digraph controller_states {
	rankdir=LR;
	size="10,8"
	node [shape = circle];
    none       -> before    [ label = "init"    ];
	before     -> starting  [ label = "start"   ];
	starting   -> searching [ label = "search"  ];
	searching  -> starting  [ label = "restart" ];
	searching  -> paused    [ label = "pause"   ];
	searching  -> finished  [ label = "finish"  ];
	paused     -> searching [ label = "resume"  ];
	paused     -> before    [ label = "cancel"  ];
	finished   -> starting  [ label = "restart" ];
	finished   -> before    [ label = "clear"   ];
	finished   -> modified  [ label = "modify"  ];
	modified   -> starting  [ label = "start"   ];
	modified   -> before    [ label = "clear"   ];
}