first state machine code, exclusive already works

need to make final, parallel, timeouts

libs/main/pip.h

@@ -29,6 +29,7 @@
 #include "piiodevicesmodule.h"
 #include "piioutilsmodule.h"
 #include "pimathmodule.h"
+#include "pistatemachinemodule.h"
 #include "pisystemmodule.h"
 #include "pithreadmodule.h"
 

libs/main/state_machine/pistatemachine.cpp

@@ -0,0 +1,31 @@
+/*
+    PIP - Platform Independent Primitives
+	State machine
+    Ivan Pelipenko peri4ko@yandex.ru, Andrey Bychkov work.a.b@yandex.ru
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU Lesser General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU Lesser General Public License for more details.
+
+    You should have received a copy of the GNU Lesser General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "pistatemachine.h"
+
+
+PIStateMachine::PIStateMachine(const PIString & n): PIStateBase(n) {
+	is_root = true;
+}
+
+
+bool PIStateMachine::start() {
+	setActiveRecursive(false);
+	return PIStateBase::start();
+}

libs/main/state_machine/pistatemachine.h

@@ -0,0 +1,61 @@
+/*! \file pistatemachine.h
+ * \ingroup StateMachine
+ * \~\brief
+ * \~english State machine.
+ * \~russian Машина состояний.
+ */
+/*
+    PIP - Platform Independent Primitives
+	State machine
+    Ivan Pelipenko peri4ko@yandex.ru, Andrey Bychkov work.a.b@yandex.ru
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU Lesser General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU Lesser General Public License for more details.
+
+    You should have received a copy of the GNU Lesser General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef pistatemachine_H
+#define pistatemachine_H
+
+#include "pistatemachine_state.h"
+#include "pistatemachine_transition.h"
+
+
+//! \ingroup StateMachine
+//! \~\brief
+//! \~english
+//! \~russian
+class PIP_EXPORT PIStateMachine: public PIStateBase {
+public:
+	PIStateMachine(const PIString & n = {});
+
+	bool start();
+
+	template<typename... Args>
+	bool postEvent(int event_id, Args... args) {
+		PIVector<PIStateBase *> active_states;
+		gatherActiveStates(active_states);
+		for (auto * s: active_states) {
+			for (auto * t: s->transitions) {
+				if (t->eventID != event_id) continue;
+				if (t->testGuard(args...)) {
+					t->trigger();
+					return true;
+				}
+			}
+		}
+		return false;
+	}
+};
+
+
+#endif

libs/main/state_machine/pistatemachine_base.h

@@ -0,0 +1,79 @@
+/*! \file pistatemachine_base.h
+ * \ingroup StateMachine
+ * \~\brief
+ * \~english Some template helpers for PIStateMachine
+ * \~russian Несколько шаблонов для PIStateMachine
+ */
+/*
+    PIP - Platform Independent Primitives
+	Some template helpers for PIStateMachine
+    Ivan Pelipenko peri4ko@yandex.ru, Andrey Bychkov work.a.b@yandex.ru
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU Lesser General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU Lesser General Public License for more details.
+
+    You should have received a copy of the GNU Lesser General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef pistatemachine_base_H
+#define pistatemachine_base_H
+
+#include "piconstchars.h"
+
+
+namespace PIStateMachineHelpers {
+
+template<typename T>
+struct FunctionType {
+	using Type = void;
+};
+
+template<typename Ret, typename Class, typename... Args>
+struct FunctionType<Ret (Class::*)(Args...) const> {
+	using Type = std::function<Ret(Args...)>;
+};
+
+template<typename L>
+typename FunctionType<decltype(&L::operator())>::Type toStdFunction(L const & func) {
+	return func;
+}
+
+class FunctionBase {
+public:
+	virtual ~FunctionBase() {}
+	virtual uint formatHash() = 0;
+};
+
+template<typename... Args>
+class Function: public FunctionBase {
+public:
+	uint formatHash() override {
+		static uint ret = PIConstChars(typeid(std::function<void(Args...)>).name()).hash();
+		return ret;
+	}
+	std::function<bool(Args...)> func;
+};
+
+template<typename Ret, typename... Args>
+FunctionBase * makeFunction(std::function<Ret(Args...)> func) {
+	auto * ret = new Function<Args...>();
+	ret->func  = func;
+	return ret;
+}
+
+} // namespace PIStateMachineHelpers
+
+class PITransitionBase;
+class PIStateBase;
+class PIStateMachine;
+
+
+#endif

