Add maxwait, start time coordination and system events

[erlingrj]

This PR took on a lot of weight unfortunately and now contains three major features:

1. The maxwait property.
   This PR adds a maxwait property for each reaction with an optional STP violation handler. This includes changes the the code-generator and the grammar. In particular we must find the maximum maxwait associated with any reaction triggered by an input. We also add an intended_tag field to events so that we can detect the STP violations.

2. Startup coordination.
   We also add a StartupCoordinator which each federate will have one of. It does a blocking gossip algorithm at boot negotiating the startup tag of the federation.

3. SystemEvents
   Finally, this PR adds the notion of system events and a system event queue. Still this is not used, but I will use it for implementing the ClockSync algorithm. The idea is that any received coordination message will be put on the SystemEventQueue so that we can do blocking IO in response to received messages.

[github-actions]

Benchmark results after merging this PR:

Benchmark results

Performance:

PingPongUc:
Best Time: 166.667 msec
Worst Time: 167.706 msec
Median Time: 166.683 msec

PingPongC:
Best Time: 169.468 msec
Worst Time: 176.789 msec
Median Time: 169.881 msec

ReactionLatencyUc:
Best latency: 31491 nsec
Median latency: 60030 nsec
Worst latency: 105071 nsec

ReactionLatencyC:
Best latency: 57797 nsec
Median latency: 60620 nsec
Worst latency: 86930 nsec

Memory usage:

PingPongUc:
text data bss dec hex filename
40010 760 8072 48842 beca bin/PingPongUc

PingPongC:
text data bss dec hex filename
45826 880 360 47066 b7da bin/PingPongC

ReactionLatencyUc:
text data bss dec hex filename
30002 744 2312 33058 8122 bin/ReactionLatencyUc

ReactionLatencyC:
text data bss dec hex filename
41536 848 360 42744 a6f8 bin/ReactionLatencyC

[github-actions]

Memory usage after merging this PR will be:

Memory Report

action_empty_test_c

	from	to	increase (%)
text	60860	62710	3.04
data	752	752	0.00
bss	11360	12224	7.61
total	72972	75686	3.72

action_microstep_test_c

	from	to	increase (%)
text	61731	63581	3.00
data	760	760	0.00
bss	11424	12288	7.56
total	73915	76629	3.67

action_overwrite_test_c

	from	to	increase (%)
text	61568	63418	3.00
data	752	752	0.00
bss	11424	12288	7.56
total	73744	76458	3.68

action_test_c

	from	to	increase (%)
text	61472	63322	3.01
data	760	760	0.00
bss	11424	12288	7.56
total	73656	76370	3.68

deadline_test_c

	from	to	increase (%)
text	57102	58838	3.04
data	768	768	0.00
bss	10784	11648	8.01
total	68654	71254	3.79

delayed_conn_test_c

	from	to	increase (%)
text	62464	64096	2.61
data	752	752	0.00
bss	10272	13056	27.10
total	73488	77904	6.01

event_payload_pool_test_c

	from	to	increase (%)
text	18331	18331	0.00
data	624	624	0.00
bss	320	320	0.00
total	19275	19275	0.00

event_queue_test_c

	from	to	increase (%)
text	27616	28667	3.81
data	736	728	-1.09
bss	480	480	0.00
total	28832	29875	3.62

nanopb_test_c

	from	to	increase (%)
text	42884	43346	1.08
data	904	1288	42.48
bss	320	320	0.00
total	44108	44954	1.92

port_test_c

	from	to	increase (%)
text	62412	64012	2.56
data	752	752	0.00
bss	10272	12928	25.86
total	73436	77692	5.80

reaction_queue_test_c

	from	to	increase (%)
text	27448	27897	1.64
data	736	728	-1.09
bss	480	480	0.00
total	28664	29105	1.54

request_shutdown_test_c

	from	to	increase (%)
text	61703	63553	3.00
data	752	752	0.00
bss	11424	12288	7.56
total	73879	76593	3.67

startup_test_c

	from	to	increase (%)
text	56801	58436	2.88
data	760	760	0.00
bss	10784	11648	8.01
total	68345	70844	3.66

tcp_channel_test_c

	from	to	increase (%)
text	96880	95159	-1.78
data	1256	1640	30.57
bss	21408	12928	-39.61
total	119544	109727	-8.21

timer_test_c

	from	to	increase (%)
text	56692	58436	3.08
data	752	752	0.00
bss	10784	11648	8.01
total	68228	70836	3.82

[LasseRosenow]

Is the connecting step here the waiting for the network channel to connect?

[LasseRosenow]

A microstep can be negative?

[erlingrj]

No, thanks!

[LasseRosenow]

Looking good so far, nice work! I just wrote some small comments / questions above.
Curious why the RIOT test is still failing though. But I could look into it when I have more free time I guess.

