From 43f4828370c7a5f5420d33c8b740bee1baf1cfce Mon Sep 17 00:00:00 2001 From: fra-p Date: Mon, 22 Sep 2025 20:57:11 +0200 Subject: [PATCH 01/17] Started writing blog post on decentralized coordination --- blog/2025-09-18-decentralized-coord.md | 36 ++++++++++++++++++++++++++ 1 file changed, 36 insertions(+) create mode 100644 blog/2025-09-18-decentralized-coord.md diff --git a/blog/2025-09-18-decentralized-coord.md b/blog/2025-09-18-decentralized-coord.md new file mode 100644 index 000000000..4baacd384 --- /dev/null +++ b/blog/2025-09-18-decentralized-coord.md @@ -0,0 +1,36 @@ +--- +slug: decentralized-coordination +title: "Timing Challenges with Decentralized Coordination" +authors: [fra-p, eal, rcakella] +tags: [lingua franca, federation, decentralized] +--- + +[Distributed applications](/docs/writing-reactors/distributed-execution) may create trouble to meet timing constraints expressed as [deadlines](/docs/writing-reactors/deadlines), especially if the coordination of the federation is [decentralized](/docs/writing-reactors/distributed-execution#decentralized-coordination). + + +Consider the above Lingua Franca implementation of an automatic emergency braking system, one of the most critical ADAS systems which modern cars are equipped with. +The controller system reads data coming from two sensors, a lidar and a radar, and uses both to detect if objects or pedestrian cross the path of the car, thus performing sensor fusion. +When either of the two signals the presence of a close object, the controller triggers the brake to stop the car and avoid crashing into it. + +The lidar sensor has a higher sampling frequency, while the radar is slower. +Their deadline is equal to their period and is enforced using dedicated deadline checking reactors, following the guidelines to [work with deadlines](/blog/deadlines). +Meeting deadlines is crucial in this application, as we want to make sure that each single sensor data is processed by the automatic emergency braking system before new inputs from the same sensor arrive. + +The application is implemented as a federated program with decentralized coordination, which means that the advancement of logical time in each single federate is not subject to approval from any centralized entities, but it is done locally based on the input it receives from the other federates. +Consistency problems may arise when a federate receives data from two or more federates, as it is the case of the automatic emergency braking reactor. +As an example, the controller expects to receive input from both sensors at times 0ms, 100ms, 200ms, etc. Let's consider the case where the remote connection between the controller and the radar has a slightly larger delay than that between the controller and the lidar. Hence, the lidar input will arrive slightly earlier than the radar one. When the controller receives the lidar input, what should it do? Should it process the data immediately, or should it wait for the radar input to come? + +The desired behavior with simultaneous inputs is highly dependent on the application under analysis, and Lingua Franca lets you customize it. Each federate has a parameter called [STA (safe-to-advance)](http://localhost:3000/docs/writing-reactors/distributed-execution#safe-to-advance-sta) that controls how long the federate should wait for inputs from other federates before processing an input it has just received. + +The maximum possible consistency guarantee is given by indefinitely waiting for the radar input before processing the radar, but this is viable only if the following three conditions are always satisfied: (i) the communication medium between the sensors and the controller is perfectly reliable; (ii) none of the three federates is subject to faults; and (iii) the network latency is never greater that 50ms, that is, the smallest period of the two sensors. +(i) and (ii) guarantee that all expected data will be generated, sent and correctly received by the communication parties. (iii) is necessary to meet sensor deadlines: if the controller receives input from the lidar and indefinitely waits for the radar, it the latter does not arrive within 50ms, the lidar data cannot be processed and its deadline is violated. + +lidar data only case + +-example description +-a little bit on decentralized coordination/maxwait +-deadline issues +-maxwait challenges +-dynamic maxwait for both consistency and availability (=timing) +-maybe highlight that deadlines here are not only affected by the workload on the single processor, but also on the distributed communication +-maybe a little bit of what happens when out-of-order msg.s are received? \ No newline at end of file From 4c891f4f41e3a55ae3c9ab2a470922c318b5e3e9 Mon Sep 17 00:00:00 2001 From: fra-p Date: Wed, 24 Sep 2025 02:20:39 +0200 Subject: [PATCH 02/17] Refinement of decentralized coordination blog post --- blog/2025-09-18-decentralized-coord.md | 55 +++++++++++++++++--------- 1 file changed, 36 insertions(+), 19 deletions(-) diff --git a/blog/2025-09-18-decentralized-coord.md b/blog/2025-09-18-decentralized-coord.md index 4baacd384..25a03f210 100644 --- a/blog/2025-09-18-decentralized-coord.md +++ b/blog/2025-09-18-decentralized-coord.md @@ -1,36 +1,53 @@ --- slug: decentralized-coordination -title: "Timing Challenges with Decentralized Coordination" +title: "Consistency and Availability Challenges with Decentralized Coordination" authors: [fra-p, eal, rcakella] tags: [lingua franca, federation, decentralized] --- -[Distributed applications](/docs/writing-reactors/distributed-execution) may create trouble to meet timing constraints expressed as [deadlines](/docs/writing-reactors/deadlines), especially if the coordination of the federation is [decentralized](/docs/writing-reactors/distributed-execution#decentralized-coordination). - +The design of [distributed applications](/docs/writing-reactors/distributed-execution) in Lingua Franca requires care, particularly if the coordination of the federation is [decentralized](/docs/writing-reactors/distributed-execution#decentralized-coordination). Consider the above Lingua Franca implementation of an automatic emergency braking system, one of the most critical ADAS systems which modern cars are equipped with. -The controller system reads data coming from two sensors, a lidar and a radar, and uses both to detect if objects or pedestrian cross the path of the car, thus performing sensor fusion. +The controller system reads data coming from two sensors, a lidar and a radar, and uses both to detect if objects or pedestrians cross the path of the car, thus performing sensor fusion. When either of the two signals the presence of a close object, the controller triggers the brake to stop the car and avoid crashing into it. -The lidar sensor has a higher sampling frequency, while the radar is slower. -Their deadline is equal to their period and is enforced using dedicated deadline checking reactors, following the guidelines to [work with deadlines](/blog/deadlines). -Meeting deadlines is crucial in this application, as we want to make sure that each single sensor data is processed by the automatic emergency braking system before new inputs from the same sensor arrive. +The lidar sensor has a higher sampling frequency, while the radar is slower, and this is reflected by the timer in the corresponding reactors. +Their deadline is equal to their period and is enforced using dedicated deadline checking reactors, following the guidelines of how to [work with deadlines](/blog/deadlines). +Availability is a crucial property of this application, because we want the automatic emergency braking system to brake as fast as possible when a close object is detected. Consistency is also necessary: sensor fusion happens with sensor data produced at the same logical time, so in-order data processing is critical. The application is implemented as a federated program with decentralized coordination, which means that the advancement of logical time in each single federate is not subject to approval from any centralized entities, but it is done locally based on the input it receives from the other federates. Consistency problems may arise when a federate receives data from two or more federates, as it is the case of the automatic emergency braking reactor. -As an example, the controller expects to receive input from both sensors at times 0ms, 100ms, 200ms, etc. Let's consider the case where the remote connection between the controller and the radar has a slightly larger delay than that between the controller and the lidar. Hence, the lidar input will arrive slightly earlier than the radar one. When the controller receives the lidar input, what should it do? Should it process the data immediately, or should it wait for the radar input to come? +As an example, the controller expects to receive input from both sensors at times 0ms, 100ms, 200ms, etc. Let's consider the case where the remote connection between the controller and the radar has a slightly larger delay than that between the controller and the lidar. The lidar input will arrive slightly earlier than the radar one. When the controller receives the lidar input, should it process the data immediately, or should it wait for the radar input to come? Sensor fusion requires consistency: if the controller processes the input from the lidar and then the radar data comes, the elaborated control action did not take into account both sensors even though it should have. + +The desired behavior with simultaneous inputs is highly dependent on the application under analysis, and Lingua Franca lets you customize it. Each federate has a parameter called [STA (safe-to-advance)](/docs/writing-reactors/distributed-execution#safe-to-advance-sta) that controls how long the federate should wait for inputs from other federates before processing an input it has just received. +More precisely, the STA is how much time a federate waits before advancing its tag to that of the just received event, when it is not known if the other input ports will receive data at the same or an earlier tag. At the expiration of the STA, the federate assumes that those unresolved ports will not receive data at earlier tags, and advances its logical time to the tag of the received event. + +The maximum consistency guarantee is given by indefinitely waiting for the radar input before processing the radar, i.e., STA = forever, but this is viable only if the following two conditions are always satisfied: +* the communication medium between the sensors and the controller is perfectly reliable; and +* none of the three federates is subject to faults. + +These conditions guarantee that all expected data will be generated, sent and correctly received by the communication parties. + +However, setting the STA to forever creates problems when only the lidar input is expected (50ms, 150ms, 250ms, etc): the controller cannot process that input until an input from the radar comes, because the STA will never expire. For example, if the single lidar input comes at 50ms, it has to wait until time 100ms before being processed. If that input was signaling the presence of a close object, the detection would be delayed by 50ms, which may potentially mean crashing into the object. The automatic emergency braking system must be available, otherwise it might not brake in time to avoid collisions. +The ideal STA value for maximum availability in the time instants with only the lidar input is 0, because if a single input is expected, no wait is necessary. + +Summing up, consistency for sensor fusion requires STA=forever when inputs from both sensors are expected, while availability calls for STA=0 when only the lidar input is coming. The two values are at odds, and any value in between would mean sacrificing both properties at the same time. + +The knowledge of the timing properties of the application under analysis enables the a priori determination of the time instants when both inputs are expected and those when only the lidar has new data available. +Lingua Franca allows to dynamically change the STA in the reaction body using the lf_set_maxwait API, that takes as input parameter the new STA value to set. +This capability of the language permits the automatic emergency braking federate to: +* start with the STA statically set to forever, because at time 0 (startup) both sensors produce data; +* set the STA to 0 after processing both inputs arrived at the same logical time, because the next data will be sent by the lidar only; +* set the STA back to forever after processing the radar input alone, because the next data will be sent by both sensors. + +This dynamic solution guarantees both consistency and availability in all input cases. -The desired behavior with simultaneous inputs is highly dependent on the application under analysis, and Lingua Franca lets you customize it. Each federate has a parameter called [STA (safe-to-advance)](http://localhost:3000/docs/writing-reactors/distributed-execution#safe-to-advance-sta) that controls how long the federate should wait for inputs from other federates before processing an input it has just received. +Knowing the LF decentralized coordination: +- consistency = in-order processing of events even with multiple events +- availability = the system is responsive even with a single input -The maximum possible consistency guarantee is given by indefinitely waiting for the radar input before processing the radar, but this is viable only if the following three conditions are always satisfied: (i) the communication medium between the sensors and the controller is perfectly reliable; (ii) none of the three federates is subject to faults; and (iii) the network latency is never greater that 50ms, that is, the smallest period of the two sensors. -(i) and (ii) guarantee that all expected data will be generated, sent and correctly received by the communication parties. (iii) is necessary to meet sensor deadlines: if the controller receives input from the lidar and indefinitely waits for the radar, it the latter does not arrive within 50ms, the lidar data cannot be processed and its deadline is violated. +Oh, maybe mention that the clock of the two sensors is synced because we're resampling the data -lidar data only case +I might also say that forever does not work when one of the sensors is delayed too much or when the medium fails for too much time, in which cases a finite STA is better (like a period or something) (this is gonna be the topic of a new blog post) --example description --a little bit on decentralized coordination/maxwait --deadline issues --maxwait challenges --dynamic maxwait for both consistency and availability (=timing) --maybe highlight that deadlines here are not only affected by the workload on the single processor, but also on the distributed communication --maybe a little bit of what happens when out-of-order msg.s are received? \ No newline at end of file +-maybe a little bit of what happens when out-of-order msg.s are received? (not sure this is really needed though) \ No newline at end of file From 22a815ad69ca31db9f05b69f75dec22585ad4ecb Mon Sep 17 00:00:00 2001 From: fra-p Date: Fri, 26 Sep 2025 01:55:33 +0200 Subject: [PATCH 03/17] Refinement of blog post on decentralized coordination --- blog/2025-09-18-decentralized-coord.md | 99 ++++++++++++++----- .../blog/AutomaticEmergencyBrakingSystem.svg | 1 + 2 files changed, 74 insertions(+), 26 deletions(-) create mode 100644 static/img/blog/AutomaticEmergencyBrakingSystem.svg diff --git a/blog/2025-09-18-decentralized-coord.md b/blog/2025-09-18-decentralized-coord.md index 25a03f210..bc4f7c402 100644 --- a/blog/2025-09-18-decentralized-coord.md +++ b/blog/2025-09-18-decentralized-coord.md @@ -2,52 +2,99 @@ slug: decentralized-coordination title: "Consistency and Availability Challenges with Decentralized Coordination" authors: [fra-p, eal, rcakella] -tags: [lingua franca, federation, decentralized] +tags: [lingua franca, federation, decentralized, STA] --- -The design of [distributed applications](/docs/writing-reactors/distributed-execution) in Lingua Franca requires care, particularly if the coordination of the federation is [decentralized](/docs/writing-reactors/distributed-execution#decentralized-coordination). +The design of [distributed applications](/docs/writing-reactors/distributed-execution) in Lingua Franca requires care, particularly if the coordination of the federation is [decentralized](/docs/writing-reactors/distributed-execution#decentralized-coordination). The intent of this post is to illustrate and handle the challenges arising from designing distributed applications in Lingua Franca, focusing on a realistic automotive use case. + +## Automatic emergency braking use case +![AutomaticEmergencyBrakingSystem diagram](../static/img/blog/AutomaticEmergencyBrakingSystem.svg) Consider the above Lingua Franca implementation of an automatic emergency braking system, one of the most critical ADAS systems which modern cars are equipped with. -The controller system reads data coming from two sensors, a lidar and a radar, and uses both to detect if objects or pedestrians cross the path of the car, thus performing sensor fusion. -When either of the two signals the presence of a close object, the controller triggers the brake to stop the car and avoid crashing into it. +The controller system modeled by the `AutomaticEmergencyBraking` reactor reads data coming from two sensors, a lidar and a radar, and uses both to detect if objects or pedestrians cross the trajectory the car, thus performing _sensor fusion_. +When one of the two sensors signals the presence of an object at a distance shorter than a configurable threshold, the controller triggers the brake to stop the car and avoid crashing into it. + +The sensors are modeled with their own timer that triggers the generation of data. The clocks of all federates are automatically synchronized by the [clock synchronization algorithm](/docs/writing-reactors/distributed-execution#clock-synchronization) of the Lingua Franca runtime. +Typically, in a real use case of this kind, the clock of sensor devices cannot be controlled by Lingua Franca, but a way to work around this limitation is to resample the data collected by sensors with the timing given by a clock that the runtime can control. +The sensor reactors of our application are then modeling this resampling of sensor data that fits well with the Lingua Franca semantics for time determinism. + +The lidar sensor has a sampling frequency that is twice that of the radar, and this is reflected by the timer in the corresponding reactors: the lidar timer has a period of 50ms, while that of the radar 100ms. +Their deadline is equal to their period and is enforced using the dedicated `DeadlineCheck` reactors, following the guidelines of how to [work with deadlines](/blog/deadlines). -The lidar sensor has a higher sampling frequency, while the radar is slower, and this is reflected by the timer in the corresponding reactors. -Their deadline is equal to their period and is enforced using dedicated deadline checking reactors, following the guidelines of how to [work with deadlines](/blog/deadlines). +The sensor behavior in the application is simulated in a way that each sensor constantly produces distance values above the threshold (i.e., no objects in the way), and then at a random time it sends a distance value below the threshold, indicating the presence of a close object. When the `AutomaticEmergencyBraking` reactor receives that message, it signals the `BrakingSystem` reactor to brake the car, and the whole system shuts down. + +### Desired system properties Availability is a crucial property of this application, because we want the automatic emergency braking system to brake as fast as possible when a close object is detected. Consistency is also necessary: sensor fusion happens with sensor data produced at the same logical time, so in-order data processing is critical. +### Challenges of decentralized coordination The application is implemented as a federated program with decentralized coordination, which means that the advancement of logical time in each single federate is not subject to approval from any centralized entities, but