state machine, parallel seems to work, final state and info about active atomic states

libs/main/state_machine/pistatemachine_state.cpp

@@ -28,6 +28,23 @@ PIStateBase::~PIStateBase() {
 }
 
 
+PIVector<PIStateBase *> PIStateBase::activeChildren() const {
+	if (!isParallel()) {
+		if (active_state) return {active_state};
+		return {};
+	}
+	if (isActive()) return children;
+	return {};
+}
+
+
+PIVector<PIStateBase *> PIStateBase::activeAtomics() const {
+	PIVector<PIStateBase *> ret;
+	gatherActiveAtomicStates(ret);
+	return ret;
+}
+
+
 void PIStateBase::addState(PIStateBase * s) {
 	children << s;
 	s->parent_state = this;
@@ -60,7 +77,8 @@ PITransitionBase * PIStateBase::addTransition(PIStateBase * target, int event_id
 
 
 void PIStateBase::print(PIString prefix) {
-	PICout(PICoutManipulators::AddNewLine) << prefix << "[" << (isActive() ? "*" : " ") << "] " << getName();
+	PICout(PICoutManipulators::AddNewLine) << prefix << "[" << (isActive() ? "*" : " ") << "] " << getName() << " active "
+										   << activeChildren();
 	prefix += "  ";
 	for (auto * c: children)
 		c->print(prefix);
@@ -72,11 +90,19 @@ bool PIStateBase::start() {
 		setActive(true);
 		return true;
 	} else {
-		if (initial_state) {
+		if (!isParallel()) {
+			if (initial_state) {
+				setActive(true);
+				return initial_state->start();
+			} else
+				piCout << "error:" << getName() << "no initial state!";
+		} else {
 			setActive(true);
-			return initial_state->start();
-		} else
-			piCout << "error:" << getName() << "no initial state!";
+			for (auto * s: children) {
+				if (!s->start()) return false;
+			}
+			return true;
+		}
 	}
 	return false;
 }
@@ -85,8 +111,16 @@ bool PIStateBase::start() {
 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();
+	if (parent_state && yes) parent_state->childActived(this);
+	if (!prev_active && is_active) {
+		onEnter();
+		// if (isParallel()) setChildrenActive(true);
+	}
+	if (prev_active && !is_active) {
+		active_state = nullptr;
+		if (isParallel()) setChildrenActiveRecursive(false);
+		onExit();
+	}
 }
 
 
@@ -98,26 +132,37 @@ void PIStateBase::setActiveRecursive(bool yes) {
 }
 
 
-void PIStateBase::setChildActiveRecursive(bool yes) {
+void PIStateBase::setChildrenActive(bool yes) {
+	for (auto * c: children)
+		c->setActive(yes);
+}
+
+
+void PIStateBase::setChildrenActiveRecursive(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;
+void PIStateBase::activeChild(PIStateBase * c) {
+	setActive(true);
+	if (isParallel())
+		for (auto * s: children) {
+			if (c != s) s->start();
+		}
+	else {
+		if (!c) c = initial_state;
+		if (c) c->setActive(true);
 	}
-	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::childActived(PIStateBase * s) {
+	if (!isParallel()) {
+		active_state = s;
+		if (active_state->isFinal()) onFinish();
+	} else
+		active_state = nullptr;
 }
 
 
@@ -136,7 +181,14 @@ void PIStateBase::propagateRoot(PIStateMachine * r) {
 void PIStateBase::gatherActiveStates(PIVector<PIStateBase *> & output) {
 	for (auto * c: children)
 		c->gatherActiveStates(output);
-	if (is_active) output << this;
+	if (isActive()) output << this;
+}
+
+
+void PIStateBase::gatherActiveAtomicStates(PIVector<PIStateBase *> & output) const {
+	for (auto * c: children)
+		c->gatherActiveAtomicStates(output);
+	if (isActive() && isAtomic()) output << const_cast<PIStateBase *>(this);
 }