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send durin parallel is broken in scxml0.9, dont fire events on send i…
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…n parallel
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@LeroyR
LeroyR committed Jun 6, 2024
1 parent 2ceb518 commit ae194ee
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Showing 4 changed files with 193 additions and 5 deletions.
33 changes: 28 additions & 5 deletions bonsai_scxml_engine/src/main/java/de/unibi/citec/clf/bonsai/engine/SkillStateMachine.java
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Original file line number Diff line number Diff line change
Expand Up @@ -518,6 +518,16 @@ public boolean fireEventFromSkill(final String event) {
TriggerEvent evts = new TriggerEvent(event, TriggerEvent.SIGNAL_EVENT);
try {
logger.debug("FIRE SKILL Event: " + event);
logger.trace("All Current states:");
if (logger.isTraceEnabled()) for(Object s : scxmlExecutor.getCurrentStatus().getAllStates()) {
if (s instanceof State) {
State state = (State) s;
logger.trace("- " + state.getId());
} else {
logger.trace(s);
}

}
//checkEventTransitions(event);
scxmlExecutor.triggerEvent(evts);
} catch (ModelException me) {
Expand Down Expand Up @@ -702,7 +712,7 @@ private void actionCheck(List<Action> actions) {
+ ((Send) a).getEvent());
//Somehow we dont always execute event actions and fire events?
//So we just fire manually
fireEvent(((Send) a).getEvent());
//fireEvent(((Send) a).getEvent());
//checkEventTransitions(((Send) a).getEvent());
} else if (a instanceof Assign) {
Assign action = (Assign) a;
Expand Down Expand Up @@ -732,10 +742,15 @@ private void actionCheck(List<Action> actions) {
public void onEntry(final TransitionTarget entered) {

logger.debug("#OnEntry: " + entered.getId());
logger.trace("Current states:");
if (logger.isTraceEnabled()) for(Object s : scxmlExecutor.getCurrentStatus().getStates()) {
State state = (State) s;
logger.trace("- " + state.getId());
logger.trace("All Current states:");
if (logger.isTraceEnabled()) for(Object s : scxmlExecutor.getCurrentStatus().getAllStates()) {
if (s instanceof State) {
State state = (State) s;
logger.trace("- " + state.getId());
} else {
logger.trace(s);
}

}
logger.debug(this.scxmlExecutor.getCurrentStatus().toString());
actionCheck(entered.getOnEntry().getActions());
Expand Down Expand Up @@ -806,13 +821,21 @@ public void onExit(final TransitionTarget exited) {
if (exited instanceof Parallel) {
Parallel parallel = (Parallel) exited;
logger.trace("exited is instance of parallel " + exited.getId());
this.pauseMachine();
for (Object s : parallel.getChildren()) {
if (s instanceof TransitionTarget) {
TransitionTarget t = (TransitionTarget) s;

StateID stateId = new StateID(statePrefix, t.getId());
stopAndRemoveState(stateId, true);
}
}
// Removing all active states to be sure
Set<StateID> keys = new HashSet<>(activeStates.keySet());
for (StateID key : keys) {
stopAndRemoveState(key, true);
}
this.continueStateMachine();
} else {
logger.trace("exited is not parallel " + exited.getId() + " "
+ exited.getClass().getSimpleName());
Expand Down
24 changes: 24 additions & 0 deletions ...i_scxml_engine/src/test/java/de/unibi/citec/clf/bonsai/engine/scxml/StatemachineTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -160,4 +160,28 @@ public void testOptionalParameter() throws TransformerException, TimeoutExceptio
assertTrue(TestTools.testStatemachine(conf, sm, test));
}

// @Test
// public void testParallelWorking() throws TransformerException, TimeoutException {
// final String sm = "parallelWorking.xml";
// final String conf = "TestConfig.xml";
//
// LoadingResults res = TestTools.loadStatemachine(sm);
// assertTrue(res.success());
//
// TestListener test = TestListener.newEndFatal();
// assertTrue(TestTools.testStatemachine(conf, sm, test));
// }
//
// @Test
// public void testParallelBugged() throws TransformerException, TimeoutException {
// final String sm = "parallelBugged.xml";
// final String conf = "TestConfig.xml";
//
// LoadingResults res = TestTools.loadStatemachine(sm);
// assertTrue(res.success());
//
// TestListener test = TestListener.newEndFatal();
// assertTrue(TestTools.testStatemachine(conf, sm, test));
// }

