#if HAVE_CRT
 #define _CRTDBG_MAP_ALLOC 
 #include <stdlib.h> 
 #include <crtdbg.h>
 #endif //HAVE_CRT
 /*
 * Copyright (C) 2017, University of the Basque Country (UPV/EHU)
 * Contact for licensing options: <licensing-mcpttclient(at)mcopenplatform(dot)com>
 *
 * The original file was part of Open Source Doubango Framework
 * Copyright (C) 2010-2011 Mamadou Diop.
 * Copyright (C) 2012 Doubango Telecom <http://doubango.org>
 *
 * This file is part of Open Source Doubango Framework.
 *
 * DOUBANGO is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * DOUBANGO is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with DOUBANGO.
 *
 */
 
 
 /**@file tsk_fsm.c
  * @brief Finite-state machine (FSM) implementation.
  * @sa http://en.wikipedia.org/wiki/Finite-state_machine.
  *
  * @author Mamadou Diop <diopmamadou(at)doubango[dot]org>
  *
 
  */
 #include "tsk_fsm.h"
 #include "tsk_memory.h"
 #include "tsk_debug.h"
 
 /**@defgroup tsk_fsm_group Finite-state machine (FSM) implementation.
 */
 
 int tsk_fsm_exec_nothing(va_list *app){ return 0/*success*/; }
 tsk_bool_t tsk_fsm_cond_always(const void* data1, const void* data2) { return tsk_true; }
 
 /**@ingroup tsk_fsm_group
 */
 tsk_fsm_t* tsk_fsm_create(tsk_fsm_state_id state_curr, tsk_fsm_state_id state_term)
 {
 	return (tsk_fsm_t*)tsk_object_new(tsk_fsm_def_t, state_curr, state_term);
 }
 
 /**@ingroup tsk_fsm_group
 */
 tsk_fsm_entry_t* tsk_fsm_entry_create()
 {
 	return (tsk_fsm_entry_t*)tsk_object_new(tsk_fsm_entry_def_t);
 }
 
 /**@ingroup tsk_fsm_group
 * Add entries (states) to the FSM.
 * @param self The FSM.
 * @param ... One of these  helper macros: @b TSK_FSM_ADD_*. MUST end with 
 * @b TSK_FSM_ADD_NULL.
 * @retval Zero if succeed and non-zero error code otherwise.
 */
 int tsk_fsm_set(tsk_fsm_t* self, ...)
 {
 	va_list args;
 	int guard;
 	
 	if(!self){
 		TSK_DEBUG_ERROR("Invalid parameter");
 		return -1;
 	}
 	
 	va_start(args, self);
 	while((guard = va_arg(args, int)) == 1){
 		tsk_fsm_entry_t* entry;
 		if((entry = tsk_fsm_entry_create())){
 			entry->from = va_arg(args, tsk_fsm_state_id);
 			entry->action = va_arg(args, tsk_fsm_action_id);
 			entry->cond = va_arg(args, tsk_fsm_cond);
 			entry->to = va_arg(args, tsk_fsm_state_id);
 			entry->exec = va_arg(args, tsk_fsm_exec);
 			entry->desc = va_arg(args, const char*);
 			
 			tsk_list_push_descending_data(self->entries, (void**)&entry);
 		}
 	}
 	va_end(args);
 	
 	return 0;
 }
 
 /**@ingroup tsk_fsm_group
 * Sets the @a callback function to call when the FSM enter in the final state.
 * @param self The FSM.
 * @param callback The callback function to call.
 * @param callbackdata Opaque data (user-data) to pass to the callback function.
 * @retval Zero if succeed and non-zero error code otherwise.
 */
 int tsk_fsm_set_callback_terminated(tsk_fsm_t* self, tsk_fsm_onterminated_f callback, const void* callbackdata)
 {
 	if(self){
 		self->callback_term = callback;
 		self->callback_data = callbackdata;
 		return 0;
 	}
 	else{
 		TSK_DEBUG_ERROR("Invalid parameter");
 		return -1;
 	}
 }
 
