rFSM is a small and powerful Statechart implementation. It is mainly used for Coordination of complex systems but is not limited to that. rFSM is written in pure Lua and is therefore highly portable and embeddable. As a Lua domain specific language rFSM inherits the extensibility of its host language.

See the rFSM documentation

Information about how to use rFSM using the OROCOS RTT Framework can be found here.

The code can be found in this git repository.

A cheatsheet summarizing the DSL is available here.

rFSM is licensed under the BSD-3-Clause

Please direct questions, bugs or improvements to the orocos-users mailing list.

• Funding

  The research leading to these results has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement no. FP7-ICT-231940-BRICS (Best Practice in Robotics)

• Scientific background

  This work borrows many ideas from the Statecharts by David Harel and some from UML 2.1 State Machines. The following publications are the most relevant

  David Harel and Amnon Naamad. 1996. The STATEMATE semantics of statecharts. ACM Trans. Softw. Eng. Methodol. 5, 4 (October 1996), 293-333. DOI=10.1145/235321.235322 https://doi.acm.org/10.1145/235321.235322

  The OMG UML Specification: https://www.omg.org/spec/UML/2.3/Superstructure/PDF/