TranslatingSCCDtoDEVS/sccd/runtime/statecharts_core.py

"""
The classes and functions needed to run (compiled) SCCD models.
"""
from .tracers.tracer import Tracers
import abc
import re
import threading
import sys

try:
    import thread
except ImportError:
    import threading as thread

import traceback
import math
from heapq import heappush, heappop, heapify
try:
    from sccd.runtime.infinity import INFINITY
except ImportError:
    from infinity import INFINITY

try:
    from queue import Queue, Empty
except ImportError:
    from Queue import Queue, Empty

from sccd.runtime.event_queue import EventQueue
from sccd.runtime.accurate_time import AccurateTime

from time import time

DEBUG = False
ELSE_GUARD = "ELSE_GUARD"

def print_debug(msg):
    if DEBUG:
        print(msg)

class RuntimeException(Exception):
    """
    Base class for runtime exceptions.
    """
    def __init__(self, message):
        self.message = message
    def __str__(self):
        return repr(self.message)

class AssociationException(RuntimeException):
    """
    Exception class thrown when an error occurs in a CRUD operation on associations.
    """
    pass

class AssociationReferenceException(RuntimeException):
    """
    Exception class thrown when an error occurs when resolving an association reference.
    """
    pass

class ParameterException(RuntimeException):
    """
    Exception class thrown when an error occurs when passing parameters.
    """
    pass

class InputException(RuntimeException):
    """
    Exception class thrown when an error occurs during input processing.
    """
    pass

class Association(object):
    """
    Class representing an SCCD association.
    """
    def __init__(self, to_class, min_card, max_card):
        """
        Constructor
        
       :param to_class: the name of the target class
       :param min_card: the minimal cardinality
       :param max_card: the maximal cardinality
        """
        self.to_class = to_class
        self.min_card = min_card
        self.max_card = max_card
        self.instances = {} # maps index (as string) to instance
        self.instances_to_ids = {}
        self.size = 0
        self.next_id = 0        

    def allowedToAdd(self):
        return self.max_card == -1 or self.size < self.max_card
        
    def allowedToRemove(self):
        return self.min_card == -1 or self.size > self.min_card
        
    def addInstance(self, instance):
        if self.allowedToAdd():
            new_id = self.next_id
            self.next_id += 1
            self.instances[new_id] = instance
            self.instances_to_ids[instance] = new_id
            self.size += 1
            return new_id
        else:
            raise AssociationException("Not allowed to add the instance to the association.")
        
    def removeInstance(self, instance):
        if self.allowedToRemove():
            index = self.instances_to_ids[instance]
            del self.instances[index]
            del self.instances_to_ids[instance]
            self.size -= 1
            return index
        else:
            raise AssociationException("Not allowed to remove the instance from the association.")
        
    def getInstance(self, index):
        try:
            return self.instances[index]
        except IndexError:
            raise AssociationException("Invalid index for fetching instance(s) from association.")

# TODO: Clean this mess up. Look at all object management operations and see how they can be improved.
class ObjectManagerBase(object):
    __metaclass__  = abc.ABCMeta
    
    def __init__(self, controller):
        self.controller = controller
        self.events = EventQueue()
        self.instances = set() # a set of RuntimeClassBase instances
        self.instance_times = []
        self.eventless = set()
        self.regex_pattern = re.compile("^([a-zA-Z_]\w*)(?:\[(\d+)\])?$")
        self.handlers = {"narrow_cast": self.handleNarrowCastEvent,
                         "broad_cast": self.handleBroadCastEvent,
                         "create_instance": self.handleCreateEvent,
                         "associate_instance": self.handleAssociateEvent,
                         "disassociate_instance": self.handleDisassociateEvent,
                         "start_instance": self.handleStartInstanceEvent,
                         "delete_instance": self.handleDeleteInstanceEvent,
                         "create_and_start_instance": self.handleCreateAndStartEvent}
        self.lock = threading.Condition()
        
    def addEvent(self, event, time_offset = 0):
        self.events.add(self.controller.simulated_time + time_offset, event)
        self.controller.tracers.tracesInternalOutput(event)
        
    # broadcast an event to all instances
    def broadcast(self, source, new_event, time_offset = 0):
        for i in self.instances:
            if i != source:
                i.addEvent(new_event, time_offset)
        
    def getEarliestEventTime(self):
        with self.lock:
            while self.instance_times and self.instance_times[0][0] < self.instance_times[0][1].earliest_event_time:
                heappop(self.instance_times)
            return min(INFINITY if not self.instance_times else self.instance_times[0][0], self.events.getEarliestTime())
    
    def stepAll(self):
        self.step()
        simulated_time = self.controller.simulated_time
        to_step = set()
        if len(self.instance_times) > (4 * len(self.instances)):
            new_instance_times = []
            for it in self.instances:
                if it.earliest_event_time != INFINITY:
                    new_instance_times.append((it.earliest_event_time, it))
            self.instance_times = new_instance_times
            heapify(self.instance_times)
        while self.instance_times and self.instance_times[0][0] <= simulated_time:
            to_step.add(heappop(self.instance_times)[1])
        for i in to_step | self.eventless:
            if i.active and (i.earliest_event_time <= simulated_time or i.eventless_states):
                i.step()

    def step(self):
        while self.events.getEarliestTime() <= self.controller.simulated_time:
            if self.events:
                self.handleEvent(self.events.pop())
               
    def start(self):
        for i in self.instances:
            i.start()          
               
    def handleEvent(self, e):
        self.handlers[e.getName()](e.getParameters())
            
    def processAssociationReference(self, input_string):
        if len(input_string) == 0:
            raise AssociationReferenceException("Empty association reference.")
        path_string =  input_string.split("/")
        result = []
        for piece in path_string:
            match = self.regex_pattern.match(piece)
            if match:
                name = match.group(1)
                index = match.group(2)
                if index is None:
                    index = -1
                result.append((name,int(index)))
            else:
                raise AssociationReferenceException("Invalid entry in association reference. Input string: " + input_string)
        return result
    
