fix broken pseudo-states (they work more like regular transitions now)

global.d.ts

@@ -2,3 +2,4 @@
 declare module '*.css';
 declare module '*.png';
 declare module '*.ttf';
+declare module '*.wav';

src/App/App.tsx

@@ -21,6 +21,7 @@ import { Plant } from "@/Plant/Plant";
 import { usePersistentState } from "@/util/persistent_state";
 import { RTHistory } from "./RTHistory";
 import { detectConnections } from "@/statecharts/detect_connections";
+import { MicrowavePlant } from "@/Plant/Microwave/Microwave";
 
 export type EditHistory = {
   current: VisualEditorState,
@@ -31,6 +32,7 @@ export type EditHistory = {
 const plants: [string, Plant<any>][] = [
   ["dummy", DummyPlant],
   ["digital watch", DigitalWatchPlant],
+  ["microwave", MicrowavePlant],
 ]
 
 export type BigStepError = {
@@ -150,8 +152,6 @@ export function App() {
   const ast = parsed && parsed[0];
   const syntaxErrors = parsed && parsed[1];
 
-  console.log('render App', ast);
-
   // append editor state to undo history
   const makeCheckPoint = useCallback(() => {
     setEditHistory(historyState => historyState && ({
@@ -278,7 +278,6 @@ export function App() {
       for (const o of nextConfig.outputEvents) {
         plantState = plant.reduce(o, plantState);
       }
-      console.log({plantState});
       newItem = {kind: "bigstep", plantState, ...timedEvent, ...nextConfig};
     }
     catch (error) {
@@ -343,7 +342,6 @@ export function App() {
   }
   else {
     const item = current(trace);
-    console.log(trace);
     if (item.kind === "bigstep") {
       highlightActive = item.mode;
       highlightTransitions = item.firedTransitions;
@@ -371,31 +369,26 @@ export function App() {
     </div>
   </div>}
 
+  {/* top-to-bottom: everything -> bottom panel */}
   <div className="stackVertical" style={{height:'100%'}}>
+
+    {/* left-to-right: main -> sidebar */}
     <div className="stackHorizontal" style={{flexGrow:1, overflow: "auto"}}>
 
-      {/* Left: top bar and main editor */}
+      {/* top-to-bottom: top bar, editor */}
-      <div style={{flexGrow:1, overflow: "auto"}}>
+      <div className="stackVertical" style={{flexGrow:1, overflow: "auto"}}>
-        <div style={{height:'100%'}}>
+        {/* Top bar */}
-          {/* Top bar */}
+        <div
-          <div
+          className="shadowBelow"
-            className="shadowBelow"
+          style={{flex: '0 0 content'}}
-            style={{
+        >
-              display: "flex",
+          {editHistory && <TopPanel
-              borderBottom: 1,
+            {...{trace, time, setTime, onUndo, onRedo, onInit, onClear, onBack, insertMode, setInsertMode, setModal, zoom, setZoom, showKeys, setShowKeys, editHistory}}
-              borderColor: "divider",
+          />}
-              alignItems: 'center',
+        </div>
-              flex: '0 0 content',
+        {/* Editor */}
-            }}
+        <div style={{flexGrow: 1, overflow: "auto"}}>
-          >
+          {editorState && conns && syntaxErrors && <VisualEditor {...{state: editorState, setState: setEditorState, conns, trace, setTrace, syntaxErrors, insertMode, highlightActive, highlightTransitions, setModal, makeCheckPoint, zoom}}/>}
-            {editHistory && <TopPanel
-              {...{trace, time, setTime, onUndo, onRedo, onInit, onClear, onBack, insertMode, setInsertMode, setModal, zoom, setZoom, showKeys, setShowKeys, editHistory}}
-            />}
-          </div>
-          {/* Below the top bar: Editor */}
-          <div style={{flexGrow:1, overflow: "auto"}}>
-            {editorState && conns && syntaxErrors && <VisualEditor {...{state: editorState, setState: setEditorState, conns, trace, setTrace, syntaxErrors, insertMode, highlightActive, highlightTransitions, setModal, makeCheckPoint, zoom}}/>}
-          </div>
         </div>
       </div>
 
@@ -406,7 +399,7 @@ export function App() {
         flex: '0 0 content',
         overflowY: "auto",
         overflowX: "visible",
-        maxWidth: 'min(300px, 30vw)',
+        maxWidth: '50vw',
       }}>
         <div className="stackVertical" style={{height:'100%'}}>
           <div
@@ -445,7 +438,9 @@ export function App() {
                 )}
               </select>
               {trace !== null &&
-                plant.render(trace.trace[trace.idx].plantState, event => onRaise(event.name, event.param))}
+                <div>{
+                  plant.render(trace.trace[trace.idx].plantState, event => onRaise(event.name, event.param))
+                }</div>}
             </PersistentDetails>
             <details open={showExecutionTrace} onToggle={e => setShowExecutionTrace(e.newState === "open")}><summary>execution trace</summary></details>
           </div>
@@ -467,8 +462,6 @@ export function App() {
           </div>
         </div>
       </div>
-
-
     </div>
 
     {/* Bottom panel */}

src/App/ShowAST.tsx

@@ -1,4 +1,4 @@
-import { ConcreteState, PseudoState, stateDescription, Transition } from "../statecharts/abstract_syntax";
+import { ConcreteState, UnstableState, stateDescription, Transition } from "../statecharts/abstract_syntax";
 import { Action, EventTrigger, Expression } from "../statecharts/label_ast";
 import { RT_Statechart } from "../statecharts/runtime_types";
 
@@ -32,7 +32,7 @@ export function ShowAction(props: {action: Action}) {
   }
 }
 
-export const ShowAST = memo(function ShowASTx(props: {root: ConcreteState | PseudoState}) {
+export const ShowAST = memo(function ShowASTx(props: {root: ConcreteState | UnstableState}) {
   const description = stateDescription(props.root);
   // const outgoing = props.transitions.get(props.root.uid) || [];
 

src/VisualEditor/VisualEditor.tsx

@@ -110,7 +110,7 @@ export const VisualEditor = memo(function VisualEditor({state, setState, trace,
       x: (e.pageX - bbox.left)/zoom,
       y: (e.pageY - bbox.top)/zoom,
     }
-  }, [refSVG.current]);
+  }, [refSVG.current, zoom]);
 
   const onMouseDown = useCallback((e: {button: number, target: any, pageX: number, pageY: number}) => {
     const currentPointer = getCurrentPointer(e);

src/statecharts/abstract_syntax.ts

@@ -1,20 +1,24 @@
 import { Action, EventTrigger, ParsedText } from "./label_ast";
 
 export type AbstractState = {
+  kind: string;
   uid: string;
   parent?: ConcreteState;
-  comments: [string, string][]; // array of tuple (text-uid, text-text)
-  entryActions: Action[];
-  exitActions: Action[];
   depth: number;
+  comments: [string, string][]; // array of tuple (text-uid, text-text)
 }
 
-export type StableState = {
+export type EntryExitState = AbstractState & {
+  entryActions: Action[];
+  exitActions: Action[];
+}
+
+export type StableState = EntryExitState & {
   kind: "and" | "or";
   children: ConcreteState[];
   history: HistoryState[];
   timers: number[]; // list of timeouts (e.g., the state having an outgoing transition with trigger "after 4s" would appear as the number 4000 in this list)
-} & AbstractState;
+};
 
 export type AndState = {
   kind: "and";
@@ -27,25 +31,24 @@ export type OrState = {
   initial: [string, ConcreteState][]; 
 } & StableState;
 
-export type PseudoState = {
+export type ConcreteState = AndState | OrState;
-  kind: "pseudo";
-  uid: string;
-  comments: [string, string][];
-};
 
-export type HistoryState = {
+export type TransitionSrcTgt = ConcreteState | UnstableState;
+
+// also called pseudo-state or choice-state:
+export type UnstableState = EntryExitState & {
+  kind: "pseudo";
+} & AbstractState;
+
+export type HistoryState = AbstractState & {
   kind: "shallow" | "deep";
-  parent: ConcreteState;
-  uid: string;
-  depth: number;
 }
 
