iai-callgrind is unmaintained; gungraun is the active fork. API is
drop-in (use iai_callgrind → use gungraun, same library_benchmark /
library_benchmark_group / main! macros), so the dispatch.rs body only
needed the import rename.
Also:
- mise.toml: add cargo:gungraun-runner dep so the valgrind harness
binary tracks the lib version automatically.
- baseline.txt: rebaselined under gungraun_initial. Absolute numbers
shifted up because gungraun's bench wrapper instruments more than
iai-callgrind 0.16's did; comparable benches (terminate_event 69→68,
h8_cross_tree 93→97) confirm HSM dispatch work itself is unchanged.
Old iai-callgrind named baselines kept as historical context only.
`default(...)` is now a transition with the same semantics as any
event-driven transition. It fires immediately after the declaring
state's entries finish and its durings start, applying the standard
exit-to-LCA / enter-to-target algorithm. Three behavioral changes
follow from this unification:
* Optional. A state with children is no longer required to declare a
`default(...)`. When omitted, the state itself is the resting
innermost active state; substates are reachable only via explicit
transitions. This is the "microwave Standby" pattern — Standby
has substates like LowPower that you enter only on demand, and
`=> Standby;` lands at Standby itself with no descent.
* Targets anywhere. The default target may be any state in the chart
— a child (the classic descent case), a sibling, an ancestor,
anywhere. `default(<sibling-or-ancestor>)` exits the just-entered
state as part of the default-fire transition; the same rule fires
whether you wrote it for descent, redirection, or up-bounce.
* Cycle-checked at compile time. The default-edge graph (out-degree
≤ 1 per node) is rejected if it contains any cycle, including
`default(self)`. `state A { default(A); }` and `A → B → A` chains
fail to compile with a pinpoint error message naming the cycle.
This guarantees default chains terminate at runtime.
Implementation:
* `validate.rs`: drop the "must be direct child" and "must have
children" restrictions; add `validate_default_graph` (iterative
three-color cycle detection via chain walk).
* `ir.rs`: keep the unresolved default ident through to
`resolve_transitions` so non-child targets resolve against the
global state-name map (the same map transition targets use).
* `codegen.rs`: precomputed `(from, to)` paths no longer fold default
descent into the enter slice — each path is LCA-relative
`(exit, enter)` ending exactly at the explicit target.
`descend_defaults` (a parent-pointer walk) is replaced by
`follow_defaults`, which fires real transitions through
`apply_path` and emits `TransitionFired{Internal}` /
`TransitionComplete` brackets per link. Up-transitions don't
trigger default-following (nothing was freshly entered, so no
state's default fires).
* `active_durings_per_innermost_state`: predicate widened to include
composites without a default (they can now be the innermost active
state, so any durings they declare must be raced when current).
BREAKING CHANGES:
* Journal format. Default-fires now emit `TransitionFired` (with
`reason: TransitionReason::Internal`) and `TransitionComplete`
brackets around their entry sequence. `Internal` was previously
reserved and never emitted; it is now active. Tests that
hand-build expected journal sequences must include these brackets
around every default-fire.
* Validation. `default(<non-child>)` and `default` on a childless
state previously raised compile-time errors. Both are now valid.
Code relying on these as guard rails must adapt.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Six codegen-side optimization passes against step() and friends. No
user-facing API changes; all 296 tests pass under no-default, tokio,
embassy, and tokio+journal. Cumulative on h8_cross_tree (deepest
dispatch in the suite): -82% instructions / -72% cycles vs the
pre_lca_fix baseline.
* __PATH_DATA + __PATH_RANGE: per-(from, to) precomputed exit/enter
sequences. Up/self/lateral semantics fold into one indexed lookup;
removes lca() and is_up_transition() runtime helpers and the
per-call heapless::Vec<u16, 16> ancestry build. Hierarchy depth no
longer bounded by Vec capacity.
