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Clean up listings in chapter 'State Machines'
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Problems addressed include oversize listing lines, line breaks in odd places, and badly indented lines.
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@henrikt-ma
henrikt-ma committed Dec 16, 2021
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Showing 1 changed file with 103 additions and 71 deletions.
174 changes: 103 additions & 71 deletions chapters/statemachines.tex
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Expand Up @@ -139,7 +139,7 @@ \section{Transitions}\label{transitions}
\end{operatordefinition}

\begin{example}
If there is a transition with \lstinline!immediate=false! from
If there is a transition with \lstinline!immediate = false! from
state \lstinline!A1! to \lstinline!A2! and the condition is \lstinline!ticksInState() >= 5!, and \lstinline!A1! became
active at 10ms, and the clock period is 1ms, then \lstinline!A1! will be active at
10ms, 11ms, 12ms, 13ms, 14ms, and will be not active at 15 ms.
Expand All @@ -151,7 +151,7 @@ \section{Transitions}\label{transitions}
equation
initialState(A0);
transition(A0, A1, sample(time, Clock(1, 1000)) > 0.0095);
transition(A1, A2, ticksInState() >= 5, immediate=false);
transition(A1, A2, ticksInState() >= 5, immediate = false);
\end{lstlisting}
\end{example}

Expand All @@ -177,7 +177,8 @@ \section{State Machine Graphics}\label{state-machine-graphics}

\begin{example}
\begin{lstlisting}[language=modelica]
transition(state2, state1, x < 10, immediate=true, reset=true, synchronize=false, priority=1)
transition(state2, state1, x < 10,
immediate = true, reset = true, synchronize = false, priority = 1)
annotation(
Line(
points = {{-40,-16},{-36,-4},{-32,8},{-40,26},{-40,32},{-46,50}},
Expand All @@ -197,15 +198,15 @@ \section{State Machine Graphics}\label{state-machine-graphics}

The \lstinline!Text! annotation representing the transition condition can use the notation \lstinline!%condition! to refer to the condition expression.

The extent of the Text is interpreted relative to either the first point of the \lstinline!Line!, in the case of \lstinline!immediate=false!, or the last point (\lstinline!immediate=true!).
The extent of the Text is interpreted relative to either the first point of the \lstinline!Line!, in the case of \lstinline!immediate = false!, or the last point (\lstinline!immediate = true!).

In addition to the line defined by the points of the \lstinline!Line! annotation, a perpendicular line is used to represent the transition. This line is closer to the first point if \lstinline!immediate=false! otherwise closer to the last point.
In addition to the line defined by the points of the \lstinline!Line! annotation, a perpendicular line is used to represent the transition. This line is closer to the first point if \lstinline!immediate = false! otherwise closer to the last point.

If the condition text is somewhat distant from the perpendicular line, a dimmed straight line joins the transition text and the perpendicular line. (See the rightmost transition above.)

If \lstinline!reset=true!, a filled arrow head is used otherwise an open arrow head.
For \lstinline!synchronize=true!, an inverse ``fork'' symbol is used in the
beginning of the arrow. (See the rightmost transition above.)
If \lstinline!reset = true!, a filled arrow head is used otherwise an open arrow head.
For \lstinline!synchronize = true!, an inverse ``fork'' symbol is used in the beginning of the arrow.
(See the rightmost transition above.)

The value of the \lstinline!priority! attribute is prefixing the condition text
followed by a colon if \lstinline!priority! \textgreater{} 1.
Expand Down Expand Up @@ -257,7 +258,7 @@ \subsection{State Activation}\label{state-activation}
else false)
then i
else 0
for i in 1:size(t,1));
for i in 1 : size(t, 1));
\end{lstlisting}
The start value of c is false. This definition would require that the
previous value is recorded for all transitions conditions. Below is
Expand All @@ -277,7 +278,7 @@ \subsection{State Activation}\label{state-activation}
else false)
then i
else 0
for i in 1:size(t,1));
for i in 1 : size(t, 1));
\end{lstlisting}

In a similar way, the \lstinline!Integer delayed! is calculated as the index for a
Expand All @@ -292,7 +293,7 @@ \subsection{State Activation}\label{state-activation}
else false)
then i
else 0
for i in 1:size(t,1));
for i in 1 : size(t, 1));
\end{lstlisting}

The transition to be fired is determined as follows, taking into account
Expand All @@ -315,9 +316,9 @@ \subsection{State Activation}\label{state-activation}
from-transitions and to determine if the state machine is in a final
state currently:
\begin{lstlisting}[language=modelica]
Boolean finalStates[nStates] = {
max(if t[j].from == i then 1 else 0 for j in 1:size(t,1)) == 0
for i in 1:nStates};
Boolean finalStates[nStates] =
{max(if t[j].from == i then 1 else 0 for j in 1 : size(t, 1)) == 0
for i in 1 : nStates};
Boolean stateMachineInFinalState = finalStates[activeState];
\end{lstlisting}
To enable a synchronize transition, all the \lstinline!stateMachineInFinalState! conditions of all state machines within the meta state must be true. An example is given below in the semantic example model.
Expand All @@ -339,13 +340,15 @@ \subsection{Reset Handling}\label{reset-handling}