it is done locally based on the input it receives from the other federates. -Consistency problems may arise when a federate receives data from two or more federates, as it is the case of the automatic emergency braking reactor. -As an example, the controller expects to receive input from both sensors at times 0ms, 100ms, 200ms, etc. Let's consider the case where the remote connection between the controller and the radar has a slightly larger delay than that between the controller and the lidar. The lidar input will arrive slightly earlier than the radar one. When the controller receives the lidar input, should it process the data immediately, or should it wait for the radar input to come? Sensor fusion requires consistency: if the controller processes the input from the lidar and then the radar data comes, the elaborated control action did not take into account both sensors even though it should have. -The desired behavior with simultaneous inputs is highly dependent on the application under analysis, and Lingua Franca lets you customize it. Each federate has a parameter called [STA (safe-to-advance)](/docs/writing-reactors/distributed-execution#safe-to-advance-sta) that controls how long the federate should wait for inputs from other federates before processing an input it has just received. -More precisely, the STA is how much time a federate waits before advancing its tag to that of the just received event, when it is not known if the other input ports will receive data at the same or an earlier tag. At the expiration of the STA, the federate assumes that those unresolved ports will not receive data at earlier tags, and advances its logical time to the tag of the received event. +#### Consistency challenge +Consistency problems may arise when a federate receives data from two or more federates, as it is the case of the `AutomaticEmergencyBraking` reactor. +The controller expects to receive input from both sensors at times 0ms, 100ms, 200ms, etc. Let's consider as an example the case where the remote connection between the controller and the radar has a slightly larger delay than that between the controller and the lidar. The lidar input will then always arrive slightly earlier than the radar one. When the controller receives the lidar input, should it process the data immediately, or should it wait for the radar input to come? Sensor fusion requires consistency: if the controller processes the input from the lidar and then the radar data comes, the control action elaborated upon the arrival of the lidar data does not take into account both sensors, even though it should. Hence, in our use case, the `AutomaticEmergencyBraking` reactor needs to wait for both inputs before processing new data. + +In general, the desired behavior with simultaneous inputs and decentralized coordination is highly dependent on the application under analysis, and Lingua Franca lets you customize it. Each federate has a parameter called [`STA` (safe-to-advance)](/docs/writing-reactors/distributed-execution#safe-to-advance-sta) that controls how long the federate should wait for inputs from other federates before processing an input it has just received. +More precisely, the `STA` is how much time a federate waits before advancing its tag to that of the just received event, when it is not known if the other input ports will receive data at the same or an earlier tag. At the expiration of the `STA`, the federate assumes that those unresolved ports will not receive any data at earlier tags, and advances its logical time to the tag of the received event. + +When a reactor commits to a tag after the `STA` expires, it may happen that one of the unresolved ports receives new data at an earlier logical time. +Since the current tag is greater than the just received one, this event cannot be processed, as it would result in out-of-order handling of messages, thus violating the Lingua Franca semantics. +In such cases, a safe-to-process (`STP`) violation occurs, the received event is dropped and a [fault handler](/docs/writing-reactors/distributed-execution#safe-to-process-stp-violation-handling) is executed instead: consistency is then preserved. -The maximum consistency guarantee is given by indefinitely waiting for the radar input before processing the radar, i.e., STA = forever, but this is viable only if the following two conditions are always satisfied: +In our application, we aim to avoid `STP` violations and process all incoming data for sensor fusion. The maximum consistency guarantee is given by _indefinitely waiting_ for the radar input before processing the radar, i.e., `STA = forever`, but this is viable only if the following two conditions are always satisfied: * the communication medium between the sensors and the controller is perfectly reliable; and * none of the three federates is subject to faults. -These conditions guarantee that all expected data will be generated, sent and correctly received by the communication parties. +These conditions guarantee that all expected data will be generated, sent and correctly received by the communication parties. If any of the two does not hold, the application may potentially experience indefinite blocking. -However, setting the STA to forever creates problems when only the lidar input is expected (50ms, 150ms, 250ms, etc): the controller cannot process that input until an input from the radar comes, because the STA will never expire. For example, if the single lidar input comes at 50ms, it has to wait until time 100ms before being processed. If that input was signaling the presence of a close object, the detection would be delayed by 50ms, which may potentially mean crashing into the object. The automatic emergency braking system must be available, otherwise it might not brake in time to avoid collisions. -The ideal STA value for maximum availability in the time instants with only the lidar input is 0, because if a single input is expected, no wait is necessary. +#### Availability challenge +However, setting the `STA` to `forever` creates problems when only the lidar input is expected (50ms, 150ms, 250ms, etc): the controller cannot process that input until an input from the radar comes, because the `STA` will never expire. For example, if the single lidar input comes at time 50ms, it has to wait until time 100ms before being processed. If that input was signaling the presence of a close object, the detection would be delayed by 50ms, which may potentially mean crashing into the object. The automatic emergency braking system must be available, otherwise it might not brake in time to avoid collisions. +The ideal `STA` value for maximum availability in the time instants with only the lidar input is 0, because if a single input is expected, no wait is necessary. -Summing up, consistency for sensor fusion requires STA=forever when inputs from both sensors are expected, while availability calls for STA=0 when only the lidar input is coming. The two values are at odds, and any value in between would mean sacrificing both properties at the same time. +Summing up, consistency for sensor fusion requires `STA = forever` when inputs from both sensors are expected, while availability calls for `STA = 0` when only the lidar input is coming. The two values are at odds, and any value in between would mean sacrificing both properties at the same time. -The knowledge of the timing properties of the application under analysis enables the a priori determination of the time instants when both inputs are expected and those when only the lidar has new data available. -Lingua Franca allows to dynamically change the STA in the reaction body using the lf_set_maxwait API, that takes as input parameter the new STA value to set. +### Dynamic adjustment of STA +The knowledge of the timing properties of the application under analysis enables the _a priori_ determination of the time instants when both inputs are expected and those when only the lidar has new data available. +Lingua Franca allows to dynamically change the `STA` in the reaction body using the `lf_set_sta` API, that takes as input parameter the new `STA` value to set. This capability of the language permits the automatic emergency braking federate to: -* start with the STA statically set to forever, because at time 0 (startup) both sensors produce data; -* set the STA to 0 after processing both inputs arrived at the same logical time, because the next data will be sent by the lidar only; -* set the STA back to forever after processing the radar input alone, because the next data will be sent by both sensors. +* start with the `STA` statically set to `forever`, because at time 0 (startup) both sensors produce data; +* set the `STA` to 0 after processing both inputs arrived at the same logical time, because the next data will be sent by the lidar only; +* set the `STA` back to `forever` after processing the radar input alone, because the next data will be sent by both sensors. This dynamic solution guarantees both consistency and availability in all input cases. +The implementation of the `AutomaticEmergencyBraking` reactor is shown below: -Knowing the LF decentralized coordination: -- consistency = in-order processing of events even with multiple events -- availability = the system is responsive even with a single input +```lf-c +reactor AutomaticEmergencyBraking(dist_thld: float = 20.0) { + input lidar_in: float + input radar_in: float + output brake: int + state n_invocs: int = 0 -Oh, maybe mention that the clock of the two sensors is synced because we're resampling the data + reaction (lidar_in, radar_in) -> brake {= + if (lf_is_present(lidar_in) && lidar_in->value < self->dist_thld) { + printf("Lidar has detected close object -> signaling braking\n"); + lf_set(brake, 1); + lf_request_stop(); + } else if (lf_is_present(radar_in) && radar_in->value < self->dist_thld) { + printf("Radar has detected close object -> signaling braking\n"); + lf_set(brake, 1); + lf_request_stop(); + } -I might also say that forever does not work when one of the sensors is delayed too much or when the medium fails for too much time, in which cases a finite STA is better (like a period or something) (this is gonna be the topic of a new blog post) + self->n_invocs++; + if (self->n_invocs % 2) { + lf_set_sta(0); + } else { + lf_set_sta(FOREVER); + } + =} deadline(100ms) {= + printf("AEB deadline violated\n"); + =} STA(forever) {= + printf("STP violation on AEB\n"); + =} +} +``` --maybe a little bit of what happens when out-of-order msg.s are received? (not sure this is really needed though) \ No newline at end of file +The `dist_thld` parameter is the distance threshold from detected objects below which the `AutomaticEmergencyBraking` reactor activates the brakes. +The reaction body reads the distance reported by both the lidar and the radar, and if any of these is less than the threshold, it sends a signal to the `BrakingSystem` reactor. +The `n_invocs` integer state variable counts the number of times the reaction of the `AutomaticEmergencyBraking` reactor is invoked. This variable is used to determine how many inputs the reaction will see at the next invocation and set the `STA` accordingly. Even invocation numbers mean that the next reaction invocation will happen with both sensor inputs present, so the `STA` is set to `forever`; with odd invocation numbers, the next reaction invocation will see new data from the lidar only, and the `STA` is then set to 0. \ No newline at end of file diff --git a/static/img/blog/AutomaticEmergencyBrakingSystem.svg b/static/img/blog/AutomaticEmergencyBrakingSystem.svg new file mode 100644 index 000000000..4a3d66443 --- /dev/null +++ b/static/img/blog/AutomaticEmergencyBrakingSystem.svg @@ -0,0 +1 @@ +AutomaticEmergencyBrakingSystemLidarLidarSensor(0 ms, 50 ms)1250 msdataDeadlineCheck50 msin_signalout_signallidar_dataRadarRadarSensor(0 ms, 100 ms)12100 msdataDeadlineCheck100 msin_signalout_signalradar_dataAutomaticEmergencyBraking100 mslidar_inradar_inbrakeBrakingSystem100 mssignal \ No newline at end of file From 09bf416e5e37447b4f7d813b411b13a5968d1fe8 Mon Sep 17 00:00:00 2001 From: fra-p Date: Thu, 9 Oct 2025 00:58:33 +0200 Subject: [PATCH 04/17] Edited decentralized blog post with new example 1. Added aircraft door example to better explain maxwait=forever 2. General refinement of the post --- blog/2025-09-18-decentralized-consistency.md | 182 +++++++++++++++++++ blog/2025-09-18-decentralized-coord.md | 100 ---------- static/img/blog/AircraftDoor.svg | 1 + 3 files changed, 183 insertions(+), 100 deletions(-) create mode 100644 blog/2025-09-18-decentralized-consistency.md delete mode 100644 blog/2025-09-18-decentralized-coord.md create mode 100644 static/img/blog/AircraftDoor.svg diff --git a/blog/2025-09-18-decentralized-consistency.md b/blog/2025-09-18-decentralized-consistency.md new file mode 100644 index 000000000..1061a61c1 --- /dev/null +++ b/blog/2025-09-18-decentralized-consistency.md @@ -0,0 +1,182 @@ +--- +slug: decentralized-consistency +title: "Decentralized Consistency" +authors: [fra-p, eal, rcakella] +tags: [lingua franca, federation, decentralized, consistency, STA] +--- + +The design of [distributed applications](/docs/writing-reactors/distributed-execution) in Lingua Franca requires care, particularly if the coordination of the federation is [decentralized](/docs/writing-reactors/distributed-execution#decentralized-coordination). The intent of this post is to illustrate and handle the challenges arising from designing distributed applications in Lingua Franca, with the help of two realistic use cases. + +## Aircraft door use case +Aircraft doors on passenger flights are currently managed manually by flight attendants. +Before the take-off, the flight attendants _arm_ the door: if the door is opened in this state, an evacuation slide is automatically inflated and deployed for emergency landing. +When the aircraft lands in normal and safe conditions, before opening the door, the flight attendants _disarm_ it to avoid the deployment of the evacuation slide. +Flight attendants, however, are allowed to disarm the door _only_ when they see from the porthole the ramp that will allow the passengers to disembark the aircraft. + +![AircraftDoor diagram](../static/img/blog/AircraftDoor.svg) + +Consider the above Lingua Franca program that implements a simplified system to remotely open the aircraft door that is in the _armed_ state. +The door implements two independent remote services, door _disarming_ and door _opening_, encoded by two different reactions in the `Door` reactor. +We imagine that the pilot interacting with the cockpit issues the command to open the door that triggers the door opening service. +We would also like to automate the disarming of the door using a camera. When the camera determines that the ramp is attached to the aircraft, it triggers the disarming service of the door. +There are different ways to design and refactor the above system, for example, by removing the direct connection between the `Cockpit` and `Door` reactors. Our design choice is meant to highlight that door _disarming_ and _opening_ are two different and independent remote services triggered by two different commands issued by two different system actors. Therefore, each actor has an independent connection to the door to request its service. + +The purpose of the system is to open the door in reaction to the command from the cockpit only in normal conditions, that is, when the ramp is present and the door is not armed. The door, upon receiving the command from the cockpit, should wait for clearance from the camera before opening. + +This is an example of an application that cannot safely proceed its processing without assurance on its inputs. In fact, if the door processes immediately the command from the cockpit, and the door is still _armed_ because the input from the camera has not come yet, the evacuation slide will be deployed as if it was an emergency landing. The door, then, has to wait for both inputs before invoking the _opening_ service. + +### In-order message processing +The order in which messages are processed is crucial in this application. When the _disarm_ and _open_ commands arrive together, the _disarm_ service needs to be invoked before opening the door, otherwise the escape slide will be deployed and that is not the desired behavior. +Lingua Franca guarantees determinism in the execution order of reactions with simultaneous inputs, and the order is given by the the order of declaration of the reactions inside the reactor. It is then sufficient to declare the `disarm` reaction _before_ the `open` one. The diagram confirms the execution order by labeling the `disarm` reaction with 1 and the `open` reaction with 2. + +The more challenging situation is when the inputs do not arrive together, and this is discussed in the following section. + +### Consistency with decentralized coordination +The application is implemented as a federated program with decentralized coordination, which means that the advancement of logical time in each single federate is not subject to approval from any centralized entities, but it is done locally based on the input it receives from the other federates. + +Let us consider the case when the `Door` reactor receives the _open_ command from the `Cockpit` reactor, but not yet the _disarm_ command from the `Camera` reactor. As previously observed, the `Door` cannot proceed to open the door, because it needs to wait for the `Camera` to send the _disarm_ command. +But how long should it wait? + +Lingua Franca allows you to customize the waiting time. Each federate has a parameter called [`maxwait`](/docs/writing-reactors/distributed-execution#safe-to-advance-sta) that controls how long the federate should wait for inputs from other federates before processing an input it has just received. +More precisely, the `maxwait` is how much time a federate waits before advancing its tag to that of the just received event, when it is not known if the other input ports will receive data with the same or an earlier tag. At the expiration of the `maxwait`, the federate assumes that those unresolved ports will not receive any data with earlier tags, and advances its logical time to the tag of the received event. + +In our example, we want the door to _indefinitely wait_ for both _disarm_ and _open_ commands to arrive before processing any of them. In Lingua Franca, this is obtained by setting `maxwait = forever`, and it means that the `Door` reactor cannot safely proceed without assurance about the inputs. + +The implementation of the `Door` reactor and its instantiation are shown below: + +```lf-c +reactor Door { + input open: bool + input disarm: bool + state isDisarmed: bool = false + state isOpen: bool = false + + reaction(disarm) {= + if (!self->isDisarmed) { + self->isDisarmed = true; + printf("Door disarmed\n"); + } + =} maxwait {= + printf("STP violation\n"); + =} + + reaction(open) {= + if (self->isDisarmed) { + printf("Door open - normal mode\n"); + } else { + // This should never happen + printf("Door open - !emergency mode!