From 300f942d017eefae21c7c9bbaae1c1ac90ac52bb Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Sun, 13 Aug 2023 10:26:40 -0400 Subject: [PATCH 001/113] Added heartbeat bully leader election example --- .../C/src/leader-election/HeartbeatBully.lf | 201 ++++++++++++++++++ 1 file changed, 201 insertions(+) create mode 100644 examples/C/src/leader-election/HeartbeatBully.lf diff --git a/examples/C/src/leader-election/HeartbeatBully.lf b/examples/C/src/leader-election/HeartbeatBully.lf new file mode 100644 index 00000000..8bf6d320 --- /dev/null +++ b/examples/C/src/leader-election/HeartbeatBully.lf @@ -0,0 +1,201 @@ +/** + * This program models a redundant fault tolerant system where a primary node, if and when it fails, + * is replaced by one of several backup nodes. The protocol is described in this paper: + * + * Bjarne Johansson; Mats Rågberger; Alessandro V. Papadopoulos; Thomas Nolte, "Heartbeat Bully: + * Failure Detection and Redundancy Role Selection for Network-Centric Controller," Proc. of the + * 46th Annual Conference of the IEEE Industrial Electronics Society (IECON), 8-21 October 2020. + * https://doi.org/10.1109/IECON43393.2020.9254494 + * + * The program has a bank of redundant nodes where exactly one is the primary node and the rest are + * backups. The primary node is always the one with the highest bank index that has not failed. The + * primary sends a heartbeat message once per second (by default). When the primary fails, a leader + * election protocol selects a new primary which then starts sending heartbeat messages. The program + * is set so that each primary fails after sending three heartbeat messages. When all nodes have + * failed, then the program exits. + * + * This example is designed to be run as a federated program with decentralized coordination. + * However, as of this writing, bugs in the federated code generator cause the program to fail to + * compile when you change it to be federated. See: + * + * - https://github.com/lf-lang/lingua-franca/issues/1942 + * - https://github.com/lf-lang/lingua-franca/issues/1940 + * + * When these bugs are fixed, then the federated version should operate exactly the same as the + * unfederated version except that it will become possible to kill the federates instead of having + * them fail on their own. The program should also be extended to include STP violation handlers to + * deal with the fundamental CAL theorem limitations, where unexpected network delays make it + * impossible to execute the program as designed. For example, if the network becomes partitioned, + * then it becomes possible to have two primary nodes simultaenously active. + * + * @author Edward A. Lee + * @author Marjan Sirjani + */ +target C + +preamble {= + enum message_type { + heartbeat, + reveal, + sorry + }; + typedef struct message_t { + enum message_type type; + int id; + } message_t; +=} + +reactor Node( + bank_index: int = 0, + num_nodes: int = 3, + heartbeat_period: time = 1 s, + max_missed_heartbeats: int = 2, + primary_fails_after_heartbeats: int = 3) { + input[num_nodes] in: message_t + output[num_nodes] out: message_t + + state heartbeats_missed: int = 0 + state primary_heartbeats_counter: int = 0 + + initial mode Idle { + reaction(startup) -> reset(Backup), reset(Primary) {= + if (self->bank_index == self->num_nodes - 1) { + lf_set_mode(Primary); + } else { + lf_set_mode(Backup); + } + =} + } + + mode Backup { + timer t(heartbeat_period, heartbeat_period) + reaction(in) -> out, reset(Prospect) {= + int primary_id = -1; + for (int i = 0; i < in_width; i++) { + if (in[i]->is_present && in[i]->value.id != self->bank_index) { + if (in[i]->value.type == heartbeat) { + if (primary_id >= 0) { + lf_print_error("Multiple primaries detected!!"); + } + primary_id = in[i]->value.id; + lf_print("Node %d received heartbeat from node %d.", self->bank_index, primary_id); + self->heartbeats_missed = 0; + } else if (in[i]->value.type == reveal && in[i]->value.id < self->bank_index) { + // NOTE: This will not occur if the LF semantics are followed because + // all nodes will (logically) simultaneously detect heartbeat failure and + // transition to the Prospect mode. But we include this anyway in case + // a federated version experiences a fault. + + // Send a sorry message. + message_t message; + message.type = sorry; + message.id = self->bank_index; + lf_set(out[in[i]->value.id], message); + lf_print("Node %d sends sorry to node %d", self->bank_index, in[i]->value.id); + // Go to Prospect mode to send reveal to any higher-priority nodes. + lf_set_mode(Prospect); + } + } + } + // FIXME + // =} STP (0) {= + // FIXME: What should we do here. + // lf_print_error("Node %d had an STP violation. Ignoring heartbeat as if it didn't arrive at all.", self->bank_index); + =} + + reaction(t) -> reset(Prospect) {= + if (self->heartbeats_missed > self->max_missed_heartbeats) { + lf_set_mode(Prospect); + } + // Increment the counter so if it's not reset to 0 by the next time, + // we detect the missed heartbeat. + self->heartbeats_missed++; + =} + } + + mode Primary { + timer heartbeat(0, heartbeat_period) + reaction(heartbeat) -> out, reset(Failed) {= + if (self->primary_heartbeats_counter++ >= self->primary_fails_after_heartbeats) { + // Stop sending heartbeats. + lf_print("**** Primary node %d fails.", self->bank_index); + lf_set_mode(Failed); + } else { + lf_print("Primary node %d sends heartbeat.", self->bank_index); + for (int i = 0; i < out_width; i++) { + if (i != self->bank_index) { + message_t message; + message.type = heartbeat; + message.id = self->bank_index; + lf_set(out[i], message); + } + } + } + =} + } + + mode Failed { + } + + mode Prospect { + logical action wait_for_sorry + reaction(reset) -> out, wait_for_sorry {= + lf_print("***** Node %d entered Prospect mode.", self->bank_index); + // Send a reveal message with my ID in a bid to become primary. + // NOTE: It is not necessary to send to nodes that have a lower + // priority than this node, but the connection is broadcast, so + // we send to all. + message_t message; + message.type = reveal; + message.id = self->bank_index; + for (int i = self->bank_index + 1; i < self->num_nodes; i++) { + lf_print("Node %d sends reveal to node %d", self->bank_index, i); + lf_set(out[i], message); + } + // The reveal message is delayed by heartbeat_period, and if + // there is a sorry response, it too will be delayed by heartbeat_period, + // so the total logical delay is twice heartbeat_period. + lf_schedule(wait_for_sorry, 2 * self->heartbeat_period); + =} + + reaction(in) -> out {= + for (int i = 0; i < in_width; i++) { + if (in[i]->value.type == reveal && in[i]->value.id < self->bank_index) { + // Send a sorry message. + message_t message; + message.type = sorry; + message.id = self->bank_index; + lf_set(out[in[i]->value.id], message); + lf_print("Node %d sends sorry to node %d", self->bank_index, in[i]->value.id); + } + } + =} + + reaction(wait_for_sorry) in -> reset(Backup), reset(Primary) {= + // Check for sorry messages. + // Sorry messages are guaranteed to be logically simultaneous + // with the wait_for_sorry event, so we just need to check for + // presence of sorry inputs. + int i; + for (i = 0; i < in_width; i++) { + if (in[i]->is_present && in[i]->value.type == sorry) { + // A sorry message arrived. Go to Backup mode. + lf_set_mode(Backup); + break; + } + } + if (i == in_width) { + // No sorry message arrived. Go to Primary mode. + lf_set_mode(Primary); + } + =} + } +} + +// FIXME: This should be federated, but it fails: +// See https://github.com/lf-lang/lingua-franca/issues/1942 +// and https://github.com/lf-lang/lingua-franca/issues/1940. +main reactor(num_nodes: int = 4, heartbeat_period: time = 1 s) { + nodes = new[num_nodes] Node(num_nodes=num_nodes, heartbeat_period=heartbeat_period) + nodes.out -> interleaved(nodes.in) after heartbeat_period +} From 8d9437b837c0a80191f5c7996767e3d9cfbc181a Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Sun, 13 Aug 2023 10:34:57 -0400 Subject: [PATCH 002/113] Typo --- examples/C/src/leader-election/HeartbeatBully.lf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/C/src/leader-election/HeartbeatBully.lf b/examples/C/src/leader-election/HeartbeatBully.lf index 8bf6d320..1bc25405 100644 --- a/examples/C/src/leader-election/HeartbeatBully.lf +++ b/examples/C/src/leader-election/HeartbeatBully.lf @@ -26,7 +26,7 @@ * them fail on their own. The program should also be extended to include STP violation handlers to * deal with the fundamental CAL theorem limitations, where unexpected network delays make it * impossible to execute the program as designed. For example, if the network becomes partitioned, - * then it becomes possible to have two primary nodes simultaenously active. + * then it becomes possible to have two primary nodes simultaneously active. * * @author Edward A. Lee * @author Marjan Sirjani From 044fbaf165daa73367b0ec9c5940acbd514e017f Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Tue, 15 Aug 2023 14:43:30 -0400 Subject: [PATCH 003/113] Another fault tolerance strategy --- examples/C/src/leader-election/NRP_FD.lf | 292 +++++++++++++++++++++++ 1 file changed, 292 insertions(+) create mode 100644 examples/C/src/leader-election/NRP_FD.lf diff --git a/examples/C/src/leader-election/NRP_FD.lf b/examples/C/src/leader-election/NRP_FD.lf new file mode 100644 index 00000000..c041ab96 --- /dev/null +++ b/examples/C/src/leader-election/NRP_FD.lf @@ -0,0 +1,292 @@ +/** + * This program models a redundant fault tolerant system where a primary node, if and when it fails, + * is replaced by a backup node. The protocol is described in this paper: + * + * Bjarne Johansson; Mats Rågberger; Alessandro V. Papadopoulos; Thomas Nolte, "Consistency Before + * Availability: Network Reference Point based Failure Detection for Controller Redundancy," + * paper draft 8/15/23. + * + * @author Edward A. Lee + * @author Marjan Sirjani + */ +target C + +preamble {= + enum message_type { + heartbeat, + reveal, + sorry, + pingNRP, + pingNRP_response + }; + typedef struct message_t { + enum message_type type; + int source; + int destination; + } message_t; +=} + +reactor Node( + id: int = 0, + heartbeat_period: time = 1 s, + max_missed_heartbeats: int = 2, + primary_fails_after_heartbeats: int = 6 +) { + + // There are two network interfaces: + @side("east") + input in1: message_t + @side("east") + input in2: message_t + output out1: message_t + output out2: message_t + + state heartbeats_missed_1: int = 0 + state heartbeats_missed_2: int = 0 + + state NRP_network: int = 1 + state NRP_switch_id: int = 1 + + state primary_heartbeats_counter: int = 0 + + initial mode Waiting { + reaction(startup) -> out1, out2 {= + message_t ping_message; + ping_message.type = pingNRP; + ping_message.source = self->id; + // We send a ping only to switch 1 at startup for this test case. + ping_message.destination = 1; + lf_set(out1, ping_message); + =} + reaction(in1, in2) -> reset(Backup), reset(Primary) {= + // Got a response to the ping from one or both switches. + // FIXME: The paper calls for user intervention to select which is primary. + // Here, we just choose id 1 to be primary. + if (self->id == 1) { + // Become primary. + lf_set_mode(Primary); + if (in1->is_present && in1->value.type == pingNRP_response) { + lf_print("Node %d received ping response from network 1. Primary is making switch %d the NRP.", self->id, in1->value.source); + self->NRP_network = 1; + self->NRP_switch_id = in1->value.source; + } else if (in2->is_present && in2->value.type == pingNRP) { + lf_print("Node %d received ping response from network 2. Primary is making switch %d the NRP.", self->id, in2->value.source); + self->NRP_network = 2; + self->NRP_switch_id = in2->value.source; + } else if (in1->is_present && in1->value.type == heartbeat) { + lf_print("Node %d received heartbeat from network 1.", self->id); + lf_set_mode(Backup); + } else if (in2->is_present && in2->value.type == heartbeat) { + lf_print("Node %d received heartbeat from network 2.", self->id); + lf_set_mode(Backup); + } + } else { + lf_set_mode(Backup); + } + =} + } + + mode Backup { + timer t(heartbeat_period, heartbeat_period) + // FIXME: Need SENDIMHERETOPRIMARY with "longer interval" + + reaction(in1) {= + if (in1->value.type == heartbeat) { + lf_print("Node %d received heartbeat from node %d on network 1.", self->id, in1->value.source); + self->heartbeats_missed_1 = 0; + } + =} + + reaction(in2) {= + if (in2->value.type == heartbeat) { + lf_print("Node %d received heartbeat from node %d on network 2.", self->id, in2->value.source); + self->heartbeats_missed_2 = 0; + } + =} + + reaction(t) -> reset(Primary) {= + if (self->heartbeats_missed_1 > self->max_missed_heartbeats) { + if (self->heartbeats_missed_2 > self->max_missed_heartbeats) { + // Simultaneous heartbeat misses. Assume the primary failed. + lf_set_mode(Primary); + } else { + // Heartbeat missed on network 1 but not yet on network 2. + // Possible network failure. + // FIXME + } + } else { + // Heartbeat missed on network 2 but not yet on network 1. + // Possible network failure. + // FIXME + } + // Increment the counters so if they are not reset to 0 by the next time, + // we detect the missed heartbeat. + self->heartbeats_missed_1++; + self->heartbeats_missed_2++; + =} + } + + mode Primary { + timer heartbeat(0, heartbeat_period) + reaction(reset) {= + lf_print("--- Node %d becomes primary.", self->id); + =} + reaction(heartbeat) -> out1, out2, reset(Failed) {= + if (self->primary_heartbeats_counter++ >= self->primary_fails_after_heartbeats) { + // Stop sending heartbeats. + lf_print("**** Primary node %d fails.", self->id); + lf_set_mode(Failed); + } else { + lf_print("Primary node %d sends heartbeat on both networks.", self->id); + message_t message; + message.type = heartbeat; + message.source = self->id; + lf_set(out1, message); + lf_set(out2, message); + } + =} + } + + mode Failed { + } +} + +/** + * Switch with two interfaces. Interface 1 is meant to be connected directly + * to a node, while interface 2 is meant to be connected to another switch. + * When a pingNRP message arrives on interface 1, the switch responds on interface 1 + * with the specified delay with a copy of the ping message. + * When any other message arrives on interface 1, the switch forwards a copy + * of the message to interface 2 with the specified delay. + * When a message arrives on interface 2, the message is forwarded to + * interface 1. + * If a pingNRP and message from the network are simultaneous, the + * response to the ping will be further delayed by the specified delay. + */ +reactor Switch(id: int = 0, switch_fails_after: time = 3 s) { + input in1: message_t + @side("east") + input in2: message_t + @side("west") + output out1: message_t + output out2: message_t + + logical action pending_out1: message_t + logical action pending_out2: message_t + + timer switch_fails(switch_fails_after) + + reaction(pending_out1) -> out1 {= + lf_set(out1, pending_out1->value); + =} + + reaction(pending_out2) -> out2 {= + lf_set(out2, pending_out2->value); + =} + + reaction(in1, in2) -> out1, out2, pending_out1, pending_out2 {= + if (in1->is_present) { + if (in1->value.type == pingNRP) { + if (in1->value.destination == self->id) { + // Respond to the ping. + message_t message; + message.source = self->id; + message.destination = in1->value.source; + message.type = pingNRP_response; + if (!out1->is_present) { + lf_set(out1, message); + } else { + lf_schedule_copy(pending_out1, 0, &message, 1); + } + } else { + // Forward the ping. + if (!out2->is_present) { + lf_set(out2, in1->value); + } else { + lf_schedule_copy(pending_out2, 0, &in1->value, 1); + } + } + } else { + // Forward the message. + if (!out2->is_present) { + lf_set(out2, in1->value); + } else { + lf_schedule_copy(pending_out2, 0, &in1->value, 1); + } + } + } + if (in2->is_present) { + if (in2->value.type == pingNRP) { + if (in2->value.destination == self->id) { + // Construct a response to the ping. + message_t message; + message.source = self->id; + message.destination = in1->value.source; + message.type = pingNRP_response; + // Respond to the ping if out2 is available. + if (!out2->is_present) { + lf_set(out2, message); + } else { + lf_schedule_copy(pending_out2, 0, &message, 1); + } + } else { + // Forward the ping to out1 if out1 is available. + if (!out1->is_present) { + lf_set(out1, in2->value); + } else { + lf_schedule_copy(pending_out1, 0, &in2->value, 1); + } + } + } else { + // Forward the message if out1 is available. + if (!out1->is_present) { + lf_set(out1, in2->value); + } else { + lf_schedule_copy(pending_out1, 0, &in2->value, 1); + } + } + } + =} + + initial mode Working { + reaction(switch_fails) -> Failed {= + // Only switch 1 fails. + if (self->id == 1) { + lf_set_mode(Failed); + } + =} + } + mode Failed {} +} + +// FIXME: This should be federated, but it fails: +// See https://github.com/lf-lang/lingua-franca/issues/1942 +// and https://github.com/lf-lang/lingua-franca/issues/1940. +main reactor(heartbeat_period: time = 1 s, delay: time = 1 ms) { + node1 = new Node(heartbeat_period=heartbeat_period, id = 1) + node2 = new Node(heartbeat_period=heartbeat_period, id = 2) + + switch1 = new Switch(id = 1) + switch2 = new Switch(id = 2) + + node1.out1 -> switch1.in1 after delay + switch1.out1 -> node1.in1 after delay + + switch1.out2 -> switch2.in2 after delay + switch2.out2 -> switch1.in2 after delay + + switch2.out1 -> node2.in1 after delay + node2.out1 -> switch2.in1 after delay + + switch3 = new Switch(id = 3) + switch4 = new Switch(id = 4) + + node1.out2 -> switch3.in1 after delay + switch3.out1 -> node1.in2 after delay + + switch3.out2 -> switch4.in2 after delay + switch4.out2 -> switch3.in2 after delay + + switch4.out1 -> node2.in2 after delay + node2.out2 -> switch4.in1 after delay +} From f92d08d2d47dc02c9b2093d14ef9cdaec65c8e4a Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Tue, 15 Aug 2023 14:47:16 -0400 Subject: [PATCH 004/113] Have switch failing --- examples/C/src/leader-election/NRP_FD.lf | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/examples/C/src/leader-election/NRP_FD.lf b/examples/C/src/leader-election/NRP_FD.lf index c041ab96..da46f7d9 100644 --- a/examples/C/src/leader-election/NRP_FD.lf +++ b/examples/C/src/leader-election/NRP_FD.lf @@ -176,6 +176,8 @@ reactor Switch(id: int = 0, switch_fails_after: time = 3 s) { timer switch_fails(switch_fails_after) + initial mode Working { + reaction(pending_out1) -> out1 {= lf_set(out1, pending_out1->value); =} @@ -248,15 +250,18 @@ reactor Switch(id: int = 0, switch_fails_after: time = 3 s) { } =} - initial mode Working { - reaction(switch_fails) -> Failed {= + reaction(switch_fails) -> reset(Failed) {= // Only switch 1 fails. if (self->id == 1) { lf_set_mode(Failed); } =} } - mode Failed {} + mode Failed { + reaction(reset) {= + lf_print("######## Switch %d fails.", self->id); + =} + } } // FIXME: This should be federated, but it fails: From ec1ae5df565e139b959e90f4f74b3fb1b09703aa Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Tue, 15 Aug 2023 18:48:05 -0400 Subject: [PATCH 005/113] Ping NRP --- examples/C/src/leader-election/NRP_FD.lf | 68 +++++++++++++++--------- 1 file changed, 42 insertions(+), 26 deletions(-) diff --git a/examples/C/src/leader-election/NRP_FD.lf b/examples/C/src/leader-election/NRP_FD.lf index da46f7d9..64a0e4b7 100644 --- a/examples/C/src/leader-election/NRP_FD.lf +++ b/examples/C/src/leader-election/NRP_FD.lf @@ -30,7 +30,7 @@ reactor Node( id: int = 0, heartbeat_period: time = 1 s, max_missed_heartbeats: int = 2, - primary_fails_after_heartbeats: int = 6 + primary_fails_after_heartbeats: int = 10 ) { // There are two network interfaces: @@ -88,12 +88,17 @@ reactor Node( mode Backup { timer t(heartbeat_period, heartbeat_period) + // FIXME: Need SENDIMHERETOPRIMARY with "longer interval" reaction(in1) {= if (in1->value.type == heartbeat) { lf_print("Node %d received heartbeat from node %d on network 1.", self->id, in1->value.source); self->heartbeats_missed_1 = 0; + } else if (in1->value.type == pingNRP_response && in1->value.destination == self->id) { + // Got a response from the NRP to a ping we sent after a partial timeout. + lf_print("Node %d received ping response on network 1 from NRP on switch %d.", self->id, in1->value.source); + // Don't do anything. Remain the backup. } =} @@ -101,23 +106,35 @@ reactor Node( if (in2->value.type == heartbeat) { lf_print("Node %d received heartbeat from node %d on network 2.", self->id, in2->value.source); self->heartbeats_missed_2 = 0; + } else if (in2->value.type == pingNRP_response && in2->value.destination == self->id) { + // Got a response from the NRP to a ping we sent after a partial timeout. + lf_print("Node %d received ping response on network 2 from NRP on switch %d.", self->id, in2->value.source); + // Don't do anything. Remain the backup. } =} - reaction(t) -> reset(Primary) {= - if (self->heartbeats_missed_1 > self->max_missed_heartbeats) { - if (self->heartbeats_missed_2 > self->max_missed_heartbeats) { - // Simultaneous heartbeat misses. Assume the primary failed. - lf_set_mode(Primary); + reaction(t) -> reset(Primary), out1, out2 {= + if (self->heartbeats_missed_1 > self->max_missed_heartbeats + && self->heartbeats_missed_2 > self->max_missed_heartbeats) { + // Simultaneous heartbeat misses. Assume the primary failed. + lf_set_mode(Primary); + } else if (self->heartbeats_missed_1 > self->max_missed_heartbeats + || self->heartbeats_missed_2 > self->max_missed_heartbeats) { + // Heartbeat missed on one network but not yet on the other. + // Possible network failure. + lf_print("**** Backup detects missing heartbeats on one network!"); + // Ping the NRP. + message_t message; + message.source = self->id; + message.type = pingNRP; + message.destination = self->NRP_switch_id; + if (self->NRP_network == 1) { + lf_set(out1, message); } else { - // Heartbeat missed on network 1 but not yet on network 2. - // Possible network failure. - // FIXME + lf_set(out2, message); } - } else { - // Heartbeat missed on network 2 but not yet on network 1. - // Possible network failure. - // FIXME + lf_print("Backup node %d pings NRP on network %d, switch %d", self->id, self->NRP_network, self->NRP_switch_id); + // FIXME: Set a timeout in case we don't get a pingNRP_response. } // Increment the counters so if they are not reset to 0 by the next time, // we detect the missed heartbeat. @@ -152,16 +169,13 @@ reactor Node( } /** - * Switch with two interfaces. Interface 1 is meant to be connected directly - * to a node, while interface 2 is meant to be connected to another switch. - * When a pingNRP message arrives on interface 1, the switch responds on interface 1 - * with the specified delay with a copy of the ping message. - * When any other message arrives on interface 1, the switch forwards a copy - * of the message to interface 2 with the specified delay. - * When a message arrives on interface 2, the message is forwarded to - * interface 1. - * If a pingNRP and message from the network are simultaneous, the - * response to the ping will be further delayed by the specified delay. + * Switch with two interfaces. + * When a pingNRP message arrives on either interface, if the destination + * matches the ID of this switch, then the switch responds on the same interface + * with a pingNRP_response message. + * When any other message arrives on either interface, the switch forwards a copy + * of the message to the other interface. + * If any two messages would be simultaneous on an output, one will be sent one microstep later. */ reactor Switch(id: int = 0, switch_fails_after: time = 3 s) { input in1: message_t @@ -190,6 +204,7 @@ reactor Switch(id: int = 0, switch_fails_after: time = 3 s) { if (in1->is_present) { if (in1->value.type == pingNRP) { if (in1->value.destination == self->id) { + lf_print("\n=== Switch %d pinged by node %d. Responding.\n", self->id, in1->value.source); // Respond to the ping. message_t message; message.source = self->id; @@ -220,10 +235,11 @@ reactor Switch(id: int = 0, switch_fails_after: time = 3 s) { if (in2->is_present) { if (in2->value.type == pingNRP) { if (in2->value.destination == self->id) { + lf_print("\n=== Switch %d pinged by node %d. Responding.\n", self->id, in2->value.source); // Construct a response to the ping. message_t message; message.source = self->id; - message.destination = in1->value.source; + message.destination = in2->value.source; message.type = pingNRP_response; // Respond to the ping if out2 is available. if (!out2->is_present) { @@ -251,8 +267,8 @@ reactor Switch(id: int = 0, switch_fails_after: time = 3 s) { =} reaction(switch_fails) -> reset(Failed) {= - // Only switch 1 fails. - if (self->id == 1) { + // Only switch 3 fails. + if (self->id == 3) { lf_set_mode(Failed); } =} From d572b190c5ba13e5f4b420b63517366a143136ac Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Wed, 16 Aug 2023 05:56:59 -0400 Subject: [PATCH 006/113] Regularized how to test failures --- examples/C/src/leader-election/NRP_FD.lf | 118 ++++++++++++----------- 1 file changed, 62 insertions(+), 56 deletions(-) diff --git a/examples/C/src/leader-election/NRP_FD.lf b/examples/C/src/leader-election/NRP_FD.lf index 64a0e4b7..ffb03041 100644 --- a/examples/C/src/leader-election/NRP_FD.lf +++ b/examples/C/src/leader-election/NRP_FD.lf @@ -30,7 +30,7 @@ reactor Node( id: int = 0, heartbeat_period: time = 1 s, max_missed_heartbeats: int = 2, - primary_fails_after_heartbeats: int = 10 + fails_at_time: time = 0 // For testing. 0 for no failure. ) { // There are two network interfaces: @@ -41,44 +41,44 @@ reactor Node( output out1: message_t output out2: message_t + timer node_fails(fails_at_time) + state heartbeats_missed_1: int = 0 state heartbeats_missed_2: int = 0 state NRP_network: int = 1 state NRP_switch_id: int = 1 - state primary_heartbeats_counter: int = 0 - + state primary: int = 0 // The known primary node. + initial mode Waiting { reaction(startup) -> out1, out2 {= - message_t ping_message; - ping_message.type = pingNRP; - ping_message.source = self->id; - // We send a ping only to switch 1 at startup for this test case. - ping_message.destination = 1; - lf_set(out1, ping_message); + message_t ping_message; + ping_message.type = pingNRP; + ping_message.source = self->id; + // NOTE: The paper does not specify how to select the initial NRP. + // Here, we just choose id 1 to be the NRP. + // Hence, we send a ping only to id 1 at startup, then wait for a reply before + // actually becoming the primary or backup. + ping_message.destination = 1; + lf_set(out1, ping_message); =} reaction(in1, in2) -> reset(Backup), reset(Primary) {= // Got a response to the ping from one or both switches. - // FIXME: The paper calls for user intervention to select which is primary. + // NOTE: The paper calls for user intervention to select which is primary. // Here, we just choose id 1 to be primary. + self->primary = 1; if (self->id == 1) { // Become primary. lf_set_mode(Primary); if (in1->is_present && in1->value.type == pingNRP_response) { - lf_print("Node %d received ping response from network 1. Primary is making switch %d the NRP.", self->id, in1->value.source); + lf_print("Primary node %d received ping response on network 1. Making switch %d the NRP.", self->id, in1->value.source); self->NRP_network = 1; self->NRP_switch_id = in1->value.source; } else if (in2->is_present && in2->value.type == pingNRP) { - lf_print("Node %d received ping response from network 2. Primary is making switch %d the NRP.", self->id, in2->value.source); + lf_print("Primary node %d received ping response on network 2. Making switch %d the NRP.", self->id, in2->value.source); self->NRP_network = 2; self->NRP_switch_id = in2->value.source; - } else if (in1->is_present && in1->value.type == heartbeat) { - lf_print("Node %d received heartbeat from network 1.", self->id); - lf_set_mode(Backup); - } else if (in2->is_present && in2->value.type == heartbeat) { - lf_print("Node %d received heartbeat from network 2.", self->id); - lf_set_mode(Backup); } } else { lf_set_mode(Backup); @@ -90,25 +90,33 @@ reactor Node( timer t(heartbeat_period, heartbeat_period) // FIXME: Need SENDIMHERETOPRIMARY with "longer interval" + + reaction(reset) {= + lf_print("---- Node %d becomes backup.", self->id); + =} + + reaction(node_fails) -> reset(Failed) {= + if(lf_time_logical_elapsed() > 0LL) lf_set_mode(Failed); + =} reaction(in1) {= if (in1->value.type == heartbeat) { - lf_print("Node %d received heartbeat from node %d on network 1.", self->id, in1->value.source); + lf_print("Backup node %d received heartbeat from node %d on network 1.", self->id, in1->value.source); self->heartbeats_missed_1 = 0; } else if (in1->value.type == pingNRP_response && in1->value.destination == self->id) { // Got a response from the NRP to a ping we sent after a partial timeout. - lf_print("Node %d received ping response on network 1 from NRP on switch %d.", self->id, in1->value.source); + lf_print("Backup node %d received ping response on network 1 from NRP on switch %d.", self->id, in1->value.source); // Don't do anything. Remain the backup. } =} reaction(in2) {= if (in2->value.type == heartbeat) { - lf_print("Node %d received heartbeat from node %d on network 2.", self->id, in2->value.source); + lf_print("Backup node %d received heartbeat from node %d on network 2.", self->id, in2->value.source); self->heartbeats_missed_2 = 0; } else if (in2->value.type == pingNRP_response && in2->value.destination == self->id) { // Got a response from the NRP to a ping we sent after a partial timeout. - lf_print("Node %d received ping response on network 2 from NRP on switch %d.", self->id, in2->value.source); + lf_print("Backup node %d received ping response on network 2 from NRP on switch %d.", self->id, in2->value.source); // Don't do anything. Remain the backup. } =} @@ -117,12 +125,13 @@ reactor Node( if (self->heartbeats_missed_1 > self->max_missed_heartbeats && self->heartbeats_missed_2 > self->max_missed_heartbeats) { // Simultaneous heartbeat misses. Assume the primary failed. + lf_print("**** Backup node %d detects missing heartbeats on both networks.", self->id); lf_set_mode(Primary); } else if (self->heartbeats_missed_1 > self->max_missed_heartbeats || self->heartbeats_missed_2 > self->max_missed_heartbeats) { // Heartbeat missed on one network but not yet on the other. // Possible network failure. - lf_print("**** Backup detects missing heartbeats on one network!"); + lf_print("**** Backup node %d detects missing heartbeats on one network.", self->id); // Ping the NRP. message_t message; message.source = self->id; @@ -134,7 +143,7 @@ reactor Node( lf_set(out2, message); } lf_print("Backup node %d pings NRP on network %d, switch %d", self->id, self->NRP_network, self->NRP_switch_id); - // FIXME: Set a timeout in case we don't get a pingNRP_response. + // FIXME: Set a timeout in case we don't get a pingNRP_response, in which case we should ask the primary to switch NRP. } // Increment the counters so if they are not reset to 0 by the next time, // we detect the missed heartbeat. @@ -146,25 +155,25 @@ reactor Node( mode Primary { timer heartbeat(0, heartbeat_period) reaction(reset) {= - lf_print("--- Node %d becomes primary.", self->id); + lf_print("---- Node %d becomes primary.", self->id); =} - reaction(heartbeat) -> out1, out2, reset(Failed) {= - if (self->primary_heartbeats_counter++ >= self->primary_fails_after_heartbeats) { - // Stop sending heartbeats. - lf_print("**** Primary node %d fails.", self->id); - lf_set_mode(Failed); - } else { - lf_print("Primary node %d sends heartbeat on both networks.", self->id); - message_t message; - message.type = heartbeat; - message.source = self->id; - lf_set(out1, message); - lf_set(out2, message); - } + reaction(node_fails) -> reset(Failed) {= + if(lf_time_logical_elapsed() > 0LL) lf_set_mode(Failed); + =} + reaction(heartbeat) -> out1, out2 {= + lf_print("Primary node %d sends heartbeat on both networks.", self->id); + message_t message; + message.type = heartbeat; + message.source = self->id; + lf_set(out1, message); + lf_set(out2, message); =} } mode Failed { + reaction(reset) {= + lf_print("#### Node %d fails.", self->id); + =} } } @@ -177,7 +186,10 @@ reactor Node( * of the message to the other interface. * If any two messages would be simultaneous on an output, one will be sent one microstep later. */ -reactor Switch(id: int = 0, switch_fails_after: time = 3 s) { +reactor Switch( + id: int = 0, + fails_at_time: time = 0 // For testing. 