (bytes)
`REACTOR_NAME_MAX_LEN`	128	Maximum reactor name length

Network Channel Buffers#

Flag	Default	Platform
`TCP_IP_CHANNEL_BUFFERSIZE`	1024	POSIX
`TCP_IP_CHANNEL_NUM_RETRIES`	255	POSIX
`UART_CHANNEL_BUFFERSIZE`	1024	Pico, RIOT
`COAP_UDP_IP_CHANNEL_BUFFERSIZE`	1024	RIOT
`S4NOC_CHANNEL_BUFFERSIZE`	1024	Patmos
`S4NOC_CORE_COUNT`	4	Patmos

Clock Synchronization#

Flag	Default	Description
`CLOCK_SYNC_DEFAULT_PERIOD`	`SEC(1)`	Sync message period
`CLOCK_SYNC_DEFAULT_KP`	0.7	Proportional gain
`CLOCK_SYNC_DEFAULT_KI`	0.3	Integral gain
`CLOCK_SYNC_DEFAULT_MAX_ADJ`	200000000	Max adjustment (ppb)
`CLOCK_SYNC_INITAL_STEP_THRESHOLD`	`MSEC(100)`	Initial step threshold

Network Timing#

Flag	Default	Description
`TCP_IP_CHANNEL_EXPECTED_CONNECT_DURATION`	`MSEC(10)`	TCP connection time
`TCP_IP_CHANNEL_WORKER_THREAD_MAIN_LOOP_SLEEP`	`MSEC(100)`	Worker thread sleep
`UART_CHANNEL_EXPECTED_CONNECT_DURATION`	`MSEC(0)`	UART connection time
`COAP_UDP_IP_CHANNEL_EXPECTED_CONNECT_DURATION`	`MSEC(10)`	CoAP connection time

Testing and Debugging#

CMake options for development:

cmake -DBUILD_TESTS=ON -DASAN=ON ..

Flag	Default	Description
`BUILD_TESTS`	`OFF`	Build all tests
`BUILD_UNIT_TESTS`	`OFF`	Build unit tests only
`BUILD_LF_TESTS`	`OFF`	Build LF integration tests
`ASAN`	`OFF`	Enable AddressSanitizer

Time Unit Macros#

Convenience macros for expressing time intervals (defined in tag.h):

Macro	Converts to Nanoseconds
`NSEC(t)`	t × 1
`USEC(t)`	t × 1,000
`MSEC(t)`	t × 1,000,000
`SEC(t)`	t × 1,000,000,000
`MINS(t)`	t × 60,000,000,000
`FOREVER`	Maximum value

Example Configuration#

# CMakeLists.txt for a federated Zephyr project
cmake_minimum_required(VERSION 3.20)

find_package(Zephyr REQUIRED)
project(my_reactor_app)

# uLF runtime configuration
set(PLATFORM "ZEPHYR")
set(FEDERATED ON)
set(NETWORK_CHANNEL_TCP_POSIX ON)

add_subdirectory(${REACTOR_UC_PATH} reactor-uc)

target_compile_definitions(app PRIVATE
  LF_LOG_LEVEL_ALL=LF_LOG_LEVEL_WARN
  LF_LOG_LEVEL_FED=LF_LOG_LEVEL_DEBUG
  SERIALIZATION_MAX_PAYLOAD_SIZE=2048
)

target_link_libraries(app PRIVATE reactor-uc)