Files
gem5/src/dev/pci/copy_engine.cc
Daniel R. Carvalho 98ac080ec4 base-stats,misc: Rename Stats namespace as statistics
As part of recent decisions regarding namespace
naming conventions, all namespaces will be changed
to snake case.

::Stats became ::statistics.

"statistics" was chosen over "stats" to avoid generating
conflicts with the already existing variables (there are
way too many "stats" in the codebase), which would make
this patch even more disturbing for the users.

Change-Id: If877b12d7dac356f86e3b3d941bf7558a4fd8719
Signed-off-by: Daniel R. Carvalho <odanrc@yahoo.com.br>
Reviewed-on: https://gem5-review.googlesource.com/c/public/gem5/+/45421
Reviewed-by: Jason Lowe-Power <power.jg@gmail.com>
Maintainer: Jason Lowe-Power <power.jg@gmail.com>
Tested-by: kokoro <noreply+kokoro@google.com>
2021-05-29 11:13:49 +00:00

734 lines
22 KiB
C++

/*
* Copyright (c) 2012 ARM Limited
* All rights reserved
*
* The license below extends only to copyright in the software and shall
* not be construed as granting a license to any other intellectual
* property including but not limited to intellectual property relating
* to a hardware implementation of the functionality of the software
* licensed hereunder. You may use the software subject to the license
* terms below provided that you ensure that this notice is replicated
* unmodified and in its entirety in all distributions of the software,
* modified or unmodified, in source code or in binary form.
*
* Copyright (c) 2008 The Regents of The University of Michigan
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met: redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer;
* redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution;
* neither the name of the copyright holders nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/* @file
* Device model for Intel's I/O AT DMA copy engine.
*/
#include "dev/pci/copy_engine.hh"
#include <algorithm>
#include "base/compiler.hh"
#include "base/trace.hh"
#include "debug/DMACopyEngine.hh"
#include "debug/Drain.hh"
#include "mem/packet.hh"
#include "mem/packet_access.hh"
#include "params/CopyEngine.hh"
#include "sim/stats.hh"
#include "sim/system.hh"
using namespace copy_engine_reg;
CopyEngine::CopyEngine(const Params &p)
: PciDevice(p),
copyEngineStats(this, p.ChanCnt)
{
// All Reg regs are initialized to 0 by default
regs.chanCount = p.ChanCnt;
regs.xferCap = findMsbSet(p.XferCap);
regs.attnStatus = 0;
if (regs.chanCount > 64)
fatal("CopyEngine interface doesn't support more than 64 DMA engines\n");
for (int x = 0; x < regs.chanCount; x++) {
CopyEngineChannel *ch = new CopyEngineChannel(this, x);
chan.push_back(ch);
}
}
CopyEngine::CopyEngineChannel::CopyEngineChannel(CopyEngine *_ce, int cid)
: cePort(_ce, _ce->sys),
ce(_ce), channelId(cid), busy(false), underReset(false),
refreshNext(false), latBeforeBegin(ce->params().latBeforeBegin),
latAfterCompletion(ce->params().latAfterCompletion),
completionDataReg(0), nextState(Idle),
fetchCompleteEvent([this]{ fetchDescComplete(); }, name()),