0 for no failure. +) { input in1: message_t @side("east") input in2: message_t @@ -188,10 +200,14 @@ reactor Switch(id: int = 0, switch_fails_after: time = 3 s) { logical action pending_out1: message_t logical action pending_out2: message_t - timer switch_fails(switch_fails_after) + timer switch_fails(fails_at_time) initial mode Working { + reaction(switch_fails) -> reset(Failed) {= + if(lf_time_logical_elapsed() > 0LL) lf_set_mode(Failed); + =} + reaction(pending_out1) -> out1 {= lf_set(out1, pending_out1->value); =} @@ -204,7 +220,7 @@ reactor Switch(id: int = 0, switch_fails_after: time = 3 s) { if (in1->is_present) { if (in1->value.type == pingNRP) { if (in1->value.destination == self->id) { - lf_print("\n=== Switch %d pinged by node %d. Responding.\n", self->id, in1->value.source); + lf_print("==== Switch %d pinged by node %d. Responding.", self->id, in1->value.source); // Respond to the ping. message_t message; message.source = self->id; @@ -235,7 +251,7 @@ reactor Switch(id: int = 0, switch_fails_after: time = 3 s) { if (in2->is_present) { if (in2->value.type == pingNRP) { if (in2->value.destination == self->id) { - lf_print("\n=== Switch %d pinged by node %d. Responding.\n", self->id, in2->value.source); + lf_print("==== Switch %d pinged by node %d. Responding.", self->id, in2->value.source); // Construct a response to the ping. message_t message; message.source = self->id; @@ -265,27 +281,17 @@ reactor Switch(id: int = 0, switch_fails_after: time = 3 s) { } } =} - - reaction(switch_fails) -> reset(Failed) {= - // Only switch 3 fails. - if (self->id == 3) { - lf_set_mode(Failed); - } - =} } mode Failed { reaction(reset) {= - lf_print("######## Switch %d fails.", self->id); + lf_print("==== Switch %d fails.", self->id); =} } } -// FIXME: This should be federated, but it fails: -// See https://github.com/lf-lang/lingua-franca/issues/1942 -// and https://github.com/lf-lang/lingua-franca/issues/1940. main reactor(heartbeat_period: time = 1 s, delay: time = 1 ms) { - node1 = new Node(heartbeat_period=heartbeat_period, id = 1) - node2 = new Node(heartbeat_period=heartbeat_period, id = 2) + node1 = new Node(heartbeat_period=heartbeat_period, id = 1, fails_at_time = 10 s) + node2 = new Node(heartbeat_period=heartbeat_period, id = 2, fails_at_time = 15 s) switch1 = new Switch(id = 1) switch2 = new Switch(id = 2) @@ -299,7 +305,7 @@ main reactor(heartbeat_period: time = 1 s, delay: time = 1 ms) { switch2.out1 -> node2.in1 after delay node2.out1 -> switch2.in1 after delay - switch3 = new Switch(id = 3) + switch3 = new Switch(id = 3, fails_at_time = 3 s) switch4 = new Switch(id = 4) node1.out2 -> switch3.in1 after delay From 60c4461e1ed59d0ce25258353b2b9e56fb9489a0 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Wed, 16 Aug 2023 05:58:01 -0400 Subject: [PATCH 007/113] Formatted --- examples/C/src/leader-election/NRP_FD.lf | 98 +++++++++++------------- 1 file changed, 43 insertions(+), 55 deletions(-) diff --git a/examples/C/src/leader-election/NRP_FD.lf b/examples/C/src/leader-election/NRP_FD.lf index ffb03041..c81d8cd3 100644 --- a/examples/C/src/leader-election/NRP_FD.lf +++ b/examples/C/src/leader-election/NRP_FD.lf @@ -3,8 +3,8 @@ * is replaced by a backup node. The protocol is described in this paper: * * Bjarne Johansson; Mats Rågberger; Alessandro V. Papadopoulos; Thomas Nolte, "Consistency Before - * Availability: Network Reference Point based Failure Detection for Controller Redundancy," - * paper draft 8/15/23. + * Availability: Network Reference Point based Failure Detection for Controller Redundancy," paper + * draft 8/15/23. * * @author Edward A. Lee * @author Marjan Sirjani @@ -30,9 +30,8 @@ reactor Node( id: int = 0, heartbeat_period: time = 1 s, max_missed_heartbeats: int = 2, - fails_at_time: time = 0 // For testing. 0 for no failure. -) { - + // For testing. 0 for no failure. + fails_at_time: time = 0) { // There are two network interfaces: @side("east") input in1: message_t @@ -45,12 +44,12 @@ reactor Node( state heartbeats_missed_1: int = 0 state heartbeats_missed_2: int = 0 - + state NRP_network: int = 1 state NRP_switch_id: int = 1 - + state primary: int = 0 // The known primary node. - + initial mode Waiting { reaction(startup) -> out1, out2 {= message_t ping_message; @@ -63,6 +62,7 @@ reactor Node( ping_message.destination = 1; lf_set(out1, ping_message); =} + reaction(in1, in2) -> reset(Backup), reset(Primary) {= // Got a response to the ping from one or both switches. // NOTE: The paper calls for user intervention to select which is primary. @@ -88,17 +88,13 @@ reactor Node( mode Backup { timer t(heartbeat_period, heartbeat_period) - // FIXME: Need SENDIMHERETOPRIMARY with "longer interval" - - reaction(reset) {= - lf_print("---- Node %d becomes backup.", self->id); - =} + reaction(reset) {= lf_print("---- Node %d becomes backup.", self->id); =} reaction(node_fails) -> reset(Failed) {= if(lf_time_logical_elapsed() > 0LL) lf_set_mode(Failed); =} - + reaction(in1) {= if (in1->value.type == heartbeat) { lf_print("Backup node %d received heartbeat from node %d on network 1.", self->id, in1->value.source); @@ -109,7 +105,7 @@ reactor Node( // Don't do anything. Remain the backup. } =} - + reaction(in2) {= if (in2->value.type == heartbeat) { lf_print("Backup node %d received heartbeat from node %d on network 2.", self->id, in2->value.source); @@ -154,12 +150,12 @@ reactor Node( mode Primary { timer heartbeat(0, heartbeat_period) - reaction(reset) {= - lf_print("---- Node %d becomes primary.", self->id); - =} + reaction(reset) {= lf_print("---- Node %d becomes primary.", self->id); =} + reaction(node_fails) -> reset(Failed) {= if(lf_time_logical_elapsed() > 0LL) lf_set_mode(Failed); =} + reaction(heartbeat) -> out1, out2 {= lf_print("Primary node %d sends heartbeat on both networks.", self->id); message_t message; @@ -178,44 +174,37 @@ reactor Node( } /** - * Switch with two interfaces. - * When a pingNRP message arrives on either interface, if the destination - * matches the ID of this switch, then the switch responds on the same interface - * with a pingNRP_response message. - * When any other message arrives on either interface, the switch forwards a copy - * of the message to the other interface. - * If any two messages would be simultaneous on an output, one will be sent one microstep later. + * Switch with two interfaces. When a pingNRP message arrives on either interface, if the + * destination matches the ID of this switch, then the switch responds on the same interface with a + * pingNRP_response message. When any other message arrives on either interface, the switch forwards + * a copy of the message to the other interface. If any two messages would be simultaneous on an + * output, one will be sent one microstep later. */ reactor Switch( id: int = 0, - fails_at_time: time = 0 // For testing. 0 for no failure. -) { + // For testing. 0 for no failure. + fails_at_time: time = 0) { input in1: message_t @side("east") input in2: message_t @side("west") output out1: message_t output out2: message_t - + logical action pending_out1: message_t logical action pending_out2: message_t - + timer switch_fails(fails_at_time) - + initial mode Working { - reaction(switch_fails) -> reset(Failed) {= if(lf_time_logical_elapsed() > 0LL) lf_set_mode(Failed); =} - reaction(pending_out1) -> out1 {= - lf_set(out1, pending_out1->value); - =} - - reaction(pending_out2) -> out2 {= - lf_set(out2, pending_out2->value); - =} - + reaction(pending_out1) -> out1 {= lf_set(out1, pending_out1->value); =} + + reaction(pending_out2) -> out2 {= lf_set(out2, pending_out2->value); =} + reaction(in1, in2) -> out1, out2, pending_out1, pending_out2 {= if (in1->is_present) { if (in1->value.type == pingNRP) { @@ -282,38 +271,37 @@ reactor Switch( } =} } + mode Failed { - reaction(reset) {= - lf_print("==== Switch %d fails.", self->id); - =} + reaction(reset) {= lf_print("==== Switch %d fails.", self->id); =} } } main reactor(heartbeat_period: time = 1 s, delay: time = 1 ms) { - node1 = new Node(heartbeat_period=heartbeat_period, id = 1, fails_at_time = 10 s) - node2 = new Node(heartbeat_period=heartbeat_period, id = 2, fails_at_time = 15 s) - - switch1 = new Switch(id = 1) - switch2 = new Switch(id = 2) - + node1 = new Node(heartbeat_period=heartbeat_period, id=1, fails_at_time = 10 s) + node2 = new Node(heartbeat_period=heartbeat_period, id=2, fails_at_time = 15 s) + + switch1 = new Switch(id=1) + switch2 = new Switch(id=2) + node1.out1 -> switch1.in1 after delay switch1.out1 -> node1.in1 after delay - + switch1.out2 -> switch2.in2 after delay switch2.out2 -> switch1.in2 after delay - + switch2.out1 -> node2.in1 after delay node2.out1 -> switch2.in1 after delay - switch3 = new Switch(id = 3, fails_at_time = 3 s) - switch4 = new Switch(id = 4) - + switch3 = new Switch(id=3, fails_at_time = 3 s) + switch4 = new Switch(id=4) + node1.out2 -> switch3.in1 after delay switch3.out1 -> node1.in2 after delay - + switch3.out2 -> switch4.in2 after delay switch4.out2 -> switch3.in2 after delay - + switch4.out1 -> node2.in2 after delay node2.out2 -> switch4.in1 after delay } From 30e5ae02144673dee10a256dc577c0be3d1dce4d Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Wed, 16 Aug 2023 07:43:18 -0400 Subject: [PATCH 008/113] Switch supports broadcast ping --- examples/C/src/leader-election/NRP_FD.lf | 71 ++++++++++++++++++------ 1 file changed, 54 insertions(+), 17 deletions(-) diff --git a/examples/C/src/leader-election/NRP_FD.lf b/examples/C/src/leader-election/NRP_FD.lf index c81d8cd3..e9c63996 100644 --- a/examples/C/src/leader-election/NRP_FD.lf +++ b/examples/C/src/leader-election/NRP_FD.lf @@ -14,10 +14,9 @@ target C preamble {= enum message_type { heartbeat, - reveal, - sorry, pingNRP, - pingNRP_response + pingNRP_response, + request_new_NRP }; typedef struct message_t { enum message_type type; @@ -30,8 +29,9 @@ reactor Node( id: int = 0, heartbeat_period: time = 1 s, max_missed_heartbeats: int = 2, - // For testing. 0 for no failure. - fails_at_time: time = 0) { + fails_at_time: time = 0, // For testing. 0 for no failure. + // Time until ping is deemed to have failed. + ping_timeout: time = 500 ms) { // There are two network interfaces: @side("east") input in1: message_t @@ -50,16 +50,19 @@ reactor Node( state primary: int = 0 // The known primary node. + state ping_pending: bool = false + logical action ping_timed_out(ping_timeout) + initial mode Waiting { reaction(startup) -> out1, out2 {= message_t ping_message; ping_message.type = pingNRP; ping_message.source = self->id; // NOTE: The paper does not specify how to select the initial NRP. - // Here, we just choose id 1 to be the NRP. - // Hence, we send a ping only to id 1 at startup, then wait for a reply before + // Here, we send with destination 0, which the switches interpret as first to respond. + // First to respond will be id 1 at startup; then wait for a reply before // actually becoming the primary or backup. - ping_message.destination = 1; + ping_message.destination = 0; lf_set(out1, ping_message); =} @@ -113,11 +116,12 @@ reactor Node( } else if (in2->value.type == pingNRP_response && in2->value.destination == self->id) { // Got a response from the NRP to a ping we sent after a partial timeout. lf_print("Backup node %d received ping response on network 2 from NRP on switch %d.", self->id, in2->value.source); + self->ping_pending = false; // Don't do anything. Remain the backup. } =} - reaction(t) -> reset(Primary), out1, out2 {= + reaction(t) -> reset(Primary), out1, out2, ping_timed_out {= if (self->heartbeats_missed_1 > self->max_missed_heartbeats && self->heartbeats_missed_2 > self->max_missed_heartbeats) { // Simultaneous heartbeat misses. Assume the primary failed. @@ -139,13 +143,32 @@ reactor Node( lf_set(out2, message); } lf_print("Backup node %d pings NRP on network %d, switch %d", self->id, self->NRP_network, self->NRP_switch_id); - // FIXME: Set a timeout in case we don't get a pingNRP_response, in which case we should ask the primary to switch NRP. + self->ping_pending = true; + lf_schedule(ping_timed_out, 0); } // Increment the counters so if they are not reset to 0 by the next time, // we detect the missed heartbeat. self->heartbeats_missed_1++; self->heartbeats_missed_2++; =} + + reaction(ping_timed_out) -> out1, out2 {= + if (self->ping_pending) { + // Ping timed out. Send request for new NRP on the other network. + lf_print("Backup node %d gets no response from ping. Requesting new NRP."); + message_t message; + message.type = request_new_NRP; + message.source = self->id; + message.destination = self->primary; + if (self->NRP_network == 1) { + // Use network 2. + lf_set(out2, message); + } else { + lf_set(out1, message); + } + self->ping_pending = false; + } + =} } mode Primary { @@ -164,6 +187,20 @@ reactor Node( lf_set(out1, message); lf_set(out2, message); =} + + reaction(in1) {= + if (in1->value.type == request_new_NRP) { + // FIXME: Find a new candidate NRP on network 1. + // FIXME: Confirm new NRP with backup. + } + =} + + reaction(in2) {= + if (in2->value.type == request_new_NRP) { + // FIXME: Find a new candidate NRP on network 1. + // FIXME: Confirm new NRP with backup. + } + =} } mode Failed { @@ -175,10 +212,10 @@ reactor Node( /** * Switch with two interfaces. When a pingNRP message arrives on either interface, if the - * destination matches the ID of this switch, then the switch responds on the same interface with a - * pingNRP_response message. When any other message arrives on either interface, the switch forwards - * a copy of the message to the other interface. If any two messages would be simultaneous on an - * output, one will be sent one microstep later. + * destination matches the ID of this switch or the destination is 0, then the switch responds on + * the same interface with a pingNRP_response message. When any other message arrives on either + * interface, the switch forwards a copy of the message to the other interface. If any two messages + * would be simultaneous on an output, one will be sent one microstep later. */ reactor Switch( id: int = 0, @@ -208,7 +245,7 @@ reactor Switch( reaction(in1, in2) -> out1, out2, pending_out1, pending_out2 {= if (in1->is_present) { if (in1->value.type == pingNRP) { - if (in1->value.destination == self->id) { + if (in1->value.destination == self->id || in1->value.destination == 0) { lf_print("==== Switch %d pinged by node %d. Responding.", self->id, in1->value.source); // Respond to the ping. message_t message; @@ -281,7 +318,7 @@ main reactor(heartbeat_period: time = 1 s, delay: time = 1 ms) { node1 = new Node(heartbeat_period=heartbeat_period, id=1, fails_at_time = 10 s) node2 = new Node(heartbeat_period=heartbeat_period, id=2, fails_at_time = 15 s) - switch1 = new Switch(id=1) + switch1 = new Switch(id=1, fails_at_time = 3 s) switch2 = new Switch(id=2) node1.out1 -> switch1.in1 after delay @@ -293,7 +330,7 @@ main reactor(heartbeat_period: time = 1 s, delay: time = 1 ms) { switch2.out1 -> node2.in1 after delay node2.out1 -> switch2.in1 after delay - switch3 = new Switch(id=3, fails_at_time = 3 s) + switch3 = new Switch(id=3) switch4 = new Switch(id=4) node1.out2 -> switch3.in1 after delay From 30bae7d600fcb89b47609221a6e28aec5e5ae782 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Wed, 16 Aug 2023 08:43:34 -0400 Subject: [PATCH 009/113] Request new NRP handled --- examples/C/src/leader-election/NRP_FD.lf | 130 +++++++++++++++-------- 1 file changed, 85 insertions(+), 45 deletions(-) diff --git a/examples/C/src/leader-election/NRP_FD.lf b/examples/C/src/leader-election/NRP_FD.lf index e9c63996..18ef084d 100644 --- a/examples/C/src/leader-election/NRP_FD.lf +++ b/examples/C/src/leader-election/NRP_FD.lf @@ -16,7 +16,8 @@ preamble {= heartbeat, pingNRP, pingNRP_response, - request_new_NRP + request_new_NRP, + new_NRP }; typedef struct message_t { enum message_type type; @@ -47,6 +48,7 @@ reactor Node( state NRP_network: int = 1 state NRP_switch_id: int = 1 + state NRP_pending: bool = true state primary: int = 0 // The known primary node. @@ -55,18 +57,15 @@ reactor Node( initial mode Waiting { reaction(startup) -> out1, out2 {= - message_t ping_message; - ping_message.type = pingNRP; - ping_message.source = self->id; // NOTE: The paper does not specify how to select the initial NRP. // Here, we send with destination 0, which the switches interpret as first to respond. // First to respond will be id 1 at startup; then wait for a reply before // actually becoming the primary or backup. - ping_message.destination = 0; + message_t ping_message ={pingNRP, self->id, 0}; lf_set(out1, ping_message); =} - reaction(in1, in2) -> reset(Backup), reset(Primary) {= + reaction(in1, in2) -> out1, out2, reset(Backup), reset(Primary) {= // Got a response to the ping from one or both switches. // NOTE: The paper calls for user intervention to select which is primary. // Here, we just choose id 1 to be primary. @@ -78,10 +77,18 @@ reactor Node( lf_print("Primary node %d received ping response on network 1. Making switch %d the NRP.", self->id, in1->value.source); self->NRP_network = 1; self->NRP_switch_id = in1->value.source; + self->NRP_pending = false; + // Notify the backup of the NRP. + message_t message = {new_NRP, in1->value.source, 0}; + lf_set(out1, message); } else if (in2->is_present && in2->value.type == pingNRP) { lf_print("Primary node %d received ping response on network 2. Making switch %d the NRP.", self->id, in2->value.source); self->NRP_network = 2; self->NRP_switch_id = in2->value.source; + self->NRP_pending = false; + // Notify the backup of the NRP. + message_t message = {new_NRP, in1->value.source, 0}; + lf_set(out2, message); } } else { lf_set_mode(Backup); @@ -106,6 +113,11 @@ reactor Node( // Got a response from the NRP to a ping we sent after a partial timeout. lf_print("Backup node %d received ping response on network 1 from NRP on switch %d.", self->id, in1->value.source); // Don't do anything. Remain the backup. + } else if (in1->value.type == new_NRP) { + // FIXME: Ping the new NRP and send confirmation back to primary. + self->NRP_network = 1; + self->NRP_switch_id = in1->value.source; + self->NRP_pending = false; } =} @@ -118,6 +130,11 @@ reactor Node( lf_print("Backup node %d received ping response on network 2 from NRP on switch %d.", self->id, in2->value.source); self->ping_pending = false; // Don't do anything. Remain the backup. + } else if (in2->value.type == new_NRP) { + // FIXME: Ping the new NRP and send confirmation back to primary. + self->NRP_network = 2; + self->NRP_switch_id = in2->value.source; + self->NRP_pending = false; } =} @@ -133,18 +150,17 @@ reactor Node( // Possible network failure. lf_print("**** Backup node %d detects missing heartbeats on one network.", self->id); // Ping the NRP. - message_t message; - message.source = self->id; - message.type = pingNRP; - message.destination = self->NRP_switch_id; - if (self->NRP_network == 1) { - lf_set(out1, message); - } else { - lf_set(out2, message); + message_t message = {pingNRP, self->id, self->NRP_switch_id}; + if (!self->ping_pending && !self->NRP_pending) { + if (self->NRP_network == 1) { + lf_set(out1, message); + } else { + lf_set(out2, message); + } + lf_print("Backup node %d pings NRP on network %d, switch %d", self->id, self->NRP_network, self->NRP_switch_id); + self->ping_pending = true; + lf_schedule(ping_timed_out, 0); } - lf_print("Backup node %d pings NRP on network %d, switch %d", self->id, self->NRP_network, self->NRP_switch_id); - self->ping_pending = true; - lf_schedule(ping_timed_out, 0); } // Increment the counters so if they are not reset to 0 by the next time, // we detect the missed heartbeat. @@ -154,17 +170,19 @@ reactor Node( reaction(ping_timed_out) -> out1, out2 {= if (self->ping_pending) { - // Ping timed out. Send request for new NRP on the other network. - lf_print("Backup node %d gets no response from ping. Requesting new NRP."); - message_t message; - message.type = request_new_NRP; - message.source = self->id; - message.destination = self->primary; - if (self->NRP_network == 1) { - // Use network 2. - lf_set(out2, message); - } else { - lf_set(out1, message); + // Ping timed out. + lf_print("Backup node %d gets no response from ping.", self->id); + if (!self->NRP_pending) { + // Send request for new NRP on the other network. + lf_print("Backup node %d requests new NRP.", self->id); + message_t message = {request_new_NRP, self->id, self->primary}; + if (self->NRP_network == 1) { + // Use network 2. + lf_set(out2, message); + } else { + lf_set(out1, message); + } + self->NRP_pending = true; } self->ping_pending = false; } @@ -181,24 +199,52 @@ reactor Node( reaction(heartbeat) -> out1, out2 {= lf_print("Primary node %d sends heartbeat on both networks.", self->id); - message_t message; - message.type = heartbeat; - message.source = self->id; + message_t message = {heartbeat, self->id, 0}; lf_set(out1, message); lf_set(out2, message); =} - reaction(in1) {= + reaction(in1) -> out1 {= if (in1->value.type == request_new_NRP) { - // FIXME: Find a new candidate NRP on network 1. - // FIXME: Confirm new NRP with backup. + // Find a new candidate NRP on network 1. + lf_print("Primary node %d looking for new NRP on network 1.", self->id); + message_t message = {pingNRP, self->id, 0}; + lf_set(out1, message); + self->NRP_pending = true; + } else if (in1->value.type == pingNRP_response) { + lf_print("Primary node %d received ping response on network 1. NRP is %d.", self->id, in1->value.source); + self->NRP_network = 1; + self->NRP_switch_id = in1->value.source; + if (self->NRP_pending) { + self->NRP_pending = false; + // Notify backup of new NRP. source field encodes the switch id. + lf_print("Primary node %d notifies backup of new NRP %d.", self->id, in1->value.source); + message_t message = {new_NRP, in1->value.source, 0}; + lf_set(out1, message); + // FIXME: Wait for confirmation of new NRP with backup. + } } =} - reaction(in2) {= + reaction(in2) -> out2 {= if (in2->value.type == request_new_NRP) { - // FIXME: Find a new candidate NRP on network 1. - // FIXME: Confirm new NRP with backup. + // Find a new candidate NRP on network 2. + lf_print("Primary node %d looking for new NRP on network 2.", self->id); + message_t message = {pingNRP, self->id, 0}; + lf_set(out2, message); + self->NRP_pending = true; + } else if (in2->value.type == pingNRP_response) { + lf_print("Primary node %d received ping response on network 2. NRP is %d.", self->id, in2->value.source); + self->NRP_network = 2; + self->NRP_switch_id = in2->value.source; + if (self->NRP_pending) { + self->NRP_pending = false; + // Notify backup of new NRP. source field encodes the switch id. + lf_print("Primary node %d notifies backup of new NRP %d.", self->id, in2->value.source); + message_t message = {new_NRP, in2->value.source, 0}; + lf_set(out2, message); + // FIXME: Wait for confirmation of new NRP with backup. + } } =} } @@ -248,10 +294,7 @@ reactor Switch( if (in1->value.destination == self->id || in1->value.destination == 0) { lf_print("==== Switch %d pinged by node %d. Responding.", self->id, in1->value.source); // Respond to the ping. - message_t message; - message.source = self->id; - message.destination = in1->value.source; - message.type = pingNRP_response; + message_t message = {pingNRP_response, self->id, in1->value.source}; if (!out1->is_present) { lf_set(out1, message); } else { @@ -279,10 +322,7 @@ reactor Switch( if (in2->value.destination == self->id) { lf_print("==== Switch %d pinged by node %d. Responding.", self->id, in2->value.source); // Construct a response to the ping. - message_t message; - message.source = self->id; - message.destination = in2->value.source; - message.type = pingNRP_response; + message_t message = {pingNRP_response, self->id, in2->value.source}; // Respond to the ping if out2 is available. if (!out2->is_present) { lf_set(out2, message); From 022ff27161c241d1c9a715bd1a832d340fee7f65 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Wed, 16 Aug 2023 15:45:17 -0400 Subject: [PATCH 010/113] Added detection of network partitioning and test showing that we don't get two primaries --- examples/C/src/leader-election/NRP_FD.lf | 76 +++++++++++++++++-- .../leader-election/NRP_FD_Partitioning.lf | 56 ++++++++++++++ 2 files changed, 124 insertions(+), 8 deletions(-) create mode 100644 examples/C/src/leader-election/NRP_FD_Partitioning.lf diff --git a/examples/C/src/leader-election/NRP_FD.lf b/examples/C/src/leader-election/NRP_FD.lf index 18ef084d..c3a467cb 100644 --- a/examples/C/src/leader-election/NRP_FD.lf +++ b/examples/C/src/leader-election/NRP_FD.lf @@ -6,12 +6,22 @@ * Availability: Network Reference Point based Failure Detection for Controller Redundancy," paper * draft 8/15/23. * + * The key idea in this protocol is that when a backup fails to detect the heartbeats of a primary + * node, it becomes primary only if it has access to Network Reference Point (NRP), which is a + * point in the network. This way, if the network becomes partitioned, only a backup that is + * on the side of the partition that still has access to the NRP can become a primary. + * If a primary loses access to the NRP, then it relinquishes its primary role because it + * is now on the wrong side of a network partition. A backup on the right side of the partition + * will take over. + * * @author Edward A. Lee * @author Marjan Sirjani */ target C preamble {= + #ifndef NRF_FD + #define NRF_FD enum message_type { heartbeat, pingNRP, @@ -24,6 +34,7 @@ preamble {= int source; int destination; } message_t; + #endif // NRF_FD =} reactor Node( @@ -32,7 +43,9 @@ reactor Node( max_missed_heartbeats: int = 2, fails_at_time: time = 0, // For testing. 