From 37f107d11ad873eb35c5b72ce450dc81e42ead00 Mon Sep 17 00:00:00 2001
From: Marten Lohstroh <marten@berkeley.edu>
Date: Fri, 8 Sep 2023 00:34:00 -0700
Subject: [PATCH 1/4] Make preamble in controller private

---
 .../FurutaPendulum/PendulumController.lf      | 24 +++++++++----------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/examples/C/src/modal_models/FurutaPendulum/PendulumController.lf b/examples/C/src/modal_models/FurutaPendulum/PendulumController.lf
index a6ad66b7..af1c1448 100644
--- a/examples/C/src/modal_models/FurutaPendulum/PendulumController.lf
+++ b/examples/C/src/modal_models/FurutaPendulum/PendulumController.lf
@@ -9,18 +9,6 @@
  */
 target C
 
-preamble {=
-  #include <math.h>
-  #define PI 3.14159265
-  #define MIN(X, Y) (((X) < (Y)) ? (X) : (Y))
-  double sign(double x) {
-    return (x > 0.0) - (x < 0.0);
-  }
-  double restrictAngle(double theta) {
-    return((fmod(fabs(theta) + PI, 2 * PI) - PI) * sign(theta));
-  }
-=}
-
 reactor PendulumController(
     h: double = 0.005,         // Sample interval
     w0: double = 6.3,
@@ -38,6 +26,18 @@ reactor PendulumController(
     si3: double = -0.03254225945714,
     si4: double = -0.05808270221773,
     phi2: double = -7.0124562) {
+  preamble {=
+    #include <math.h>
+    #define PI 3.14159265
+    #define MIN(X, Y) (((X) < (Y)) ? (X) : (Y))
+    double sign(double x) {
+      return (x > 0.0) - (x < 0.0);
+    }
+    double restrictAngle(double theta) {
+      return((fmod(fabs(theta) + PI, 2 * PI) - PI) * sign(theta));
+    }
+  =}
+
   input theta: double
   input d_theta: double
   input phi: double

From bd38c9b6df5ea664620203add37fa55d9a6473c3 Mon Sep 17 00:00:00 2001
From: Marten Lohstroh <marten@berkeley.edu>
Date: Fri, 8 Sep 2023 10:41:48 -0700
Subject: [PATCH 2/4] Ensure that script exits with failure code when
 compilation fails

---
 examples/C/src/modal_models/FurutaPendulum/build_run_plot.sh | 1 +
 1 file changed, 1 insertion(+)

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 70393e20..1e8dc089 100755
--- a/examples/C/src/modal_models/FurutaPendulum/build_run_plot.sh
+++ b/examples/C/src/modal_models/FurutaPendulum/build_run_plot.sh
@@ -1,4 +1,5 @@
 #!/bin/bash
+set -euo pipefail
 # This script compiles the generated code,
 # executes it, and plots the results.
 # The first argument is the name of the main reactor

From 941beb4f083fa570996ed77298c2d7c9a813ffd0 Mon Sep 17 00:00:00 2001
From: Marten Lohstroh <marten@berkeley.edu>
Date: Fri, 8 Sep 2023 10:46:23 -0700
Subject: [PATCH 3/4] Also change other build scripts

---
 examples/C/src/rhythm/compile.sh        | 3 ++-
 examples/C/src/rosace/build_run_plot.sh | 2 ++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/examples/C/src/rhythm/compile.sh b/examples/C/src/rhythm/compile.sh
index 1eec9942..421a64fa 100755
--- a/examples/C/src/rhythm/compile.sh
+++ b/examples/C/src/rhythm/compile.sh
@@ -1,5 +1,6 @@
 #!/bin/bash
-#
+set -euo pipefail
+
 # Script to compile the code generated by lfc or by the Lingua Franca IDE
 # for the programs in this directory using arguments that are suitable to the 
 # OS on which this is running.  The OS is detected using the Posix command uname.
diff --git a/examples/C/src/rosace/build_run_plot.sh b/examples/C/src/rosace/build_run_plot.sh
index 59cce835..c276ff4a 100755
--- a/examples/C/src/rosace/build_run_plot.sh
+++ b/examples/C/src/rosace/build_run_plot.sh
@@ -1,4 +1,6 @@
 #!/bin/bash
+set -euo pipefail
+
 # This script compiles the generated code,
 # executes it, and plots the results.
 # The one argument is the name of the main reactor.

From 527eb9f55ea556c59046085bb217dc3c5d6075a8 Mon Sep 17 00:00:00 2001
From: Marten Lohstroh <marten@berkeley.edu>
Date: Fri, 8 Sep 2023 11:58:25 -0700
Subject: [PATCH 4/4] Update setup-env.bash

---
 utils/scripts/setup-env.bash | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/utils/scripts/setup-env.bash b/utils/scripts/setup-env.bash
index 58a802ae..0eeee5a5 100644
--- a/utils/scripts/setup-env.bash
+++ b/utils/scripts/setup-env.bash
@@ -30,13 +30,13 @@ done
 
 # Install dependencies
 sudo apt-get update
-## Setup C, C++, Python, Rust, protobuf, gRPC
+## Setup C, C++, Python, Rust, protobuf, gRPC, gnuplot
 sudo apt-get install --assume-yes \
     build-essential \
     python3 python3-dev python3-pip \
     rustc cargo \
     libprotobuf-dev libprotobuf-c-dev protobuf-c-compiler protobuf-compiler python3-protobuf \
-    protobuf-compiler-grpc libgrpc-dev libgrpc++-dev
+    protobuf-compiler-grpc libgrpc-dev libgrpc++-dev gnuplot
     
 python3 -m pip install --upgrade pip
 # Install python dependencies and