}
76 changes: 76 additions & 0 deletions bonsai_scxml_engine/src/test/resources/state_machines/parallelBugged.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,76 @@
<?xml version="1.0" encoding="UTF-8"?>
<scxml xmlns="http://www.w3.org/2005/07/scxml" version="1.0" initial="init">
<datamodel>
<data id="#_STATE_PREFIX" expr="'de.unibi.citec.clf.bonsai.skills.'"/>
<data id="condition1" expr="false"/>
<data id="condition2" expr="false"/>
<data id="condition3" expr="false"/>
</datamodel>

<state id="init" initial="Nop#init">
<state id="Nop#init">
<transition event="Nop.fatal" target="Parallel"/>
</state>
</state>

<parallel id="Parallel">
<onentry>
<assign name="condition1" expr="false"/>
<assign name="condition2" expr="false"/>
<assign name="condition3" expr="false"/>
</onentry>

<!-- Transitions that leave parallel have to be defined on the parallel state -->
<transition event="strand.done" cond="condition1 and condition2 and condition3" target="Wait#After"/>

<state id="stand1" initial="Nop">
<state id="Nop">
<transition event="Nop.fatal">
<assign name="condition1" expr="true"/>
<send event="strand.done"/>
</transition>
</state>
</state>

<state id="stand2" initial="Wait">
<state id="Wait">
<datamodel>
<data id="#_TIMEOUT" expr="'1000'"/>
</datamodel>
<transition event="Wait.*" target="Wait#dummy">
<assign name="condition2" expr="true"/>
</transition>
</state>

<state id="Wait#dummy">
<datamodel>
<data id="#_TIMEOUT" expr="'100'"/>
</datamodel>
<transition event="Wait.*"/>
</state>
</state>

<state id="srand3" initial="Wait2">
<state id="Wait2">
<datamodel>
<data id="#_TIMEOUT" expr="'2000'"/>
</datamodel>
<transition event="Wait2.success">
<assign name="condition3" expr="true"/>
<send event="strand.done"/>
</transition>
<transition event="Wait2.fatal"/>
</state>
</state>


</parallel>

<state id="Wait#After">
<transition event="Wait.*" target="End"/>
</state>

<state id="Fatal" final="true"/>

<state id="End" final="true"/>
</scxml>
65 changes: 65 additions & 0 deletions bonsai_scxml_engine/src/test/resources/state_machines/parallelWorking.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,65 @@
<?xml version="1.0" encoding="UTF-8"?>
<scxml xmlns="http://www.w3.org/2005/07/scxml" version="1.0" initial="init">
<datamodel>
<data id="#_STATE_PREFIX" expr="'de.unibi.citec.clf.bonsai.skills.'"/>
<data id="condition1" expr="false"/>
<data id="condition2" expr="false"/>
<data id="condition3" expr="false"/>
</datamodel>

<state id="init" initial="Nop#init">
<state id="Nop#init">
<transition event="Nop.fatal" target="Parallel"/>
</state>
</state>

<parallel id="Parallel">
<onentry>
<assign name="condition1" expr="false"/>
<assign name="condition2" expr="false"/>
<assign name="condition3" expr="false"/>
</onentry>

<!-- Transitions that leave parallel have to be defined on the parallel state -->
<transition event="strand.done" cond="condition1 and condition2 and condition3" target="Wait#After"/>

<state id="Nop">
<transition event="Nop.fatal">
<assign name="condition1" expr="true"/>
<send event="strand.done" delay="1000"/>
</transition>

</state>

<state id="Wait">
<datamodel>
<data id="#_TIMEOUT" expr="'1000'"/>
</datamodel>
<transition event="Wait.success">
<assign name="condition2" expr="true"/>
<send event="strand.done" delay="1000"/>
</transition>
<transition event="Wait.fatal"/>
</state>

<state id="Wait2">
<datamodel>
<data id="#_TIMEOUT" expr="'10000'"/>
</datamodel>
<transition event="Wait2.success">
<assign name="condition3" expr="true"/>
<send event="strand.done" delay="1000"/>
</transition>
<transition event="Wait2.fatal"/>
</state>
</parallel>

<state id="Wait#After">
<transition event="Wait.success" target="End"/>
<transition event="Wait.fatal"/>
</state>

<state id="Fatal" final="true"/>

<state id="End" final="true"/>
</scxml>

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