addrCompleteEvent([this]{ fetchAddrComplete(); }, name()),
readCompleteEvent([this]{ readCopyBytesComplete(); }, name()),
writeCompleteEvent([this]{ writeCopyBytesComplete(); }, name()),
statusCompleteEvent([this]{ writeStatusComplete(); }, name())
{
cr.status.dma_transfer_status(3);
cr.descChainAddr = 0;
cr.completionAddr = 0;
curDmaDesc = new DmaDesc;
memset(curDmaDesc, 0, sizeof(DmaDesc));
copyBuffer = new uint8_t[ce->params().XferCap];
}
CopyEngine::~CopyEngine()
{
for (int x = 0; x < chan.size(); x++) {
delete chan[x];
}
}
CopyEngine::CopyEngineChannel::~CopyEngineChannel()
{
delete curDmaDesc;
delete [] copyBuffer;
}
Port &
CopyEngine::getPort(const std::string &if_name, PortID idx)
{
if (if_name != "dma") {
// pass it along to our super class
return PciDevice::getPort(if_name, idx);
} else {
if (idx >= static_cast<int>(chan.size())) {
panic("CopyEngine::getPort: unknown index %d\n", idx);
}
return chan[idx]->getPort();
}
}
Port &
CopyEngine::CopyEngineChannel::getPort()
{
return cePort;
}
void
CopyEngine::CopyEngineChannel::recvCommand()
{
if (cr.command.start_dma()) {
assert(!busy);
cr.status.dma_transfer_status(0);
nextState = DescriptorFetch;
fetchAddress = cr.descChainAddr;
if (ce->drainState() == DrainState::Running)
fetchDescriptor(cr.descChainAddr);
} else if (cr.command.append_dma()) {
if (!busy) {
nextState = AddressFetch;
if (ce->drainState() == DrainState::Running)
fetchNextAddr(lastDescriptorAddr);
} else
refreshNext = true;
} else if (cr.command.reset_dma()) {
if (busy)
underReset = true;
else {
cr.status.dma_transfer_status(3);
nextState = Idle;
}
} else if (cr.command.resume_dma() || cr.command.abort_dma() ||
cr.command.suspend_dma())
panic("Resume, Abort, and Suspend are not supported\n");
cr.command(0);
}
Tick
CopyEngine::read(PacketPtr pkt)
{
int bar;
Addr daddr;
if (!getBAR(pkt->getAddr(), bar, daddr))
panic("Invalid PCI memory access to unmapped memory.\n");
// Only Memory register BAR is allowed
assert(bar == 0);
int size = pkt->getSize();
if (size != sizeof(uint64_t) && size != sizeof(uint32_t) &&
size != sizeof(uint16_t) && size != sizeof(uint8_t)) {
panic("Unknown size for MMIO access: %d\n", pkt->getSize());
}
DPRINTF(DMACopyEngine, "Read device register %#X size: %d\n", daddr, size);
///
/// Handle read of register here
///
if (daddr < 0x80) {
switch (daddr) {
case GEN_CHANCOUNT:
assert(size == sizeof(regs.chanCount));
pkt->setLE<uint8_t>(regs.chanCount);
break;
case GEN_XFERCAP:
assert(size == sizeof(regs.xferCap));
pkt->setLE<uint8_t>(regs.xferCap);
break;
case GEN_INTRCTRL:
assert(size == sizeof(uint8_t));
pkt->setLE<uint8_t>(regs.intrctrl());
regs.intrctrl.master_int_enable(0);
break;
case GEN_ATTNSTATUS:
assert(size == sizeof(regs.attnStatus));
pkt->setLE<uint32_t>(regs.attnStatus);
regs.attnStatus = 0;
break;
default:
panic("Read request to unknown register number: %#x\n", daddr);
}
pkt->makeAtomicResponse();
return pioDelay;
}
// Find which channel we're accessing
int chanid = 0;
daddr -= 0x80;
while (daddr >= 0x80) {
chanid++;
daddr -= 0x80;
}
if (chanid >= regs.chanCount)