0 for no failure. // Time until ping is deemed to have failed. - ping_timeout: time = 500 ms) { + ping_timeout: time = 500 ms, + // Time until new NRP request is deemed to have failed. + nrp_timeout: time = 500 ms) { // There are two network interfaces: @side("east") input in1: message_t @@ -49,6 +62,8 @@ reactor Node( state NRP_network: int = 1 state NRP_switch_id: int = 1 state NRP_pending: bool = true + state become_primary_on_ping_response: bool = false + logical action new_NRP_request_timed_out(nrp_timeout) state primary: int = 0 // The known primary node. @@ -105,19 +120,28 @@ reactor Node( if(lf_time_logical_elapsed() > 0LL) lf_set_mode(Failed); =} - reaction(in1) {= + reaction(in1) -> reset(Primary) {= if (in1->value.type == heartbeat) { lf_print("Backup node %d received heartbeat from node %d on network 1.", self->id, in1->value.source); self->heartbeats_missed_1 = 0; } else if (in1->value.type == pingNRP_response && in1->value.destination == self->id) { - // Got a response from the NRP to a ping we sent after a partial timeout. + // Got a response from the NRP to a ping we sent after a partial or complete timeout. lf_print("Backup node %d received ping response on network 1 from NRP on switch %d.", self->id, in1->value.source); - // Don't do anything. Remain the backup. + // If there was a timeout on both networks that was not simultaneous, then + // we tried pinging the NRP before becoming primary. + if (self->become_primary_on_ping_response) { + lf_set_mode(Primary); + self->become_primary_on_ping_response = false; + } } else if (in1->value.type == new_NRP) { // FIXME: Ping the new NRP and send confirmation back to primary. self->NRP_network = 1; self->NRP_switch_id = in1->value.source; self->NRP_pending = false; + if (self->become_primary_on_ping_response) { + lf_set_mode(Primary); + self->become_primary_on_ping_response = false; + } } =} @@ -141,13 +165,37 @@ reactor Node( reaction(t) -> reset(Primary), out1, out2, ping_timed_out {= if (self->heartbeats_missed_1 > self->max_missed_heartbeats && self->heartbeats_missed_2 > self->max_missed_heartbeats) { - // Simultaneous heartbeat misses. Assume the primary failed. + // Simultaneous heartbeat misses. + // In the paper, this is tmoAllNotSimul. + // For the tmoAllSimul optimization in the paper, we assume that if + // self->heartbeats_missed_1 == self->heartbeats_missed_2, then most likely, it is + // the primary that failed, and not the network, so can immediately become the primary. + // Otherwise, it is possible that one network failed, and then the other failed, in which + // case, we may have a partitioned network. lf_print("**** Backup node %d detects missing heartbeats on both networks.", self->id); - lf_set_mode(Primary); + if (self->heartbeats_missed_1 == self->heartbeats_missed_2) { + lf_print("**** Missing heartbeats on both networks were simultaneous. Assume the primary failed."); + lf_set_mode(Primary); + } else { + // Ping the NRP because if we can't access it, we are on the wrong side of + // a network partition and could end up with two primaries. + message_t message = {pingNRP, self->id, self->NRP_switch_id}; + if (self->NRP_network == 1) { + lf_set(out1, message); + } else { + lf_set(out2, message); + } + // Wait for a response before becoming primary. + self->become_primary_on_ping_response = true; + lf_schedule(ping_timed_out, 0); + } + self->heartbeats_missed_1 = 0; // Prevent detecting again immediately. + self->heartbeats_missed_2 = 0; } else if (self->heartbeats_missed_1 > self->max_missed_heartbeats || self->heartbeats_missed_2 > self->max_missed_heartbeats) { // Heartbeat missed on one network but not yet on the other. - // Possible network failure. + // Ping the NRP to make sure we retain access to it so that we can be an effective backup. + // This corresponds to tmoSomeNotAll in the paper. lf_print("**** Backup node %d detects missing heartbeats on one network.", self->id); // Ping the NRP. message_t message = {pingNRP, self->id, self->NRP_switch_id}; @@ -168,7 +216,7 @@ reactor Node( self->heartbeats_missed_2++; =} - reaction(ping_timed_out) -> out1, out2 {= + reaction(ping_timed_out) -> out1, out2, new_NRP_request_timed_out {= if (self->ping_pending) { // Ping timed out. lf_print("Backup node %d gets no response from ping.", self->id); @@ -183,10 +231,22 @@ reactor Node( lf_set(out1, message); } self->NRP_pending = true; + lf_schedule(new_NRP_request_timed_out, 0); } self->ping_pending = false; } =} + + reaction(new_NRP_request_timed_out) {= + if (self->NRP_pending) { + self->NRP_pending = false; + lf_print("Backup node %d new NRP request timed out. Will not function as backup.", self->id); + if (self->become_primary_on_ping_response) { + lf_print("Network is likely partitioned. Remaining as (non-functional) backup."); + self->become_primary_on_ping_response = false; + } + } + =} } mode Primary { diff --git a/examples/C/src/leader-election/NRP_FD_Partitioning.lf b/examples/C/src/leader-election/NRP_FD_Partitioning.lf new file mode 100644 index 00000000..d5480f0c --- /dev/null +++ b/examples/C/src/leader-election/NRP_FD_Partitioning.lf @@ -0,0 +1,56 @@ +// This version partitions the network and shows that the protocol +// prevents the backup from becoming primary, thereby preventing +// two primaries. +target C + +import Switch, Node from "NRP_FD.lf" + +// FIXME: Due to this bug: https://github.com/lf-lang/reactor-c/issues/261 +// we have to repeat the preamble from the imported file here. +preamble {= + #ifndef NRF_FD + #define NRF_FD + enum message_type { + heartbeat, + pingNRP, + pingNRP_response, + request_new_NRP, + new_NRP + }; + typedef struct message_t { + enum message_type type; + int source; + int destination; + } message_t; + #endif // NRF_FD +=} + +main reactor(heartbeat_period: time = 1 s, delay: time = 1 ms) { + node1 = new Node(heartbeat_period=heartbeat_period, id=1, fails_at_time = 15 s) + node2 = new Node(heartbeat_period=heartbeat_period, id=2, fails_at_time = 15 s) + + switch1 = new Switch(id=1, fails_at_time = 3 s) + switch2 = new Switch(id=2) + + node1.out1 -> switch1.in1 after delay + switch1.out1 -> node1.in1 after delay + + switch1.out2 -> switch2.in2 after delay + switch2.out2 -> switch1.in2 after delay + + switch2.out1 -> node2.in1 after delay + node2.out1 -> switch2.in1 after delay + + switch3 = new Switch(id=3) + // Failure of switch4 will partition the network. + switch4 = new Switch(id=4, fails_at_time = 10 s) + + node1.out2 -> switch3.in1 after delay + switch3.out1 -> node1.in2 after delay + + switch3.out2 -> switch4.in2 after delay + switch4.out2 -> switch3.in2 after delay + + switch4.out1 -> node2.in2 after delay + node2.out2 -> switch4.in1 after delay +} From 28898c9d717d3362debefe03e26db2ed3033afed Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Sat, 19 Aug 2023 07:48:43 -0400 Subject: [PATCH 011/113] Removed FIXME --- .../leader-election/NRP_FD_Partitioning.lf | 20 ------------------- 1 file changed, 20 deletions(-) diff --git a/examples/C/src/leader-election/NRP_FD_Partitioning.lf b/examples/C/src/leader-election/NRP_FD_Partitioning.lf index d5480f0c..cbe55ca1 100644 --- a/examples/C/src/leader-election/NRP_FD_Partitioning.lf +++ b/examples/C/src/leader-election/NRP_FD_Partitioning.lf @@ -5,26 +5,6 @@ target C import Switch, Node from "NRP_FD.lf" -// FIXME: Due to this bug: https://github.com/lf-lang/reactor-c/issues/261 -// we have to repeat the preamble from the imported file here. -preamble {= - #ifndef NRF_FD - #define NRF_FD - enum message_type { - heartbeat, - pingNRP, - pingNRP_response, - request_new_NRP, - new_NRP - }; - typedef struct message_t { - enum message_type type; - int source; - int destination; - } message_t; - #endif // NRF_FD -=} - main reactor(heartbeat_period: time = 1 s, delay: time = 1 ms) { node1 = new Node(heartbeat_period=heartbeat_period, id=1, fails_at_time = 15 s) node2 = new Node(heartbeat_period=heartbeat_period, id=2, fails_at_time = 15 s) From cb28a057985cdcfe8e9006eb45075e3564786828 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Sat, 19 Aug 2023 09:19:09 -0400 Subject: [PATCH 012/113] Updated FIXMEs and formatted --- .../C/src/leader-election/HeartbeatBully.lf | 16 +++++++------- examples/C/src/leader-election/NRP_FD.lf | 22 +++++++++---------- 2 files changed, 18 insertions(+), 20 deletions(-) diff --git a/examples/C/src/leader-election/HeartbeatBully.lf b/examples/C/src/leader-election/HeartbeatBully.lf index 1bc25405..e3b1bbd3 100644 --- a/examples/C/src/leader-election/HeartbeatBully.lf +++ b/examples/C/src/leader-election/HeartbeatBully.lf @@ -15,13 +15,12 @@ * failed, then the program exits. * * This example is designed to be run as a federated program with decentralized coordination. - * However, as of this writing, bugs in the federated code generator cause the program to fail to - * compile when you change it to be federated. See: + * However, as of this writing, bugs in the federated code generator cause the program to fail + * because all federates get the same bank_index == 0. This may be related to this bug: * - * - https://github.com/lf-lang/lingua-franca/issues/1942 - * - https://github.com/lf-lang/lingua-franca/issues/1940 + * - https://github.com/lf-lang/lingua-franca/issues/1961 * - * When these bugs are fixed, then the federated version should operate exactly the same as the + * When this bugs are fixed, then the federated version should operate exactly the same as the * unfederated version except that it will become possible to kill the federates instead of having * them fail on their own. The program should also be extended to include STP violation handlers to * deal with the fundamental CAL theorem limitations, where unexpected network delays make it @@ -59,6 +58,7 @@ reactor Node( initial mode Idle { reaction(startup) -> reset(Backup), reset(Primary) {= + lf_print("Starting node %d", self->bank_index); if (self->bank_index == self->num_nodes - 1) { lf_set_mode(Primary); } else { @@ -192,9 +192,9 @@ reactor Node( } } -// FIXME: This should be federated, but it fails: -// See https://github.com/lf-lang/lingua-franca/issues/1942 -// and https://github.com/lf-lang/lingua-franca/issues/1940. +// FIXME: This should be federated, but it fails because all federates get the bank_index = 0. +// This may be related to this bug: +// https://github.com/lf-lang/lingua-franca/issues/1961 main reactor(num_nodes: int = 4, heartbeat_period: time = 1 s) { nodes = new[num_nodes] Node(num_nodes=num_nodes, heartbeat_period=heartbeat_period) nodes.out -> interleaved(nodes.in) after heartbeat_period diff --git a/examples/C/src/leader-election/NRP_FD.lf b/examples/C/src/leader-election/NRP_FD.lf index c3a467cb..b855f684 100644 --- a/examples/C/src/leader-election/NRP_FD.lf +++ b/examples/C/src/leader-election/NRP_FD.lf @@ -7,13 +7,12 @@ * draft 8/15/23. * * The key idea in this protocol is that when a backup fails to detect the heartbeats of a primary - * node, it becomes primary only if it has access to Network Reference Point (NRP), which is a - * point in the network. This way, if the network becomes partitioned, only a backup that is - * on the side of the partition that still has access to the NRP can become a primary. - * If a primary loses access to the NRP, then it relinquishes its primary role because it - * is now on the wrong side of a network partition. A backup on the right side of the partition - * will take over. - * + * node, it becomes primary only if it has access to Network Reference Point (NRP), which is a point + * in the network. This way, if the network becomes partitioned, only a backup that is on the side + * of the partition that still has access to the NRP can become a primary. If a primary loses access + * to the NRP, then it relinquishes its primary role because it is now on the wrong side of a + * network partition. A backup on the right side of the partition will take over. + * * @author Edward A. Lee * @author Marjan Sirjani */ @@ -41,9 +40,8 @@ reactor Node( id: int = 0, heartbeat_period: time = 1 s, max_missed_heartbeats: int = 2, - fails_at_time: time = 0, // For testing. 0 for no failure. - // Time until ping is deemed to have failed. - ping_timeout: time = 500 ms, + fails_at_time: time = 0, // For testing. 0 for no failure. + ping_timeout: time = 500 ms, // Time until ping is deemed to have failed. // Time until new NRP request is deemed to have failed. nrp_timeout: time = 500 ms) { // There are two network interfaces: @@ -236,7 +234,7 @@ reactor Node( self->ping_pending = false; } =} - + reaction(new_NRP_request_timed_out) {= if (self->NRP_pending) { self->NRP_pending = false; @@ -304,7 +302,7 @@ reactor Node( message_t message = {new_NRP, in2->value.source, 0}; lf_set(out2, message); // FIXME: Wait for confirmation of new NRP with backup. - } + } } =} } From 573107d91bc89dfb2b4320ccb1ec18d4df158154 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Sat, 19 Aug 2023 09:29:28 -0400 Subject: [PATCH 013/113] Updated FIXMEs --- examples/C/src/leader-election/HeartbeatBully.lf | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/examples/C/src/leader-election/HeartbeatBully.lf b/examples/C/src/leader-election/HeartbeatBully.lf index e3b1bbd3..09d2257d 100644 --- a/examples/C/src/leader-election/HeartbeatBully.lf +++ b/examples/C/src/leader-election/HeartbeatBully.lf @@ -16,11 +16,12 @@ * * This example is designed to be run as a federated program with decentralized coordination. * However, as of this writing, bugs in the federated code generator cause the program to fail - * because all federates get the same bank_index == 0. This may be related to this bug: + * because all federates get the same bank_index == 0. This may be related to these bugs: * * - https://github.com/lf-lang/lingua-franca/issues/1961 + * - https://github.com/lf-lang/lingua-franca/issues/1962 * - * When this bugs are fixed, then the federated version should operate exactly the same as the + * When these bugs are fixed, then the federated version should operate exactly the same as the * unfederated version except that it will become possible to kill the federates instead of having * them fail on their own. The program should also be extended to include STP violation handlers to * deal with the fundamental CAL theorem limitations, where unexpected network delays make it @@ -193,8 +194,9 @@ reactor Node( } // FIXME: This should be federated, but it fails because all federates get the bank_index = 0. -// This may be related to this bug: +// This may be related to these bugs: // https://github.com/lf-lang/lingua-franca/issues/1961 +// https://github.com/lf-lang/lingua-franca/issues/1962 main reactor(num_nodes: int = 4, heartbeat_period: time = 1 s) { nodes = new[num_nodes] Node(num_nodes=num_nodes, heartbeat_period=heartbeat_period) nodes.out -> interleaved(nodes.in) after heartbeat_period From 2ad8cd0dfc067c522a99694c1efe65a8eeba737e Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Mon, 28 Aug 2023 11:06:29 -0400 Subject: [PATCH 014/113] Refined leader election and fixed bug --- examples/C/src/leader-election/NRP_FD.lf | 69 ++++++++++--------- .../leader-election/NRP_FD_PrimaryFails.lf | 34 +++++++++ 2 files changed, 70 insertions(+), 33 deletions(-) create mode 100644 examples/C/src/leader-election/NRP_FD_PrimaryFails.lf diff --git a/examples/C/src/leader-election/NRP_FD.lf b/examples/C/src/leader-election/NRP_FD.lf index b855f684..b871842c 100644 --- a/examples/C/src/leader-election/NRP_FD.lf +++ b/examples/C/src/leader-election/NRP_FD.lf @@ -21,6 +21,7 @@ target C preamble {= #ifndef NRF_FD #define NRF_FD + #include "platform.h" // Defines PRINTF_TIME enum message_type { heartbeat, pingNRP, @@ -87,7 +88,7 @@ reactor Node( // Become primary. lf_set_mode(Primary); if (in1->is_present && in1->value.type == pingNRP_response) { - lf_print("Primary node %d received ping response on network 1. Making switch %d the NRP.", self->id, in1->value.source); + lf_print(PRINTF_TIME ": Primary node %d received ping response on network 1. Making switch %d the NRP.", lf_time_logical_elapsed(), self->id, in1->value.source); self->NRP_network = 1; self->NRP_switch_id = in1->value.source; self->NRP_pending = false; @@ -95,7 +96,7 @@ reactor Node( message_t message = {new_NRP, in1->value.source, 0}; lf_set(out1, message); } else if (in2->is_present && in2->value.type == pingNRP) { - lf_print("Primary node %d received ping response on network 2. Making switch %d the NRP.", self->id, in2->value.source); + lf_print(PRINTF_TIME ": Primary node %d received ping response on network 2. Making switch %d the NRP.", lf_time_logical_elapsed(), self->id, in2->value.source); self->NRP_network = 2; self->NRP_switch_id = in2->value.source; self->NRP_pending = false; @@ -112,7 +113,7 @@ reactor Node( mode Backup { timer t(heartbeat_period, heartbeat_period) // FIXME: Need SENDIMHERETOPRIMARY with "longer interval" - reaction(reset) {= lf_print("---- Node %d becomes backup.", self->id); =} + reaction(reset) {= lf_print(PRINTF_TIME ": ---- Node %d becomes backup.", lf_time_logical_elapsed(), self->id); =} reaction(node_fails) -> reset(Failed) {= if(lf_time_logical_elapsed() > 0LL) lf_set_mode(Failed); @@ -120,38 +121,40 @@ reactor Node( reaction(in1) -> reset(Primary) {= if (in1->value.type == heartbeat) { - lf_print("Backup node %d received heartbeat from node %d on network 1.", self->id, in1->value.source); + lf_print(PRINTF_TIME ": Backup node %d received heartbeat from node %d on network 1.", lf_time_logical_elapsed(), self->id, in1->value.source); self->heartbeats_missed_1 = 0; } else if (in1->value.type == pingNRP_response && in1->value.destination == self->id) { // Got a response from the NRP to a ping we sent after a partial or complete timeout. - lf_print("Backup node %d received ping response on network 1 from NRP on switch %d.", self->id, in1->value.source); + lf_print(PRINTF_TIME ": Backup node %d received ping response on network 1 from NRP on switch %d.", lf_time_logical_elapsed(), self->id, in1->value.source); // If there was a timeout on both networks that was not simultaneous, then // we tried pinging the NRP before becoming primary. if (self->become_primary_on_ping_response) { lf_set_mode(Primary); self->become_primary_on_ping_response = false; } + self->ping_pending = false; } else if (in1->value.type == new_NRP) { // FIXME: Ping the new NRP and send confirmation back to primary. self->NRP_network = 1; self->NRP_switch_id = in1->value.source; self->NRP_pending = false; - if (self->become_primary_on_ping_response) { - lf_set_mode(Primary); - self->become_primary_on_ping_response = false; - } } =} - reaction(in2) {= + reaction(in2) -> reset(Primary) {= if (in2->value.type == heartbeat) { - lf_print("Backup node %d received heartbeat from node %d on network 2.", self->id, in2->value.source); + lf_print(PRINTF_TIME ": Backup node %d received heartbeat from node %d on network 2.", lf_time_logical_elapsed(), self->id, in2->value.source); self->heartbeats_missed_2 = 0; } else if (in2->value.type == pingNRP_response && in2->value.destination == self->id) { // Got a response from the NRP to a ping we sent after a partial timeout. - lf_print("Backup node %d received ping response on network 2 from NRP on switch %d.", self->id, in2->value.source); + lf_print(PRINTF_TIME ": Backup node %d received ping response on network 2 from NRP on switch %d.", lf_time_logical_elapsed(), self->id, in2->value.source); self->ping_pending = false; - // Don't do anything. Remain the backup. + // If there was a timeout on both networks that was not simultaneous, then + // we tried pinging the NRP before becoming primary. + if (self->become_primary_on_ping_response) { + lf_set_mode(Primary); + self->become_primary_on_ping_response = false; + } } else if (in2->value.type == new_NRP) { // FIXME: Ping the new NRP and send confirmation back to primary. self->NRP_network = 2; @@ -170,9 +173,9 @@ reactor Node( // the primary that failed, and not the network, so can immediately become the primary. // Otherwise, it is possible that one network failed, and then the other failed, in which // case, we may have a partitioned network. - lf_print("**** Backup node %d detects missing heartbeats on both networks.", self->id); + lf_print(PRINTF_TIME ": **** Backup node %d detects missing heartbeats on both networks.", lf_time_logical_elapsed(), self->id); if (self->heartbeats_missed_1 == self->heartbeats_missed_2) { - lf_print("**** Missing heartbeats on both networks were simultaneous. Assume the primary failed."); + lf_print(PRINTF_TIME ": **** Missing heartbeats on both networks were simultaneous. Assume the primary failed.", lf_time_logical_elapsed()); lf_set_mode(Primary); } else { // Ping the NRP because if we can't access it, we are on the wrong side of @@ -194,7 +197,7 @@ reactor Node( // Heartbeat missed on one network but not yet on the other. // Ping the NRP to make sure we retain access to it so that we can be an effective backup. // This corresponds to tmoSomeNotAll in the paper. - lf_print("**** Backup node %d detects missing heartbeats on one network.", self->id); + lf_print(PRINTF_TIME ": **** Backup node %d detects missing heartbeats on one network.", lf_time_logical_elapsed(), self->id); // Ping the NRP. message_t message = {pingNRP, self->id, self->NRP_switch_id}; if (!self->ping_pending && !self->NRP_pending) { @@ -203,7 +206,7 @@ reactor Node( } else { lf_set(out2, message); } - lf_print("Backup node %d pings NRP on network %d, switch %d", self->id, self->NRP_network, self->NRP_switch_id); + lf_print(PRINTF_TIME ": Backup node %d pings NRP on network %d, switch %d", lf_time_logical_elapsed(), self->id, self->NRP_network, self->NRP_switch_id); self->ping_pending = true; lf_schedule(ping_timed_out, 0); } @@ -217,10 +220,10 @@ reactor Node( reaction(ping_timed_out) -> out1, out2, new_NRP_request_timed_out {= if (self->ping_pending) { // Ping timed out. - lf_print("Backup node %d gets no response from ping.", self->id); + lf_print(PRINTF_TIME ": Backup node %d gets no response from ping.", lf_time_logical_elapsed(), self->id); if (!self->NRP_pending) { // Send request for new NRP on the other network. - lf_print("Backup node %d requests new NRP.", self->id); + lf_print(PRINTF_TIME ": Backup node %d requests new NRP.", lf_time_logical_elapsed(), self->id); message_t message = {request_new_NRP, self->id, self->primary}; if (self->NRP_network == 1) { // Use network 2. @@ -238,9 +241,9 @@ reactor Node( reaction(new_NRP_request_timed_out) {= if (self->NRP_pending) { self->NRP_pending = false; - lf_print("Backup node %d new NRP request timed out. Will not function as backup.", self->id); + lf_print(PRINTF_TIME ": Backup node %d new NRP request timed out. Will not function as backup.", lf_time_logical_elapsed(), self->id); if (self->become_primary_on_ping_response) { - lf_print("Network is likely partitioned. Remaining as (non-functional) backup."); + lf_print(PRINTF_TIME ": Network is likely partitioned. Remaining as (non-functional) backup.", lf_time_logical_elapsed()); self->become_primary_on_ping_response = false; } } @@ -249,14 +252,14 @@ reactor Node( mode Primary { timer heartbeat(0, heartbeat_period) - reaction(reset) {= lf_print("---- Node %d becomes primary.", self->id); =} + reaction(reset) {= lf_print(PRINTF_TIME ": ---- Node %d becomes primary.", lf_time_logical_elapsed(), self->id); =} reaction(node_fails) -> reset(Failed) {= if(lf_time_logical_elapsed() > 0LL) lf_set_mode(Failed); =} reaction(heartbeat) -> out1, out2 {= - lf_print("Primary node %d sends heartbeat on both networks.", self->id); + lf_print(PRINTF_TIME ": Primary node %d sends heartbeat on both networks.", lf_time_logical_elapsed(), self->id); message_t message = {heartbeat, self->id, 0}; lf_set(out1, message); lf_set(out2, message); @@ -265,18 +268,18 @@ reactor Node( reaction(in1) -> out1 {= if (in1->value.type == request_new_NRP) { // Find a new candidate NRP on network 1. - lf_print("Primary node %d looking for new NRP on network 1.", self->id); + lf_print(PRINTF_TIME ": Primary node %d looking for new NRP on network 1.", lf_time_logical_elapsed(), self->id); message_t message = {pingNRP, self->id, 0}; lf_set(out1, message); self->NRP_pending = true; } else if (in1->value.type == pingNRP_response) { - lf_print("Primary node %d received ping response on network 1. NRP is %d.", self->id, in1->value.source); + lf_print(PRINTF_TIME ": Primary node %d received ping response on network 1. NRP is %d.", lf_time_logical_elapsed(), self->id, in1->value.source); self->NRP_network = 1; self->NRP_switch_id = in1->value.source; if (self->NRP_pending) { self->NRP_pending = false; // Notify backup of new NRP. source field encodes the switch id. - lf_print("Primary node %d notifies backup of new NRP %d.", self->id, in1->value.source); + lf_print(PRINTF_TIME ": Primary node %d notifies backup of new NRP %d.", lf_time_logical_elapsed(), self->id, in1->value.source); message_t message = {new_NRP, in1->value.source, 0}; lf_set(out1, message); // FIXME: Wait for confirmation of new NRP with backup. @@ -287,18 +290,18 @@ reactor Node( reaction(in2) -> out2 {= if (in2->value.type == request_new_NRP) { // Find a new candidate NRP on network 2. - lf_print("Primary node %d looking for new NRP on network 2.", self->id); + lf_print(PRINTF_TIME ": Primary node %d looking for new NRP on network 2.", lf_time_logical_elapsed(), self->id); message_t message = {pingNRP, self->id, 0}; lf_set(out2, message); self->NRP_pending = true; } else if (in2->value.type == pingNRP_response) { - lf_print("Primary node %d received ping response on network 2. NRP is %d.", self->id, in2->value.source); + lf_print(PRINTF_TIME ": Primary node %d received ping response on network 2. NRP is %d.", lf_time_logical_elapsed(), self->id, in2->value.source); self->NRP_network = 2; self->NRP_switch_id = in2->value.source; if (self->NRP_pending) { self->NRP_pending = false; // Notify backup of new NRP. source field encodes the switch id. - lf_print("Primary node %d notifies backup of new NRP %d.", self->id, in2->value.source); + lf_print(PRINTF_TIME ": Primary node %d notifies backup of new NRP %d.", lf_time_logical_elapsed(), self->id, in2->value.source); message_t message = {new_NRP, in2->value.source, 0}; lf_set(out2, message); // FIXME: Wait for confirmation of new NRP with backup. @@ -309,7 +312,7 @@ reactor Node( mode Failed { reaction(reset) {= - lf_print("#### Node %d fails.", self->id); + lf_print(PRINTF_TIME ": #### Node %d fails.", lf_time_logical_elapsed(), self->id); =} } } @@ -350,7 +353,7 @@ reactor Switch( if (in1->is_present) { if (in1->value.type == pingNRP) { if (in1->value.destination == self->id || in1->value.destination == 0) { - lf_print("==== Switch %d pinged by node %d. Responding.", self->id, in1->value.source); + lf_print(PRINTF_TIME ": ==== Switch %d pinged by node %d. Responding.", lf_time_logical_elapsed(), self->id, in1->value.source); // Respond to the ping. message_t message = {pingNRP_response, self->id, in1->value.source}; if (!out1->is_present) { @@ -378,7 +381,7 @@ reactor Switch( if (in2->is_present) { if (in2->value.type == pingNRP) { if (in2->value.destination == self->id) { - lf_print("==== Switch %d pinged by node %d. Responding.", self->id, in2->value.source); + lf_print(PRINTF_TIME ": ==== Switch %d pinged by node %d. Responding.", lf_time_logical_elapsed(), self->id, in2->value.source); // Construct a response to the ping. message_t message = {pingNRP_response, self->id, in2->value.source}; // Respond to the ping if out2 is available. @@ -408,7 +411,7 @@ reactor Switch( } mode Failed { - reaction(reset) {= lf_print("==== Switch %d fails.", self->id); =} + reaction(reset) {= lf_print(PRINTF_TIME ": ==== Switch %d fails.", lf_time_logical_elapsed(), self->id); =} } } diff --git a/examples/C/src/leader-election/NRP_FD_PrimaryFails.lf b/examples/C/src/leader-election/NRP_FD_PrimaryFails.lf new file mode 100644 index 00000000..57f7fc17 --- /dev/null +++ b/examples/C/src/leader-election/NRP_FD_PrimaryFails.lf @@ -0,0 +1,34 @@ +// This version simply has the primary failing after 5 seconds. +// Switch 1 remains the NRP. +target C + +import Switch, Node from "NRP_FD.lf" + +main reactor(heartbeat_period: time = 1 s, delay: time = 1 ms) { + node1 = new Node(heartbeat_period=heartbeat_period, id=1, fails_at_time = 5 s) + node2 = new Node(heartbeat_period=heartbeat_period, id=2, fails_at_time = 15 s) + + switch1 = new Switch(id=1) + switch2 = new Switch(id=2) + + node1.out1 -> switch1.in1 after delay + switch1.out1 -> node1.in1 after delay + + switch1.out2 -> switch2.in2 after delay + switch2.out2 -> switch1.in2 after delay + + switch2.out1 -> node2.in1 after delay + node2.out1 -> switch2.in1 after delay + + switch3 = new Switch(id=3) + switch4 = new Switch(id=4) + + node1.out2 -> switch3.in1 after delay + switch3.out1 -> node1.in2 after delay + + switch3.out2 -> switch4.in2 after delay + switch4.out2 -> switch3.in2 after delay + + switch4.out1 -> node2.in2 after delay + node2.out2 -> switch4.in1 after delay +} From ef9269d63f9f02b6a093244615d6aa9ecd4ef4e8 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Fri, 8 Sep 2023 08:31:33 -0400 Subject: [PATCH 015/113] Fix reference and update FIXME about not running federated --- examples/C/src/leader-election/NRP_FD.lf | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/examples/C/src/leader-election/NRP_FD.lf b/examples/C/src/leader-election/NRP_FD.lf index b871842c..d98cfd3e 100644 --- a/examples/C/src/leader-election/NRP_FD.lf +++ b/examples/C/src/leader-election/NRP_FD.lf @@ -95,7 +95,7 @@ reactor Node( // Notify the backup of the NRP. message_t message = {new_NRP, in1->value.source, 0}; lf_set(out1, message); - } else if (in2->is_present && in2->value.type == pingNRP) { + } else if (in2->is_present && in2->value.type == pingNRP_response) { lf_print(PRINTF_TIME ": Primary node %d received ping response on network 2. Making switch %d the NRP.", lf_time_logical_elapsed(), self->id, in2->value.source); self->NRP_network = 2; self->NRP_switch_id = in2->value.source; @@ -415,6 +415,9 @@ reactor Switch( } } +// FIXME: This should be federated, but bugs in federated execution make it fail. +// Specifically: +// FATAL ERROR: Received a message at tag (4000000, 0) that has a tag (4000000, 0) that has violated the STP offset. Centralized coordination should not have these types of messages. main reactor(heartbeat_period: time = 1 s, delay: time = 1 ms) { node1 = new Node(heartbeat_period=heartbeat_period, id=1, fails_at_time = 10 s) node2 = new Node(heartbeat_period=heartbeat_period, id=2, fails_at_time = 15 s) From e10b187daa85d7c143bdb1fbfe4227fae76b47e3 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Fri, 8 Sep 2023 08:43:30 -0400 Subject: [PATCH 016/113] Added times to printf and timeout --- .../C/src/leader-election/HeartbeatBully.lf | 23 +++++++++++-------- 1 file changed, 14 insertions(+), 9 deletions(-) diff --git a/examples/C/src/leader-election/HeartbeatBully.lf b/examples/C/src/leader-election/HeartbeatBully.lf index 09d2257d..5a1875e8 100644 --- a/examples/C/src/leader-election/HeartbeatBully.lf +++ b/examples/C/src/leader-election/HeartbeatBully.lf @@ -31,9 +31,12 @@ * @author Edward A. Lee * @author Marjan Sirjani */ -target C +target C { + timeout: 30 s +} preamble {= + #include "platform.h" // Defines PRINTF_TIME enum message_type { heartbeat, reveal, @@ -59,7 +62,7 @@ reactor Node( initial mode Idle { reaction(startup) -> reset(Backup), reset(Primary) {= - lf_print("Starting node %d", self->bank_index); + lf_print(PRINTF_TIME ": Starting node %d", lf_time_logical_elapsed(), self->bank_index); if (self->bank_index == self->num_nodes - 1) { lf_set_mode(Primary); } else { @@ -79,7 +82,7 @@ reactor Node( lf_print_error("Multiple primaries detected!!"); } primary_id = in[i]->value.id; - lf_print("Node %d received heartbeat from node %d.", self->bank_index, primary_id); + lf_print(PRINTF_TIME ": Node %d received heartbeat from node %d.", lf_time_logical_elapsed(), self->bank_index, primary_id); self->heartbeats_missed = 0; } else if (in[i]->value.type == reveal && in[i]->value.id < self->bank_index) { // NOTE: This will not occur if the LF semantics are followed because @@ -92,7 +95,7 @@ reactor Node( message.type = sorry; message.id = self->bank_index; lf_set(out[in[i]->value.id], message); - lf_print("Node %d sends sorry to node %d", self->bank_index, in[i]->value.id); + lf_print(PRINTF_TIME ": Node %d sends sorry to node %d", lf_time_logical_elapsed(), self->bank_index, in[i]->value.id); // Go to Prospect mode to send reveal to any higher-priority nodes. lf_set_mode(Prospect); } @@ -119,10 +122,10 @@ reactor Node( reaction(heartbeat) -> out, reset(Failed) {= if (self->primary_heartbeats_counter++ >= self->primary_fails_after_heartbeats) { // Stop sending heartbeats. - lf_print("**** Primary node %d fails.", self->bank_index); + lf_print(PRINTF_TIME ": **** Primary node %d fails.", lf_time_logical_elapsed(), self->bank_index); lf_set_mode(Failed); } else { - lf_print("Primary node %d sends heartbeat.", self->bank_index); + lf_print(PRINTF_TIME ": Primary node %d sends heartbeat.", lf_time_logical_elapsed(), self->bank_index); for (int i = 0; i < out_width; i++) { if (i != self->bank_index) { message_t message; @@ -141,7 +144,7 @@ reactor Node( mode Prospect { logical action wait_for_sorry reaction(reset) -> out, wait_for_sorry {= - lf_print("***** Node %d entered Prospect mode.", self->bank_index); + lf_print(PRINTF_TIME ": ***** Node %d entered Prospect mode.", lf_time_logical_elapsed(), self->bank_index); // Send a reveal message with my ID in a bid to become primary. // NOTE: It is not necessary to send to nodes that have a lower // priority than this node, but the connection is broadcast, so @@ -150,7 +153,7 @@ reactor Node( message.type = reveal; message.id = self->bank_index; for (int i = self->bank_index + 1; i < self->num_nodes; i++) { - lf_print("Node %d sends reveal to node %d", self->bank_index, i); + lf_print(PRINTF_TIME ": Node %d sends reveal to node %d", lf_time_logical_elapsed(), self->bank_index, i); lf_set(out[i], message); } // The reveal message is delayed by heartbeat_period, and if @@ -167,7 +170,7 @@ reactor Node( message.type = sorry; message.id = self->bank_index; lf_set(out[in[i]->value.id], message); - lf_print("Node %d sends sorry to node %d", self->bank_index, in[i]->value.id); + lf_print(PRINTF_TIME ": Node %d sends sorry to node %d", lf_time_logical_elapsed(), self->bank_index, in[i]->value.id); } } =} @@ -197,6 +200,8 @@ reactor Node( // This may be related to these bugs: // https://github.com/lf-lang/lingua-franca/issues/1961 // https://github.com/lf-lang/lingua-franca/issues/1962 +// Although these issues