 /**@ingroup tsk_fsm_group
 * Execute an @a action. This action will probably change the current state of the FSM.
 * @param self The FSM.
 * @param action The id of the action to execute.
 * @param cond_data1 The first opaque data to pass to the @a condition function.
 * @param cond_data2 The first opaque data to pass to the @a condition function.
 * @param ... Variable parameters to pass to the @a exec function.
 * @retval Zero if succeed and non-zero error code otherwise.
 */
 int tsk_fsm_act(tsk_fsm_t* self, tsk_fsm_action_id action, const void* cond_data1, const void* cond_data2, ...)
 {
 	tsk_list_item_t *item;
 	va_list ap;
 	tsk_bool_t found = tsk_false;
 	tsk_bool_t terminates = tsk_false; /* thread-safeness -> DO NOT REMOVE THIS VARIABLE */
 	int ret_exec = 0; /* success */
 	
 	if(!self){
 		TSK_DEBUG_ERROR("Invalid parameter");
 		return -1;
 	}
 	if(tsk_fsm_terminated(self)){
 		TSK_DEBUG_WARN("The FSM is in the final state.");
 		return -2;
 	}
 	
 	// lock
 	tsk_safeobj_lock(self);
 	
 	va_start(ap, cond_data2);
 	tsk_list_foreach(item, self->entries)
 	{
 		tsk_fsm_entry_t* entry = (tsk_fsm_entry_t*)item->data;
 		if(((entry->from != tsk_fsm_state_any) && (entry->from != tsk_fsm_state_current)) && (entry->from != self->current)){
 			continue;
 		}
 
 		if((entry->action != tsk_fsm_action_any) && (entry->action != action)){
 			continue;
 		}
 		
 		// check condition
 		if(entry->cond(cond_data1, cond_data2)){
 			// For debug information
 			if(self->debug){
 				TSK_DEBUG_INFO("State machine: %s", entry->desc);
 			}
 			
 			if(entry->to != tsk_fsm_state_any && entry->to != tsk_fsm_state_current){ /* Stay at the current state if destination state is Any or Current */
 				self->current = entry->to;
 			}
 			
 			if(entry->exec){
 				if((ret_exec = entry->exec(&ap))){
 					TSK_DEBUG_INFO("State machine: Exec function failed. Moving to terminal state.");
 				}
 			}
 			else{ /* Nothing to execute */
 				ret_exec = 0;
 			}
 			
 			terminates = (ret_exec || (self->current == self->term));
 			found = tsk_true;
 			break;
 		}
 	}
 	va_end(ap);
 	
 	// unlock
 	tsk_safeobj_unlock(self);
 
 	/* Only call the callback function after unlock. */
 	if(terminates){
 		self->current = self->term;
 		if(self->callback_term){
 			self->callback_term(self->callback_data);
 		}
 	}
 	if(!found){
 		TSK_DEBUG_INFO("State machine: No matching state found.");
 	}
 	
 	return ret_exec;
 }
 
 tsk_fsm_state_id tsk_fsm_get_current_state(tsk_fsm_t* self)
 {
 	if(!self){
 		TSK_DEBUG_ERROR("Invalid parameter");
 		return tsk_fsm_state_any;
 	}
 	return self->current;
 }
 
 int tsk_fsm_set_current_state(tsk_fsm_t* self, tsk_fsm_state_id new_state)
 {
 	if(!self){
 		TSK_DEBUG_ERROR("Invalid parameter");
 		return -1;
 	}
 	self->current = new_state;
 	return 0;
 }
 
 tsk_bool_t tsk_fsm_terminated(tsk_fsm_t* self)
 {
 	if(self){
 		return (self->current == self->term);
 	}
 	else{
 		TSK_DEBUG_ERROR("Invalid parameter");
 		return tsk_true;
 	}
 }
 
