ADASModel.lf

/** FIXME: Turn this program into a test case. */
target C {
  timeout: 1 sec,
  scheduler: STATIC,
  build-type: Debug,
  single-threaded: true
}

preamble {=
  typedef int c_frame_t;
  typedef int l_frame_t;
=}

realtime reactor Camera {
  output out: {= c_frame_t =}
  state frame: {= c_frame_t =}
  timer t(0, 17 msec)  // 60 fps

  @wcet("93572 nsec")  // RPI4
  reaction(t) -> out {=
    // Capture a frame.
    //lf_print("Camera reaction");
    self->frame = 1;
    lf_set(out, self->frame);
  =}
}

realtime reactor LiDAR {
  output out: {= l_frame_t =}
  state frame: {= l_frame_t =}
  timer t(0, 34 msec)  // 30 fps

  @wcet("97942 nsec")  // RPI4
  reaction(t) -> out {=
      // Capture a frame.
    //  lf_print("LiDAR Reaction");
      self->frame = 2;
      lf_set(out, self->frame);
  =}
}

realtime reactor Brakes {
  input inADAS: int
  state brakesApplied: int = 0

  // RPI4
  @wcet("5037 nsec")
  reaction(inADAS) {=
     // Actuate brakes.
    // lf_print("Brakes reaction");
     self->brakesApplied = 1;
  =}
}

reactor ADASProcessor {
  input in1: {= l_frame_t =}
  input in2: {= c_frame_t =}
  input a_in: int
  output out1: int
  output out2: int
  output a_out: int
  state requestStop: int

  // RPI4
  @wcet("5592 nsec")
  reaction(in1, in2) -> a_out {=
            // ... Detect danger
      // and request stop.
    //  lf_print("ADASProcessor reaction 1");
            lf_set_present(a_out);
            self->requestStop = 1;
  =}

  // RPI4
  @wcet("6741 nsec")
  reaction(a_in) -> out1, out2 {=
    //  lf_print("ADASProcessor reaction 2");
        if (self->requestStop == 1) {
            lf_set_present(out1);
            lf_set_present(out2);
        }
  =} deadline(20 msec) {=
    //  lf_print("Deadline reaction");
  =}
}

reactor Dashboard {
  input in: int
  state received: int

  // RPI4
  @wcet("4815 nsec")
  reaction(in) {=
    //  lf_print("Dashboard reaction");
        self->received = 1;
  =}
}

main reactor ADASModel {
  c = new Camera()
  l = new LiDAR()
  p = new ADASProcessor()
  b = new Brakes()
  d = new Dashboard()
  l.out -> p.in1
  c.out -> p.in2
  p.out2 -> d.in
  p.out1 -> b.inADAS after 5 msec
  p.a_out -> p.a_in after 50 msec
}