Fixed GEDF_NP and removal of deprecated schedulers

[erlingrj]

See lf-lang/lingua-franca#2037

[erlingrj]

@edwardalee I propose we merge this and try fixing the GEDF_NP scheduler in a different PR

[edwardalee]

OK, we can merge this AFAIC. Let's also merge this PR in lingua-franca to temporarily disable the automatic selection of GEDF_NP because that scheduler incorrectly executes LF programs, as reported in this issue.

[edwardalee]

Wow, if this is really it, that would be amazing. Unfortunately, with lingua-franca master, using this branch, my test case does not compile:

[100%] Linking C executable federate__a
ld: Undefined symbols:
  _lf_sched_done_with_reaction, referenced from:
      __lf_worker_do_work in libcore.a[11](reactor_threaded.c.o)
  _lf_sched_free, referenced from:
      _environment_free in libcore.a[7](environment.c.o)
  _lf_sched_get_ready_reaction, referenced from:
      __lf_worker_do_work in libcore.a[11](reactor_threaded.c.o)
      __lf_worker_do_work in libcore.a[11](reactor_threaded.c.o)
  _lf_sched_init, referenced from:
      __lf_initialize_trigger_objects in federate__a.c.o
      _lf_reactor_c_main in libcore.a[11](reactor_threaded.c.o)
  _lf_scheduler_trigger_reaction, referenced from:
      _enqueue_port_absent_reactions in libcore.a[9](federate.c.o)
      __lf_trigger_reaction in libcore.a[11](reactor_threaded.c.o)
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [federate__a] Error 1
make[1]: *** [CMakeFiles/federate__a.dir/all] Error 2
make: *** [all] Error 2

The test case is this:

/**
 * This program illustrates how relaxing consistency improves availability, as predicted by the CAL
 * Theorem reported in the following paper:
 *
 * Edward A. Lee, Ravi Akella, Soroush Bateni, Shaokai Lin, Marten Lohstroh, Christian Menard.
 * "Consistency vs. Availability in Distributed Cyber-Physical Systems". ACM Transactions on
 * Embedded Computing Systems (TECS), September 2023. https://dl.acm.org/doi/10.1145/3609119
 *
 * This program has two `Sense` sources of events, `s1` and `s2` with identical periods of 1s.
 * The `s1` output is processed by the `Process` reactor, which takes at least 35ms to
 * process the data (emulated by sleeping). As a consequence of this processing latency, were it not
 * for the 200ms `after` delay, the 30ms deadline of the `Actuate` reactor would be violated every
 * time. The deadline is on the second reaction, which cannot be invoked before the first reaction
 * when both reactions are enabled.
 *
 * The deadline is an availability requirement, the `after` delay is a tolerance for inconsistency,
 * and the 35ms processing time is a latency (The C A L in CAL). As long as the actual latency is not greater than the
 * 200ms tolerance for inconsistency plus the 30ms tolerance for unavailability, then availability
 * requirement will be met.
 *
 * Removing or reducing the after delay strengthens consistency but causes deadline violations.
 *
 * This program uses centralized coordination, so if the processing latency plus communication
 * latency exceeds the 200ms tolerance for inconsistency and the 30ms tolerance for unavailability
 * (the deadline), then the coordinator will preserve consistency at the expense of availability.
 * I.e., the deadline will be violated.
 *
 * @author Edward A. Lee
 */
target C {
  timeout: 5s
}

preamble {=
  #include "platform.h"
=}

// Produce a counting sequence starting with 1.
reactor Sense(period: time = 1s) {
  state count: int = 1
  output out: int
  timer t(0, period)

  reaction(t) -> out {=
    lf_set(out, self->count++);
  =}
}

// Pass the input unchanged to the output, but take a long time to do it.
reactor Process {
  input in: int
  output out: int

  reaction(in) -> out {=
    lf_sleep(MSEC(35));
    lf_set(out, in->value);
  =}
}

// Report the inputs.
reactor Actuate {
  input in1: int
  input in2: int

  reaction(in1) {=
    printf(PRINTF_TIME ": Received on in1: %d\n", lf_time_logical_elapsed(), in1->value);
  =}

  reaction(in2) {=
    printf(PRINTF_TIME ": Received on in2: %d\n", lf_time_logical_elapsed(), in2->value);
  =} deadline(30 ms) {=
    printf(PRINTF_TIME ": Received on in2: %d", lf_time_logical_elapsed(), in2->value);
    printf("  *** PANIC! Deadline violated!\n");
  =}
}

federated reactor {
  s1 = new Sense()
  s2 = new Sense()
  c1 = new Process()
  a = new Actuate()
  s1.out -> c1.in
  c1.out -> a.in1 after 200 ms
  s2.out -> a.in2
}

[erlingrj]

You have to check out the lingua-franca branch corresponding to this to get it to compile: do git checkout c-remove-deprecated-schedulers && git submodule update

The test runs fine on my end