\n"); + } + =} maxwait {= + printf("STP violation\n"); + =} +} + +federated reactor { + c = new Cockpit() + v = new Camera() + + @maxwait(forever) + d = new Door() + + c.open -> d.open + c.open -> v.check_ramp + v.ramp_present -> d.disarm +} +``` +The reaction triggered by the `open` command prints on the standard output whether the door was _disarmed_ or not at the time of opening. We do not expect emergency openings with `maxwait` set to `forever`. + +The `maxwait` parameter is specified at instantiation time within the main reactor. Right before creating the instance of the `Door` reactor for which we want to set the parameter, we use the `@maxwait` annotation that takes as input the new `maxwait` value. The reactions of the `Door` reactor that are triggered by remote inputs are associated with a [fault handler](/docs/writing-reactors/distributed-execution#safe-to-process-stp-violation-handling) that is invoked in the case of timing inconsistencies during input processing. This event will be thoroughly discussed in another blog post. + +## Automatic emergency braking use case +![AutomaticEmergencyBrakingSystem diagram](../static/img/blog/AutomaticEmergencyBrakingSystem.svg) + +Consider the above Lingua Franca implementation of an automatic emergency braking system, one of the most critical ADAS systems which modern cars are equipped with. +The controller system modeled by the `AutomaticEmergencyBraking` reactor reads data coming from two sensors, a lidar and a radar, and uses both to detect if objects or pedestrians cross the trajectory the car, thus performing _sensor fusion_. +When one of the two sensors signals the presence of an object at a distance shorter than a configurable threshold, the controller triggers the brake to stop the car and avoid crashing into it. + +The sensors are modeled with their own timer that triggers the generation of data. The clocks of all federates are automatically synchronized by the [clock synchronization algorithm](/docs/writing-reactors/distributed-execution#clock-synchronization) of the Lingua Franca runtime. +Typically, in a real use case of this kind, the clock of sensor devices cannot be controlled by Lingua Franca, but a way to work around this limitation is to resample the data collected by sensors with the timing given by a clock that the runtime can control. +The sensor reactors of our application are then modeling this resampling of sensor data that fits well with the Lingua Franca semantics for time determinism. + +The lidar sensor has a sampling frequency that is twice that of the radar, and this is reflected by the timer in the corresponding reactors: the lidar timer has a period of 50ms, while that of the radar 100ms. +Their deadline is equal to their period and is enforced using the dedicated `DeadlineCheck` reactors, following the guidelines of how to [work with deadlines](/blog/deadlines). + +The sensor behavior in the application is simulated in a way that each sensor constantly produces distance values above the threshold (i.e., no objects in the way), and then at a random time it sends a distance value below the threshold, indicating the presence of a close object. When the `AutomaticEmergencyBraking` reactor receives that message, it signals the `BrakingSystem` reactor to brake the car, and the whole system shuts down. + +### Desired system properties +Availability is a crucial property of this application, because we want the automatic emergency braking system to brake as fast as possible when a close object is detected. Consistency is also necessary, as sensor fusion happens with sensor data produced at the same logical time. Even if this is not implemented in our simplified example, sensor fusion in a more general scenario helps rule out false positives, i.e., cases in which one of the sensors erroneously detects a close object that would induce an unnecessary and dangerous braking. False positives are caused by the weaknesses of the specific sensor. For example, rainy or foggy weather reduce the accuracy of lidar sensors. The key concept is to gather data produced at the same logical time by all sensors and combine them to have a more accurate estimate of possible collisions. Consistency and in-order data processing are then required. + +#### Consistency challenge +The application is once agin implemented as a federated program with decentralized coordination. +Consistency problems may arise when a federate receives data from two or more federates, as it is the case of the `AutomaticEmergencyBraking` reactor. +The controller expects to receive input from both sensors at times 0ms, 100ms, 200ms, etc. Let's consider as an example the case where the remote connection between the controller and the radar has a slightly larger delay than that between the controller and the lidar. The lidar input will then always arrive slightly earlier than the radar one. When the controller receives the lidar input, should it process the data immediately, or should it wait for the radar input to come? Sensor fusion requires consistency: if the controller processes the input from the lidar and then the radar data comes, the control action elaborated upon the arrival of the lidar data does not take into account both sensors, even though it should. Hence, in our use case, the `AutomaticEmergencyBraking` reactor needs to wait for both inputs before processing new data. + +In our application, we aim to process all incoming data with the same logical time to realize sensor fusion. Hence, we set `maxwait = forever` to _indefinitely wait_ for the radar input before processing the radar. + +#### Availability challenge +However, setting `maxwait` to `forever` creates problems when only the lidar input is expected (50ms, 150ms, 250ms, etc): the controller cannot process that input until an input from the radar comes, because `maxwait` will never expire. For example, if the single lidar input comes at time 50ms, it has to wait until time 100ms before being processed. If that input was signaling the presence of a close object, the detection would be delayed by 50ms, which may potentially mean crashing into the object. The automatic emergency braking system must be available, otherwise it might not brake in time to avoid collisions. +The ideal `maxwait` value for maximum availability in the time instants with only the lidar input is 0, because if a single input is expected, no wait is necessary. + +Summing up, consistency for sensor fusion requires `maxwait = forever` when inputs from both sensors are expected, while availability calls for `maxwait = 0` when only the lidar input is coming. The two values are at odds, and any value in between would mean sacrificing both properties at the same time. + +### Dynamic adjustment of `maxwait` +The knowledge of the timing properties of the application under analysis enables the _a priori_ determination of the time instants when both inputs are expected and those when only the lidar has new data available. +Lingua Franca allows to dynamically change the `maxwait` in the reaction body using the `lf_set_maxwait` API, that takes as input parameter the new `maxwait` value to set. +This capability of the language permits the automatic emergency braking federate to: +* start with `maxwait` statically set to `forever`, because at time 0 (startup) both sensors produce data; +* set `maxwait` to 0 after processing both inputs with the same logical time, because the next data will be sent by the lidar only; +* set `maxwait` back to `forever` after processing the radar input alone, because the next data will be sent by both sensors. + +This dynamic solution guarantees both consistency and availability in all input cases. +The implementation and the instantiation of the `AutomaticEmergencyBraking` reactor are shown below: + +```lf-c +reactor AutomaticEmergencyBraking(dist_thld: float = 20.0) { + input lidar_in: float + input radar_in: float + output brake: int + state n_invocs: int = 0 + + reaction (lidar_in, radar_in) -> brake {= + if (lf_is_present(lidar_in) && lidar_in->value < self->dist_thld) { + printf("Lidar has detected close object -> signaling braking\n"); + lf_set(brake, 1); + lf_request_stop(); + } else if (lf_is_present(radar_in) && radar_in->value < self->dist_thld) { + printf("Radar has detected close object -> signaling braking\n"); + lf_set(brake, 1); + lf_request_stop(); + } + + self->n_invocs++; + if (self->n_invocs % 2) { + lf_set_maxwait(0); + } else { + lf_set_maxwait(FOREVER); + } + =} deadline(100ms) {= + printf("AEB deadline violated\n"); + =} maxwait {= + printf("STP violation on AEB\n"); + =} + + federated reactor { + lidar = new Lidar() + radar = new Radar() + + @maxwait(forever) + aeb = new AutomaticEmergencyBraking() + + brake = new BrakingSystem() + + lidar.lidar_data -> aeb.lidar_in + radar.radar_data -> aeb.radar_in + aeb.brake -> brake.signal + } +} +``` + +The `dist_thld` parameter is the distance threshold from detected objects below which the `AutomaticEmergencyBraking` reactor activates the brakes. +The reaction body reads the distance reported by both the lidar and the radar, and if any of these is less than the threshold, it sends a signal to the `BrakingSystem` reactor. +The `n_invocs` integer state variable counts the number of times the reaction of the `AutomaticEmergencyBraking` reactor is invoked. This variable is used to determine how many inputs the reaction will see at the next invocation and set the `maxwait` accordingly. Even invocation numbers mean that the next reaction invocation will happen with both sensor inputs present, so `maxwait` is set to `forever`; with odd invocation numbers, the next reaction invocation will see new data from the lidar only, and `maxwait` is then set to 0. \ No newline at end of file diff --git a/blog/2025-09-18-decentralized-coord.md b/blog/2025-09-18-decentralized-coord.md deleted file mode 100644 index bc4f7c402..000000000 --- a/blog/2025-09-18-decentralized-coord.md +++ /dev/null @@ -1,100 +0,0 @@ ---- -slug: decentralized-coordination -title: "Consistency and Availability Challenges with Decentralized Coordination" -authors: [fra-p, eal, rcakella] -tags: [lingua franca, federation, decentralized, STA] ---- - -The design of [distributed applications](/docs/writing-reactors/distributed-execution) in Lingua Franca requires care, particularly if the coordination of the federation is [decentralized](/docs/writing-reactors/distributed-execution#decentralized-coordination). The intent of this post is to illustrate and handle the challenges arising from designing distributed applications in Lingua Franca, focusing on a realistic automotive use case. - -## Automatic emergency braking use case -![AutomaticEmergencyBrakingSystem diagram](../static/img/blog/AutomaticEmergencyBrakingSystem.svg) - -Consider the above Lingua Franca implementation of an automatic emergency braking system, one of the most critical ADAS systems which modern cars are equipped with. -The controller system modeled by the `AutomaticEmergencyBraking` reactor reads data coming from two sensors, a lidar and a radar, and uses both to detect if objects or pedestrians cross the trajectory the car, thus performing _sensor fusion_. -When one of the two sensors signals the presence of an object at a distance shorter than a configurable threshold, the controller triggers the brake to stop the car and avoid crashing into it. - -The sensors are modeled with their own timer that triggers the generation of data. The clocks of all federates are automatically synchronized by the [clock synchronization algorithm](/docs/writing-reactors/distributed-execution#clock-synchronization) of the Lingua Franca runtime. -Typically, in a real use case of this kind, the clock of sensor devices cannot be controlled by Lingua Franca, but a way to work around this limitation is to resample the data collected by sensors with the timing given by a clock that the runtime can control. -The sensor reactors of our application are then modeling this resampling of sensor data that fits well with the Lingua Franca semantics for time determinism. - -The lidar sensor has a sampling frequency that is twice that of the radar, and this is reflected by the timer in the corresponding reactors: the lidar timer has a period of 50ms, while that of the radar 100ms. -Their deadline is equal to their period and is enforced using the dedicated `DeadlineCheck` reactors, following the guidelines of how to [work with deadlines](/blog/deadlines). - -The sensor behavior in the application is simulated in a way that each sensor constantly produces distance values above the threshold (i.e., no objects in the way), and then at a random time it sends a distance value below the threshold, indicating the presence of a close object. When the `AutomaticEmergencyBraking` reactor receives that message, it signals the `BrakingSystem` reactor to brake the car, and the whole system shuts down. - -### Desired system properties -Availability is a crucial property of this application, because we want the automatic emergency braking system to brake as fast as possible when a close object is detected. Consistency is also necessary: sensor fusion happens with sensor data produced at the same logical time, so in-order data processing is critical. - -### Challenges of decentralized coordination -The application is implemented as a federated program with decentralized coordination, which means that the advancement of logical time in each single federate is not subject to approval from any centralized entities, but it is done locally based on the input it receives from the other federates. - -#### Consistency challenge -Consistency problems may arise when a federate receives data from two or more federates, as it is the case of the `AutomaticEmergencyBraking` reactor. -The controller expects to receive input from both sensors at times 0ms, 100ms, 200ms, etc. Let's consider as an example the case where the remote connection between the controller and the radar has a slightly larger delay than that between the controller and the lidar. The lidar input will then always arrive slightly earlier than the radar one. When the controller receives the lidar input, should it process the data immediately, or should it wait for the radar input to come? Sensor fusion requires consistency: if the controller processes the input from the lidar and then the radar data comes, the control action elaborated upon the arrival of the lidar data does not take into account both sensors, even though it should. Hence, in our use case, the `AutomaticEmergencyBraking` reactor needs to wait for both inputs before processing new data. - -In general, the desired behavior with simultaneous inputs and decentralized coordination is highly dependent on the application under analysis, and Lingua Franca lets you customize it. Each federate has a parameter called [`STA` (safe-to-advance)](/docs/writing-reactors/distributed-execution#safe-to-advance-sta) that controls how long the federate should wait for inputs from other federates before processing an input it has just received. -More precisely, the `STA` is how much time a federate waits before advancing its tag to that of the just received event, when it is not known if the other input ports will receive data at the same or an earlier tag. At the expiration of the `STA`, the federate assumes that those unresolved ports will not receive any data at earlier tags, and advances its logical time to the tag of the received event. - -When a reactor commits to a tag after the `STA` expires, it may happen that one of the unresolved ports receives new data at an earlier logical time. -Since the current tag is greater than the just received one, this event cannot be processed, as it would result in out-of-order handling of messages, thus violating the Lingua Franca semantics. -In such cases, a safe-to-process (`STP`) violation occurs, the received event is dropped and a [fault handler](/docs/writing-reactors/distributed-execution#safe-to-process-stp-violation-handling) is executed instead: consistency is then preserved. - -In our application, we aim to avoid `STP` violations and process all incoming data for sensor fusion. The maximum consistency guarantee is given by _indefinitely waiting_ for the radar input before processing the radar, i.e., `STA = forever`, but this is viable only if the following two conditions are always satisfied: -* the communication medium between the sensors and the controller is perfectly reliable; and -* none of the three federates is subject to faults. - -These conditions guarantee that all expected data will be generated, sent and correctly received by the communication parties. If any of the two does not hold, the application may potentially experience indefinite blocking. - -#### Availability challenge -However, setting the `STA` to `forever` creates problems when only the lidar input is expected (50ms, 150ms, 250ms, etc): the controller cannot process that input until an input from the radar comes, because the `STA` will never expire. For example, if the single lidar input comes at time 50ms, it has to wait until time 100ms before being processed. If that input was signaling the presence of a close object, the detection would be delayed by 50ms, which may potentially mean crashing into the object. The automatic emergency braking system must be available, otherwise it might not brake in time to avoid collisions. -The ideal `STA` value for maximum availability in the time instants with only the lidar input is 0, because if a single input is expected, no wait is necessary. - -Summing up, consistency for sensor fusion requires `STA = forever` when inputs from both sensors are expected, while availability calls for `STA = 0` when only the lidar input is coming. The two values are at odds, and any value in between would mean sacrificing both properties at the same time. - -### Dynamic adjustment of STA -The knowledge of the timing properties of the application under analysis enables the _a priori_ determination of the time instants when both inputs are expected and those when only the lidar has new data available. -Lingua Franca allows to dynamically change the `STA` in the reaction body using the `lf_set_sta` API, that takes as input parameter the new `STA` value to set. -This capability of the language permits the automatic emergency braking federate to: -* start with the `STA` statically set to `forever`, because at time 0 (startup) both sensors produce data; -* set the `STA` to 0 after processing both inputs arrived at the same logical time, because the next data will be sent by the lidar only; -* set the `STA` back to `forever` after processing the radar input alone, because the next data will be sent by both sensors. - -This dynamic solution guarantees both consistency and availability in all input cases. -The implementation of the `AutomaticEmergencyBraking` reactor is shown below: - -```lf-c -reactor AutomaticEmergencyBraking(dist_thld: float = 20.0) { - input lidar_in: float - input radar_in: float - output brake: int - state n_invocs: int = 0 - - reaction (lidar_in, radar_in) -> brake {= - if (lf_is_present(lidar_in) && lidar_in->value < self->dist_thld) { - printf("Lidar has detected close object -> signaling braking\n"); - lf_set(brake, 1); - lf_request_stop(); - } else if (lf_is_present(radar_in) && radar_in->value < self->dist_thld) { - printf("Radar has detected close object -> signaling braking\n"); - lf_set(brake, 1); - lf_request_stop(); - } - - self->n_invocs++; - if (self->n_invocs % 2) { - lf_set_sta(0); - } else { - lf_set_sta(FOREVER); - } - =} deadline(100ms) {= - printf("AEB deadline violated\n"); - =} STA(forever) {= - printf("STP violation on AEB\n"); - =} -} -``` - -The `dist_thld` parameter is the distance threshold from detected objects below which the `AutomaticEmergencyBraking` reactor activates the brakes. -The reaction body reads the distance reported by both the lidar and the radar, and if any of these is less than the threshold, it sends a signal to the `BrakingSystem` reactor. -The `n_invocs` integer state variable counts the number of times the reaction of the `AutomaticEmergencyBraking` reactor is invoked. This variable is used to determine how many inputs the reaction will see at the next invocation and set the `STA` accordingly. Even invocation numbers mean that the next reaction invocation will happen with both sensor inputs present, so the `STA` is set to `forever`; with odd invocation numbers, the next reaction invocation will see new data from the lidar only, and the `STA` is then set to 0. \ No newline at end of file diff --git a/static/img/blog/AircraftDoor.svg b/static/img/blog/AircraftDoor.svg new file mode 100644 index 000000000..93eabc10e --- /dev/null +++ b/static/img/blog/AircraftDoor.svg @@ -0,0 +1 @@ +AircraftDoorCockpit12PopenCameracheck_rampramp_presentDoor12opendisarm$ \ No newline at end of file From 54ac4ca2b6649fb92a1a0c800691ee94a65b95d3 Mon Sep 17 00:00:00 2001 From: fra-p Date: Thu, 9 Oct 2025 01:01:15 +0200 Subject: [PATCH 05/17] Updated blog post titles --- blog/2025-09-18-decentralized-consistency.