Edits on the blog

[edwardalee]

The Door reactor was not specified as I expected.
The inputs are booleans, and I think the reactor should open the door if it receives a true on the open input port regardless of whether it is armed.
The point is that it should not do this before it knows that, if the door was meant to be disarmed first, then it has been disarmed.

I've rewritten the reactor accordingly.

Also, I've changed a couple of coding details according to changes that I suggested on Zulip and that are in a PR for master and reactor-c that will be merged soon. Specifically:

1. I'm now using the keyword islate rather than maxwait for the STP violation handler. We should discuss this...

2. The function lf_set_maxwait should be lf_set_fed_maxwait to distinguish between maxwait at the federate level (STA) vs. at the port level (STAA).

I still need to make these changes in reactor-uc, however.

I also rewrote the code to use the syntax of reactor-c because reactor-uc has not been officially released yet. Specifically:

1. lf_is_present(lidar_in) becomes lidar_in->is_present

I also removed the lf_request_stop. This may be practical for testing, but not for a real application.

There is a still a problem, however. The example code you gave does not actually perform sensor fusion.
I've tried to change it so that it will, since the whole development before the code says it is required.