    def handleStartInstanceEvent(self, parameters):
        if len(parameters) != 2:
            raise ParameterException ("The start instance event needs 2 parameters.")  
        else:
            source = parameters[0]
            traversal_list = self.processAssociationReference(parameters[1])
            for i in self.getInstances(source, traversal_list):
                i["instance"].start()
            source.addEvent(Event("instance_started", parameters = [parameters[1]]))
        
    def handleBroadCastEvent(self, parameters):
        if len(parameters) != 2:
            raise ParameterException ("The broadcast event needs 2 parameters (source of event and event name).")
        self.broadcast(parameters[0], parameters[1])

    def handleCreateEvent(self, parameters):
        if len(parameters) < 2:
            raise ParameterException ("The create event needs at least 2 parameters.")

        source = parameters[0]
        association_name = parameters[1]
        
        traversal_list = self.processAssociationReference(association_name)
        instances = self.getInstances(source, traversal_list)
        
        association = source.associations[association_name]

        if association.allowedToAdd():
            ''' allow subclasses to be instantiated '''
            class_name = association.to_class if len(parameters) == 2 else parameters[2]
            new_instance = self.createInstance(class_name, parameters[3:])
            if not new_instance:
                raise ParameterException("Creating instance: no such class: " + class_name)
            try:
                index = association.addInstance(new_instance)
            except AssociationException as exception:
                raise RuntimeException("Error adding instance to association '" + association_name + "': " + str(exception))
            p = new_instance.associations.get("parent")
            if p:
                p.addInstance(source)
            source.addEvent(Event("instance_created", None, [association_name+"["+str(index)+"]"]))
            return [source, association_name+"["+str(index)+"]"]
        else:
            source.addEvent(Event("instance_creation_error", None, [association_name]))
            return []

    def handleCreateAndStartEvent(self, parameters):
        params = self.handleCreateEvent(parameters)
        if params:
            self.handleStartInstanceEvent(params)

    def handleDeleteInstanceEvent(self, parameters):
        if len(parameters) < 2:
            raise ParameterException ("The delete event needs at least 2 parameters.")
        else:
            source = parameters[0]
            association_name = parameters[1]
            
            traversal_list = self.processAssociationReference(association_name)
            instances = self.getInstances(source, traversal_list)
            association = source.associations[traversal_list[0][0]]
            
            for i in instances:
                try:
                    for assoc_name in i["instance"].associations:
                        if assoc_name != 'parent':
                            traversal_list = self.processAssociationReference(assoc_name)
                            instances = self.getInstances(i["instance"], traversal_list)
                            if len(instances) > 0:
                                raise RuntimeException("Error removing instance from association %s, still %i children left connected with association %s" % (association_name, len(instances), assoc_name))
                    del i["instance"].controller.input_ports[i["instance"].narrow_cast_port]
                    association.removeInstance(i["instance"])
                    self.instances.discard(i["instance"])
                    self.eventless.discard(i["instance"])
                except AssociationException as exception:
                    raise RuntimeException("Error removing instance from association '" + association_name + "': " + str(exception))
                i["instance"].user_defined_destructor()
                i["instance"].stop()
                
            source.addEvent(Event("instance_deleted", parameters = [parameters[1]]))
                
    def handleAssociateEvent(self, parameters):
        if len(parameters) != 3:
            raise ParameterException ("The associate_instance event needs 3 parameters.")
        else:
            source = parameters[0]
            to_copy_list = self.getInstances(source, self.processAssociationReference(parameters[1]))
            if len(to_copy_list) != 1:
                raise AssociationReferenceException ("Invalid source association reference.")
            wrapped_to_copy_instance = to_copy_list[0]["instance"]
            dest_list = self.processAssociationReference(parameters[2])
            if len(dest_list) == 0:
                raise AssociationReferenceException ("Invalid destination association reference.")
            last = dest_list.pop()
            if last[1] != -1:
                raise AssociationReferenceException ("Last association name in association reference should not be accompanied by an index.")
                
            added_links = []
            for i in self.getInstances(source, dest_list):
                association = i["instance"].associations[last[0]]
                if association.allowedToAdd():
                    index = association.addInstance(wrapped_to_copy_instance)
                    added_links.append(i["path"] + ("" if i["path"] == "" else "/") + last[0] + "[" + str(index) + "]")
                
            source.addEvent(Event("instance_associated", parameters = [added_links]))
                
    def handleDisassociateEvent(self, parameters):
        if len(parameters) < 2:
            raise ParameterException ("The disassociate_instance event needs at least 2 parameters.")
        else:
            source = parameters[0]
            association_name = parameters[1]
            if not isinstance(association_name, list):
                association_name = [association_name]
            deleted_links = []
            
            for a_n in association_name:
                traversal_list = self.processAssociationReference(a_n)
                instances = self.getInstances(source, traversal_list)
                
                for i in instances:
                    try:
                        index = i['ref'].associations[i['assoc_name']].removeInstance(i["instance"])
                        deleted_links.append(a_n +  "[" + str(index) + "]")
                    except AssociationException as exception:
                        raise RuntimeException("Error disassociating '" + a_n + "': " + str(exception))
                
            source.addEvent(Event("instance_disassociated", parameters = [deleted_links]))
        
    def handleNarrowCastEvent(self, parameters):
        if len(parameters) != 3:
            raise ParameterException ("The narrow_cast event needs 3 parameters.")
        source = parameters[0]
        
        if not isinstance(parameters[1], list):
            targets = [parameters[1]]
        else:
            targets = parameters[1]