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/blog/2025-09-18-decentralized-consistency.md b/blog/2025-09-18-decentralized-consistency.md index 1061a61c1..cacd0f28c 100644 --- a/blog/2025-09-18-decentralized-consistency.md +++ b/blog/2025-09-18-decentralized-consistency.md @@ -7,7 +7,7 @@ tags: [lingua franca, federation, decentralized, consistency, STA] The design of [distributed applications](/docs/writing-reactors/distributed-execution) in Lingua Franca requires care, particularly if the coordination of the federation is [decentralized](/docs/writing-reactors/distributed-execution#decentralized-coordination). The intent of this post is to illustrate and handle the challenges arising from designing distributed applications in Lingua Franca, with the help of two realistic use cases. -## Aircraft door use case +## Indefinite wait for inputs: the aircraft door use case Aircraft doors on passenger flights are currently managed manually by flight attendants. Before the take-off, the flight attendants _arm_ the door: if the door is opened in this state, an evacuation slide is automatically inflated and deployed for emergency landing. When the aircraft lands in normal and safe conditions, before opening the door, the flight attendants _disarm_ it to avoid the deployment of the evacuation slide. @@ -88,7 +88,7 @@ The reaction triggered by the `open` command prints on the standard output wheth The `maxwait` parameter is specified at instantiation time within the main reactor. Right before creating the instance of the `Door` reactor for which we want to set the parameter, we use the `@maxwait` annotation that takes as input the new `maxwait` value. The reactions of the `Door` reactor that are triggered by remote inputs are associated with a [fault handler](/docs/writing-reactors/distributed-execution#safe-to-process-stp-violation-handling) that is invoked in the case of timing inconsistencies during input processing. This event will be thoroughly discussed in another blog post. -## Automatic emergency braking use case +## Multirate inputs: the automatic emergency braking use case ![AutomaticEmergencyBrakingSystem diagram](../static/img/blog/AutomaticEmergencyBrakingSystem.svg) Consider the above Lingua Franca implementation of an automatic emergency braking system, one of the most critical ADAS systems which modern cars are equipped with. From b4c4f117266458251e2efddfbaf03a3903f28e0b Mon Sep 17 00:00:00 2001 From: fra-p Date: Thu, 9 Oct 2025 01:28:23 +0200 Subject: [PATCH 06/17] Additional blog post refining --- blog/2025-09-18-decentralized-consistency.md | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/blog/2025-09-18-decentralized-consistency.md b/blog/2025-09-18-decentralized-consistency.md index cacd0f28c..3f5fd66aa 100644 --- a/blog/2025-09-18-decentralized-consistency.md +++ b/blog/2025-09-18-decentralized-consistency.md @@ -18,27 +18,26 @@ Flight attendants, however, are allowed to disarm the door _only_ when they see Consider the above Lingua Franca program that implements a simplified system to remotely open the aircraft door that is in the _armed_ state. The door implements two independent remote services, door _disarming_ and door _opening_, encoded by two different reactions in the `Door` reactor. We imagine that the pilot interacting with the cockpit issues the command to open the door that triggers the door opening service. -We would also like to automate the disarming of the door using a camera. When the camera determines that the ramp is attached to the aircraft, it triggers the disarming service of the door. +We would also like to automate the disarming of the door using a camera. When the camera determines that the ramp is attached to the aircraft, it triggers the disarming service of the door. The camera detection is triggered by the door open command issued by the cockpit. + There are different ways to design and refactor the above system, for example, by removing the direct connection between the `Cockpit` and `Door` reactors. Our design choice is meant to highlight that door _disarming_ and _opening_ are two different and independent remote services triggered by two different commands issued by two different system actors. Therefore, each actor has an independent connection to the door to request its service. The purpose of the system is to open the door in reaction to the command from the cockpit only in normal conditions, that is, when the ramp is present and the door is not armed. The door, upon receiving the command from the cockpit, should wait for clearance from the camera before opening. -This is an example of an application that cannot safely proceed its processing without assurance on its inputs. In fact, if the door processes immediately the command from the cockpit, and the door is still _armed_ because the input from the camera has not come yet, the evacuation slide will be deployed as if it was an emergency landing. The door, then, has to wait for both inputs before invoking the _opening_ service. - -### In-order message processing The order in which messages are processed is crucial in this application. When the _disarm_ and _open_ commands arrive together, the _disarm_ service needs to be invoked before opening the door, otherwise the escape slide will be deployed and that is not the desired behavior. Lingua Franca guarantees determinism in the execution order of reactions with simultaneous inputs, and the order is given by the the order of declaration of the reactions inside the reactor. It is then sufficient to declare the `disarm` reaction _before_ the `open` one. The diagram confirms the execution order by labeling the `disarm` reaction with 1 and the `open` reaction with 2. -The more challenging situation is when the inputs do not arrive together, and this is discussed in the following section. +The more challenging situation is when the inputs do not arrive together. In fact, if the command from the cockpit arrives before the clearance from the camera and the door processes it immediately, the door will be opened while still _armed_, and the evacuation slide will be deployed as if it was an emergency landing. The door, then, has to wait for both inputs before invoking the _opening_ service. +This is then an example of an application that cannot safely proceed its processing without assurance on its inputs. The following section explains how to obtain the desired behavior in Lingua Franca. ### Consistency with decentralized coordination The application is implemented as a federated program with decentralized coordination, which means that the advancement of logical time in each single federate is not subject to approval from any centralized entities, but it is done locally based on the input it receives from the other federates. -Let us consider the case when the `Door` reactor receives the _open_ command from the `Cockpit` reactor, but not yet the _disarm_ command from the `Camera` reactor. As previously observed, the `Door` cannot proceed to open the door, because it needs to wait for the `Camera` to send the _disarm_ command. +Let us consider the case when the `Door` reactor receives the _open_ command from the `Cockpit` reactor, but not yet the _disarm_ command from the `Camera` reactor. As previously observed, the `Door` cannot proceed to invoke the _opening_ service, because it needs to wait for the `Camera` to send the _disarm_ command. But how long should it wait? -Lingua Franca allows you to customize the waiting time. Each federate has a parameter called [`maxwait`](/docs/writing-reactors/distributed-execution#safe-to-advance-sta) that controls how long the federate should wait for inputs from other federates before processing an input it has just received. -More precisely, the `maxwait` is how much time a federate waits before advancing its tag to that of the just received event, when it is not known if the other input ports will receive data with the same or an earlier tag. At the expiration of the `maxwait`, the federate assumes that those unresolved ports will not receive any data with earlier tags, and advances its logical time to the tag of the received event. +Lingua Franca allows you to customize this waiting time. Each federate is associated with a parameter called [`maxwait`](/docs/writing-reactors/distributed-execution#safe-to-advance-sta) that controls how long the federate should wait for inputs from other federates before processing an input it has just received. +More precisely, `maxwait` is how much time a federate waits before advancing its tag to that of the just received event, when it is not known if the other input ports will receive data with the same or an earlier tag. At the expiration of the `maxwait`, the federate assumes that those unresolved ports will not receive any data with earlier tags, and advances its logical time to the tag of the received event. In our example, we want the door to _indefinitely wait_ for both _disarm_ and _open_ commands to arrive before processing any of them. In Lingua Franca, this is obtained by setting `maxwait = forever`, and it means that the `Door` reactor cannot safely proceed without assurance about the inputs. From ac28537dd55c05080e0fc18de1730ff14acb42f7 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Mon, 29 Sep 2025 20:25:23 -0700 Subject: [PATCH 07/17] Add some pubs --- src/components/Publications/citations.bib | 45 ++++++++++++++++++++++- src/components/Publications/copypasta.tsx | 22 ++++++++++- 2 files changed, 63 insertions(+), 4 deletions(-) diff --git a/src/components/Publications/citations.bib b/src/components/Publications/citations.bib index f46c62d74..3e404abe7 100644 --- a/src/components/Publications/citations.bib +++ b/src/components/Publications/citations.bib @@ -6,13 +6,54 @@ @inproceedings{Lee:25:Time booktitle = {Concurrent Programming, Open Systems and Formal Methods: Essays Dedicated to Prof. Gul Agha to Celebrate his Scientific Career}, editor = {Jos\'e Meseguer and Carlos A. Varela and Nalini Venkatasubramanian}, publisher = {Springer}, - volume = {LNCS}, - abstract = {The nondeterministic ordering of message handling in the original actor model makes it difficult to achieve the consistency across a distributed system that some applications require. This paper explores a number of mitigations, focusing primarily on the use of logical time to define a semantic ordering for messages.Avariety of coordination mechanisms can ensure that messages are handled in logical time order, but they all come with costs. A fundamental tradeoff (the CAL theorem) makes it impossible to achieve consistency without paying a price in availability, where the price depends on the latencies introduced by network communication, computation overhead, and clock synchronization error. This paper shows how to use the Lingua Franca coordination language to navigate this tradeoff, and particularly how to ensure eventual consistency while bounding unavailability with manageable risk.}, + volume = {LNCS 16120}, + abstract = {The nondeterministic ordering of message handling in the original actor model makes it difficult to achieve the consistency across a distributed system that some applications require. This paper explores a number of mitigations, focusing primarily on the use of logical time to define a semantic ordering for messages. A variety of coordination mechanisms can ensure that messages are handled in logical time order, but they all come with costs. A fundamental tradeoff (the CAL theorem) makes it impossible to achieve consistency without paying a price in availability, where the price depends on the latencies introduced by network communication, computation overhead, and clock synchronization error. This paper shows how to use the Lingua Franca coordination language to navigate this tradeoff, and particularly how to ensure eventual consistency while bounding unavailability with manageable risk.}, url = {https://eecs.berkeley.edu/~eal/publications/LeeTimeAghaFestschriftPreprint2025.pdf}, year = {2025}, type = {Conference Proceedings} } +@inproceedings{SirjaniEtAl:25:Redundant, + author = {Marjan Sirjani and Edward A. Lee and Zahra Moezkarimi and Bahman Pourvatan and Bjarne Johansson and Stefan Marksteiner1 and Alessandro V. Papadopoulos}, + title = {Actors for Timing Analysis of Distributed Redundant Controllers}, + booktitle = {Concurrent Programming, Open Systems and Formal Methods: Essays Dedicated to Prof. Gul Agha to Celebrate his Scientific Career}, + editor = {Jos\'e Meseguer and Carlos A. Varela and Nalini Venkatasubramanian}, + publisher = {Springer}, + volume = {LNCS 16120}, + abstract = {We use two actor-based languages, Timed Rebeca and Lingua Franca, to show modeling, model checking, implementation, and timing analysis of an industry-suggested algorithm for role selection in distributed control systems with redundancy. The algorithm prioritizes consistency over availability in tradeoff situations. We show scenarios that simulate the environment and possible faults and use the Timed Rebeca model checking tool to investigate whether they may cause a failure. We also show the maximum latency that can be tolerated without causing inconsistency. We then use the coordination language Lingua Franca to implement the model. It can also simulate network switches, allowing you to set up test scenarios that include network degradation, such as switch failures, packet losses, and excessive latency. This can be set up as a hardware-in-the-loop simulation, where the actual node implementations interact with simulated switches and the network.}, + url = {https://eecs.berkeley.edu/~eal/publications/SirjaniEtal_Gul_Fest_Final.pdf}, + year = {2025}, + type = {Conference Proceedings} +} + +@article{DonovanEtAl:25:ZeroDelay, + author = {Peter Donovan and Erling Jellum and Byeonggil Jun and Hokeun Kim and Lee Edward and Shaokai Lin and Marten Lohstroh and Anirudh Rengarajan}, + title = {Zero-Delay Cycles in Distributed Discrete-Event Systems using Lingua Franca}, + journal = {ACM Transactions on Modeling and Computer Simulation}, + volume = {to appear}, + month = {August}, + url = {https://doi.org/10.1145/3762653}, + abstract = {Discrete-event (DE) systems are concurrent programs where components communicate via tagged events, where tags are drawn from a totally ordered set. Distributed DE (DDE) systems are DE systems where the components (reactors) communicate over networks. Most execution platforms require that for DDE systems with cycles, each cycle must contain at least one logical delay, where the tag of events is incremented. Some impose an even stronger constraint, that no component produce outputs with the same timestamp as a triggering input (the “lookahead” for the component must be greater than zero). Such restrictions, however, are not required by the elegant fixed-point semantics of DE. The only fundamental requirement is that the program be constructive, meaning it is free from causality cycles. In this paper, we propose a way to coordinate the execution of DDE systems that can execute any constructive program, even one with zero-delay cycles (ZDC), facilitating the elegant programming of strongly consistent distributed real-time systems. The proposed coordination provides a formal model that exposes exactly the information that must be shared across networks for such execution to be possible. Our solution avoids speculative execution and rollback, making it suitable for situations that do not tolerate rollback, such as deployment (vs. simulation) of cyber-physical systems (CPS’s). We describe an extension to the coordination mechanisms in Lingua Franca, a recent DE-based coordination language, to support ZDC.}, + doi = {10.1145/3762653}, + year = {2025}, + type = {Journal Article} +} + +@article{LinEtAl:25:QuasiStatic, + author = {Shaokai Lin and Erling Jellum and Mirco Theile and Tassilo Tanneberger and Binqi Sun and Chadlia Jerad and Yimo Xu and Guangyu Feng and Magnus Mæhlum and Jian-Jia Chen and Martin Schoeberl and Linh Thi Xuan Phan and Jeronimo Castrillon and Sanjit A. Seshia and Edward A. Lee}, + title = {Quasi-Static Scheduling for Deterministic Timed Concurrent Models on Multi-Core Hardware}, + journal = {ACM Transactions on Embedded Computing Systems}, + volume = {24}, + number = {5s}, + month = {September}, + pages = {1-25}, + url = {https://doi.org/10.1145/3762653}, + abstract = {To design performant, expressive, and reliable cyber-physical systems (CPSs), researchers extensively perform quasi-static scheduling for concurrent models of computation (MoCs) on multi-core hardware. However, these quasi-static scheduling approaches are developed independently for their corresponding MoCs, despite commonality in the approaches. To help generalize the use of quasi-static scheduling to new and emerging MoCs, this paper proposes a unified approach for a class of deterministic timed concurrent models (DTCMs), including prominent models such as synchronous dataflow (SDF), Boolean-controlled dataflow (BDF), scenario-aware dataflow (SADF), and Logical Execution Time (LET). In contrast to scheduling techniques tailored exclusively to specific MoCs, our unified approach leverages a common intermediate formalism called state space finite automata (SSFA), bridging the gap between high-level MoCs and executable schedules. Once identified as DTCMs, new MoCs can directly adopt SSFA-based scheduling, significantly easing adoption. We show that quasi-static schedules facilitated by SSFA are provably free from timing anomalies and enable straightforward worst-case makespan analysis. We demonstrate the approach using the reactor model—an emerging discrete-event MoC—programmed using the Lingua Franca (LF) language. Experiments show that quasi-statically scheduled LF programs exhibit lower runtime overhead compared to the dynamically scheduled LF programs, and that the analyzable worst-case makespans enable compile-time deadline checking.}, + doi = {10.1145/3762653}, + year = {2025}, + type = {Journal Article} +} + @inproceedings{JunEtAl:25:DE, author = {Jun, Byeonggil and Lee, Edward A. and Lohstroh, Marten and Kim, Hokeun}, title = {Improving the Efficiency of Coordinating Timed Events in Distributed Systems}, diff --git a/src/components/Publications/copypasta.tsx b/src/components/Publications/copypasta.tsx index 4d84666dd..72638b7e5 100644 --- a/src/components/Publications/copypasta.tsx +++ b/src/components/Publications/copypasta.tsx @@ -8,8 +8,26 @@ export const copypastaPublications: ReactNode = (

  • - Agha '25: Edward A. Lee. - "Logical Time in Actor Systems", in Concurrent Programming, Open Systems and Formal Methods: Essays Dedicated to Prof. Gul Agha to Celebrate his Scientific Career, Springer, LNCS, 2025. + TOMCS '25: Peter Donovan, Erling Jellum, Byeonggil Jun, Hokeun Kim, Lee Edward, Shaokai Lin, Marten Lohstroh, Anirudh Rengarajan. + "Zero-Delay Cycles in Distributed Discrete-Event Systems using Lingua Franca", in ACM Transactions on Modeling and Computer Simulation, To Appear, Accepted on 15 August 2025, DOI: 10.1145/3767727. +

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    + CP '25: Edward A. Lee. + "Logical Time in Actor Systems", in Concurrent Programming, Open Systems and Formal Methods: Essays Dedicated to Prof. Gul Agha to Celebrate his Scientific Career, DOI: 10.1007/978-3-032-05291-9_16 Springer, LNCS 16120, pp. 371-392 2025. +

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    + CP '25: Marjan Sirjani, Edward A. Lee, Zahra Moezkarimi, Bahman Pourvatan, Bjarne Johansson, Stefan Marksteiner, and Alessandro V. Papadopoulos. + "Actors for Timing Analysis of Distributed Redundant Controllers", in Concurrent Programming, Open Systems and Formal Methods: Essays Dedicated to Prof. Gul Agha to Celebrate his Scientific Career, DOI: 10.1007/978-3-032-05291-9_8 Springer, LNCS 16120, pp. 189-214, 2025. +

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    + EMSOFT '25: Shaokai Lin, Erling Jellum, Mirco Theile, Tassilo Tanneberger, Binqi Sun, Chadlia Jerad, Yimo Xu, Guangyu Feng, Magnus Mæhlum, Jian-Jia Chen, Martin Schoeberl, Linh Thi Xuan Phan, Jeronimo Castrillon, Sanjit A. Seshia, Edward A. Lee. + "Quasi-Static Scheduling for Deterministic Timed Concurrent Models on Multi-Core Hardware", in ACM Transactions on Embedded Computing Systems, Volume 24, Issue 5s, Article No.: 150, Pages 1-25, DOI: 10.1145/3767727, ACM, Presented at EMSOFT 2025, Sep. 29 - Oct. 2, 2025, Taipei, Taiwan.

