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Fixed bug in modes with microsteps #2338

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merged 5 commits into from
Jul 1, 2024
Merged

Fixed bug in modes with microsteps #2338

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1b3b567
Added test for reactor-c modes-with-microsteps
edwardalee Jun 28, 2024
16a28f7
Format
edwardalee Jun 28, 2024
a9e8db3
Moved test because it cannot run without threads
edwardalee Jun 29, 2024
b76e9df
Update reactor-c submodule
lhstrh Jul 1, 2024
a3b62ef
Resolved conflict
lhstrh Jul 1, 2024
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2 changes: 1 addition & 1 deletion core/src/main/resources/lib/c/reactor-c
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Submodule reactor-c updated 7 files
+1 −1 core/modal_models/modes.c
+1 −0 core/threaded/reactor_threaded.c
+8 −2 core/utils/pqueue_tag.c
+0 −8 include/core/utils/pqueue_base.h
+7 −0 low_level_platform/impl/src/lf_arduino_support.c
+5 −0 low_level_platform/impl/src/lf_flexpret_support.c
+2 −0 low_level_platform/impl/src/lf_windows_support.c
46 changes: 46 additions & 0 deletions test/C/src/concurrent/ModesWithWatchdog.lf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,46 @@
/**
* When in the Primary mode, the watchdog is sure to trigger, causing the reaction to watcher to be
* executed one microstep later. Previously, after a mode transition, the microstep was hardwired to
* 1, which caused a fatal error after the mode transition when the runtime tried to advance to
* microstep 1 and found that it was already at microstep 1. This program tests that this is fixed.
* Success is simply running to completion without error.
*/
target C {
keepalive: true,
timeout: 1 s
}

reactor Arbitrator(timeout: time = 100 ms) {
input in1: double
input in2: double

watchdog watcher(timeout) {= lf_print("watchdog timeout."); =}

initial mode Primary {
reaction(in1) -> watcher {=
lf_watchdog_start(watcher, 0);
=}

reaction(watcher) -> reset(Backup) {=
lf_print("watchdog reaction.");
lf_set_mode(Backup);
=}
}

mode Backup {
reaction(in2) -> watcher {=
lf_watchdog_start(watcher, 0);
=}
}
}

main reactor {
timer t(0, 100 ms)

ar = new Arbitrator()

reaction(t) -> ar.in1, ar.in2 {=
lf_set(ar.in1, 0.0);
lf_set(ar.in2, 0.0);
=}
}