        for target in targets:
            traversal_list = self.processAssociationReference(target)
            cast_event = parameters[2]
            for i in self.getInstances(source, traversal_list):
                to_send_event = Event(cast_event.name, i["instance"].narrow_cast_port, cast_event.parameters)
                i["instance"].controller.addInput(to_send_event, force_internal=True)
        
    def getInstances(self, source, traversal_list):
        currents = [{
            "instance": source,
            "ref": None,
            "assoc_name": None,
            "assoc_index": None,
            "path": ""
        }]
        # currents = [source]
        for (name, index) in traversal_list:
            nexts = []
            for current in currents:
                association = current["instance"].associations[name]
                if (index >= 0 ):
                    try:
                        nexts.append({
                            "instance": association.instances[index],
                            "ref": current["instance"],
                            "assoc_name": name,
                            "assoc_index": index,
                            "path": current["path"] + ("" if current["path"] == "" else "/") + name + "[" + str(index) + "]"
                        })
                    except KeyError:
                        # Entry was removed, so ignore this request
                        pass
                elif (index == -1):
                    for i in association.instances:
                        nexts.append({
                            "instance": association.instances[i],
                            "ref": current["instance"],
                            "assoc_name": name,
                            "assoc_index": index,
                            "path": current["path"] + ("" if current["path"] == "" else "/") + name + "[" + str(index) + "]"
                        })
                    #nexts.extend( association.instances.values() )
                else:
                    raise AssociationReferenceException("Incorrect index in association reference.")
            currents = nexts
        return currents
            
    @abc.abstractmethod
    def instantiate(self, class_name, construct_params):
        pass
        
    def createInstance(self, to_class, construct_params = []):
        instance = self.instantiate(to_class, construct_params)
        self.instances.add(instance)
        return instance
    
class Event(object):
    # TODO SAm: fixed the default of port to None as it was not consistent (sometimes none someting empty)
    def __init__(self, event_name, port = None, parameters = []):
        self.name = event_name
        self.parameters = parameters
        self.port = port

    #for comparisons in heaps
    def __lt__(self, other):
        s = str(self.name) + str(self.parameters) + str(self.port)
        return len(s)

    def getName(self):
        return self.name

    def getPort(self):
        return self.port

    def getParameters(self):
        return self.parameters
    
    def __repr__(self):
        representation = "(event name: " + str(self.name) + "; port: " + str(self.port)
        if self.parameters:
            representation += "; parameters: " + str(self.parameters)
        representation += ")"
        return representation
    
class OutputListener(object):
    def __init__(self, port_names):
        if not isinstance(port_names, list):
            port_names = [port_names]
        self.port_names = [port_name.port_name if isinstance(port_name, OutputPortEntry) else port_name for port_name in port_names]
        self.queue = Queue()

    def add(self, event):
        if len(self.port_names) == 0 or event.getPort() in self.port_names:
            self.queue.put_nowait(event)
            
    """ Tries for timeout seconds to fetch an event, returns None if failed.
        0 as timeout means no waiting (blocking), returns None if queue is empty.
        -1 as timeout means blocking until an event can be fetched. """
    def fetch(self, timeout = 0):
        if timeout < 0:
            timeout = INFINITY
        while timeout >= 0:
            try:
                # wait in chunks of 100ms because we
                # can't receive (keyboard)interrupts while waiting
                return self.queue.get(True, 0.1 if timeout > 0.1 else timeout)
            except Empty:
                timeout -= 0.1
        return None

class InputPortEntry(object):
    def __init__(self, virtual_name, instance):
        self.virtual_name = virtual_name
        self.instance = instance

class OutputPortEntry(object):
    def __init__(self, port_name, virtual_name, instance):
        self.port_name = port_name
        self.virtual_name = virtual_name
        self.instance = instance
        
class ControllerBase(object):
    def __init__(self, object_manager):
    
        self.object_manager = object_manager

        self.private_port_counter = 0

        # keep track of input ports
        self.input_ports = {}
        self.input_queue = EventQueue()

        # keep track of output ports
        self.output_ports = {}
        self.output_listeners = []
        
        self.simulated_time = None
        self.behind = False
        
        # accurate timer
        self.accurate_time = AccurateTime()

        # # TODO SAM: tracer
        self.tracers = []
    
    # TODO SAM: Added here, DEVS does simconfig file, when extending SCDD best look at this
    def setVerbose(self, filename=None):
        # TODO: Change comments
        """
        Sets the use of a verbose tracer.

        Calling this function multiple times will register a tracer for each of them (thus output to multiple files is possible, though more inefficient than simply (manually) copying the file at the end).

        :param filename: string representing the filename to write the trace to, None means stdout
        """
        if not isinstance(filename, str) and filename is not None:
            # TODO: bst not raise a string, 
            raise "Verbose filename should either be None or a string"
        self.setCustomTracer("tracerVerbose", "TracerVerbose", [filename])
    
    def setCustomTracer(self, tracerfile, tracerclass, args):
        # TODO: Change comments
        """
        Sets the use of a custom tracer, loaded at run time.

        Calling this function multiple times will register a tracer for each of them (thus output to multiple files is possible, though more inefficient than simply (manually) copying the file at the end).