have been closed, this program still does not bahave the same +// federated as unfederated. main reactor(num_nodes: int = 4, heartbeat_period: time = 1 s) { nodes = new[num_nodes] Node(num_nodes=num_nodes, heartbeat_period=heartbeat_period) nodes.out -> interleaved(nodes.in) after heartbeat_period From 85737db8f05356a19c5cdcedb447c6fb0fc26139 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Fri, 8 Sep 2023 08:46:40 -0400 Subject: [PATCH 017/113] Made example federated --- examples/C/src/leader-election/HeartbeatBully.lf | 8 +------- 1 file changed, 1 insertion(+), 7 deletions(-) diff --git a/examples/C/src/leader-election/HeartbeatBully.lf b/examples/C/src/leader-election/HeartbeatBully.lf index 5a1875e8..31362d82 100644 --- a/examples/C/src/leader-election/HeartbeatBully.lf +++ b/examples/C/src/leader-election/HeartbeatBully.lf @@ -196,13 +196,7 @@ reactor Node( } } -// FIXME: This should be federated, but it fails because all federates get the bank_index = 0. -// This may be related to these bugs: -// https://github.com/lf-lang/lingua-franca/issues/1961 -// https://github.com/lf-lang/lingua-franca/issues/1962 -// Although these issues have been closed, this program still does not bahave the same -// federated as unfederated. -main reactor(num_nodes: int = 4, heartbeat_period: time = 1 s) { +federated reactor(num_nodes: int = 4, heartbeat_period: time = 1 s) { nodes = new[num_nodes] Node(num_nodes=num_nodes, heartbeat_period=heartbeat_period) nodes.out -> interleaved(nodes.in) after heartbeat_period } From 435aa26c72df437e39e0bf28e225d28df2eac619 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Wed, 13 Sep 2023 11:34:23 +0200 Subject: [PATCH 018/113] Use federated execution --- examples/C/src/leader-election/NRP_FD.lf | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/examples/C/src/leader-election/NRP_FD.lf b/examples/C/src/leader-election/NRP_FD.lf index d98cfd3e..41c09766 100644 --- a/examples/C/src/leader-election/NRP_FD.lf +++ b/examples/C/src/leader-election/NRP_FD.lf @@ -16,7 +16,9 @@ * @author Edward A. Lee * @author Marjan Sirjani */ -target C +target C { + timeout: 20 s +} preamble {= #ifndef NRF_FD @@ -415,10 +417,7 @@ reactor Switch( } } -// FIXME: This should be federated, but bugs in federated execution make it fail. -// Specifically: -// FATAL ERROR: Received a message at tag (4000000, 0) that has a tag (4000000, 0) that has violated the STP offset. Centralized coordination should not have these types of messages. -main reactor(heartbeat_period: time = 1 s, delay: time = 1 ms) { +federated reactor(heartbeat_period: time = 1 s, delay: time = 1 ms) { node1 = new Node(heartbeat_period=heartbeat_period, id=1, fails_at_time = 10 s) node2 = new Node(heartbeat_period=heartbeat_period, id=2, fails_at_time = 15 s) From ae076cf77dcc19a281fadfb568f8a27b206b3226 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Wed, 13 Sep 2023 17:20:56 +0200 Subject: [PATCH 019/113] Formatted --- examples/C/src/leader-election/NRP_FD.lf | 20 +++++++++++++++----- 1 file changed, 15 insertions(+), 5 deletions(-) diff --git a/examples/C/src/leader-election/NRP_FD.lf b/examples/C/src/leader-election/NRP_FD.lf index 41c09766..f2c363fe 100644 --- a/examples/C/src/leader-election/NRP_FD.lf +++ b/examples/C/src/leader-election/NRP_FD.lf @@ -115,7 +115,9 @@ reactor Node( mode Backup { timer t(heartbeat_period, heartbeat_period) // FIXME: Need SENDIMHERETOPRIMARY with "longer interval" - reaction(reset) {= lf_print(PRINTF_TIME ": ---- Node %d becomes backup.", lf_time_logical_elapsed(), self->id); =} + reaction(reset) {= + lf_print(PRINTF_TIME ": ---- Node %d becomes backup.", lf_time_logical_elapsed(), self->id); + =} reaction(node_fails) -> reset(Failed) {= if(lf_time_logical_elapsed() > 0LL) lf_set_mode(Failed); @@ -254,7 +256,9 @@ reactor Node( mode Primary { timer heartbeat(0, heartbeat_period) - reaction(reset) {= lf_print(PRINTF_TIME ": ---- Node %d becomes primary.", lf_time_logical_elapsed(), self->id); =} + reaction(reset) {= + lf_print(PRINTF_TIME ": ---- Node %d becomes primary.", lf_time_logical_elapsed(), self->id); + =} reaction(node_fails) -> reset(Failed) {= if(lf_time_logical_elapsed() > 0LL) lf_set_mode(Failed); @@ -347,9 +351,13 @@ reactor Switch( if(lf_time_logical_elapsed() > 0LL) lf_set_mode(Failed); =} - reaction(pending_out1) -> out1 {= lf_set(out1, pending_out1->value); =} + reaction(pending_out1) -> out1 {= + lf_set(out1, pending_out1->value); + =} - reaction(pending_out2) -> out2 {= lf_set(out2, pending_out2->value); =} + reaction(pending_out2) -> out2 {= + lf_set(out2, pending_out2->value); + =} reaction(in1, in2) -> out1, out2, pending_out1, pending_out2 {= if (in1->is_present) { @@ -413,7 +421,9 @@ reactor Switch( } mode Failed { - reaction(reset) {= lf_print(PRINTF_TIME ": ==== Switch %d fails.", lf_time_logical_elapsed(), self->id); =} + reaction(reset) {= + lf_print(PRINTF_TIME ": ==== Switch %d fails.", lf_time_logical_elapsed(), self->id); + =} } } From 0ce52cde658a9b91b69519ddb838bd7c4b6babf0 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Sun, 24 Sep 2023 19:10:00 +0200 Subject: [PATCH 020/113] Added illustrations of the CAL theorem --- examples/C/src/distributed/CAL.lf | 81 +++++++++++++++++ .../C/src/distributed/CALDecentralized.lf | 86 ++++++++++++++++++ examples/C/src/distributed/README.md | 17 +++- examples/C/src/distributed/img/CAL.png | Bin 0 -> 461762 bytes .../src/distributed/img/CALDecentralized.png | Bin 0 -> 471991 bytes 5 files changed, 180 insertions(+), 4 deletions(-) create mode 100644 examples/C/src/distributed/CAL.lf create mode 100644 examples/C/src/distributed/CALDecentralized.lf create mode 100644 examples/C/src/distributed/img/CAL.png create mode 100644 examples/C/src/distributed/img/CALDecentralized.png diff --git a/examples/C/src/distributed/CAL.lf b/examples/C/src/distributed/CAL.lf new file mode 100644 index 00000000..0de974cf --- /dev/null +++ b/examples/C/src/distributed/CAL.lf @@ -0,0 +1,81 @@ +/** + * This program illustrates how relaxing consistency improves availability, as predicted by the CAL + * Theorem reported in the following paper: + * + * Edward A. Lee, Ravi Akella, Soroush Bateni, Shaokai Lin, Marten Lohstroh, Christian Menard. + * "Consistency vs. Availability in Distributed Cyber-Physical Systems". ACM Transactions on + * Embedded Computing Systems (TECS), September 2023. https://dl.acm.org/doi/10.1145/3609119 + * + * This program has two `Sense` sources of events, `s1` and `s2`, with periods 500ms and 1s + * respectively. The `s1` output is processed by the `Process` reactor, which takes at least 35ms to + * process the data (emulated by sleeping). As a consequence of this processing latency, were it not + * for the 200ms `after` delay, the 30ms deadline of the `Actuate` reactor would be violated every + * time. The deadline is on the second reaction, which cannot be invoked before the first reaction + * when both reactions are enabled. + * + * The deadline is an availability requirement, the `after` delay is a tolerance for inconsistency, + * and the 35ms processing time is a latency. As long as the actual latency is not greater than the + * 200ms tolerance for inconsistency plus the 30ms tolerance for unavailability, then availability + * requirement will be met. + * + * Removing or reducing the after delay strengthens consistency but causes deadline violations. + * + * This program uses centralized coordination, so if the processing latency plus communication + * latency exceeds the 200ms tolerance for inconsistency and the 30ms tolerance for unavailability + * (the deadline), then the coordinator will preserve consistency at the expense of availability. + * + * @author Edward A. Lee + */ +target C { + coordination: centralized +} + +preamble {= + #include "platform.h" +=} + +reactor Sense(period: time = 500 ms) { + state count: int = 1 + output out: int + timer t(period, period) + + reaction(t) -> out {= + lf_set(out, self->count++); + =} +} + +reactor Process { + input in: int + output out: int + + reaction(in) -> out {= + lf_sleep(MSEC(35)); + lf_set(out, in->value * 2); + =} +} + +reactor Actuate { + input in1: int + input in2: int + + reaction(in1) {= + printf(PRINTF_TIME ": Received %d\n", lf_time_logical_elapsed(), in1->value); + =} + + reaction(in2) {= + printf(PRINTF_TIME ": Second input: %d\n", lf_time_logical_elapsed(), in2->value); + =} deadline(30 ms) {= + printf(PRINTF_TIME ": Second input: %d ", lf_time_logical_elapsed(), in2->value); + printf("PANIC! Deadline violated!\n"); + =} +} + +federated reactor { + s1 = new Sense(period = 500 ms) + s2 = new Sense(period = 1 s) + c1 = new Process() + a = new Actuate() + s1.out -> c1.in + c1.out -> a.in1 after 200 ms + s2.out -> a.in2 +} diff --git a/examples/C/src/distributed/CALDecentralized.lf b/examples/C/src/distributed/CALDecentralized.lf new file mode 100644 index 00000000..e967452b --- /dev/null +++ b/examples/C/src/distributed/CALDecentralized.lf @@ -0,0 +1,86 @@ +/** + * This program illustrates how relaxing consistency improves availability, as predicted by the CAL + * Theorem reported in the following paper: + * + * Edward A. Lee, Ravi Akella, Soroush Bateni, Shaokai Lin, Marten Lohstroh, Christian Menard. + * "Consistency vs. Availability in Distributed Cyber-Physical Systems". ACM Transactions on + * Embedded Computing Systems (TECS), September 2023. https://dl.acm.org/doi/10.1145/3609119 + * + * This program has two `Sense` sources of events, `s1` and `s2`, with periods 500ms and 1s + * respectively. The `s1` output is processed by the `Process` reactor, which takes at least 35ms to + * process the data (emulated by sleeping). As a consequence of this processing delay, were it not + * for the 200ms `after` delay, the 30ms deadline of the `Actuate` reactor would be violated every + * time. The deadline is on the second reaction, which cannot be invoked before the first reaction + * when both reactions are enabled. + * + * The deadline is an availability requirement, the `after` delay is a tolerance for inconsistency, + * and the 35ms processing time is a latency. As long as the actual latency is not greater than the + * 200ms tolerance for inconsistency plus the 30ms tolerance for unavailability, then availability + * requirement will be met. + * + * Removing or reducing the after delay strengthens consistency but causes deadline violations. + * + * This program uses decentralized coordination, so if the processing latency plus communication + * latency exceeds the 200ms tolerance for inconsistency plus the 30ms tolerance for unavailability + * (the deadline), then the coordinator will preserve availability at the expense of consistency. If + * you remove the 200ms `after` delay, however, then you will need to increase the STP offset in the + * `Actuate` reactor to get proper decentralized control. Any number significantly larger than the + * 35ms processing latency should be sufficient to prevent STP violations. + * + * @author Edward A. Lee + */ +target C { + coordination: decentralized +} + +preamble {= + #include "platform.h" +=} + +reactor Sense(period: time = 500 ms) { + state count: int = 1 + output out: int + timer t(period, period) + + reaction(t) -> out {= + lf_set(out, self->count++); + =} +} + +reactor Process { + input in: int + output out: int + + reaction(in) -> out {= + lf_sleep(MSEC(35)); + lf_set(out, in->value * 2); + =} +} + +reactor Actuate { + input in1: int + input in2: int + + reaction(in1) {= + printf(PRINTF_TIME ": Received %d\n", lf_time_logical_elapsed(), in1->value); + =} STP(10 ms) {= + printf(PRINTF_TIME ": STP violation! Received %d\n", lf_time_logical_elapsed(), in1->value); + =} + + reaction(in2) {= + printf(PRINTF_TIME ": Second input: %d\n", lf_time_logical_elapsed(), in2->value); + =} deadline(30 ms) {= + printf(PRINTF_TIME ": Second input: %d ", lf_time_logical_elapsed(), in2->value); + printf("PANIC! Deadline violated!\n"); + =} +} + +federated reactor { + s1 = new Sense(period = 500 ms) + s2 = new Sense(period = 1 s) + c1 = new Process() + a = new Actuate() + s1.out -> c1.in + c1.out -> a.in1 after 200 ms + s2.out -> a.in2 +} diff --git a/examples/C/src/distributed/README.md b/examples/C/src/distributed/README.md index 231e385a..1ec4196a 100644 --- a/examples/C/src/distributed/README.md +++ b/examples/C/src/distributed/README.md @@ -15,23 +15,32 @@ To run these programs, you are required to first [install the RTI](https://www.l HelloWorld HelloWorld.lf : A MessageGenerator produces a string and sends it over a network connection to a PrintMessage reactor that prints the message. + HelloWorldAfter HelloWorldAfter.lf : A variant with a logical time delay on the connection. - + HelloWorldDecentralized HelloWorldDecentralized.lf : A variant that uses decentralized coordination, which relies and clock synchronization. This version uses an **after** delay. - + HelloWorldDecentralizedSTP HelloWorldDecentralizedSTP.lf : A decentralized variant that uses a safe-to-process (STP) offset instead of an **after** delay. - + HelloWorldPhysical HelloWorldPhysical.lf : A variant with physical connection. - + HelloWorldPhysicalAfter HelloWorldPhysicalAfter.lf : A variant with a physical connection and an **after** delay. + + CAL + CAL.lf : An illustration of the fundamental tradeoff between consistency, availability, and latency, using centralized control. + + + CALDecentralized + CALDecentralized.lf : An illustration of the fundamental tradeoff between consistency, availability, and latency, using decentralized control. + diff --git a/examples/C/src/distributed/img/CAL.png b/examples/C/src/distributed/img/CAL.png new file mode 100644 index 0000000000000000000000000000000000000000..72cc21ec42c8c373a2cf9bea7f8f06f6493862fb GIT binary patch literal 461762 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zvNe{VZ>9|PfI8WIRmqy?J9JZmILlX^x*EES-v8R_jv4rpC)6w453FA8&~5oPbxD(T zpk7j$`22y`109&l{ejGuyD03?<+pUCXH$R83hzJ}eBf3G@2(nZy2KH6(GCI7K3trm z56^5+TNc{sHuksonIx{k+SQ)6`$# zY%FVBm(4~Xu)jv`w^jQFMCC_)kgBT}X;lY!Nz6nrVaEuEa<9dB zj??}>5DSK7G@=4O6^HckY2^1;r=dNtDXL`9nG Date: Mon, 25 Sep 2023 07:20:10 +0200 Subject: [PATCH 021/113] Elaborated explanation --- examples/C/src/distributed/CALDecentralized.lf | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/examples/C/src/distributed/CALDecentralized.lf b/examples/C/src/distributed/CALDecentralized.lf index e967452b..3b82103e 100644 --- a/examples/C/src/distributed/CALDecentralized.lf +++ b/examples/C/src/distributed/CALDecentralized.lf @@ -22,10 +22,13 @@ * * This program uses decentralized coordination, so if the processing latency plus communication * latency exceeds the 200ms tolerance for inconsistency plus the 30ms tolerance for unavailability - * (the deadline), then the coordinator will preserve availability at the expense of consistency. If - * you remove the 200ms `after` delay, however, then you will need to increase the STP offset in the - * `Actuate` reactor to get proper decentralized control. Any number significantly larger than the - * 35ms processing latency should be sufficient to prevent STP violations. + * (the deadline), then the coordinator can preserve availability at the expense of consistency. + * However, in order to do that, you need to adjust the STP offset, which corresponds to the + * processing offset in the CAL theorem. If you remove the 200ms `after` delay, you will need to + * increase the STP offset in the `Actuate` reactor to get proper decentralized control. Any number + * significantly larger than the 35ms processing latency should be sufficient to prevent STP + * violations, but such a number will result in a deadline violation. Setting a lower number + * prevents the deadline violation, but at the cost of getting consistency violations. * * @author Edward A. Lee */ From 953d18f779b671595d59f35c82a701a8c2114a3b Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Mon, 25 Sep 2023 07:32:28 +0200 Subject: [PATCH 022/113] Fine tune wording --- examples/C/src/distributed/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/C/src/distributed/README.md b/examples/C/src/distributed/README.md index 1ec4196a..0b93e042 100644 --- a/examples/C/src/distributed/README.md +++ b/examples/C/src/distributed/README.md @@ -37,10 +37,10 @@ To run these programs, you are required to first [install the RTI](https://www.l CAL - CAL.lf : An illustration of the fundamental tradeoff between consistency, availability, and latency, using centralized control. + CAL.lf : An illustration of the fundamental tradeoff between consistency, availability, and latency, using centralized coordination. CALDecentralized - CALDecentralized.lf : An illustration of the fundamental tradeoff between consistency, availability, and latency, using decentralized control. + CALDecentralized.lf : An illustration of the fundamental tradeoff between consistency, availability, and latency, using decentralized coordination. From 78c4313666f086a7d6b1670a821cf25603529a69 Mon Sep 17 00:00:00 2001 From: Marten Lohstroh Date: Sun, 24 Sep 2023 23:35:33 -0700 Subject: [PATCH 023/113] Update README.md Fixed typo. --- examples/C/src/distributed/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/C/src/distributed/README.md b/examples/C/src/distributed/README.md index 0b93e042..102059fd 100644 --- a/examples/C/src/distributed/README.md +++ b/examples/C/src/distributed/README.md @@ -1,6 +1,6 @@ # Distributed Lingua Franca -When intead of a **main reactor** you defined a **federated reactor**, a Lingua Franca program gets divided into multiple programs that execute as separate processes and can execute on different machines. The coordination and communication is automatically generated to preserve LF semantics so that the programs will logically the same as a non-federated program. See [Distributed Execution documentation](https://www.lf-lang.org/docs/handbook/distributed-execution?target=c) for more details. +When intead of a **main reactor** you defined a **federated reactor**, a Lingua Franca program gets divided into multiple programs that execute as separate processes and can execute on different machines. The coordination and communication is automatically generated to preserve LF semantics so that the programs will logically behave the same as a non-federated program. See [Distributed Execution documentation](https://www.lf-lang.org/docs/handbook/distributed-execution?target=c) for more details. This directory includes a series of very simple "Hello World" examples. From bfd12f7f004a7a9f814ca5d08db206e04d38af37 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Mon, 25 Sep 2023 16:20:45 +0200 Subject: [PATCH 024/113] Better terminology --- examples/C/src/distributed/CALDecentralized.lf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/C/src/distributed/CALDecentralized.lf b/examples/C/src/distributed/CALDecentralized.lf index 3b82103e..dcb9eca7 100644 --- a/examples/C/src/distributed/CALDecentralized.lf +++ b/examples/C/src/distributed/CALDecentralized.lf @@ -67,7 +67,7 @@ reactor Actuate { reaction(in1) {= printf(PRINTF_TIME ": Received %d\n", lf_time_logical_elapsed(), in1->value); =} STP(10 ms) {= - printf(PRINTF_TIME ": STP violation! Received %d\n", lf_time_logical_elapsed(), in1->value); + printf(PRINTF_TIME ": Consistency violation! Received %d\n", lf_time_logical_elapsed(), in1->value); =} reaction(in2) {= From ca455e1a5a2ccbf38cb2617151a525747f804a43 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Thu, 5 Oct 2023 12:36:13 -0700 Subject: [PATCH 025/113] Respond to review plus some other tuning --- examples/C/src/distributed/CAL.lf | 42 ++++++----- .../C/src/distributed/CALDecentralized.lf | 74 +++++++------------ 2 files changed, 49 insertions(+), 67 deletions(-) diff --git a/examples/C/src/distributed/CAL.lf b/examples/C/src/distributed/CAL.lf index 0de974cf..b9d14712 100644 --- a/examples/C/src/distributed/CAL.lf +++ b/examples/C/src/distributed/CAL.lf @@ -6,73 +6,77 @@ * "Consistency vs. Availability in Distributed Cyber-Physical Systems". ACM Transactions on * Embedded Computing Systems (TECS), September 2023. https://dl.acm.org/doi/10.1145/3609119 * - * This program has two `Sense` sources of events, `s1` and `s2`, with periods 500ms and 1s - * respectively. The `s1` output is processed by the `Process` reactor, which takes at least 35ms to - * process the data (emulated by sleeping). As a consequence of this processing latency, were it not - * for the 200ms `after` delay, the 30ms deadline of the `Actuate` reactor would be violated every - * time. The deadline is on the second reaction, which cannot be invoked before the first reaction - * when both reactions are enabled. + * This program has two `Sense` sources of events, `s1` and `s2` with identical periods of 1s. The + * `s1` output is processed by the `Process` reactor, which takes at least 35ms to process the data + * (emulated by sleeping). As a consequence of this processing latency, were it not for the 200ms + * `after` delay, the 30ms deadline of the `Actuate` reactor would be violated every time. The + * deadline is on the second reaction, which cannot be invoked before the first reaction when both + * reactions are enabled. * * The deadline is an availability requirement, the `after` delay is a tolerance for inconsistency, - * and the 35ms processing time is a latency. As long as the actual latency is not greater than the - * 200ms tolerance for inconsistency plus the 30ms tolerance for unavailability, then availability - * requirement will be met. + * and the 35ms processing time is a latency (The C A L in CAL). As long as the actual latency is + * not greater than the 200ms tolerance for inconsistency plus the 30ms tolerance for + * unavailability, then availability requirement will be met. * * Removing or reducing the after delay strengthens consistency but causes deadline violations. * * This program uses centralized coordination, so if the processing latency plus communication * latency exceeds the 200ms tolerance for inconsistency and the 30ms tolerance for unavailability * (the deadline), then the coordinator will preserve consistency at the expense of availability. + * I.e., the deadline will be violated. * * @author Edward A. Lee */ target C { - coordination: centralized + timeout: 5 s } preamble {= #include "platform.h" =} -reactor Sense(period: time = 500 ms) { +// Produce a counting sequence starting with 1. +reactor Sense(period: time = 1 s) { state count: int = 1 output out: int - timer t(period, period) + timer t(0, period) reaction(t) -> out {= lf_set(out, self->count++); =} } +// Pass the input unchanged to the output, but take a long time to do it. reactor Process { input in: int output out: int reaction(in) -> out {= lf_sleep(MSEC(35)); - lf_set(out, in->value * 2); + lf_set(out, in->value); =} } +// Report the inputs. reactor Actuate { input in1: int input in2: int reaction(in1) {= - printf(PRINTF_TIME ": Received %d\n", lf_time_logical_elapsed(), in1->value); + lf_print(PRINTF_TIME ": Received on in1: %d", lf_time_logical_elapsed(), in1->value); =} reaction(in2) {= - printf(PRINTF_TIME ": Second input: %d\n", lf_time_logical_elapsed(), in2->value); + lf_print(PRINTF_TIME ": Received on in2: %d", lf_time_logical_elapsed(), in2->value); =} deadline(30 ms) {= - printf(PRINTF_TIME ": Second input: %d ", lf_time_logical_elapsed(), in2->value); - printf("PANIC! Deadline violated!\n"); + lf_print(PRINTF_TIME ": Received on in2: %d", lf_time_logical_elapsed(), in2->value); + lf_print(" *** PANIC! Deadline violated!"); =} } federated reactor { - s1 = new Sense(period = 500 ms) - s2 = new Sense(period = 1 s) + s1 = new Sense() + s2 = new Sense() c1 = new Process() a = new Actuate() s1.out -> c1.in diff --git a/examples/C/src/distributed/CALDecentralized.lf b/examples/C/src/distributed/CALDecentralized.lf index dcb9eca7..b68ff979 100644 --- a/examples/C/src/distributed/CALDecentralized.lf +++ b/examples/C/src/distributed/CALDecentralized.lf @@ -6,82 +6,60 @@ * "Consistency vs. Availability in Distributed Cyber-Physical Systems". ACM Transactions on * Embedded Computing Systems (TECS), September 2023. https://dl.acm.org/doi/10.1145/3609119 * - * This program has two `Sense` sources of events, `s1` and `s2`, with periods 500ms and 1s - * respectively. The `s1` output is processed by the `Process` reactor, which takes at least 35ms to - * process the data (emulated by sleeping). As a consequence of this processing delay, were it not - * for the 200ms `after` delay, the 30ms deadline of the `Actuate` reactor would be violated every - * time. The deadline is on the second reaction, which cannot be invoked before the first reaction - * when both reactions are enabled. - * - * The deadline is an availability requirement, the `after` delay is a tolerance for inconsistency, - * and the 35ms processing time is a latency. As long as the actual latency is not greater than the - * 200ms tolerance for inconsistency plus the 30ms tolerance for unavailability, then availability - * requirement will be met. + * This program is just like CAL.lf except that it uses decentralized coordination. * * Removing or reducing the after delay strengthens consistency but causes deadline violations. * * This program uses decentralized coordination, so if the processing latency plus communication * latency exceeds the 200ms tolerance for inconsistency plus the 30ms tolerance for unavailability - * (the deadline), then the coordinator can preserve availability at the expense of consistency. + * (the deadline), then the system can only preserve availability at the expense of consistency. * However, in order to do that, you need to adjust the STP offset, which corresponds to the * processing offset in the CAL theorem. If you remove the 200ms `after` delay, you will need to - * increase the STP offset in the `Actuate` reactor to get proper decentralized control. Any number - * significantly larger than the 35ms processing latency should be sufficient to prevent STP - * violations, but such a number will result in a deadline violation. Setting a lower number - * prevents the deadline violation, but at the cost of getting consistency violations. + * increase the STP offset in the `Actuate` reactor to ensure that it does not prematurely assume + * the inputs are absent. Any number significantly larger than the 35ms processing latency should be + * sufficient to prevent STP violations, but such a number will result in a deadline violation. + * Setting a lower number prevents the deadline violation, but at the cost of getting consistency + * violations. It is also possible to get _both_ deadline and consistency violations. * * @author Edward A. Lee */ target C { - coordination: decentralized + coordination: decentralized, + timeout: 5 s } -preamble {= - #include "platform.h" -=} - -reactor Sense(period: time = 500 ms) { - state count: int = 1 - output out: int - timer t(period, period) +import Sense, Process from "CAL.lf" - reaction(t) -> out {= - lf_set(out, self->count++); - =} -} - -reactor Process { - input in: int - output out: int - - reaction(in) -> out {= - lf_sleep(MSEC(35)); - lf_set(out, in->value * 2); - =} +// Override the base class to provide an STP offset. +reactor ProcessFed(STP_offset: time = 10 ms) extends Process { } -reactor Actuate { +// Report inputs received. +// STP_offset parameter is needed to ensure receiving the last input at time 5s. +// This has to be less than the deadline or the deadline will always be violated. +reactor Actuate(STP_offset: time = 20 ms) { input in1: int input in2: int reaction(in1) {= - printf(PRINTF_TIME ": Received %d\n", lf_time_logical_elapsed(), in1->value); - =} STP(10 ms) {= - printf(PRINTF_TIME ": Consistency violation! Received %d\n", lf_time_logical_elapsed(), in1->value); + lf_print(PRINTF_TIME ": Received on in1: %d", lf_time_logical_elapsed(), in1->value); + =} STP(0) {= + // No _additional_ STP offset is needed here. + lf_print(PRINTF_TIME ": Consistency violation! Received %d", lf_time_logical_elapsed(), in1->value); =} reaction(in2) {= - printf(PRINTF_TIME ": Second input: %d\n", lf_time_logical_elapsed(), in2->value); + lf_print(PRINTF_TIME ": Received on in2: %d", lf_time_logical_elapsed(), in2->value); =} deadline(30 ms) {= - printf(PRINTF_TIME ": Second input: %d ", lf_time_logical_elapsed(), in2->value); - printf("PANIC! Deadline violated!