-export type ConcreteState = AndState | OrState;
 
 export type Transition = {
   uid: string; // uid of arrow in concrete syntax
-  src: ConcreteState | PseudoState;
+  src: ConcreteState | UnstableState;
-  tgt: ConcreteState | PseudoState | HistoryState;
+  tgt: ConcreteState | UnstableState | HistoryState;
   label: ParsedText[];
 }
 
@@ -59,7 +62,7 @@ export type Statechart = {
   internalEvents: EventTrigger[];
   outputEvents: Set<string>;
 
-  uid2State: Map<string, ConcreteState|PseudoState>;
+  uid2State: Map<string, ConcreteState|UnstableState>;
 
   historyStates: HistoryState[];
 }
@@ -110,7 +113,7 @@ export function isOverlapping(a: ConcreteState, b: ConcreteState): boolean {
 }
 
 
-export function computeLCA(a: (ConcreteState|HistoryState), b: (ConcreteState|HistoryState)): (ConcreteState|HistoryState) {
+export function computeLCA(a: AbstractState, b: AbstractState): AbstractState {
   if (a === b) {
     return a;
   }
@@ -120,77 +123,90 @@ export function computeLCA(a: (ConcreteState|HistoryState), b: (ConcreteState|Hi
   return computeLCA(a, b.parent!);
 }
 
-export function computeLCA2(states: (ConcreteState|HistoryState)[]): (ConcreteState|HistoryState) {
+// arena(a,b) = lowest common or-state ancestor of (a,b) that is not a or b
-  if (states.length === 0) {
+// see "Deconstructing the Semantics of Big-Step Modelling Languages" by Shahram Esmaeilsabzali, 2009
-    throw new Error("cannot compute LCA of empty set of states");
+export function computeArena(a: AbstractState, b: AbstractState): OrState {
+  let arena = computeLCA(a, b);
+  while (arena.kind !== "or" || arena.uid === a.uid || arena.uid === b.uid) {
+    arena = arena.parent!;
   }
-  if (states.length === 1) {
+  return arena as OrState;
-    return states[0];
-  }
-  // 2 states or more
-  return states.reduce((acc, cur) => computeLCA(acc, cur));
 }
 
-export function getPossibleTargets(t: Transition, ts: Map<string, Transition[]>): (ConcreteState|HistoryState)[] {
+// export function computeLCA2(states: (ConcreteState|HistoryState)[]): (ConcreteState|HistoryState) {
-  if (t.tgt.kind !== "pseudo") {
+//   if (states.length === 0) {
-    return [t.tgt];
+//     throw new Error("cannot compute LCA of empty set of states");
-  }
+//   }
-  const pseudoOutgoing = ts.get(t.tgt.uid) || [];
+//   if (states.length === 1) {
-  return pseudoOutgoing.flatMap(t => getPossibleTargets(t, ts));
+//     return states[0];
-}
+//   }
+//   // 2 states or more
+//   return states.reduce((acc, cur) => computeLCA(acc, cur));
+// }
 
-export function computeArena2(t: Transition, ts: Map<string, Transition[]>): OrState {
+// export function getPossibleTargets(t: Transition, ts: Map<string, Transition[]>): (ConcreteState|HistoryState)[] {
-  const tgts = getPossibleTargets(t, ts);
+//   if (t.tgt.kind !== "pseudo") {
-  let lca = computeLCA2([t.src as ConcreteState, ...tgts]);
+//     return [t.tgt];
-  while (lca.kind !== "or" || lca === t.src || lca === t.tgt) {
+//   }
-    lca = lca.parent!;
+//   const pseudoOutgoing = ts.get(t.tgt.uid) || [];
-  }
+//   return pseudoOutgoing.flatMap(t => getPossibleTargets(t, ts));
-  return lca as OrState;
+// }
-}
+
+// export function computeArena2(t: Transition, ts: Map<string, Transition[]>): OrState {
+//   const tgts = getPossibleTargets(t, ts);
+//   let lca = computeLCA2([t.src as ConcreteState, ...tgts]);
+//   while (lca.kind !== "or" || lca === t.src || lca === t.tgt) {
+//     lca = lca.parent!;
+//   }
+//   return lca as OrState;
+// }
 
 // Assuming ancestor is already entered, what states to enter in order to enter descendants?
 // E.g.
 //    root > A > B > C > D
 //  computePath({ancestor: A, descendant: A}) = []
 //  computePath({ancestor: A, descendant: C}) = [B, C]
-export function computePath({ancestor, descendant}: {ancestor: ConcreteState, descendant: (ConcreteState|HistoryState)}): (ConcreteState|HistoryState)[] {
+export function computePath({ancestor, descendant}: {ancestor: AbstractState, descendant: AbstractState}): AbstractState[] {
   if (ancestor === descendant) {
     return [];
   }
   return [...computePath({ancestor, descendant: descendant.parent!}), descendant];
 }
 
-// the arena of a transition is the lowest common ancestor state that is an OR-state
+// // the arena of a transition is the lowest common ancestor state that is an OR-state
-// see "Deconstructing the Semantics of Big-Step Modelling Languages" by Shahram Esmaeilsabzali, 2009
+// // see "Deconstructing the Semantics of Big-Step Modelling Languages" by Shahram Esmaeilsabzali, 2009
-export function computeArena({src, tgt}: {src: ConcreteState, tgt: ConcreteState}): {
+// export function computeArena({src, tgt}: {src: ConcreteState, tgt: ConcreteState}): {
-  arena: OrState,
+//   arena: OrState,
-  srcPath: ConcreteState[],
+//   srcPath: ConcreteState[],
-  tgtPath: ConcreteState[],
+//   tgtPath: ConcreteState[],
-} {
+// } {
-  if (src.depth >= tgt.depth) {
+//   if (src.depth >= tgt.depth) {
-    const path = isAncestorOf({descendant: src, ancestor: tgt});
+//     const path = isAncestorOf({descendant: src, ancestor: tgt});
-    if (path) {
+//     if (path) {
-      if (tgt.kind === "or") {
+//       if (tgt.kind === "or") {
-        return {arena: tgt as OrState, srcPath: path, tgtPath: [tgt]};
+//         return {arena: tgt as OrState, srcPath: path, tgtPath: [tgt]};
-      }
+//       }
-    }
+//     }
-    // keep looking
+//     // keep looking
-    const {arena, srcPath, tgtPath} = computeArena({src, tgt: tgt.parent!});
+//     const {arena, srcPath, tgtPath} = computeArena({src, tgt: tgt.parent!});
-    return {arena, srcPath, tgtPath: [...tgtPath, tgt]};
+//     return {arena, srcPath, tgtPath: [...tgtPath, tgt]};
-  }
+//   }
-  else {
+//   else {
-    // same, but swap src and tgt
+//     // same, but swap src and tgt
-    const {arena, srcPath, tgtPath} = computeArena({src: tgt, tgt: src});
+//     const {arena, srcPath, tgtPath} = computeArena({src: tgt, tgt: src});
-    return {arena, srcPath: tgtPath, tgtPath: srcPath};
+//     return {arena, srcPath: tgtPath, tgtPath: srcPath};
-  }
+//   }
-}
+// }
 
