Fixed bug in modes with microsteps

[edwardalee]

This PR is a companion to lf-lang/reactor-c#459, adding a test and aligning reactor-c.

Summary by CodeRabbit

• New Features

  • Improved logic for handling mode transitions and watchdog reactions in a reactive system to prevent fatal errors.
  • Introduced a new reactor Arbitrator with enhanced input handling and watchdog functionality.

• Bug Fixes

  • Resolved fatal error occurring after mode transitions due to microstep value issues, ensuring smooth execution.

[coderabbitai]

Walkthrough

The updates consist of a commit hash update in the reactor-c module and the addition of logic in ModesWithWatchdog.lf to handle mode transitions and watchdog reactions, fixing a fatal error due to a hardwired microstep value. Enhanced functionality is ensured by smooth transitions and added reactors.

Changes

File Path	Change Summary
core/src/main/resources/lib/c/reactor-c	Updated the subproject commit hash from 587a8f9498b69bc82f404e432f881d7bb0bcf383 to 5ac0a0b3b0759910e8397590c614e86652021b44.
test/C/src/modal_models/ModesWithWatchdog.lf	Introduced logic to manage mode transitions and watchdog reactions, fixed fatal error due to a hardwired microstep value. Added new Arbitrator reactor with Primary and Backup modes. Developed main reactor with timer to interact with Arbitrator instance.

Sequence Diagram(s)

sequenceDiagram
    participant Main as Main Reactor
    participant Arbitrator as Arbitrator<timeout: 100 ms>
    participant Timer as Timer

    Timer-->>Main: Timer t triggers
    Main->>Arbitrator: Set inputs in1, in2
    Arbitrator->>Arbitrator: Transition to Primary mode
    Arbitrator->>Watchdog: Activate watcher
    Note over Arbitrator, Watchdog: Handling mode transition and watchdog reaction
    Watchdog-->>Arbitrator: Watchdog signal
    Arbitrator->>Arbitrator: Transition to Backup mode if necessary

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Recent review details

Configuration used: CodeRabbit UI
Review profile: CHILL

Commits

Files that changed from the base of the PR and between 16a28f7 and a9e8db3.

Files selected for processing (2)

• core/src/main/resources/lib/c/reactor-c (1 hunks)
• test/C/src/concurrent/ModesWithWatchdog.lf (1 hunks)

Files skipped from review as they are similar to previous changes (1)

• core/src/main/resources/lib/c/reactor-c

Additional comments not posted (3)

test/C/src/concurrent/ModesWithWatchdog.lf (3)

1-11: LGTM!

The header comment provides clear context for the test, and the target declaration sets appropriate parameters.

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13-35: LGTM!

The Arbitrator reactor is well-structured with correct implementation of watchdog and mode transitions.

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37-46: LGTM!

The main reactor is correctly implemented to test the Arbitrator reactor with appropriate timer and reactions.

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