  • From 0829e148f91fdd2f659091b76172eea2e62f3333 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Sun, 12 Oct 2025 17:38:39 -0700 Subject: [PATCH 08/17] Pass on the blog --- blog/2025-09-18-decentralized-consistency.md | 103 ++++++++++++------- 1 file changed, 66 insertions(+), 37 deletions(-) diff --git a/blog/2025-09-18-decentralized-consistency.md b/blog/2025-09-18-decentralized-consistency.md index 3f5fd66aa..4f9070a38 100644 --- a/blog/2025-09-18-decentralized-consistency.md +++ b/blog/2025-09-18-decentralized-consistency.md @@ -22,24 +22,29 @@ We would also like to automate the disarming of the door using a camera. When th There are different ways to design and refactor the above system, for example, by removing the direct connection between the `Cockpit` and `Door` reactors. Our design choice is meant to highlight that door _disarming_ and _opening_ are two different and independent remote services triggered by two different commands issued by two different system actors. Therefore, each actor has an independent connection to the door to request its service. -The purpose of the system is to open the door in reaction to the command from the cockpit only in normal conditions, that is, when the ramp is present and the door is not armed. The door, upon receiving the command from the cockpit, should wait for clearance from the camera before opening. +The purpose of the system is to open the door in reaction to the command from the cockpit whether or not a ramp is present. If a ramp is present, it is imperative that the door be disarmed _before_ being opened. Hence, the door, upon receiving the `open` command from the cockpit, should wait for input from the camera before opening. -The order in which messages are processed is crucial in this application. When the _disarm_ and _open_ commands arrive together, the _disarm_ service needs to be invoked before opening the door, otherwise the escape slide will be deployed and that is not the desired behavior. -Lingua Franca guarantees determinism in the execution order of reactions with simultaneous inputs, and the order is given by the the order of declaration of the reactions inside the reactor. It is then sufficient to declare the `disarm` reaction _before_ the `open` one. The diagram confirms the execution order by labeling the `disarm` reaction with 1 and the `open` reaction with 2. +The order in which messages are processed is crucial in this application. When the _disarm_ and _open_ commands arrive with the same tag, the _disarm_ service needs to be invoked before opening the door, otherwise the escape slide will be erroneously deployed. +Lingua Franca guarantees determinism in the execution order of reactions with logically simultaneous inputs, and the order is given by the the order of declaration of the reactions inside the reactor. It is then sufficient to declare the `disarm` reaction _before_ the `open` one. The diagram confirms the execution order by labeling the `disarm` reaction with 1 and the `open` reaction with 2. -The more challenging situation is when the inputs do not arrive together. In fact, if the command from the cockpit arrives before the clearance from the camera and the door processes it immediately, the door will be opened while still _armed_, and the evacuation slide will be deployed as if it was an emergency landing. The door, then, has to wait for both inputs before invoking the _opening_ service. -This is then an example of an application that cannot safely proceed its processing without assurance on its inputs. The following section explains how to obtain the desired behavior in Lingua Franca. +The problem is that even though the messages are _logically_ simultaneous, they do not arrive at the same _physical_ time. In fact, if the `open` command from the cockpit is likely to arrive before the clearance from the camera because the camera realizes an expensive computer-vision algorithm. The door, consequently, has to wait for both inputs before invoking the _opening_ service. + +This is then an example of an application that cannot safely proceed without assurance on its inputs. The following section explains how to obtain the desired behavior in Lingua Franca using the decentralized coordinator (the centralized coordinator automatically provides the required assurance). ### Consistency with decentralized coordination -The application is implemented as a federated program with decentralized coordination, which means that the advancement of logical time in each single federate is not subject to approval from any centralized entities, but it is done locally based on the input it receives from the other federates. +The application is implemented as a federated program with decentralized coordination, which means that the advancement of logical time in each single federate is not subject to approval from any centralized entities, but it is done locally based on the input it receives from the other federates and on its local physical clock. Let us consider the case when the `Door` reactor receives the _open_ command from the `Cockpit` reactor, but not yet the _disarm_ command from the `Camera` reactor. As previously observed, the `Door` cannot proceed to invoke the _opening_ service, because it needs to wait for the `Camera` to send the _disarm_ command. But how long should it wait? -Lingua Franca allows you to customize this waiting time. Each federate is associated with a parameter called [`maxwait`](/docs/writing-reactors/distributed-execution#safe-to-advance-sta) that controls how long the federate should wait for inputs from other federates before processing an input it has just received. -More precisely, `maxwait` is how much time a federate waits before advancing its tag to that of the just received event, when it is not known if the other input ports will receive data with the same or an earlier tag. At the expiration of the `maxwait`, the federate assumes that those unresolved ports will not receive any data with earlier tags, and advances its logical time to the tag of the received event. +The decentralized coordinator in +Lingua Franca allows you to customize this waiting time. Each federate can be assigned an attribute called [`maxwait`](/docs/writing-reactors/distributed-execution#safe-to-advance-sta) that controls how long the federate should wait for inputs from other federates before processing an event, such as an input it has just received. +More precisely, `maxwait` is the maximum amount of time a federate waits before advancing its logical time to some value _t_. Specifically, to advance to logical time _t_, the federate waits until either all inputs are known up to an including time _t_ or its local physical clock exceeds _t_ +`maxwait`. +An input is known up to an including time _t_ if message with timestamp _t_ or greater has been received on that input port. +At the expiration of the `maxwait`, the federate assumes that any unresolved ports will not receive any messages with timestamps _t_ or earlier. +It can then advance its logical time to _t_. -In our example, we want the door to _indefinitely wait_ for both _disarm_ and _open_ commands to arrive before processing any of them. In Lingua Franca, this is obtained by setting `maxwait = forever`, and it means that the `Door` reactor cannot safely proceed without assurance about the inputs. +In our example, we want the door to _wait indefinitely_ for both _disarm_ and _open_ commands to arrive before processing any of them. In Lingua Franca, this is obtained by setting `maxwait` to `forever`. The `Door` reactor cannot safely proceed without assurance about the inputs. The implementation of the `Door` reactor and its instantiation are shown below: @@ -51,23 +56,31 @@ reactor Door { state isOpen: bool = false reaction(disarm) {= - if (!self->isDisarmed) { + if (disarm->value) { self->isDisarmed = true; printf("Door disarmed\n"); + } else { + self->isDisarmed = false; + printf("Door armed\n"); } - =} maxwait {= + =} iflate {= printf("STP violation\n"); + printf("Intended tag: %lld\n", disarm->intended_tag); + printf("Current tag: %lld\n", lf_time_logical()); =} reaction(open) {= - if (self->isDisarmed) { - printf("Door open - normal mode\n"); + if (open->value) { + self->open = true; + printf("Door open\n"); } else { - // This should never happen - printf("Door open - !emergency mode!\n"); + self->open = false; + printf("Door closed\n"); } - =} maxwait {= + =} iflate {= printf("STP violation\n"); + printf("Intended tag: %lld\n", disarm->intended_tag); + printf("Current tag: %lld\n", lf_time_logical()); =} } @@ -83,18 +96,25 @@ federated reactor { v.ramp_present -> d.disarm } ``` -The reaction triggered by the `open` command prints on the standard output whether the door was _disarmed_ or not at the time of opening. We do not expect emergency openings with `maxwait` set to `forever`. -The `maxwait` parameter is specified at instantiation time within the main reactor. Right before creating the instance of the `Door` reactor for which we want to set the parameter, we use the `@maxwait` annotation that takes as input the new `maxwait` value. The reactions of the `Door` reactor that are triggered by remote inputs are associated with a [fault handler](/docs/writing-reactors/distributed-execution#safe-to-process-stp-violation-handling) that is invoked in the case of timing inconsistencies during input processing. This event will be thoroughly discussed in another blog post. +The `maxwait` attribute is specified at instantiation time within the main reactor. Right before creating the instance of the `Door` reactor for which we want to set the attribute, we use the `@maxwait` annotation that takes as input the `maxwait` value. + +The reactions of the `Door` reactor provide [fault handlers](/docs/writing-reactors/distributed-execution#safe-to-process-stp-violation-handling) that are invoked in case the the federate assumed inputs were known up to timestamp _t_ and then later received a message with timestamp _t_ or less. When `maxwait` is `forever`, these fault handlers should never be invoked. + +For finite values of `maxwait`, it is always possible for messages to get sufficiently delayed that the fault handlers will be invoked. +When they are invoked, the current tag will be greater than the intended tag of the message. +This type of fault is called a **safe-to-process** (**STP**) violation because messages are being handled out of tag order. +The intended tag of the input can be accessed as shown in the code above. ## Multirate inputs: the automatic emergency braking use case ![AutomaticEmergencyBrakingSystem diagram](../static/img/blog/AutomaticEmergencyBrakingSystem.svg) -Consider the above Lingua Franca implementation of an automatic emergency braking system, one of the most critical ADAS systems which modern cars are equipped with. -The controller system modeled by the `AutomaticEmergencyBraking` reactor reads data coming from two sensors, a lidar and a radar, and uses both to detect if objects or pedestrians cross the trajectory the car, thus performing _sensor fusion_. +Consider the above Lingua Franca implementation of an automatic emergency braking system, one of the most critical ADAS systems that modern cars are equipped with. +The controller system modeled by the `AutomaticEmergencyBraking` reactor reads data coming from two sensors, a lidar and a radar, and uses both to detect objects or pedestrians that cross the trajectory the car. +This is a _sensor fusion_ problem, where a diversity of sensors is used to get better reliability. When one of the two sensors signals the presence of an object at a distance shorter than a configurable threshold, the controller triggers the brake to stop the car and avoid crashing into it. -The sensors are modeled with their own timer that triggers the generation of data. The clocks of all federates are automatically synchronized by the [clock synchronization algorithm](/docs/writing-reactors/distributed-execution#clock-synchronization) of the Lingua Franca runtime. +The sensors are modeled with their own timer that triggers the generation of data. The clocks of all federates are automatically synchronized by the [clock synchronization algorithm](/docs/writing-reactors/distributed-execution#clock-synchronization) of the Lingua Franca runtime (unless this is disabled). Typically, in a real use case of this kind, the clock of sensor devices cannot be controlled by Lingua Franca, but a way to work around this limitation is to resample the data collected by sensors with the timing given by a clock that the runtime can control. The sensor reactors of our application are then modeling this resampling of sensor data that fits well with the Lingua Franca semantics for time determinism. @@ -111,18 +131,22 @@ The application is once agin implemented as a federated program with decentraliz Consistency problems may arise when a federate receives data from two or more federates, as it is the case of the `AutomaticEmergencyBraking` reactor. The controller expects to receive input from both sensors at times 0ms, 100ms, 200ms, etc. Let's consider as an example the case where the remote connection between the controller and the radar has a slightly larger delay than that between the controller and the lidar. The lidar input will then always arrive slightly earlier than the radar one. When the controller receives the lidar input, should it process the data immediately, or should it wait for the radar input to come? Sensor fusion requires consistency: if the controller processes the input from the lidar and then the radar data comes, the control action elaborated upon the arrival of the lidar data does not take into account both sensors, even though it should. Hence, in our use case, the `AutomaticEmergencyBraking` reactor needs to wait for both inputs before processing new data. -In our application, we aim to process all incoming data with the same logical time to realize sensor fusion. Hence, we set `maxwait = forever` to _indefinitely wait_ for the radar input before processing the radar. +In our application, if we aim to process all incoming data with the same logical time to realize sensor fusion, then we can set `maxwait = forever` to _wait indefinitely_ for the radar input before processing the radar. +Note that this might not be a good choice in this example because if a fault causes one of the sensors to stop sending messages, the ADAS system will stop working. +Hence, in practice, we will probably want a smaller value for `maxwait`, and we will want to add fault detection and mitigation to the application. +Fault handling will be addressed in a later blog. Here we assume no such faults. #### Availability challenge -However, setting `maxwait` to `forever` creates problems when only the lidar input is expected (50ms, 150ms, 250ms, etc): the controller cannot process that input until an input from the radar comes, because `maxwait` will never expire. For example, if the single lidar input comes at time 50ms, it has to wait until time 100ms before being processed. If that input was signaling the presence of a close object, the detection would be delayed by 50ms, which may potentially mean crashing into the object. The automatic emergency braking system must be available, otherwise it might not brake in time to avoid collisions. +Even without faults, however, setting `maxwait` to `forever` creates problems when only the lidar input is expected (50ms, 150ms, 250ms, etc): the controller cannot process that input until an input from the radar comes, because `maxwait` will never expire. For example, if the single lidar input comes at time 50ms, it has to wait until time 100ms before being processed. If that input was signaling the presence of a close object, the detection would be delayed by 50ms, which may potentially mean crashing into the object. The automatic emergency braking system must be available, otherwise it might not brake in time to avoid collisions. The ideal `maxwait` value for maximum availability in the time instants with only the lidar input is 0, because if a single input is expected, no wait is necessary. Summing up, consistency for sensor fusion requires `maxwait = forever` when inputs from both sensors are expected, while availability calls for `maxwait = 0` when only the lidar input is coming. The two values are at odds, and any value in between would mean sacrificing both properties at the same time. ### Dynamic adjustment of `maxwait` The knowledge of the timing properties of the application under analysis enables the _a priori_ determination of the time instants when both inputs are expected and those when only the lidar has new data available. -Lingua Franca allows to dynamically change the `maxwait` in the reaction body using the `lf_set_maxwait` API, that takes as input parameter the new `maxwait` value to set. +Lingua Franca allows to dynamically change the `maxwait` in the reaction body using the `lf_set_fed_maxwait` API, that takes as input parameter the new `maxwait` value to set. This capability of the language permits the automatic emergency braking federate to: + * start with `maxwait` statically set to `forever`, because at time 0 (startup) both sensors produce data; * set `maxwait` to 0 after processing both inputs with the same logical time, because the next data will be sent by the lidar only; * set `maxwait` back to `forever` after processing the radar input alone, because the next data will be sent by both sensors. @@ -131,21 +155,23 @@ This dynamic solution guarantees both consistency and availability in all input The implementation and the instantiation of the `AutomaticEmergencyBraking` reactor are shown below: ```lf-c -reactor AutomaticEmergencyBraking(dist_thld: float = 20.0) { +reactor AutomaticEmergencyBraking { input lidar_in: float input radar_in: float output brake: int state n_invocs: int = 0 reaction (lidar_in, radar_in) -> brake {= - if (lf_is_present(lidar_in) && lidar_in->value < self->dist_thld) { - printf("Lidar has detected close object -> signaling braking\n"); - lf_set(brake, 1); - lf_request_stop(); - } else if (lf_is_present(radar_in) && radar_in->value < self->dist_thld) { - printf("Radar has detected close object -> signaling braking\n"); - lf_set(brake, 1); - lf_request_stop(); + if (lidar_in->is_present && radar_in->is_present) { + if (sensor_fusion(lidar_in->value, radar_in->value) { + printf("Sensors detect a close object -> signaling braking\n"); + lf_set(brake, 1); + } + } else if (lidar_in->is_present) { + if (lidar_analysis(lidar_in->value)) { + printf("Lidar has detected close object -> signaling braking\n"); + lf_set(brake, 1); + } } self->n_invocs++; @@ -156,7 +182,7 @@ reactor AutomaticEmergencyBraking(dist_thld: float = 20.0) { } =} deadline(100ms) {= printf("AEB deadline violated\n"); - =} maxwait {= + =} islate {= printf("STP violation on AEB\n"); =} @@ -176,6 +202,9 @@ reactor AutomaticEmergencyBraking(dist_thld: float = 20.0) { } ``` -The `dist_thld` parameter is the distance threshold from detected objects below which the `AutomaticEmergencyBraking` reactor activates the brakes. -The reaction body reads the distance reported by both the lidar and the radar, and if any of these is less than the threshold, it sends a signal to the `BrakingSystem` reactor. -The `n_invocs` integer state variable counts the number of times the reaction of the `AutomaticEmergencyBraking` reactor is invoked. This variable is used to determine how many inputs the reaction will see at the next invocation and set the `maxwait` accordingly. Even invocation numbers mean that the next reaction invocation will happen with both sensor inputs present, so `maxwait` is set to `forever`; with odd invocation numbers, the next reaction invocation will see new data from the lidar only, and `maxwait` is then set to 0. \ No newline at end of file +The `sensor_fusion()` function combines the data and returns `true` if braking is needed. +The `lidar_analysis()` function uses only lidar data to make a (presumably more conservative) decision. +The `n_invocs` integer state variable counts the number of times the reaction of the `AutomaticEmergencyBraking` reactor is invoked. This variable is used to determine how many inputs the reaction will see at the next invocation and set the `maxwait` accordingly. Even invocation numbers mean that the next reaction invocation will happen with both sensor inputs present, so `maxwait` is set to `forever`; with odd invocation numbers, the next reaction invocation will see new data from the lidar only, and `maxwait` is then set to 0. + +Clear, detecting and handling faults would be needed in practical implementation. +This will be the topic of a subsequent blog. From c7ddfe8b01a7402dd09741c9e2fa2ff4a54cac0d Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Sun, 12 Oct 2025 17:50:24 -0700 Subject: [PATCH 09/17] Typo --- blog/2025-09-18-decentralized-consistency.