 
 //=================================================================================================
 //	fsm object definition
 //
 static tsk_object_t* tsk_fsm_ctor(tsk_object_t * self, va_list * app)
 {
 	tsk_fsm_t *fsm = (tsk_fsm_t*)self;
 	if(fsm){
 		fsm->current = va_arg(*app, tsk_fsm_state_id);
 		fsm->term = va_arg(*app, tsk_fsm_state_id);
 
 		fsm->entries = tsk_list_create();
 
 #if defined(DEBUG) || defined(_DEBUG)
 		fsm->debug = 1; /* default value, could be changed at any time */
 #endif
 		tsk_safeobj_init(fsm);
 	}
 
 	return self;
 }
 
 static tsk_object_t* tsk_fsm_dtor(tsk_object_t * self)
 { 
 	tsk_fsm_t *fsm = (tsk_fsm_t*)self;
 	if(fsm){
 		/* If not in the terminal state ==>do it */
 		/*if(fsm->current != fsm->term){
 			tsk_safeobj_lock(fsm);
 			if(fsm->callback_term){
 				fsm->callback_term(fsm->callback_data);
 			}
 			tsk_safeobj_unlock(fsm);
 		}*/
 		tsk_safeobj_deinit(fsm);
 
 		TSK_OBJECT_SAFE_FREE(fsm->entries);
 	}
 
 	return self;
 }
 
 static const tsk_object_def_t tsk_fsm_def_s = 
 {
 	sizeof(tsk_fsm_t),
 	tsk_fsm_ctor, 
 	tsk_fsm_dtor,
 	tsk_null, 
 };
 const tsk_object_def_t *tsk_fsm_def_t = &tsk_fsm_def_s;
 
 //=================================================================================================
 //	fsm entry object definition
 //
 static tsk_object_t* tsk_fsm_entry_ctor(tsk_object_t * self, va_list * app)
 {
 	tsk_fsm_entry_t *fsm_entry = (tsk_fsm_entry_t*)self;
 	if(fsm_entry){
 	}
 
 	return self;
 }
 
 static tsk_object_t* tsk_fsm_entry_dtor(tsk_object_t * self)
 { 
 	tsk_fsm_entry_t *fsm_entry = (tsk_fsm_entry_t*)self;
 	if(fsm_entry){
 		/* desc is "const char*" => should not be deleted */
 		/* TSK_FREE(fsm_entry->desc); */
 	}
 
 	return self;
 }
 static int tsk_fsm_entry_cmp(const tsk_object_t *_entry1, const tsk_object_t *_entry2)
 {
 	const tsk_fsm_entry_t* entry1 = (const tsk_fsm_entry_t*)_entry1;
 	const tsk_fsm_entry_t* entry2 = (const tsk_fsm_entry_t*)_entry2;
 	if(entry1 && entry2){
 		/* Put "Any" states at the bottom (Strong)*/
 		if(entry1->from == tsk_fsm_state_any){
 			return -20;
 		}
 		else if(entry2->from == tsk_fsm_state_any){
 			return +20;
 		}
 
 		/* Put "Any" actions at the bottom (Weak)*/
 		if(entry1->action == tsk_fsm_action_any){
 			return -10;
 		}
 		else if(entry1->action == tsk_fsm_action_any){
 			return +10;
 		}
 		// put conditions first
 		return entry1->cond ? -1 : (entry2->cond ? 1 : 0);
 	}
 	return 0;
 }
 
 static const tsk_object_def_t tsk_fsm_entry_def_s = 
 {
 	sizeof(tsk_fsm_entry_t),
 	tsk_fsm_entry_ctor, 
 	tsk_fsm_entry_dtor,
 	tsk_fsm_entry_cmp, 
 };
 const tsk_object_def_t *tsk_fsm_entry_def_t = &tsk_fsm_entry_def_s;