\n"); + lf_print(PRINTF_TIME ": Received on in2: %d", lf_time_logical_elapsed(), in2->value); + lf_print(" *** PANIC! Deadline violated!"); =} } federated reactor { - s1 = new Sense(period = 500 ms) - s2 = new Sense(period = 1 s) - c1 = new Process() + s1 = new Sense() + s2 = new Sense() + c1 = new ProcessFed() a = new Actuate() s1.out -> c1.in c1.out -> a.in1 after 200 ms From efd6379eae8287380fd04caec6960d4a8c5b4dfc Mon Sep 17 00:00:00 2001 From: Shaokai Lin Date: Thu, 12 Oct 2023 22:29:21 -0700 Subject: [PATCH 026/113] Add an outline for the Mars Helicopter --- .../C/src/MarsHelicopter/MarsHelicopter.lf | 111 ++++++++++++++++++ 1 file changed, 111 insertions(+) create mode 100644 experiments/C/src/MarsHelicopter/MarsHelicopter.lf diff --git a/experiments/C/src/MarsHelicopter/MarsHelicopter.lf b/experiments/C/src/MarsHelicopter/MarsHelicopter.lf new file mode 100644 index 00000000..18dae502 --- /dev/null +++ b/experiments/C/src/MarsHelicopter/MarsHelicopter.lf @@ -0,0 +1,111 @@ +/** + * This example is based on the block diagram shown in the Mars Helicopter Talk + * at FSW 2022. + * https://www.youtube.com/watch?v=D-Y6H0GMtbM&t=465s + * + * @author Shaokai Lin + */ +target C + +// Sony IMX214 13MP Color +// https://www.supertekmodule.com/product-item/13mp-camera-module-imx214/ +reactor CameraColor { + output out:{=camera_color_t=} + timer t(0, 33 ms) // ~30 FPS + reaction(t) -> out {==} +} + +// Omnivision OV7251 B&W +// https://www.ovt.com/products/ov7251/ +reactor CameraBW { + output out:{=camera_bw_t=} + timer t(0, 8 ms) // ~120 FPS + reaction(t) -> out {==} +} + +// Zigbee Radio +// https://development.libelium.com/zigbee-networking-guide/code-examples-and-extended-information +reactor ZigbeeRadio { + output out:{=radio_t=} + physical action receivePacket + timer t(0, 5 sec) + reaction(receivePacket) -> out {==} + reaction(t) {==} +} + +// Processor for fusing images +reactor ImageProcessor { + input fromRadio:{=radio_t=} + input fromCameraColor:{=camera_color_t=} + input fromCameraBW:{=camera_bw_t=} + output objectsDetected:{=object_t=} + logical action infer(10 msec) + state opMode:int = 0 + // Perhaps incoming packets can change opMode, the mode of operation. + reaction(fromRadio) {==} + // Sensor fusion + reaction(fromCameraColor, fromCameraBW) -> infer {==} + // Run neural network inference, output command. + reaction(infer) -> objectsDetected {==} +} + +// Motors +reactor Motors { + input in:{=motor_command_t=} + reaction(in) {==} +} + +// Garmin Lidar Lite LRF +// https://www.garmin.com/en-US/p/557294#specs +reactor Lidar { + output out:{=lidar_t=} + timer t(0, 2 ms) // 500 HZ + reaction(t) -> out {==} +} + +// Bosch BMI-160 IMU +// https://www.mouser.com/datasheet/2/783/BST_BMI160_DS000-1509569.pdf +reactor IMU { + output out:{=imu_t=} + timer t(0, 10 ms) // 100 HZ Output Data Rate (ODR) + reaction(t) -> out {==} +} + +// muRata SCA100T inclinometer +// https://www.murata.com/en-us/api/pdfdownloadapi?cate=cgsubAccelerometers&partno=SCA100T-D07 +reactor Inclinometer { + output out:{=inclinometer_t=} + timer t(0, 2500 us) // 400 HZ + reaction(t) -> out {==} +} + +// A central controller for generating output commands +reactor Controller { + input fromImageProcessor:{=object_t=} + input fromLidar:{=lidar_t=} + input fromIMU:{=imu_t=} + input fromInclinometer:{=inclinometer_t=} + output toMotor:{=motor_command_t=} + reaction(fromImageProcessor, fromLidar, fromIMU, fromInclinometer) -> toMotor {==} +} + +main reactor { + cameraColor = new CameraColor() + cameraBW = new CameraBW() + radio = new ZigbeeRadio() + imageProcessor = new ImageProcessor() + motors = new Motors() + lidar = new Lidar() + imu = new IMU() + inclinometer = new Inclinometer() + controller = new Controller() + + cameraColor.out -> imageProcessor.fromCameraColor + cameraBW.out -> imageProcessor.fromCameraBW + radio.out -> imageProcessor.fromRadio + imageProcessor.objectsDetected -> controller.fromImageProcessor + lidar.out -> controller.fromLidar + imu.out -> controller.fromIMU + inclinometer.out -> controller.fromInclinometer + controller.toMotor -> motors.in +} \ No newline at end of file From 23cc56b5307f46d949478636dc5ab32b5eddac6e Mon Sep 17 00:00:00 2001 From: Shaokai Lin Date: Fri, 13 Oct 2023 14:16:23 -0700 Subject: [PATCH 027/113] Minor update --- experiments/C/src/MarsHelicopter/MarsHelicopter.lf | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/experiments/C/src/MarsHelicopter/MarsHelicopter.lf b/experiments/C/src/MarsHelicopter/MarsHelicopter.lf index 18dae502..f25070f5 100644 --- a/experiments/C/src/MarsHelicopter/MarsHelicopter.lf +++ b/experiments/C/src/MarsHelicopter/MarsHelicopter.lf @@ -41,11 +41,13 @@ reactor ImageProcessor { output objectsDetected:{=object_t=} logical action infer(10 msec) state opMode:int = 0 - // Perhaps incoming packets can change opMode, the mode of operation. + // Perhaps incoming packets can change opMode, the mode of operation? reaction(fromRadio) {==} // Sensor fusion reaction(fromCameraColor, fromCameraBW) -> infer {==} - // Run neural network inference, output command. + // Run neural network inference, output objectsDetected. + // FIXME: Not sure if this is a reasonable design. Is Ingenuity actually + // doing object detection when flying? reaction(infer) -> objectsDetected {==} } From 7d5f9b675b20b01e64801b6d6f87184fce53c376 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Fri, 13 Oct 2023 14:36:17 -0700 Subject: [PATCH 028/113] Fix incorrect indentation --- examples/Python/src/acas/lib/XYPlotter.lf | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/examples/Python/src/acas/lib/XYPlotter.lf b/examples/Python/src/acas/lib/XYPlotter.lf index 4d44342d..01179493 100644 --- a/examples/Python/src/acas/lib/XYPlotter.lf +++ b/examples/Python/src/acas/lib/XYPlotter.lf @@ -30,15 +30,15 @@ reactor XYPlotter { reaction(shutdown) {= # make data - x1 = np.array(self.x1_list) - y1 = np.array(self.y1_list) - x2 = np.array(self.x2_list) - y2 = np.array(self.y2_list) + x1 = np.array(self.x1_list) + y1 = np.array(self.y1_list) + x2 = np.array(self.x2_list) + y2 = np.array(self.y2_list) - # plot - plt.plot(x1, y1, "b") - plt.plot(x2, y2, "r") + # plot + plt.plot(x1, y1, "b") + plt.plot(x2, y2, "r") - plt.show() + plt.show() =} } From dd1224a2316ea7373b876f8fbe0189b5cae8ed9f Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Fri, 13 Oct 2023 14:36:57 -0700 Subject: [PATCH 029/113] Comments only --- examples/C/src/distributed/CALDecentralized.lf | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/C/src/distributed/CALDecentralized.lf b/examples/C/src/distributed/CALDecentralized.lf index b68ff979..434c0d3c 100644 --- a/examples/C/src/distributed/CALDecentralized.lf +++ b/examples/C/src/distributed/CALDecentralized.lf @@ -44,8 +44,8 @@ reactor Actuate(STP_offset: time = 20 ms) { reaction(in1) {= lf_print(PRINTF_TIME ": Received on in1: %d", lf_time_logical_elapsed(), in1->value); =} STP(0) {= - // No _additional_ STP offset is needed here. - lf_print(PRINTF_TIME ": Consistency violation! Received %d", lf_time_logical_elapsed(), in1->value); + // No _additional_ STP offset (STAA) is needed here. + lf_print(PRINTF_TIME ": *** Consistency violation! Received on in1: %d", lf_time_logical_elapsed(), in1->value); =} reaction(in2) {= From 650ac03114add5bcd5685a2855c8bb50f84dd1b8 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Tue, 31 Oct 2023 16:40:03 -0700 Subject: [PATCH 030/113] Use multiport and message server --- examples/C/src/leader-election/NRP_FD.lf | 470 ++++++++++++----------- 1 file changed, 251 insertions(+), 219 deletions(-) diff --git a/examples/C/src/leader-election/NRP_FD.lf b/examples/C/src/leader-election/NRP_FD.lf index f2c363fe..cfc4e235 100644 --- a/examples/C/src/leader-election/NRP_FD.lf +++ b/examples/C/src/leader-election/NRP_FD.lf @@ -3,8 +3,8 @@ * is replaced by a backup node. The protocol is described in this paper: * * Bjarne Johansson; Mats Rågberger; Alessandro V. Papadopoulos; Thomas Nolte, "Consistency Before - * Availability: Network Reference Point based Failure Detection for Controller Redundancy," paper - * draft 8/15/23. + * Availability: Network Reference Point based Failure Detection for Controller Redundancy," Emerging + * Technologies and Factory Automation (ETFA), 12-15 September 2023, DOI: 10.1109/ETFA54631.2023.10275664 * * The key idea in this protocol is that when a backup fails to detect the heartbeats of a primary * node, it becomes primary only if it has access to Network Reference Point (NRP), which is a point @@ -12,11 +12,14 @@ * of the partition that still has access to the NRP can become a primary. If a primary loses access * to the NRP, then it relinquishes its primary role because it is now on the wrong side of a * network partition. A backup on the right side of the partition will take over. + * + * This implementation omits some details in the paper. See NOTEs in the comments. * * @author Edward A. Lee * @author Marjan Sirjani */ target C { + tracing: true, timeout: 20 s } @@ -24,10 +27,16 @@ preamble {= #ifndef NRF_FD #define NRF_FD #include "platform.h" // Defines PRINTF_TIME + + // Paper calls for manual intervention to set initial primary ID and NRP network. + // Here, we just hardwire this choice using #define. + #define INITIAL_PRIMARY_ID 1 + #define INITIAL_NRP_NETWORK 0 + enum message_type { heartbeat, - pingNRP, - pingNRP_response, + ping_NRP, + ping_NRP_response, request_new_NRP, new_NRP }; @@ -35,6 +44,7 @@ preamble {= enum message_type type; int source; int destination; + int payload; } message_t; #endif // NRF_FD =} @@ -49,273 +59,302 @@ reactor Node( nrp_timeout: time = 500 ms) { // There are two network interfaces: @side("east") - input in1: message_t - @side("east") - input in2: message_t - output out1: message_t - output out2: message_t + input[2] in: message_t + output[2] out: message_t timer node_fails(fails_at_time) - state heartbeats_missed_1: int = 0 - state heartbeats_missed_2: int = 0 - - state NRP_network: int = 1 - state NRP_switch_id: int = 1 - state NRP_pending: bool = true - state become_primary_on_ping_response: bool = false - logical action new_NRP_request_timed_out(nrp_timeout) - + state heartbeats_missed: int[2] = {0} state primary: int = 0 // The known primary node. - state ping_pending: bool = false + state ping_timeout_pending: bool = false + state become_primary_on_ping_response: bool = false + state NRP_network: int = {= INITIAL_NRP_NETWORK =} + state NRP_switch_id: int = 0 // 0 means not known. + logical action ping_timed_out(ping_timeout) + logical action new_NRP_request_timed_out(nrp_timeout) initial mode Waiting { - reaction(startup) -> out1, out2 {= - // NOTE: The paper does not specify how to select the initial NRP. - // Here, we send with destination 0, which the switches interpret as first to respond. - // First to respond will be id 1 at startup; then wait for a reply before - // actually becoming the primary or backup. - message_t ping_message ={pingNRP, self->id, 0}; - lf_set(out1, ping_message); + reaction(startup) -> out {= + // If I am the initial primary, broadcast a ping on network 1. + // The first switch to get this will respond. + if (self->id == INITIAL_PRIMARY_ID) { + message_t ping_message = {ping_NRP, self->id, 0, 0}; + lf_set(out[INITIAL_NRP_NETWORK], ping_message); + // Instead of scheduling ping_timed_out, we just continue waiting until a ping response arrives. + } =} - reaction(in1, in2) -> out1, out2, reset(Backup), reset(Primary) {= - // Got a response to the ping from one or both switches. - // NOTE: The paper calls for user intervention to select which is primary. - // Here, we just choose id 1 to be primary. - self->primary = 1; - if (self->id == 1) { - // Become primary. - lf_set_mode(Primary); - if (in1->is_present && in1->value.type == pingNRP_response) { - lf_print(PRINTF_TIME ": Primary node %d received ping response on network 1. Making switch %d the NRP.", lf_time_logical_elapsed(), self->id, in1->value.source); - self->NRP_network = 1; - self->NRP_switch_id = in1->value.source; - self->NRP_pending = false; - // Notify the backup of the NRP. - message_t message = {new_NRP, in1->value.source, 0}; - lf_set(out1, message); - } else if (in2->is_present && in2->value.type == pingNRP_response) { - lf_print(PRINTF_TIME ": Primary node %d received ping response on network 2. Making switch %d the NRP.", lf_time_logical_elapsed(), self->id, in2->value.source); - self->NRP_network = 2; - self->NRP_switch_id = in2->value.source; - self->NRP_pending = false; - // Notify the backup of the NRP. - message_t message = {new_NRP, in1->value.source, 0}; - lf_set(out2, message); + reaction(in) -> out, reset(Backup), reset(Primary) {= + // Iterate over input channels. + for (int c = 0; c < in_width; c++) { + if (in[c]->is_present) { + // In this mode, primary is waiting for a ping response and backup for a new NRP. + if (self->id == INITIAL_PRIMARY_ID && in[c]->value.type == ping_NRP_response) { + // Become primary. + self->primary = self->id; + lf_set_mode(Primary); + + lf_print(PRINTF_TIME ": Primary node %d received ping response on network %d. " + "Making switch %d the NRP.", lf_time_logical_elapsed(), self->id, c, in[c]->value.source + ); + self->NRP_network = c; + self->NRP_switch_id = in[c]->value.source; + // Notify the backup of the NRP. Destination 0 here means broadcast. + message_t message = {new_NRP, self->id, 0, in[c]->value.source}; + // Send new NRP message on all networks. + for (int i = 0; i < out_width; i++) lf_set(out[i], message); + } else if (in[c]->value.type == new_NRP) { + // Become backup. Source of the message is the primary. + self->primary = in[c]->value.source; + lf_set_mode(Backup); + } } - } else { - lf_set_mode(Backup); } =} - } + } // mode Waiting - mode Backup { - timer t(heartbeat_period, heartbeat_period) - // FIXME: Need SENDIMHERETOPRIMARY with "longer interval" + mode Primary { + timer heartbeat(0, heartbeat_period) reaction(reset) {= - lf_print(PRINTF_TIME ": ---- Node %d becomes backup.", lf_time_logical_elapsed(), self->id); + lf_print(PRINTF_TIME ": ---- Node %d becomes primary.", lf_time_logical_elapsed(), self->id); =} reaction(node_fails) -> reset(Failed) {= if(lf_time_logical_elapsed() > 0LL) lf_set_mode(Failed); =} - reaction(in1) -> reset(Primary) {= - if (in1->value.type == heartbeat) { - lf_print(PRINTF_TIME ": Backup node %d received heartbeat from node %d on network 1.", lf_time_logical_elapsed(), self->id, in1->value.source); - self->heartbeats_missed_1 = 0; - } else if (in1->value.type == pingNRP_response && in1->value.destination == self->id) { - // Got a response from the NRP to a ping we sent after a partial or complete timeout. - lf_print(PRINTF_TIME ": Backup node %d received ping response on network 1 from NRP on switch %d.", lf_time_logical_elapsed(), self->id, in1->value.source); - // If there was a timeout on both networks that was not simultaneous, then - // we tried pinging the NRP before becoming primary. - if (self->become_primary_on_ping_response) { - lf_set_mode(Primary); - self->become_primary_on_ping_response = false; + reaction(heartbeat) -> out, ping_timed_out {= + lf_print(PRINTF_TIME ": Primary node %d sends heartbeat on both networks.", + lf_time_logical_elapsed(), self->id + ); + message_t message = {heartbeat, self->id, 0, 0}; + for (int i = 0; i < out_width; i++) lf_set(out[i], message); + + // Ping the NRP if there is one and there isn't a ping timeout pending. + if (self->NRP_switch_id != 0 && !self->ping_timeout_pending) { + message_t ping = {ping_NRP, self->id, self->NRP_switch_id, 0}; + lf_set(out[self->NRP_network], ping); + self->ping_pending = true; + self->ping_timeout_pending = true; + lf_schedule(ping_timed_out, 0); + } + =} + + reaction(in) -> out, ping_timed_out {= + // Iterate over input channels. + for (int c = 0; c < in_width; c++) { + if (in[c]->is_present) { + if (in[c]->value.type == request_new_NRP) { + // Backup is asking for a new NRP. Invalidate current NRP. + self->NRP_switch_id = 0; + + // Switch networks. + if (self->NRP_network == 0) self->NRP_network = 1; + else self->NRP_network = 0; + + lf_print(PRINTF_TIME ": Primary node %d looking for new NRP on network %d.", + lf_time_logical_elapsed(), self->id, self->NRP_network + ); + message_t message = {ping_NRP, self->id, 0, 0}; + lf_set(out[self->NRP_network], message); + self->ping_pending = true; + self->ping_timeout_pending = true; + lf_schedule(ping_timed_out, 0); + } else if (in[c]->value.type == ping_NRP_response) { + lf_print(PRINTF_TIME ": Primary node %d received ping response on network %d. NRP is %d.", + lf_time_logical_elapsed(), self->id, c, in[c]->value.source + ); + self->ping_pending = false; + if (self->NRP_switch_id == 0) { + // This is a new NRP. + self->NRP_switch_id = in[c]->value.source; + // Notify the backup of the NRP. Destination 0 here means broadcast. + message_t message = {new_NRP, self->id, 0, in[c]->value.source}; + // Send new NRP message on all networks. + for (int i = 0; i < out_width; i++) lf_set(out[i], message); + lf_print(PRINTF_TIME ": Primary node %d notifies backup of new NRP %d.", + lf_time_logical_elapsed(), self->id, self->NRP_switch_id + ); + // NOTE: Should the primary get some confirmation from the backup? + } + } } + } + =} + + reaction(ping_timed_out) -> out, ping_timed_out, Failed {= + self->ping_timeout_pending = false; + if (self->ping_pending) { + // Ping timed out. self->ping_pending = false; - } else if (in1->value.type == new_NRP) { - // FIXME: Ping the new NRP and send confirmation back to primary. - self->NRP_network = 1; - self->NRP_switch_id = in1->value.source; - self->NRP_pending = false; + lf_print(PRINTF_TIME ": Primary node %d gets no response from ping.", + lf_time_logical_elapsed(), self->id + ); + if (self->NRP_switch_id == 0) { + // Failed to get a new NRP. Declare failure. + lf_set_mode(Failed); + } else { + // Invalidate current NRP. + self->NRP_switch_id = 0; + + // Switch networks. + if (self->NRP_network == 0) self->NRP_network = 1; + else self->NRP_network = 0; + + lf_print(PRINTF_TIME ": Primary node %d looking for new NRP on network %d.", + lf_time_logical_elapsed(), self->id, self->NRP_network + ); + message_t message = {ping_NRP, self->id, 0, 0}; + lf_set(out[self->NRP_network], message); + self->ping_pending = true; + lf_schedule(ping_timed_out, 0); + } } + =} + } // mode Primary + + mode Backup { + timer t(heartbeat_period, heartbeat_period) + // NOTE: Paper says to SENDIMHERETOPRIMARY with "longer interval". + // Is this really necessary? + reaction(reset) {= + lf_print(PRINTF_TIME ": ---- Node %d becomes backup.", lf_time_logical_elapsed(), self->id); =} - reaction(in2) -> reset(Primary) {= - if (in2->value.type == heartbeat) { - lf_print(PRINTF_TIME ": Backup node %d received heartbeat from node %d on network 2.", lf_time_logical_elapsed(), self->id, in2->value.source); - self->heartbeats_missed_2 = 0; - } else if (in2->value.type == pingNRP_response && in2->value.destination == self->id) { - // Got a response from the NRP to a ping we sent after a partial timeout. - lf_print(PRINTF_TIME ": Backup node %d received ping response on network 2 from NRP on switch %d.", lf_time_logical_elapsed(), self->id, in2->value.source); - self->ping_pending = false; - // If there was a timeout on both networks that was not simultaneous, then - // we tried pinging the NRP before becoming primary. - if (self->become_primary_on_ping_response) { - lf_set_mode(Primary); - self->become_primary_on_ping_response = false; + reaction(node_fails) -> reset(Failed) {= + if(lf_time_logical_elapsed() > 0LL) lf_set_mode(Failed); + =} + + reaction(in) -> reset(Primary) {= + // Iterate over input channels. + for (int c = 0; c < in_width; c++) { + if (in[c]->is_present) { + if (in[c]->value.type == heartbeat) { + lf_print(PRINTF_TIME ": Backup node %d received heartbeat from node %d on network %d.", + lf_time_logical_elapsed(), self->id, in[c]->value.source, c + ); + self->heartbeats_missed[c] = 0; + } else if (in[c]->value.type == ping_NRP_response && in[c]->value.destination == self->id) { + // Got a response from the NRP to a ping we sent. + lf_print(PRINTF_TIME ": Backup node %d received ping response on network %d from NRP on switch %d.", + lf_time_logical_elapsed(), self->id, c, in[c]->value.source + ); + // If there was a timeout on both networks that was not simultaneous, then + // we tried pinging the NRP before becoming primary. + if (self->become_primary_on_ping_response) { + lf_set_mode(Primary); + self->become_primary_on_ping_response = false; + } + self->ping_pending = false; + } else if (in[c]->value.type == new_NRP) { + // NOTE: Should ping the new NRP and send confirmation back to primary. + self->NRP_network = c; + self->NRP_switch_id = in[c]->value.source; + } } - } else if (in2->value.type == new_NRP) { - // FIXME: Ping the new NRP and send confirmation back to primary. - self->NRP_network = 2; - self->NRP_switch_id = in2->value.source; - self->NRP_pending = false; } =} - reaction(t) -> reset(Primary), out1, out2, ping_timed_out {= - if (self->heartbeats_missed_1 > self->max_missed_heartbeats - && self->heartbeats_missed_2 > self->max_missed_heartbeats) { + reaction(t) -> reset(Primary), out, ping_timed_out {= + if (self->heartbeats_missed[0] > self->max_missed_heartbeats + && self->heartbeats_missed[1] > self->max_missed_heartbeats) { // Simultaneous heartbeat misses. // In the paper, this is tmoAllNotSimul. // For the tmoAllSimul optimization in the paper, we assume that if - // self->heartbeats_missed_1 == self->heartbeats_missed_2, then most likely, it is + // self->heartbeats_missed[0] == self->heartbeats_missed[1], then most likely, it is // the primary that failed, and not the network, so can immediately become the primary. // Otherwise, it is possible that one network failed, and then the other failed, in which // case, we may have a partitioned network. - lf_print(PRINTF_TIME ": **** Backup node %d detects missing heartbeats on both networks.", lf_time_logical_elapsed(), self->id); - if (self->heartbeats_missed_1 == self->heartbeats_missed_2) { - lf_print(PRINTF_TIME ": **** Missing heartbeats on both networks were simultaneous. Assume the primary failed.", lf_time_logical_elapsed()); + lf_print(PRINTF_TIME ": **** Backup node %d detects missing heartbeats on both networks.", + lf_time_logical_elapsed(), self->id + ); + if (self->heartbeats_missed[0] == self->heartbeats_missed[1]) { + lf_print(PRINTF_TIME ": **** Missing heartbeats on both networks were simultaneous. " + "Assume the primary failed.", + lf_time_logical_elapsed() + ); lf_set_mode(Primary); } else { // Ping the NRP because if we can't access it, we are on the wrong side of // a network partition and could end up with two primaries. - message_t message = {pingNRP, self->id, self->NRP_switch_id}; - if (self->NRP_network == 1) { - lf_set(out1, message); - } else { - lf_set(out2, message); - } + message_t message = {ping_NRP, self->id, self->NRP_switch_id, 0}; + lf_set(out[self->NRP_network], message); // Wait for a response before becoming primary. self->become_primary_on_ping_response = true; lf_schedule(ping_timed_out, 0); } - self->heartbeats_missed_1 = 0; // Prevent detecting again immediately. - self->heartbeats_missed_2 = 0; - } else if (self->heartbeats_missed_1 > self->max_missed_heartbeats - || self->heartbeats_missed_2 > self->max_missed_heartbeats) { + self->heartbeats_missed[0] = 0; // Prevent detecting again immediately. + self->heartbeats_missed[1] = 0; + } else if (self->heartbeats_missed[0] > self->max_missed_heartbeats + || self->heartbeats_missed[1] > self->max_missed_heartbeats) { // Heartbeat missed on one network but not yet on the other. // Ping the NRP to make sure we retain access to it so that we can be an effective backup. // This corresponds to tmoSomeNotAll in the paper. - lf_print(PRINTF_TIME ": **** Backup node %d detects missing heartbeats on one network.", lf_time_logical_elapsed(), self->id); + lf_print(PRINTF_TIME ": **** Backup node %d detects missing heartbeats on one network.", + lf_time_logical_elapsed(), self->id + ); // Ping the NRP. - message_t message = {pingNRP, self->id, self->NRP_switch_id}; - if (!self->ping_pending && !self->NRP_pending) { - if (self->NRP_network == 1) { - lf_set(out1, message); - } else { - lf_set(out2, message); - } - lf_print(PRINTF_TIME ": Backup node %d pings NRP on network %d, switch %d", lf_time_logical_elapsed(), self->id, self->NRP_network, self->NRP_switch_id); + message_t message = {ping_NRP, self->id, self->NRP_switch_id, 0}; + if (!self->ping_pending && self->NRP_switch_id != 0) { + lf_set(out[self->NRP_network], message); + lf_print(PRINTF_TIME ": Backup node %d pings NRP on network %d, switch %d", + lf_time_logical_elapsed(), self->id, self->NRP_network, self->NRP_switch_id + ); self->ping_pending = true; lf_schedule(ping_timed_out, 0); } } // Increment the counters so if they are not reset to 0 by the next time, // we detect the missed heartbeat. - self->heartbeats_missed_1++; - self->heartbeats_missed_2++; + self->heartbeats_missed[0]++; + self->heartbeats_missed[1]++; =} - reaction(ping_timed_out) -> out1, out2, new_NRP_request_timed_out {= + reaction(ping_timed_out) -> out, new_NRP_request_timed_out, Failed {= + self->ping_timeout_pending = false; if (self->ping_pending) { // Ping timed out. lf_print(PRINTF_TIME ": Backup node %d gets no response from ping.", lf_time_logical_elapsed(), self->id); - if (!self->NRP_pending) { + if (self->NRP_switch_id != 0) { // Send request for new NRP on the other network. lf_print(PRINTF_TIME ": Backup node %d requests new NRP.", lf_time_logical_elapsed(), self->id); - message_t message = {request_new_NRP, self->id, self->primary}; - if (self->NRP_network == 1) { - // Use network 2. - lf_set(out2, message); - } else { - lf_set(out1, message); - } - self->NRP_pending = true; + + // Invalidate current NRP. + self->NRP_switch_id = 0; + + // Switch networks. + if (self->NRP_network == 0) self->NRP_network = 1; + else self->NRP_network = 0; + + message_t message = {request_new_NRP, self->id, self->primary, 0}; + lf_set(out[self->NRP_network], message); + lf_schedule(new_NRP_request_timed_out, 0); + } else { + // Failed to connect to new NRP. + lf_set_mode(Failed); } self->ping_pending = false; } =} reaction(new_NRP_request_timed_out) {= - if (self->NRP_pending) { - self->NRP_pending = false; - lf_print(PRINTF_TIME ": Backup node %d new NRP request timed out. Will not function as backup.", lf_time_logical_elapsed(), self->id); + if (self->NRP_switch_id == 0) { + lf_print(PRINTF_TIME ": Backup node %d new NRP request timed out. Will not function as backup.", + lf_time_logical_elapsed(), self->id + ); if (self->become_primary_on_ping_response) { - lf_print(PRINTF_TIME ": Network is likely partitioned. Remaining as (non-functional) backup.", lf_time_logical_elapsed()); + lf_print(PRINTF_TIME ": Network is likely partitioned. Remaining as (non-functional) backup.", + lf_time_logical_elapsed() + ); self->become_primary_on_ping_response = false; } } =} } - mode Primary { - timer heartbeat(0, heartbeat_period) - reaction(reset) {= - lf_print(PRINTF_TIME ": ---- Node %d becomes primary.", lf_time_logical_elapsed(), self->id); - =} - - reaction(node_fails) -> reset(Failed) {= - if(lf_time_logical_elapsed() > 0LL) lf_set_mode(Failed); - =} - - reaction(heartbeat) -> out1, out2 {= - lf_print(PRINTF_TIME ": Primary node %d sends heartbeat on both networks.", lf_time_logical_elapsed(), self->id); - message_t message = {heartbeat, self->id, 0}; - lf_set(out1, message); - lf_set(out2, message); - =} - - reaction(in1) -> out1 {= - if (in1->value.type == request_new_NRP) { - // Find a new candidate NRP on network 1. - lf_print(PRINTF_TIME ": Primary node %d looking for new NRP on network 1.", lf_time_logical_elapsed(), self->id); - message_t message = {pingNRP, self->id, 0}; - lf_set(out1, message); - self->NRP_pending = true; - } else if (in1->value.type == pingNRP_response) { - lf_print(PRINTF_TIME ": Primary node %d received ping response on network 1. NRP is %d.", lf_time_logical_elapsed(), self->id, in1->value.source); - self->NRP_network = 1; - self->NRP_switch_id = in1->value.source; - if (self->NRP_pending) { - self->NRP_pending = false; - // Notify backup of new NRP. source field encodes the switch id. - lf_print(PRINTF_TIME ": Primary node %d notifies backup of new NRP %d.", lf_time_logical_elapsed(), self->id, in1->value.source); - message_t message = {new_NRP, in1->value.source, 0}; - lf_set(out1, message); - // FIXME: Wait for confirmation of new NRP with backup. - } - } - =} - - reaction(in2) -> out2 {= - if (in2->value.type == request_new_NRP) { - // Find a new candidate NRP on network 2. - lf_print(PRINTF_TIME ": Primary node %d looking for new NRP on network 2.", lf_time_logical_elapsed(), self->id); - message_t message = {pingNRP, self->id, 0}; - lf_set(out2, message); - self->NRP_pending = true; - } else if (in2->value.type == pingNRP_response) { - lf_print(PRINTF_TIME ": Primary node %d received ping response on network 2. NRP is %d.", lf_time_logical_elapsed(), self->id, in2->value.source); - self->NRP_network = 2; - self->NRP_switch_id = in2->value.source; - if (self->NRP_pending) { - self->NRP_pending = false; - // Notify backup of new NRP. source field encodes the switch id. - lf_print(PRINTF_TIME ": Primary node %d notifies backup of new NRP %d.", lf_time_logical_elapsed(), self->id, in2->value.source); - message_t message = {new_NRP, in2->value.source, 0}; - lf_set(out2, message); - // FIXME: Wait for confirmation of new NRP with backup. - } - } - =} - } - mode Failed { reaction(reset) {= lf_print(PRINTF_TIME ": #### Node %d fails.", lf_time_logical_elapsed(), self->id); @@ -324,9 +363,9 @@ reactor Node( } /** - * Switch with two interfaces. When a pingNRP message arrives on either interface, if the + * Switch with two interfaces. When a ping_NRP message arrives on either interface, if the * destination matches the ID of this switch or the destination is 0, then the switch responds on - * the same interface with a pingNRP_response message. When any other message arrives on either + * the same interface with a ping_NRP_response message. When any other message arrives on either * interface, the switch forwards a copy of the message to the other interface. If any two messages * would be simultaneous on an output, one will be sent one microstep later. */ @@ -361,11 +400,11 @@ reactor Switch( reaction(in1, in2) -> out1, out2, pending_out1, pending_out2 {= if (in1->is_present) { - if (in1->value.type == pingNRP) { + if (in1->value.type == ping_NRP) { if (in1->value.destination == self->id || in1->value.destination == 0) { lf_print(PRINTF_TIME ": ==== Switch %d pinged by node %d. Responding.", lf_time_logical_elapsed(), self->id, in1->value.source); // Respond to the ping. - message_t message = {pingNRP_response, self->id, in1->value.source}; + message_t message = {ping_NRP_response, self->id, in1->value.source}; if (!out1->is_present) { lf_set(out1, message); } else { @@ -389,11 +428,11 @@ reactor Switch( } } if (in2->is_present) { - if (in2->value.type == pingNRP) { + if (in2->value.type == ping_NRP) { if (in2->value.destination == self->id) { lf_print(PRINTF_TIME ": ==== Switch %d pinged by node %d. Responding.", lf_time_logical_elapsed(), self->id, in2->value.source); // Construct a response to the ping. - message_t message = {pingNRP_response, self->id, in2->value.source}; + message_t message = {ping_NRP_response, self->id, in2->value.source}; // Respond to the ping if out2 is available. if (!out2->is_present) { lf_set(out2, message); @@ -426,32 +465,25 @@ reactor Switch( =} } } - -federated reactor(heartbeat_period: time = 1 s, delay: time = 1 ms) { +// FIXME: This should be federated, but bugs in federated execution make it fail. +main reactor(heartbeat_period: time = 1 s, delay: time = 1 ms) { node1 = new Node(heartbeat_period=heartbeat_period, id=1, fails_at_time = 10 s) - node2 = new Node(heartbeat_period=heartbeat_period, id=2, fails_at_time = 15 s) - switch1 = new Switch(id=1, fails_at_time = 3 s) + switch3 = new Switch(id=3) + + node2 = new Node(heartbeat_period=heartbeat_period, id=2, fails_at_time = 15 s) switch2 = new Switch(id=2) + switch4 = new Switch(id=4) - node1.out1 -> switch1.in1 after delay - switch1.out1 -> node1.in1 after delay + node1.out -> switch1.in1, switch3.in1 after delay + switch1.out1, switch3.out1 -> node1.in after delay switch1.out2 -> switch2.in2 after delay switch2.out2 -> switch1.in2 after delay - switch2.out1 -> node2.in1 after delay - node2.out1 -> switch2.in1 after delay - - switch3 = new Switch(id=3) - switch4 = new Switch(id=4) - - node1.out2 -> switch3.in1 after delay - switch3.out1 -> node1.in2 after delay + switch2.out1, switch4.out1 -> node2.in after delay + node2.out -> switch2.in1, switch4.in1 after delay switch3.out2 -> switch4.in2 after delay switch4.out2 -> switch3.in2 after delay - - switch4.out1 -> node2.in2 after delay - node2.out2 -> switch4.in1 after delay } From 1fbc400e9208f47bb8e9bac25ec4a21fdf3cc0e8 Mon Sep 17 00:00:00 2001 From: Chadlia Jerad Date: Sat, 6 Jan 2024 00:05:06 +0100 Subject: [PATCH 031/113] Add TagOfWar demo --- experiments/C/src/TugOfWar/Interface/app.py | 239 ++++++++++++++++++ .../C/src/TugOfWar/Interface/app_helper.py | 63 +++++ .../C/src/TugOfWar/Interface/assets/lf.png | Bin 0 -> 3429 bytes .../C/src/TugOfWar/Interface/request.sh | 7 + .../C/src/TugOfWar/Interface/requirements.txt | 7 + experiments/C/src/TugOfWar/Interface/start.sh | 18 ++ experiments/C/src/TugOfWar/Player.lf | 17 ++ experiments/C/src/TugOfWar/README.md | 17 ++ experiments/C/src/TugOfWar/TugOfWar.lf | 21 ++ experiments/C/src/TugOfWar/TugOfWarGame.lf | 111 ++++++++ 10 files changed, 500 insertions(+) create mode 100755 experiments/C/src/TugOfWar/Interface/app.py create mode 100755 experiments/C/src/TugOfWar/Interface/app_helper.py create mode 100755 experiments/C/src/TugOfWar/Interface/assets/lf.png create mode 100755 experiments/C/src/TugOfWar/Interface/request.sh create mode 100755 experiments/C/src/TugOfWar/Interface/requirements.txt create mode 100755 experiments/C/src/TugOfWar/Interface/start.sh create mode 100755 experiments/C/src/TugOfWar/Player.lf create mode 100644 experiments/C/src/TugOfWar/README.md create mode 100755 experiments/C/src/TugOfWar/TugOfWar.lf create mode 100755 experiments/C/src/TugOfWar/TugOfWarGame.lf diff --git a/experiments/C/src/TugOfWar/Interface/app.py b/experiments/C/src/TugOfWar/Interface/app.py new file mode 100755 index 00000000..88adec5e --- /dev/null +++ b/experiments/C/src/TugOfWar/Interface/app.py @@ -0,0 +1,239 @@ +import pandas as pd +import dash +from dash import dcc, html, Input, Output +from dash.exceptions import PreventUpdate +import plotly.express as px +from flask import Flask, request +import json +import app_helper as ap +import dash_bootstrap_components as dbc +import dash_daq as daq + + +player_force = dict({ + 'players': ['Team_A_Player_0', 'Team_A_Player_1', 'Team_B_Player_0', 'Team_B_Player_1'], + 'forces': [0, 0, 0, 0], + 'score': 'Advantage: None', + 'rope_mark': 20 +}) + +print(player_force) + +limit1 = 5 +limit2 = 35 +rope_range = 40 + + +# Create Flask server +server = Flask(__name__) + +# Create Dash app +app = dash.Dash(__name__, server=server,external_stylesheets=[dbc.themes.BOOTSTRAP]) + +df = ap.build_rope_dataframe(limit1, limit2, player_force['rope_mark']) + +# Define layout +app.layout = html.Div([ + dbc.Card( + dbc.CardBody([ + + # Row 1: title + dbc.Row([ + dbc.Col([ + html.Div( + dbc.CardImg(src='assets/lf.png', + style={'backgroundColor': '#013163', 'width': '40%', 'height': '40%'}, + id='logo' + ) + , style={'align': 'center'}) + ], align='center', width=2), + dbc.Col([ + html.Div(ap.drawTextCard("TUG OF WAR"), + id='title'), + ], width=10), + ], style={'backgroundColor': '#013163'}, align='center'), + html.Br(), + + ### Row 2: Score + dbc.Row([ + dbc.Col([ + html.Div( + dbc.Card([ + dbc.CardBody([ + html.Div([ + dcc.Input(id='score', value=player_force['score'], type="text", style={'fontSize': '20px'}) + ], style={'textAlign': 'center'}) + ]) + ]) + ), + ], width=12), + ], align='center'), + html.Br(), + + ### Row 3: Rope + dbc.Row([ + dbc.Col([ + html.Div( + dbc.Card( + dbc.CardBody([ + dcc.Graph( + id='rope', + figure=px.scatter(df, + x="x", + y="y", + color="val", + symbol='val', + size='val', + range_x=[1,rope_range], + range_y=[0, 0] + ).update_layout( + template='plotly_dark', + plot_bgcolor= 'rgba(0, 0, 0, 0)', + paper_bgcolor= 'rgba(0, 0, 0, 0)', + xaxis={'visible':False}, + coloraxis={'showscale':False} + ), + config={ + 'displayModeBar': False + } + + ) + ]) + ), + ) + ], width=12), + ], align='center'), + html.Br(), + + ### Row 4: Gauges + dbc.Row([ + ## Gauge 1 + dbc.Col([ + html.Div( + dbc.Card([ + dbc.CardBody([ + html.Div([ + daq.Gauge( + value=player_force['forces'][0], + label=player_force['players'][0], + max=20, + min=0, id='gauge1' + ) + ], style={'color': 'dark', 'margin': '2', 'textAlign': 'center'}) + ]) + ]) + ), + ], width=3), + + ## Gauge 2 + dbc.Col([ + html.Div( + dbc.Card([ + dbc.CardBody([ + html.Div([ + daq.Gauge( + value=player_force['forces'][1], + label=player_force['players'][1], + max=20, + min=0, id='gauge2' + ) + ], style={'color': 'dark', 'margin': '2', 'textAlign': 'center'}) + ]) + ]) + ), + ], width=3), + + ## Gauge 3 + dbc.Col([ + html.Div( + dbc.Card([ + dbc.CardBody([ + html.Div([ + daq.Gauge( + value=player_force['forces'][2], + label=player_force['players'][2], + max=20, + min=0, id='gauge3' + ) + ], style={'color': 'dark', 'margin': '2', 'textAlign': 'center'}) + ]) + ]) + ), + ], width=3), + + ## Gauge 4 + dbc.Col([ + html.Div( + dbc.Card([ + dbc.CardBody([ + html.Div([ + daq.Gauge( + value=player_force['forces'][3], + label=player_force['players'][3], + max=20, + min=0, id='gauge4' + ) + ], style={'color': 'dark', 'margin': '2', 'textAlign': 'center'}) + ]) + ]) + ), + ], width=3), + ],align='center'), + + ]) + ), dcc.Interval(id='interval-component', interval=1000, n_intervals=0) +]) + +@app.callback([ + Output('gauge1', 'value'), + Output('gauge2', 'value'), + Output('gauge3', 'value'), + Output('gauge4', 'value'), + Output('rope', 'figure'), + Output('score', 'value') + ], + Input('interval-component', 'n_intervals') +) +def update_layout(n): + global player_force + global rope_range + global limit1 + global limit2 + df = ap.build_rope_dataframe(limit1, limit2, player_force['rope_mark']) + fig = px.scatter(df, + x="x", + y="y", + color="val", + symbol='val', + size='val', + range_x=[1,rope_range], + range_y=[0, 0] + ).update_layout( + template='plotly_dark', + plot_bgcolor= 'rgba(0, 0, 0, 0)', + paper_bgcolor= 'rgba(0, 0, 0, 0)', + xaxis={'visible':False}, + coloraxis={'showscale':False} + ) + return player_force['forces'][0], \ + player_force['forces'][1], \ + player_force['forces'][2], \ + player_force['forces'][3], \ + fig, \ + player_force['score'] + +@server.route('/update_force', methods=['POST']) +def update_force(): + global player_force + try: + data = json.loads(request.data) + player_force = data[0] + print(player_force) + # player_force['players'] = data['players'] + # player_force['rope_mark'] = int(data['rope_mark']) + return 'Force values updated successfully' + except Exception as e: + return str(e), 400 + +if __name__ == '__main__': + server.run(port=5004) diff --git a/experiments/C/src/TugOfWar/Interface/app_helper.py b/experiments/C/src/TugOfWar/Interface/app_helper.py new file mode 100755 index 00000000..7f14b53b --- /dev/null +++ b/experiments/C/src/TugOfWar/Interface/app_helper.py @@ -0,0 +1,63 @@ +from dash import dcc, html +import dash_bootstrap_components as dbc +import plotly.express as px +import dash_daq as daq +import pandas as pd +import plotly.graph_objects as go + +def drawFigureCard(l1, l2, m): + df = build_rope_dataframe(l1, l2, m) + return dbc.Card( + dbc.CardBody([ + dcc.Graph( + figure=px.scatter(df, + x="x", + y="y", + color="val", + symbol='val', + size='val', + range_x=[0,40], + range_y=[0, 0] + ).update_layout( + template='plotly_dark', + plot_bgcolor= 'rgba(0, 0, 0, 0)', + paper_bgcolor= 'rgba(0, 0, 0, 0)', + xaxis={'visible':False}, + coloraxis={'showscale':False} + ), + config={ + 'displayModeBar': False + } + ) + ]) + ) + +# Title field +def drawTextCard(tt): + return dbc.Card( + dbc.CardBody([ + html.Div([ + html.H1(tt, style={'color': 'white'}), + ], style={'textAlign': 'center'}) + ], style={'backgroundColor': '#013163'}) + ) + +# Build the dataframe for the heatmap +def build_rope_dataframe(limit1, limit2, mark): + # Create a DataFrame of zeros + # Create lists for 'x', 'y', and 'val' + x_values = list(range(1, 39)) + y_values = [0] + val_values = [0] * len(x_values) + data = {'x': [], 'y': [], 'val': []} + for y in y_values: + data['x'].extend(x_values) + data['y'].extend([y] * len(x_values)) + data['val'].extend(val_values) + df = pd.DataFrame(data) + # Render the limits + df.loc[(df['x'] == limit1) & (df['y'] == 0), 'val'] = 50 + df.loc[(df['x'] == limit2) & (df['y'] == 0), 'val'] = 50 + # # Render the mark + df.loc[(df['x'] == mark) & (df['y'] == 0), 'val'] = 100 + return df diff --git a/experiments/C/src/TugOfWar/Interface/assets/lf.png b/experiments/C/src/TugOfWar/Interface/assets/lf.png new file mode 100755 index 0000000000000000000000000000000000000000..5c6bd98d5a2172a2db718d96996dee428d260bf3 GIT binary patch literal 3429 zcmV-r4VvYm{>62wOYbfW&-L?OGZ#;lvDi%2BKjKIKj zSAF-7TRl_LUDXd}hTz%xo>Ql)?)}~0{dL{C_x@hhMwO6cz!=~Iz_Gv)zz9IVF5nel zqnW)~E$;yw7+5vLlHL!T02~es1L`72^nM8NOQ6lncJ`&f1L!>}8gxk>ZdQ-R4Qeg0 z1K5e1-2pHh7z<1VP7Ub-;5IY+_r4Z<0R0F_Cg~VSr%L*`q;Zl`W!ij1(h5n>O4=;x zlLt!P0rUYR9V%(OqzRJVS4F!)lKx)OR!J{PI-x)196%pIQjMfh;p{$SKia1y-7o2P zlKw5+CI)aYL(;Ht&=2ngkE6nwzEjfY`%=CE>>mui0Nd z1L!-X%hcz9U1k=oS&x&ibH(vr$8-DjEEe-;*6ikXNJp2sP>_wm}0TAmBU>LA1J z-U=n-GpV`!EU{i%2Al~zVrI9O=5*U_H=eX8%<{|F6K2z#V4xaDu$g;CvxBo7uVqny&)0fIYxuGpqQy zr-4Ju&?MR9hXMO&=assJ?DjKk1IEh<+gsF>sUHta0-mps-=vV|$Vl0cupHnaNvE0F zTM2CeimVq&i-6nc`Ha#yC)HSBhNJ~%wlq?IGH^6*;FE9~Fo=Y)ku(Un5jZL=x(c|v z1iv1L?&;S7zm42KL8;|G;316qppFfGGuwf41kIk$qm_1^gpNUM?k$fhaWt?>(lj&k zD`_BU0r0Kxb_4Ktz<&UPabC&!I6bD)7qc2%h8yqzr))P$YBe)e)LPv*xuDz+%O@ta z%{6nmpCRXGP>^An7M4{EE0N~|q4zIwwo7^}ls%m~53G-N=K$K7asL z+7fd6%S+DPyBxRLJP*7m>GzlNoNBe z1>OakfCs{=d6n|$^~_9yq#LMifBy^I7PB0;Tz&_*3pl^;r7Oa%xF!CRz&}X(m6^R# zg8r|<^N-Bzoqm_DC-Q^)k7m{`>AS#8-~ve#%DLYoDSR^9e7FOaP~gHvu3s}EcfVM_5PM_=TG#Qh}(8X z10|!G2V!|&EUDxk6N6jLY-u-F^n;GMrw}zCFhIQ7O(X)u+0hGo|p&2z@!{%&3HZ zJ|!s#Y2s${hb65|=--#LQqtI%c1M)>4gafx^fF0LhIQX7^IT4i@R^cC*B3K=sX>iA z-Y6(vM)LBQga#_ph!^9Q*iv{ga(yXoD|X`z$%r2hcklbc);n`XBx2hCPMkuxt`4k|)>1$2{u_E5`Sq=1-~F zJPqJyI7=$Bm+=DrDDiUYhAvG!nO_@2mE{V6Jy}-Q%_r9Vsy2rDom_;6Qdu6g8`xJ! zvui0M2B(<@u&05ChZ{xFF}04W33A)dk}<&o-e<;JxfC1s&f@tv`Y3W4F81IE^Lf^; zXG>vye`@bPW&hl;yOD%su2N^4a@-GaJ2tnQ;%Oi#ErVf;ND` zH5^K}Y1IQk2Zvjl)d+$#t+?P!4-86ioS94DIAjqu&@)h#Yv$4*xBX7w7!zR5@0#*q zXbW3%EzC~O<(attv#pG=9IFI1O7RTv@j{yS`ttr7@MPSfo=RIDzr|SBb--3Y7?Xn( zPjuWvV%D$3ocy&xgIY(GOY{Jk<+pHk6~BjEhMU3{;uzo$zz<|J0gnS&gNY{AWt$lt z*FKe_f$k)fsktUTR!DOo?DVOXxMBAPW~}z+a#Iyeevq2WH=+gEyZB2lU_EeT?Oy8X zPK@Y6(82{0C*w4J4;bTTw@(LFmF-cqW}DbjGp~Fc!Ow6Oa0dX!DsKqa+Kg^3JXpqf zrMTbV!J5V*YYDY6G{|yo*zZP+$>!0B3nq1;S2JDGha@eN)G8O}eb1q04x1p%_VGA5 zjz%sA4xHH(Mz<=8U%w0t_EM};8dzL0C;=pKA35M;RAr%i>&1f0ieHgGxcl$@99y@-77T#>yVWcU!`LSSDu z&5F)J+=KIsO(}Fp6}9!a0(c8C-p}$tyOPt-I__j7q2E0)zGJht$EJxVC91Rwlk;;R zBV!G01)c(GEXB+yZ6(Y5PfOHgffI4rpTEE*>#eDPXP-dga=*D}qzeEemujFWRjCji zEgV)W>VXRZ%y_J*4>!v_jPDPg#qR<93_k>}F)#Ny&{(dc9_{7oYFC@ zm;9>5XpG54hx1{_;p=_|<&Rpi6Ss$(#NFN;{v}GhYbhfLW9q&~Yrfn|u?(jGURt5E%(y+s6k8Dh7IaTQ4Wgpt%qW!KZj3g&qq7shw(}V7Pa;MJ+3uIK)J!k; z{n{kpC%`Wyy@h+w3#t{iH!$NN)Ro`X1r;YBl){^4T$O6ziNcD(HC&5(k$0zjuJgm4 zG;l+*8>lmn*}$Sw9qgXN;<~#yP2zKc@25Ow6dKwRuUfeHdpRc3Ge}bsYU237B~f5v zqMu;XTinBQLFtb>HbOh_&KhZihjA+yT4^j8q+8D%anT8+qIFxfrJe#%9fs zH`n02x)zpbVbASXD>%e&;Q>G6whIUqKyhVw`^^M7ABXVepy%>_i^_lER1Jz|&%p-I zm=m}xopGss+}AEXk)K^=U1r*HuYuV7dOyP$;1UNcpBq^x(tm#Q|H}G!e=Uw4bt%g4&c|)mg;07@R7Q^mFGVu>j*F#7P1o->&=*Vum%cRSQW6a&BG`Z@UB3%;N<= z!viwC&00000NkvXX Hu0mjfbI6Sj literal 0 HcmV?d00001 diff --git a/experiments/C/src/TugOfWar/Interface/request.sh b/experiments/C/src/TugOfWar/Interface/request.sh new file mode 100755 index 00000000..d48afe7d --- /dev/null +++ b/experiments/C/src/TugOfWar/Interface/request.sh @@ -0,0 +1,7 @@ +curl -X POST http://127.0.0.1:5004/update_force -H "Content-Type: application/json" -d '[ + {"players": ["Team_A_Player_0", "Team_A_Player_1", "Team_B_Player_0", "Team_B_Player_1"], + "forces": [12, 13, 11, 12], + "score": "ttt", + "rope_mark": 1 + } +]' diff --git a/experiments/C/src/TugOfWar/Interface/requirements.txt b/experiments/C/src/TugOfWar/Interface/requirements.txt new file mode 100755 index 00000000..70e7fae5 --- /dev/null +++ b/experiments/C/src/TugOfWar/Interface/requirements.txt @@ -0,0 +1,7 @@ +flask==2.2.0 +dash==2.11.1 +Werkzeug==2.2.0 +pandas +plotly_express +dash_bootstrap_components +dash_daq \ No newline at end of file diff --git a/experiments/C/src/TugOfWar/Interface/start.sh b/experiments/C/src/TugOfWar/Interface/start.sh new file mode 100755 index 00000000..16760419 --- /dev/null +++ b/experiments/C/src/TugOfWar/Interface/start.sh @@ -0,0 +1,18 @@ +#!/bin/bash +if [ ! -f ".lf_env/bin/activate" ] +then + # Create a virtual environment + virtualenv .venv + + # Activate the virtual environment + source .venv/bin/activate + + # Install Flask + pip install -r requirements.txt +else + # Activate the virtual environment + source .venv/bin/activate +fi + +# Start the Flask and Dash application +python3 app.py \ No newline at end of file diff --git a/experiments/C/src/TugOfWar/Player.lf b/experiments/C/src/TugOfWar/Player.lf new file mode 100755 index 00000000..10b3ad1e --- /dev/null +++ b/experiments/C/src/TugOfWar/Player.lf @@ -0,0 +1,17 @@ +target C + +preamble {= + #include +=} + +reactor Player(max_force: int = 7) { + output out: int + timer t(0, 1 s) + + reaction(t) -> out {= + int lower = 1; + int force = (rand() % (self->max_force - lower + 1)) + lower; + lf_print("Force = %d", force); + lf_set(out, force); + =} +} diff --git a/experiments/C/src/TugOfWar/README.md b/experiments/C/src/TugOfWar/README.md new file mode 100644 index 00000000..31b8a28d --- /dev/null +++ b/experiments/C/src/TugOfWar/README.md @@ -0,0 +1,17 @@ +## Tug of War + +Tug of War is a team-based game where two teams pull on opposite ends of a rope to bring the other team across a center marker. The demo involves two players per team, each characterized by a parameter. Players apply a randomly generated force within the interval 1 and a specified maximum force parameter. The sum of forces on each side moves the marker, and when it reaches one of the limits, the game ends. + +## How it works + +This example features a browser-based UI. The server is constructed using [Flask](https://flask.palletsprojects.com/en/3.0.x/), a Python web framework, and [Dash](https://dash.plotly.com/) components. + +Every second, player forces are generated and their values are send to the server as +a post request. The UI's gauges are updated with these values, along with the position of the mark (yellow square). When the mark reaches one of the limits (pink diamond), the label on the top of the page is updated with the result. + +## Steps: + + 1. Compile `TugOfWar.lf`. + 2. Launch the UI by runnig the script `start.sh` under `C/src/TugOfWar/Interface`. The script will create a virtual environment and install the requirements listed in `requirements.txt`, if not there already. It then lauches Falsk server, accessible on: [http://127.0.0.1:5004](http://127.0.0.1:5004). + 3. Run the launching script under `bin` and watch the game on the UI. + diff --git a/experiments/C/src/TugOfWar/TugOfWar.lf b/experiments/C/src/TugOfWar/TugOfWar.lf new file mode 100755 index 00000000..1a774860 --- /dev/null +++ b/experiments/C/src/TugOfWar/TugOfWar.lf @@ -0,0 +1,21 @@ +target C { + keepalive: true +} + +import Player from "Player.lf" +import TugOfWarGame from "TugOfWarGame.lf" + +preamble {= + #include + #include +=} + +federated reactor TugOfWar { + towg = new TugOfWarGame() + p1 = new Player(max_force=5) + p2 = new Player(max_force=6) + p3 = new Player(max_force=3) + p4 = new Player(max_force=9) + + p1.out, p2.out, p3.out, p4.out -> towg.force +} diff --git a/experiments/C/src/TugOfWar/TugOfWarGame.lf b/experiments/C/src/TugOfWar/TugOfWarGame.lf new file mode 100755 index 00000000..3871000f --- /dev/null +++ b/experiments/C/src/TugOfWar/TugOfWarGame.lf @@ -0,0 +1,111 @@ +target C + +preamble {= + #include + #include +=} + +reactor TugOfWarGame { + input[4] force: int // Each player will exert a force + + timer t(0, 1 s) // Timer to compute the total status and send the display request + + state agent_force: int[4] = {0, 0, 0, 0} // States + state rope_mark: int = 20 + state updated: bool = false + + reaction(startup) {= + // Construct the data to send + char curl_cmd[1024]; + sprintf(curl_cmd, + "curl -X POST http://127.0.0.1:5004/update_force -H \"Content-Type: application/json\" -d '[ \ + {\"players\": [\"Team_A_Player_0\", \"Team_A_Player_1\", \"Team_B_Player_0\", \"Team_B_Player_1\"], \ + \"forces\": [0, 0, 0, 0], \ + \"score\": \"Advantage: None\", \ + \"rope_mark\": 20 \ + }\ + ]' \ + " + ); + int status = system(curl_cmd); + if (status == 0) { + lf_print("Updates successfully sent."); + } else { + lf_print("Unable to send update."); + } + =} + + reaction(force) {= + int sum = 0; + for (int i = 0; i < 4; i++) { + if (force[i]->is_present) { + self->agent_force[i] = force[i]->value; + self->updated = true; + } + } + =} + + reaction(t) {= + if (self->updated) { + // Compute the new rope mark position + self->rope_mark = self->rope_mark - self->agent_force[0] + - self->agent_force[1] + + self->agent_force[2] + + self->agent_force[3]; + + // Derive the new score + char score[25]; + if (self->rope_mark <= 5) { + sprintf(score, "Winner: Team A"); + } else if (self->rope_mark >= 35) { + sprintf(score, "Winner: Team B"); + } else if (self->rope_mark == 20) { + sprintf(score, "Advantage: None"); + } else if (self->rope_mark < 20) { + sprintf(score, "Advantage: Team A"); + } else { + sprintf(score, "Advantage: Team B"); + } + + + // Construct the data to send + char curl_cmd[1024]; + + sprintf(curl_cmd, + "curl -X POST http://127.0.0.1:5004/update_force -H \"Content-Type: application/json\" -d '[ \ + {\"players\": [\"Team_A_Player_0\", \"Team_A_Player_1\", \"Team_B_Player_0\", \"Team_B_Player_1\"], \ + \"forces\": [%d, %d, %d, %d], \ + \"score\": \"%s\", \ + \"rope_mark\": %d \ + }\ + ]' \ + ", + self->agent_force[0], + self->agent_force[1], + self->agent_force[2], + self->agent_force[3], + score, + self->rope_mark + ); + + int status = system(curl_cmd); + if (status == 0) { + lf_print("Updates successfully sent."); + } else { + lf_print("Unable to send update."); + } + + self->updated = false; + + // Reset all forces + for (int i = 0; i < 4; i++) { + self->agent_force[i] = 0; + } + + // If one of team won, stop the game + if (self->rope_mark<= 5 || self->rope_mark >= 35) { + lf_request_stop(); + } + } + =} +} From bcb05a3a74f526f742802ac15a627034d42db05d Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Wed, 10 Jan 2024 13:27:42 -0800 Subject: [PATCH 032/113] Added shared memory federated example --- examples/C/README.md | 1 + examples/C/src/shared-memory/README.md | 15 ++++ examples/C/src/shared-memory/SharedMemory.lf | 78 ++++++++++++++++++ .../C/src/shared-memory/img/SharedMemory.png | Bin 0 -> 6296 bytes 4 files changed, 94 insertions(+) create mode 100644 examples/C/src/shared-memory/README.md create mode 100644 examples/C/src/shared-memory/SharedMemory.lf create mode 100644 examples/C/src/shared-memory/img/SharedMemory.png diff --git a/examples/C/README.md b/examples/C/README.md index e9fd4742..8ff1272c 100644 --- a/examples/C/README.md +++ b/examples/C/README.md @@ -9,5 +9,6 @@ * [Furuta Pendulum](src/modal_models/FurutaPendulum/README.md): A controller and simulation illustrating a modal reactor. * [Rhythm](src/rhythm/README.md): Sound generation and terminal user interface demos. * [SDV](src/sdv/README.md): Software defined vehicle sketch integrating user input, a web display, and sound. +* [Shared Memory](src/shared-memory/README.md): Using shared memory to exchange large data objects between federates. * [Train Door](src/train-door/README.md): Train door controller from a verification paper. * [Distributed](src/distributed/README.md): Basic federated hello-world examples. \ No newline at end of file diff --git a/examples/C/src/shared-memory/README.md b/examples/C/src/shared-memory/README.md new file mode 100644 index 00000000..5b5a959e --- /dev/null +++ b/examples/C/src/shared-memory/README.md @@ -0,0 +1,15 @@ +# Shared Memory + +The POSIX Realtime Extension includes a mechanism for processes on a single machine to share memory. A writer opens a "file" using `shm_open` and then uses `mmap` to map a sequence of memory addresses to the contents of this in-memory file. The `mmap` function returns a pointer to this memory, which the writer can then use to store data. + +A reader needs only the file name to open the file using `shm_open`, which it can then also map to memory locations using `mmap` + +This example shows how you can safely use this mechanism to exchange large chunks of data between LF federates without serializing, streaming, and then deserializing the data. The Sender reactor creates a file name using the current logical time (to ensure uniqueness, assuming no use of microsteps). It populates the shared memory with data and then sends the filename to the Reader. The Reader will only receive the file name after the Sender has finished writing to it, so precedence constraints are satisfied. + + + + + + +
SharedMemory + SharedMemory.lf: An illustration of how to use shared memory to exchange large chunks of data between federates.
\ No newline at end of file diff --git a/examples/C/src/shared-memory/SharedMemory.lf b/examples/C/src/shared-memory/SharedMemory.lf new file mode 100644 index 00000000..1069b1d0 --- /dev/null +++ b/examples/C/src/shared-memory/SharedMemory.lf @@ -0,0 +1,78 @@ +/** + * The POSIX Realtime Extension includes a mechanism for processes on a single machine + * to share memory. A writer opens a "file" using `shm_open` and then uses `mmap` to + * map a sequence of memory addresses to the contents of this in-memory file. The `mmap` + * function returns a pointer to this memory, which the writer can then use to store data. + * + * A reader needs only the file name to open the file using `shm_open`, which it can then + * also map to memory locations using `mmap`. + * + * This example shows how you can safely use this mechanism to exchange large chunks of + * data between LF federates without serializing, streaming, and then deserializing the + * data. The Sender reactor creates a file name using the current logical time (to ensure + * uniqueness, assuming no use of microsteps). It populates the shared memory with data + * and then sends the filename to the Reader. The Reader will only receive the file name + * after the Sender has finished writing to it, so precedence constraints are satisfied. + * + * @author Edward A. Lee + */ +target C { + timeout: 0 s +} + +preamble {= + #include + #include + #include + #include + #define SIZE 4096 +=} + +reactor Sender { + // Do not use string data type because the string filename is dynamically allocated. + output out: char* + + reaction(startup) -> out {= + tag_t now = lf_tag(); + char *name; + // Create a file name based on current time. + if (asprintf(&name, "Sender_" PRINTF_TIME "_%d", now.time, now.microstep) < 0) { + lf_print_error_and_exit("Memory allocation error."); + } + lf_print("**** Writing to shared memory with filename: %s", name); + int fd = shm_open(name, O_CREAT | O_RDWR, 0666); + ftruncate(fd, SIZE); // Limit the size. + char* ptr = (char*)mmap(0, SIZE, PROT_WRITE, MAP_SHARED, fd, 0); + const char* message = "Hello World!"; + + // Write to the shared memory file. + char* offset = ptr; + while (offset < ptr + SIZE - strlen(message)) { + sprintf(offset, "%s", message); + offset += strlen(message); + } + // Send out the file name only, not the data it contains. + lf_set_array(out, name, strlen(name) + 1); + =} +} + +reactor Reader { + input in: char* + + reaction(in) {= + lf_print("**** Reading shared memory file %s", in->value); + int fd = shm_open(in->value, O_RDONLY, 0666); + + // Memory map the shared memory object. + char* ptr = (char*)mmap(0, SIZE, PROT_READ, MAP_SHARED, fd, 0); + + // Read the shared memory data. + lf_print("%s", ptr); + =} +} + +federated reactor { + s = new Sender() + r = new Reader() + s.out -> r.in +} diff --git a/examples/C/src/shared-memory/img/SharedMemory.png b/examples/C/src/shared-memory/img/SharedMemory.png new file mode 100644 index 0000000000000000000000000000000000000000..b607ca4976c4378f08c06c341a3c982a20e6a56b GIT binary patch literal 6296 zcmV;J7-#2+P)vs3ucV|O~ z4$Yo_{`u^SFTTkB{PWLh(8)UTAAbAox9pWyUdbMLepX?O<;QGop<`BgC&(T5b68xzfYk0mN-C*) zWJ)B~@XIg1q|Y5(z5IcaN-C*)B;Fv1hdTUGTBnjq>NyEmJo)64X>QfQ2mJWskNdk% zC6zQ_iFXH3KmGJm)?uBgTKKQkNHpf@r=Ly}$)Fcrcp-cL{rCIqo;22Dk3E)s^UXKu zZ|fJ8^!x9>r}6*mufO`NAAL#RefM4V`s=T!F!D3cJd?u81go9sk3arMfHD>x7Oj}9 zRwaUb@WBUXv&}YJw&FjM_Q~#>#x6lcG_vD_1V3FWUjg9O6wK`ZR)9~&K`K+ zfq$HH&N=5~GtD$pVn&e(@I3>;iN#II=)U{z``03<1<-2Bqg9EF8JBOr{kHW1h53_B zHd(Sp*4Iur;e>3HO*Tp2ZMx~E*|EnS+bINjE5Wi{cinZ_d+)uMKGQZ`A2 zcieGD8br$tR?vZjzy*Ey;fLAv*I%FRz2JfiChaYf+R@RGt+UQLo#*-e%rnoNjXCC+ zotBe!zw^#JQ-9nOz5DLF*&A=Xk@^Xo7T}#jnDh62@x>Rj8*aFvbNNFbO_*PM?X~Q- z+ipwG^4xRJb)N6KtV=C&e?me&SReNc(A<0Py-6{7e*fp2?;m{d!R*H$f9x^e1`@Ru zpa}BB6HlC-fByL?#EF8@n{U2(HqA8CWNWOkMmFiBlO}MXqmMp1S+rGFStXlgmRS;r z2>&FLOp?t#_uSc*TW*;&@Ota5mo2r_QrRMlERqc#JU9(3p`LNZ8M9@VT{c^M@x`-o z#u+CGvE%Ng5o83IQ%*T$Hp2`vq=j`>YW3AuPrqGgp@p&?cGw}Eci@2srv9zH_S)HW z(@mExz4X%QJik5Wm}Am8=bn3R>Z?Apcm$h*a2=oZ_2GvfPJR3I(@)cH)>><=?BtVA zt~zd>k5T~~pdlxD&^T5NOwoX^E3mc_wH2Vy#TQ?kTs^|P+G?vM;YJ&5utB!{_S>hw z&pYqDBzyr17J){eZ@&4mQ%*T09Up)E@w5ByzdxOS_0?A=;iUappfSc6BmHidU3N*} zLcVjHWn--X!FK=>_up^7{jz!HnI~Bt{hW2ySyKp>@Q*(F=*g|xXP{EVE1kf!|zo(M9PT7Gn0=|{f;=CKsPETYbIrfTi*T5yMTT{6THZZ0&urBk(Y68< z0U~s)z^bdRnoTjq6v-t*+^9-Gv0N+!>tQ}({*|{-0VsklO2{Q#c;SVUJI6wB6@kSu z!pu#iodZxvuw$f=MoRNLa}{9lTfi`%TVR0&60lZWamCc1t^mb_qxrdi=3gt?4pjtIZ(N=&$G&KPu$mTUcQJ#V@JLVIF znEM6@7QJJg4p{P0HEyJVbnX1wi}OXf%)vC8*)>Jq2&~@;L8AyqM}3XHvJmbc8eI_K z^Upu;ymlYt=1+|PDu14932;Qzvel^V z09Df8#LYBU>}o-qfS9|H4PfB@<}FrtEtFi*P+YA@C7{}vSh_|Mp;{^vX z73EG^P$rlnk(5b)^P*9H0g`MLAR+TUcSYR-l<$Oat(jQ3w2&!WTej}C$kh|Z7H03u zvXTBILKVAak)44mFVSyH2%g81NiAv^P%M*+z5Vvvoi`v9W$Sq}jvC@+9yKA6w632F#X+&uYbt)^{?(u^xG z3HG!?Xq`LcSy~ZHn&*=8B`vHnQri%qm~J^{MFNyLom@29uvvq|^TQ zH4w>chP)UXJdV~Z8N_Qc)YCqhONr7}Ciyl5C~GJD{GtFVLb1vw%sqNL>GfNF@uinu zngqK)K*gQrCbhymiZ>I%tKNdixR5`IzNQ_P9V80(=DLKP>;QdFK_$u!P_C7yh5+RR zA;V?^DssDOS%zvrF_>qbd1l(=L@9o;1pdqpmr!BvtWBL3I2upQb5`Sb{xcr1cD5T(dZLs?(WNa60#yEI)$<^89X!(V zfN>6i_r2=nn{U23@iY3BKR;^QqE!PWKmk^s`VCMz&dMm*Q#r~)nPVy zoTt3q;5aun9dZ3;xiswpC_Ib}Yp%Wa+EmG0IR@rl#vuFbW%DW$V_n*b&@02 ztkRMd3Q#(yHnDa%-6ay+}r_oq0 zgQHLn2)Ec`i&P%2{>S8BL7^f;RkbQt6%cZ5O*R!F+PH;Q+;h)8Q{Pm+(vXS~Y0jRy z3+)If<7ZqIQ`!du2trXBM}ScjsXPSF@_77LQsnPz@CmaDS?(U!4|53O?z``v22g)lA{DZ(4N&{; 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A writer opens a "file" using `shm_open` and then uses `mmap` to - * map a sequence of memory addresses to the contents of this in-memory file. The `mmap` - * function returns a pointer to this memory, which the writer can then use to store data. - * - * A reader needs only the file name to open the file using `shm_open`, which it can then - * also map to memory locations using `mmap`. - * - * This example shows how you can safely use this mechanism to exchange large chunks of - * data between LF federates without serializing, streaming, and then deserializing the - * data. The Sender reactor creates a file name using the current logical time (to ensure - * uniqueness, assuming no use of microsteps). It populates the shared memory with data - * and then sends the filename to the Reader. The Reader will only receive the file name - * after the Sender has finished writing to it, so precedence constraints are satisfied. - * + * The POSIX Realtime Extension includes a mechanism for processes on a single machine to share + * memory. A writer opens a "file" using `shm_open` and then uses `mmap` to map a sequence of memory + * addresses to the contents of this in-memory file. The `mmap` function returns a pointer to this + * memory, which the writer can then use to store data. + * + * A reader needs only the file name to open the file using `shm_open`, which it can then also map + * to memory locations using `mmap`. + * + * This example shows how you can safely use this mechanism to exchange large chunks of data between + * LF federates without serializing, streaming, and then deserializing the data. The Sender reactor + * creates a file name using the current logical time (to ensure uniqueness, assuming no use of + * microsteps). It populates the shared memory with data and then sends the filename to the Reader. + * The Reader will only receive the file name after the Sender has finished writing to it, so + * precedence constraints are satisfied. + * * @author Edward A. Lee */ target C { From e8d84b3fbfa3036c98c766fa2acd770d5d4e49b0 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Thu, 11 Jan 2024 11:55:07 -0800 Subject: [PATCH 034/113] Added watchdog example --- examples/C/README.md | 5 +- examples/C/src/watchdog/README.md | 27 ++++++ examples/C/src/watchdog/Watchdog.lf | 115 +++++++++++++++++++++++ examples/C/src/watchdog/img/Watchdog.png | Bin 0 -> 13111 bytes 4 files changed, 145 insertions(+), 2 deletions(-) create mode 100644 examples/C/src/watchdog/README.md create mode 100644 examples/C/src/watchdog/Watchdog.lf create mode 100644 examples/C/src/watchdog/img/Watchdog.png diff --git a/examples/C/README.md b/examples/C/README.md index e9fd4742..67f1fd7e 100644 --- a/examples/C/README.md +++ b/examples/C/README.md @@ -1,7 +1,7 @@ # C Examples * [Patterns](src/patterns/README.md): Common communication patterns. * [Deadlines](src/deadlines/README.md): Uses of deadlines in Lingua Franca. -* [Car Brake](src/car-brake/README.md): Sketch of ADAS system illustrating CAL theorem. +* [Car Brake](src/car-brake/README.md): Sketch of ADAS system illustrating the CAL theorem. * [Rosace](src/rosace/README.md): Aircraft controller illustrating periodic systems with multiple periods. * [Simulation](src/simulation/README.md): Using Lingua Franca for simulation. * [Keyboard](src/keyboard/README.md): Responding to keyboard input using ncurses. @@ -10,4 +10,5 @@ * [Rhythm](src/rhythm/README.md): Sound generation and terminal user interface demos. * [SDV](src/sdv/README.md): Software defined vehicle sketch integrating user input, a web display, and sound. * [Train Door](src/train-door/README.md): Train door controller from a verification paper. -* [Distributed](src/distributed/README.md): Basic federated hello-world examples. \ No newline at end of file +* [Distributed](src/distributed/README.md): Basic federated hello-world examples. +* [Watchdog](src/watchdog/README.md): Federated illustration of watchdogs. diff --git a/examples/C/src/watchdog/README.md b/examples/C/src/watchdog/README.md new file mode 100644 index 00000000..c788c153 --- /dev/null +++ b/examples/C/src/watchdog/README.md @@ -0,0 +1,27 @@ +# Watchdog -- Reacting to Absent Inputs + +The LF deadline handlers react to inputs that are late. +What if you want to react the fact that an input has _not_ arrived by a certain time? +The deadline construct, by itself, will not do this. +It does not react until an input actually arrives. + +The watchdog construct provides a mechanism for this. +A watchdog is started using `lf_watchdog_start` at some logical time _t_. +It will expire at _physical_ time _t_ + _W_, where _W_ is the watchdog delay, +unless it gets restarted with `lf_watchdog_start` or stopped using `lf_watchdog_stop` +before that physical time elapses. + +When a watchdog expires, two things happen. First, the watchdog handler is invoked. +Second, an event identified by the name of the watchdog is scheduled at the earliest +available tag (typically the current tag plus one microstep). +The watchdog handler is invoked asynchronously, and therefore has limited access +to the reactor's infrastructure, such as inputs and outputs. +However, the scheduled watchdog event can trigger an ordinary reaction +which has full access to the state variables and inputs and outputs of the reactor. + + + + + +
Watchdog + Watchdog.lf: Illustration of the use of the watchdogs in LF.