libs/main/state_machine/pistatemachine_state.cpp

@@ -0,0 +1,154 @@
+/*
+	PIP - Platform Independent Primitives
+	State machine
+	Ivan Pelipenko peri4ko@yandex.ru, Andrey Bychkov work.a.b@yandex.ru
+
+	This program is free software: you can redistribute it and/or modify
+	it under the terms of the GNU Lesser General Public License as published by
+	the Free Software Foundation, either version 3 of the License, or
+	(at your option) any later version.
+
+	This program is distributed in the hope that it will be useful,
+	but WITHOUT ANY WARRANTY; without even the implied warranty of
+	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+	GNU Lesser General Public License for more details.
+
+	You should have received a copy of the GNU Lesser General Public License
+	along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "pistatemachine_state.h"
+
+#include "pistatemachine_transition.h"
+
+
+PIStateBase::~PIStateBase() {
+	piDeleteAll(children);
+	piDeleteAll(transitions);
+}
+
+
+void PIStateBase::addState(PIStateBase * s) {
+	children << s;
+	s->parent_state = this;
+	propagateRoot(root);
+}
+
+
+void PIStateBase::addStates(PIVector<PIStateBase *> s) {
+	children << s;
+	for (auto * i: s)
+		i->parent_state = this;
+	propagateRoot(root);
+}
+
+
+void PIStateBase::setInitialState(PIStateBase * s) {
+	if (children.contains(s))
+		initial_state = s;
+	else
+		initial_state = nullptr;
+}
+
+
+PITransitionBase * PIStateBase::addTransition(PIStateBase * target, int event_id) {
+	PITransitionBase * ret = new PITransitionBase(this, target, event_id);
+	ret->root              = root;
+	transitions << ret;
+	return ret;
+}
+
+
+void PIStateBase::print(PIString prefix) {
+	PICout(PICoutManipulators::AddNewLine) << prefix << "[" << (isActive() ? "*" : " ") << "] " << getName();
+	prefix += "  ";
+	for (auto * c: children)
+		c->print(prefix);
+}
+
+
+bool PIStateBase::start() {
+	if (isAtomic()) {
+		setActive(true);
+		return true;
+	} else {
+		if (initial_state) {
+			setActive(true);
+			return initial_state->start();
+		} else
+			piCout << "error:" << getName() << "no initial state!";
+	}
+	return false;
+}
+
+
+void PIStateBase::setActive(bool yes) {
+	bool prev_active = is_active;
+	is_active        = yes;
+	if (!prev_active && is_active) onEnter();
+	if (prev_active && !is_active) onExit();
+}
+
+
+void PIStateBase::setActiveRecursive(bool yes) {
+	if (yes) setActive(true);
+	for (auto * c: children)
+		c->setActiveRecursive(yes);
+	if (!yes) setActive(false);
+}
+
+
+void PIStateBase::setChildActiveRecursive(bool yes) {
+	for (auto * c: children)
+		c->setActiveRecursive(yes);
+}
+
+
+void PIStateBase::setChildActive(PIStateBase * s) {
+	if (isAtomic()) return;
+	if (!s) s = initial_state;
+	if (!s) {
+		piCout << "error:" << getName() << "no initial state!";
+		return;
+	}
+	for (auto * c: children)
+		c->setActive(false);
+	if (active_state) {
+		if (active_state != s) active_state->setActive(false);
+	}
+	active_state = s;
+	if (active_state) active_state->setActive(true);
+}
+
+
+void PIStateBase::propagateRoot(PIStateMachine * r) {
+	if (is_root)
+		root = reinterpret_cast<PIStateMachine *>(this);
+	else
+		root = r;
+	for (auto * t: transitions)
+		t->root = root;
+	for (auto * c: children)
+		c->propagateRoot(root);
+}
+
+
+void PIStateBase::gatherActiveStates(PIVector<PIStateBase *> & output) {
+	for (auto * c: children)
+		c->gatherActiveStates(output);
+	if (is_active) output << this;
+}
+
+
+void PIStateBase::gatherPathToMachine(PIVector<PIStateBase *> & output) {
+	if (isStateMachine()) return;
+	output << this;
+	if (parent()) parent()->gatherPathToMachine(output);
+}
+
+
+PIVector<PIStateBase *> PIStateBase::pathToMachine() {
+	PIVector<PIStateBase *> ret;
+	gatherPathToMachine(ret);
+	return ret;
+}