panic("Access to channel %d (device only configured for %d channels)",
chanid, regs.chanCount);
///
/// Channel registers are handled here
///
chan[chanid]->channelRead(pkt, daddr, size);
pkt->makeAtomicResponse();
return pioDelay;
}
void
CopyEngine::CopyEngineChannel::channelRead(Packet *pkt, Addr daddr, int size)
{
switch (daddr) {
case CHAN_CONTROL:
assert(size == sizeof(uint16_t));
pkt->setLE<uint16_t>(cr.ctrl());
cr.ctrl.in_use(1);
break;
case CHAN_STATUS:
assert(size == sizeof(uint64_t));
pkt->setLE<uint64_t>(cr.status() | (busy ? 0 : 1));
break;
case CHAN_CHAINADDR:
assert(size == sizeof(uint64_t) || size == sizeof(uint32_t));
if (size == sizeof(uint64_t))
pkt->setLE<uint64_t>(cr.descChainAddr);
else
pkt->setLE<uint32_t>(bits(cr.descChainAddr,0,31));
break;
case CHAN_CHAINADDR_HIGH:
assert(size == sizeof(uint32_t));
pkt->setLE<uint32_t>(bits(cr.descChainAddr,32,63));
break;
case CHAN_COMMAND:
assert(size == sizeof(uint8_t));
pkt->setLE<uint32_t>(cr.command());
break;
case CHAN_CMPLNADDR:
assert(size == sizeof(uint64_t) || size == sizeof(uint32_t));
if (size == sizeof(uint64_t))
pkt->setLE<uint64_t>(cr.completionAddr);
else
pkt->setLE<uint32_t>(bits(cr.completionAddr,0,31));
break;
case CHAN_CMPLNADDR_HIGH:
assert(size == sizeof(uint32_t));
pkt->setLE<uint32_t>(bits(cr.completionAddr,32,63));
break;
case CHAN_ERROR:
assert(size == sizeof(uint32_t));
pkt->setLE<uint32_t>(cr.error());
break;
default:
panic("Read request to unknown channel register number: (%d)%#x\n",
channelId, daddr);
}
}
Tick
CopyEngine::write(PacketPtr pkt)
{
int bar;
Addr daddr;
if (!getBAR(pkt->getAddr(), bar, daddr))
panic("Invalid PCI memory access to unmapped memory.\n");
// Only Memory register BAR is allowed
assert(bar == 0);
int size = pkt->getSize();
///
/// Handle write of register here
///
if (size == sizeof(uint64_t)) {
GEM5_VAR_USED uint64_t val = pkt->getLE<uint64_t>();
DPRINTF(DMACopyEngine, "Wrote device register %#X value %#X\n",
daddr, val);
} else if (size == sizeof(uint32_t)) {
GEM5_VAR_USED uint32_t val = pkt->getLE<uint32_t>();
DPRINTF(DMACopyEngine, "Wrote device register %#X value %#X\n",
daddr, val);
} else if (size == sizeof(uint16_t)) {
GEM5_VAR_USED uint16_t val = pkt->getLE<uint16_t>();
DPRINTF(DMACopyEngine, "Wrote device register %#X value %#X\n",
daddr, val);
} else if (size == sizeof(uint8_t)) {
GEM5_VAR_USED uint8_t val = pkt->getLE<uint8_t>();
DPRINTF(DMACopyEngine, "Wrote device register %#X value %#X\n",
daddr, val);
} else {
panic("Unknown size for MMIO access: %d\n", size);
}
if (daddr < 0x80) {
switch (daddr) {
case GEN_CHANCOUNT:
case GEN_XFERCAP:
case GEN_ATTNSTATUS:
DPRINTF(DMACopyEngine, "Warning, ignorning write to register %x\n",
daddr);
break;
case GEN_INTRCTRL:
regs.intrctrl.master_int_enable(bits(pkt->getLE<uint8_t>(), 0, 1));
break;
default:
panic("Read request to unknown register number: %#x\n", daddr);
}
pkt->makeAtomicResponse();
return pioDelay;
}
// Find which channel we're accessing
int chanid = 0;
daddr -= 0x80;
while (daddr >= 0x80) {
chanid++;
daddr -= 0x80;
}
if (chanid >= regs.chanCount)