        :param tracerfile: the file containing the tracerclass
        :param tracerclass: the class to instantiate
        :param args: arguments to be passed to the tracerclass's constructor
        """
        self.tracers.append((tracerfile, tracerclass, args))


    def startTracers(self):
        """
        Start all tracers
        """
        self.tracers.startTracers()

    def getSimulatedTime(self):
        return self.simulated_time
        
    def getWallClockTime(self):
        return self.accurate_time.get_wct()
            
    def addInputPort(self, virtual_name, instance = None):
        if instance == None:
            port_name = virtual_name
        else:
            port_name = "private_" + str(self.private_port_counter) + "_" + virtual_name
            self.private_port_counter += 1
        self.input_ports[port_name] = InputPortEntry(virtual_name, instance)
        return port_name
        
    def addOutputPort(self, virtual_name, instance = None):
        if instance == None:
            port_name = virtual_name
        else:
            port_name = "private_" + str(self.private_port_counter) + "_" + virtual_name
            self.private_port_counter += 1
        self.output_ports[port_name] = OutputPortEntry(port_name, virtual_name, instance)
        return port_name

    def broadcast(self, new_event, time_offset = 0):
        self.object_manager.broadcast(None, new_event, time_offset)
        
    def start(self):
        self.accurate_time.set_start_time()
        self.simulated_time = 0

        tracers = Tracers()
        for tracer in self.tracers:
            tracers.registerTracer(tracer, None, None)
        self.tracers = tracers

        self.object_manager.start()
    
    def stop(self):
        self.tracers.stopTracers()

    def addInput(self, input_event_list, time_offset = 0, force_internal=False):
        # force_internal is for narrow_cast events, otherwise these would arrive as external events (on the current wall-clock time)
        if not isinstance(input_event_list, list):
            input_event_list = [input_event_list]

        for e in input_event_list:
            if e.getName() == "":
                raise InputException("Input event can't have an empty name.")
        
            if e.getPort() not in self.input_ports:
                raise InputException("Input port mismatch, no such port: " + e.getPort() + ".")
            
            if force_internal:
                self.input_queue.add((0 if self.simulated_time is None else self.simulated_time) + time_offset, e)
            else:
                self.input_queue.add((0 if self.simulated_time is None else self.accurate_time.get_wct()) + time_offset, e)

    def getEarliestEventTime(self):
        return min(self.object_manager.getEarliestEventTime(), self.input_queue.getEarliestTime())
    
    def handleInput(self):
        while not self.input_queue.isEmpty():
            event_time = self.input_queue.getEarliestTime()

            # SAM: Changed the handleInput function
            # The function now waits to input the event when the simulated time is equal to the event first event time
            # This is because the addINput fnuction adds input at time zero to an instance with a delay to the real time 
            # the event should trigger, but at time zero this instance may not exist
            if event_time == self.simulated_time:
                e = self.input_queue.pop()
                input_port = self.input_ports[e.getPort()]
                # e.port = input_port.virtual_name
                target_instance = input_port.instance
                if target_instance == None:
                    self.broadcast(e, event_time - self.simulated_time)
                    self.tracers.tracesInput(input_port, e)
                else:
                    target_instance.addEvent(e, event_time - self.simulated_time)
                    self.tracers.tracesInput(input_port, e)
            else:
                break

    '''
    def handleInput(self):
        while not self.input_queue.isEmpty():
            event_time = self.input_queue.getEarliestTime()
            e = self.input_queue.pop()
            input_port = self.input_ports[e.getPort()]
            # e.port = input_port.virtual_name
            target_instance = input_port.instance
            if target_instance == None:
                self.broadcast(e, event_time - self.simulated_time)
                self.tracers.tracesInput(input_port, e)
            else:
                target_instance.addEvent(e, event_time - self.simulated_time)
                self.tracers.tracesInput(input_port, e)
    '''
    def outputEvent(self, event):
        #TODO: This is the output event, needs to be traced
        self.tracers.tracesOutput(event)
        for listener in self.output_listeners:
            listener.add(event)



    def addOutputListener(self, ports):
        listener = OutputListener(ports)
        self.output_listeners.append(listener)
        return listener

    def addMyOwnOutputListener(self, listener):
        self.output_listeners.append(listener)
            
    def getObjectManager(self):
        return self.object_manager
        
class GameLoopControllerBase(ControllerBase):
    def __init__(self, object_manager):
        ControllerBase.__init__(self, object_manager)
        
    def update(self):
        self.handleInput()
        earliest_event_time = self.getEarliestEventTime()
        if earliest_event_time > time():
            self.simulated_time = earliest_event_time
            self.object_manager.stepAll()

class EventLoop:
    # parameters:
    #  schedule - a callback scheduling another callback in the event loop
    #      this callback should take 2 parameters: (callback, timeout) and return an ID
    #  clear - a callback that clears a scheduled callback
    #      this callback should take an ID that was returned by 'schedule'
    def __init__(self, schedule, clear):
        self.schedule_callback = schedule
        self.clear_callback = clear
        self.scheduled_id = None
        self.last_print = 0.0

    # schedule relative to last_time
    #
    # argument 'wait_time' is the amount of virtual (simulated) time to wait
    #
    # NOTE: if the next wakeup (in simulated time) is in the past, the timeout is '0',
    # but because scheduling '0' timeouts hurts performance, we don't schedule anything
    # and return False instead
    def schedule(self, f, wait_time, behind = False):
        if self.scheduled_id is not None:
            # if the following error occurs, it is probably due to a flaw in the logic of EventLoopControllerBase
            raise RuntimeException("EventLoop class intended to maintain at most 1 scheduled callback.")

