Giotto

sensor interface input_sensor() : int;
actuator interface output_actuator(int);

task controller(int sensor_value) output (int control_value)
{
    control_value := sensor_value * 2;
}

driver sensor_driver(sensor_value)
    output (sensor_value := input_sensor());

driver actuator_driver(control_value)
    output (output_actuator(control_value));

mode normal(int frequency) period 1000 {
    taskfreq 1 do controller(sensor_value, control_value);
    driverfreq 1 do sensor_driver(sensor_value);
    driverfreq 1 do actuator_driver(control_value);
}

start normal(1);