modelverse/models/SCCD_execute.alc

include "primitives.alh"
include "modelling.alh"
include "object_operations.alh"
include "utils.alh"
include "random.alh"
include "library.alh"

Void function print_states(model : Element, data : Element):
	Element classes
	Element states
	Element class
	String state

	log("Current states:")
	classes = set_copy(data["classes"])
	while (read_nr_out(classes) > 0):
		class = set_pop(classes)
		log(string_join(string_join(string_join("  ", class["ID"]), " : "), read_attribute(model, class["type"], "name")))
		log("    Attributes: " + dict_to_string(class["attributes"]))

		states = set_copy(class["states"])
		log("    States:")
		while (read_nr_out(states) > 0):
			state = set_pop(states)
			log(string_join("        ", read_attribute(model, state, "name")))

	return!

Element function filter(model : Element, set : Element, attribute_name : String, attribute_value : Element):
	Element keys
	String key
	Element result

	result = create_node()
	while (read_nr_out(set) > 0):
		key = set_pop(set)
		if (value_eq(read_attribute(model, key, attribute_name), attribute_value)):
			set_add(result, key)

	return result!

Element function filter_exists(model : Element, set : Element, attribute_name : String):
	Element keys
	String key
	Element result

	result = create_node()
	while (read_nr_out(set) > 0):
		key = set_pop(set)
		if (element_neq(read_attribute(model, key, attribute_name), read_root())):
			set_add(result, key)

	return result!

Element function expand_current_state(model : Element, state : String, current_states : Element):
	// Find the hierarchy of all current states, and select those that contain the currently selected state
	Element result
	result = create_node()
	current_states = set_copy(current_states)

	Element hierarchy
	String deep_state
	while (read_nr_out(current_states) > 0):
		deep_state = set_pop(current_states)
		hierarchy = find_hierarchy(model, deep_state)
		// Got the hierarchy of one of the states

		if (set_in(hierarchy, state)):
			// This hierarchy contains the root state we are checking for, so add to set
			set_add(result, deep_state)

	return result!

Element function expand_initial_state(model : Element, state : String):
	String t
	t = read_type(model, state)
	if (t == "SCCD/CompositeState"):
		// Recurse further in the composite
		return expand_composite_state(model, state)!
	elif (t == "SCCD/ParallelState"):
		// Split up all components
		return expand_parallel_state(model, state)!
	else:
		// Probably just an atomic, so return this one only
		Element result
		result = create_node()
		set_add(result, state)
		return result!

Element function expand_composite_state(model : Element, composite_state : String):
	// Resolve all initial states from a single composite state
	String initial

	// Fetch the initial state
	initial = set_pop(filter(model, allAssociationDestinations(model, composite_state, "SCCD/composite_children"), "isInitial", True))

	// Expand the initial state, depending on what it is
	return expand_initial_state(model, initial)!

Element function expand_parallel_state(model : Element, parallel_state : String):
	// Resolve all initial states from a single parallel state
	Element children
	Element result
	Element expanded_children

	children = allAssociationDestinations(model, parallel_state, "SCCD/parallel_children")
	result = create_node()

	while (read_nr_out(children) > 0):
		set_merge(result, expand_initial_state(model, set_pop(children)))

	return result!

Void function start_class(model : Element, data : Element, class : String):
	// Start up the class and assign its initial state to it

	// Create the data structure for a running class
	Element class_handle
	class_handle = create_node()
	dict_add(class_handle, "type", class)
	dict_add(class_handle, "ID", cast_id2s(create_node()))
	dict_add(class_handle, "timers", create_node())

	// Add the current state of the class
	String initial_state
	// Should only be one behaviour linked to it!
	initial_state = set_pop(allAssociationDestinations(model, class, "SCCD/behaviour"))
	dict_add(class_handle, "states", expand_initial_state(model, initial_state))

	// Add all attributes
	Element attributes
	attributes = create_node()
	Element attrs
	attrs = allAssociationDestinations(model, class, "SCCD/class_attributes")
	while (read_nr_out(attrs) > 0):
		dict_add(attributes, read_attribute(model, set_pop(attrs), "name"), read_root())
	dict_add(class_handle, "attributes", attributes)

	dict_add(data["classes"], class_handle["ID"], class_handle)

	return!

