int fsm_transition(fsm_t *fsmp, event_t event) {
int err = 0;
printf("%s x %s -> %s\n", state_str(fsmp->state), event_str(event),
state_str(transition_table[fsmp->state][event]));
fsmp->state = transition_table[fsmp->state][event];
return err;
}
void AIStateMachine::multiplex(event_type event)
{
// If this fails then you are using a pointer to a state machine instead of an LLPointer.
llassert(event == initial_run || getNumRefs() > 0);
DoutEntering(dc::statemachine(mSMDebug), "AIStateMachine::multiplex(" << event_str(event) << ") [" << (void*)this << "]");
base_state_type state;
state_type run_state;
// Critical area of mState.
{
multiplex_state_type_rat state_r(mState);
// If another thread is already running multiplex() then it will pick up
// our need to run (by us having set need_run), so there is no need to run
// ourselves.
llassert(!mMultiplexMutex.isSelfLocked()); // We may never enter recursively!
if (!mMultiplexMutex.tryLock())
{
Dout(dc::statemachine(mSMDebug), "Leaving because it is already being run [" << (void*)this << "]");
return;
}
//===========================================
// Start of critical area of mMultiplexMutex.
// If another thread already called begin_loop() since we needed a run,
// then we must not schedule a run because that could lead to running
// the same state twice. Note that if need_run was reset in the mean
// time and then set again, then it can't hurt to schedule a run since
// we should indeed run, again.
if (event == schedule_run && !sub_state_type_rat(mSubState)->need_run)
{
Dout(dc::statemachine(mSMDebug), "Leaving because it was already being run [" << (void*)this << "]");
return;
}
// We're at the beginning of multiplex, about to actually run it.
// Make a copy of the states.
run_state = begin_loop((state = state_r->base_state));
}
// End of critical area of mState.
bool keep_looping;
bool destruct = false;
do
{
if (event == normal_run)
{
#ifdef CWDEBUG
if (state == bs_multiplex)
Dout(dc::statemachine(mSMDebug), "Running state bs_multiplex / " << state_str_impl(run_state) << " [" << (void*)this << "]");
else
Dout(dc::statemachine(mSMDebug), "Running state " << state_str(state) << " [" << (void*)this << "]");
#endif
#ifdef SHOW_ASSERT
// This debug code checks that each state machine steps precisely through each of it's states correctly.
if (state != bs_reset)
{
switch(mDebugLastState)
{
case bs_reset:
llassert(state == bs_initialize || state == bs_killed);
break;
case bs_initialize:
llassert(state == bs_multiplex || state == bs_abort);
break;
case bs_multiplex:
llassert(state == bs_multiplex || state == bs_finish || state == bs_abort);
break;
case bs_abort:
llassert(state == bs_finish);
break;
case bs_finish:
llassert(state == bs_callback);
break;
case bs_callback:
llassert(state == bs_killed || state == bs_reset);
break;
case bs_killed:
llassert(state == bs_killed);
break;
}
}
// More sanity checks.
if (state == bs_multiplex)
{
// set_state is only called from multiplex_impl and therefore synced with mMultiplexMutex.
mDebugShouldRun |= mDebugSetStatePending;
// Should we run at all?
llassert(mDebugShouldRun);
}
// Any previous reason to run is voided by actually running.
mDebugShouldRun = false;
#endif
mRunMutex.lock();
// Now we are actually running a single state.
// If abort() was called at any moment before, we execute that state instead.
bool const late_abort = (state == bs_multiplex || state == bs_initialize) && sub_state_type_rat(mSubState)->aborted;
if (LL_UNLIKELY(late_abort))
{
// abort() was called from a child state machine, from another thread, while we were already scheduled to run normally from an engine.
// What we want to do here is pretend we detected the abort at the end of the *previous* run.
// If the state is bs_multiplex then the previous state was either bs_initialize or bs_multiplex,
// both of which would have switched to bs_abort: we set the state to bs_abort instead and just
// continue this run.
// However, if the state is bs_initialize we can't switch to bs_killed because that state isn't
// handled in the switch below; it's only handled when exiting multiplex() directly after it is set.
// Therefore, in that case we have to set the state BACK to bs_reset and run it again. This duplicated
// run of bs_reset is not a problem because it happens to be a NoOp.
state = (state == bs_initialize) ? bs_reset : bs_abort;
#ifdef CWDEBUG
Dout(dc::statemachine(mSMDebug), "Late abort detected! Running state " << state_str(state) << " instead [" << (void*)this << "]");
#endif
}
#ifdef SHOW_ASSERT
mDebugLastState = state;
// Make sure we only call ref() once and in balance with unref().
if (state == bs_initialize)
{
// This -- and call to ref() (and the test when we're about to call unref()) -- is all done in the critical area of mMultiplexMutex.
llassert(!mDebugRefCalled);
mDebugRefCalled = true;
}
#endif
switch(state)
{
case bs_reset:
// We're just being kick started to get into the right thread
// (possibly for the second time when a late abort was detected, but that's ok: we do nothing here).
break;
case bs_initialize:
ref();
initialize_impl();
break;
case bs_multiplex:
llassert(!mDebugAborted);
multiplex_impl(run_state);
break;
case bs_abort:
abort_impl();
break;
case bs_finish:
sub_state_type_wat(mSubState)->reset = false; // By default, halt state machines when finished.
finish_impl(); // Call run() from finish_impl() or the call back to restart from the beginning.
break;
case bs_callback:
callback();
break;
case bs_killed:
mRunMutex.unlock();
// bs_killed is handled when it is set. So, this must be a re-entry.
// We can only get here when being called by an engine that we were added to before we were killed.
