XState is a production-grade TypeScript library for creating, interpreting, and executing finite state machines and statecharts, based on the SCXML standard and the actor model. The repository is a monorepo (pnpm workspaces) containing the core `xstate` package, the lighter `@xstate/store` for event-sourced state management, and framework-specific bindings for React, Vue, Svelte, Solid, Preact, and Angular. It also includes `xstate-inspect` for debugging, `xstate-immer` for Immer integration, a graph analysis module for model-based testing, and many example applications and templates. The core engine provides `createMachine`, `createActor`, `setup()` for type-safe machine definitions, built-in actions (assign, sendTo, raise, etc.), guard combinators, and actor logic factories (`fromPromise`, `fromCallback`, `fromObservable`). The store sub-package offers atoms, source atoms, and composable extensions like persist and undo/redo. The codebase demonstrates high craftsmanship with extensive TypeScript type inference, well-encapsulated modules, and comprehensive test coverage. It is actively maintained with continuous CI/CD and version management via changesets.
libfsm is a C library and toolchain for constructing, manipulating, and compiling finite state machines (FSMs) from regular expressions. It supports multiple regex dialects (PCRE, glob, SQL LIKE, literal, native) and compiles them into deterministic finite automata (DFAs) that guarantee linear-time matching. The library provides a rich set of FSM operations: determinisation, minimisation, union, intersection, complement, reversal, trimming, and more. It also includes a lexer generator (lx) that produces C lexers from specification files, and a pattern matcher builder (rx) that merges many patterns into a single DFA with conflict detection. The architecture is modular: an abstract data type (ADT) layer provides reusable data structures (sets, hash tables, priority queues, edge sets, interned state sets); the libfsm core implements FSM algorithms; libre handles regex parsing and AST analysis; and multiple code generation backends emit C, Rust, Go, LLVM IR, x86 assembly, awk, shell, JSON, and a custom VM bytecode. The build system uses BSD make (bmake) and the project is extensively tested with unit tests, property-based fuzzing (theft), and a cross-implementation test runner (retest) that compiles and runs generated code via dlopen. Key entry points include the fsm CLI tool for interactive FSM operations, the re CLI for regex compilation and code generation, the lx CLI for lexer generation, and the rx CLI for building pattern matchers. The library is designed for embedding in other applications, with allocator hooks and a clean public API. It is particularly suited for high-performance pattern matching, protocol parsing, and any domain requiring deterministic automata with guaranteed worst-case performance.
This repository implements a Whole-Body Control (WBS) deployment system for Unitree G1 humanoid robots. It uses a finite state machine (FSM) architecture with multiple control states including Passive, FixedStand, Loco (locomotion), AMP, MJAMP, and WBC (Whole-Body Control). The system processes real-time sensor data from the robot's IMU and joint encoders, runs inference on ONNX models to generate joint position commands, and accepts gamepad input to switch between control states. The application is designed for real-time operation with proper scheduling and safety considerations.