public void GetEntered(ref HashSet <int> entered)
{
foreach (var d in destinations)
{
entered.UnionWith(statechart.GetSuperstates(d, GetScope()));
}
}
bool Step()
{
#if SC_PROFILE_SINGLE
stopwatch.Start();
#endif
// Preparations
CTs.Clear();
entered.Clear();
exited.Clear();
active.Clear();
foreach (var s in status.b_configuration)
{
active.UnionWith(machine.GetSuperstates(s));
}
#if SC_PROFILE_SINGLE
stopwatch.Stop();
prepare.Accumulate(stopwatch);
stopwatch.Reset();
stopwatch.Start();
#endif
// Search Paths
foreach (var s in status.b_configuration)
{
var next = machine.TryExit(s, status);
if (next != (null, null))
{
CTs.Add(new CT(machine, s, next.waypoints, next.destinations));
}
}
#if SC_PROFILE_SINGLE
stopwatch.Stop();
search.Accumulate(stopwatch);
stopwatch.Reset();
stopwatch.Start();
#endif
// Validate Paths
// Sort by scope high to low
CTs.Sort();
// Remove conflicting paths by priority
for (int i = 0; i < CTs.Count; i++)
{
if (active.IsSupersetOf(machine.GetSuperstates(CTs[i].GetSource())))
{
generic.Clear();
CTs[i].GetExited(ref generic);
active.ExceptWith(generic);
exited.UnionWith(generic);
generic.Clear();
CTs[i].GetEntered(ref generic);
entered.UnionWith(generic);
}
else
{
CTs[i] = null;
}
}
// Remove any so far untouched parallel regions which have been implicitly exited
generic.Clear();
foreach (var act in active)
{
var ancestors = machine.GetSuperstates(act);
ancestors.Reverse();
foreach (var a in ancestors)
{
if (!active.Contains(a))
{
generic.UnionWith(machine.GetSuperstates(act, a));
break;
}
}
}
active.ExceptWith(generic);
exited.UnionWith(generic);
// Implicitly enter all so far untouched parallel regions
generic.Clear();
foreach (var e in entered)
{
if (machine.GetNodeType(e) == Node.Type.Parallel)
{
generic.UnionWith(machine.GetNodeComponents(e));
}
}
generic.ExceptWith(active);
generic.ExceptWith(entered);
foreach (var r in generic)
{
var next = machine.TryEnter(r, status);
if (next != (null, null))
{
entered.UnionWith(next.destinations);
}
// else: ERROR (Limitation)
}
// Cleanup
entered.ExceptWith(active);
#if SC_PROFILE_SINGLE
stopwatch.Stop();
validate.Accumulate(stopwatch);
stopwatch.Reset();
stopwatch.Start();
#endif
// Execute Step
// Update configuration
status.b_configuration.ExceptWith(ExtractAtomic(exited));
status.b_configuration.UnionWith(ExtractAtomic(entered));
// Execute actions
DoActions(exited, Action.Type.EXIT);
DoActions(active, Action.Type.STAY);
foreach (var p in CTs)
{
if (p != null)
{
DoActions(p.GetWaypoints());
}
}
DoActions(entered, Action.Type.ENTRY);
// Clear and add events for next step
status.events.Clear();
foreach (var s in exited)
{
status.events.Add(new SCEvent("exit." + machine.GetNodeName(s)));
}
foreach (var s in entered)
{
status.events.Add(new SCEvent("enter." + machine.GetNodeName(s)));
}
#if SC_PROFILE_SINGLE
stopwatch.Stop();
execute.Accumulate(stopwatch);
stopwatch.Reset();
if (prepare.SampleCount % 1000 == 0) // Reduce clutter
{
Debug.Log(
"Prepare: " + prepare.GetStatistics(AccumulatedTime.TimeUnit.µs) +
"\nSearch: " + search.GetStatistics(AccumulatedTime.TimeUnit.µs) +
"\nValidate: " + validate.GetStatistics(AccumulatedTime.TimeUnit.µs) +
"\nExecute: " + execute.GetStatistics(AccumulatedTime.TimeUnit.µs));
}
#endif
#if SC_LOG_FUNCTIONALITY
StringBuilder builder = new StringBuilder(this.ToString());
builder.Append(" is now in\n");
builder.Append(status.ToString());
builder.Append("\nafter executing\n");
foreach (var ct in CTs)
{
if (ct != null)
{
builder.Append(ct);
builder.Append("\n\t");
}
}
Debug.Log(builder.ToString());
#endif
#if SC_DEBUG
if (!machine.IsValid(status))
{
StringBuilder sb = new StringBuilder("Invalid configuration in instance ");
sb.Append(this);
sb.Append(":\n\t");
sb.Append(status.ToString());
sb.Append("\nIt occured while executing:");
foreach (var ct in CTs)
{
if (ct != null)
{
sb.Append(ct);
sb.Append("\n\t");
}
}
Debug.LogError(sb.ToString());
}
#endif
return(exited.Count > 0 || entered.Count > 0);
}