+// transitive, reflexive
 export function getDescendants(state: ConcreteState): Set<string> {
   const result = new Set([state.uid]);
-  for (const child of state.children) {
+  if (state.children) {
-    for (const descendant of getDescendants(child)) {
+    for (const child of state.children) {
-      // will include child itself:
+      for (const descendant of getDescendants(child)) {
-      result.add(descendant);
+        // will include child itself:
+        result.add(descendant);
+      }
     }
   }
   return result;
@@ -199,17 +215,18 @@ export function getDescendants(state: ConcreteState): Set<string> {
 // the 'description' of a state is a human-readable string that (hopefully) identifies the state.
 // if the state contains a comment, we take the 'first' (= visually topmost) comment
 // otherwise we fall back to the state's UID.
-export function stateDescription(state: ConcreteState | PseudoState | HistoryState): string {
+export function stateDescription(state: AbstractState): string {
   if (state.kind === "shallow") {
-    return `shallow(${stateDescription(state.parent)})`;
+    return `shallow(${stateDescription(state.parent!)})`;
   }
   else if (state.kind === "deep") {
-    return `deep(${stateDescription(state.parent)})`;
+    return `deep(${stateDescription(state.parent!)})`;
+  }
+  else if (state.comments.length > 0) {
+    return state.comments[0][1];
   }
   else {
-    // @ts-ignore
+    return state.uid;
-    const description = state.comments.length > 0 ? state.comments[0][1] : state.uid;
-    return description;
   }
 }
 

src/statecharts/environment.ts

@@ -0,0 +1,102 @@
+import { getST, iterST, ScopeTree, updateST, writeST } from "./scope_tree";
+
+export type Environment = {
+  enterScope(scopeId: string): Environment;
+  exitScope(): Environment;
+
+  // force creation of a new variable in the current scope, even if a variable with the same name already exists in a surrounding scope
+  newVar(key: string, value: any): Environment;
+
+  // (over)write variable
+  set(key: string, value: any): Environment;
+
+  // read variable
+  get(key: string): any;
+
+  entries(): Iterator<[string, any]>;
+}
+
+
+// non-hierarchical environment with only global variables
+// consistent with the UA MoSIS course on Statecharts
+export class FlatEnvironment {
+  env: ReadonlyMap<string, any>;
+
+  constructor(env: ReadonlyMap<string, any> = new Map()) {
+    this.env = env;
+  }
+
+  enterScope(scopeId: string): FlatEnvironment {
+    return this;
+  }
+  exitScope(): FlatEnvironment {
+    return this;
+  }
+
+  newVar(key: string, value: any) {
+    return this.set(key, value);
+  }
+  set(key: string, value: any) {
+    return new FlatEnvironment(new Map([...this.env, [key, value]]));
+  }
+  get(key: string): any {
+    return this.env.get(key);
+  }
+
+  entries(): Iterator<[string, any]> {
+    return this.env.entries();
+  }
+}
+
+// A scoped environment
+// IMO better, but harder to explain
+export class ScopedEnvironment {
+  scopeTree: ScopeTree;
+  current: string[];
+
+  constructor(scopeTree: ScopeTree = { env: new Map(), children: {} }, current: string[] = []) {
+    this.scopeTree = scopeTree;
+    this.current = current;
+  }
+
+  enterScope(scopeId: string): ScopedEnvironment {
+    return new ScopedEnvironment(
+      this.scopeTree,
+      [...this.current, scopeId],
+    );
+  }
+  exitScope() {
+    return new ScopedEnvironment(
+      this.scopeTree,
+      this.current.slice(0, -1),
+    );
+  }
+
+  newVar(key: string, value: any): ScopedEnvironment {
+    return new ScopedEnvironment(
+      writeST(key, value, this.current, this.scopeTree),
+      this.current,
+    );
+  }
+
+  // update variable in the innermost scope where it exists, or create it in the current scope if it doesn't exist yet
+  set(key: string, value: any): ScopedEnvironment {
+    let updated = updateST(this.current, key, value, this.scopeTree);
+    if (updated === undefined) {
+      updated = writeST(key, value, this.current, this.scopeTree);
+    }
+    return new ScopedEnvironment(
+      updated,
+      this.current,
+    )
+  }
+
+  // lookup variable, starting in the currrent (= innermost) scope, then looking into surrounding scopes until found.
+  get(key: string): ScopedEnvironment {
+    return getST(this.current, key, this.scopeTree);
+  }
+
+  *entries(): Iterator<[string, any]> {
+    return iterST(this.scopeTree);
+  }
+}

src/statecharts/interpreter.ts

@@ -1,16 +1,21 @@
-import { computeArena2, computePath, ConcreteState, getDescendants, HistoryState, isOverlapping, OrState, StableState, Statechart, stateDescription, Transition, transitionDescription } from "./abstract_syntax";
+import { AbstractState, computeArena, computePath, ConcreteState, getDescendants, HistoryState, isOverlapping, OrState, StableState, Statechart, stateDescription, Transition, transitionDescription, TransitionSrcTgt } from "./abstract_syntax";
 import { evalExpr } from "./actionlang_interpreter";
+import { Environment, FlatEnvironment, ScopedEnvironment } from "./environment";
 import { Action, EventTrigger, TransitionLabel } from "./label_ast";
-import { BigStepOutput, Environment, initialRaised, Mode, RaisedEvents, RT_Event, RT_History, RT_Statechart, TimerElapseEvent, Timers } from "./runtime_types";
+import { BigStepOutput, initialRaised, Mode, RaisedEvents, RT_Event, RT_History, RT_Statechart, TimerElapseEvent, Timers, InputEvent } from "./runtime_types";
+
+const initialEnv = new Map<string, any>([
+  ["_timers", []],
+  ["_log", (str: string) => console.log(str)],
+]);
+const initialScopedEnvironment = new ScopedEnvironment({env: initialEnv, children: {}});
+// const intiialFlatEnvironment = new FlatEnvironment(initialEnv);
 
 export function initialize(ast: Statechart): BigStepOutput {
   let history = new Map();
   let enteredStates, environment, rest;
   ({enteredStates, environment, history, ...rest} = enterDefault(0, ast.root, {
-    environment: new Environment([new Map<string, any>([
+    environment: initialScopedEnvironment,
-      ["_timers", []],
-      ["_log", (str: string) => console.log(str)],
-    ])]),
     history,
     ...initialRaised,
   }));
@@ -66,42 +71,49 @@ export function execAction(action: Action, rt: ActionScope): ActionScope {
   throw new Error("should never reach here");
 }
 
-export function entryActions(simtime: number, state: ConcreteState, actionScope: ActionScope): ActionScope {
+export function entryActions(simtime: number, state: TransitionSrcTgt, actionScope: ActionScope): ActionScope {
-  // console.log('enter', stateDescription(state), '...');
+  console.log('enter', stateDescription(state), '...');
+
   let {environment, ...rest} = actionScope;
-  // environment = environment.pushScope();
+
+  environment = environment.enterScope(state.uid);
+
   for (const action of state.entryActions) {
     ({environment, ...rest} = execAction(action, {environment, ...rest}));
   }
   // schedule timers
-  // we store timers in the environment (dirty!)
+  if (state.kind !== "pseudo") {
-  environment = environment.transform<Timers>("_timers", oldTimers => {
+    // we store timers in the environment (dirty!)
+    const timers: Timers = environment.get("_timers") || [];
     const newTimers = [
-      ...oldTimers,
+      ...timers,
       ...state.timers.map(timeOffset => {
         const futureSimTime = simtime + timeOffset;
         return [futureSimTime, {kind: "timer", state: state.uid, timeDurMs: timeOffset}] as [number, TimerElapseEvent];
       }),
     ];
-    newTimers.sort((a,b) => a[0] - b[0]);
+    newTimers.sort((a,b) => a[0] - b[0]); // earliest timers come first
-    return newTimers;
+    environment = environment.set("_timers", newTimers);
-  }, []);
+  }
-  // new nested scope
   return {environment, ...rest};
 }
 
-export function exitActions(simtime: number, state: ConcreteState, {enteredStates, ...actionScope}: EnteredScope): ActionScope {
+export function exitActions(simtime: number, state: TransitionSrcTgt, {enteredStates, ...actionScope}: EnteredScope): ActionScope {
-  // console.log('exit', stateDescription(state), '...');
+  console.log('exit', stateDescription(state), '...');
+
   for (const action of state.exitActions) {
     (actionScope = execAction(action, actionScope));
   }
   let environment = actionScope.environment;
   // cancel timers
-  environment = environment.transform<Timers>("_timers", oldTimers => {
+  if (state.kind !== "pseudo") {
-    // remove all timers of 'state':
+    const timers: Timers = environment.get("_timers") || [];
-    return oldTimers.filter(([_, {state: s}]) => s !== state.uid);
+    const newTimers = timers.filter(([_, {state: s}]) => s !== state.uid);
-  }, []);
+    environment = environment.set("_timers", newTimers);
-  // environment = environment.popScope();
+  }
+
+  environment = environment.exitScope();
+
   return {...actionScope, environment};
 }
 