Element function get_enabled_transitions(model : Element, state : String, data : Element, class : String):
	// Returns all enabled transitions
	// TODO ignore conditions and afters
	Element result
	Element to_filter
	String attr
	String transition
	Element cond

	result = create_node()
	to_filter = allOutgoingAssociationInstances(model, state, "SCCD/transition")

	while (read_nr_out(to_filter) > 0):
		transition = set_pop(to_filter)

		// Check event
		attr = read_attribute(model, transition, "event")
		if (bool_not(bool_or(element_eq(attr, read_root()), set_in(data["events"], attr)))):
			continue!

		// Check after
		// Only an after if there was no event!
		if (bool_and(element_eq(attr, read_root()), read_attribute(model, transition, "after"))):
			if (dict_in(data["classes"][class]["timers"], transition)):
				// Registered timer already, let's check if it has expired
				if (float_gt(data["classes"][class]["timers"][transition], time())):
					// Not enabled yet
					continue!
			else:
				// Not registered even, so not enabled either
				continue!

		// Check condition
		cond = read_attribute(model, transition, "cond")
		if (element_neq(cond, read_root())):
			cond = get_func_AL_model(import_node(cond))
			// Execute condition
			if (bool_not(cond(data["classes"][class]["attributes"]))):
				// Condition false, so skip
				continue!

		// All is OK for this transition
		set_add(result, transition)

	return result!

Element function execute_transition(model : Element, data : Element, class : String, transition : String):
	// Execute the script (if any)
	Element script
	script = read_attribute(model, transition, "script")
	if (element_neq(script, read_root())):
		script = get_func_AL_model(import_node(script))
		script(data["classes"][class]["attributes"])

	// Raise events (if any)
	Element events
	String event
	events = allAssociationDestinations(model, transition, "SCCD/transition_raises")
	while (read_nr_out(events) > 0):
		event = set_pop(events)
		set_add(data["events"], read_attribute(model, event, "event"))

	// Find new set of states
	Element target_states
	Element source_states
	source_states = expand_current_state(model, readAssociationSource(model, transition), data["classes"][class]["states"])
	target_states = expand_initial_state(model, readAssociationDestination(model, transition))

	// Do all required operations 
	Element actions
	actions = get_actions_to_execute(model, source_states, target_states)
	while (read_nr_out(actions) > 0):
		Element action
		action = list_pop(actions, 0)
		action = get_func_AL_model(import_node(action))
		action(data["attributes"])

	return target_states!

Boolean function step_class(model : Element, data : Element, class : String):
	// Find enabled transitions in a class and execute it, updating the state
	// Iterate over all current states, searching for enabled transitions
	// Search for enabled transitions in higher levels as well!
	Element states
	Element new_states
	String state
	Element transitions
	String transition
	Boolean transitioned

	states = set_copy(data["classes"][class]["states"])
	new_states = create_node()
	transitioned = False

	while (read_nr_out(states) > 0):
		state = set_pop(states)

		// Fetch transitions in this state specifically (NO parent)
		transitions = get_enabled_transitions(model, state, data, class)
		if (read_nr_out(transitions) != 0):
			// Found an enabled transition, so store that one
			transition = random_choice(transitions)
			
			// Execute transition
			set_merge(new_states, execute_transition(model, data, class, transition))
			transitioned = True
		else:
			// Try going to the parent
			// TODO

			// Nothing found, so stay in the current state
			set_add(new_states, state)
			
	// Update states
	dict_overwrite(data["classes"][class], "states", new_states)
	reschedule_timeouts(model, data, class)

	return transitioned!

