From 2efd9e11624c1ca6810b7e30fb1e6cd0a88a0e51 Mon Sep 17 00:00:00 2001
From: "Edward A. Lee" <eal@berkeley.edu>
Date: Sun, 12 Jan 2025 15:28:39 -0800
Subject: [PATCH] Added zero-delay cycles examples from paper

---
 .../C/src/zero-delay-cycles/CausalityLoop.lf  | 37 +++++++++++
 .../C/src/zero-delay-cycles/Consistency.lf    | 42 +++++++++++++
 examples/C/src/zero-delay-cycles/Feedback.lf  | 63 +++++++++++++++++++
 .../C/src/zero-delay-cycles/ZeroDelayCycle.lf | 33 ++++++++++
 4 files changed, 175 insertions(+)
 create mode 100644 examples/C/src/zero-delay-cycles/CausalityLoop.lf
 create mode 100644 examples/C/src/zero-delay-cycles/Consistency.lf
 create mode 100644 examples/C/src/zero-delay-cycles/Feedback.lf
 create mode 100644 examples/C/src/zero-delay-cycles/ZeroDelayCycle.lf

diff --git a/examples/C/src/zero-delay-cycles/CausalityLoop.lf b/examples/C/src/zero-delay-cycles/CausalityLoop.lf
new file mode 100644
index 00000000..42f28a77
--- /dev/null
+++ b/examples/C/src/zero-delay-cycles/CausalityLoop.lf
@@ -0,0 +1,37 @@
+/** This test has two coupled cycles. In this variant, both are a zero-delay cycles (ZDC). */
+target C {
+  timeout: 1 sec,
+  tracing: true
+}
+
+import PhysicalPlant, Planner from "Feedback.lf"
+
+reactor Controller {
+  input sensor: double
+  output control: double
+
+  state plan: double = 0.0
+
+  output request_for_planning: double
+  input planning: double
+
+  reaction a1(planning) {=
+    self->plan = planning->value;
+  =}
+
+  reaction a2(sensor) -> request_for_planning, control {=
+    lf_set(request_for_planning, sensor->value);
+    lf_set(control, self->plan);
+  =}
+}
+
+federated reactor {
+  p = new PhysicalPlant()
+  c = new Controller()
+  pl = new Planner()
+
+  p.sensor -> c.sensor
+  c.request_for_planning -> pl.request
+  pl.response -> c.planning
+  c.control -> p.control
+}
diff --git a/examples/C/src/zero-delay-cycles/Consistency.lf b/examples/C/src/zero-delay-cycles/Consistency.lf
new file mode 100644
index 00000000..7f115f8c
--- /dev/null
+++ b/examples/C/src/zero-delay-cycles/Consistency.lf
@@ -0,0 +1,42 @@
+/** This test has two coupled cycles. In this variant, both are a zero-delay cycles (ZDC). */
+target C {
+  timeout: 1 sec,
+  tracing: true
+}
+
+import PhysicalPlant from "Feedback.lf"
+
+reactor Controller {
+  input remote_update: double
+  input local_update: double
+  output control: double
+
+  state latest_control: double = 0.0
+  state first: bool = true
+
+  reaction c1(local_update, remote_update) {=
+  =}
+
+  reaction c2(local_update) -> control {=
+  =}
+}
+
+reactor Platform {
+  input update: double
+  output publish: double
+  
+  c = new Controller()
+  p = new PhysicalPlant()
+  p.sensor -> c.local_update
+  p.sensor -> publish
+  update -> c.remote_update
+  c.control -> p.control
+}
+
+federated reactor {
+  p1 = new Platform()
+  p2 = new Platform()
+  
+  p1.publish -> p2.update
+  p2.publish -> p1.update
+}
diff --git a/examples/C/src/zero-delay-cycles/Feedback.lf b/examples/C/src/zero-delay-cycles/Feedback.lf
new file mode 100644
index 00000000..fba20610
--- /dev/null
+++ b/examples/C/src/zero-delay-cycles/Feedback.lf
@@ -0,0 +1,63 @@
+/** This test has two coupled cycles. In this variant, both are a zero-delay cycles (ZDC). */
+target C {
+  timeout: 1 sec,
+  tracing: true
+}
+
+reactor PhysicalPlant {
+  input control: double
+  output sensor: double
+  timer t(0, 100 ms)
+
+  reaction p1(t) -> sensor {=
+    lf_set(sensor, 42);
+  =}
+
+  reaction p2(control) {=
+    lf_print("At logical time: " PRINTF_TIME ", received control input %f with lag " PRINTF_TIME,
+        lf_time_logical_elapsed(), control->value, lf_time_physical() - lf_time_logical());
+  =}
+}
+
+reactor Planner {
+  input request: double
+  output response: double
+
+  reaction pl1(request) -> response {=
+    lf_sleep(MSEC(10));
+    lf_set(response, request->value);
+  =}
+}
+
+reactor Controller {
+  input sensor: double
+  output control: double
+
+  state plan: double = 0.0
+
+  output request_for_planning: double
+  input planning: double
+
+  reaction c1(sensor) -> request_for_planning {=
+    lf_set(request_for_planning, sensor->value);
+  =}
+
+  reaction c2(planning) {=
+    self->plan = planning->value;
+  =}
+
+  reaction c3(sensor) -> control {=
+    lf_set(control, self->plan);
+  =}
+}
+
+federated reactor {
+  p = new PhysicalPlant()
+  c = new Controller()
+  pl = new Planner()
+
+  p.sensor -> c.sensor
+  c.request_for_planning -> pl.request
+  pl.response -> c.planning
+  c.control -> p.control
+}
diff --git a/examples/C/src/zero-delay-cycles/ZeroDelayCycle.lf b/examples/C/src/zero-delay-cycles/ZeroDelayCycle.lf
new file mode 100644
index 00000000..08230aba
--- /dev/null
+++ b/examples/C/src/zero-delay-cycles/ZeroDelayCycle.lf
@@ -0,0 +1,33 @@
+target C
+
+reactor A (Period:time = 1 msec) {
+  input in:int
+  output out:int
+
+  timer t(0, Period)
+
+  reaction(t) -> out {=
+    lf_set(out, 42);
+  =}
+
+  reaction(in) {=
+    //
+  =}
+}
+
+
+reactor B {
+  input in:int
+  output out:int
+  reaction(in) -> out {=
+    lf_set(out, in->value);
+  =}
+}
+
+federated reactor {
+  a = new A(Period = 1 msec)
+  b = new B()
+
+  a.out -> b.in
+  b.out -> a.in
+}
\ No newline at end of file