libs/main/state_machine/pistatemachine_state.h

@@ -0,0 +1,126 @@
+/*! \file pistatemachine_state.h
+ * \ingroup StateMachine
+ * \~\brief
+ * \~english State machine node
+ * \~russian Узел машины состояний
+ */
+/*
+    PIP - Platform Independent Primitives
+	State machine node
+    Ivan Pelipenko peri4ko@yandex.ru, Andrey Bychkov work.a.b@yandex.ru
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU Lesser General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU Lesser General Public License for more details.
+
+    You should have received a copy of the GNU Lesser General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef pistatemachine_state_H
+#define pistatemachine_state_H
+
+#include "pistatemachine_base.h"
+#include "pistring.h"
+
+
+//! \ingroup StateMachine
+//! \~\brief
+//! \~english
+//! \~russian
+class PIP_EXPORT PIStateBase {
+	friend class PIStateMachine;
+	friend class PITransitionBase;
+
+public:
+	PIStateBase(const PIString & n = {}): name_(n) { ; }
+	virtual ~PIStateBase();
+
+	virtual void onEnter() {}
+	virtual void onExit() {}
+
+	PIStateMachine * machine() const { return root; }
+	PIStateBase * parent() const { return parent_state; }
+
+	void addState(PIStateBase * s);
+	void addStates(PIVector<PIStateBase *> s);
+	void setInitialState(PIStateBase * s);
+
+	PITransitionBase * addTransition(PIStateBase * target, int event_id);
+
+	void setParallel(bool yes) { is_parallel = yes; }
+
+	const PIString & getName() const { return name_; }
+	bool isStateMachine() const { return is_root; }
+	bool isActive() const { return is_active; }
+	bool isParallel() const { return is_parallel; }
+	bool isAtomic() const { return children.isEmpty(); }
+	bool isCompound() const { return children.isNotEmpty(); }
+	const PIVector<PIStateBase *> & getChildren() const { return children; }
+	const PIVector<PITransitionBase *> & getTransitions() const { return transitions; }
+
+	void print(PIString prefix = {});
+
+protected:
+	bool start();
+	void setActive(bool yes);
+	void setActiveRecursive(bool yes);
+	void setChildActiveRecursive(bool yes);
+	void setChildActive(PIStateBase * s);
+	void propagateRoot(PIStateMachine * r);
+	void gatherActiveStates(PIVector<PIStateBase *> & output);
+	void gatherPathToMachine(PIVector<PIStateBase *> & output);
+	PIVector<PIStateBase *> pathToMachine();
+
+	bool is_active = false, is_root = false, is_parallel = false;
+	PIVector<PIStateBase *> children;
+	PIVector<PITransitionBase *> transitions;
+	PIStateBase *active_state = nullptr, *initial_state = nullptr, *parent_state = nullptr;
+	PIStateMachine * root = nullptr;
+	PIString name_;
+};
+
+
+class PIP_EXPORT PIStateLambda: public PIStateBase {
+public:
+	PIStateLambda(std::function<void()> on_enter, std::function<void()> on_exit = nullptr, const PIString & n = {}): PIStateBase(n) {
+		enter = on_enter;
+		exit  = on_exit;
+	}
+	void onEnter() override {
+		if (enter) enter();
+	}
+	void onExit() override {
+		if (exit) exit();
+	}
+
+private:
+	std::function<void()> enter, exit;
+};
+
+
+class PIP_EXPORT PIStateFinal: public PIStateBase {
+public:
+	PIStateFinal(std::function<void()> on_enter, std::function<void()> on_exit = nullptr, const PIString & n = {}): PIStateBase(n) {
+		enter = on_enter;
+		exit  = on_exit;
+	}
+	void onEnter() override {
+		if (enter) enter();
+	}
+	void onExit() override {
+		if (exit) exit();
+	}
+
+private:
+	std::function<void()> enter, exit;
+};
+
+
+#endif