Void function reschedule_timeouts(model : Element, data : Element, class : String):
	Element timed_transitions
	Element old_timed_transitions
	String transition
	Element states
	String state

	timed_transitions = create_node()
	states = set_copy(data["classes"][class]["states"])

	// Collect all timed transitions that are currently active
	while (read_nr_out(states) > 0):
		state = set_pop(states)

		// NOTE this set_merge does not eliminate duplicates, though this should happen later on when adding the timer (see other NOTE)
		set_merge(timed_transitions, filter_exists(model, allOutgoingAssociationInstances(model, state, "SCCD/transition"), "after"))

	// Remove timers that no longer exist
	old_timed_transitions = dict_keys(data["classes"][class]["timers"])
	while (read_nr_out(old_timed_transitions) > 0):
		transition = set_pop(old_timed_transitions)

		if (bool_not(set_in(timed_transitions, transition))):
			// Transition is no longer scheduled for any state, so remove
			dict_delete(data["classes"][class]["timers"], transition)

	// Schedule timers that are not already scheduled
	while (read_nr_out(timed_transitions) > 0):
		transition = set_pop(timed_transitions)

		// NOTE Normally, a timer will not be added twice here, as the previous occurence will already find it
		if (bool_not(dict_in(data["classes"][class]["timers"], transition))):
			// Not yet scheduled this transition: do so now
			Element after
			Float after_duration

			after = read_attribute(model, transition, "after")
			after = get_func_AL_model(import_node(after))
			after_duration = after(data["classes"][class]["attributes"])

			dict_add(data["classes"][class]["timers"], transition, float_addition(data["start_time"], after_duration))

	return !

String function get_parent(model : Element, state : String):
	Element tmp_set
	tmp_set = allAssociationOrigins(model, state, "composite_children")
	set_merge(tmp_set, allAssociationOrigins(model, state, "parallel_children"))
	if (read_nr_out(tmp_set) > 0):
		return set_pop(tmp_set)!
	else:
		return ""!

Element function find_hierarchy(model : Element, state : String):
	Element result
	String parent

	parent = get_parent(model, state)
	if (parent == ""):
		// Are at the topmost element, so empty hierarchy for us
		result = create_node()
	else:
		// We have a parent, so take the parent list first
		result = find_hierarchy(model, parent)

	// Now append ourself
	list_append(result, state)
	return result!

Element function get_actions_to_execute(model : Element, source_states : Element, target_states : Element):
	Element result
	result = create_node()

	source_states = set_copy(source_states)
	target_states = set_copy(target_states)

	// Add all exit and entry actions to the list of actions to execute
	// Do this by finding the common parent, and then doing all exit actions up to that node, and all entry actions up to the target_state

	// First, find the hierarchy!
	Element hierarchy_sources
	Element hierarchy_targets
	Element all_hierarchies

	hierarchy_sources = create_node()
	while (read_nr_out(source_states) > 0):
		set_add(hierarchy_sources, find_hierarchy(model, set_pop(source_states)))

	hierarchy_targets = create_node()
	while (read_nr_out(target_states) > 0):
		set_add(hierarchy_targets, find_hierarchy(model, set_pop(target_states)))

	all_hierarchies = set_copy(hierarchy_sources)
	set_merge(all_hierarchies, hierarchy_targets)

	// Difference these all lists, finding the first common entry
	Element iter_hierarchies
	Integer i
	String current
	Element hierarchy
	Boolean finished
	i = 0
	finished = False
	while (bool_not(finished)):
		// Check the i-th element in both and see if they are equal
		current = ""
		iter_hierarchies = set_copy(all_hierarchies)
		while (read_nr_out(iter_hierarchies) > 0):
			hierarchy = set_pop(iter_hierarchies)

			// Exhausted one of the lists
			if (i >= list_len(hierarchy)):
				finished = True
				break!

			// First entry, so read out value as reference
			if (current == ""):
				current = list_read(hierarchy, i)

			// Check with reference element
			if (bool_not(value_eq(list_read(hierarchy, i), current))):
				finished = True
				break!

		// i-th element equal for all hierarchies, so go to next element
		i = i + 1

	// Found the first differing element at position i

	// All elements remaining in hierarchy_source are to be traversed in REVERSE order for the exit actions
	// All elements remaining in hierarchy_target are to be traversed in NORMAL order for the entry actions
	// This is not that simple either, as we need to consider that some actions might already have been added to the list...