@@ -182,32 +194,37 @@ export function enterStates(simtime: number, state: ConcreteState, toEnter: Set<
 
 // exit the given state and all its active descendants
 export function exitCurrent(simtime: number, state: ConcreteState, rt: EnteredScope): ActionScope {
+  console.log('exitCurrent', stateDescription(state));
   let {enteredStates, history, ...actionScope} = rt;
 
   if (enteredStates.has(state.uid)) {
     // exit all active children...
-    for (const child of state.children) {
+    if (state.children) {
-      ({history, ...actionScope} = exitCurrent(simtime, child,  {enteredStates, history, ...actionScope}));
+      for (const child of state.children) {
+        ({history, ...actionScope} = exitCurrent(simtime, child,  {enteredStates, history, ...actionScope}));
+      }
     }
 
     // execute exit actions
     ({history, ...actionScope} = exitActions(simtime, state, {enteredStates, history, ...actionScope}));
 
     // record history
-    history = new Map(history); // defensive copy
+    if (state.history) {
-    for (const h of state.history) {
+      history = new Map(history); // defensive copy
-      if (h.kind === "shallow") {
+      for (const h of state.history) {
-        history.set(h.uid, new Set(state.children
+        if (h.kind === "shallow") {
-          .filter(child => enteredStates.has(child.uid))
+          history.set(h.uid, new Set(state.children
-          .map(child => child.uid)));
+            .filter(child => enteredStates.has(child.uid))
-      }
+            .map(child => child.uid)));
-      else if (h.kind === "deep") {
+        }
-        // horribly inefficient (i don't care)
+        else if (h.kind === "deep") {
-        history.set(h.uid,
+          // horribly inefficient (i don't care)
-          getDescendants(state)
+          history.set(h.uid,
-          .difference(new Set([state.uid]))
+            getDescendants(state)
-          .intersection(enteredStates)
+            .difference(new Set([state.uid]))
-        );
+            .intersection(enteredStates)
+          );
+        }
       }
     }
   }
@@ -215,82 +232,106 @@ export function exitCurrent(simtime: number, state: ConcreteState, rt: EnteredSc
   return {history, ...actionScope};
 }
 
-export function handleEvent(simtime: number, event: RT_Event, statechart: Statechart, activeParent: StableState, {environment, mode, ...rest}: RT_Statechart & RaisedEvents): RT_Statechart & RaisedEvents {
+function allowedToFire(arena: OrState, alreadyFiredArenas: OrState[]) {
-  const arenasFired = new Set<OrState>();
+  for (const alreadyFired of alreadyFiredArenas) {
+    if (isOverlapping(arena, alreadyFired))
+      return false;
+  }
+  return true;
+}
+
+function attemptSrcState(simtime: number, sourceState: AbstractState, event: RT_Event|undefined, statechart: Statechart, {environment, mode, arenasFired, ...rest}: RT_Statechart & RaisedEvents): (RT_Statechart & RaisedEvents) | undefined {
+  console.log('attemptSrcState', stateDescription(sourceState), arenasFired);
+  const outgoing = statechart.transitions.get(sourceState.uid) || [];
+  const labels = outgoing.flatMap(t =>
+    t.label
+      .filter(l => l.kind === "transitionLabel")
+      .map(l => [t,l] as [Transition, TransitionLabel]));
+  let triggered;
+  if (event !== undefined) {
+    if (event.kind === "input") {
+      // get transitions triggered by event
+      triggered = labels.filter(([_t,l]) =>
+        l.trigger.kind === "event" && l.trigger.event === event.name);
+    }
+    else {
+      // get transitions triggered by timeout
+      triggered = labels.filter(([_t,l]) =>
+        l.trigger.kind === "after" && l.trigger.durationMs === event.timeDurMs);
+    }
+  }
+    else {
+      triggered = labels.filter(([_t,l]) => l.trigger.kind === "triggerless");
+  }
+  // eval guard
+  const inState = (stateLabel: string) => {
+    for (const [uid, state] of statechart.uid2State.entries()) {
+      if (stateDescription(state) === stateLabel) {
+        return (mode.has(uid));
+      }
+    }
+  };
+  const guardEnvironment = environment.set("inState", inState);
+  const enabled = triggered.filter(([t,l]) => evalExpr(l.guard, guardEnvironment));
+  if (enabled.length > 0) {
+    if (enabled.length > 1) {
+      throw new NonDeterminismError(`Non-determinism: state '${stateDescription(sourceState)}' has multiple (${enabled.length}) enabled outgoing transitions: ${enabled.map(([t]) => transitionDescription(t)).join(', ')}`, [...enabled.map(([t]) => t.uid), sourceState.uid]);
+    }
+    const [toFire, label] = enabled[0];
+    const arena = computeArena(toFire.src, toFire.tgt);
+    if (allowedToFire(arena, arenasFired)) {
+      environment = environment.enterScope("<transition>");
+      // if there's an event parameter, add it to environment
+      if (event && event.kind === "input" && event.param !== undefined) {
+        const varName = (label.trigger as EventTrigger).paramName as string;
+        environment = environment.set(varName, event.param);
+      }
+      ({mode, environment, ...rest} = fire(simtime, toFire, statechart.transitions, label, arena, {mode, environment, ...rest}));
+      rest = {...rest, firedTransitions: [...rest.firedTransitions, toFire.uid]}
+      environment.exitScope();
+      arenasFired = [...arenasFired, arena];
+
+      // if there is any pseudo-state in the modal configuration, immediately fire any enabled outgoing transitions of that state:
+      for (const activeState of mode) {
+        const s = statechart.uid2State.get(activeState);
+        if (s?.kind === "pseudo") {
+          console.log('fire pseudo-state...');
+          const newConfig = attemptSrcState(simtime, s, undefined, statechart, {environment, mode, arenasFired: [], ...rest});
+          if (newConfig === undefined) {
+            throw new RuntimeError("Stuck in choice-state.", [activeState]);
+          }
+          arenasFired = [...arenasFired, ...newConfig.arenasFired];
+          return {...newConfig, arenasFired};
+        }
+      }
+      return {mode, environment, arenasFired, ...rest};
+    }
+  }
+}
+
+// A fair step is a response to one (input|internal) event, where possibly multiple transitions are made as long as their arenas do not overlap. A reasonably accurate and more intuitive explanation is that every orthogonal region is allowed to fire at most one transition.
+export function fairStep(simtime: number, event: RT_Event, statechart: Statechart, activeParent: StableState, {arenasFired, ...config}: RT_Statechart & RaisedEvents): RT_Statechart & RaisedEvents {
+  console.log('fairStep', arenasFired);
   for (const state of activeParent.children) {
-    if (mode.has(state.uid)) {
+    if (config.mode.has(state.uid)) {
-      const outgoing = statechart.transitions.get(state.uid) || [];
+      const didFire = attemptSrcState(simtime, state, event, statechart, {...config, arenasFired});
-      const labels = outgoing.flatMap(t =>
+      if (didFire) {
-        t.label
+        ({arenasFired, ...config} = didFire);
-          .filter(l => l.kind === "transitionLabel")
-          .map(l => [t,l] as [Transition, TransitionLabel]));
-      let triggered;
-      if (event.kind === "input") {
-        // get transitions triggered by event
-        triggered = labels.filter(([_t,l]) =>
-          l.trigger.kind === "event" && l.trigger.event === event.name);
-      }
-      else {
-        // get transitions triggered by timeout
-        triggered = labels.filter(([_t,l]) =>
-          l.trigger.kind === "after" && l.trigger.durationMs === event.timeDurMs);
-      }
-      // eval guard
-      const guardEnvironment = environment.set("inState", (stateLabel: string) => {
-        for (const [uid, state] of statechart.uid2State.entries()) {
-          if (stateDescription(state) === stateLabel) {
-            return (mode.has(uid));
-          }
-        }
-      });
-      const enabled = triggered.filter(([t,l]) =>
-        evalExpr(l.guard, guardEnvironment));
-      if (enabled.length > 0) {
-        if (enabled.length > 1) {
-          throw new NonDeterminismError(`Non-determinism: state '${stateDescription(state)}' has multiple (${enabled.length}) enabled outgoing transitions: ${enabled.map(([t]) => transitionDescription(t)).join(', ')}`, [...enabled.map(([t]) => t.uid), state.uid]);
-        }
-        const [t,l] = enabled[0]; // just pick one transition
-        const arena = computeArena2(t, statechart.transitions);
-        let overlapping = false;
-        for (const alreadyFired of arenasFired) {
-          if (isOverlapping(arena, alreadyFired)) {
-            overlapping = true;
-          }
-        }
-        if (!overlapping) {
-          if (event.kind === "input" && event.param !== undefined) {
-            // input events may have a parameter
-            // add event parameter to environment in new scope
-            environment = environment.pushScope();
-            environment = environment.newVar(
-              (l.trigger as EventTrigger).paramName as string,
-              event.param,
-            );
-          }
-          ({mode, environment, ...rest} = fireTransition(simtime, t, statechart.transitions, l, arena, {mode, environment, ...rest}));
-          if (event.kind === "input" && event.param !== undefined) {
-            environment = environment.popScope();
-          }
-          arenasFired.add(arena);
-        }
-        else {
-          // console.log('skip (overlapping arenas)');
-        }
       }
       else {
         // no enabled outgoing transitions, try the children:
-        ({environment, mode, ...rest} = handleEvent(simtime, event, statechart, state,
+        console.log('attempt children');
-          {environment, mode, ...rest}));
+        ({arenasFired, ...config} = fairStep(simtime, event, statechart, state, {...config, arenasFired}));
       }
     }
   }
-  return {environment, mode, ...rest};
+  return {arenasFired, ...config};
 }
 