libs/main/state_machine/pistatemachine_transition.cpp

@@ -0,0 +1,81 @@
+/*
+	PIP - Platform Independent Primitives
+	State machine
+	Ivan Pelipenko peri4ko@yandex.ru, Andrey Bychkov work.a.b@yandex.ru
+
+	This program is free software: you can redistribute it and/or modify
+	it under the terms of the GNU Lesser General Public License as published by
+	the Free Software Foundation, either version 3 of the License, or
+	(at your option) any later version.
+
+	This program is distributed in the hope that it will be useful,
+	but WITHOUT ANY WARRANTY; without even the implied warranty of
+	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+	GNU Lesser General Public License for more details.
+
+	You should have received a copy of the GNU Lesser General Public License
+	along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "pistatemachine_transition.h"
+
+#include "pistatemachine_state.h"
+
+
+PITransitionBase::PITransitionBase(PIStateBase * source, PIStateBase * target, int event_id) {
+	target_state = target;
+	source_state = source;
+	eventID      = event_id;
+}
+
+
+PITransitionBase::~PITransitionBase() {
+	piDeleteSafety(guard);
+}
+
+
+PITransitionBase * PITransitionBase::addAction(std::function<void()> a) {
+	action = a;
+	return this;
+}
+
+
+void PITransitionBase::makeAction() {
+	if (action) action();
+}
+
+
+void PITransitionBase::trigger() {
+	if (!target_state || (source_state == target_state)) {
+		makeAction();
+		return;
+	}
+	//	source_state->setActiveRecursive(false);
+	auto source_path        = source_state->pathToMachine();
+	auto target_path        = target_state->pathToMachine();
+	auto source_target_path = target_path;
+	source_target_path.reverse();
+	// piCout << "source_path" << source_path;
+	// piCout << "target_path" << target_path;
+	ssize_t common_count = 0;
+	for (common_count = 0; common_count < piMini(source_path.size_s(), target_path.size_s()); ++common_count) {
+		// piCout << "check" << source_path[source_path.size_s() - common_count - 1] << target_path[target_path.size_s() - common_count -
+		// 1];
+		if (source_path[source_path.size_s() - common_count - 1] != target_path[target_path.size_s() - common_count - 1]) {
+			// piCout << "diff" << common_count;
+			break;
+		}
+	}
+	// piCout << "common" << common_count;
+	source_path.remove(source_path.size_s() - common_count, common_count);
+	target_path.remove(target_path.size_s() - common_count, common_count);
+	// piCout << "source_path" << source_path;
+	// piCout << "target_path" << target_path;
+	source_state->setChildActiveRecursive(false);
+	for (auto * s: source_path)
+		s->setActive(false);
+	makeAction();
+	for (auto * s: source_target_path)
+		s->setActive(true);
+	if (target_state->isCompound()) target_state->start();
+}