\ No newline at end of file diff --git a/examples/C/src/watchdog/Watchdog.lf b/examples/C/src/watchdog/Watchdog.lf new file mode 100644 index 00000000..581b17df --- /dev/null +++ b/examples/C/src/watchdog/Watchdog.lf @@ -0,0 +1,115 @@ +/** + * @brief Demonstration of watchdogs in LF. + * + * This program has a periodic source that triggers events every 500 ms, + * but where every fourth event is delayed before being delivered to the + * downstream Watcher. This delay models either communication or + * computation time. + * + * The Watcher has a deadline of 200 ms. It wants to see events within + * 200 ms of their logical time, but, because of the delay every fourth event, + * the deadline will be violated. The deadline violation handler is invoked + * in this case, but it is only invoked after the event arrives, which is late. + * What if we need to react to the deadline violation sooner, e.g. in order to + * drive an actuator? + * + * To handle this, the Watcher includes watchdog named "dog" that triggers if + * any input event is more than 250 ms late. + * + * @author Benjamin Asch + * @author Edward A. Lee + */ +target C { + timeout: 5 s +} + +reactor SometimesSlowSource { + output out: int + // Offset ameliorates startup time. + timer t(500 ms, 500 ms) + state count: int = 1 + reaction(t) -> out {= + if (self->count % 4 == 0) { + // Be slow. + lf_sleep(MSEC(300)); + } + lf_set(out, self->count++); + =} +} + +reactor Watcher { + input in: int + output out: int + state count: int = 1 + logical action a(500 ms) + + watchdog dog(750 ms) {= + instant_t p = lf_time_physical_elapsed(); + lf_print("******** Watchdog timed out at elapsed physical time: " PRINTF_TIME, p); + =} + + reaction(in) -> dog, out {= + // Reset the watchdog. The next event is expected in 500 ms. + // This watchdog will trigger if the event does not arrive within 750 ms from now, + // or is more than 250 ms late. + lf_watchdog_start(dog, 0); + lf_print("Watchdog started at physical time " PRINTF_TIME, lf_time_physical_elapsed()); + lf_print("Will expire at " PRINTF_TIME, lf_time_logical_elapsed() + MSEC(750)); + lf_set(out, in->value); + self->count++; + =} deadline (200 ms) {= + // This input is more than 200 ms late. It must have been from the slow cycles. + lf_print("Watcher received late input %d. Ignoring it.", in->value); + =} + + reaction(dog) -> a {= + // Note that this reaction will trigger at the earliest available tag, which + // will be one microstep later than the most recent input or watchdog violation. + lf_print("******** Watchdog triggered. Scheduling output for next logical time."); + // Use a logical action so that the logical time of the output aligns. + lf_schedule(a, 0); + =} + + reaction(a) -> out, dog {= + lf_print("******** Backup output being produced."); + lf_set(out, self->count++); + // Start another watchdog cycle in case the very next input is also delayed. + lf_watchdog_start(dog, 0); + lf_print("Watchdog started at physical time " PRINTF_TIME, lf_time_physical_elapsed()); + lf_print("Will expire at " PRINTF_TIME, lf_time_logical_elapsed() + MSEC(750)); + =} + + reaction(shutdown) -> dog {= + lf_watchdog_stop(dog); + =} +} + +reactor Checker { + input in: int + state count: int = 1 + reaction(in) {= + lf_print("Checker received %d at logical time " PRINTF_TIME + " and physical time " PRINTF_TIME, in->value, + lf_time_logical_elapsed(), + lf_time_physical_elapsed()); + if (in->value != self->count) { + lf_print_error_and_exit("Expected %d", self->count); + } + self->count++; + =} + reaction(shutdown) {= + if (self->count < 10) { + lf_print_error_and_exit("Received %d inputs. 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zd^tOvw4spouX|SW_U-8B&)+-GU+B=k;I`OFqDtsHvjF9#3d1Ba^J=g+;ax)T>?<>n zF)(~S!oZjJ23zYhLm3VZTz*dbu_$?0*K33eKo(Nn?34HS35#`9CNI2W5xgJU+A2?T z?x_bs{B4W7rRBm_xym&B>dyva*6%x5A`8SK{KYGc3HRXWToa Tl_l^(42GJLmLf{tJox_uZkIS$ literal 0 HcmV?d00001 From 4209c4f6baaa1ed688135a1f006845c70e2f5006 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Thu, 11 Jan 2024 12:59:15 -0800 Subject: [PATCH 035/113] Format --- examples/C/src/watchdog/Watchdog.lf | 43 ++++++++++++++--------------- 1 file changed, 21 insertions(+), 22 deletions(-) diff --git a/examples/C/src/watchdog/Watchdog.lf b/examples/C/src/watchdog/Watchdog.lf index 581b17df..8d0db5ef 100644 --- a/examples/C/src/watchdog/Watchdog.lf +++ b/examples/C/src/watchdog/Watchdog.lf @@ -1,21 +1,19 @@ /** * @brief Demonstration of watchdogs in LF. - * - * This program has a periodic source that triggers events every 500 ms, - * but where every fourth event is delayed before being delivered to the - * downstream Watcher. This delay models either communication or - * computation time. - * - * The Watcher has a deadline of 200 ms. It wants to see events within - * 200 ms of their logical time, but, because of the delay every fourth event, - * the deadline will be violated. The deadline violation handler is invoked - * in this case, but it is only invoked after the event arrives, which is late. - * What if we need to react to the deadline violation sooner, e.g. in order to - * drive an actuator? - * - * To handle this, the Watcher includes watchdog named "dog" that triggers if - * any input event is more than 250 ms late. - * + * + * This program has a periodic source that triggers events every 500 ms, but where every fourth + * event is delayed before being delivered to the downstream Watcher. This delay models either + * communication or computation time. + * + * The Watcher has a deadline of 200 ms. It wants to see events within 200 ms of their logical time, + * but, because of the delay every fourth event, the deadline will be violated. The deadline + * violation handler is invoked in this case, but it is only invoked after the event arrives, which + * is late. What if we need to react to the deadline violation sooner, e.g. in order to drive an + * actuator? + * + * To handle this, the Watcher includes watchdog named "dog" that triggers if any input event is + * more than 250 ms late. + * * @author Benjamin Asch * @author Edward A. Lee */ @@ -25,9 +23,9 @@ target C { reactor SometimesSlowSource { output out: int - // Offset ameliorates startup time. - timer t(500 ms, 500 ms) + timer t(500 ms, 500 ms) // Offset ameliorates startup time. state count: int = 1 + reaction(t) -> out {= if (self->count % 4 == 0) { // Be slow. @@ -35,7 +33,7 @@ reactor SometimesSlowSource { } lf_set(out, self->count++); =} -} +} reactor Watcher { input in: int @@ -57,7 +55,7 @@ reactor Watcher { lf_print("Will expire at " PRINTF_TIME, lf_time_logical_elapsed() + MSEC(750)); lf_set(out, in->value); self->count++; - =} deadline (200 ms) {= + =} deadline(200 ms) {= // This input is more than 200 ms late. It must have been from the slow cycles. lf_print("Watcher received late input %d. Ignoring it.", in->value); =} @@ -69,7 +67,7 @@ reactor Watcher { // Use a logical action so that the logical time of the output aligns. lf_schedule(a, 0); =} - + reaction(a) -> out, dog {= lf_print("******** Backup output being produced."); lf_set(out, self->count++); @@ -87,6 +85,7 @@ reactor Watcher { reactor Checker { input in: int state count: int = 1 + reaction(in) {= lf_print("Checker received %d at logical time " PRINTF_TIME " and physical time " PRINTF_TIME, in->value, @@ -97,6 +96,7 @@ reactor Checker { } self->count++; =} + reaction(shutdown) {= if (self->count < 10) { lf_print_error_and_exit("Received %d inputs. Expected at least 10.", self->count); @@ -105,7 +105,6 @@ reactor Checker { } federated reactor { - s = new SometimesSlowSource() w = new Watcher() c = new Checker() From aef6305bcb579df5c836d82a78d84533a558a251 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Mon, 15 Jan 2024 09:01:53 -0800 Subject: [PATCH 036/113] Updated to use multiports and make federated --- examples/C/src/leader-election/NRP_FD.lf | 7 ++--- .../leader-election/NRP_FD_Partitioning.lf | 28 ++++++++----------- .../leader-election/NRP_FD_PrimaryFails.lf | 26 ++++++++--------- 3 files changed, 26 insertions(+), 35 deletions(-) diff --git a/examples/C/src/leader-election/NRP_FD.lf b/examples/C/src/leader-election/NRP_FD.lf index cfc4e235..ddc77a48 100644 --- a/examples/C/src/leader-election/NRP_FD.lf +++ b/examples/C/src/leader-election/NRP_FD.lf @@ -1,6 +1,6 @@ /** - * This program models a redundant fault tolerant system where a primary node, if and when it fails, - * is replaced by a backup node. The protocol is described in this paper: + * This program implements a redundant fault-tolerant system where a primary node, if and when + * it fails, is replaced by a backup node. The protocol is described in this paper: * * Bjarne Johansson; Mats Rågberger; Alessandro V. Papadopoulos; Thomas Nolte, "Consistency Before * Availability: Network Reference Point based Failure Detection for Controller Redundancy," Emerging @@ -465,8 +465,7 @@ reactor Switch( =} } } -// FIXME: This should be federated, but bugs in federated execution make it fail. -main reactor(heartbeat_period: time = 1 s, delay: time = 1 ms) { +federated reactor(heartbeat_period: time = 1 s, delay: time = 1 ms) { node1 = new Node(heartbeat_period=heartbeat_period, id=1, fails_at_time = 10 s) switch1 = new Switch(id=1, fails_at_time = 3 s) switch3 = new Switch(id=3) diff --git a/examples/C/src/leader-election/NRP_FD_Partitioning.lf b/examples/C/src/leader-election/NRP_FD_Partitioning.lf index cbe55ca1..62c01a95 100644 --- a/examples/C/src/leader-election/NRP_FD_Partitioning.lf +++ b/examples/C/src/leader-election/NRP_FD_Partitioning.lf @@ -1,36 +1,32 @@ // This version partitions the network and shows that the protocol // prevents the backup from becoming primary, thereby preventing // two primaries. -target C +target C { + tracing: true, + timeout: 20 s +} import Switch, Node from "NRP_FD.lf" -main reactor(heartbeat_period: time = 1 s, delay: time = 1 ms) { +federated reactor(heartbeat_period: time = 1 s, delay: time = 1 ms) { node1 = new Node(heartbeat_period=heartbeat_period, id=1, fails_at_time = 15 s) node2 = new Node(heartbeat_period=heartbeat_period, id=2, fails_at_time = 15 s) switch1 = new Switch(id=1, fails_at_time = 3 s) switch2 = new Switch(id=2) + switch3 = new Switch(id=3) + // Failure of switch4 will partition the network. + switch4 = new Switch(id=4, fails_at_time = 10 s) - node1.out1 -> switch1.in1 after delay - switch1.out1 -> node1.in1 after delay + node1.out -> switch1.in1, switch3.in1 after delay + switch1.out1, switch3.out1 -> node1.in after delay switch1.out2 -> switch2.in2 after delay switch2.out2 -> switch1.in2 after delay - switch2.out1 -> node2.in1 after delay - node2.out1 -> switch2.in1 after delay - - switch3 = new Switch(id=3) - // Failure of switch4 will partition the network. - switch4 = new Switch(id=4, fails_at_time = 10 s) - - node1.out2 -> switch3.in1 after delay - switch3.out1 -> node1.in2 after delay + switch2.out1, switch4.out1 -> node2.in after delay + node2.out -> switch2.in1, switch4.in1 after delay switch3.out2 -> switch4.in2 after delay switch4.out2 -> switch3.in2 after delay - - switch4.out1 -> node2.in2 after delay - node2.out2 -> switch4.in1 after delay } diff --git a/examples/C/src/leader-election/NRP_FD_PrimaryFails.lf b/examples/C/src/leader-election/NRP_FD_PrimaryFails.lf index 57f7fc17..b0973995 100644 --- a/examples/C/src/leader-election/NRP_FD_PrimaryFails.lf +++ b/examples/C/src/leader-election/NRP_FD_PrimaryFails.lf @@ -1,34 +1,30 @@ // This version simply has the primary failing after 5 seconds. // Switch 1 remains the NRP. -target C +target C { + tracing: true, + timeout: 20 s +} import Switch, Node from "NRP_FD.lf" -main reactor(heartbeat_period: time = 1 s, delay: time = 1 ms) { +federated reactor(heartbeat_period: time = 1 s, delay: time = 1 ms) { node1 = new Node(heartbeat_period=heartbeat_period, id=1, fails_at_time = 5 s) node2 = new Node(heartbeat_period=heartbeat_period, id=2, fails_at_time = 15 s) switch1 = new Switch(id=1) switch2 = new Switch(id=2) + switch3 = new Switch(id=3) + switch4 = new Switch(id=4) - node1.out1 -> switch1.in1 after delay - switch1.out1 -> node1.in1 after delay + node1.out -> switch1.in1, switch3.in1 after delay + switch1.out1, switch3.out1 -> node1.in after delay switch1.out2 -> switch2.in2 after delay switch2.out2 -> switch1.in2 after delay - switch2.out1 -> node2.in1 after delay - node2.out1 -> switch2.in1 after delay - - switch3 = new Switch(id=3) - switch4 = new Switch(id=4) - - node1.out2 -> switch3.in1 after delay - switch3.out1 -> node1.in2 after delay + switch2.out1, switch4.out1 -> node2.in after delay + node2.out -> switch2.in1, switch4.in1 after delay switch3.out2 -> switch4.in2 after delay switch4.out2 -> switch3.in2 after delay - - switch4.out1 -> node2.in2 after delay - node2.out2 -> switch4.in1 after delay } From 358b7a20fb9ecb00da3bd7b810061573bed5fdba Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Mon, 15 Jan 2024 12:53:09 -0800 Subject: [PATCH 037/113] Avoid overwriting heartbeat with ping --- examples/C/src/leader-election/NRP_FD.lf | 66 +++++++++++++++++------- 1 file changed, 47 insertions(+), 19 deletions(-) diff --git a/examples/C/src/leader-election/NRP_FD.lf b/examples/C/src/leader-election/NRP_FD.lf index ddc77a48..fddbb44f 100644 --- a/examples/C/src/leader-election/NRP_FD.lf +++ b/examples/C/src/leader-election/NRP_FD.lf @@ -20,6 +20,7 @@ */ target C { tracing: true, + logging: DEBUG, timeout: 20 s } @@ -52,6 +53,7 @@ preamble {= reactor Node( id: int = 0, heartbeat_period: time = 1 s, + routine_ping_offset: time = 1 ms, // Time after heartbeat to ping NRP. max_missed_heartbeats: int = 2, fails_at_time: time = 0, // For testing. 0 for no failure. ping_timeout: time = 500 ms, // Time until ping is deemed to have failed. @@ -66,8 +68,8 @@ reactor Node( state heartbeats_missed: int[2] = {0} state primary: int = 0 // The known primary node. - state ping_pending: bool = false - state ping_timeout_pending: bool = false + state ping_pending: bool = false // Ping has been issued and not responded to. + state ping_timeout_pending: bool = false // Ping timeout timer hasn't expired. state become_primary_on_ping_response: bool = false state NRP_network: int = {= INITIAL_NRP_NETWORK =} state NRP_switch_id: int = 0 // 0 means not known. @@ -96,7 +98,7 @@ reactor Node( self->primary = self->id; lf_set_mode(Primary); - lf_print(PRINTF_TIME ": Primary node %d received ping response on network %d. " + lf_print(PRINTF_TIME ": Initial primary node %d received ping response on network %d. " "Making switch %d the NRP.", lf_time_logical_elapsed(), self->id, c, in[c]->value.source ); self->NRP_network = c; @@ -106,9 +108,18 @@ reactor Node( // Send new NRP message on all networks. for (int i = 0; i < out_width; i++) lf_set(out[i], message); } else if (in[c]->value.type == new_NRP) { - // Become backup. Source of the message is the primary. - self->primary = in[c]->value.source; - lf_set_mode(Backup); + if (in[c]->value.payload != self->NRP_switch_id) { + // Message is not redundant (new_NRP sent on both networks). + // Become backup. Source of the message is the primary. + lf_print(PRINTF_TIME ": Waiting node %d received new NRP %d on network %d. " + "Becoming backup.", lf_time_logical_elapsed(), self->id, in[c]->value.payload, + c, in[c]->value.source + ); + self->primary = in[c]->value.source; + self->NRP_switch_id = in[c]->value.payload; + self->NRP_network = c; + lf_set_mode(Backup); + } } } } @@ -117,6 +128,7 @@ reactor Node( mode Primary { timer heartbeat(0, heartbeat_period) + timer ping_NRP_timer(routine_ping_offset, heartbeat_period) reaction(reset) {= lf_print(PRINTF_TIME ": ---- Node %d becomes primary.", lf_time_logical_elapsed(), self->id); =} @@ -125,15 +137,20 @@ reactor Node( if(lf_time_logical_elapsed() > 0LL) lf_set_mode(Failed); =} - reaction(heartbeat) -> out, ping_timed_out {= + reaction(heartbeat) -> out {= lf_print(PRINTF_TIME ": Primary node %d sends heartbeat on both networks.", lf_time_logical_elapsed(), self->id ); message_t message = {heartbeat, self->id, 0, 0}; for (int i = 0; i < out_width; i++) lf_set(out[i], message); - + =} + + reaction(ping_NRP_timer) -> out, ping_timed_out {= // Ping the NRP if there is one and there isn't a ping timeout pending. if (self->NRP_switch_id != 0 && !self->ping_timeout_pending) { + lf_print(PRINTF_TIME ": Primary node %d pings NRP %d (routine).", + lf_time_logical_elapsed(), self->id, self->NRP_switch_id + ); message_t ping = {ping_NRP, self->id, self->NRP_switch_id, 0}; lf_set(out[self->NRP_network], ping); self->ping_pending = true; @@ -170,12 +187,12 @@ reactor Node( if (self->NRP_switch_id == 0) { // This is a new NRP. self->NRP_switch_id = in[c]->value.source; - // Notify the backup of the NRP. Destination 0 here means broadcast. - message_t message = {new_NRP, self->id, 0, in[c]->value.source}; - // Send new NRP message on all networks. - for (int i = 0; i < out_width; i++) lf_set(out[i], message); - lf_print(PRINTF_TIME ": Primary node %d notifies backup of new NRP %d.", - lf_time_logical_elapsed(), self->id, self->NRP_switch_id + self->NRP_network = c; + // Notify the backup of the NRP on the NRP's network. + message_t message = {new_NRP, self->id, 0, self->NRP_switch_id}; + lf_set(out[c], message); + lf_print(PRINTF_TIME ": Primary node %d notifies backup of new NRP %d on network %d.", + lf_time_logical_elapsed(), self->id, self->NRP_switch_id, c ); // NOTE: Should the primary get some confirmation from the backup? } @@ -209,6 +226,7 @@ reactor Node( message_t message = {ping_NRP, self->id, 0, 0}; lf_set(out[self->NRP_network], message); self->ping_pending = true; + self->ping_timeout_pending = true; lf_schedule(ping_timed_out, 0); } } @@ -241,6 +259,7 @@ reactor Node( lf_print(PRINTF_TIME ": Backup node %d received ping response on network %d from NRP on switch %d.", lf_time_logical_elapsed(), self->id, c, in[c]->value.source ); + self->NRP_switch_id = in[c]->value.source; // If there was a timeout on both networks that was not simultaneous, then // we tried pinging the NRP before becoming primary. if (self->become_primary_on_ping_response) { @@ -249,9 +268,12 @@ reactor Node( } self->ping_pending = false; } else if (in[c]->value.type == new_NRP) { - // NOTE: Should ping the new NRP and send confirmation back to primary. + // FIXME: Should ping the new NRP and send confirmation back to primary. + lf_print(PRINTF_TIME ": Backup node %d received new NRP %d on network %d.", + lf_time_logical_elapsed(), self->id, in[c]->value.payload, c + ); self->NRP_network = c; - self->NRP_switch_id = in[c]->value.source; + self->NRP_switch_id = in[c]->value.payload; } } } @@ -276,14 +298,20 @@ reactor Node( lf_time_logical_elapsed() ); lf_set_mode(Primary); - } else { + } else if (self->NRP_switch_id != 0) { // Ping the NRP because if we can't access it, we are on the wrong side of // a network partition and could end up with two primaries. message_t message = {ping_NRP, self->id, self->NRP_switch_id, 0}; lf_set(out[self->NRP_network], message); // Wait for a response before becoming primary. self->become_primary_on_ping_response = true; + self->ping_pending = true; + self->ping_timeout_pending = true; lf_schedule(ping_timed_out, 0); + } else { + lf_print_warning(PRINTF_TIME "**** Do not know which switch is the NRP! Cannot become primary.", + lf_time_logical_elapsed() + ); } self->heartbeats_missed[0] = 0; // Prevent detecting again immediately. self->heartbeats_missed[1] = 0; @@ -297,12 +325,13 @@ reactor Node( ); // Ping the NRP. message_t message = {ping_NRP, self->id, self->NRP_switch_id, 0}; - if (!self->ping_pending && self->NRP_switch_id != 0) { + if (!self->ping_pending && !self->ping_timeout_pending && self->NRP_switch_id != 0) { lf_set(out[self->NRP_network], message); lf_print(PRINTF_TIME ": Backup node %d pings NRP on network %d, switch %d", lf_time_logical_elapsed(), self->id, self->NRP_network, self->NRP_switch_id ); self->ping_pending = true; + self->ping_timeout_pending = true; lf_schedule(ping_timed_out, 0); } } @@ -313,7 +342,6 @@ reactor Node( =} reaction(ping_timed_out) -> out, new_NRP_request_timed_out, Failed {= - self->ping_timeout_pending = false; if (self->ping_pending) { // Ping timed out. lf_print(PRINTF_TIME ": Backup node %d gets no response from ping.", lf_time_logical_elapsed(), self->id); From a89e2815000d925c902b4076f1edceb9e5c8dc48 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Mon, 15 Jan 2024 14:50:29 -0800 Subject: [PATCH 038/113] Format --- examples/C/src/leader-election/NRP_FD.lf | 48 +++++++++++++----------- 1 file changed, 26 insertions(+), 22 deletions(-) diff --git a/examples/C/src/leader-election/NRP_FD.lf b/examples/C/src/leader-election/NRP_FD.lf index fddbb44f..1de9b10f 100644 --- a/examples/C/src/leader-election/NRP_FD.lf +++ b/examples/C/src/leader-election/NRP_FD.lf @@ -1,10 +1,11 @@ /** - * This program implements a redundant fault-tolerant system where a primary node, if and when - * it fails, is replaced by a backup node. The protocol is described in this paper: + * This program implements a redundant fault-tolerant system where a primary node, if and when it + * fails, is replaced by a backup node. The protocol is described in this paper: * * Bjarne Johansson; Mats Rågberger; Alessandro V. Papadopoulos; Thomas Nolte, "Consistency Before - * Availability: Network Reference Point based Failure Detection for Controller Redundancy," Emerging - * Technologies and Factory Automation (ETFA), 12-15 September 2023, DOI: 10.1109/ETFA54631.2023.10275664 + * Availability: Network Reference Point based Failure Detection for Controller Redundancy," + * Emerging Technologies and Factory Automation (ETFA), 12-15 September 2023, DOI: + * 10.1109/ETFA54631.2023.10275664 * * The key idea in this protocol is that when a backup fails to detect the heartbeats of a primary * node, it becomes primary only if it has access to Network Reference Point (NRP), which is a point @@ -12,8 +13,8 @@ * of the partition that still has access to the NRP can become a primary. If a primary loses access * to the NRP, then it relinquishes its primary role because it is now on the wrong side of a * network partition. A backup on the right side of the partition will take over. - * - * This implementation omits some details in the paper. See NOTEs in the comments. + * + * This implementation omits some details in the paper. See NOTEs in the comments. * * @author Edward A. Lee * @author Marjan Sirjani @@ -28,12 +29,12 @@ preamble {= #ifndef NRF_FD #define NRF_FD #include "platform.h" // Defines PRINTF_TIME - + // Paper calls for manual intervention to set initial primary ID and NRP network. // Here, we just hardwire this choice using #define. #define INITIAL_PRIMARY_ID 1 #define INITIAL_NRP_NETWORK 0 - + enum message_type { heartbeat, ping_NRP, @@ -55,8 +56,8 @@ reactor Node( heartbeat_period: time = 1 s, routine_ping_offset: time = 1 ms, // Time after heartbeat to ping NRP. max_missed_heartbeats: int = 2, - fails_at_time: time = 0, // For testing. 0 for no failure. - ping_timeout: time = 500 ms, // Time until ping is deemed to have failed. + fails_at_time: time = 0, // For testing. 0 for no failure. + ping_timeout: time = 500 ms, // Time until ping is deemed to have failed. // Time until new NRP request is deemed to have failed. nrp_timeout: time = 500 ms) { // There are two network interfaces: @@ -67,13 +68,13 @@ reactor Node( timer node_fails(fails_at_time) state heartbeats_missed: int[2] = {0} - state primary: int = 0 // The known primary node. + state primary: int = 0 // The known primary node. state ping_pending: bool = false // Ping has been issued and not responded to. state ping_timeout_pending: bool = false // Ping timeout timer hasn't expired. state become_primary_on_ping_response: bool = false state NRP_network: int = {= INITIAL_NRP_NETWORK =} - state NRP_switch_id: int = 0 // 0 means not known. - + state NRP_switch_id: int = 0 // 0 means not known. + logical action ping_timed_out(ping_timeout) logical action new_NRP_request_timed_out(nrp_timeout) @@ -84,7 +85,7 @@ reactor Node( if (self->id == INITIAL_PRIMARY_ID) { message_t ping_message = {ping_NRP, self->id, 0, 0}; lf_set(out[INITIAL_NRP_NETWORK], ping_message); - // Instead of scheduling ping_timed_out, we just continue waiting until a ping response arrives. + // Instead of scheduling ping_timed_out, we just continue waiting until a ping response arrives. } =} @@ -97,7 +98,7 @@ reactor Node( // Become primary. self->primary = self->id; lf_set_mode(Primary); - + lf_print(PRINTF_TIME ": Initial primary node %d received ping response on network %d. " "Making switch %d the NRP.", lf_time_logical_elapsed(), self->id, c, in[c]->value.source ); @@ -124,8 +125,9 @@ reactor Node( } } =} - } // mode Waiting + } + // mode Waiting mode Primary { timer heartbeat(0, heartbeat_period) timer ping_NRP_timer(routine_ping_offset, heartbeat_period) @@ -144,7 +146,7 @@ reactor Node( message_t message = {heartbeat, self->id, 0, 0}; for (int i = 0; i < out_width; i++) lf_set(out[i], message); =} - + reaction(ping_NRP_timer) -> out, ping_timed_out {= // Ping the NRP if there is one and there isn't a ping timeout pending. if (self->NRP_switch_id != 0 && !self->ping_timeout_pending) { @@ -200,8 +202,8 @@ reactor Node( } } =} - - reaction(ping_timed_out) -> out, ping_timed_out, Failed {= + + reaction(ping_timed_out) -> out, ping_timed_out, reset(Failed) {= self->ping_timeout_pending = false; if (self->ping_pending) { // Ping timed out. @@ -230,9 +232,10 @@ reactor Node( lf_schedule(ping_timed_out, 0); } } - =} - } // mode Primary + =} + } + // mode Primary mode Backup { timer t(heartbeat_period, heartbeat_period) // NOTE: Paper says to SENDIMHERETOPRIMARY with "longer interval". @@ -341,7 +344,7 @@ reactor Node( self->heartbeats_missed[1]++; =} - reaction(ping_timed_out) -> out, new_NRP_request_timed_out, Failed {= + reaction(ping_timed_out) -> out, new_NRP_request_timed_out, reset(Failed) {= if (self->ping_pending) { // Ping timed out. lf_print(PRINTF_TIME ": Backup node %d gets no response from ping.", lf_time_logical_elapsed(), self->id); @@ -493,6 +496,7 @@ reactor Switch( =} } } + federated reactor(heartbeat_period: time = 1 s, delay: time = 1 ms) { node1 = new Node(heartbeat_period=heartbeat_period, id=1, fails_at_time = 10 s) switch1 = new Switch(id=1, fails_at_time = 3 s) From eccf08db550e1d8fdc480cd817f8aa67b668ed90 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Mon, 15 Jan 2024 17:38:06 -0800 Subject: [PATCH 039/113] Tuned docs and formatting --- examples/C/src/leader-election/NRP_FD.lf | 5 +++-- examples/C/src/leader-election/NRP_FD_Partitioning.lf | 11 ++++++++--- examples/C/src/leader-election/NRP_FD_PrimaryFails.lf | 11 +++++++++-- 3 files changed, 20 insertions(+), 7 deletions(-) diff --git a/examples/C/src/leader-election/NRP_FD.lf b/examples/C/src/leader-election/NRP_FD.lf index 1de9b10f..ea172f35 100644 --- a/examples/C/src/leader-election/NRP_FD.lf +++ b/examples/C/src/leader-election/NRP_FD.lf @@ -16,12 +16,13 @@ * * This implementation omits some details in the paper. See NOTEs in the comments. * + * This version has switch1 failing at 3s, node1 failing at 10s, and node2 failing at 15s. + * * @author Edward A. Lee * @author Marjan Sirjani */ target C { tracing: true, - logging: DEBUG, timeout: 20 s } @@ -271,7 +272,7 @@ reactor Node( } self->ping_pending = false; } else if (in[c]->value.type == new_NRP) { - // FIXME: Should ping the new NRP and send confirmation back to primary. + // NOTE: Should ping the new NRP and send confirmation back to primary. lf_print(PRINTF_TIME ": Backup node %d received new NRP %d on network %d.", lf_time_logical_elapsed(), self->id, in[c]->value.payload, c ); diff --git a/examples/C/src/leader-election/NRP_FD_Partitioning.lf b/examples/C/src/leader-election/NRP_FD_Partitioning.lf index 62c01a95..3a046333 100644 --- a/examples/C/src/leader-election/NRP_FD_Partitioning.lf +++ b/examples/C/src/leader-election/NRP_FD_Partitioning.lf @@ -1,6 +1,11 @@ -// This version partitions the network and shows that the protocol -// prevents the backup from becoming primary, thereby preventing -// two primaries. +/** + * This version of NRP_FD partitions the network and shows that the protocol prevents the backup + * from becoming primary, thereby preventing two primaries. + * + * @author Edward A. Lee + * @author Marjan Sirjani + */ +// This version target C { tracing: true, timeout: 20 s diff --git a/examples/C/src/leader-election/NRP_FD_PrimaryFails.lf b/examples/C/src/leader-election/NRP_FD_PrimaryFails.lf index b0973995..c9ed2969 100644 --- a/examples/C/src/leader-election/NRP_FD_PrimaryFails.lf +++ b/examples/C/src/leader-election/NRP_FD_PrimaryFails.lf @@ -1,5 +1,12 @@ -// This version simply has the primary failing after 5 seconds. -// Switch 1 remains the NRP. +/** + * This version of NRP_FD simply has the primary (node1) failing after 5 seconds and the backup + * (node2) failing at at 15s. The backup detects simultaneous loss of the heartbeat on both networks + * and hence assumes that the primary has failed rather than there being a network failure. Switch 1 + * remains the NRP. + * + * @author Edward A. Lee + * @author Marjan Sirjani + */ target C { tracing: true, timeout: 20 s From 676ce0770810c7444de123fbf363527423122fff Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Mon, 15 Jan 2024 17:56:09 -0800 Subject: [PATCH 040/113] Added READMEs --- examples/C/README.md | 3 +- examples/C/src/leader-election/README.md | 29 ++++++++++++++++++ examples/C/src/leader-election/img/NRP_FD.png | Bin 0 -> 26824 bytes .../img/NRP_FD_Partitioning.png | Bin 0 -> 27565 bytes .../img/NRP_FD_PrimaryFails.png | Bin 0 -> 27437 bytes 5 files changed, 31 insertions(+), 1 deletion(-) create mode 100644 examples/C/src/leader-election/README.md create mode 100644 examples/C/src/leader-election/img/NRP_FD.png create mode 100644 examples/C/src/leader-election/img/NRP_FD_Partitioning.png create mode 100644 examples/C/src/leader-election/img/NRP_FD_PrimaryFails.png diff --git a/examples/C/README.md b/examples/C/README.md index e9fd4742..8955870f 100644 --- a/examples/C/README.md +++ b/examples/C/README.md @@ -10,4 +10,5 @@ * [Rhythm](src/rhythm/README.md): Sound generation and terminal user interface demos. * [SDV](src/sdv/README.md): Software defined vehicle sketch integrating user input, a web display, and sound. * [Train Door](src/train-door/README.md): Train door controller from a verification paper. -* [Distributed](src/distributed/README.md): Basic federated hello-world examples. \ No newline at end of file +* [Distributed](src/distributed/README.md): Basic federated hello-world examples. +* [Leader Election](src/leader-election/README.md): Federated fault-tolerant system with leader election. \ No newline at end of file diff --git a/examples/C/src/leader-election/README.md b/examples/C/src/leader-election/README.md new file mode 100644 index 00000000..8a8e3c69 --- /dev/null +++ b/examples/C/src/leader-election/README.md @@ -0,0 +1,29 @@ +# Leader Election + +These federated programs implements a redundant fault-tolerant system where a primary node, if and when it fails, is replaced by a backup node. The protocol is described in this paper: + +> Bjarne Johansson; Mats Rågberger; Alessandro V. Papadopoulos; Thomas Nolte, "Consistency Before Availability: Network Reference Point based Failure Detection for Controller Redundancy," Emerging Technologies and Factory Automation (ETFA), 12-15 September 2023, [DOI:10.1109/ETFA54631.2023.10275664](https://doi.org/10.1109/ETFA54631.2023.10275664) + + +The key idea in this protocol is that when a backup fails to detect the heartbeats of a primary node, it becomes primary only if it has access to Network Reference Point (NRP), which is a point in the network. This way, if the network becomes partitioned, only a backup that is on the side of the partition that still has access to the NRP can become a primary. If a primary loses access to the NRP, then it relinquishes its primary role because it is now on the wrong side of a network partition. A backup on the right side of the partition will take over. The "FD" in the names of the programs stands for "fault detection." + +## Prerequisite + +To run these programs, you are required to first [install the RTI](https://www.lf-lang.org/docs/handbook/distributed-execution?target=c#installation-of-the-rti) (the Run-Time Infrastructure), which handles the coordination. + +## Examples + + + + + + + + + + + + + + +
NRP_FD NRP_FD.lf : This version has switch1 failing at 3s, node1 failing at 10s, and node2 failing at 15s.
NRP_FD_PrimaryFails NRP_FD_PrimaryFails.lf : This version has the primary (node1) failing after 5 seconds and the backup (node2) failing at at 15s. The backup detects simultaneous loss of the heartbeat on both networks and hence assumes that the primary has failed rather than there being a network failure. Switch 1 remains the NRP.
NRP_FD_Partitioning NRP_FD_Partitioning.lf : This version partitions the network and shows that the protocol prevents the backup from becoming primary, thereby preventing two primaries.