panic("Access to channel %d (device only configured for %d channels)",
chanid, regs.chanCount);
///
/// Channel registers are handled here
///
chan[chanid]->channelWrite(pkt, daddr, size);
pkt->makeAtomicResponse();
return pioDelay;
}
void
CopyEngine::CopyEngineChannel::channelWrite(Packet *pkt, Addr daddr, int size)
{
switch (daddr) {
case CHAN_CONTROL:
assert(size == sizeof(uint16_t));
int old_int_disable;
old_int_disable = cr.ctrl.interrupt_disable();
cr.ctrl(pkt->getLE<uint16_t>());
if (cr.ctrl.interrupt_disable())
cr.ctrl.interrupt_disable(0);
else
cr.ctrl.interrupt_disable(old_int_disable);
break;
case CHAN_STATUS:
assert(size == sizeof(uint64_t));
DPRINTF(DMACopyEngine, "Warning, ignorning write to register %x\n",
daddr);
break;
case CHAN_CHAINADDR:
assert(size == sizeof(uint64_t) || size == sizeof(uint32_t));
if (size == sizeof(uint64_t))
cr.descChainAddr = pkt->getLE<uint64_t>();
else
cr.descChainAddr = (uint64_t)pkt->getLE<uint32_t>() |
(cr.descChainAddr & ~mask(32));
DPRINTF(DMACopyEngine, "Chain Address %x\n", cr.descChainAddr);
break;
case CHAN_CHAINADDR_HIGH:
assert(size == sizeof(uint32_t));
cr.descChainAddr = ((uint64_t)pkt->getLE<uint32_t>() << 32) |
(cr.descChainAddr & mask(32));
DPRINTF(DMACopyEngine, "Chain Address %x\n", cr.descChainAddr);
break;
case CHAN_COMMAND:
assert(size == sizeof(uint8_t));
cr.command(pkt->getLE<uint8_t>());
recvCommand();
break;
case CHAN_CMPLNADDR:
assert(size == sizeof(uint64_t) || size == sizeof(uint32_t));
if (size == sizeof(uint64_t))
cr.completionAddr = pkt->getLE<uint64_t>();
else
cr.completionAddr = pkt->getLE<uint32_t>() |
(cr.completionAddr & ~mask(32));
break;
case CHAN_CMPLNADDR_HIGH:
assert(size == sizeof(uint32_t));
cr.completionAddr = ((uint64_t)pkt->getLE<uint32_t>() <<32) |
(cr.completionAddr & mask(32));
break;
case CHAN_ERROR:
assert(size == sizeof(uint32_t));
cr.error(~pkt->getLE<uint32_t>() & cr.error());
break;
default:
panic("Read request to unknown channel register number: (%d)%#x\n",
channelId, daddr);
}
}
CopyEngine::
CopyEngineStats::CopyEngineStats(statistics::Group *parent,
const uint8_t &channel_count)
: statistics::Group(parent, "CopyEngine"),
ADD_STAT(bytesCopied, statistics::units::Byte::get(),
"Number of bytes copied by each engine"),
ADD_STAT(copiesProcessed, statistics::units::Count::get(),
"Number of copies processed by each engine")
{
bytesCopied
.init(channel_count)
.flags(statistics::total)
;
copiesProcessed
.init(channel_count)
.flags(statistics::total)
;
}
void
CopyEngine::CopyEngineChannel::fetchDescriptor(Addr address)
{
DPRINTF(DMACopyEngine, "Reading descriptor from at memory location %#x(%#x)\n",
address, ce->pciToDma(address));
assert(address);
busy = true;
DPRINTF(DMACopyEngine, "dmaAction: %#x, %d bytes, to addr %#x\n",
ce->pciToDma(address), sizeof(DmaDesc), curDmaDesc);
cePort.dmaAction(MemCmd::ReadReq, ce->pciToDma(address),
sizeof(DmaDesc), &fetchCompleteEvent,
(uint8_t*)curDmaDesc, latBeforeBegin);
lastDescriptorAddr = address;
}
void
CopyEngine::CopyEngineChannel::fetchDescComplete()
{
DPRINTF(DMACopyEngine, "Read of descriptor complete\n");
