Watchdogs

.gitmodules

@@ -6,7 +6,7 @@
 	url = https://github.com/lf-lang/reactor-c-py.git
 [submodule "org.lflang/src/lib/cpp/reactor-cpp"]
 	path = org.lflang/src/lib/cpp/reactor-cpp
-	url = https://github.com/lf-lang/reactor-cpp
+	url = https://github.com/lf-lang/reactor-cpp.git
 [submodule "org.lflang/src/lib/rs/reactor-rs"]
 	path = org.lflang/src/lib/rs/reactor-rs
-	url = https://github.com/lf-lang/reactor-rs
+	url = https://github.com/lf-lang/reactor-rs.git

org.lflang/src/org/lflang/ASTUtils.java

@@ -90,6 +90,9 @@
 import org.lflang.lf.Type;
 import org.lflang.lf.VarRef;
 import org.lflang.lf.Variable;
+
+//FIXME: modif4watchdogs
+import org.lflang.lf.Watchdog;
 import org.lflang.lf.WidthSpec;
 import org.lflang.lf.WidthTerm;
 import org.lflang.util.StringUtil;
@@ -122,13 +125,16 @@ public class ASTUtils {
     /**
      * A mapping from Reactor features to corresponding Mode features for collecting contained elements.
      */
+    //FIXME: modif4watchdogs
+    // added 'featurePackage.getReactor_Watchdogs'
     private static final Map<EStructuralFeature, EStructuralFeature> reactorModeFeatureMap = Map.of(
             featurePackage.getReactor_Actions(),        featurePackage.getMode_Actions(),
             featurePackage.getReactor_Connections(),    featurePackage.getMode_Connections(),
             featurePackage.getReactor_Instantiations(), featurePackage.getMode_Instantiations(),
             featurePackage.getReactor_Reactions(),      featurePackage.getMode_Reactions(),
             featurePackage.getReactor_StateVars(),      featurePackage.getMode_StateVars(),
-            featurePackage.getReactor_Timers(),         featurePackage.getMode_Timers()
+            featurePackage.getReactor_Timers(),         featurePackage.getMode_Timers(),
+            featurePackage.getReactor_Watchdogs(),      featurePackage.getMode_Watchdogs()
             );
 
 
@@ -412,6 +418,16 @@ public static List<Reaction> allReactions(Reactor definition) {
         return ASTUtils.collectElements(definition, featurePackage.getReactor_Reactions());
     }
 
+    /**
+     * Given a reactor class, return a list of all its watchdogs.
+     * @param definition Reactor class definition
+     * @return List<Watchdog>
+     */
+    // FIXME: modif4watchdogs
+    public static List<Watchdog> allWatchdogs(Reactor definition) {
+        return ASTUtils.collectElements(definition, featurePackage.getReactor_Watchdogs());
+    }
+
     /**
      * Given a reactor class, return a list of all its state variables,
      * which includes state variables of base classes that it extends.
@@ -1059,6 +1075,11 @@ public static InferredType getInferredType(Port p) {
         return getInferredType(p.getType(), null);
     }
 
+    //FIXME: modif4watchdogs
+    // public static InferredType getInferredType(Watchdog w) {
+    //     return getInferredType(w.getType(), null);
+    // }
+
 
 
     /**

org.lflang/src/org/lflang/LinguaFranca.xtext

@@ -91,6 +91,7 @@ Reactor:
         | (connections+=Connection)
         | (reactions+=Reaction)
         | (modes+=Mode)
+        | (watchdogs+=Watchdog)
     )* '}';
 
 
@@ -176,7 +177,8 @@ Mode:
         (actions+=Action) |
         (instantiations+=Instantiation) |
         (connections+=Connection) |
-        (reactions+=Reaction)
+        (reactions+=Reaction) |
+        (watchdogs+=Watchdog)
     )* '}';
 
 // Action that has either a physical or logical origin.
@@ -213,6 +215,11 @@ BuiltinTriggerRef:
 
 Deadline:
     'deadline' '(' delay=Expression ')' code=Code;
+
+Watchdog:
+    'watchdog' name=ID '(' timeout=Expression ')'
+    ('->' effects+=VarRefOrModeTransition (',' effects+=VarRefOrModeTransition)*)?
+    code=Code;
 
 STP:
     'STP' '(' value=Expression ')' code=Code;
@@ -274,7 +281,7 @@ TypedVariable:
 ;
 
 Variable:
-    TypedVariable | Timer | Mode;
+    TypedVariable | Timer | Mode | Watchdog;
 