        if wait_time != INFINITY:
            self.scheduled_id = self.schedule_callback(f, wait_time, behind)

    def clear(self):
        if self.scheduled_id is not None:
            self.clear_callback(self.scheduled_id)
            self.scheduled_id = None

    def bind_controller(self, controller):
        pass

class EventLoopControllerBase(ControllerBase):
    def __init__(self, object_manager, event_loop, finished_callback = None, behind_schedule_callback = None):
        ControllerBase.__init__(self, object_manager)
        if not isinstance(event_loop, EventLoop):
            raise RuntimeException("Event loop argument must be an instance of the EventLoop class!")
        self.event_loop = event_loop
        self.finished_callback = finished_callback
        self.behind_schedule_callback = behind_schedule_callback
        self.last_print_time = 0
        self.running = False
        self.input_condition = threading.Condition()
        self.behind = False

        self.event_loop.bind_controller(self)
        self.event_queue = []
        self.main_thread = thread.get_ident()

    def addInput(self, input_event, time_offset = 0, force_internal=False):
        # import pdb; pdb.set_trace()
        if self.main_thread == thread.get_ident():
            # Running on the main thread, so just execute what we want
            self.simulated_time = self.accurate_time.get_wct()
            ControllerBase.addInput(self, input_event, time_offset, force_internal)
        else:
            # Not on the main thread, so we have to queue these events for the main thread instead
            self.event_queue.append((input_event, time_offset, force_internal))

        self.event_loop.clear()
        self.event_loop.schedule(self.run, 0, True)

    def start(self):
        ControllerBase.start(self)
        self.run()

    def stop(self):
        self.event_loop.clear()
        ControllerBase.stop(self)

    def run(self, tkinter_event=None):
        start_time = self.accurate_time.get_wct()
        try:
            self.running = True
            # Process external events first
            while 1:
                while self.event_queue:
                    self.addInput(*self.event_queue.pop(0))

                if self.accurate_time.get_wct() >= self.getEarliestEventTime():
                    self.simulated_time = self.getEarliestEventTime()
                else:
                    return

                # clear existing timeout
                self.event_loop.clear()
                self.handleInput()
                self.object_manager.stepAll()
                self.tracers.traces(self.getSimulatedTime())   
                # schedule next timeout
                earliest_event_time = self.getEarliestEventTime()
                if earliest_event_time == INFINITY:
                    if self.finished_callback: self.finished_callback() # TODO: This is not necessarily correct (keep_running necessary?)
                    return
                now = self.accurate_time.get_wct()
                if earliest_event_time - now > 0:
                    if self.behind:
                        self.behind = False
                    self.event_loop.schedule(self.run, earliest_event_time - now, now - start_time > 10)
                else:
                    if now - earliest_event_time > 10 and now - self.last_print_time >= 1000:
                        if self.behind_schedule_callback:
                            self.behind_schedule_callback(self, now - earliest_event_time)
                        print_debug('\rrunning %ims behind schedule' % (now - earliest_event_time))
                        self.last_print_time = now
                    self.behind = True
                if not self.behind:
                    return
        finally:
            self.running = False
            if self.event_queue:
                self.event_loop.clear()
                self.event_loop.schedule(self.run, 0, True)
        
class ThreadsControllerBase(ControllerBase):
    def __init__(self, object_manager, keep_running, behind_schedule_callback = None):
        ControllerBase.__init__(self, object_manager)
        self.keep_running = keep_running
        self.behind_schedule_callback = behind_schedule_callback
        self.input_condition = threading.Condition()
        self.stop_thread = False
        self.last_print_time = 0

    def addInput(self, input_event, time_offset = 0, force_internal=False):
        with self.input_condition:
            ControllerBase.addInput(self, input_event, time_offset, force_internal)
            self.input_condition.notifyAll()
        
    def start(self):
        self.run()
        
    def stop(self):
        with self.input_condition:
            self.stop_thread = True
            self.input_condition.notifyAll()

    def run(self):
        ControllerBase.start(self)
        
        while 1:
            # simulate
            with self.input_condition:
                self.handleInput()

            self.object_manager.stepAll()
            self.tracers.traces(self.getSimulatedTime()) 
            
            
            # wait until next timeout
            earliest_event_time = self.getEarliestEventTime()
            if earliest_event_time == INFINITY and not self.keep_running:
                return
            now = self.accurate_time.get_wct()
            if earliest_event_time - now > 0:
                if self.behind:                
                    self.behind = False
                with self.input_condition:
                    if earliest_event_time == self.getEarliestEventTime() and not earliest_event_time == INFINITY:
                        self.input_condition.wait((earliest_event_time - now) / 1000.0)
                    else:
                        # Something happened that made the queue fill up already, but we were not yet waiting for the Condition...
                        pass
            else:
                if now - earliest_event_time > 10 and now - self.last_print_time >= 1000:
                    if self.behind_schedule_callback:
                        self.behind_schedule_callback(self, now - earliest_event_time)
                    print_debug('\rrunning %ims behind schedule' % (now - earliest_event_time))
                    self.last_print_time = now
                    self.behind = True
            with self.input_condition:
                earliest_event_time = self.getEarliestEventTime()
                if earliest_event_time == INFINITY:
                    if self.keep_running:
                        self.input_condition.wait()
                        earliest_event_time = self.getEarliestEventTime()
                    else:
                        self.stop_thread = True
                if self.stop_thread:
                    break
                self.simulated_time = earliest_event_time

class StatechartSemantics:
    # Big Step Maximality
    TakeOne = 0
    TakeMany = 1
    # Concurrency - not implemented yet
    Single = 0
    Many = 1
    # Preemption - not implemented yet
    NonPreemptive = 0
    Preemptive = 1
    # Internal Event Lifeline
    Queue = 0
    NextSmallStep = 1
    NextComboStep = 2
    # Input Event Lifeline
    Whole = 0
    FirstSmallStep = 1
    FirstComboStep = 2
    # Priority
    SourceParent = 0
    SourceChild = 1
    # TODO: add Memory Protocol options
    
    def __init__(self):
        # default semantics:
        self.big_step_maximality = self.TakeMany
        self.internal_event_lifeline = self.Queue
        self.input_event_lifeline = self.FirstComboStep
        self.priority = self.SourceParent
        self.concurrency = self.Single

class State:
    def __init__(self, state_id, name, obj):
        self.state_id = state_id
        self.name = name
        self.obj = obj
        