if ((curDmaDesc->command & DESC_CTRL_NULL)) {
DPRINTF(DMACopyEngine, "Got NULL descriptor, skipping\n");
assert(!(curDmaDesc->command & DESC_CTRL_CP_STS));
if (curDmaDesc->command & DESC_CTRL_CP_STS) {
panic("Shouldn't be able to get here\n");
nextState = CompletionWrite;
if (inDrain()) return;
writeCompletionStatus();
} else {
busy = false;
nextState = Idle;
inDrain();
}
return;
}
if (curDmaDesc->command & ~DESC_CTRL_CP_STS)
panic("Descriptor has flag other that completion status set\n");
nextState = DMARead;
if (inDrain()) return;
readCopyBytes();
}
void
CopyEngine::CopyEngineChannel::readCopyBytes()
{
DPRINTF(DMACopyEngine, "Reading %d bytes from buffer to memory location %#x(%#x)\n",
curDmaDesc->len, curDmaDesc->dest,
ce->pciToDma(curDmaDesc->src));
cePort.dmaAction(MemCmd::ReadReq, ce->pciToDma(curDmaDesc->src),
curDmaDesc->len, &readCompleteEvent, copyBuffer, 0);
}
void
CopyEngine::CopyEngineChannel::readCopyBytesComplete()
{
DPRINTF(DMACopyEngine, "Read of bytes to copy complete\n");
nextState = DMAWrite;
if (inDrain()) return;
writeCopyBytes();
}
void
CopyEngine::CopyEngineChannel::writeCopyBytes()
{
DPRINTF(DMACopyEngine, "Writing %d bytes from buffer to memory location %#x(%#x)\n",
curDmaDesc->len, curDmaDesc->dest,
ce->pciToDma(curDmaDesc->dest));
cePort.dmaAction(MemCmd::WriteReq, ce->pciToDma(curDmaDesc->dest),
curDmaDesc->len, &writeCompleteEvent, copyBuffer, 0);
ce->copyEngineStats.bytesCopied[channelId] += curDmaDesc->len;
ce->copyEngineStats.copiesProcessed[channelId]++;
}
void
CopyEngine::CopyEngineChannel::writeCopyBytesComplete()
{
DPRINTF(DMACopyEngine, "Write of bytes to copy complete user1: %#x\n",
curDmaDesc->user1);
cr.status.compl_desc_addr(lastDescriptorAddr >> 6);
completionDataReg = cr.status() | 1;
if (curDmaDesc->command & DESC_CTRL_CP_STS) {
nextState = CompletionWrite;
if (inDrain()) return;
writeCompletionStatus();
return;
}
continueProcessing();
}
void
CopyEngine::CopyEngineChannel::continueProcessing()
{
busy = false;
if (underReset) {
underReset = false;
refreshNext = false;
busy = false;
nextState = Idle;
return;
}
if (curDmaDesc->next) {
nextState = DescriptorFetch;
fetchAddress = curDmaDesc->next;
if (inDrain()) return;
fetchDescriptor(curDmaDesc->next);
} else if (refreshNext) {
nextState = AddressFetch;
refreshNext = false;
if (inDrain()) return;
fetchNextAddr(lastDescriptorAddr);
} else {
inDrain();
nextState = Idle;
}
}
void
CopyEngine::CopyEngineChannel::writeCompletionStatus()
{
DPRINTF(DMACopyEngine, "Writing completion status %#x to address %#x(%#x)\n",
completionDataReg, cr.completionAddr,
ce->pciToDma(cr.completionAddr));
cePort.dmaAction(MemCmd::WriteReq,
ce->pciToDma(cr.completionAddr),
sizeof(completionDataReg), &statusCompleteEvent,
(uint8_t*)&completionDataReg, latAfterCompletion);
}
void
CopyEngine::CopyEngineChannel::writeStatusComplete()
{
DPRINTF(DMACopyEngine, "Writing completion status complete\n");
continueProcessing();
}
void
CopyEngine::CopyEngineChannel::fetchNextAddr(Addr address)
{
DPRINTF(DMACopyEngine, "Fetching next address...\n");
