CFSM Overview
A FSM part: that contains set of inputs, outputs, and states, a transition relation and an output relation.
A data computation part: references in transition relation to external, instantaneous (combinational) function.
A locally synchronous behavior: Execute transition by producing a single output reaction based on a single, snap-shot input assignment in zero time. (synchronous from its own perspective)
A globally asynchronous behavior: Each CFSM reads inputs, execute a transition, and produce outputs in an unbounded but finite time as seen by the rest of the system. This is asynchronous interaction from the system perspective.