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/blog/2025-09-18-decentralized-consistency.md b/blog/2025-09-18-decentralized-consistency.md index 4f9070a38..41e4f121b 100644 --- a/blog/2025-09-18-decentralized-consistency.md +++ b/blog/2025-09-18-decentralized-consistency.md @@ -182,7 +182,7 @@ reactor AutomaticEmergencyBraking { } =} deadline(100ms) {= printf("AEB deadline violated\n"); - =} islate {= + =} iflate {= printf("STP violation on AEB\n"); =} From 466831c175210e5b73d0e7435fa3198667707788 Mon Sep 17 00:00:00 2001 From: fra-p Date: Tue, 14 Oct 2025 19:05:58 +0200 Subject: [PATCH 10/17] Fixed small blog typo --- blog/2025-09-18-decentralized-consistency.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/blog/2025-09-18-decentralized-consistency.md b/blog/2025-09-18-decentralized-consistency.md index 41e4f121b..87c5ab5a9 100644 --- a/blog/2025-09-18-decentralized-consistency.md +++ b/blog/2025-09-18-decentralized-consistency.md @@ -27,7 +27,7 @@ The purpose of the system is to open the door in reaction to the command from th The order in which messages are processed is crucial in this application. When the _disarm_ and _open_ commands arrive with the same tag, the _disarm_ service needs to be invoked before opening the door, otherwise the escape slide will be erroneously deployed. Lingua Franca guarantees determinism in the execution order of reactions with logically simultaneous inputs, and the order is given by the the order of declaration of the reactions inside the reactor. It is then sufficient to declare the `disarm` reaction _before_ the `open` one. The diagram confirms the execution order by labeling the `disarm` reaction with 1 and the `open` reaction with 2. -The problem is that even though the messages are _logically_ simultaneous, they do not arrive at the same _physical_ time. In fact, if the `open` command from the cockpit is likely to arrive before the clearance from the camera because the camera realizes an expensive computer-vision algorithm. The door, consequently, has to wait for both inputs before invoking the _opening_ service. +The problem is that even though the messages are _logically_ simultaneous, they do not arrive at the same _physical_ time. In fact, the `open` command from the cockpit is likely to arrive before the clearance from the camera because the camera realizes an expensive computer-vision algorithm. The door, consequently, has to wait for both inputs before invoking the _opening_ service. This is then an example of an application that cannot safely proceed without assurance on its inputs. The following section explains how to obtain the desired behavior in Lingua Franca using the decentralized coordinator (the centralized coordinator automatically provides the required assurance). From bb4aec0e9804a361a43917d53770b0026927443f Mon Sep 17 00:00:00 2001 From: fra-p Date: Wed, 15 Oct 2025 01:47:01 +0200 Subject: [PATCH 11/17] Changed terminology for STP handlers in blog post --- blog/2025-09-18-decentralized-consistency.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/blog/2025-09-18-decentralized-consistency.md b/blog/2025-09-18-decentralized-consistency.md index 87c5ab5a9..1ea00838c 100644 --- a/blog/2025-09-18-decentralized-consistency.md +++ b/blog/2025-09-18-decentralized-consistency.md @@ -63,7 +63,7 @@ reactor Door { self->isDisarmed = false; printf("Door armed\n"); } - =} iflate {= + =} tardy {= printf("STP violation\n"); printf("Intended tag: %lld\n", disarm->intended_tag); printf("Current tag: %lld\n", lf_time_logical()); @@ -77,7 +77,7 @@ reactor Door { self->open = false; printf("Door closed\n"); } - =} iflate {= + =} tardy {= printf("STP violation\n"); printf("Intended tag: %lld\n", disarm->intended_tag); printf("Current tag: %lld\n", lf_time_logical()); @@ -182,7 +182,7 @@ reactor AutomaticEmergencyBraking { } =} deadline(100ms) {= printf("AEB deadline violated\n"); - =} iflate {= + =} tardy {= printf("STP violation on AEB\n"); =} From 90ae822b8f96ce28638d3422548f1f750a6f254f Mon Sep 17 00:00:00 2001 From: fra-p Date: Wed, 15 Oct 2025 01:48:59 +0200 Subject: [PATCH 12/17] Updated date of blog post --- ...zed-consistency.md => 2025-10-14-decentralized-consistency.md} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename blog/{2025-09-18-decentralized-consistency.md => 2025-10-14-decentralized-consistency.md} (100%) diff --git a/blog/2025-09-18-decentralized-consistency.md b/blog/2025-10-14-decentralized-consistency.md similarity index 100% rename from blog/2025-09-18-decentralized-consistency.md rename to blog/2025-10-14-decentralized-consistency.md From cb34ab09f76f2ad4eeb31f248c64c5e4d98d9410 Mon Sep 17 00:00:00 2001 From: fra-p Date: Fri, 17 Oct 2025 04:52:39 +0200 Subject: [PATCH 13/17] Fixed typos and changed tag --- blog/2025-10-14-decentralized-consistency.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/blog/2025-10-14-decentralized-consistency.md b/blog/2025-10-14-decentralized-consistency.md index 1ea00838c..b72b64274 100644 --- a/blog/2025-10-14-decentralized-consistency.md +++ b/blog/2025-10-14-decentralized-consistency.md @@ -2,7 +2,7 @@ slug: decentralized-consistency title: "Decentralized Consistency" authors: [fra-p, eal, rcakella] -tags: [lingua franca, federation, decentralized, consistency, STA] +tags: [lingua franca, federation, decentralized, consistency, maxwait] --- The design of [distributed applications](/docs/writing-reactors/distributed-execution) in Lingua Franca requires care, particularly if the coordination of the federation is [decentralized](/docs/writing-reactors/distributed-execution#decentralized-coordination). The intent of this post is to illustrate and handle the challenges arising from designing distributed applications in Lingua Franca, with the help of two realistic use cases. @@ -40,7 +40,7 @@ But how long should it wait? The decentralized coordinator in Lingua Franca allows you to customize this waiting time. Each federate can be assigned an attribute called [`maxwait`](/docs/writing-reactors/distributed-execution#safe-to-advance-sta) that controls how long the federate should wait for inputs from other federates before processing an event, such as an input it has just received. More precisely, `maxwait` is the maximum amount of time a federate waits before advancing its logical time to some value _t_. Specifically, to advance to logical time _t_, the federate waits until either all inputs are known up to an including time _t_ or its local physical clock exceeds _t_ +`maxwait`. -An input is known up to an including time _t_ if message with timestamp _t_ or greater has been received on that input port. +An input is known up to an including time _t_ if a message with timestamp _t_ or greater has been received on that input port. At the expiration of the `maxwait`, the federate assumes that any unresolved ports will not receive any messages with timestamps _t_ or earlier. It can then advance its logical time to _t_. @@ -99,7 +99,7 @@ federated reactor { The `maxwait` attribute is specified at instantiation time within the main reactor. Right before creating the instance of the `Door` reactor for which we want to set the attribute, we use the `@maxwait` annotation that takes as input the `maxwait` value. -The reactions of the `Door` reactor provide [fault handlers](/docs/writing-reactors/distributed-execution#safe-to-process-stp-violation-handling) that are invoked in case the the federate assumed inputs were known up to timestamp _t_ and then later received a message with timestamp _t_ or less. When `maxwait` is `forever`, these fault handlers should never be invoked. +The reactions of the `Door` reactor provide [fault handlers](/docs/writing-reactors/distributed-execution#safe-to-process-stp-violation-handling) that are invoked in case the federate assumed inputs were known up to timestamp _t_ and then later received a message with timestamp _t_ or less. When `maxwait` is `forever`, these fault handlers should never be invoked. For finite values of `maxwait`, it is always possible for messages to get sufficiently delayed that the fault handlers will be invoked. When they are invoked, the current tag will be greater than the intended tag of the message. From 98316e1092223a9687efd104b1b3f23327c24868 Mon Sep 17 00:00:00 2001 From: fra-p Date: Tue, 21 Oct 2025 21:05:26 +0200 Subject: [PATCH 14/17] Updated maxwait set API and swapped deadline and tardy handlers --- blog/2025-10-14-decentralized-consistency.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/blog/2025-10-14-decentralized-consistency.md b/blog/2025-10-14-decentralized-consistency.md index b72b64274..b90871dba 100644 --- a/blog/2025-10-14-decentralized-consistency.md +++ b/blog/2025-10-14-decentralized-consistency.md @@ -176,14 +176,14 @@ reactor AutomaticEmergencyBraking { self->n_invocs++; if (self->n_invocs % 2) { - lf_set_maxwait(0); + lf_set_fed_maxwait(0); } else { - lf_set_maxwait(FOREVER); + lf_set_fed_maxwait(FOREVER); } - =} deadline(100ms) {= - printf("AEB deadline violated\n"); =} tardy {= printf("STP violation on AEB\n"); + =} deadline(100ms) {= + printf("AEB deadline violated\n"); =} federated reactor { From 33ada8331023f5fb9a382c37520baed5c494db8b Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Sun, 26 Oct 2025 03:16:24 -0700 Subject: [PATCH 15/17] A few minor edits --- blog/2025-10-14-decentralized-consistency.md | 38 ++++++++++---------- 1 file changed, 19 insertions(+), 19 deletions(-) diff --git a/blog/2025-10-14-decentralized-consistency.md b/blog/2025-10-14-decentralized-consistency.md index b90871dba..d05a78ef7 100644 --- a/blog/2025-10-14-decentralized-consistency.md +++ b/blog/2025-10-14-decentralized-consistency.md @@ -7,18 +7,18 @@ tags: [lingua franca, federation, decentralized, consistency, maxwait] The design of [distributed applications](/docs/writing-reactors/distributed-execution) in Lingua Franca requires care, particularly if the coordination of the federation is [decentralized](/docs/writing-reactors/distributed-execution#decentralized-coordination). The intent of this post is to illustrate and handle the challenges arising from designing distributed applications in Lingua Franca, with the help of two realistic use cases. -## Indefinite wait for inputs: the aircraft door use case +## Indefinite wait for inputs: aircraft door use case Aircraft doors on passenger flights are currently managed manually by flight attendants. -Before the take-off, the flight attendants _arm_ the door: if the door is opened in this state, an evacuation slide is automatically inflated and deployed for emergency landing. -When the aircraft lands in normal and safe conditions, before opening the door, the flight attendants _disarm_ it to avoid the deployment of the evacuation slide. -Flight attendants, however, are allowed to disarm the door _only_ when they see from the porthole the ramp that will allow the passengers to disembark the aircraft. +Before takeoff, the flight attendants _arm_ the door; if the door is opened in this state, an evacuation slide is automatically inflated and deployed for emergency evacuation. +When the aircraft is at a gate, before opening the door, the flight attendants _disarm_ it to avoid the deployment of the evacuation slide. +Flight attendants are allowed to disarm the door _only_ when they see through the porthole the ramp that will allow the passengers to disembark the aircraft. ![AircraftDoor diagram](../static/img/blog/AircraftDoor.svg) -Consider the above Lingua Franca program that implements a simplified system to remotely open the aircraft door that is in the _armed_ state. +Consider the above Lingua Franca program that implements a simplified system to remotely open an aircraft door that is in the _armed_ state. The door implements two independent remote services, door _disarming_ and door _opening_, encoded by two different reactions in the `Door` reactor. -We imagine that the pilot interacting with the cockpit issues the command to open the door that triggers the door opening service. -We would also like to automate the disarming of the door using a camera. When the camera determines that the ramp is attached to the aircraft, it triggers the disarming service of the door. The camera detection is triggered by the door open command issued by the cockpit. +Suppose the pilot in the cockpit issues a command to open the door. +We would also like to automate the disarming of the door using a camera to verify the presence of a ramp. When the camera determines that the ramp is present, it triggers the disarming service. The camera detection is triggered by the door open command issued from the cockpit. There are different ways to design and refactor the above system, for example, by removing the direct connection between the `Cockpit` and `Door` reactors. Our design choice is meant to highlight that door _disarming_ and _opening_ are two different and independent remote services triggered by two different commands issued by two different system actors. Therefore, each actor has an independent connection to the door to request its service. @@ -27,9 +27,9 @@ The purpose of the system is to open the door in reaction to the command from th The order in which messages are processed is crucial in this application. When the _disarm_ and _open_ commands arrive with the same tag, the _disarm_ service needs to be invoked before opening the door, otherwise the escape slide will be erroneously deployed. Lingua Franca guarantees determinism in the execution order of reactions with logically simultaneous inputs, and the order is given by the the order of declaration of the reactions inside the reactor. It is then sufficient to declare the `disarm` reaction _before_ the `open` one. The diagram confirms the execution order by labeling the `disarm` reaction with 1 and the `open` reaction with 2. -The problem is that even though the messages are _logically_ simultaneous, they do not arrive at the same _physical_ time. In fact, the `open` command from the cockpit is likely to arrive before the clearance from the camera because the camera realizes an expensive computer-vision algorithm. The door, consequently, has to wait for both inputs before invoking the _opening_ service. +The problem is that even though the messages are _logically_ simultaneous, they do not arrive at the same _physical_ time. In fact, the `open` command from the cockpit is likely to arrive before the clearance from the camera because the camera realizes an expensive computer vision algorithm. The door, consequently, has to wait for both inputs before invoking the _opening_ service. -This is then an example of an application that cannot safely proceed without assurance on its inputs. The following section explains how to obtain the desired behavior in Lingua Franca using the decentralized coordinator (the centralized coordinator automatically provides the required assurance). +This is an example of an application that cannot safely proceed without assurance on its inputs. The following section explains how to obtain the desired behavior in Lingua Franca using the decentralized coordinator (the centralized coordinator automatically provides the required assurance). ### Consistency with decentralized coordination The application is implemented as a federated program with decentralized coordination, which means that the advancement of logical time in each single federate is not subject to approval from any centralized entities, but it is done locally based on the input it receives from the other federates and on its local physical clock. @@ -106,7 +106,7 @@ When they are invoked, the current tag will be greater than the intended tag of This type of fault is called a **safe-to-process** (**STP**) violation because messages are being handled out of tag order. The intended tag of the input can be accessed as shown in the code above. -## Multirate inputs: the automatic emergency braking use case +## Multirate inputs: automatic emergency braking ![AutomaticEmergencyBrakingSystem diagram](../static/img/blog/AutomaticEmergencyBrakingSystem.svg) Consider the above Lingua Franca implementation of an automatic emergency braking system, one of the most critical ADAS systems that modern cars are equipped with. @@ -116,15 +116,15 @@ When one of the two sensors signals the presence of an object at a distance shor The sensors are modeled with their own timer that triggers the generation of data. The clocks of all federates are automatically synchronized by the [clock synchronization algorithm](/docs/writing-reactors/distributed-execution#clock-synchronization) of the Lingua Franca runtime (unless this is disabled). Typically, in a real use case of this kind, the clock of sensor devices cannot be controlled by Lingua Franca, but a way to work around this limitation is to resample the data collected by sensors with the timing given by a clock that the runtime can control. -The sensor reactors of our application are then modeling this resampling of sensor data that fits well with the Lingua Franca semantics for time determinism. +The sensor reactors of our application are then modeling this resampling of sensor data so that alignment of data from the two sensors is well defined and sensor fusion becomes possible. -The lidar sensor has a sampling frequency that is twice that of the radar, and this is reflected by the timer in the corresponding reactors: the lidar timer has a period of 50ms, while that of the radar 100ms. +The lidar sensor has a sampling frequency that is twice that of the radar, as indicated by the timers in the corresponding reactors; the lidar timer has a period of 50ms, while that of the radar 100ms. Their deadline is equal to their period and is enforced using the dedicated `DeadlineCheck` reactors, following the guidelines of how to [work with deadlines](/blog/deadlines). -The sensor behavior in the application is simulated in a way that each sensor constantly produces distance values above the threshold (i.e., no objects in the way), and then at a random time it sends a distance value below the threshold, indicating the presence of a close object. When the `AutomaticEmergencyBraking` reactor receives that message, it signals the `BrakingSystem` reactor to brake the car, and the whole system shuts down. +The sensor behavior in the application can be simulated for testing purposes in a way that each sensor constantly produces distance values above the threshold (i.e., no objects in the way), and then at a random time it sends a distance value below the threshold, indicating the presence of a close object. When the `AutomaticEmergencyBraking` reactor receives that message, it signals the `BrakingSystem` reactor to brake the car, and the whole system shuts down. ### Desired system properties -Availability is a crucial property of this application, because we want the automatic emergency braking system to brake as fast as possible when a close object is detected. Consistency is also necessary, as sensor fusion happens with sensor data produced at the same logical time. Even if this is not implemented in our simplified example, sensor fusion in a more general scenario helps rule out false positives, i.e., cases in which one of the sensors erroneously detects a close object that would induce an unnecessary and dangerous braking. False positives are caused by the weaknesses of the specific sensor. For example, rainy or foggy weather reduce the accuracy of lidar sensors. The key concept is to gather data produced at the same logical time by all sensors and combine them to have a more accurate estimate of possible collisions. Consistency and in-order data processing are then required. +Availability is a crucial property of this application, because we want the automatic emergency braking system to brake as fast as possible when a close object is detected. Consistency