        self.ancestors = []
        self.descendants = []
        self.descendant_bitmap = 0
        self.children = []
        self.parent = None
        self.enter = None
        self.exit = None
        self.default_state = None
        self.transitions = []
        self.history = []
        self.has_eventless_transitions = False
        
    def getEffectiveTargetStates(self):
        targets = [self]
        if self.default_state:
            targets.extend(self.default_state.getEffectiveTargetStates())
        return targets
        
    def fixTree(self):
        for c in self.children:
            if isinstance(c, HistoryState):
                self.history.append(c)
            c.parent = self
            c.ancestors.append(self)
            c.ancestors.extend(self.ancestors)
            c.fixTree()
        self.descendants.extend(self.children)
        for c in self.children:
            self.descendants.extend(c.descendants)
        for d in self.descendants:
            self.descendant_bitmap |= 2**d.state_id
            
    def addChild(self, child):
        self.children.append(child)
    
    def addTransition(self, transition):
        self.transitions.append(transition)
        
    def setEnter(self, enter):
        self.enter = enter
        
    def setExit(self, exit):
        self.exit = exit
                    
    def __repr__(self):
        return "State(%s)" % (self.state_id)
        
class HistoryState(State):
    def __init__(self, state_id, name, obj):
        State.__init__(self, state_id, name, obj)
        
class ShallowHistoryState(HistoryState):
    def __init__(self, state_id, name, obj):
        HistoryState.__init__(self, state_id, name, obj)
        
    def getEffectiveTargetStates(self):
        if self.state_id in self.obj.history_values:
            targets = []
            for hv in self.obj.history_values[self.state_id]:
                targets.extend(hv.getEffectiveTargetStates())
            return targets
        else:
            # TODO: is it correct that in this case, the parent itself is also entered?
            return self.parent.getEffectiveTargetStates()
        
class DeepHistoryState(HistoryState):
    def __init__(self, state_id, name, obj):
        HistoryState.__init__(self, state_id, name, obj)
        
    def getEffectiveTargetStates(self):
        if self.state_id in self.obj.history_values:
            return self.obj.history_values[self.state_id]
        else:
            # TODO: is it correct that in this case, the parent itself is also entered?
            return self.parent.getEffectiveTargetStates()
        
class ParallelState(State):
    def __init__(self, state_id, name, obj):
        State.__init__(self, state_id, name, obj)
        
    def getEffectiveTargetStates(self):
        targets = [self]
        for c in self.children:
            if not isinstance(c, HistoryState):
                targets.extend(c.getEffectiveTargetStates())
        return targets
    
class Transition:
    def __init__(self, obj, source, targets):
        self.guard = None
        self.action = None
        self.trigger = None
        self.source = source
        self.targets = targets
        self.obj = obj
        self.enabled_event = None # the event that enabled this transition
        self.optimize()
    
    def isEnabled(self, events, enabled_transitions):
        if self.trigger is None:
            self.enabled_event = None
            return (self.guard is None) or (self.guard == ELSE_GUARD and not enabled_transitions) or self.guard([])
        else:
            for event in events:
                if (self.trigger.name == event.name and (not self.trigger.port or self.trigger.port == event.port)) and ((self.guard is None) or (self.guard == ELSE_GUARD and not enabled_transitions) or self.guard(event.parameters)):
                    self.enabled_event = event
                    return True
    
    # @profile
    def fire(self):
        # exit states...
        exit_set = self.__exitSet()
        for s in exit_set:
            # remember which state(s) we were in if a history state is present
            for h in s.history:
                f = lambda s0: s0.ancestors and s0.parent == s
                if isinstance(h, DeepHistoryState):
                    f = lambda s0: not s0.descendants and s0 in s.descendants
                self.obj.history_values[h.state_id] = list(filter(f, self.obj.configuration))
        for s in exit_set:
            #########################################
            # TODO, here trace for exit state
            print_debug('EXIT: %s::%s' % (self.obj.__class__.__name__, s.name))
            self.obj.controller.tracers.tracesExitState(self.obj.__class__.__name__, s.name)
            #########################################

            self.obj.eventless_states -= s.has_eventless_transitions
            # execute exit action(s)
            if s.exit:
                s.exit()
            self.obj.configuration_bitmap &= ~2**s.state_id
        
        # combo state changed area
        self.obj.combo_step.changed_bitmap |= 2**self.lca.state_id
        self.obj.combo_step.changed_bitmap |= self.lca.descendant_bitmap
        
        #########################################
        # TODO, here trace for fired transition
        self.obj.controller.tracers.tracesTransition(self.obj.__class__.__name__, str(self))
        #########################################
        # execute transition action(s)
        if self.action:
            self.action(self.enabled_event.parameters if self.enabled_event else [])
            
        # enter states...
        targets = self.__getEffectiveTargetStates()
        enter_set = self.__enterSet(targets)
        for s in enter_set:
            print_debug('ENTER: %s::%s' % (self.obj.__class__.__name__, s.name))
            self.obj.controller.tracers.tracesEnterState(self.obj.__class__.__name__, s.name)
            self.obj.eventless_states += s.has_eventless_transitions
            self.obj.configuration_bitmap |= 2**s.state_id
            # execute enter action(s)
            if s.enter:
                s.enter()
        
        if self.obj.eventless_states:
            self.obj.controller.object_manager.eventless.add(self.obj)
        else:
            self.obj.controller.object_manager.eventless.discard(self.obj)
                
        try:
            self.obj.configuration = self.obj.config_mem[self.obj.configuration_bitmap]
        except:
            self.obj.configuration = self.obj.config_mem[self.obj.configuration_bitmap] = sorted([s for s in list(self.obj.states.values()) if 2**s.state_id & self.obj.configuration_bitmap], key=lambda s: s.state_id)
        self.enabled_event = None
    