 export function handleInputEvent(simtime: number, event: RT_Event, statechart: Statechart, {mode, environment, history}: {mode: Mode, environment: Environment, history: RT_History}): BigStepOutput {
   let raised = initialRaised;
 
-  ({mode, environment, ...raised} = handleEvent(simtime, event, statechart, statechart.root, {mode, environment, history, ...raised}));
+  ({mode, environment, ...raised} = fairStep(simtime, event, statechart, statechart.root, {mode, environment, history, arenasFired: [], ...raised}));
 
   return handleInternalEvents(simtime, statechart, {mode, environment, history, ...raised});
 }
@@ -298,77 +339,127 @@ export function handleInputEvent(simtime: number, event: RT_Event, statechart: S
 export function handleInternalEvents(simtime: number, statechart: Statechart, {internalEvents, ...rest}: RT_Statechart & RaisedEvents): BigStepOutput {
   while (internalEvents.length > 0) {
     const [nextEvent, ...remainingEvents] = internalEvents;
-    ({internalEvents, ...rest} = handleEvent(simtime, 
+    ({internalEvents, ...rest} = fairStep(simtime, 
       {kind: "input", ...nextEvent}, // internal event becomes input event
-      statechart, statechart.root, {internalEvents: remainingEvents, ...rest}));
+      statechart, statechart.root, { arenasFired: [], internalEvents: remainingEvents, ...rest}));
   }
   return rest;
 }
 
-export function fireTransition(simtime: number, t: Transition, ts: Map<string, Transition[]>, label: TransitionLabel, arena: OrState, {mode, environment, history, ...rest}: RT_Statechart & RaisedEvents): RT_Statechart & RaisedEvents {
+function resolveHistory(tgt: AbstractState, history: RT_History): Set<string> {
-  console.log('fire', transitionDescription(t));
+  if (tgt.kind === "shallow" || tgt.kind === "deep") {
+    const toEnter = history.get(tgt.uid) || new Set();
+    return toEnter;
+  }
+  else {
+    const toEnter = new Set([tgt.uid]);
+    return toEnter;
+  }
+}
 
-  const srcPath = computePath({ancestor: arena, descendant: t.src as ConcreteState}).reverse() as ConcreteState[];
+export function fire(simtime: number, t: Transition, ts: Map<string, Transition[]>, label: TransitionLabel, arena: OrState, {mode, environment, history, ...rest}: RT_Statechart & RaisedEvents): RT_Statechart & RaisedEvents {
+  console.log('will now fire', transitionDescription(t), 'arena', arena);
 
+  const srcPath = computePath({ancestor: arena, descendant: t.src as ConcreteState}) as ConcreteState[];
+
+  console.log(srcPath);
   // console.log('arena:', arena, 'srcPath:', srcPath);
 
   // exit src and other states up to arena
-  ({environment, history, ...rest} = exitCurrent(simtime, srcPath[0], {environment, enteredStates: mode, history, ...rest}))
+  ({environment, history, ...rest} = exitCurrent(simtime, srcPath[0], {environment, enteredStates: mode, history, ...rest}));
   const toExit = getDescendants(arena);
   toExit.delete(arena.uid); // do not exit the arena itself
-  const exitedMode = mode.difference(toExit); // active states after exiting the states we need to exit
+  const exitedMode = mode.difference(toExit); // active states after exiting
 
-  // console.log({exitedMode});
+  console.log('toExit', toExit);
+  console.log('exitedMode', exitedMode);
 
-  return fireSecondHalfOfTransition(simtime, t, ts, label, arena, {mode: exitedMode, history, environment, ...rest});
+  // transition actions
-}
-
-// assuming we've already exited the source state of the transition, now enter the target state
-// IF however, the target is a pseudo-state, DON'T enter it (pseudo-states are NOT states), instead fire the first pseudo-outgoing transition.
-export function fireSecondHalfOfTransition(simtime: number, t: Transition, ts: Map<string, Transition[]>, label: TransitionLabel, arena: OrState, {mode, environment, history, firedTransitions, ...raised}: RT_Statechart & RaisedEvents): RT_Statechart & RaisedEvents {
-  // exec transition actions
   for (const action of label.actions) {
-    ({environment, history, firedTransitions, ...raised} = execAction(action, {environment, history, firedTransitions, ...raised}));
+    ({environment, history, ...rest} = execAction(action, {environment, history, ...rest}));
   }
 
-  firedTransitions = [...firedTransitions, t.uid];
+  const tgtPath = computePath({ancestor: arena, descendant: t.tgt});
+  const state = tgtPath[0] as ConcreteState; // first state to enter
+  const toEnter = resolveHistory(t.tgt, history)
+    .union(new Set(tgtPath.map(s=>s.uid)));
 
-  if (t.tgt.kind === "pseudo") {
+  let enteredStates;
-    const outgoing = ts.get(t.tgt.uid) || [];
+  ({enteredStates, environment, history, ...rest} = enterStates(simtime, state, toEnter, {environment, history, ...rest}));
-    for (const nextT of outgoing) {
+  const enteredMode = exitedMode.union(enteredStates);
-      for (const nextLabel of nextT.label) {
-        if (nextLabel.kind === "transitionLabel") {
-          if (evalExpr(nextLabel.guard, environment)) {
-            console.log('fire', transitionDescription(nextT));
-            // found ourselves an enabled transition
-            return fireSecondHalfOfTransition(simtime, nextT, ts, nextLabel, arena, {mode, environment, history, firedTransitions, ...raised});
-          }
-        }
-      }
-    }
-    throw new Error("stuck in pseudo-state!!");
-  }
-  else {
-    const tgtPath = computePath({ancestor: arena, descendant: t.tgt});
-    const state = tgtPath[0] as ConcreteState;
-    let toEnter;
-    if (t.tgt.kind === "deep" || t.tgt.kind === "shallow") {
-      toEnter = new Set([
-        ...tgtPath.slice(0,-1).map(s => s.uid),
-        ...history.get(t.tgt.uid)!
-      ]) as Set<string>;
-    }
-    else {
-      toEnter = new Set(tgtPath.map(s=>s.uid));
-    }
 
-    // enter tgt
+  console.log('new mode', enteredMode);
-    let enteredStates;
-    ({enteredStates, environment, history, firedTransitions, ...raised} = enterStates(simtime, state, toEnter, {environment, history, firedTransitions, ...raised}));
-    const enteredMode = mode.union(enteredStates);
 