is also necessary, as sensor fusion happens with sensor data produced at the same logical time. Even if this is not implemented in our simplified example, sensor fusion in a more general scenario helps rule out false positives, i.e., cases in which one of the sensors erroneously detects a close object that would induce an unnecessary and dangerous braking. False positives are caused by the weaknesses of the specific sensor. For example, rainy or foggy weather reduces the accuracy of lidar sensors. The key concept is to gather data produced at the same logical time by all sensors and combine them to have a more accurate estimate of possible collisions. Consistency and in-order data processing are then required. #### Consistency challenge The application is once agin implemented as a federated program with decentralized coordination. @@ -140,18 +140,18 @@ Fault handling will be addressed in a later blog. Here we assume no such faults. Even without faults, however, setting `maxwait` to `forever` creates problems when only the lidar input is expected (50ms, 150ms, 250ms, etc): the controller cannot process that input until an input from the radar comes, because `maxwait` will never expire. For example, if the single lidar input comes at time 50ms, it has to wait until time 100ms before being processed. If that input was signaling the presence of a close object, the detection would be delayed by 50ms, which may potentially mean crashing into the object. The automatic emergency braking system must be available, otherwise it might not brake in time to avoid collisions. The ideal `maxwait` value for maximum availability in the time instants with only the lidar input is 0, because if a single input is expected, no wait is necessary. -Summing up, consistency for sensor fusion requires `maxwait = forever` when inputs from both sensors are expected, while availability calls for `maxwait = 0` when only the lidar input is coming. The two values are at odds, and any value in between would mean sacrificing both properties at the same time. +Summing up, consistency for sensor fusion requires `maxwait = forever` when inputs from both sensors are expected (or some finite value for fault tolerance), while availability calls for `maxwait = 0` when only the lidar input is coming. The two values are at odds, and any value in between would mean sacrificing both properties at the same time. ### Dynamic adjustment of `maxwait` The knowledge of the timing properties of the application under analysis enables the _a priori_ determination of the time instants when both inputs are expected and those when only the lidar has new data available. Lingua Franca allows to dynamically change the `maxwait` in the reaction body using the `lf_set_fed_maxwait` API, that takes as input parameter the new `maxwait` value to set. This capability of the language permits the automatic emergency braking federate to: -* start with `maxwait` statically set to `forever`, because at time 0 (startup) both sensors produce data; +* start with `maxwait` statically set to `forever` (or some finite value for fault tolerance), because at time 0 (startup) both sensors produce data; * set `maxwait` to 0 after processing both inputs with the same logical time, because the next data will be sent by the lidar only; * set `maxwait` back to `forever` after processing the radar input alone, because the next data will be sent by both sensors. -This dynamic solution guarantees both consistency and availability in all input cases. +This dynamic solution guarantees both consistency and availability as long as lidar data arrives within 50 ms. The implementation and the instantiation of the `AutomaticEmergencyBraking` reactor are shown below: ```lf-c @@ -204,7 +204,7 @@ reactor AutomaticEmergencyBraking { The `sensor_fusion()` function combines the data and returns `true` if braking is needed. The `lidar_analysis()` function uses only lidar data to make a (presumably more conservative) decision. -The `n_invocs` integer state variable counts the number of times the reaction of the `AutomaticEmergencyBraking` reactor is invoked. This variable is used to determine how many inputs the reaction will see at the next invocation and set the `maxwait` accordingly. Even invocation numbers mean that the next reaction invocation will happen with both sensor inputs present, so `maxwait` is set to `forever`; with odd invocation numbers, the next reaction invocation will see new data from the lidar only, and `maxwait` is then set to 0. +The `n_invocs` integer state variable counts the number of times the reaction of the `AutomaticEmergencyBraking` reactor is invoked. This variable is used to determine how many inputs the reaction expects to see at the next invocation and set the `maxwait` accordingly. Even invocation numbers mean that the next reaction invocation will happen with both sensor inputs present, so `maxwait` is set to `forever`; with odd invocation numbers, the next reaction invocation will see new data from the lidar only, and `maxwait` is then set to 0. -Clear, detecting and handling faults would be needed in practical implementation. +Clearly, detecting and handling faults would be needed in practical implementation. This will be the topic of a subsequent blog. From f109a6a4e77c765b344c9e43d1acaf1a1f3152e8 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Mon, 27 Oct 2025 08:20:46 -0700 Subject: [PATCH 16/17] Update documentation for decentralized coordination --- .../code/c/src/DecentralizedTimerAfter.lf | 4 +- ...andler.lf => DecentralizedTimerHandler.lf} | 5 +- .../code/c/src/DecentralizedTimerSTA.lf | 3 +- ...kSTAA.lf => DecentralizedZeroDelayLoop.lf} | 10 +- .../DecentralizedZeroDelayLoopWithChecker.lf | 28 + .../code/py/src/DecentralizedTimerAfter.lf | 4 +- ...andler.lf => DecentralizedTimerHandler.lf} | 5 +- .../code/py/src/DecentralizedTimerSTA.lf | 3 +- ...kSTAA.lf => DecentralizedZeroDelayLoop.lf} | 6 +- .../DecentralizedZeroDelayLoopWithChecker.lf | 23 + .../diagrams/DecentralizedZeroDelayLoop.svg | 1 + .../DecentralizedZeroDelayLoopWithChecker.svg | 1 + .../distributed-execution.mdx | 119 +- yarn.lock | 2145 +++++++---------- 14 files changed, 1049 insertions(+), 1308 deletions(-) rename docs/assets/code/c/src/{DecentralizedTimerAfterHandler.lf => DecentralizedTimerHandler.lf} (93%) rename docs/assets/code/c/src/{DecentralizedFeedbackSTAA.lf => DecentralizedZeroDelayLoop.lf} (81%) create mode 100644 docs/assets/code/c/src/DecentralizedZeroDelayLoopWithChecker.lf rename docs/assets/code/py/src/{DecentralizedTimerAfterHandler.lf => DecentralizedTimerHandler.lf} (93%) rename docs/assets/code/py/src/{DecentralizedFeedbackSTAA.lf => DecentralizedZeroDelayLoop.lf} (91%) create mode 100644 docs/assets/code/py/src/DecentralizedZeroDelayLoopWithChecker.lf create mode 100644 docs/assets/images/diagrams/DecentralizedZeroDelayLoop.svg create mode 100644 docs/assets/images/diagrams/DecentralizedZeroDelayLoopWithChecker.svg diff --git a/docs/assets/code/c/src/DecentralizedTimerAfter.lf b/docs/assets/code/c/src/DecentralizedTimerAfter.lf index 41d629cba..20180a31f 100644 --- a/docs/assets/code/c/src/DecentralizedTimerAfter.lf +++ b/docs/assets/code/c/src/DecentralizedTimerAfter.lf @@ -6,7 +6,7 @@ target C { import Count, Print from "Federated.lf" reactor PrintTimer extends Print { - timer t(0, 1 sec) + timer t(10 ms, 1 sec) reaction(t) {= lf_print("Timer ticked at (%lld, %d).", @@ -18,5 +18,5 @@ reactor PrintTimer extends Print { federated reactor { c = new Count() p = new PrintTimer() - c.out -> p.in after 10 msec + c.out -> p.in after 10 ms } diff --git a/docs/assets/code/c/src/DecentralizedTimerAfterHandler.lf b/docs/assets/code/c/src/DecentralizedTimerHandler.lf similarity index 93% rename from docs/assets/code/c/src/DecentralizedTimerAfterHandler.lf rename to docs/assets/code/c/src/DecentralizedTimerHandler.lf index 56016919b..0d3d0e2ba 100644 --- a/docs/assets/code/c/src/DecentralizedTimerAfterHandler.lf +++ b/docs/assets/code/c/src/DecentralizedTimerHandler.lf @@ -13,7 +13,7 @@ reactor PrintTimer { lf_print("Received: %d at (%lld, %d)", in->value, lf_time_logical_elapsed(), lf_tag().microstep ); - =} STAA(0) {= + =} tardy {= lf_print("****** Violation handler invoked at (%lld, %d). " "Intended tag was (%lld, %d).", lf_time_logical_elapsed(), lf_tag().microstep, @@ -30,6 +30,7 @@ reactor PrintTimer { federated reactor { c = new Count() + @maxwait(10 ms) p = new PrintTimer() - c.out -> p.in after 10 msec + c.out -> p.in } diff --git a/docs/assets/code/c/src/DecentralizedTimerSTA.lf b/docs/assets/code/c/src/DecentralizedTimerSTA.lf index cc64a1f5a..4f5b961f6 100644 --- a/docs/assets/code/c/src/DecentralizedTimerSTA.lf +++ b/docs/assets/code/c/src/DecentralizedTimerSTA.lf @@ -5,7 +5,7 @@ target C { import Count, Print from "Federated.lf" -reactor PrintTimer(STA: time = 10 ms) extends Print { +reactor PrintTimer extends Print { timer t(0, 1 sec) reaction(t) {= @@ -17,6 +17,7 @@ reactor PrintTimer(STA: time = 10 ms) extends Print { federated reactor { c = new Count() + @maxwait(10 ms) p = new PrintTimer() c.out -> p.in } diff --git a/docs/assets/code/c/src/DecentralizedFeedbackSTAA.lf b/docs/assets/code/c/src/DecentralizedZeroDelayLoop.lf similarity index 81% rename from docs/assets/code/c/src/DecentralizedFeedbackSTAA.lf rename to docs/assets/code/c/src/DecentralizedZeroDelayLoop.lf index 1dd9aab37..0d08e10d2 100644 --- a/docs/assets/code/c/src/DecentralizedFeedbackSTAA.lf +++ b/docs/assets/code/c/src/DecentralizedZeroDelayLoop.lf @@ -1,4 +1,5 @@ target C { + timeout: 3 s, coordination: decentralized } @@ -16,14 +17,14 @@ reactor CountPrint { lf_print("***** CountPrint Received: %d at tag (%lld, %u)", in->value, lf_time_logical_elapsed(), lf_tag().microstep ); - =} STAA(forever) {= - // This should never happen, but it is here to demonstrate the STAA violation handler. - lf_print_warning("CountPrint: Safe to process violation!"); + =} tardy {= + // This should never happen, but it is here to demonstrate the tardy violation handler. + lf_print_warning("CountPrint: Message is tardy!"); lf_print("Intended time: %lld", in->intended_tag.time - lf_time_start()); =} } -reactor Double(STA: time = forever) { +reactor Double { input in: int output out: int @@ -36,5 +37,6 @@ federated reactor { c = new CountPrint() p = new Double() c.out -> p.in + @absent_after(forever) p.out -> c.in } diff --git a/docs/assets/code/c/src/DecentralizedZeroDelayLoopWithChecker.lf b/docs/assets/code/c/src/DecentralizedZeroDelayLoopWithChecker.lf new file mode 100644 index 000000000..f4273acbe --- /dev/null +++ b/docs/assets/code/c/src/DecentralizedZeroDelayLoopWithChecker.lf @@ -0,0 +1,28 @@ +target C { + timeout: 3 s, + coordination: decentralized +} + +import CountPrint, Double from "DecentralizedZeroDelayLoop.lf" +reactor CountPrintWithChecker extends CountPrint { + + reaction(t, in) {= + if (!in->is_present) { + lf_print("***** CountPrint Failed to Receive response at tag (%lld, %u)", + lf_time_logical_elapsed(), lf_tag().microstep + ); + } + =} tardy {= + lf_print("***** CountPrint Received tardy input: %d at tag (%lld, %u)", + in->value, lf_time_logical_elapsed(), lf_tag().microstep + ); + =} +} + +federated reactor { + c = new CountPrintWithChecker() + p = new Double() + c.out -> p.in + @absent_after(20 ms) + p.out -> c.in +} diff --git a/docs/assets/code/py/src/DecentralizedTimerAfter.lf b/docs/assets/code/py/src/DecentralizedTimerAfter.lf index d83b54f42..0d5b15ca0 100644 --- a/docs/assets/code/py/src/DecentralizedTimerAfter.lf +++ b/docs/assets/code/py/src/DecentralizedTimerAfter.lf @@ -6,7 +6,7 @@ target Python { import Count, Print from "Federated.lf" reactor PrintTimer extends Print { - timer t(0, 1 sec) + timer t(10 ms, 1 sec) reaction(t) {= print( @@ -19,5 +19,5 @@ reactor PrintTimer extends Print { federated reactor { c = new Count() p = new PrintTimer() - c.out -> p.inp after 10 msec + c.out -> p.inp after 10 ms } diff --git a/docs/assets/code/py/src/DecentralizedTimerAfterHandler.lf b/docs/assets/code/py/src/DecentralizedTimerHandler.lf similarity index 93% rename from docs/assets/code/py/src/DecentralizedTimerAfterHandler.lf rename to docs/assets/code/py/src/DecentralizedTimerHandler.lf index 767d53319..01981fac2 100644 --- a/docs/assets/code/py/src/DecentralizedTimerAfterHandler.lf +++ b/docs/assets/code/py/src/DecentralizedTimerHandler.lf @@ -14,7 +14,7 @@ reactor PrintTimer { f"Received: {inp.value} " f"at ({lf.time.logical_elapsed()}, {lf.tag().microstep})" ) - =} STAA(0) {= + =} tardy {= print( "****** Violation handler invoked at " f"({lf.time.logical_elapsed()}, {lf.tag().microstep}). " @@ -33,6 +33,7 @@ reactor PrintTimer { federated reactor { c = new Count() + @maxwait(10 ms) p = new PrintTimer() - c.out -> p.inp after 10 msec + c.out -> p.inp } diff --git a/docs/assets/code/py/src/DecentralizedTimerSTA.lf b/docs/assets/code/py/src/DecentralizedTimerSTA.lf index a5b90062b..e923108e3 100644 --- a/docs/assets/code/py/src/DecentralizedTimerSTA.lf +++ b/docs/assets/code/py/src/DecentralizedTimerSTA.lf @@ -5,7 +5,7 @@ target Python { import Count, Print from "Federated.lf" -reactor PrintTimer(STA = 10 ms) extends Print { +reactor PrintTimer extends Print { timer t(0, 1 sec) reaction(t) {= @@ -18,6 +18,7 @@ reactor PrintTimer(STA = 10 ms) extends Print { federated reactor { c = new Count() + @maxwait(10 ms) p = new PrintTimer() c.out -> p.inp } diff --git a/docs/assets/code/py/src/DecentralizedFeedbackSTAA.lf b/docs/assets/code/py/src/DecentralizedZeroDelayLoop.lf similarity index 91% rename from docs/assets/code/py/src/DecentralizedFeedbackSTAA.lf rename to docs/assets/code/py/src/DecentralizedZeroDelayLoop.lf index d98f7c562..23b4180b8 100644 --- a/docs/assets/code/py/src/DecentralizedFeedbackSTAA.lf +++ b/docs/assets/code/py/src/DecentralizedZeroDelayLoop.lf @@ -1,4 +1,5 @@ target Python { + timeout: 3 s, coordination: decentralized } @@ -15,14 +16,14 @@ reactor CountPrint { reaction(inp) {= print(f"***** CountPrint Received: {inp.value} at tag ({lf.time.logical_elapsed()}, {lf.tag().microstep})") - =} STAA(forever) {= + =} tardy {= # This should never happen, but it is here to demonstrate the STAA violation handler. print("CountPrint: Safe to process violation!") print(f"Intended time: {inp.intended_tag.time - lf.time.start()}") =} } -reactor Double(STA = forever) { +reactor Double { input inp output out @@ -35,5 +36,6 @@ federated reactor { c = new CountPrint() p = new Double() c.out -> p.inp + @absent_after(forever) p.out -> c.inp } \ No newline at end of file diff --git a/docs/assets/code/py/src/DecentralizedZeroDelayLoopWithChecker.lf b/docs/assets/code/py/src/DecentralizedZeroDelayLoopWithChecker.lf new file mode 100644 index 000000000..1a9ad2dd1 --- /dev/null +++ b/docs/assets/code/py/src/DecentralizedZeroDelayLoopWithChecker.lf @@ -0,0 +1,23 @@ +target Python { + timeout: 3 s, + coordination: decentralized +} + +import CountPrint, Double from "DecentralizedZeroDelayLoop.lf" +reactor CountPrintWithChecker extends CountPrint { + + reaction(t, inp) {= + if (not inp.is_present) : + print(f"***** CountPrint Failed to Receive response at tag ({lf.time.logical_elapsed()}, {lf.tag().microstep})") + =} tardy {= + print(f"***** CountPrint Received tardy input: {inp.value} at tag ({lf.time.logical_elapsed()}, {lf.tag().microstep})") + =} +} + +federated reactor { + c = new CountPrintWithChecker() + p = new Double() + c.out -> p.inp + @absent_after(20 ms) + p.out -> c.inp +} diff --git a/docs/assets/images/diagrams/DecentralizedZeroDelayLoop.svg b/docs/assets/images/diagrams/DecentralizedZeroDelayLoop.svg new file mode 100644 index 000000000..44d651e0d --- /dev/null +++ b/docs/assets/images/diagrams/DecentralizedZeroDelayLoop.svg @@ -0,0 +1 @@ +DecentralizedZeroDelayLoopCountPrint(0, 100 ms)12inoutDoubleinout \ No newline at end of file diff --git a/docs/assets/images/diagrams/DecentralizedZeroDelayLoopWithChecker.svg b/docs/assets/images/diagrams/DecentralizedZeroDelayLoopWithChecker.svg new file mode 100644 index 000000000..63ad1278a --- /dev/null +++ b/docs/assets/images/diagrams/DecentralizedZeroDelayLoopWithChecker.svg @@ -0,0 +1 @@ +DecentralizedZeroDelayLoopWithCheckerCountPrintWithChecker(0, 100 ms)123$inoutDoubleinout \ No newline at end of file diff --git a/docs/writing-reactors/distributed-execution.mdx b/docs/writing-reactors/distributed-execution.mdx index 600f4ba9f..b5f37f92c 100644 --- a/docs/writing-reactors/distributed-execution.mdx +++ b/docs/writing-reactors/distributed-execution.mdx @@ -198,11 +198,15 @@ An alternative is **decentralized** coordination, which extends a technique real With decentralized coordination, the RTI coordinates startup, shutdown, and clock synchronization, but is otherwise not involved in the execution of the distributed program. -### Safe-to-Advance (STA) +### Maxwait -In decentralized coordination, when one federate communicates with another, it does so directly through a dedicated socket without going through the RTI. Moreover, it does not consult the RTI to advance logical time. Instead, each federate has a **safe-to-advance** (**STA**) offset, and it can advance its logical time to _t_ when its physical clock matches or exceeds _t_ + STA. +In decentralized coordination, when one federate communicates with another, it does so directly through a dedicated socket without going through the RTI. Moreover, it does not consult the RTI to advance logical time. Instead, each federate has a **maxwait** attribute (formerly called **safe-to-advance**, or **STA**). +The federate can advance to tag _g_ when either of the following conditions is satisfied: -By default, the STA is zero. An STA of zero is OK for any federate where either _every_ logical connection into the federate has a sufficiently large `after` clause, or the federate has only one upstream federate sending it messages, and it has no local timers or actions. The value of the `after` delay on each connection must exceed the sum of the [clock synchronization](#clock-synchronization) error _E_, a bound _L_ on the network latency, and the time lag on the sender _D_ (the physical time at which it sends the message minus the timestamp of the message). The sender's time lag _D_ can be enforced by using a `deadline`. For example: +1. All inputs are known up to and including tag _g_. An input is known up to and including tag _g_ if a message with tag _g_ or greater has been received on that input port. +2. The federate's physical clock matches or exceeds _t_ + maxwait, where _t_ is the timestamp in _g_ = (_t_, _m_). + +By default, the maxwait is zero. A maxwait of zero is OK for any federate where either _every_ logical connection into the federate has a sufficiently large `after` clause, or the federate has only one upstream federate sending it messages, and it has no local timers or actions. The value of the `after` delay on each connection must exceed the sum of the [clock synchronization](#clock-synchronization) error _E_, a bound _L_ on the network latency, and the time lag on the sender _D_ (the physical time at which it sends the message minus the timestamp of the message). The sender's time lag _D_ can be enforced by using a `deadline`. For example: import C_DecentralizedTimerAfter from '../assets/code/c/src/DecentralizedTimerAfter.lf'; import Py_DecentralizedTimerAfter from '../assets/code/py/src/DecentralizedTimerAfter.lf'; @@ -210,80 +214,113 @@ import Py_DecentralizedTimerAfter from '../assets/code/py/src/DecentralizedTimer This example inherits from the Federated example above. -In this example, as long as the messages from federate `c` arrive at federate `p` within 10 ms, all messages will be processed in tag order, as with an unfederated program. +The messages from federate `c` are sent at logical times 0, 1s, 2s, etc., but arrive with logical times 0.01s, 1.01s, 2.01s, etc. +The timer in the destination `PrintTimer` reactor has an offset of 10ms, so it will be wanting to advance its logical time to those same values. +As long as the messages from federate `c` arrive before the destination reactor commits to those values, they will be processed simultaneously with the timer events. -If a message takes longer than 10 ms to arrive, then it is possible for a **safe-to-process (STP) violation** to occur. Specifically, in this case, the receiving federate `p` may advance its logical time to one of the timer tick times and then later