[erlingrj]

Thanks for the review. The segfault caught by RIOT was a mistake by me. Running tests on many different platforms turns out to be an asset as we are more likely to catch memory bugs

[github-actions]

Coverage after merging add-staa into main will be

65.16%

Coverage Report

File	Stmts	Branches	Funcs	Lines	Uncovered Lines
src
action.c	76.42%	65.63%	100%	79.31%	136–137, 24, 42–45, 48, 50–51, 54–57, 63–64, 71–73, 73, 73–76, 82–84, 95–96
builtin_triggers.c	90.91%	70%	100%	96.77%	14, 18, 40, 43
connection.c	77.33%	51.16%	100%	86.73%	10, 104, 11, 110, 123–124, 136–137, 14, 14, 143, 145–146, 148, 16–17, 21–22, 22, 22–23, 25, 27–28, 33, 48, 48, 48–49, 55, 60–62, 97
environment.c	77.17%	53.13%	92.31%	84.15%	111–112, 124–126, 14–15, 20, 24–26, 26, 26–28, 28, 28, 34–35, 44, 48–49, 55–56, 72–73, 77–78
event.c	95.35%	92.86%	100%	96.15%	14–15
federated.c	6.83%	3.33%	10%	8.43%	10, 100, 102, 102, 102–103, 105, 105, 105, 105, 105–106, 106, 106–108, 11, 111, 111, 111–113, 115–116, 119–121, 121, 121–122, 122, 122–124, 126, 129, 13, 130, 132–136, 14, 140–142, 144, 144, 144, 146–149, 15, 150, 153, 153, 153–156, 159, 16, 160, 160, 160–161, 163–164, 167–168, 173–174, 174, 174–175, 177, 179, 179, 179, 18, 18, 18, 180–182, 182, 182, 182, 182, 182–189, 19, 19, 19, 190–191, 191, 191–192, 194, 196–205, 209, 21, 21, 21, 212, 212, 212–214, 218, 22, 221–222, 222, 222, 222–227, 229, 23, 23, 23, 230–231, 233, 239, 24, 240–241, 25, 254–255, 255, 255–256, 256, 256–257, 257, 257–258, 258, 258–259, 259, 259–260, 260, 260–261, 261, 261, 263, 263, 263–264, 264, 264–265, 265, 265–266, 266, 266–267, 267, 267, 269, 29–30, 34–35, 37–40, 42, 44, 44, 44–45, 45, 45–46, 46, 46–47, 47, 47, 50, 52–55, 57, 57, 57–60, 60, 60–61, 63, 65–66, 66, 66–67, 71, 74–75, 75, 75–76, 78–79, 81, 85–86, 88–90, 93, 95–99
logging.c	88.52%	83.33%	100%	89.36%	25, 38–40, 47, 60–61
network_channel.c	69.23%	62.50%	100%	70.59%	42, 42, 42, 47–50, 59
port.c	74.68%	42.86%	100%	91.49%	10, 10, 10, 15, 15, 15–16, 22, 26, 31, 31–33, 33, 33–34, 45, 45, 45–46
queues.c	86.21%	79.03%	100%	88.37%	114–118, 121–122, 139, 144, 150, 29, 29, 33–38, 61–62, 86, 86, 90–95
reaction.c	71.43%	54.55%	100%	80%	15, 17, 21, 28–31, 31, 31–32, 42, 45, 47, 52–53, 53, 53–55, 55, 55–56, 73, 89–91, 91, 91–94, 94, 94–95
reactor.c	69.33%	51.52%	100%	82.28%	10, 101–102, 14–19, 22, 28, 30, 32–37, 37, 37–38, 38, 38, 43, 55, 58–59, 59, 59–60, 60, 60–61, 63, 77–78, 81–82, 82, 82–83, 83, 83–84, 86, 91
serialization.c	37.50%	25%	50%	40%	16–17, 26–27, 33–34, 34, 34–35, 37–38, 41–42, 42, 42–43, 45–46
startup_coordinator.c	0%	0%	0%	0%	100–101, 101, 101, 101, 101–109, 111, 120–123, 123, 123–125, 127, 127, 127–131, 134, 136–139, 147–148, 161–162, 162, 162–164, 169–170, 170, 170–171, 174, 174, 174–176, 179–180, 180, 180–186, 188, 190–192, 195–198, 21, 210, 212, 214, 214, 214, 214, 214, 214–217, 217, 217, 217, 217, 217, 217–219, 221–223, 223, 223–228, 228, 228–229, 229, 229–230, 230, 230, 230, 230, 230, 230, 232, 232, 232, 234, 234, 234–236, 236, 236–238, 24, 240–241, 244, 247–249, 25, 25, 25, 251, 253, 253, 253, 253, 253, 253, 253–262, 262, 262–266, 269, 27, 270–273, 28–29, 29, 29–30, 32, 32, 32, 34, 34, 34–35, 37, 39, 39, 39–40, 45, 45, 45, 47, 50, 54–55, 61–63, 63, 63–65, 69, 71, 71, 71–75, 75, 75, 77, 80–81, 83, 85, 92–93, 93, 93, 93, 93–94, 94, 94
tag.c	40.19%	31.48%	60%	47.92%	14, 14–15, 17, 17–18, 23–24, 24, 24, 24, 24–25, 27, 27, 27, 27, 27–28, 30, 30, 30–31, 33–34, 34, 34–35, 37, 37, 37, 37, 37–38, 40, 40, 40, 40, 40–41, 43, 53–54, 63, 63–64, 83–85, 85, 85, 85, 85, 85, 85, 85, 85, 85, 85–87, 89
timer