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rfsm's Issues

invalid escape sequence near '\.'

lua: ...isolated/src/orocos/orocos_toolchain/rFSM/tools/rfsm-viz:72: invalid escape sequence near '.'
when i try to run a lua deployer with rfsm-viz i get above error.

rfsm-viz save location syntax error

/opt/ros/indigo/lib/rfsm/rfsm-viz all -f /home/me/test.lua
returns
lua: /opt/ros/indigo/lib/rfsm/rfsm-viz:72: invalid escape sequence near '\.'

COPYING file specifices GPL3 is this correct?

The COPYING file specifies GPL3, but the READme.md says "rFSM is dual licensed under LGPL/BSD."

and the headers (at least some of them say GPL-2.

Can we get some clarity on this, and perhaps update the COPYING file.

Missing fsmdbg module

I have a problem when running rfsm-dbg ... I seem to be missing the fsmdbg module. Can you help me?

$ head tools/rfsm-dbg 
#!/usr/bin/env lua
-- -*- lua -*-

require("rfsm")
require("fsmdbg")    -- THIS LINE

rfsm2dot fail with graph depth>2

I'm a new user of rFSM but it seems to me that rfsm2uml.rfsm2dot() does not handle graph with too much (>2) depth.
I've run the following code :

require "rfsm"
require "rfsm2uml"

fsm = rfsm.init(rfsm.load("test_fsm.lua") )

rfsm2uml.rfsm2dot(fsm, "test-uml.dot")

With test_fsm.lua :

return rfsm.state {
    configured = rfsm.state {},
    operationnal = rfsm.state {  
      idle = rfsm.state {},
      --== Manual states ==-
      joint_pos = rfsm.state {  
        running = rfsm.state {},
        done = rfsm.state {},

        --============================== Joint pos transitions =================================== 
        rfsm.trans {src="initial", tgt="running" },
        rfsm.trans {src="running",tgt="done", events={'joint_pos.done'}},
      },
      --============================== Operational transitions =================================== 
      rfsm.trans {src="initial", tgt="idle" },
      rfsm.trans {src="joint_pos",tgt="idle", events={'idle'}},
      rfsm.trans {src="idle",tgt="joint_pos", events={'joint_pos'}},
    },
  
    --============================== Main transitions =================================== 
    rfsm.trans {src="initial", tgt="configured" },
    rfsm.trans {src="configured", tgt="operationnal", events={'start'}},
    rfsm.trans {src="operationnal", tgt="configured", events={'stop'}},
  }

While everything is running fine when removing states & transitions inside joint_pos state, rfsm2uml.rfsm2dot will fail with those. Even if the underlying FSM seems to be working fine.
It gives the following error while run by rttlua :

Real-time memory: 517888 bytes free of 524288 allocated.
OROCOS RTTLua 1.0-beta5 / Lua 5.1.5 (gnulinux)
INFO: created undeclared connector root.initial
INFO: created undeclared connector root.operationnal.initial
INFO: created undeclared connector root.operationnal.joint_pos.initial
WARNING: no outgoing transitions from node 'root.operationnal.joint_pos.done'
No state 'root.operationnal.joint_pos'
/home/antoineh/orocos/foxy/bin/rttlua-gnulinux: ...integration/src/rtt_ros2_utilities/rFSM/rfsm2uml.lua:136: assertion failed!
stack traceback:
	[C]: in function 'assert'
	...integration/src/rtt_ros2_utilities/rFSM/rfsm2uml.lua:136: in function 'new_sista'
	...integration/src/rtt_ros2_utilities/rFSM/rfsm2uml.lua:250: in function 'proc_node'
	...integration/src/rtt_ros2_utilities/rFSM/rfsm2uml.lua:272: in function 'func'
	...os2-integration/src/rtt_ros2_utilities/rFSM/rfsm.lua:233: in function 'f'
	/home/antoineh/orocos/foxy/share/lua/5.1/utils.lua:246: in function 'map'
	...os2-integration/src/rtt_ros2_utilities/rFSM/rfsm.lua:229: in function '__mapfsm'
	...os2-integration/src/rtt_ros2_utilities/rFSM/rfsm.lua:236: in function 'f'
	/home/antoineh/orocos/foxy/share/lua/5.1/utils.lua:246: in function 'map'
	...os2-integration/src/rtt_ros2_utilities/rFSM/rfsm.lua:229: in function '__mapfsm'
	...os2-integration/src/rtt_ros2_utilities/rFSM/rfsm.lua:236: in function 'f'
	/home/antoineh/orocos/foxy/share/lua/5.1/utils.lua:246: in function 'map'
	...os2-integration/src/rtt_ros2_utilities/rFSM/rfsm.lua:229: in function '__mapfsm'
	...os2-integration/src/rtt_ros2_utilities/rFSM/rfsm.lua:244: in function 'mapfsm'
	...integration/src/rtt_ros2_utilities/rFSM/rfsm2uml.lua:270: in function 'fsm2gh'
	...integration/src/rtt_ros2_utilities/rFSM/rfsm2uml.lua:298: in function 'rfsm2dot'
	test.lua:6: in main chunk
	[C]: ?
TLSF bytes allocated=524288 overhead=6400 max-used=6400 currently-used=6400 still-allocated=0

adding an event to an 'initial' transition causes rFSM to stall, without throwing an error

Adding an event to an 'initial' transition causes rFSM to stall, without throwing an error.
For example rfsm.trans{src="initial", tgt="stateA", events={"e_done"}}.
Especially when this transition is part of a hierachical FSM:
uplevel = rfsm.state{
stateAA=rfsm.state{},
stateBB=rfsm.state{
stateA = rfsm.state{},
rfsm.trans{src="initial", tgt="stateA", events={"e_done"}},
},
rfsm.trans{src="initial", tgt="stateAA"},
rfsm.trans{src="stateAA", tgt="stateBB", events={"e_done"}}
}

rFSM does not make the exit of the previous state (state AA), just stays in this state.
There is no hint whatsoever that it is a transition in a next sub-state that causes the error.
Especially annoying when the sub-states are in different files...