-    // console.log({enteredMode});
+  console.log('done firing', transitionDescription(t));
 
-    return {mode: enteredMode, environment, history, firedTransitions, ...raised};
+  return {mode: enteredMode, environment, history, ...rest};
-  }
 }
+
+// export function fireTransition(simtime: number, t: Transition, ts: Map<string, Transition[]>, label: TransitionLabel, arena: OrState, {mode, environment, history, ...rest}: RT_Statechart & RaisedEvents): RT_Statechart & RaisedEvents {
+//   console.log('fire', transitionDescription(t));
+
+//   const srcPath = computePath({ancestor: arena, descendant: t.src as ConcreteState}).reverse() as ConcreteState[];
+
+//   // console.log('arena:', arena, 'srcPath:', srcPath);
+
+//   // exit src and other states up to arena
+//   ({environment, history, ...rest} = exitCurrent(simtime, srcPath[0], {environment, enteredStates: mode, history, ...rest}))
+//   const toExit = getDescendants(arena);
+//   toExit.delete(arena.uid); // do not exit the arena itself
+//   const exitedMode = mode.difference(toExit); // active states after exiting the states we need to exit
+
+//   // console.log({exitedMode});
+
+//   return fireSecondHalfOfTransition(simtime, t, ts, label, arena, {mode: exitedMode, history, environment, ...rest});
+// }
+
+// // assuming we've already exited the source state of the transition, now enter the target state
+// // IF however, the target is a pseudo-state, DON'T enter it (pseudo-states are NOT states), instead fire the first pseudo-outgoing transition.
+// export function fireSecondHalfOfTransition(simtime: number, t: Transition, ts: Map<string, Transition[]>, label: TransitionLabel, arena: OrState, {mode, environment, history, firedTransitions, ...raised}: RT_Statechart & RaisedEvents): RT_Statechart & RaisedEvents {
+//   console.log('fire (2nd half)', transitionDescription(t));
+//   // exec transition actions
+//   for (const action of label.actions) {
+//     ({environment, history, firedTransitions, ...raised} = execAction(action, {environment, history, firedTransitions, ...raised}));
+//   }
+
+//   firedTransitions = [...firedTransitions, t.uid];
+
+//   if (t.tgt.kind === "pseudo") {
+//     const outgoing = ts.get(t.tgt.uid) || [];
+//     for (const nextT of outgoing) {
+//       for (const nextLabel of nextT.label) {
+//         if (nextLabel.kind === "transitionLabel") {
+//           if (evalExpr(nextLabel.guard, environment)) {
+//             console.log('fire', transitionDescription(nextT));
+//             // found ourselves an enabled transition
+//             return fireSecondHalfOfTransition(simtime, nextT, ts, nextLabel, arena, {mode, environment, history, firedTransitions, ...raised});
+//           }
+//         }
+//       }
+//     }
+//     throw new Error("stuck in pseudo-state!!");
+//   }
+//   else {
+//     const tgtPath = computePath({ancestor: arena, descendant: t.tgt});
+//     const state = tgtPath[0] as ConcreteState;
+//     let toEnter;
+//     if (t.tgt.kind === "deep" || t.tgt.kind === "shallow") {
+//       toEnter = new Set([
+//         ...tgtPath.slice(0,-1).map(s => s.uid),
+//         ...history.get(t.tgt.uid)!
+//       ]) as Set<string>;
+//     }
+//     else {
+//       toEnter = new Set(tgtPath.map(s=>s.uid));
+//     }
+    
+//     // enter tgt
+//     let enteredStates;
+//     ({enteredStates, environment, history, firedTransitions, ...raised} = enterStates(simtime, state, toEnter, {environment, history, firedTransitions, ...raised}));
+//     const enteredMode = mode.union(enteredStates);
+
+//     // console.log({enteredMode});
+
+//     return {mode: enteredMode, environment, history, firedTransitions, ...raised};
+//   }
+// }

src/statecharts/mtl/ast.ts

@@ -0,0 +1,247 @@
+import { _evolve } from "./helpers";
+
+type MTL_Node = any;
+
+function flatten_binary(phi: NaryOpMTL, op, dropT, shortT) {
+  const args = phi.args.filter(arg => arg !== dropT);
+
+  if (args.some((arg: MTL_Node) => arg === shortT)) {
+    return shortT;
+  }
+  if (args.length === 0) {
+    return dropT;
+  }
+  if (args.length === 1) {
+    return args[0];
+  }
+
+  function f(x) {
+    if (x instanceof op) {
+      return x.args;
+    }
+    else {
+      return [x];
+    }
+  }
+
+  return op(phi.args.flatMap(f))
+}
+
+function _neg(expr: MTL_Node) {
+  if (expr instanceof Neg) {
+    return expr.arg;
+  }
+  return new Neg(expr);
+}
+
+function _and(expr1: MTL_Node, expr2: MTL_Node) {
+  return flatten_binary(new And([expr1, expr2]), And, TOP, BOT);
+}
+
+function _or(expr1: MTL_Node, expr2: MTL_Node) {
+  return _neg(_and(_neg(expr1), _neg(expr2)))
+}
+
+function _eval(expr, trace, time=false, dt=0.1, quantitative=true) {
+  return evaluator.pointwise_sat(expr, dt)(trace, time, quantitative);
+}
+
+function _timeshift(expr, t) {
+  if (expr === BOT) {
+    return expr;
+  }
+  for (let i=0; i<t; i++) {
+    expr = new Next(expr);
+  }
+  return expr;
+}
+
+function* _walk(expr) {
+  const children = [expr];
+  while (children.length > 0) {
+    const node = children.pop();
+    yield node;
+    children.push(...node.children);
+  }
+}
+
+function _params(expr) {
+  function* get_params(leaf) {
+    if (leaf.interval[0] instanceof Param) {
+      yield leaf.interval[0];
+    }
+    if (leaf.interval[1] instanceof Param) {
+      yield leaf.interval[1];
+    }
+  }
+
+  return new Set(_walk(expr).flatMap(e => [...get_params(e)]));
+}
+
+function _set_symbols(node, val) {
+  const children = (node.children?.() || []).map(c => _set_symbols(c, val));
+
+  if (node.interval) {
+    return _evolve(node, {
+      arg: children[0],
+      interval: _update_itvl(node.interval, val),
+    });
+  }
+  if (node instanceof AtomicPred) {
+    return val.get(node.id, node);
+  }
+  if (node.args) {
+    return _evolve(node, {
+      args: children,
+    });
+  }
+  if (node.arg) {
+    return _evolve(node, {
+      args: children,
+    });
+  }
+  return node;
+}
+
+function _update_itvl(itvl, lookup) {
+  function _update_param(p) {
+    if (!(p instanceof Param) || !lookup.has(p.name)) {
+      return p;
+    }
+    const val = lookup.get(p.name);
+    if (lookup instanceof Param) {
+      return val;
+    }
+    else {
+      return Number(val);
+    }
+  }
+
+  return new Interval(_update_param(itvl.lower), _update_param(itvl.upper));
+}
+
+
+function alw(phi: MTL_Node, lo=0, hi=Infinity) {
+  return new G(new Interval(lo, hi), phi);
+}
+
+function env(phi: MTL_Node, lo=0, hi=Infinity) {
+  return ~alw(~phi, lo, hi);
+}
+
+function implies(x, y) {
+  return _neg(x) 
+}
+
+
+
+class AtomicPred {
+  id: string;
+
+  constructor(id: string) {
+    this.id = id;
+  }
+}
+
+class Interval {
+  lower: number | Param;
+  upper: number | Param;
+
+  constructor(lower: number | Param, uppper: number | Param) {
+    this.lower = lower;
+    this.upper = uppper;
+  }
+}
+
+class Param {
+  name: string;
+
+  constructor(name: string) {
+    this.name = name;
+  }
+}
+
+class _Bot {}
+
+class NaryOpMTL {
+  OP = "?";
+  args: MTL_Node[];
+
+  constructor(args: MTL_Node[]) {
+    this.args = args;
+  }
+
+  children() {
+    return this.args;
+  }
+}
+
+class And extends NaryOpMTL {
+  OP = "&";
+}
+
+class ModalOp {
+  OP = "?";
+  interval: Interval;
+  arg: MTL_Node
+
+  constructor(interval: Interval, arg: MTL_Node) {
+    this.interval = interval;
+    this.arg = arg;
+  }
+
+  children() {
+    return [this.arg];
+  }
+}
+
+class G extends ModalOp {
+  OP = "G";
+}
+
+class WeakUntil {
+  arg1: MTL_Node;
+  arg2: MTL_Node;
+
+  constructor(arg1: MTL_Node, arg2: MTL_Node) {
+    this.arg1 = arg1;
+    this.arg2 = arg2;
+  }
+
+  children() {
+    return [this.arg1, this.arg2];
+  }
+}
+
+class Neg {
+  arg: MTL_Node;
+
+  constructor(arg: MTL_Node) {
+    this.arg = arg;
+  }
+
+  children() {
+    return [this.arg];
+  }
+}
+
+class Next {
+  arg: MTL_Node
+
+  constructor(arg: MTL_Node) {
+    this.arg = arg;
+  }
+
+
+  children() {
+    return [this.arg];
+  }
+}
+
+function type_pred(...args) {
+  const ast_types = new Set(args);
+  return (x: any) => ast_types.has(x.constructor);
+}
+
+export const BOT = new _Bot();
+export const TOP = _neg(BOT);