// This should already be have been set to NULL to indicate that we want to be removed from that engine.
llassert(!multiplex_state_type_rat(mState)->current_engine);
// Do not call unref() twice.
return;
}
mRunMutex.unlock();
}
{
multiplex_state_type_wat state_w(mState);
//=================================
// Start of critical area of mState
// Unless the state is bs_multiplex or bs_killed, the state machine needs to keep calling multiplex().
bool need_new_run = true;
if (event == normal_run || event == insert_abort)
{
sub_state_type_rat sub_state_r(mSubState);
if (event == normal_run)
{
// Switch base state as function of sub state.
switch(state)
{
case bs_reset:
if (sub_state_r->aborted)
{
// We have been aborted before we could even initialize, no de-initialization is possible.
state_w->base_state = bs_killed;
// Stop running.
need_new_run = false;
}
else
{
// run() was called: call initialize_impl() next.
state_w->base_state = bs_initialize;
}
break;
case bs_initialize:
if (sub_state_r->aborted)
{
// initialize_impl() called abort.
state_w->base_state = bs_abort;
}
else
{
// Start actually running.
state_w->base_state = bs_multiplex;
// If the state is bs_multiplex we only need to run again when need_run was set again in the meantime or when this state machine isn't idle.
need_new_run = sub_state_r->need_run || !sub_state_r->idle;
}
break;
case bs_multiplex:
if (sub_state_r->aborted)
{
// abort() was called.
state_w->base_state = bs_abort;
}
else if (sub_state_r->finished)
{
// finish() was called.
state_w->base_state = bs_finish;
}
else
{
// Continue in bs_multiplex.
// If the state is bs_multiplex we only need to run again when need_run was set again in the meantime or when this state machine isn't idle.
need_new_run = sub_state_r->need_run || !sub_state_r->idle;
// If this fails then the run state didn't change and neither idle() nor yield() was called.
llassert_always(!(need_new_run && !sub_state_r->skip_idle && !mYieldEngine && sub_state_r->run_state == run_state));
}
break;
case bs_abort:
// After calling abort_impl(), call finish_impl().
state_w->base_state = bs_finish;
break;
case bs_finish:
// After finish_impl(), call the call back function.
state_w->base_state = bs_callback;
break;
case bs_callback:
if (sub_state_r->reset)
{
// run() was called (not followed by kill()).
state_w->base_state = bs_reset;
}
else
{
// After the call back, we're done.
state_w->base_state = bs_killed;
// Call unref().
destruct = true;
// Stop running.
need_new_run = false;
}
break;
default: // bs_killed
// We never get here.
break;
}
}
else // event == insert_abort
{
// We have been aborted, but we're idle. If we'd just schedule a new run below, it would re-run
// the last state before the abort is handled. What we really need is to pick up as if the abort
// was handled directly after returning from the last run. If we're not running anymore, then
// do nothing as the state machine already ran and things should be processed normally
// (in that case this is just a normal schedule which can't harm because we're can't accidently
// re-run an old run_state).
if (state_w->base_state == bs_multiplex) // Still running?
{
// See the switch above for case bs_multiplex.
llassert(sub_state_r->aborted);
// abort() was called.
state_w->base_state = bs_abort;
}
}
#ifdef CWDEBUG
if (state != state_w->base_state)
Dout(dc::statemachine(mSMDebug), "Base state changed from " << state_str(state) << " to " << state_str(state_w->base_state) <<
"; need_new_run = " << (need_new_run ? "true" : "false") << " [" << (void*)this << "]");
#endif
}
// Figure out in which engine we should run.
AIEngine* engine = mYieldEngine ? mYieldEngine : (state_w->current_engine ? state_w->current_engine : mDefaultEngine);
// And the current engine we're running in.
AIEngine* current_engine = (event == normal_run) ? state_w->current_engine : NULL;
// Immediately run again if yield() wasn't called and it's OK to run in this thread.
// Note that when it's OK to run in any engine (mDefaultEngine is NULL) then the last
// compare is also true when current_engine == NULL.
keep_looping = need_new_run && !mYieldEngine && engine == current_engine;
mYieldEngine = NULL;
if (keep_looping)
{
// Start a new loop.
run_state = begin_loop((state = state_w->base_state));
event = normal_run;
}
else
{
if (need_new_run)
{
// Add us to an engine if necessary.
if (engine != state_w->current_engine)
{
// engine can't be NULL here: it can only be NULL if mDefaultEngine is NULL.
engine->add(this);
// Mark that we're added to this engine, and at the same time, that we're not added to the previous one.
state_w->current_engine = engine;
}
#ifdef SHOW_ASSERT
// We are leaving the loop, but we're not idle. The statemachine should re-enter the loop again.
mDebugShouldRun = true;
#endif
}
else
{
// Remove this state machine from any engine,
// causing the engine to remove us.
state_w->current_engine = NULL;
}
#ifdef SHOW_ASSERT
// Mark that we stop running the loop.
mThreadId.clear();
if (destruct)
{
// We're about to call unref(). Make sure we call that in balance with ref()!
llassert(mDebugRefCalled);
mDebugRefCalled = false;
}
#endif
// End of critical area of mMultiplexMutex.
//=========================================
// Release the lock on mMultiplexMutex *first*, before releasing the lock on mState,
// to avoid to ever call the tryLock() and fail, while this thread isn't still
// BEFORE the critical area of mState!
mMultiplexMutex.unlock();
}
// Now it is safe to leave the critical area of mState as the tryLock won't fail anymore.
// (Or, if we didn't release mMultiplexMutex because keep_looping is true, then this
// end of the critical area of mState is equivalent to the first critical area in this
// function.
// End of critical area of mState.
//================================
}
}
while (keep_looping);
if (destruct)
{
unref();
}
}
