diff --git a/libs/main/state_machine/pistatemachine_base.h b/libs/main/state_machine/pistatemachine_base.h
index e1c8f71f..88f2f561 100644
--- a/libs/main/state_machine/pistatemachine_base.h
+++ b/libs/main/state_machine/pistatemachine_base.h
@@ -72,7 +72,10 @@ FunctionBase * makeFunction(std::function<Ret(Args...)> func) {
 } // namespace PIStateMachineHelpers
 
 class PITransitionBase;
+class PITransitionTimeout;
 class PIStateBase;
+class PIStateLambda;
+class PIStateFinal;
 class PIStateMachine;
 
 
diff --git a/libs/main/state_machine/pistatemachine_state.cpp b/libs/main/state_machine/pistatemachine_state.cpp
index 28075ebb..d950425c 100644
--- a/libs/main/state_machine/pistatemachine_state.cpp
+++ b/libs/main/state_machine/pistatemachine_state.cpp
@@ -23,8 +23,8 @@
 
 
 PIStateBase::~PIStateBase() {
-	piDeleteAll(children);
 	piDeleteAll(transitions);
+	piDeleteAll(children);
 }
 
 
@@ -76,9 +76,21 @@ PITransitionBase * PIStateBase::addTransition(PIStateBase * target, int event_id
 }
 
 
+PITransitionTimeout * PIStateBase::addTimeoutTransition(PIStateBase * target, PISystemTime timeout) {
+	PITransitionTimeout * ret = new PITransitionTimeout(this, target, timeout);
+	ret->root                 = root;
+	transitions << ret;
+	return ret;
+}
+
+
 void PIStateBase::print(PIString prefix) {
-	PICout(PICoutManipulators::AddNewLine) << prefix << "[" << (isActive() ? "*" : " ") << "] " << getName() << " active "
-										   << activeChildren();
+	auto ac = activeChildren();
+	PICout(PICoutManipulators::AddNone) << prefix << "[" << (isActive() ? "*" : " ") << "] \"" << getName() << "\"";
+	if (ac.isNotEmpty())
+		piCout << ", active" << activeChildren();
+	else
+		piCout << "";
 	prefix += "  ";
 	for (auto * c: children)
 		c->print(prefix);
@@ -86,6 +98,7 @@ void PIStateBase::print(PIString prefix) {
 
 
 bool PIStateBase::start() {
+	if (isActive()) return true;
 	if (isAtomic()) {
 		setActive(true);
 		return true;
@@ -94,8 +107,10 @@ bool PIStateBase::start() {
 			if (initial_state) {
 				setActive(true);
 				return initial_state->start();
-			} else
+			} else {
 				piCout << "error:" << getName() << "no initial state!";
+				return false;
+			}
 		} else {
 			setActive(true);
 			for (auto * s: children) {
@@ -114,12 +129,16 @@ void PIStateBase::setActive(bool yes) {
 	if (parent_state && yes) parent_state->childActived(this);
 	if (!prev_active && is_active) {
 		onEnter();
+		for (auto * t: transitions)
+			t->enabled();
 		// if (isParallel()) setChildrenActive(true);
 	}
 	if (prev_active && !is_active) {
 		active_state = nullptr;
 		if (isParallel()) setChildrenActiveRecursive(false);
 		onExit();
+		for (auto * t: transitions)
+			t->disabled();
 	}
 }
 
diff --git a/libs/main/state_machine/pistatemachine_state.h b/libs/main/state_machine/pistatemachine_state.h
index e9749bdb..c01c804d 100644
--- a/libs/main/state_machine/pistatemachine_state.h
+++ b/libs/main/state_machine/pistatemachine_state.h
@@ -28,6 +28,7 @@
 
 #include "pistatemachine_base.h"
 #include "pistring.h"
+#include "pisystemtime.h"
 
 
 //! \ingroup StateMachine
@@ -57,6 +58,7 @@ public:
 	void setInitialState(PIStateBase * s);
 
 	PITransitionBase * addTransition(PIStateBase * target, int event_id);
+	PITransitionTimeout * addTimeoutTransition(PIStateBase * target, PISystemTime timeout);
 
 	void setParallel(bool yes) { is_parallel = yes; }
 
@@ -132,7 +134,7 @@ inline PICout operator<<(PICout c, PIStateBase * s) {
 	if (!s)
 		c << "state(nullptr)";
 	else
-		c << ("state(" + s->getName() + ")");
+		c << ("state(\"" + s->getName() + "\")");
 	return c;
 }
 
diff --git a/libs/main/state_machine/pistatemachine_transition.cpp b/libs/main/state_machine/pistatemachine_transition.cpp
index 0b328524..ca95f1f7 100644
--- a/libs/main/state_machine/pistatemachine_transition.cpp
+++ b/libs/main/state_machine/pistatemachine_transition.cpp
@@ -69,6 +69,7 @@ void PITransitionBase::trigger() {
 	// 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_target_path" << source_target_path;
 	// piCout << "source_path" << source_path;
 	// piCout << "target_path" << target_path;
 	// piCout << "source_state before" << source_state;
@@ -92,3 +93,30 @@ void PITransitionBase::trigger() {
 	}
 	if (target_state->isCompound()) target_state->start();
 }
+
+
+// PITransitionTimeout
+
+PITransitionTimeout::PITransitionTimeout(PIStateBase * source, PIStateBase * target, PISystemTime timeout)
+	: PITransitionBase(source, target, 0) {
+	timer.setInterval(timeout);
+	timer.setSlot([this] {
+		trigger();
+		timer.stopLater();
+	});
+}
+
+
+PITransitionTimeout::~PITransitionTimeout() {
+	timer.stop();
+}
+
+
+void PITransitionTimeout::enabled() {
+	timer.start();
+}
+
+
+void PITransitionTimeout::disabled() {
+	timer.stopLater();
+}
diff --git a/libs/main/state_machine/pistatemachine_transition.h b/libs/main/state_machine/pistatemachine_transition.h
index d539fa84..d29d9ae9 100644
--- a/libs/main/state_machine/pistatemachine_transition.h
+++ b/libs/main/state_machine/pistatemachine_transition.h
@@ -27,6 +27,7 @@
 #define pistatemachine_transition_H
 
 #include "pistatemachine_base.h"
+#include "pitimer.h"
 
 
 //! \ingroup StateMachine
@@ -39,7 +40,7 @@ class PIP_EXPORT PITransitionBase {
 
 public:
 	PITransitionBase(PIStateBase * source, PIStateBase * target, int event_id);
-	~PITransitionBase();
+	virtual ~PITransitionBase();
 
 	PIStateMachine * machine() const { return root; }
 	PIStateBase * source() const { return source_state; }
@@ -74,6 +75,9 @@ public:
 	void trigger();
 
 protected:
+	virtual void enabled() {}
+	virtual void disabled() {}
+
 	int eventID               = 0;
 	PIStateBase *source_state = nullptr, *target_state = nullptr;
 	PIStateMachine * root                       = nullptr;
@@ -81,4 +85,17 @@ protected:
 	std::function<void()> action;
 };
 
+
+class PIP_EXPORT PITransitionTimeout: public PITransitionBase {
+public:
+	PITransitionTimeout(PIStateBase * source, PIStateBase * target, PISystemTime timeout);
+	~PITransitionTimeout();
+
+private:
+	void enabled() override;
+	void disabled() override;
+
+	PITimer timer;
+};
+
 #endif