src/statecharts/mtl/evaluator.ts

@@ -0,0 +1,50 @@
+import { BOT, TOP } from "./ast";
+import { DiscreteSignal, signal } from "./signals";
+
+const CONST_FALSE = signal([[0,-1]], -Infinity, Infinity, BOT);
+const CONST_TRUE = signal([[0, 1]], -Infinity, Infinity, TOP);
+
+export function eval_mtl_until(phi, dt) {
+  
+}
+
+export function eval_mtl_g(phi, dt) {
+  const f = eval_mtl(phi.arg, dt);
+  const [a,b] = phi.interval;
+  if (b < a) {
+    return _ => CONST_TRUE.retag(new Map([[TOP, phi]]));
+  }
+  function _min(val) {
+    return Math.min(...val[phi.arg]);
+  }
+  return x => {
+    let tmp: DiscreteSignal = f(x);
+    if (b < a) throw new Error("assertion failed");
+    if (b > a) {
+      if (b < Infinity) {
+        const ts = tmp.times().map(t => interp_all(tmp, t-b-a+dt, tmp.end));
+        tmp = ts.reduce((a,b) => a.__or__(b), tmp).slice(tmp.start, tmp.end);
+      }
+      return tmp.rolling(a,b).map(_min, phi);
+    }
+    return tmp.retag(new Map([[phi.arg, phi]]));
+  }
+}
+
+export function eval_mtl_neg(phi, dt) {
+  const f = eval_mtl(phi.arg, dt);
+  return x => f(x).map(v => -v[phi.arg], phi);
+}
+
+export function eval_mtl_next(phi, dt) {
+  const f = eval_mtl(phi.arg, dt);
+  return x => f(x).lshift(dt).retag(new Map([[phi.arg, phi]]));
+}
+
+export function eval_mtl_ap(phi, _) {
+  return (x: DiscreteSignal) => x.project(new Set([phi.id]).retag(new Map([[phi.id, phi]])));
+}
+
+export function eval_mtl_bot(_, _1) {
+  return () => CONST_FALSE
+}

src/statecharts/mtl/helpers.ts

@@ -0,0 +1,9 @@
+
+export function _evolve(object, changes) {
+  return Object.assign(
+    Object.create(Object.getPrototypeOf(object)), // create empty object with same prototype as original
+    {
+      ...object,
+      ...changes,
+    });
+}

src/statecharts/mtl/signals.ts

@@ -0,0 +1,149 @@
+// Ported from https://github.com/mvcisback/DiscreteSignals/blob/main/discrete_signals/signals.py
+
+import { _evolve } from "./helpers";
+
+
+type Time = number;
+type KeyType = any;
+type ValueType = any;
+type DataType = Map<Time, Map<KeyType, ValueType>>;
+
+export class DiscreteSignal {
+  data: DataType;
+  start: Time;
+  end: Time;
+
+  constructor(data: DataType, start: Time, end: Time) {
+    this.data = data;
+    this.start = start;
+    this.end = end;
+  }
+
+  values() {
+    return this.data.values();
+  }
+  times() {
+    return this.data.keys();
+  }
+  entries() {
+    return this.data.entries();
+  }
+
+  tags() {
+    return new Set([].concat(...[...this.values()]));
+  }
+
+  rshift(delta: Time) {
+    return _evolve(this,
+      {
+        data: new Map(...this.data.entries().map(([time, val]) => [time+delta, val] as [Time, any])),
+        start: this.start + delta,
+        end: this.end + delta,
+      }
+    )
+  }
+
+  lshift(delta: Time) {
+    return this.rshift(-delta);
+  }
+
+  matmul(other) {
+    return _evolve(this,
+      {
+        data: new Map([
+          ...this.data.entries(),
+          ...other.data.entries().map(([time, val]) => [time+this.end, val]),
+        ]),
+        end: this.end + (other.end - other.start),
+      }
+    )
+  }
+
+  __or__(other) {
+    return _evolve(this,
+      {
+        // merge all data:
+        data: new Map([...new Set([...this.data.keys(), ...other.data.keys()])].map(key => [key, new Map([
+          ...this.data.get(key)?.entries() || [],
+          ...other.data.get(key)?.entries() || [],
+        ])])),
+        start: Math.min(this.start, other.start),
+        end: Math.max(this.end, other.end),
+      }
+    )
+  }
+
+  slice(start?: number, end?: number) {
+    const s = (start === undefined) ? this.start : start;
+    const e = (end === undefined) ? this.end : end;
+    return _evolve(this, {
+      data: new Map([...this.data.entries().filter(([time]) => time >= s && time < e)]),
+      start: s,
+      end: e,
+    })
+  }
+
+  get(key: number) {
+    return this.data.get(key);
+  }
+
+  rolling(start: number, end: number) {
+    if (start !== 0) {
+      const delta = (end !== Infinity) ? (end - start) : end
+      return this.rolling(0, delta).lshift(start);
+    }
+
+    const apply_window = ([t, _]) => {
+      const values = this.slice(start+t, end+t).values();
+      return [t, values];
+    }
+
+    return _evolve(this, {
+      data: new Map([...this.data.entries().map((entry) => apply_window(entry))]),
+      end: (end < this.end) ? (this.end - end) : this.end,
+    })
+  }
+
+  transform(f: (val: Map<KeyType,ValueType>) => Map<KeyType,ValueType>) {
+    const data = new Map([
+      ...this.data.entries().map(([key, val]) =>
+        [key, f(val)] as [Time, any])]);
+    return _evolve(this, {
+      data,
+    });
+  }
+
+  map(f: (val: Map<KeyType,ValueType>) => Map<KeyType,ValueType>, tag=null) {
+    const data = new Map([
+      ...this.data.entries().map(([key, val]) =>
+        [key, f(val)] as [Time, any])]);
+    return signal(data, this.start, this.end, tag);
+  }
+
+
+  filter(f: (val: Map<KeyType,ValueType>) => boolean) {
+    return _evolve(this, {
+      data: new Map([...this.data.entries().filter(([_, val]) => f(val))]),
+    });
+  }
+
+  project(keys: Set<KeyType>) {
+    return this
+      .transform(val => new Map([...val.entries()].filter(([key]) => keys.has(key))))
+      .filter(val => keys.intersection(val.keys()).size > 0);
+  }
+
+  retag(mapping: Map<KeyType, KeyType>) {
+    return this.transform(val =>
+      new Map([...val.entries().map(([key,val]) =>
+        [mapping.get(key), val] as [KeyType, ValueType])]));
+  }
+}
+
+export function signal(data: Iterable<[number, number]>, start=0, end=Infinity, tag:any = 'null') {
+  return new DiscreteSignal(
+    new Map([...data].map(([time, value]) => [time, new Map([[tag, value]])])),
+    start,
+    end
+  ).slice(start, end);
+}

src/statecharts/parser.ts

@@ -1,4 +1,4 @@
-import {  ConcreteState, HistoryState, OrState, PseudoState, Statechart, stateDescription, Transition } from "./abstract_syntax";
+import {  ConcreteState, HistoryState, OrState, UnstableState, Statechart, stateDescription, Transition } from "./abstract_syntax";
 import { Rountangle } from "./concrete_syntax";
 import { isEntirelyWithin, Rect2D } from "../VisualEditor/geometry";
 import { Action, EventTrigger, Expression, ParsedText } from "./label_ast";
@@ -51,7 +51,7 @@ export function parseStatechart(state: VisualEditorState, conns: Connections): [
     timers: [],
   }
 