 VarRef:
     variable=[Variable] | container=[Instantiation] '.' variable=[Variable]
@@ -449,7 +456,7 @@ SignedFloat:
 // Just escaping with \ is not a good idea because then every \ has to be escaped \\.
 // Perhaps the string EQUALS_BRACE could become '=}'?
 Code:
-    //{Code} '{=' (tokens+=Token)* '=}'
+    // {Code} '{=' (tokens+=Token)* '=}'
     {Code} '{=' body=Body '=}'
 ;
 
@@ -496,7 +503,7 @@ Token:
     'mutable' | 'input' | 'output' | 'timer' | 'action' | 'reaction' | 
     'startup' | 'shutdown' | 'after' | 'deadline' | 'mutation' | 'preamble' |
     'new' | 'federated' | 'at' | 'as' | 'from' | 'widthof' | 'const' | 'method' |
-    'interleaved' | 'mode' | 'initial' | 'reset' | 'history' |
+    'interleaved' | 'mode' | 'initial' | 'reset' | 'history' | 'watchdog' |
     // Other terminals
     NEGINT | TRUE | FALSE |
     // Action origins

org.lflang/src/org/lflang/ast/IsEqual.java

@@ -61,6 +61,8 @@
 import org.lflang.lf.Variable;
 import org.lflang.lf.WidthSpec;
 import org.lflang.lf.WidthTerm;
+//FIXME: modif4watchdogs
+import org.lflang.lf.Watchdog;
 import org.lflang.lf.util.LfSwitch;
 
 /**
@@ -392,12 +394,14 @@ public Boolean caseElement(Element object) {
 
     @Override
     public Boolean caseTypedVariable(TypedVariable object) {
+        //FIXME: modif4watchdogs
         throw thereIsAMoreSpecificCase(TypedVariable.class, Port.class, Action.class);
     }
 
     @Override
     public Boolean caseVariable(Variable object) {
-        throw thereIsAMoreSpecificCase(Variable.class, TypedVariable.class, Timer.class, Mode.class);
+        //FIXME: modif4watchdogs
+        throw thereIsAMoreSpecificCase(Variable.class, TypedVariable.class, Timer.class, Mode.class, Watchdog.class);
     }
 
     @Override
@@ -487,6 +491,17 @@ public Boolean caseArraySpec(ArraySpec object) {
             .conclusion;
     }
 
+    //FIXME: modif4watchdogs
+    @Override
+    public Boolean caseWatchdog(Watchdog object) {
+        return new ComparisonMachine<>(object, Watchdog.class)
+            .equalAsObjects(Watchdog::getName)
+            .equivalent(Watchdog::getTimeout)
+            .listsEquivalent(Watchdog::getEffects)
+            .equivalent(Watchdog::getCode)
+            .conclusion;
+    }
+
     @Override
     public Boolean caseWidthSpec(WidthSpec object) {
         return new ComparisonMachine<>(object, WidthSpec.class)

org.lflang/src/org/lflang/ast/ToLf.java

@@ -73,6 +73,7 @@
 import org.lflang.lf.VarRef;
 import org.lflang.lf.Variable;
 import org.lflang.lf.Visibility;
+import org.lflang.lf.Watchdog;
 import org.lflang.lf.WidthSpec;
 import org.lflang.lf.WidthTerm;
 import org.lflang.lf.util.LfSwitch;
@@ -390,6 +391,7 @@ public MalleableString caseReactor(Reactor object) {
     //     | (outputs+=Output)
     //     | (timers+=Timer)
     //     | (actions+=Action)
+    //     | (watchdogs+=Watchdog)
     //     | (instantiations+=Instantiation)
     //     | (connections+=Connection)
     //     | (reactions+=Reaction)
@@ -407,6 +409,7 @@ public MalleableString caseReactor(Reactor object) {
                 object.getOutputs(),
                 object.getTimers(),
                 object.getActions(),
+                object.getWatchdogs(),
                 object.getInstantiations(),
                 object.getConnections(),
                 object.getStateVars()),
@@ -653,6 +656,41 @@ public MalleableString caseDeadline(Deadline object) {
     return handler(object, "deadline", Deadline::getDelay, Deadline::getCode);
   }
 