* __DISPATCH[(state, event)]: precomputed handler resolution. The
runtime __PARENT bubble walk + per-hop __handler_lookup call in
step() collapses to one indexed lookup. Bubble resolution is now
O(1) regardless of depth -- bubble_top (4-hop) is within 3
instructions of bubble_leaf (handler on current).
__handler_lookup retained for timer dispatch.
* __TERMINATE_DATA: per-state precomputed exit chain (root inclusive
-- chart-root entry/exit actions are valid). do_terminate() indexes
the slice instead of walking __PARENT, and uses Deque::clear()
(O(1) in heapless 0.8) instead of pop_front-loop. terminate_event
bench: -22.5% instr / -23.4% cycles.
* TimerTable empty-skip: pop_expired / min_remaining / decrement /
cancel_state each get inlined is_empty() early-out with the
non-empty body marked #[cold].
* Codegen-static timer-machinery elide: when chart has no Duration
triggers, every TimerTable call is omitted from step() and
exit_state(). step() returns None directly. dispatch_trigger and
the timer-fired arms remain but are unreachable; LLVM DCEs them.
* TimerEntry.remaining_ns: u128 -> u64 (~584-year ceiling). Halves
entry size; replaces u128 saturating-sub with u64. The smaller
machine struct improves cache density on every bench, even
timer-free ones.
Bench coverage: four new benches added to cover paths the original
suite missed -- bubble_leaf/mid/top (handler resolution at varying
ancestor depths), timer_fire_dispatch (only bench exercising
pop_expired's non-empty branch and dispatch_trigger), terminate_event
(only bench exercising do_terminate), bubble_cross_tree (deep bubble
+ 10-state cross-tree, the realistic HSM worst case).
See hsmc/benches/baseline.txt for the per-pass delta blocks and
docs/003. latency-analysis.md sections 1, 9, and 12 for the
cost-surface analysis.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
The runtime `lca()` helper used a `heapless::Vec<u16,32>` ancestry-set
with a linear `contains()` per node — O(H²) and capped at H ≤ 32. The
codegened `__DEPTH` table already had everything needed for an O(H)
depth-walk with no allocation and no hierarchy ceiling. Switch to that.
Also adds an iai-callgrind dispatch bench harness (Linux-only dev-dep)
so future optimizations can be measured deterministically by instruction
count. Seven benches cover: cold start, lateral H=2/4/8, up, self, and a
self-emit chain. Baseline numbers checked in at `hsmc/benches/baseline.txt`.
The latency analysis (`docs/003. latency-analysis.md`) is rounded out
with event-entry-point and cooperative-driving audits — three new
sections documenting the four event injection paths, the run-loop's
cooperative shape, and three correctness invariants (sticky overflow
flag, biased-select trap, cancel-safety on durings).
Bench deltas (cargo bench --bench dispatch -- --baseline=pre_lca_fix):
h2_cold_start -1.9% / -0.3% (priming step, no lca() — noise)
h2_warm_lateral -22.8% / -22.1%
h4_cross_tree -25.9% / -10.6%
h4_up +1.0% / +0.4% (up-transition, no lca() — noise)
h4_self -21.5% / -11.7%
h8_cross_tree -46.2% / -41.0% ← headline: deepest LCA stress
chain_self_emit -15.4% / -10.4%
Improvement scales with hierarchy depth, exactly as the O(H²) → O(H)
algorithmic change would predict.
All tests pass under --no-default-features, --features tokio, and
--features embassy.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
The codegen now emits one `__chart_observe!` invocation per observable
atom. The macro fans out at compile time to whichever sinks are enabled:
the in-memory journal (`feature = "journal"`), `defmt` (`trace-defmt`),
`log` (`trace-log`), and/or `tracing` (`trace-tracing`). Trace and
journal share the same vocabulary by construction — they cannot
diverge. With no sink feature on, every site expands to `()` (zero
overhead). Multiple trace backends now compose; previously they were
mutually exclusive.
Trace lines use a logfmt-style format with a `[statechart:Name]` prefix
and `key=value` pairs, machine-parseable and greppable. Twenty verbs
cover every observable atom — entries/exits with begin/end pairs,
actions with kind, durings, transitions with the reason that triggered
them, event lifecycle (received/delivered/dropped/queued/failed),
timers, and termination.