libs/main/state_machine/pistatemachine_transition.h

@@ -0,0 +1,84 @@
+/*! \file pistatemachine_transition.h
+ * \ingroup StateMachine
+ * \~\brief
+ * \~english State machine transition
+ * \~russian Переход машины состояний
+ */
+/*
+    PIP - Platform Independent Primitives
+	State machine transition
+    Ivan Pelipenko peri4ko@yandex.ru, Andrey Bychkov work.a.b@yandex.ru
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU Lesser General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU Lesser General Public License for more details.
+
+    You should have received a copy of the GNU Lesser General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef pistatemachine_transition_H
+#define pistatemachine_transition_H
+
+#include "pistatemachine_base.h"
+
+
+//! \ingroup StateMachine
+//! \~\brief
+//! \~english
+//! \~russian
+class PIP_EXPORT PITransitionBase {
+	friend class PIStateMachine;
+	friend class PIStateBase;
+
+public:
+	PITransitionBase(PIStateBase * source, PIStateBase * target, int event_id);
+	~PITransitionBase();
+
+	PIStateMachine * machine() const { return root; }
+	PIStateBase * source() const { return source_state; }
+	PIStateBase * target() const { return target_state; }
+
+	template<typename R, typename... Args>
+	PITransitionBase * addGuard(std::function<R(Args...)> f) {
+		static_assert(std::is_same<R, bool>::value, "guard function should return bool!");
+		piDeleteSafety(guard);
+		guard = PIStateMachineHelpers::makeFunction(f);
+		return this;
+	}
+
+	template<typename L>
+	PITransitionBase * addGuard(L f) {
+		return addGuard(PIStateMachineHelpers::toStdFunction(f));
+	}
+
+	template<typename... Args>
+	bool testGuard(Args... args) {
+		if (!guard) return true;
+		if (guard->formatHash() != PIStateMachineHelpers::Function<Args...>().formatHash()) {
+			piCout << "invalid arguments format!";
+			return false;
+		}
+		return reinterpret_cast<PIStateMachineHelpers::Function<Args...> *>(guard)->func(args...);
+	}
+
+	PITransitionBase * addAction(std::function<void()> a);
+	void makeAction();
+
+	void trigger();
+
+protected:
+	int eventID               = 0;
+	PIStateBase *source_state = nullptr, *target_state = nullptr;
+	PIStateMachine * root                       = nullptr;
+	PIStateMachineHelpers::FunctionBase * guard = nullptr;
+	std::function<void()> action;
+};
+
+#endif

libs/main/state_machine/pistatemachinemodule.h

@@ -0,0 +1,56 @@
+/*
+	PIP - Platform Independent Primitives
+	Module includes
+	Ivan Pelipenko peri4ko@yandex.ru, Andrey Bychkov work.a.b@yandex.ru
+
+	This program is free software: you can redistribute it and/or modify
+	it under the terms of the GNU Lesser General Public License as published by
+	the Free Software Foundation, either version 3 of the License, or
+	(at your option) any later version.
+
+	This program is distributed in the hope that it will be useful,
+	but WITHOUT ANY WARRANTY; without even the implied warranty of
+	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+	GNU Lesser General Public License for more details.
+
+	You should have received a copy of the GNU Lesser General Public License
+	along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+//! \defgroup StateMachine StateMachine
+//! \~\brief
+//! \~english State machine.
+//! \~russian Машина состояний.
+//!
+//! \~\details
+//! \~english \section cmake_module_StateMachine Building with CMake
+//! \~russian \section cmake_module_StateMachine Сборка с использованием CMake
+//!
+//! \~\code
+//! find_package(PIP REQUIRED)
+//! target_link_libraries([target] PIP)
+//! \endcode
+//!
+//! \~english \par Common
+//! \~russian \par Общее
+//!
+//! \~english
+//!
+//! \~russian
+//!
+//! \~\authors
+//! \~english
+//! Ivan Pelipenko peri4ko@yandex.ru;
+//! Andrey Bychkov work.a.b@yandex.ru;
+//! \~russian
+//! Иван Пелипенко peri4ko@yandex.ru;
+//! Андрей Бычков work.a.b@yandex.ru;
+//!
+
+#ifndef PISTATEMACHINEMODULE_H
+#define PISTATEMACHINEMODULE_H
+
+#include "pistatemachine.h"
+#include "pistatemachine_state.h"
+#include "pistatemachine_transition.h"
+
+#endif

main.cpp

@@ -9,7 +9,80 @@
 
 using namespace PICoutManipulators;
 