+  //FIXME: modif4watchdogs
+  @Override
+  public MalleableString caseWatchdog(Watchdog object) {
+    // 'watchdog' name=ID '(' timeout=Expression ')'
+    // ('->' effects+=VarRefOrModeTransition (',' effects+=VarRefOrModeTransition)*)?
+    // code=Code;
+
+    Builder msb = new Builder();
+    msb.append("watchdog ");
+    msb.append(object.getName());
+    msb.append(list(true, object.getTimeout()));
+
+    if (!object.getEffects().isEmpty()) {
+      List<Mode> allModes = ASTUtils.allModes(ASTUtils.getEnclosingReactor(object));
+      msb.append(" -> ", " ->\n")
+          .append(
+              object.getEffects().stream()
+                  .map(
+                      varRef ->
+                          (allModes.stream()
+                                  .anyMatch(
+                                      m -> m.getName().equals(varRef.getVariable().getName())))
+                              ? new Builder()
+                                  .append(varRef.getTransition())
+                                  .append("(")
+                                  .append(doSwitch(varRef))
+                                  .append(")")
+                                  .get()
+                              : doSwitch(varRef))
+                  .collect(new Joiner(", ")));
+    }
+    msb.append(" ").append(doSwitch(object.getCode()));
+    return msb.get();
+  }
+
   @Override
   public MalleableString caseSTP(STP object) {
     // 'STP' '(' value=Expression ')' code=Code

org.lflang/src/org/lflang/federated/generator/FederateInstance.java

@@ -67,6 +67,7 @@ STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
 import org.lflang.lf.TriggerRef;
 import org.lflang.lf.VarRef;
 import org.lflang.lf.Variable;
+import org.lflang.lf.Watchdog;
 
 import com.google.common.base.Objects;
 
@@ -461,9 +462,27 @@ private boolean contains(Timer timer) {
                 }
             }
         }
-
         return false;
     }
+
+    //FIXME:modif4watchdogs
+
+    // public boolean contains(Watchdog watchdog) {
+    //     Reactor reactor = ASTUtils.getEnclosingReactor(watchdog);
+    //     if (!reactor.isFederated() || this.isSingleton()) {
+    //         return true;
+    //     }
+
+    //     if (!reactor.getWatchdogs().contains(watchdog)) {
+    //         return false;
+    //     }
+
+    //     if (networkReactions.contains(watchdog)) {
+    //         return true;
+    //     }
+
+    //     return false;
+    // }
 
     /** 
      * Return true if the specified reactor instance or any parent

org.lflang/src/org/lflang/generator/ReactionInstance.java

@@ -221,7 +221,7 @@ public ReactionInstance(
      * Deadline for this reaction instance, if declared.
      */
     public DeadlineInstance declaredDeadline;
-
+    
     /**
      * Sadly, we have no way to mark reaction "unordered" in the AST,
      * so instead, we use a magic comment at the start of the reaction body.

org.lflang/src/org/lflang/generator/ReactorInstance.java

@@ -61,7 +61,10 @@ STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
 import org.lflang.lf.Timer;
 import org.lflang.lf.VarRef;
 import org.lflang.lf.Variable;
+import org.lflang.lf.Watchdog;
 import org.lflang.lf.WidthSpec;
+//FIXME: modif4watchdogs
+import org.lflang.lf.Watchdog;
 
 
 /**
@@ -144,6 +147,10 @@ public ReactorInstance(Reactor reactor, ReactorInstance parent, ErrorReporter re
     /** List of reaction instances for this reactor instance. */
     public final List<ReactionInstance> reactions = new ArrayList<>();
 
+    /** List of watchdog instances for this reactor instance. */
+    //FIXME: modif4watchdogs
+    public final List<WatchdogInstance> watchdogs = new ArrayList<>();
+
     /** The timer instances belonging to this reactor instance. */
     public final List<TimerInstance> timers = new ArrayList<>();
 
@@ -743,6 +750,24 @@ protected void createReactionInstances() {
         }
     }
 
+    /**
+     * Create all the watchdog instances of this reactor instance.
+     */
+    // FIXME: modif4watchdogs
+    protected void createWatchdogInstances() {
+        List<Watchdog> watchdogs = ASTUtils.allWatchdogs(reactorDefinition);
+        if (watchdogs != null) {
+            for (Watchdog watchdog : watchdogs) {
+                // Create the watchdog instance.
+                var watchdogInstance = new WatchdogInstance(watchdog, this);
+
+                // Add the watchdog instance to the list of watchdogs for this
+                // reactor.
+                this.watchdogs.add(watchdogInstance);
+            }
+        }
+    }
+
     /**
      * Returns the built-in trigger or create a new one if none exists.
      */
@@ -849,6 +874,10 @@ private ReactorInstance(
             // Note that this can only happen _after_ the children, 
             // port, action, and timer instances have been created.
             createReactionInstances();
+
+            // Create the reaction instances in this reactor instance.
+            // FIXME: modif4watchdogs
+            createWatchdogInstances();
 
             // Instantiate modes for this reactor instance
             // This must come after the child elements (reactions, etc) of this reactor