The state machine reset flag is propagated and maintained to each state individually:
\begin{lstlisting}[language=modelica]
output Boolean activeResetStates[nStates] = {if reset then true else previous(nextResetStates[i]) for i in 1:nStates};
output Boolean activeResetStates[nStates] =
{if reset then true else previous(nextResetStates[i]) for i in 1 : nStates};
\end{lstlisting}
until a state is eventually executed, then its corresponding reset condition is set to false:
\begin{lstlisting}[language=modelica]
Boolean nextResetStates[nStates] =
if active then
{if activeState == i then false else activeResetStates[i] for i in 1:nStates}
{if activeState == i then false else activeResetStates[i]
for i in 1 : nStates}
else
previous(nextResetStates)
\end{lstlisting}
Expand All @@ -368,31 +371,50 @@ \subsection{Semantics Summary}\label{semantics-summary}
model StateMachineSemantics "Semantics of state machines"
parameter Integer nStates;
parameter Transition t[:] "Array of transition data sorted in priority";
input
Boolean c[size(t,1)] "Transition conditions sorted in priority";
input Boolean c[size(t, 1)] "Transition conditions sorted in priority";
input Boolean active "true if the state machine is active";
input Boolean reset "true when the state
machine should be reset";
input Boolean reset "true when the state machine should be reset";
Integer selectedState = if reset then 1 else previous(nextState);
Boolean selectedReset = if reset then true else previous(nextReset);
// For strong (immediate) and weak (delayed) transitions
Integer immediate = max(if (if t[i].immediate and t[i].from == selectedState
then c[i] else false) then i else 0 for i in 1:size(t,1));
Integer delayed = max(if (if not t[i].immediate and t[i].from == nextState
then c[i] else false) then i else 0 for i in 1:size(t,1));
Integer immediate =
max(
if (if t[i].immediate and t[i].from == selectedState
then c[i]
else false)
then i
else 0
for i in 1 : size(t, 1));
Integer delayed =
max(
if (if not t[i].immediate and t[i].from == nextState
then c[i]
else false)
then i
else 0
for i in 1 : size(t, 1));
Integer fired = max(previous(delayed), immediate);
output Integer activeState = if reset then 1 elseif fired > 0 then t[fired].to else selectedState;
output Boolean activeReset = if reset then true elseif fired > 0 then t[fired].reset else selectedReset;
output Integer activeState =
if reset then 1 elseif fired > 0 then t[fired].to else selectedState;
output Boolean activeReset =
if reset then true elseif fired > 0 then t[fired].reset else selectedReset;

// Update states
Integer nextState = if active then activeState else previous(nextState);
Boolean nextReset = if active then false else previous(nextReset);
// Delayed resetting of individual states
output Boolean activeResetStates[nStates] = {if reset then true else
previous(nextResetStates[i]) for i in 1:nStates};
Boolean nextResetStates[nStates] = if active then {if activeState == i then false
else activeResetStates[i] for i in 1:nStates} else previous(nextResetStates);
Boolean finalStates[nStates] = {max(if t[j].from == i then 1 else 0 for j in 1:size(t,1))== 0 for i in 1:nStates};
output Boolean activeResetStates[nStates] =
{if reset then true else previous(nextResetStates[i])
for i in 1 : nStates};
Boolean nextResetStates[nStates] =
if active then
{if activeState == i then false else activeResetStates[i]
for i in 1 : nStates}
else
previous(nextResetStates);
Boolean finalStates[nStates] =
{max(if t[j].from == i then 1 else 0 for j in 1 : size(t, 1)) == 0
for i in 1 : nStates};
Boolean stateMachineInFinalState = finalStates[activeState];
end StateMachineSemantics;
\end{lstlisting}
Expand All @@ -410,7 +432,14 @@ \subsection{Merging Variable Definitions}\label{merging-variable-definitions}
In each state, the outer output variables are solved for and for each
such variable a single definition is formed:
\begin{lstlisting}[language=modelica,escapechar=!]
v := if activeState(state!\textsubscript{1}!) then expre!\textsubscript{1}! elseif activeState(state!\textsubscript{2}!) then expre!\textsubscript{2}! elseif $\ldots$ else last(v)
v :=
if activeState(state!\textsubscript{1}!) then
expre!\textsubscript{1}!
elseif activeState(state!\textsubscript{2}!) then
expre!\textsubscript{2}!
elseif $\ldots$
else
last(v)
\end{lstlisting}

\lstinline!last! is special internal semantic operator returning its
Expand Down Expand Up @@ -489,19 +518,20 @@ \subsection{Example}\label{example}
The Modelica code (without annotations) is:
\begin{lstlisting}[language=modelica]
block HierarchicalAndParallelStateMachine
inner Integer v(start=0);
inner Integer v(start = 0);