	// Add hierarchy_sources actions
	String state
	Element visited
	Element action
	Element spliced_hierarchy
	Element hierarchy_source
	Element hierarchy_target
	visited = create_node()
	while (read_nr_out(hierarchy_sources) > 0):
		// Get one of these hierarchies
		hierarchy_source = set_pop(hierarchy_sources)
		spliced_hierarchy = list_splice(hierarchy_source, i, list_len(hierarchy_source))
		while (list_len(spliced_hierarchy) > 0):
			state = list_pop(spliced_hierarchy, list_len(spliced_hierarchy) - 1)
			if (set_in(visited, state)):
				// Already added this state, so don't bother
				continue!
			else:
				// New state, so prepend it to the list
				// Prepend, instead of append, as we want to do these operations in reverse order!

				// First check if there is any exit action at all
				action = read_attribute(model, state, "exit_action")
				if (element_neq(action, read_root())):
					// An exit action is found!
					list_insert(result, 0, get_func_AL_model(import_node(action)))

				// Add this state as visited, even though there might not have been an associated action
				set_add(visited, state)

	// Add hierarchy_targets actions
	// Clear visited, just to be safe, though it should not matter
	visited = create_node()
	while (read_nr_out(hierarchy_targets) > 0):
		// Get one of these hierarchies
		hierarchy_target = set_pop(hierarchy_targets)
		spliced_hierarchy = list_splice(hierarchy_target, i, list_len(hierarchy_target))
		while (list_len(spliced_hierarchy) > 0):
			state = list_pop(spliced_hierarchy, list_len(spliced_hierarchy) - 1)
			if (set_in(visited, state)):
				// Already added this state, so don't bother
				continue!
			else:
				// New state, so append it to the list
				// Append, instead of prepend, as we want to do these operations in normal order!

				// First check if there is any entry action at all
				action = read_attribute(model, state, "entry_action")
				if (element_neq(action, read_root())):
					// An entry action is found!
					list_append(result, get_func_AL_model(import_node(action)))

				// Add this state as visited, even though there might not have been an associated action
				set_add(visited, state)

	return result!

Float function step(model : Element, data : Element):
	// Step through all classes
	Element classes
	Element class
	Float t_min
	Float t_current
	Boolean transitioned
	Element keys
	String key

	t_min = time() + 99999.0
	classes = dict_keys(data["classes"])

	// TODO this should use simulated time or something
	dict_overwrite(data, "start_time", time())

	transitioned = False
	while (read_nr_out(classes) > 0):
		class = set_pop(classes)
		if (step_class(model, data, class)):
			transitioned = True

		if (bool_not(transitioned)):
			// Find minimum timer for this class, and store that
			keys = dict_keys(data["classes"][class]["timers"])
			while (read_nr_out(keys) > 0):
				key = set_pop(keys)
				t_current = data["classes"][class]["timers"][key]
				if (t_current < t_min):
					t_min = t_current

	if (transitioned):
		// Do another step, as we can transition
		return 0.0!
	else:
		return float_subtraction(t_min, data["start_time"])!

Boolean function main(model : Element):
	// Executes the provided SCCD model
	Element data
	data = create_node()
	dict_add(data, "classes", create_node())

	// Prepare for input
	output("Ready for input!")

	// Find initial
	String default_class
	default_class = set_pop(filter(model, allInstances(model, "SCCD/Class"), "default", True))

	// Start up the default class
	start_class(model, data, default_class)

	Float timeout
	Element interrupt
	timeout = 0.0
	while (True):
		print_states(model, data)
		interrupt = input_timeout(timeout)

		if (value_eq(interrupt, "#EXIT#")):
			// Stop execution
			return True!

		dict_overwrite(data, "events", create_node())
		if (element_neq(interrupt, read_root())):
			// Got interrupt
			log("Got event: " + cast_v2s(interrupt))
			set_add(data["events"], interrupt)
			output("Processed event, ready for more!")

		timeout = step(model, data)
		log("Pausing for " + cast_v2s(timeout))

	// We should never get here!
	return False!