    def __getEffectiveTargetStates(self):
        targets = []
        for target in self.targets:
            for e_t in target.getEffectiveTargetStates():
                if not e_t in targets:
                    targets.append(e_t)
        return targets
    
    def __exitSet(self):
        return [s for s in reversed(self.lca.descendants) if (s in self.obj.configuration)]
    
    def __enterSet(self, targets):
        target = targets[0]
        for a in reversed(target.ancestors):
            if a in self.source.ancestors:
                continue
            else:
                yield a
        for target in targets:
            yield target
        
    def setGuard(self, guard):
        self.guard = guard
        
    def setAction(self, action):
        self.action = action
    
    def setTrigger(self, trigger):
        self.trigger = trigger
        if self.trigger is None:
            self.source.has_eventless_transitions = True
        
    def optimize(self):
        # the least-common ancestor can be computed statically
        if self.source in self.targets[0].ancestors:
            self.lca = self.source
        else:
            self.lca = self.source.parent
            target = self.targets[0]
            if self.source.parent != target.parent: # external
                for a in self.source.ancestors:
                    if a in target.ancestors:
                        self.lca = a
                        break
                    
    def __repr__(self):
        return "Transition(%s -> %s)" % (self.source.name, self.targets[0].name)

class RuntimeClassBase(object):
    __metaclass__  = abc.ABCMeta
    
    def __init__(self, controller):
        self.events = EventQueue()
        
        self.active = False

        self.controller = controller
        self.__set_stable(True)
        self.inports = {}
        self.outports = {}
        self.timers = {}
        self.states = {}
        self.eventless_states = 0
        self.configuration_bitmap = 0
        self.transition_mem = {}
        self.config_mem = {}
        
        self.narrow_cast_port = self.controller.addInputPort("<narrow_cast>", self)

        self.semantics = StatechartSemantics()

        # TODO: SAM Tracer INIT
        # 2nd is time
        # TODO: Init cannot be done on the default class because it is in the init of the controller where the tracer is not yet created --> needs fix maybe in SCCD (don't want to touch that)
        #controller.tracers.tracesInit(self, self.getSimulatedTime())

    #to break ties in the heap,
    #compare by number of events in the list
    def __lt__(self, other):
        return len(self.events.event_list) < len(other.events.event_list)

    def getChildren(self, link_name):
        traversal_list = self.controller.object_manager.processAssociationReference(link_name)
        return [i["instance"] for i in self.controller.object_manager.getInstances(self, traversal_list)]

    def getSingleChild(self, link_name):
        return self.getChildren(link_name)[0] # assume this will return a single child...

    def getOutPortName(self, port_name):
        return self.outports[port_name] if port_name in self.outports else port_name

    def getInPortName(self, port_name):
        return self.inports[port_name] if port_name in self.inports else port_name            

    def start(self):
        self.configuration = []
        
        self.active = True
        
        self.current_state = {}
        self.history_values = {}
        self.timers = {}
        self.timers_to_add = {}

        self.big_step = BigStepState()
        self.combo_step = ComboStepState()
        self.small_step = SmallStepState()

        self.__set_stable(False)

        self.initializeStatechart()
        self.processBigStepOutput()
        
    def stop(self):
        self.active = False
        self.__set_stable(True)
        
    def sccd_yield(self):
        return max(0, (self.controller.accurate_time.get_wct() - self.controller.simulated_time) / 1000.0)
        
    def getSimulatedTime(self):
        return self.controller.getSimulatedTime()
        
    def getWallClockTime(self):
        return self.controller.getWallClockTime()
    
    def updateConfiguration(self, states):
        self.configuration.extend(states)
        self.configuration_bitmap = sum([2**s.state_id for s in states])
    
    def addTimer(self, index, timeout):
        self.timers_to_add[index] = (self.controller.simulated_time + int(timeout * 1000), Event("_%iafter" % index))
    
    def removeTimer(self, index):
        if index in self.timers_to_add:
            del self.timers_to_add[index]
        if index in self.timers:
            self.events.remove(self.timers[index])
            del self.timers[index]
        self.earliest_event_time = self.events.getEarliestTime()
        
    def addEvent(self, event_list, time_offset = 0):
        event_time = self.controller.simulated_time + time_offset
        if not (event_time, self) in self.controller.object_manager.instance_times:
            heappush(self.controller.object_manager.instance_times, (event_time, self))
        if event_time < self.earliest_event_time:
            self.earliest_event_time = event_time
        if not isinstance(event_list, list):
            event_list = [event_list]
        for e in event_list:
            self.controller.tracers.tracesInternalInput(e)
            self.events.add(event_time, e)           

    def processBigStepOutput(self):
        for e in self.big_step.output_events_port:
            self.controller.outputEvent(e)
        for e in self.big_step.output_events_om:
            self.controller.object_manager.addEvent(e)
            
    def __set_stable(self, is_stable):
        self.is_stable = is_stable
        # self.earliest_event_time keeps track of the earliest time this instance will execute a transition
        if not is_stable:
            self.earliest_event_time = self.controller.simulated_time
        elif not self.active:
            self.earliest_event_time = INFINITY
        else:
            self.earliest_event_time = self.events.getEarliestTime()
        if self.earliest_event_time != INFINITY:
            if not (self.earliest_event_time, self) in self.controller.object_manager.instance_times:
                heappush(self.controller.object_manager.instance_times, (self.earliest_event_time, self))

    def step(self):
        is_stable = False
        while not is_stable:
            due = []
            if self.events.getEarliestTime() <= self.controller.simulated_time:
                due = [self.events.pop()]
            is_stable = not self.bigStep(due)
            self.processBigStepOutput()
        for index, entry in list(self.timers_to_add.items()):
            self.timers[index] = self.events.add(*entry)
        self.timers_to_add = {}
        self.__set_stable(True)

    def inState(self, state_strings):
        state_ids = [self.states[state_string].state_id for state_string in state_strings]
        for state_id in state_ids:
            for s in self.configuration:
                if s.state_id == state_id:
                    break
            else:
                return False
        return True

    def bigStep(self, input_events):
        self.big_step.next(input_events)
        self.small_step.reset()
        self.combo_step.reset()
        while self.comboStep():
            self.big_step.has_stepped = True
            if self.semantics.big_step_maximality == StatechartSemantics.TakeOne:
                break # Take One -> only one combo step allowed
        return self.big_step.has_stepped

    def comboStep(self):
        self.combo_step.next()
        while self.smallStep():
            self.combo_step.has_stepped = True
        return self.combo_step.has_stepped