State1 state1;
State2 state2;
equation
initialState(state1);
transition(state1,state2,activeState(state1.stateD) and
activeState(state1.stateY), immediate=false);
transition(state2,state1,v >= 20, immediate=false);
transition(state1, state2,
activeState(state1.stateD) and activeState(state1.stateY),
immediate = false);
transition(state2, state1, v >= 20, immediate = false);

public
block State1
inner Integer count(start=0);
inner Integer count(start = 0);
inner outer output Integer v;

block StateA
Expand Down Expand Up @@ -531,15 +561,15 @@ \subsection{Example}\label{example}

equation
initialState(stateA);
transition(stateA, stateB, v >= 6, immediate=false);
transition(stateB, stateC, v == 0, immediate=false);
transition(stateC, stateA, true, immediate=false, priority=2);
transition(stateC, stateD, count >= 2, immediate=false);
transition(stateA, stateB, v >= 6, immediate = false);
transition(stateB, stateC, v == 0, immediate = false);
transition(stateC, stateA, true, immediate = false, priority = 2);
transition(stateC, stateD, count >= 2, immediate = false);

public
block StateX
outer input Integer v;
Integer i(start=0);
Integer i(start = 0);
Integer w; // = v;
equation
i = previous(i) + 1;
Expand All @@ -548,16 +578,16 @@ \subsection{Example}\label{example}
StateX stateX;

block StateY
Integer j(start=0);
Integer j(start = 0);
equation
j = previous(j) + 1;
end StateY;
StateY stateY;

equation
initialState(stateX);
transition(stateX, stateY, stateX.i > 20, immediate=false,
reset=false);
transition(stateX, stateY, stateX.i > 20,
immediate = false, reset = false);
end State1;

block State2
Expand All @@ -583,28 +613,28 @@ \subsection{Example}\label{example}
\begin{lstlisting}[language=modelica]
block HierarchicalAndParallelStateMachine
extends StateMachineSemantics(
nStates=2,
t={Transition(from=1, to=2, immediate=false, synchronize=true),
Transition(from=2, to=1, immediate=false)},
c={true, v >= 20});
Boolean init(start=true) = sample(false);
nStates = 2,
t = {Transition(from = 1, to = 2, immediate = false, synchronize = true),
Transition(from = 2, to = 1, immediate = false)},
c = {true, v >= 20});
Boolean init(start = true) = sample(false);

block State1
Boolean active;
Boolean reset;
outer input Integer v_previous;
inner output Integer v;
inner Integer count(start=0);
inner Integer count(start = 0);
inner Integer count_previous = if reset then 0 else previous(count);

block StateMachineOf_stateA
extends StateMachineSemantics(
nStates=4,
t={Transition(from=1, to=2, immediate=false),
Transition(from=2, to=3, immediate=false),
Transition(from=3, to=1, immediate=false),
Transition(from=3, to=4, immediate=false)},
c={v >= 6, v==0, true, count >= 2});
nStates = 4,
t = {Transition(from = 1, to = 2, immediate = false),
Transition(from = 2, to = 3, immediate = false),
Transition(from = 3, to = 1, immediate = false),
Transition(from = 3, to = 4, immediate = false)},
c = {v >= 6, v == 0, true, count >= 2});
outer input Integer v_previous;
outer output Integer v;
outer input Integer count_previous;
Expand All @@ -630,48 +660,50 @@ \subsection{Example}\label{example}
end if;
end StateMachineOf_stateA;

StateMachineOf_stateA stateMachineOf_stateA(active=active,
reset=reset);
StateMachineOf_stateA stateMachineOf_stateA(
active = active, reset = reset);

block StateMachineOf_stateX
extends StateMachineSemantics(
nStates=2,
t={Transition(from=1, to=2, immediate=false, reset=false)},
c={i>25});
nStates = 2,
t = {Transition(from = 1, to = 2, immediate = false, reset = false)},
c = {i > 25});
outer input Integer v;
Integer i(start=0);
Integer i(start = 0);
Integer i_previous;
Integer j(start=0);
Integer j(start = 0);
Integer j_previous;
Integer w;
equation
inFinalState = true; // no macro states
if activeState == 1 then
// equations for stateX
i_previous = if activeReset or
activeResetStates[1] then 0 else previous(i);
i_previous =
if activeReset or activeResetStates[1] then 0 else previous(i);
j_previous = previous(j);
i = i_previous + 1;
w = v;
j = j_previous;
else // if activeState == 2 then
// equations for stateY
i_previous = previous(i);
j_previous = if activeReset or activeResetStates[2] then 0 else previous(j);
j_previous =
if activeReset or activeResetStates[2] then 0 else previous(j);
i = i_previous;
w = previous(w);
j = j_previous + 1;
end if;
end StateMachineOf_stateX;

StateMachineOf_stateX stateMachineOf_stateX(active=active,
reset=reset);
Boolean inFinalState = stateMachineOf_stateA.stateMachineInFinalState and
StateMachineOf_stateX stateMachineOf_stateX(
active = active, reset = reset);
Boolean inFinalState =
stateMachineOf_stateA.stateMachineInFinalState and
stateMachineOf_stateX.stateMachineInFinalState;
end State1;

State1 state1;
Integer v(start=0);
Integer v(start = 0);
inner Integer v_previous = if reset then 0 else previous(v);
equation
active = true;
Expand Down

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