Add an outline for the Mars Helicopter

experiments/C/src/MarsHelicopter/MarsHelicopter.lf

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+/**
+ * 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
+}