    # generate transition candidates for current small step
    # @profile
    def generateCandidates(self):
        changed_bitmap = self.combo_step.changed_bitmap
        key = (self.configuration_bitmap, changed_bitmap)
        try:
            transitions = self.transition_mem[key]
        except:
            self.transition_mem[key] = transitions = [t for s in self.configuration if not (2**s.state_id & changed_bitmap) for t in s.transitions]
        
        enabledEvents = self.getEnabledEvents()
        enabledTransitions = []
        for t in transitions:
            if t.isEnabled(enabledEvents, enabledTransitions):
                enabledTransitions.append(t)
        return enabledTransitions

    # @profile
    def smallStep(self):        
        def __younger_than(x, y):
            if x.source in y.source.ancestors:
                return 1
            elif y.source in x.source.ancestors:
                return -1
            else:
                return 0
                
        if self.small_step.has_stepped:
            self.small_step.next()
        candidates = self.generateCandidates()
        if candidates:
            to_skip = set()
            conflicting = []
            for c1 in candidates:
                if c1 not in to_skip:
                    conflict = [c1]
                    for c2 in candidates[candidates.index(c1):]:
                        if c2.source in c1.source.ancestors or c1.source in c2.source.ancestors:
                            conflict.append(c2)
                            to_skip.add(c2)

                    if sys.version_info[0] < 3:
                        conflicting.append(sorted(conflict, cmp=__younger_than))
                    else:
                        import functools
                        conflicting.append(sorted(conflict, key=functools.cmp_to_key(__younger_than)))

            if self.semantics.concurrency == StatechartSemantics.Single:
                candidate = conflicting[0]
                if self.semantics.priority == StatechartSemantics.SourceParent:
                    candidate[-1].fire()
                else:
                    candidate[0].fire()
            elif self.semantics.concurrency == StatechartSemantics.Many:
                pass # TODO: implement
            self.small_step.has_stepped = True
        return self.small_step.has_stepped

    # @profile
    def getEnabledEvents(self):
        result = self.small_step.current_events + self.combo_step.current_events
        if self.semantics.input_event_lifeline == StatechartSemantics.Whole or (
            not self.big_step.has_stepped and
                (self.semantics.input_event_lifeline == StatechartSemantics.FirstComboStep or (
                not self.combo_step.has_stepped and
                    self.semantics.input_event_lifeline == StatechartSemantics.FirstSmallStep))):
            result += self.big_step.input_events
        return result

    def raiseInternalEvent(self, event):
        if self.semantics.internal_event_lifeline == StatechartSemantics.NextSmallStep:
            self.small_step.addNextEvent(event)
        elif self.semantics.internal_event_lifeline == StatechartSemantics.NextComboStep:
            self.combo_step.addNextEvent(event)
        elif self.semantics.internal_event_lifeline == StatechartSemantics.Queue:
            self.addEvent(event)

    def initializeStatechart(self):
        self.updateConfiguration(self.default_targets)
        for state in self.default_targets:
            self.eventless_states += state.has_eventless_transitions
            if state.enter:
                state.enter()
        if self.eventless_states:
            self.controller.object_manager.eventless.add(self)
        

class BigStepState(object):
    def __init__(self):
        self.input_events = [] # input events received from environment before beginning of big step (e.g. from object manager, from input port)
        self.output_events_port = [] # output events to be sent to output port after big step ends.
        self.output_events_om = [] # output events to be sent to object manager after big step ends.
        self.has_stepped = True

    def next(self, input_events):
        self.input_events = input_events
        self.output_events_port = []
        self.output_events_om = []
        self.has_stepped = False

    def outputEvent(self, event):
        self.output_events_port.append(event)

    def outputEventOM(self, event):
        self.output_events_om.append(event)


class ComboStepState(object):
    def __init__(self):
        self.current_events = [] # set of enabled events during combo step
        self.next_events = [] # internal events that were raised during combo step
        self.changed_bitmap = 0 # set of all or-states that were the arena of a triggered transition during big step.
        self.has_stepped = True

    def reset(self):
        self.current_events = []
        self.next_events = []

    def next(self):
        self.current_events = self.next_events
        self.next_events = []
        self.changed_bitmap = 0
        self.has_stepped = False

    def addNextEvent(self, event):
        self.next_events.append(event)


class SmallStepState(object):
    def __init__(self):
        self.current_events = [] # set of enabled events during small step
        self.next_events = [] # events to become 'current' in the next small step
        self.candidates = [] # document-ordered(!) list of transitions that can potentially be executed concurrently, or preempt each other, depending on concurrency semantics. If no concurrency is used and there are multiple candidates, the first one is chosen. Source states of candidates are *always* orthogonal to each other.
        self.has_stepped = True

    def reset(self):
        self.current_events = []
        self.next_events = []

    def next(self):
        self.current_events = self.next_events # raised events from previous small step
        self.next_events = []
        self.candidates = []
        self.has_stepped = False

    def addNextEvent(self, event):
        self.next_events.append(event)

    def addCandidate(self, t, p):
        self.candidates.append((t, p))

    def hasCandidates(self):
        return len(self.candidates) > 0