Improve unit test code coverage

At time of writing, code coverage is ~75% of loaded code, and could be improved

coverage of loaded files

File                               Hits Missed Coverage
-------------------------------------------------------
../ansicolors.lua                  41   0      100.00%
../examples/composite_exitconn.lua 13   0      100.00%
../examples/composite_nested.lua   28   0      100.00%
../examples/connector_simple.lua   8    0      100.00%
../examples/connector_split.lua    18   0      100.00%
../examples/simple_doo_idle.lua    10   0      100.00%
../rfsm.lua                        460  116    79.86%
../rfsm2tree.lua                   16   54     22.86%
../rfsm2uml.lua                    132  19     87.42%
../rfsm_testing.lua                56   13     81.16%
../rfsmpp.lua                      31   38     44.93%
../utils.lua                       105  121    46.46%
fsmtest_composite_nested.lua       31   5      86.11%
fsmtest_exitconn.lua               23   1      95.83%
fsmtest_simple_conn.lua            34   2      94.44%
fsmtest_simple_conn_with_split.lua 26   2      92.86%
fsmtest_simple_idle_doo.lua        33   0      100.00%
-------------------------------------------------------
Total                              1065 371    74.16%

files with no coverage

cat luacov.report.out | egrep 0.00 | egrep -v 100.00

../examples/await.lua                       0    21     0.00%
../examples/ball_tracker.lua                0    12     0.00%
../examples/ball_tracker_scope.lua          0    11     0.00%
../examples/connector_cycles.lua            0    5      0.00%
../examples/connector_cycles2.lua           0    10     0.00%
../examples/emem_test.lua                   0    27     0.00%
../examples/extension/base_fsm.lua          0    5      0.00%
../examples/extension/base_fsm_extended.lua 0    7      0.00%
../examples/hello_world.lua                 0    4      0.00%
../examples/introductory.lua                0    22     0.00%
../examples/monitor_state.lua               0    14     0.00%
../examples/nested_fsm/launch.lua           0    5      0.00%
../examples/nested_fsm/root.lua             0    3      0.00%
../examples/nested_fsm/subfsm.lua           0    6      0.00%
../examples/ping-pong.lua                   0    11     0.00%
../examples/preview_example.lua             0    15     0.00%
../examples/preview_example2.lua            0    21     0.00%
../examples/relative_trans.lua              0    7      0.00%
../examples/runscript.lua                   0    6      0.00%
../examples/seqand.lua                      0    19     0.00%
../examples/simple.lua                      0    4      0.00%
../examples/simple_idle_doo.lua             0    12     0.00%
../examples/timeevent.lua                   0    18     0.00%
../examples/total_failure.lua               0    5      0.00%
../rfsm2json.lua                            0    27     0.00%
../rfsm_await.lua                           0    44     0.00%
../rfsm_checkevents.lua                     0    17     0.00%
../rfsm_emem.lua                            0    25     0.00%
../rfsm_ext.lua                             0    77     0.00%
../rfsm_marsh.lua                           0    36     0.00%
../rfsm_preview.lua                         0    25     0.00%
../rfsm_proto.lua                           0    84     0.00%
../rfsm_rtt.lua                             0    117    0.00%
../rfsm_timeevent.lua                       0    51     0.00%
../tests/fsmdbg_simple.lua                  0    10     0.00%
../tests/fsmtest_composite_nested.lua       0    20     0.00%
../tests/fsmtest_exitconn.lua               0    14     0.00%
../tests/fsmtest_simple_conn.lua            0    20     0.00%
../tests/fsmtest_simple_conn_with_split.lua 0    17     0.00%
../tests/fsmtest_simple_idle_doo.lua        0    16     0.00%
../time.lua                                 0    51     0.00%
../tools/rfsm-sim.lua                       0    80     0.00%
fsmdbg_simple.lua                           0    10     0.00%

procedure

with luarocks, install luacov

rFSM$ luarocks --lua-version 5.2 install luacov --local
rFSM$ cd tests
rFSM/tests$ cat <<EOF > .luacov
includeuntestedfiles = { '.', '..' }
EOF

consider using the unit test wrapper script from #25

otherwise the syntax is similar to:

rFSM/tests$ eval "$(luarocks --lua-version 5.2 path --bin)"
rFSM/tests$ lua5.2 -lluacov <testname.lua>
rFSM/tests$ luacov

Using an auxiliary state machine twice in another state machine, but load and run it once.

I am wondering if there is any modification that can be done, such that I can have two load statements in the same file but still have one instance. The design of the code is such that I need to have this same auxiliary state under two composite states.
I tried to make another implementation of rfsm.load which uses require, but it fails. I have made a post here that describes my problem. Any ideas and/or pointers?
https://stackoverflow.com/questions/72721508/avoid-loading-the-same-script-twice-with-rfsm-library-in-lua

queued events are dropped in step()?

If there are several events in the queue, only the one(s) triggering the first (highest prio) transition will be considered. All other events will be dropped silently. What is the rationale behind this?

If events arrive faster than you can process them, i.e. there will be a queue with more than one element,
you will loose some of these events.

Is this intended behavior?

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