-  const uid2State = new Map<string, ConcreteState|PseudoState>([["root", root]]);
+  const uid2State = new Map<string, ConcreteState|UnstableState>([["root", root]]);
   const historyStates: HistoryState[] = [];
 
   // we will always look for the smallest parent rountangle
@@ -116,11 +116,18 @@ export function parseStatechart(state: VisualEditorState, conns: Connections): [
     uid2State.set(rt.uid, state as ConcreteState);
   }
   for (const d of state.diamonds) {
-    uid2State.set(d.uid, {
+    const parent = findParent(d);
+    const pseudoState = {
       kind: "pseudo",
       uid: d.uid,
       comments: [],
-    });
+      depth: parent.depth+1,
+      parent,
+      entryActions: [],
+      exitActions: [],
+    };
+    uid2State.set(d.uid, pseudoState);
+    parent.children.push(pseudoState);
   }
   for (const h of state.history) {
     const parent = findParent({topLeft: h.topLeft, size: {x: HISTORY_RADIUS*2, y: HISTORY_RADIUS*2}});

src/statecharts/runtime_types.ts

@@ -1,3 +1,5 @@
+import { Environment } from "./environment";
+
 export type Timestamp = number; // milliseconds since begin of simulation
 
 export type RT_Event = InputEvent | TimerElapseEvent;
@@ -17,80 +19,6 @@ export type TimerElapseEvent = {
 
 export type Mode = Set<string>; // set of active states
 
-export class Environment {
-  scopes: ReadonlyMap<string, any>[]; // array of nested scopes - scope at the back of the array is used first
-
-  constructor(env = [new Map()] as ReadonlyMap<string, any>[]) {
-    this.scopes = env;
-  }
-
-  pushScope(): Environment {
-    return new Environment([...this.scopes, new Map<string, any>()]);
-  }
-
-  popScope(): Environment {
-    return new Environment(this.scopes.slice(0, -1));
-  }
-
-  // force creation of a new variable in the current scope, even if a variable with the same name already exists in a surrounding scope
-  newVar(key: string, value: any): Environment {
-    return new Environment(
-      this.scopes.with(
-        this.scopes.length-1,
-        new Map([
-          ...this.scopes[this.scopes.length-1],
-          [key, value],
-        ]),
-      ));
-  }
-
-  // update variable in the innermost scope where it exists, or create it in the current scope if it doesn't exist yet
-  set(key: string, value: any): Environment {
-    for (let i=this.scopes.length-1; i>=0; i--) {
-      const map = this.scopes[i];
-      if (map.has(key)) {
-        return new Environment(this.scopes.with(i, new Map([
-          ...map.entries(),
-          [key, value],
-        ])));
-      }
-    }
-    return new Environment(this.scopes.with(-1, new Map([
-      ...this.scopes[this.scopes.length-1].entries(),
-      [key, value],
-    ])));
-  }
-
-  // lookup variable, starting in the currrent (= innermost) scope, then looking into surrounding scopes until found.
-  get(key: string): any {
-    for (let i=this.scopes.length-1; i>=0; i--) {
-      const map = this.scopes[i];
-      const found = map.get(key);
-      if (found !== undefined) {
-        return found;
-      }
-    }
-  }
-
-  transform<T>(key: string, upd: (old:T) => T, defaultVal: T): Environment {
-    const old = this.get(key) || defaultVal;
-    return this.set(key, upd(old));
-  }
-
-  *entries() {
-    const visited = new Set();
-    for (let i=this.scopes.length-1; i>=0; i--) {
-      const map = this.scopes[i];
-      for (const [key, value] of map.entries()) {
-        if (!visited.has(key)) {
-          yield [key, value];
-          visited.add(key);
-        }
-      }
-    }
-  }
-}
-
 export type RT_History = Map<string, Set<string>>;
 
 export type RT_Statechart = {

src/statecharts/scope_tree.ts

@@ -0,0 +1,88 @@
+export type ScopeTree = {
+  env: ReadonlyMap<string, any>;
+  children: { [key: string]: ScopeTree };
+}
+
+// create or update an entry somewhere in the scope tree
+export function writeST(key: string, val: any, path: string[], {env, children}: ScopeTree): ScopeTree {
+  if (path.length === 0) {
+    return {
+      env: new Map([...env, [key, val]]),
+      children,
+    };
+  }
+  else {
+    const [childId, ...rest] = path;
+    return {
+      env,
+      children: {
+        ...children,
+        [childId]: writeST(key, val, rest, children[childId] || {env: new Map(), children: {}}),
+      },
+    };
+  }
+}
+
+export function getST(path: string[], key: string, {env, children}: ScopeTree): any | undefined {
+  if (path.length === 0) {
+    if (env.has(key)) {
+      return env.get(key);
+    }
+    return; // not found
+  }
+  else {
+    // follow path
+    const [childId, ...rest] = path;
+    let found;
+    if (Object.hasOwn(children, childId)) {
+      found = getST(rest, key, children[childId]);
+    }
+    if (found === undefined) {
+      // lookup in parent (yes that's us)
+      return getST([], key, {env, children});
+    }
+    else {
+      return found;
+    }
+  }
+}
+
+// only overwrites variable if it exists somewhere along the path, preferring deep over shallow
+// otherwise, returns undefined.
+export function updateST(path: string[], key: string, val: any, {env, children}: ScopeTree): ScopeTree | undefined {
+  if (path.length === 0) {
+    if (env.has(key)) {
+      return { env: new Map([...env, [key, val]]), children };
+    }
+    return;
+  }
+  else {
+    // follow path
+    const [childId, ...rest] = path;
+    let updated;
+    if (Object.hasOwn(children, childId)) {
+      updated = updateST(rest, key, val, children[childId]);
+    }
+    if (updated === undefined) {
+      // attempt overwrite in parent (yes that's us)
+      return updateST([], key, val, {env, children});
+    }
+    else {
+      return {
+        env,
+        children: { ...children, [childId]: updated },
+      }
+    }
+  }
+}
+
+export function* iterST({env, children}: ScopeTree): IterableIterator<[string, any]> {
+  for (const [key, val] of env) {
+    yield [key, val];
+  }
+  for (const [childId, child] of Object.entries(children)) {
+    for (const [key, val] of iterST(child)) {
+      yield [childId+'.'+key, val];
+    }
+  }
+}

todo.txt

@@ -27,6 +27,9 @@
 
 TODO
 
+- bugs
+    interpreter: pseudo-state semantics is broken
+
 - testing
     use STL for testing
         https://github.com/mvcisback/py-metric-temporal-logic
@@ -36,11 +39,18 @@ TODO
         - outgoing transitions?
 
 - usability stuff:
+    - action language: add increment operations (++) and (--)
+       and (+=) and (-=)
+
+    - snap:
+            comments only to states
+            triggers only to transitions
+            entry/exit only to states
+
     - ability to hide statechart and only show the plant?
     - hovering over event in side panel should highlight all occurrences of the event in the SC
     - hovering over error in bottom panel should highlight that rror in the SC
     - highlight selected shapes while making a selection
-    - comments sometimes snap to transitions even if they belong to a state
 
     - highlight fired transitions
     - highlight about-to-fire transitions