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reset(Failed) {= + self->ping_timeout_pending = false; if (self->ping_pending) { // Ping timed out. lf_print(PRINTF_TIME ": Backup node %d gets no response from ping.", lf_time_logical_elapsed(), self->id); From 176b6957031411b75f83dca1d41d5dd34d9cf592 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Fri, 26 Jan 2024 11:51:46 -0800 Subject: [PATCH 042/113] Improved installation instructions --- examples/C/src/mqtt/README.md | 25 +++++++++++++++++++++++-- 1 file changed, 23 insertions(+), 2 deletions(-) diff --git a/examples/C/src/mqtt/README.md b/examples/C/src/mqtt/README.md index 6506f72c..8eb3f409 100644 --- a/examples/C/src/mqtt/README.md +++ b/examples/C/src/mqtt/README.md @@ -25,8 +25,23 @@ The following examples illustrate more advanced features, particularly the limit ## Prerequisites: -To get this example to compile, you will need to install the [Eclipse Paho MQTT C client library](https://github.com/eclipse/paho.mqtt.c), which requires that you first install -[openSSL](https://github.com/openssl/openssl.git) (see [https://www.openssl.org](https://www.openssl.org). To run the compiled code, you need an MQTT broker to be running. For example, the [Mosquitto Eclipse project](https://mosquitto.org/download/) provides one. On a Mac, you can use homebrew to install the Mosquitto broker: +To get this example to compile, you will need to install + +1. [openSSL](https://github.com/openssl/openssl.git). See [https://www.openssl.org](https://www.openssl.org). +2. The [Eclipse Paho MQTT C client library](https://github.com/eclipse/paho.mqtt.c). E.g., the following might work: + +```shell + git clone git@github.com:eclipse/paho.mqtt.c.git + mkdir /tmp/build.paho ; cd /tmp/build.paho + cmake -DPAHO_WITH_SSL=TRUE -DPAHO_BUILD_DOCUMENTATION=TRUE \ + -DPAHO_BUILD_SAMPLES=TRUE ~/paho.mqtt.c + sudo make install + export DYLD_LIBRARY_PATH=/usr/local/lib:$DYLD_LIBRARY_PATH +``` + +The last line could be put in your `~/.bash_profile` file so that you don't have to type each time you run the LF program in a new shell. + +To run the compiled code, you need an MQTT broker to be running. For example, the [Mosquitto Eclipse project](https://mosquitto.org/download/) provides one. On a Mac, you can use homebrew to install the Mosquitto broker: brew install mosquitto @@ -44,6 +59,12 @@ To start the broker and test it, do this: > mosquitto_pub -t 'test/topic' -m 'Hello World' +If you want to start the broker always upon login, you can do this: + +``` +brew services start mosquitto +``` + ## Implementation The [`MQTTPublisher`](https://github.com/lf-lang/examples-lingua-franca/blob/main/C/src/MQTT/lib/MQTTPublisher.lf) and [`MQTTSubscriber`](https://github.com/lf-lang/examples-lingua-franca/blob/main/C/src/MQTT/lib/MQTTSubscriber.lf) reactor use the [Paho MQTT Client Library](https://github.com/eclipse/paho.mqtt.c) (see the [documentation](https://www.eclipse.org/paho/files/mqttdoc/MQTTClient/html/_m_q_t_t_client_8h.html)). From 884f6348b8f723d24fbd8248bf55823cda24a306 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Fri, 26 Jan 2024 11:51:57 -0800 Subject: [PATCH 043/113] Corrected pointer to net_util.h --- examples/C/src/mqtt/lib/MQTTPublisher.lf | 2 +- examples/C/src/mqtt/lib/MQTTSubscriber.lf | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/C/src/mqtt/lib/MQTTPublisher.lf b/examples/C/src/mqtt/lib/MQTTPublisher.lf index bc49b6cd..0d833f7d 100644 --- a/examples/C/src/mqtt/lib/MQTTPublisher.lf +++ b/examples/C/src/mqtt/lib/MQTTPublisher.lf @@ -36,7 +36,7 @@ preamble {= #include // Defines memcpy #include "MQTTClient.h" - #include "core/federated/net_util.h" + #include "core/federated/network/net_util.h" // Struct type used to keep track of messages in flight between reactions. typedef struct inflight_t { diff --git a/examples/C/src/mqtt/lib/MQTTSubscriber.lf b/examples/C/src/mqtt/lib/MQTTSubscriber.lf index e5ae4133..e03dd7be 100644 --- a/examples/C/src/mqtt/lib/MQTTSubscriber.lf +++ b/examples/C/src/mqtt/lib/MQTTSubscriber.lf @@ -47,7 +47,7 @@ preamble {= #include // Defines memcmp() #include "MQTTClient.h" - #include "core/federated/net_util.h" + #include "core/federated/network/net_util.h" // Fix the QoS to indicate that the message will be delivered reliably exactly once. #define QOS 2 From 98ee75a3e310470e47551acf644ed168a8cf0518 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Fri, 26 Jan 2024 17:55:36 -0800 Subject: [PATCH 044/113] Resurrect MQTT examples. This refactored to put the cmake-include files in the library reactors, making them easier to use. This also updated the docs and the installation instructions. --- examples/C/src/mqtt/MQTTDistributed.lf | 3 +-- examples/C/src/mqtt/MQTTDistributedActivity.lf | 1 - examples/C/src/mqtt/MQTTLegacy.lf | 9 ++------- examples/C/src/mqtt/MQTTLogical.lf | 4 ---- examples/C/src/mqtt/MQTTPhysical.lf | 4 ---- examples/C/src/mqtt/include/net_utils.cmake | 2 +- examples/C/src/mqtt/lib/MQTTPublisher.lf | 8 ++++++-- examples/C/src/mqtt/lib/MQTTSubscriber.lf | 8 ++++++-- 8 files changed, 16 insertions(+), 23 deletions(-) diff --git a/examples/C/src/mqtt/MQTTDistributed.lf b/examples/C/src/mqtt/MQTTDistributed.lf index 6152b317..a1ef3fe5 100644 --- a/examples/C/src/mqtt/MQTTDistributed.lf +++ b/examples/C/src/mqtt/MQTTDistributed.lf @@ -12,7 +12,7 @@ * The code generator produces three programs, bin/MQTTDistributed_RTI, bin/MQTTDistributed_source, * and bin/MQTTDistributed_destination, plus a script bin/MQTTDistributed that runs all three. * - * Since the source and destination are running in the same executable, there is no clock + * If the source and destination are running in the same machine, there is no clock * synchronization error. * * See README.md for prerequisites and further information. @@ -21,7 +21,6 @@ * @author Edward A. Lee */ target C { - cmake-include: ["include/paho-extension.cmake", "include/mosquitto-extension.cmake"], timeout: 10 secs, coordination: centralized } diff --git a/examples/C/src/mqtt/MQTTDistributedActivity.lf b/examples/C/src/mqtt/MQTTDistributedActivity.lf index 7db8d95e..1678a9fe 100644 --- a/examples/C/src/mqtt/MQTTDistributedActivity.lf +++ b/examples/C/src/mqtt/MQTTDistributedActivity.lf @@ -11,7 +11,6 @@ * @author Edward A. Lee */ target C { - cmake-include: ["include/paho-extension.cmake", "include/mosquitto-extension.cmake"], timeout: 10 secs, coordination: centralized } diff --git a/examples/C/src/mqtt/MQTTLegacy.lf b/examples/C/src/mqtt/MQTTLegacy.lf index 0065ae4f..ef384007 100644 --- a/examples/C/src/mqtt/MQTTLegacy.lf +++ b/examples/C/src/mqtt/MQTTLegacy.lf @@ -13,18 +13,13 @@ * * This is a federated program, the publisher and subscriber run in separate programs. This would * work pretty much the same way, however, as an unfederated program. To run as an unfederated - * program, add to cmake-include the following file: - * - * "include/net_utils.cmake" - * - * and change the `federated` keyword to `main`. + * program, just change the `federated` keyword to `main`. * * See README.md for prerequisites and further information. * * @author Edward A. Lee */ target C { - cmake-include: ["include/paho-extension.cmake", "include/mosquitto-extension.cmake"], timeout: 1 min, coordination: centralized } @@ -49,7 +44,7 @@ reactor Subscriber { sub.message -> dsp.message } -federated reactor { +main reactor { source = new Publisher() destination = new Subscriber() } diff --git a/examples/C/src/mqtt/MQTTLogical.lf b/examples/C/src/mqtt/MQTTLogical.lf index 3a6afb56..fdffb4a9 100644 --- a/examples/C/src/mqtt/MQTTLogical.lf +++ b/examples/C/src/mqtt/MQTTLogical.lf @@ -13,10 +13,6 @@ * @author Edward A. Lee */ target C { - cmake-include: [ - "include/paho-extension.cmake", // For #include "MQTTClient.h" - // For encode_int64() - "include/net_utils.cmake"], timeout: 10 secs } diff --git a/examples/C/src/mqtt/MQTTPhysical.lf b/examples/C/src/mqtt/MQTTPhysical.lf index 9094de08..70c881eb 100644 --- a/examples/C/src/mqtt/MQTTPhysical.lf +++ b/examples/C/src/mqtt/MQTTPhysical.lf @@ -12,10 +12,6 @@ * @author Edward A. Lee */ target C { - cmake-include: [ - "include/paho-extension.cmake", // For #include "MQTTClient.h" - // For encode_int64() and extract_int64() - "include/net_utils.cmake"], timeout: 10 secs } diff --git a/examples/C/src/mqtt/include/net_utils.cmake b/examples/C/src/mqtt/include/net_utils.cmake index 448ea62e..52ca4fe6 100644 --- a/examples/C/src/mqtt/include/net_utils.cmake +++ b/examples/C/src/mqtt/include/net_utils.cmake @@ -1 +1 @@ -target_sources(${LF_MAIN_TARGET} PRIVATE "core/federated/net_util.c") +target_sources(${LF_MAIN_TARGET} PRIVATE "core/federated/network/net_util.c") diff --git a/examples/C/src/mqtt/lib/MQTTPublisher.lf b/examples/C/src/mqtt/lib/MQTTPublisher.lf index 0d833f7d..125b3a1e 100644 --- a/examples/C/src/mqtt/lib/MQTTPublisher.lf +++ b/examples/C/src/mqtt/lib/MQTTPublisher.lf @@ -25,14 +25,18 @@ * @author Ravi Akella * @author Edward A. Lee */ -target C +target C { + cmake-include: [ + "../include/paho-extension.cmake", + "../include/net_utils.cmake" // For encode_int64() + ] +} preamble {= #ifndef MQTT_PUBLISHER_H #define MQTT_PUBLISHER_H #include "platform.h" // Defines lf_critical_section_enter(), etc. - #include "tag.h" // Defines lf_time_logical() #include // Defines memcpy #include "MQTTClient.h" diff --git a/examples/C/src/mqtt/lib/MQTTSubscriber.lf b/examples/C/src/mqtt/lib/MQTTSubscriber.lf index e03dd7be..e9fdee0c 100644 --- a/examples/C/src/mqtt/lib/MQTTSubscriber.lf +++ b/examples/C/src/mqtt/lib/MQTTSubscriber.lf @@ -36,14 +36,18 @@ * @author Ravi Akella * @author Edward A. Lee */ -target C +target C { + cmake-include: [ + "../include/paho-extension.cmake", + "../include/net_utils.cmake" // For extract_int64() + ] +} preamble {= #ifndef MQTT_SUBSCRIBER_H #define MQTT_SUBSCRIBER_H #include "platform.h" // Defines lf_critical_section_enter(), etc. - #include "tag.h" // Defines lf_time_logical() #include // Defines memcmp() #include "MQTTClient.h" From 2d02e6a75b6c128b09944b4a9c80ead73caf8ed9 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Fri, 26 Jan 2024 18:00:34 -0800 Subject: [PATCH 045/113] Formatting --- examples/C/src/mqtt/MQTTDistributed.lf | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/C/src/mqtt/MQTTDistributed.lf b/examples/C/src/mqtt/MQTTDistributed.lf index a1ef3fe5..bdfb90b4 100644 --- a/examples/C/src/mqtt/MQTTDistributed.lf +++ b/examples/C/src/mqtt/MQTTDistributed.lf @@ -12,8 +12,8 @@ * The code generator produces three programs, bin/MQTTDistributed_RTI, bin/MQTTDistributed_source, * and bin/MQTTDistributed_destination, plus a script bin/MQTTDistributed that runs all three. * - * If the source and destination are running in the same machine, there is no clock - * synchronization error. + * If the source and destination are running in the same machine, there is no clock synchronization + * error. * * See README.md for prerequisites and further information. * From 1e525ebda1a2ac6806bbb2622a3a705d192e5802 Mon Sep 17 00:00:00 2001 From: erlingrj Date: Sat, 27 Jan 2024 14:13:40 +0100 Subject: [PATCH 046/113] Fix compilations issues with FurutaPendulum --- .../C/src/modal_models/FurutaPendulum/FurutaPendulum.lf | 2 +- .../C/src/modal_models/FurutaPendulum/build_run_plot.sh | 6 +++--- examples/C/src/modal_models/FurutaPendulum/furuta.cmake | 1 + 3 files changed, 5 insertions(+), 4 deletions(-) create mode 100644 examples/C/src/modal_models/FurutaPendulum/furuta.cmake diff --git a/examples/C/src/modal_models/FurutaPendulum/FurutaPendulum.lf b/examples/C/src/modal_models/FurutaPendulum/FurutaPendulum.lf index 1af7c3e3..fe7969c3 100644 --- a/examples/C/src/modal_models/FurutaPendulum/FurutaPendulum.lf +++ b/examples/C/src/modal_models/FurutaPendulum/FurutaPendulum.lf @@ -16,7 +16,7 @@ target C { timeout: 3 secs, fast: true, - flags: "-lm", + cmake-include: "furuta.cmake", build: "./build_run_plot.sh FurutaPendulum" } diff --git a/examples/C/src/modal_models/FurutaPendulum/build_run_plot.sh b/examples/C/src/modal_models/FurutaPendulum/build_run_plot.sh index 1e8dc089..2f9325e1 100755 --- a/examples/C/src/modal_models/FurutaPendulum/build_run_plot.sh +++ b/examples/C/src/modal_models/FurutaPendulum/build_run_plot.sh @@ -20,11 +20,11 @@ fi # Build the generated code. cd ${LF_SOURCE_GEN_DIRECTORY} -cmake -DLF_REACTION_GRAPH_BREADTH=3 -DLF_THREADED=1 -DNUMBER_OF_WORKERS=0 -DSCHEDULER=NP -DMODAL_REACTORS=TRUE . -cmake --build . +cmake -Bbuild +make -C build # Move the executable to the bin directory. -mv $1 ${LF_BIN_DIRECTORY} +mv build/$1 ${LF_BIN_DIRECTORY} # Move back to source directory to run program cd ${LF_SOURCE_DIRECTORY} diff --git a/examples/C/src/modal_models/FurutaPendulum/furuta.cmake b/examples/C/src/modal_models/FurutaPendulum/furuta.cmake new file mode 100644 index 00000000..430831ec --- /dev/null +++ b/examples/C/src/modal_models/FurutaPendulum/furuta.cmake @@ -0,0 +1 @@ +target_link_libraries(${LF_MAIN_TARGET} PRIVATE m) \ No newline at end of file From f47ecdc8cd5c972b4d0ec7814d5d62a4e5852d48 Mon Sep 17 00:00:00 2001 From: Marten Lohstroh Date: Mon, 29 Jan 2024 09:51:36 -0800 Subject: [PATCH 047/113] Remove flags --- examples/C/src/modal_models/FurutaPendulum/FurutaPendulum.lf | 1 - .../src/modal_models/FurutaPendulum/FurutaPendulumDisturbance.lf | 1 - 2 files changed, 2 deletions(-) diff --git a/examples/C/src/modal_models/FurutaPendulum/FurutaPendulum.lf b/examples/C/src/modal_models/FurutaPendulum/FurutaPendulum.lf index 1af7c3e3..c90cd84b 100644 --- a/examples/C/src/modal_models/FurutaPendulum/FurutaPendulum.lf +++ b/examples/C/src/modal_models/FurutaPendulum/FurutaPendulum.lf @@ -16,7 +16,6 @@ target C { timeout: 3 secs, fast: true, - flags: "-lm", build: "./build_run_plot.sh FurutaPendulum" } diff --git a/examples/C/src/modal_models/FurutaPendulum/FurutaPendulumDisturbance.lf b/examples/C/src/modal_models/FurutaPendulum/FurutaPendulumDisturbance.lf index 873cb013..ad5ee330 100644 --- a/examples/C/src/modal_models/FurutaPendulum/FurutaPendulumDisturbance.lf +++ b/examples/C/src/modal_models/FurutaPendulum/FurutaPendulumDisturbance.lf @@ -8,7 +8,6 @@ target C { timeout: 5 secs, fast: true, - flags: "-lm", build: "./build_run_plot.sh FurutaPendulumDisturbance" } From d435d78c71ef547ae56e0883640d04160b2a99d5 Mon Sep 17 00:00:00 2001 From: Marten Lohstroh Date: Mon, 29 Jan 2024 11:56:41 -0800 Subject: [PATCH 048/113] Apply spotless --- examples/C/src/mqtt/lib/MQTTPublisher.lf | 4 ++-- examples/C/src/mqtt/lib/MQTTSubscriber.lf | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/examples/C/src/mqtt/lib/MQTTPublisher.lf b/examples/C/src/mqtt/lib/MQTTPublisher.lf index 125b3a1e..9d3ab882 100644 --- a/examples/C/src/mqtt/lib/MQTTPublisher.lf +++ b/examples/C/src/mqtt/lib/MQTTPublisher.lf @@ -28,8 +28,8 @@ target C { cmake-include: [ "../include/paho-extension.cmake", - "../include/net_utils.cmake" // For encode_int64() - ] + // For encode_int64() + "../include/net_utils.cmake"] } preamble {= diff --git a/examples/C/src/mqtt/lib/MQTTSubscriber.lf b/examples/C/src/mqtt/lib/MQTTSubscriber.lf index e9fdee0c..b55d79ce 100644 --- a/examples/C/src/mqtt/lib/MQTTSubscriber.lf +++ b/examples/C/src/mqtt/lib/MQTTSubscriber.lf @@ -39,8 +39,8 @@ target C { cmake-include: [ "../include/paho-extension.cmake", - "../include/net_utils.cmake" // For extract_int64() - ] + // For extract_int64() + "../include/net_utils.cmake"] } preamble {= From 5ffab4b26fa9973dcecb7612ca8f9143e4379edb Mon Sep 17 00:00:00 2001 From: jackyk02 Date: Sun, 28 Jan 2024 23:16:52 -0800 Subject: [PATCH 049/113] initial commit --- examples/Python/src/CARLA/README.md | 74 +++++ examples/Python/src/CARLA/carla_circle.lf | 242 ++++++++++++++++ .../Python/src/CARLA/carla_manual_control.lf | 258 ++++++++++++++++++ .../Python/src/CARLA/img/carla_circles.gif | Bin 0 -> 10376874 bytes .../Python/src/CARLA/img/carla_manual.png | Bin 0 -> 3210939 bytes 5 files changed, 574 insertions(+) create mode 100644 examples/Python/src/CARLA/README.md create mode 100644 examples/Python/src/CARLA/carla_circle.lf create mode 100644 examples/Python/src/CARLA/carla_manual_control.lf create mode 100644 examples/Python/src/CARLA/img/carla_circles.gif create mode 100644 examples/Python/src/CARLA/img/carla_manual.png diff --git a/examples/Python/src/CARLA/README.md b/examples/Python/src/CARLA/README.md new file mode 100644 index 00000000..5280fcda --- /dev/null +++ b/examples/Python/src/CARLA/README.md @@ -0,0 +1,74 @@ +# CARLA + +This guide provides detailed instructions for running the CARLA simulator with LF. Ensure the following prerequisites are met before proceeding with the installation: + +- **System requirements.** CARLA is built for Windows and Linux systems. +- **An adequate GPU.** CARLA aims for realistic simulations, so the server needs at least a 6 GB GPU although we would recommend 8 GB. A dedicated GPU is highly recommended for machine learning. +- **Disk space.** CARLA will use about 20 GB of space. +- **Two TCP ports and good internet connection.** 2000 and 2001 by default. Make sure that these ports are not blocked by firewalls or any other applications. +- **Other requirements.** CARLA requires some Python dependencies. Install the dependencies with the following command: + +```bash +pip3 install --user pygame numpy carla +``` + +### **Downloading CARLA** + +Download CARLA version 0.9.15 from [the official repository](https://github.com/carla-simulator/carla/releases/tag/0.9.15/). Extract the release file, which contains a precompiled version of the simulator. + +### **Running the CARLA Server** + +1. **On Windows:** Navigate to the extracted CARLA folder and double-click the `CarlaUE4.exe` file to start the server. A window will appear indicating the server is active. +2. **On Linux:** In the terminal, navigate to the CARLA folder and run `./CarlaUE4.sh` to initiate the server. + +Note: Please restart the CARLA Server before running each of the examples below. + +### **Compiling LF** + +Compile the `carla_manual_control.lf` and `carla_circle.lf` using the `lfc` command. + +### Synchronous Example - Manual Control + +Run the generated script `/.carla_manual_control` which connects to the CARLA server in synchronous mode and initiates a driving simulator in pygame. Use ARROWS or WASD keys for control. Image and IMU data will be displayed on the console. + +drawing + +### Asynchronous Example - Driving in Circles + +Run the generated script `/.carla_circles` which connects to the CARLA server in asynchronous mode and initiates a driving simulator in pygame. The vehicle will drive in circles. Image and IMU data will be displayed on the console. + +drawing + +### Possible Configurations of CARLA Server + +The configuration of time-step and synchrony, leads for different settings. Here is a brief summary on the possibilities. + +| | Fixed time-step | Variable time-step | +| ----------------- | ---------------------------------------------------------------------- | ---------------------------------- | +| Synchronous mode | Client is in total control over the simulation and its information. | Risk of non reliable simulations. | +| Asynchronous mode | Good time references for information. Server runs as fast as possible. | Non easily repeatable simulations. | + +- **Synchronous mode + variable time-step.** This is almost for sure a non-desirable state. Physics cannot run properly when the time-step is bigger than 0.1s and. If the server has to wait for the client to compute the steps, this is likely to happen. Simulation time and physics will not be in synchrony. The simulation will not be reliable. +- **Asynchronous mode + variable time-step.** This is the default CARLA state. Client and server are asynchronous. The simulation time flows according to the real time. Reenacting the simulation needs to take into account float-arithmetic error, and possible differences in time steps between servers. +- **Asynchronous mode + fixed time-step.** The server will run as fast as possible. The information retrieved will be easily related with an exact moment in the simulation. This configuration makes possible to simulate long periods of time in much less real time, if the server is fast enough. +- **Synchronous mode + fixed time-step.** The client will rule the simulation. The time step will be fixed. The server will not compute the following step until the client sends a tick. This is the best mode when synchrony and precision is relevant. Especially when dealing with slow clients or different elements retrieving information. + +**Fixed time-step** + +Fixed delta seconds can be set in the world settings. + +```python +settings = world.get_settings() +settings.fixed_delta_seconds = 0.05 +world.apply_settings(settings) +``` + +**Variable time-step** + +The default mode in CARLA. The simulation time that goes by between steps will be the time that the server takes to compute these. + +```python +settings = world.get_settings() +settings.fixed_delta_seconds = None # Set a variable time-step +world.apply_settings(settings) +``` diff --git a/examples/Python/src/CARLA/carla_circle.lf b/examples/Python/src/CARLA/carla_circle.lf new file mode 100644 index 00000000..1351696a --- /dev/null +++ b/examples/Python/src/CARLA/carla_circle.lf @@ -0,0 +1,242 @@ +target Python { + threading: True +} + +preamble {= + import carla + import weakref + import random + import pygame + from pygame.locals import K_ESCAPE + from pygame.locals import K_SPACE + from pygame.locals import K_a + from pygame.locals import K_d + from pygame.locals import K_s + from pygame.locals import K_w + import numpy as np + + VIEW_WIDTH = 1920//2 + VIEW_HEIGHT = 1080//2 + VIEW_FOV = 90 + + BB_COLOR = (248, 64, 24) + + + def process_image_data(image): + """ + Processes the raw image data from the camera sensor. + """ + array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8")) + array = np.reshape(array, (image.height, image.width, 4)) + array = array[:, :, :3] + array = array[:, :, ::-1] + return array + + + class BasicSynchronousClient(object): + """ + Basic implementation of a synchronous client. + """ + + def __init__(self): + self.client = None + self.world = None + self.camera = None + self.car = None + + self.display = None + self.image = None + self.capture = True + + def camera_blueprint(self): + """ + Returns camera blueprint. + """ + camera_bp = self.world.get_blueprint_library().find("sensor.camera.rgb") + camera_bp.set_attribute("image_size_x", str(VIEW_WIDTH)) + camera_bp.set_attribute("image_size_y", str(VIEW_HEIGHT)) + camera_bp.set_attribute("fov", str(VIEW_FOV)) + return camera_bp + + def set_synchronous_mode(self, synchronous_mode): + """ + Sets synchronous mode. + """ + settings = self.world.get_settings() + settings.fixed_delta_seconds = 0.05 + settings.synchronous_mode = synchronous_mode + self.world.apply_settings(settings) + + def setup_car(self): + """ + Spawns actor-vehicle to be controled. + """ + car_bp = self.world.get_blueprint_library().filter("vehicle.*")[0] + location = random.choice(self.world.get_map().get_spawn_points()) + self.car = self.world.spawn_actor(car_bp, location) + + def setup_imu(self): + """ + Spawns actor-IMU sensor to be used to get IMU data. + """ + imu_bp = self.world.get_blueprint_library().find("sensor.other.imu") + imu_transform = carla.Transform(carla.Location(x=0.5, z=2.8)) + self.imu = self.world.spawn_actor( + imu_bp, imu_transform, attach_to=self.car) + weak_self = weakref.ref(self) + self.imu.listen(lambda data: weak_self().process_imu_data(data)) + + def setup_camera(self): + """ + Spawns actor-camera to be used to render view. + """ + camera_transform = carla.Transform(carla.Location( + x=-5.5, z=2.8), carla.Rotation(pitch=-15)) + self.camera = self.world.spawn_actor( + self.camera_blueprint(), camera_transform, attach_to=self.car) + weak_self = weakref.ref(self) + self.camera.listen( + lambda image: weak_self().set_image(weak_self, image)) + + calibration = np.identity(3) + calibration[0, 2] = VIEW_WIDTH / 2.0 + calibration[1, 2] = VIEW_HEIGHT / 2.0 + calibration[0, 0] = calibration[1, 1] = VIEW_WIDTH / \ + (2.0 * np.tan(VIEW_FOV * np.pi / 360.0)) + self.camera.calibration = calibration + + def control(self, car): + control = car.get_control() + control.throttle = 1 + control.steer = 1 + car.apply_control(control) + return False + + def process_imu_data(self, data): + """ + Processes and stores IMU data. + """ + self.imu_data = data + + @staticmethod + def set_image(weak_self, img): + self = weak_self() + if self.capture: + self.image = img + self.capture = False + + def render(self, display): + """ + Renders the image on the display. + """ + if self.image is not None: + array = process_image_data(self.image) + surface = pygame.surfarray.make_surface(array.swapaxes(0, 1)) + display.blit(surface, (0, 0)) + return array + + def game_start(self): + """ + Initializes the game, setting up the client, car, camera, IMU, and display. + """ + pygame.init() + + self.client = carla.Client("localhost", 2000) + self.client.set_timeout(10.0) + self.world = self.client.get_world() + + self.setup_car() + self.setup_camera() + self.setup_imu() + + self.display = pygame.display.set_mode( + (VIEW_WIDTH, VIEW_HEIGHT), pygame.HWSURFACE | pygame.DOUBLEBUF) + self.pygame_clock = pygame.time.Clock() + + self.set_synchronous_mode(False) + vehicles = self.world.get_actors().filter("vehicle.*") + + def game_step(self): + """ + Simulates one step in the game, processing inputs and rendering the image. + """ + self.world.tick() + self.capture = True + self.pygame_clock.tick_busy_loop(20) + image = self.render(self.display) + + pygame.display.flip() + pygame.event.pump() + + sensor_data = None + if not self.image or hasattr(self, "imu_data"): + sensor_data = [self.image, self.imu_data.accelerometer.x] + + if self.control(self.car): + return sensor_data + + return sensor_data +=} + +reactor Carla { + input actions + output raw_image + output imu + state client + + reaction(startup) -> raw_image, imu {= + self.client = BasicSynchronousClient() + self.client.game_start() + sensor_data = self.client.game_step() + raw_image.set(sensor_data[0]) + imu.set(sensor_data[1]) + =} + + reaction(actions) -> raw_image, imu {= + sensor_data = self.client.game_step() + raw_image.set(sensor_data[0]) + imu.set(sensor_data[1]) + =} +} + +reactor Image { + input raw_image + output processed_image + + reaction(startup) {= =} + + reaction(raw_image) -> processed_image {= + if raw_image.value: + array = process_image_data(raw_image.value) + processed_image.set(array) + else: + processed_image.set(None) + =} +} + +reactor Fusion { + input imu + input processed_image + output actions + + reaction(startup) {= =} + + reaction(imu, processed_image) -> actions {= + if imu is not None: + print("IMU Data: ", imu.value) + if processed_image.value is not None: + print("Image Data: ", processed_image.value[0][0]) + actions.set(0) + =} +} + +main reactor { + carla = new Carla() + image = new Image() + fusion = new Fusion() + + carla.raw_image -> image.raw_image + carla.imu -> fusion.imu + image.processed_image -> fusion.processed_image + fusion.actions -> carla.actions after 50 ms +} diff --git a/examples/Python/src/CARLA/carla_manual_control.lf b/examples/Python/src/CARLA/carla_manual_control.lf new file mode 100644 index 00000000..2ddc0950 --- /dev/null +++ b/examples/Python/src/CARLA/carla_manual_control.lf @@ -0,0 +1,258 @@ +target Python { + threading: True +} + +preamble {= + import carla + import weakref + import random + import pygame + from pygame.locals import K_ESCAPE + from pygame.locals import K_SPACE + from pygame.locals import K_a + from pygame.locals import K_d + from pygame.locals import K_s + from pygame.locals import K_w + import numpy as np + + VIEW_WIDTH = 1920//2 + VIEW_HEIGHT = 1080//2 + VIEW_FOV = 90 + + BB_COLOR = (248, 64, 24) + + + def process_image_data(image): + """ + Processes the raw image data from the camera sensor. + """ + array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8")) + array = np.reshape(array, (image.height, image.width, 4)) + array = array[:, :, :3] + array = array[:, :, ::-1] + return array + + + class BasicSynchronousClient(object): + """ + Basic implementation of a synchronous client. + """ + + def __init__(self): + self.client = None + self.world = None + self.camera = None + self.car = None + + self.display = None + self.image = None + self.capture = True + + def camera_blueprint(self): + """ + Returns camera blueprint. + """ + camera_bp = self.world.get_blueprint_library().find("sensor.camera.rgb") + camera_bp.set_attribute("image_size_x", str(VIEW_WIDTH)) + camera_bp.set_attribute("image_size_y", str(VIEW_HEIGHT)) + camera_bp.set_attribute("fov", str(VIEW_FOV)) + return camera_bp + + def set_synchronous_mode(self, synchronous_mode): + """ + Sets synchronous mode. + """ + settings = self.world.get_settings() + settings.synchronous_mode = synchronous_mode + self.world.apply_settings(settings) + + def setup_car(self): + """ + Spawns actor-vehicle to be controled. + """ + car_bp = self.world.get_blueprint_library().filter("vehicle.*")[0] + location = random.choice(self.world.get_map().get_spawn_points()) + self.car = self.world.spawn_actor(car_bp, location) + + def setup_imu(self): + """ + Spawns actor-IMU sensor to be used to get IMU data. + """ + imu_bp = self.world.get_blueprint_library().find("sensor.other.imu") + imu_transform = carla.Transform(carla.Location(x=0.5, z=2.8)) + self.imu = self.world.spawn_actor( + imu_bp, imu_transform, attach_to=self.car) + weak_self = weakref.ref(self) + self.imu.listen(lambda data: weak_self().process_imu_data(data)) + + def setup_camera(self): + """ + Spawns actor-camera to be used to render view. + """ + camera_transform = carla.Transform(carla.Location( + x=-5.5, z=2.8), carla.Rotation(pitch=-15)) + self.camera = self.world.spawn_actor( + self.camera_blueprint(), camera_transform, attach_to=self.car) + weak_self = weakref.ref(self) + self.camera.listen( + lambda image: weak_self().set_image(weak_self, image)) + + calibration = np.identity(3) + calibration[0, 2] = VIEW_WIDTH / 2.0 + calibration[1, 2] = VIEW_HEIGHT / 2.0 + calibration[0, 0] = calibration[1, 1] = VIEW_WIDTH / \ + (2.0 * np.tan(VIEW_FOV * np.pi / 360.0)) + self.camera.calibration = calibration + + def control(self, car): + keys = pygame.key.get_pressed() + if keys[K_ESCAPE]: + return True + + control = car.get_control() + control.throttle = 0 + if keys[K_w]: + control.throttle = 1 + control.reverse = False + elif keys[K_s]: + control.throttle = 1 + control.reverse = True + if keys[K_a]: + control.steer = max(-1., min(control.steer - 0.05, 0)) + elif keys[K_d]: + control.steer = min(1., max(control.steer + 0.05, 0)) + else: + control.steer = 0 + control.hand_brake = keys[K_SPACE] + + car.apply_control(control) + return False + + def process_imu_data(self, data): + """ + Processes and stores IMU data. + """ + self.imu_data = data + + @staticmethod + def set_image(weak_self, img): + self = weak_self() + if self.capture: + self.image = img + self.capture = False + + def render(self, display): + """ + Renders the image on the display. + """ + if self.image is not None: + array = process_image_data(self.image) + surface = pygame.surfarray.make_surface(array.swapaxes(0, 1)) + display.blit(surface, (0, 0)) + return array + + def game_start(self): + """ + Initializes the game, setting up the client, car, camera, IMU, and display. + """ + pygame.init() + + self.client = carla.Client("localhost", 2000) + self.client.set_timeout(10.0) + self.world = self.client.get_world() + + self.setup_car() + self.setup_camera() + self.setup_imu() + + self.display = pygame.display.set_mode( + (VIEW_WIDTH, VIEW_HEIGHT), pygame.HWSURFACE | pygame.DOUBLEBUF) + self.pygame_clock = pygame.time.Clock() + + self.set_synchronous_mode(True) + vehicles = self.world.get_actors().filter("vehicle.*") + + def game_step(self): + """ + Simulates one step in the game, processing inputs and rendering the image. + """ + self.world.tick() + self.capture = True + self.pygame_clock.tick_busy_loop(20) + image = self.render(self.display) + + pygame.display.flip() + pygame.event.pump() + + sensor_data = None + if not self.image or hasattr(self, "imu_data"): + sensor_data = [self.image, self.imu_data.accelerometer.x] + + if self.control(self.car): + return sensor_data + + return sensor_data +=} + +reactor Carla { + input actions + output raw_image + output imu + state client + + reaction(startup) -> raw_image, imu {= + self.client = BasicSynchronousClient() + self.client.game_start() + sensor_data = self.client.game_step() + raw_image.set(sensor_data[0]) + imu.set(sensor_data[1]) + =} + + reaction(actions) -> raw_image, imu {= + sensor_data = self.client.game_step() + raw_image.set(sensor_data[0]) + imu.set(sensor_data[1]) + =} +} + +reactor Image { + input raw_image + output processed_image + + reaction(startup) {= =} + + reaction(raw_image) -> processed_image {= + if raw_image.value: + array = process_image_data(raw_image.value) + processed_image.set(array) + else: + processed_image.set(None) + =} +} + +reactor Fusion { + input imu + input processed_image + output actions + + reaction(startup) {= =} + + reaction(imu, processed_image) -> actions {= + if imu is not None: + print("IMU Data: ", imu.value) + if processed_image.value is not None: + print("Image Data: ", processed_image.value[0][0]) + actions.set(0) + =} +} + +main reactor { + carla = new Carla() + image = new Image() + fusion = new Fusion() + + carla.raw_image -> image.raw_image + carla.imu -> fusion.imu + image.processed_image -> fusion.processed_image + fusion.actions -> 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