BREAKING CHANGES (chart syntax unchanged; observability surface only):
- `TraceEvent::TransitionFired` now carries `reason: TransitionReason`
showing whether the transition was driven by an event, a timer, or
internal logic.
- New `TraceEvent` variants for phase pairing: `EnterBegan`, `ExitBegan`,
`TransitionComplete`, `EventReceived`.
- Trace prefix changed from `[Name]` to `[statechart:Name]`.
- The chart-level `trace;` keyword is parsed for backwards compatibility
but no longer gates emission.
- `__chart_trace!` / `__chart_journal!` macros removed (doc-hidden).
Verification: 159 integration tests pass, 0 missed mutants, miri 68
tests clean, Creusot 14/14 VCs discharged. Zero overhead confirmed via
`cargo expand` — every observation site expands to `{}` with no sinks
enabled.
Phase 1 — semantics doc
docs/002. hsmc-semantics-formal.md
Phase 2 — deterministic execution journal
hsmc/src/journal.rs (TraceEvent, JournalSink, ActionKind)
hsmc-macros: __chart_journal! emission at every observable site
(entry/exit/action/transition/timer arm-cancel-fire/during/emit/
event delivery/terminate). Per-state during count helpers, stable
chart-hash via FNV-1a. Action observation moved out of run_action
and into call sites so ActionKind is accurate.
Public API on the generated machine: journal(), take_journal(),
clear_journal(), CHART_HASH.
Phase 3 — verification crate (Creusot scaffolding)
verification/{Cargo.toml,mise.toml,requirements.txt,INVARIANTS.md}
verification/src/{event_queue.rs,timer_table.rs} — Pearlite
contracts on simplified mirrors of the runtime types. cargo
creusot generates Coma IR cleanly; VCs not yet discharged.
Correspondence tests drive the verified mirror and the runtime
type with the same op sequences and assert observable parity.
Tests — 113 deterministic-flow tests across 22 files. Each compares a
hand-built expected journal byte-for-byte against actual, anchored
to a spec section: initial entry, lateral/self/up transitions,
bubbling, timers, emit, ordering, durings, step/dispatch
equivalence, root-targeting, current_state, termination.
Tooling — mise.toml (root): stable Rust + cargo subcommands.
verification/mise.toml: pinned nightly-2025-11-13 + opam + python
venv + uv. just verify is fully self-installing.
Bug fix — root state targetable by the chart's own name (e.g.
`on(Trig) => ChartName;`) per spec §"How transitions work".
CHART_HASH — stable FNV-1a fingerprint over the chart's structural
definition; mismatch on replay = different chart.
A transition whose target is already active (an ancestor of the
innermost active state) now unwinds only the subtree strictly below
the target. The target's entry/exit actions do not fire and its
default() does not re-descend — you cannot re-enter a state you never
left. The old behavior could loop infinitely when a child transitioned
to its own parent.
Self-transitions (target == innermost) and lateral transitions are
unchanged. See spec §2.6 and tests §T2.8 / T2.8b / T2.8c.
Also in this release:
* Full workspace justfile (check, test, coverage, mutants, pre-release)
* Unit tests covering all __private internals; `cargo mutants` now exits
clean (38 caught, 178 unviable, 0 missed, 0 timeouts).
* .config/nextest.toml with slow-timeout/terminate-after so hung tests
fail fast rather than wedging cargo-mutants runs.
BREAKING CHANGE: transition-to-ancestor semantics. Machines that relied
on the old re-entry behavior of up-transitions will observe different
exit/entry action sequences.
Hierarchical statechart codegen for Rust with:
- during: activities for state-scoped concurrent I/O
- field-list borrowing (split-borrow inside the run loop)
- embassy-first async with tokio support
- STATE_CHART const for tooling/inspection
- examples: microwave, microwave_tui, embassy_full, during_radio
swaits