receive an input message with a timestamp that is less than this advanced time. With the above program, this will cause a warning to be printed; the message will be processed at the earliest possible logical time, typically one microstep after the latest timer tick. +Because of the `after` delay, the runtime system has approximately 10 ms in physical time to accomplish the delivery of the message. If you reduce the `after` delay and the timer offset to, say, 10us, then you will see the warnings. +If a message takes longer than 10 ms to arrive, then it is possible for a **safe-to-process (STP) violation** to occur. The message is said to be **tardy**. In this case, the receiving federate `p` may advance its logical time to one of the timer tick times and then later receive an input message with a timestamp that is less than or equal to this advanced time. With the above program, this will cause a warning to be printed; the message will be processed at the earliest possible logical time, typically one microstep after the latest timer tick. We will show below how to catch this violation and handle it. -An alternative to the `after` delays is to add an **STA offset** to downstream federates, as in the following example: +An alternative to the `after` delays is to add a **maxwait** to downstream federates, as in the following example: import C_DecentralizedTimerSTA from '../assets/code/c/src/DecentralizedTimerSTA.lf'; import Py_DecentralizedTimerSTA from '../assets/code/py/src/DecentralizedTimerSTA.lf'; -Here, a parameter named `STA` gives a time value, and the federate waits this specified amount of time (physical time) beyond a logical time _t_ before advancing its logical time to _t_. In the above example, reactions to the timer events will be delayed by the amount specified by the `STA` parameter at most Just as with the use of `after`, if the `STA` exceeds the sum of network latency, clock synchronization error, and execution times, then all events will be processed in tag order, and no STP violation will occur. +Note that now there is no `after` delay and the timer has offset zero. +The attribute `@maxwait(10 ms)` gives a time value, and the federate waits up to this specified amount of time (in physical time) beyond a logical time _t_ before advancing its tag to _g_ = (_t_, _m_). +In the above example, when the destination `PrintTimer` reactor wants to advance its logical time to 0, 1s, 2s, etc., it will wait at most for its physical clock to exceed these values plus the `maxwait` value. +If the input arrives before the wait expires, then it proceeds to commit to the specified logical time and invoke its two reactions (the one inherited from `Print` first followed by the one defined locally). +If the wait expires before the input arrives, it will assume the input is absent and invoke only the local reaction. +When the input later arrives (it is tardy), it will experience an STP violation. +If you change the `maxwait` value to, say, 1us, you will likely see such violations. +Just as with the use of `after`, if the `maxwait` exceeds the sum of network latency, clock synchronization error, and execution times, then all events will be processed in tag order, and no messages will be tardy. + +Notice that the choice of whether to use an `after` delay or a `maxwait` is important. +If the alignment of the remote data with whatever the timer reaction does is important, then you should use `maxwait`. +This choice emphasizes consistency between the sending and the receiving federate. +If, on the other hand, it is important for the receiving federate to quickly handle the timer events, then you should use the `after` delay. +This choice emphasizes availability. +The consistency-availability tradeoff is fundamental to distributed systems, as explained by [Lee, et al.](https://doi.org/10.1145/3609119) -### Safe-to-Process (STP) Violation Handling +### Tardy Message Handling -Of course, the assumptions about network latency, etc., can be violated in practice. Analogous to a deadline violation, Lingua Franca provides a mechanism for handling such a violation by providing a violation handler. The pattern is: +Any assumptions about bounded communication latency can be violated in practice. Analogous to a deadline violation, Lingua Franca provides a mechanism for handling such a violation by providing a violation handler. The pattern is: ```lf reaction(in) {= // User code -=} STAA (0) {= +=} tardy {= // STP violation handling code =} ``` -If the tag at which this reaction is to be invoked (the value returned by `lf_tag()`) exceeds the tag of an incoming message on input `in` (the current tag has already advanced beyond the intended tag of `in`), then the STP violation handler will be invoked instead of the normal reaction. Within the body of the violation handler, the code can access the intended tag of `in` using `in->intended_tag` (or `inp.intended_tag` in Python), which has two fields, a timestamp `in->intended_tag.time` and a microstep `in->intended_tag.microstep`. The code can then ascertain the severity of the error and act accordingly. For example: +If the tag at which this reaction is to be invoked (the value returned by `lf_tag()`) exceeds the tag of an incoming message on input `in` (the current tag has already advanced beyond the intended tag of `in`), then the tardy handler will be invoked instead of the normal reaction. Within the body of the violation handler, the code can access the intended tag of `in` using `in->intended_tag` (or `inp.intended_tag` in Python), which has two fields, a timestamp `in->intended_tag.time` and a microstep `in->intended_tag.microstep`. The code can then ascertain the severity of the error and act accordingly. For example: + +import C_DecentralizedTimerHandler from '../assets/code/c/src/DecentralizedTimerHandler.lf'; +import Py_DecentralizedTimerHandler from '../assets/code/py/src/DecentralizedTimerHandler.lf'; + + + +If you change the `maxwait` to, say, 10 us, you will likely see the handler getting invoked. + +### Zero Delay Cycles + +It is not uncommon in programs to implement a pattern where one federate produces an output to request a service from another federate and expects a response at the same tag. +This creates a zero-delay loop, as shown in the following diagram: + +import DecentralizedZeroDelayLoopSVG from "./../assets/images/diagrams/DecentralizedZeroDelayLoop.svg" -import C_DecentralizedTimerAfterHandler from '../assets/code/c/src/DecentralizedTimerAfterHandler.lf'; -import Py_DecentralizedTimerAfterHandler from '../assets/code/py/src/DecentralizedTimerAfterHandler.lf'; + - +Here, the `CountPrint` reactor, on each timer tick, requests a service from the `Double` reactor. +It then handles the response from `Double` in its second reaction. +It would not work here to set a non-zero `maxwait` for `CountPrint` because this would delay reacting the timer tick, which would delay the output. +But then the `CountPrint` federate would immediately assume its input is absent. +When the response later arrives from `Double`, it will be tardy. -### Safe-to-Assume-Absent (STAA) +This problem is addressed as shown in the following source code for the diagram above: -Notice that the keyword `STAA` is used to indicate that the violation handler is to be invoked. -`STAA` stands for **safe-to-assume-absent** and has a more subtle meaning than the `STA`, **safe-to-advance**. -In the above example, the `STAA` is set to 0, which means that once the federate has advanced its logical time to a tag, it can immediately assume that any inputs to the federate that trigger or are used by the reaction are absent, unless they are already known to be present. -You can specify an `STAA` larger than 0, in which case the federate will wait until physical time exceeds _t_ + `STA` + `STAA` before assuming that the tiggering inputs are absent. +import C_DecentralizedZeroDelayLoop from '../assets/code/c/src/DecentralizedZeroDelayLoop.lf'; +import Py_DecentralizedZeroDelayLoop from '../assets/code/py/src/DecentralizedZeroDelayLoop.lf'; -In summary, when a federate wishes to advance its logical time to a tag _t_, it can do so if its physical clock matches or exceeds _t_ + `STA` or if all inputs become known for all tags less than _t_. -It does not need to know the status of the inputs **at* tag _t_, only before. -Once it commits to tag _t_, then it can assume that an input to the federate is absent when its physical clock matches or exceeds _t_ + `STA` + `STAA` (or the input becomes known at _t_ or greater). The value of `STAA` used in this calculation is the smallest `STAA` given by reactions that are either triggered by or use the input. + -Consider the following example: +The `CountPrint` federate uses the default `maxwait` of 0, meaning that it can advance its logical time to a tag _g_ = (_t_, _m_) when its physical clock matches or exceeds _t_. Hence, it will immediately advance to each timer tick at a rate of 10 Hz. Reaction 1 will then execute and produce an output, which will be sent to the `Double` federate. That federate also uses the default `maxwait` of zero, which works because the federate has no local events; it will not attempt to advance its tag until it receives an input. -import C_DecentralizedFeedbackSTAA from '../assets/code/c/src/DecentralizedFeedbackSTAA.lf'; -import Py_DecentralizedFeedbackSTAA from '../assets/code/py/src/DecentralizedFeedbackSTAA.lf'; +When the `Double` reaction executes, it will send a response to `CountPrint` that has the same tag as the output that was just produced by `CountPrint`. +The connection from `Double` to `CountPrint` has an attribute **absent_after** with value `forever`, as shown above. +This means that it will never assume that the input is absent. It will block, possibly forever, until an input with timestamp _t_ or greater arrives. Thus, this program is assured of behaving identically to its execution under centralized coordination, but with lower overhead (messages are sent directly rather than through the RTI). - +Note that the program will freeze if, for example, the `Double` federate fails. To guard against this, you could specify a smaller `absent_after` for reaction 2 in `CountPrint`. This could be used to detect the failure of the `Double` federate, for example by setting a state variable and then checking it in a third reaction triggered by the same timer. That reaction will not execute until either reaction 2 executes (an input has arrived) or the input was assumed to be absent (the `Double` federate likely has failed). +A realization of this strategy is shown below: -import DecentralizedFeedbackSTAA from "../assets/images/diagrams/DecentralizedFeedbackSTAA.svg" +import DecentralizedZeroDelayLoopWithCheckerSVG from "./../assets/images/diagrams/DecentralizedZeroDelayLoopWithChecker.svg" - + -The `CountPrint` federate uses the default `STA` of 0, meaning that it can advance its logical time to a tag _t_ when its physical clock matches or exceeds _t_. Hence, it will immediately advance to each timer tick at a rate of 10 Hz. Reaction 1 will then execute and produce an output, which will be sent to the `Double` federate. That federate has an `STA` of `forever`, meaning that it will not avance to any logical time _t_ until it has received an input with tag _t_ or greater. In this case, the federate has no local events, so an `STA` of 0 would also work fine. In fact, any `STA` will work. -When the `Double` reaction executes, it will send a response to `CountPrint` that has the same tag as the output that was just produced by `CountPrint`. Reaction 2 in `CountPrint` has an `STAA` of `forever`, which means that it will never assume that the input is absent. It will block, possibly forever, until an input with tag _t_ or greater arrives. Thus, this program is assured of behaving identically to its execution under centralized coordination, but with lower overhead (messages are sent directly rather than through the RTI). +import C_DecentralizedZeroDelayLoopWithChecker from '../assets/code/c/src/DecentralizedZeroDelayLoopWithChecker.lf'; +import Py_DecentralizedZeroDelayLoopWithChecker from '../assets/code/py/src/DecentralizedZeroDelayLoopWithChecker.lf'; -Note that the program will freeze if, for example, the `Double` federate fails. To guard against this, you could specify a smaller `STAA` for reaction 2 in `CountPrint`. This could be used to detect the failure of the `Double` federate, for example by setting a state variable and then checking it in a third reaction triggered by the same timer. That reaction will not execute until either reaction 2 executes (an input has arrived) or the input was assumed to be absent (the `Double` federate likely has failed). + -`STAA` and `STA` are rather sophisticated variables. See [the research papers](https://www.lf-lang.org/research) for guidance. -For example, the paper [Consistency vs. Availability in Distributed Cyber-Physical Systems](https://dl.acm.org/doi/10.1145/3609119) provides a foundational theory and fundamental tradeoffs that can be tuned using `STA` and `STAA`. -The paper [Logical Time in Actor Systems](https://eecs.berkeley.edu/~eal/publications/LeeTimeAghaFestschriftPreprint2025.pdf) provides a more detailed explanation of the theory and implementation of `STA` and `STAA`. +Decentralized coordination with `maxwait` and `absent_after` is a rather sophisticated tool. See [the research papers](https://www.lf-lang.org/research) for guidance. +For example, the paper [Consistency vs. Availability in Distributed Cyber-Physical Systems](https://dl.acm.org/doi/10.1145/3609119) provides a foundational theory and fundamental tradeoffs (it uses terminology `STA` for `maxwait` and `STAA` for `absent_after`). +The paper [Logical Time in Actor Systems](https://eecs.berkeley.edu/~eal/publications/LeeTimeAghaFestschriftPreprint2025.pdf) provides a more detailed explanation of the theory and implementation (again using terminology `STA` and `STAA`). -## Dynamically Adjusting the STA +## Dynamically Adjusting the `maxwait` -For more advanced users, the LF API provides two functions that can be used to dynamically adjust the STA: +For more advanced users, the LF API provides two functions that can be used to dynamically adjust the `maxwait`: ```c -interval_t lf_get_sta(); -void lf_set_sta(interval_t offset); +interval_t lf_get_fed_maxwait(); +void lf_set_fed_maxwait(interval_t offset); ``` Using these functions, however, is a pretty advanced operation. +See the blog post [Decentralized Consistency](/blog/decentralized-consistency) for guidance. ## Physical Connections @@ -307,7 +344,7 @@ then what does this mean? At the receiving end, the timestamp assigned to the in In the above example, all of the generated programs expect to run on localhost. This is the default. With these defaults, every federate has to run on the same machine as the RTI because localhost is not a host that is visible from other machines on the network. In order to run federates or the RTI on remote machines, you can specify a domain name or IP address for the RTI and/or federates. -In order for a federated execution to work, there is some setup required on the machines to be used. First, each machine must be running on `ssh` server. On a Linux machine, this is typically done with a command like this: +In order for a federated execution to work, there is some setup required on the machines to be used. First, each machine must be running an `ssh` server. On a Linux machine, this is typically done with a command like this: ```sh sudo systemctl ssh.service @@ -352,12 +389,12 @@ Address 0.0.0.0: The default host, `localhost` is used if no address is specifie A federate may be mapped to a particular remote machine using a syntax like this: ```lf - count = new Count() at user@host:port/path; + count = new Count() at user@host:port; ``` The `port` is ignored in **centralized** mode because all communication is routed through the RTI, but in **decentralized** mode it will specify the port on which a socket server listens for incoming connections from other federates. -If any federate has such a remote designator, then a `Federation_distribute.sh` shell script will be generated. This script will distribute the generated code for the RTI to the remote machine at the specified directory. +If any federate has such a remote designator, then a `Federation_distribute.sh` shell script will be generated. This script will distribute the generated code for the RTI and any federates to the remote machine at the specified directory. You can also specify a user name on the remote machine for cases where the username will not match whoever launches the federation: diff --git a/yarn.lock b/yarn.lock index d24f43d73..72e2c149c 100644 --- a/yarn.lock +++ b/yarn.lock @@ -144,7 +144,7 @@ "@algolia/requester-fetch" "5.12.0" "@algolia/requester-node-http" "5.12.0" -"@algolia/client-search@4.24.0": +"@algolia/client-search@>= 4.9.1 < 6", "@algolia/client-search@4.24.0": version "4.24.0" resolved "https://registry.npmjs.org/@algolia/client-search/-/client-search-4.24.0.tgz" integrity sha512-uRW6EpNapmLAD0mW47OXqTP8eiIx5F6qN9/x/7HHO6owL3N1IXqydGwW5nhDFBrV+ldouro2W1VX3XlcUXEFCA== @@ -284,90 +284,80 @@ "@jridgewell/gen-mapping" "^0.3.5" "@jridgewell/trace-mapping" "^0.3.24" -"@babel/code-frame@^7.0.0", "@babel/code-frame@^7.16.0", "@babel/code-frame@^7.27.1", "@babel/code-frame@^7.8.3": - version "7.27.1" - resolved "https://registry.yarnpkg.com/@babel/code-frame/-/code-frame-7.27.1.tgz#200f715e66d52a23b221a9435534a91cc13ad5be" - 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terser-webpack-plugin "^5.3.11" + terser-webpack-plugin "^5.3.10" watchpack "^2.4.1" webpack-sources "^3.2.3" @@ -9317,7 +8964,7 @@ webpackbar@^5.0.2: pretty-time "^1.1.0" std-env "^3.0.1" -websocket-driver@>=0.5.1, websocket-driver@^0.7.4: +websocket-driver@^0.7.4, websocket-driver@>=0.5.1: version "0.7.4" resolved "https://registry.npmjs.org/websocket-driver/-/websocket-driver-0.7.4.tgz" integrity sha512-b17KeDIQVjvb0ssuSDF2cYXSg2iztliJ4B9WdsuB6J952qCPKmnVq4DyW5motImXHDC1cBT/1UezrJVsKw5zjg== @@ -9388,13 +9035,11 @@ write-file-atomic@^3.0.3: ws@^7.3.1: version "7.5.10" - resolved "https://registry.yarnpkg.com/ws/-/ws-7.5.10.tgz#58b5c20dc281633f6c19113f39b349bd8bd558d9" + resolved "https://registry.npmjs.org/ws/-/ws-7.5.10.tgz" integrity sha512-+dbF1tHwZpXcbOJdVOkzLDxZP1ailvSxM6ZweXTegylPny803bFhA+vqBYw4s31NSAk4S2Qz+AKXK9a4wkdjcQ== ws@^8.13.0: - version "8.18.2" - resolved "https://registry.yarnpkg.com/ws/-/ws-8.18.2.tgz#42738b2be57ced85f46154320aabb51ab003705a" - integrity sha512-DMricUmwGZUVr++AEAe2uiVM7UoO9MAVZMDu05UQOaUII0lp+zOzLLU4Xqh/JvTqklB1T4uELaaPBKyjE1r4fQ== + version "8.18.0" xdg-basedir@^5.0.1, xdg-basedir@^5.1.0: version "5.1.0" @@ -9424,9 +9069,7 @@ yocto-queue@^0.1.0: integrity sha512-rVksvsnNCdJ/ohGc6xgPwyN8eheCxsiLM8mxuE/t/mOVqJewPuO1miLpTHQiRgTKCLexL4MeAFVagts7HmNZ2Q== yocto-queue@^1.0.0: - 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Lee" Date: Mon, 27 Oct 2025 08:41:21 -0700 Subject: [PATCH 17/17] Pull yarn.lock from main --- yarn.lock | 2145 +++++++++++++++++++++++++++++++---------------------- 1 file changed, 1251 insertions(+), 894 deletions(-) diff --git a/yarn.lock b/yarn.lock index 72e2c149c..d24f43d73 100644 --- a/yarn.lock +++ b/yarn.lock @@ -144,7 +144,7 @@ "@algolia/requester-fetch" "5.12.0" "@algolia/requester-node-http" "5.12.0" -"@algolia/client-search@>= 4.9.1 < 6", "@algolia/client-search@4.24.0": +"@algolia/client-search@4.24.0": version "4.24.0" resolved "https://registry.npmjs.org/@algolia/client-search/-/client-search-4.24.0.tgz" integrity sha512-uRW6EpNapmLAD0mW47OXqTP8eiIx5F6qN9/x/7HHO6owL3N1IXqydGwW5nhDFBrV+ldouro2W1VX3XlcUXEFCA== @@ -284,80 +284,90 @@ "@jridgewell/gen-mapping" "^0.3.5" "@jridgewell/trace-mapping" "^0.3.24" -"@babel/code-frame@^7.0.0", "@babel/code-frame@^7.16.0", "@babel/code-frame@^7.25.9", "@babel/code-frame@^7.26.0", "@babel/code-frame@^7.8.3": - version "7.26.2" +"@babel/code-frame@^7.0.0", "@babel/code-frame@^7.16.0", "@babel/code-frame@^7.27.1", "@babel/code-frame@^7.8.3": + version "7.27.1" + resolved "https://registry.yarnpkg.com/@babel/code-frame/-/code-frame-7.27.1.tgz#200f715e66d52a23b221a9435534a91cc13ad5be" + integrity sha512-cjQ7ZlQ0Mv3b47hABuTevyTuYN4i+loJKGeV9flcCgIK37cCXRh+L1bd3iBHlynerhQ7BhCkn2BPbQUL+rGqFg== dependencies: - 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