busy = true;
cePort.dmaAction(MemCmd::ReadReq,
ce->pciToDma(address + offsetof(DmaDesc, next)),
sizeof(Addr), &addrCompleteEvent,
(uint8_t*)curDmaDesc + offsetof(DmaDesc, next), 0);
}
void
CopyEngine::CopyEngineChannel::fetchAddrComplete()
{
DPRINTF(DMACopyEngine, "Fetching next address complete: %#x\n",
curDmaDesc->next);
if (!curDmaDesc->next) {
DPRINTF(DMACopyEngine, "Got NULL descriptor, nothing more to do\n");
busy = false;
nextState = Idle;
inDrain();
return;
}
nextState = DescriptorFetch;
fetchAddress = curDmaDesc->next;
if (inDrain()) return;
fetchDescriptor(curDmaDesc->next);
}
bool
CopyEngine::CopyEngineChannel::inDrain()
{
if (drainState() == DrainState::Draining) {
DPRINTF(Drain, "CopyEngine done draining, processing drain event\n");
signalDrainDone();
}
return ce->drainState() != DrainState::Running;
}
DrainState
CopyEngine::CopyEngineChannel::drain()
{
if (nextState == Idle || ce->drainState() != DrainState::Running) {
return DrainState::Drained;
} else {
DPRINTF(Drain, "CopyEngineChannel not drained\n");
return DrainState::Draining;
}
}
void
CopyEngine::serialize(CheckpointOut &cp) const
{
PciDevice::serialize(cp);
regs.serialize(cp);
for (int x =0; x < chan.size(); x++)
chan[x]->serializeSection(cp, csprintf("channel%d", x));
}
void
CopyEngine::unserialize(CheckpointIn &cp)
{
PciDevice::unserialize(cp);
regs.unserialize(cp);
for (int x = 0; x < chan.size(); x++)
chan[x]->unserializeSection(cp, csprintf("channel%d", x));
}
void
CopyEngine::CopyEngineChannel::serialize(CheckpointOut &cp) const
{
SERIALIZE_SCALAR(channelId);
SERIALIZE_SCALAR(busy);
SERIALIZE_SCALAR(underReset);
SERIALIZE_SCALAR(refreshNext);
SERIALIZE_SCALAR(lastDescriptorAddr);
SERIALIZE_SCALAR(completionDataReg);
SERIALIZE_SCALAR(fetchAddress);
int nextState = this->nextState;
SERIALIZE_SCALAR(nextState);
arrayParamOut(cp, "curDmaDesc", (uint8_t*)curDmaDesc, sizeof(DmaDesc));
SERIALIZE_ARRAY(copyBuffer, ce->params().XferCap);
cr.serialize(cp);
}
void
CopyEngine::CopyEngineChannel::unserialize(CheckpointIn &cp)
{
UNSERIALIZE_SCALAR(channelId);
UNSERIALIZE_SCALAR(busy);
UNSERIALIZE_SCALAR(underReset);
UNSERIALIZE_SCALAR(refreshNext);
UNSERIALIZE_SCALAR(lastDescriptorAddr);
UNSERIALIZE_SCALAR(completionDataReg);
UNSERIALIZE_SCALAR(fetchAddress);
int nextState;
UNSERIALIZE_SCALAR(nextState);
this->nextState = (ChannelState)nextState;
arrayParamIn(cp, "curDmaDesc", (uint8_t*)curDmaDesc, sizeof(DmaDesc));
UNSERIALIZE_ARRAY(copyBuffer, ce->params().XferCap);
cr.unserialize(cp);
}
void
CopyEngine::CopyEngineChannel::restartStateMachine()
{
switch(nextState) {
case AddressFetch:
fetchNextAddr(lastDescriptorAddr);
break;
case DescriptorFetch:
fetchDescriptor(fetchAddress);
break;
case DMARead:
readCopyBytes();
break;
case DMAWrite:
writeCopyBytes();
break;
case CompletionWrite:
writeCompletionStatus();
break;
case Idle:
break;
default:
panic("Unknown state for CopyEngineChannel\n");
}
}
void
CopyEngine::CopyEngineChannel::drainResume()
{
DPRINTF(DMACopyEngine, "Restarting state machine at state %d\n", nextState);
restartStateMachine();
}