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State machine execution logic #135

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State machine execution logic #135

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@psoetens psoetens commented Feb 4, 2016

This PR modifies the state machine execution logic in a non-backwards compatible way, but does introduce clear semantics of what is done when and in which step of the TaskContext.

Open questions:

  • Shouldn't events be enabled already in entry{} ?
    • today they are not, and since we sleep after entry{} there's no way to intercept an event that came in during entry{} and respond to that. So the thing causing the event needs to move into run{}, but then a default transition will be taken if present because the event did not have time yet to be processed if it's send().
  • Should the user have the choice where the SM goes to sleep ?
    • between exit{} and entry{}
    • between entry{} and run{}
    • between run{} and transitions {}

psoetens and others added 6 commits February 3, 2016 19:11
@psoetens @meyerj
scripting: make state transition execution more logical
bec07dd 
Upon each step, first the run state is executed and then transitions are checked.
If a transition is valid, it is executed upto the entry state of the next state.
Executing run is then a task for the next step again.

Signed-off-by: Peter Soetens <peter@intermodalics.eu>

Conflicts:
	rtt/scripting/StateMachine.cpp
@psoetens @meyerj
scripting: fix bug in state machine when run yields
90c5fc3 
We should only runState when the previous run finished.

Signed-off-by: Peter Soetens <peter@intermodalics.eu>
@meyerj
scripting: removed additional enableEvents() call in StateMachine::ac…
3d64b79 
…tivate()

The removed line triggered a failed assert in StateMachine::enableEvents().

Signed-off-by: Johannes Meyer <johannes@intermodalics.eu>
@meyerj
tests: fixed OperationCaller signature in state_test
55f3a66 
This patch prevents that the OperationCaller falls back to a RemoteOperationCaller implementation
and logs a warning during the test.

Signed-off-by: Johannes Meyer <johannes@intermodalics.eu>
@meyerj
tests: fixed testStateYieldbySend case in state_test
050fd12 
Yielding in the run program of state INIT already triggers the global transition
to the FINI state, before the send event can be processed and trigger a transition
to NEXT. This patch adds a condition to the global transition that only evaluates to
true after the run program has finished.

Signed-off-by: Johannes Meyer <johannes@intermodalics.eu>
doc: added drawings showing new SM execution logic.
de925a7 
Signed-off-by: Peter Soetens <peter@thesourceworks.com>
@meyerj meyerj changed the title Master statemachine execution logic State machine execution logic Feb 9, 2016
This was referenced Feb 9, 2016
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meyerj added 2 commits May 2, 2016 19:42
@meyerj
tests/state_test: fixed accidentally added line in bec07dd
696ec41 
Signed-off-by: Johannes Meyer <johannes@intermodalics.eu>
@meyerj
scripting: added missing zero-pointer check in StateMachine::executeP…
f0abfa9 
…reCheck()

See also commit f6c8c80 and #113.

Signed-off-by: Johannes Meyer <johannes@intermodalics.eu>
@meyerj meyerj mentioned this pull request Feb 2, 2017
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@psoetens @meyerj