+
+enum MyEvent {
+	meVoid,
+	meInt,
+	meString,
+	meIntString,
+};
+
 int main(int argc, char * argv[]) {
+	bool posted;
+	PIStateMachine * root = new PIStateMachine("Machine");
+
+	PIStateLambda * s1    = new PIStateLambda([] { piCout << "+ enter s1"; }, [] { piCout << "- exit s1"; }, "s1");
+	PIStateLambda * s2    = new PIStateLambda([] { piCout << "+ enter s2"; }, [] { piCout << "- exit s2"; }, "s2");
+	PIStateLambda * s3    = new PIStateLambda([] { piCout << "+ enter s3"; }, [] { piCout << "- exit s3"; }, "s3");
+	PIStateLambda * s11   = new PIStateLambda([] { piCout << "  + enter s11"; }, [] { piCout << "  - exit s11"; }, "s11");
+	PIStateLambda * s12   = new PIStateLambda([] { piCout << "  + enter s12"; }, [] { piCout << "  - exit s12"; }, "s12");
+	PIStateLambda * s13   = new PIStateLambda([] { piCout << "  + enter s13"; }, [] { piCout << "  - exit s13"; }, "s13");
+	PIStateLambda * s21   = new PIStateLambda([] { piCout << "  + enter s21"; }, [] { piCout << "  - exit s21"; }, "s21");
+	PIStateLambda * s22   = new PIStateLambda([] { piCout << "  + enter s22"; }, [] { piCout << "  - exit s22"; }, "s22");
+	PIStateLambda * s23   = new PIStateLambda([] { piCout << "  + enter s23"; }, [] { piCout << "  - exit s23"; }, "s23");
+	PIStateLambda * s211  = new PIStateLambda([] { piCout << "    + enter s211"; }, [] { piCout << "    - exit s211"; }, "s211");
+	PIStateLambda * s212  = new PIStateLambda([] { piCout << "    + enter s212"; }, [] { piCout << "    - exit s212"; }, "s212");
+	PIStateLambda * s213  = new PIStateLambda([] { piCout << "    + enter s213"; }, [] { piCout << "    - exit s213"; }, "s213");
+
+	root->addStates({s1, s2, s3});
+	s1->addStates({s11, s12, s13});
+	s2->addStates({s21, s22, s23});
+	s21->addStates({s211, s212, s213});
+	s1->setInitialState(s11);
+	s2->setInitialState(s22);
+	s21->setInitialState(s213);
+
+	s1->addTransition(s213, meVoid)->addAction([] { piCout << "action transition s1 -> s213"; });
+	s21->addTransition(s22, meVoid)->addAction([] { piCout << "action transition s21 -> s22"; });
+	// s2->addTransition(s3, meInt)->addGuard([](int i) { return i == 1; });
+	// s3->addTransition(s1, meIntString)->addGuard([](int i, PIString str) { return i == 2 && str == "hello"; });
+
+	root->setInitialState(s1);
+	root->start();
+	piCout << "initial\n";
+	root->print();
+
+	// piCout << root->postEvent(meVoid);
+	// piCout << root->postEvent(meInt, 1);
+
+	piCout << "\npost event";
+	posted = root->postEvent(meVoid);
+	piCout << "posted" << posted << "\n";
+	root->print();
+
+	piCout << "\npost event";
+	posted = root->postEvent(meVoid);
+	piCout << "posted" << posted << "\n";
+	root->print();
+
+	/*root->addStates({s1, s2, s3});
+	root->setInitialState(s1);
+	root->start();
+
+	piCout << root->postEvent(meVoid);
+	piCout << "";
+	piCout << root->postEvent(meInt, 0.5f);
+	piCout << "";
+	piCout << root->postEvent(meInt, 0);
+	piCout << "";
+	piCout << root->postEvent(meInt, 1);
+	piCout << "";
+	piCout << root->postEvent(meIntString, 2, "hello");
+	piCout << "";
+	piCout << root->postEvent(meIntString, 2, PIString("hello"));
+	piCout << "";*/
+	delete root;
+
 	/*PISerial ser;
 	ser.setSpeed(PISerial::S115200);
 	piCout << ser.open("COM15", PIIODevice::ReadWrite);
@@ -62,9 +135,14 @@ int main(int argc, char * argv[]) {
 	test_str("1hz 1hz");*/
 
 	// PIPair<int, PIString> p = createPIPair(0, "");
-	PIVector<PIPair<int, PIString>> pv;
-	pv << createPIPair(0, PIString());
+	/*PIConfig conf("model.conf");
+	piCout << "****** config\n" << conf.allLeaves() << "******\n";
 
+	PIValueTree vt = PIValueTreeConversions::fromTextFile("model.conf");
+	piCout << "****** tree";
+	vt.forEachRecursive(
+		[](const PIValueTree & v, const PIString & fn) { piCout << fn << "=" << v.value().toString() << "#" << v.comment(); });
+	piCout << "******";*/
 
 	return 0;
 }