From 8b7cc28d92db6af3ceeb824e00f4ba53cffc69e4 Mon Sep 17 00:00:00 2001
From: erlingrj <erling.jellum@gmail.com>
Date: Mon, 14 Oct 2024 18:15:45 -0700
Subject: [PATCH] Add example programs and a short README

---
 examples/C/src/tomacs/Consistency.lf | 42 ++++++++++++++++
 examples/C/src/tomacs/Feedback.lf    | 72 ++++++++++++++++++++++++++++
 examples/C/src/tomacs/README.md      |  2 +
 3 files changed, 116 insertions(+)
 create mode 100644 examples/C/src/tomacs/Consistency.lf
 create mode 100644 examples/C/src/tomacs/Feedback.lf
 create mode 100644 examples/C/src/tomacs/README.md

diff --git a/examples/C/src/tomacs/Consistency.lf b/examples/C/src/tomacs/Consistency.lf
new file mode 100644
index 00000000..f7ee02bc
--- /dev/null
+++ b/examples/C/src/tomacs/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(local_update, remote_update) {=
+  =}
+
+  reaction(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/tomacs/Feedback.lf b/examples/C/src/tomacs/Feedback.lf
new file mode 100644
index 00000000..b4c0147b
--- /dev/null
+++ b/examples/C/src/tomacs/Feedback.lf
@@ -0,0 +1,72 @@
+/** 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)
+  state last_sensor_time: time = 0
+  state previous_sensor_time: time = 0
+  state count: int = 0
+
+  reaction(t) -> sensor {=
+    lf_set(sensor, 42);
+    self->previous_sensor_time = self->last_sensor_time;
+    self->last_sensor_time = lf_time_physical();
+  =}
+
+  reaction(control) {=
+    self->count++;
+    lf_print("Control input: %f", control->value);
+    instant_t control_time = lf_time_physical();
+    lf_print("Latency: " PRINTF_TIME ".", control_time - self->previous_sensor_time);
+    lf_print("Logical time: " PRINTF_TIME ".", lf_time_logical_elapsed());
+  =}
+}
+
+reactor Planner {
+  input request: double
+  output response: double
+
+  reaction(request) -> response {=
+    lf_sleep(MSEC(10));
+    lf_set(response, request->value);
+  =}
+}
+
+reactor Controller {
+  input sensor: double
+  output control: double
+
+  state latest_control: double = 0.0
+  state first: bool = true
+
+  output request_for_planning: double
+  input planning: double
+
+  reaction(sensor) -> control, request_for_planning {=
+    if (!self->first) {
+      lf_set(control, self->latest_control);
+    }
+    self->first = false;
+    lf_set(request_for_planning, sensor->value);
+  =}
+
+  reaction(planning) {=
+    self->latest_control = planning->value;
+  =}
+}
+
+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/tomacs/README.md b/examples/C/src/tomacs/README.md
new file mode 100644
index 00000000..a52351a2
--- /dev/null
+++ b/examples/C/src/tomacs/README.md
@@ -0,0 +1,2 @@
+# Example LF programs from "Strongly-Consistent Distributed Discrete-Event Systems"
+This folder contains the example LF programs found in the publication "Strongly-Consistent Distributed Discrete-Event Systems". 
\ No newline at end of file