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autoCode4 is an engine that synthesizes controllers from formal specifications described under a subset of linear temporal logic (LTL). Importantly, it synthesizes synchronous dataflow controllers (in Lustre or in Ptolemy II form) and maintains requirement-to-code traceability. Such feature is mandated in developing safety-critical systems and are considered essential for specification validation or integrating manual implementation such as legacy code. The LTL specification captures the desired behavior of a controller where the environment takes the first move (i.e., sense/input then react/output), so the synthesized controller can be viewed as a Mealy machine. ...