state change definition

MyRobotLab · Dec 5, 2023 · 10eb5e0 · 10eb5e0
1 parent 2f50853
commit 10eb5e0
Showing 1 changed file with 32 additions and 15 deletions.
diff --git a/src/main/java/org/myrobotlab/service/FiniteStateMachine.java b/src/main/java/org/myrobotlab/service/FiniteStateMachine.java
@@ -12,6 +12,7 @@
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.framework.interfaces.MessageListener;
 import org.myrobotlab.framework.interfaces.ServiceInterface;
+import org.myrobotlab.generics.SlidingWindowList;
 import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
@@ -51,7 +52,7 @@ public class FiniteStateMachine extends Service<FiniteStateMachineConfig> {
   /**
    * state history of fsm
    */
-  protected List<String> history = new ArrayList<>();
+  protected List<StateChange> history = new SlidingWindowList<>(100);
 
   // TODO - .from("A").to("B").on(Messages.ANY)
   // TODO - .from("A").to("B").on(Messages.EMPTY)
@@ -65,17 +66,27 @@ public class Tuple {
   }
 
   public class StateChange {
-    public String last;
-    public String current;
+    /**
+     * timestamp
+     */
+    public long ts = System.currentTimeMillis();
+
+    /**
+     * current new state
+     */
+    public String state;
+
+    /**
+     * event which activated new state
+     */
     public String event;
-    public StateChange(String last, String current, String event) {
-      this.last = last;
-      this.current = current;
+    public StateChange(String current, String event) {
+      this.state = current;
       this.event = event;
     }
 
     public String toString() {
-      return String.format("%s --%s--> %s", last, event, current);
+      return String.format("%s --%s--> %s", last, event, state);
     }
   }
 
@@ -113,11 +124,8 @@ public String getNext(String key) {
   public void init() {
     stateMachine.init();
     State state = stateMachine.getCurrent();
-    if (history.size() > 100) {
-      history.remove(0);
-    }
     if (state != null) {
-      history.add(state.getName());
+      history.add(new StateChange(state.getName(), String.format("%s.setCurrent", getName())));
     }
   }
 
@@ -194,8 +202,9 @@ public void fire(String event) {
       log.info("fired event ({}) -> ({}) moves to ({})", event, last == null ? null : last.getName(), current == null ? null : current.getName());
 
       if (last != null && !last.equals(current)) {
-        invoke("publishStateChange", new StateChange(last.getName(), current.getName(), event));
-        history.add(current.getName());
+        StateChange stateChange = new StateChange(current.getName(), event);
+        invoke("publishStateChange", stateChange);
+        history.add(stateChange);
       }
     } catch (Exception e) {
       log.error("fire threw", e);
@@ -247,7 +256,7 @@ public StateChange publishStateChange(StateChange stateChange) {
     for (String listener : messageListeners) {
       ServiceInterface service = Runtime.getService(listener);
       if (service != null) {
-        org.myrobotlab.framework.Message msg = org.myrobotlab.framework.Message.createMessage(getName(), listener, CodecUtils.getCallbackTopicName(stateChange.current), null);
+        org.myrobotlab.framework.Message msg = org.myrobotlab.framework.Message.createMessage(getName(), listener, CodecUtils.getCallbackTopicName(stateChange.state), null);
         service.in(msg);
       }
     }
@@ -419,12 +428,20 @@ public void setCurrent(String state) {
       stateMachine.setCurrent(state);
       current = stateMachine.getCurrent();
       if (last != null && !last.equals(current)) {
-        invoke("publishStateChange", new StateChange(last.getName(), current.getName(), null));
+        invoke("publishStateChange", new StateChange(current.getName(), String.format("%s.setCurrent", getName())));
       }
     } catch (Exception e) {
       log.error("setCurrent threw", e);
       error(e.getMessage());
     }
   }
 
+  public String getPreviousState() {
+    if (history.size() == 0) {
+      return null;
+    } else {
+      return history.get(history.size() - 2).state;
+    }
+  }
+
 }