state_machine.json

{
    "name" : "Example",
    
    "states" : [
        "name_1",
        {
            "name" : "Nested",
            "nested_to" : "name_1",
            "sub-states":[
                "nested_name_1",
                "nested_name_2"
            ]
        },
        "name_2"
    ],

    "transitions" : [
        {
            "from_state" : "name_1",
            "to_state" : "name_2",
            "transition_name": "from_1_to_2"
        },
        {
            "from_state" : "name_1",
            "to_state" : "name_2",
            "transition_name": "from_1_to_2",
            "description" : "Transitioning from 1 to 2"
        },
        {
            "from_state" : "name_1",
            "to_state" : {
                "name" : "Nested",
                "sub-state" : "nested_name_1"
            },
            "transition_name": "from_1_to_nested_1"
        }
    ],

    "actions" : {
        "enter" : [
            {
                "state" : "name_1",
                "state_actions" : [
                    "enter_action_1",
                    "enter_action_2"
                ]
            },
            {
                "state" : "name_2",
                "state_actions" : [
                    {
                        "name" : "enter_action_3",
                        "description" : "Description of enter_action_3"
                    },
                    "enter_action_4"
                ]
            }
        ],

        "cyclic" : {
            "low_precision" : [
                {
                    "states" : [
                        "name_1",
                        "name_2"
                    ],
                    "state_actions" : [
                        {
                            "action_name" : "low_precision_action",
                            "action_period" : "30ms"
                        }
                    ]
                }
            ],
            "mid_precision" : [
                {
                    "states" : [
                        "name_1",
                        {
                            "name" : "Nested",
                            "sub-state" : "nested_name_1"
                        }
                    ],
                    "state_actions" : [
                        {
                            "action_name" : "mid_precision_action_to_nested_state",
                            "action_period" : "60ms"
                        }
                    ]
                }
            ],
            "high_precision" : [
                {
                    "states" : [
                        "name_1",
                        "name_2"
                    ],
                    "state_actions" : [
                        {
                            "action_name" : "high_precision_action_with_description",
                            "action_period" : "90ms",
                            "description" : "Cyclic action example with description"
                        }
                    ]
                }
            ]
        },

        "exit" : [
            {
                "state" : {
                    "name" : "Nested",
                    "sub-state" : "nested_name_2"
                },
                "state_actions" : [
                    "exit_action_1",
                    "exit_action_2"
                ]
            }
        ]
    }
}