2024-01-23 20:05:30 +08:00
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#include <stdlib.h>
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#include <stdio.h>
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#include <assert.h>
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2024-01-30 15:11:15 +08:00
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#include <string.h>
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2024-01-23 20:05:30 +08:00
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#include "FSM_private.h"
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#include "FSM_protected.h"
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#include "FSM_public.h"
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/*
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protected 函数
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*/
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void resetBaseFSM(FSM *pFSM)
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{
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if (pFSM->privateVars.fcns.exitActionTable[pFSM->privateVars.curState] != NULL)
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2024-01-30 15:11:15 +08:00
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pFSM->privateVars.fcns.exitActionTable[pFSM->privateVars.curState](pFSM->data, pFSM->privateVars.childFSM);
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2024-01-23 20:05:30 +08:00
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pFSM->privateVars.curState = 0;
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}
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2024-01-30 15:11:15 +08:00
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2024-04-20 20:05:10 +08:00
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static inline void setNextState(FSM* pFSM){
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int curState = pFSM->privateVars.curState;
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2024-04-20 21:16:26 +08:00
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if(curState != 0){
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pFSM->privateVars.nextState = pFSM->privateVars.fcns.selectNextState[curState](pFSM->data, pFSM->signals);
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}
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2024-01-30 15:11:15 +08:00
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if(0 == pFSM->privateVars.numChild){
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return;
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}
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for (int i = 0; i < pFSM->privateVars.numChild; i++)
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{
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FSM *cFSM = pFSM->privateVars.childFSM[i];
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setNextState(cFSM);
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2024-01-30 15:11:15 +08:00
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}
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}
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static inline void preload(FSM* pFSM){
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if(pFSM->privateVars.preloader.isReady){
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memcpy(pFSM->data, pFSM->privateVars.preloader.in, pFSM->privateVars.preloader.preloadSize);
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pFSM->privateVars.preloader.isReady = 0;
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}
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}
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2024-01-30 19:38:48 +08:00
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2024-01-23 20:05:30 +08:00
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void stepBaseFSM(FSM *pFSM)
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{
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preload(pFSM);
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2024-04-20 20:05:10 +08:00
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setNextState(pFSM);
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2024-04-19 16:11:24 +08:00
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pFSM->vtbl.resetSignals(pFSM);
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2024-01-30 15:44:19 +08:00
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FSMHandler *fcns = &pFSM->privateVars.fcns;
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2024-01-29 20:32:07 +08:00
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int curState = pFSM->privateVars.curState;
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void *data = pFSM->data;
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FSM **childFSM = pFSM->privateVars.childFSM;
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int index = pFSM->privateVars.curState * pFSM->privateVars.numState + pFSM->privateVars.nextState;
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int nextState = pFSM->privateVars.nextState;
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2024-01-30 15:44:19 +08:00
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2024-04-20 21:16:26 +08:00
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if(fcns->delayedIndex){
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fcns->transitionDelayTable[fcns->delayedIndex](data);
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fcns->delayedIndex = 0;
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2024-01-30 20:35:05 +08:00
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}
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2024-04-23 14:32:23 +08:00
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if(nextState && curState != nextState){ // 状态切换
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if (fcns->transitionTable[index] != NULL) // 有特定的状态转移函数
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{
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if (fcns->exitActionTable[curState] != NULL)
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fcns->exitActionTable[curState](data, childFSM);
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(*fcns->transitionTable[index])(data, &fcns->delayedIndex);
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if (fcns->enterActionTable[nextState] != NULL)
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fcns->enterActionTable[nextState](data, childFSM);
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}
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fcns->transitionGeneralAction(data); // 通用状态转移函数
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pFSM->privateVars.curState = nextState;
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}
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else if(curState == 0){ // 处理刚运行进入的默认状态
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nextState = pFSM->privateVars.defaultState;
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if (fcns->enterActionTable[nextState] != NULL)
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fcns->enterActionTable[nextState](data, childFSM);
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2024-01-29 20:32:07 +08:00
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pFSM->privateVars.curState = nextState;
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}
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else // 状态机没动
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{
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if (fcns->duringActionTable[curState] != NULL)
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fcns->duringActionTable[curState](data, childFSM);
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}
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}
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2024-04-20 20:05:10 +08:00
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FSM* newBaseFSM(int numState, int defaultState){
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typedef void (*StateFuncPtr)(void *);
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typedef void (*ChildFSMStepFuncPtr)(FSM **);
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typedef int (*TransitionFuncPtr)(void *, int *);
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typedef int (*SelectNextStateFcnPtr)(void *, void *);
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FSM *pFSM = calloc(1, sizeof(FSM));
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pFSM->privateVars.numState = numState;
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pFSM->privateVars.defaultState = defaultState;
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pFSM->privateVars.curState = 0;
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pFSM->privateVars.nextState = 0;
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2024-01-23 20:05:30 +08:00
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pFSM->privateVars.numChild = 0;
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2024-01-30 15:11:15 +08:00
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pFSM->privateVars.preloader.isReady = 0;
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2024-01-23 20:05:30 +08:00
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pFSM->privateVars.fcns.duringActionTable = calloc(numState, sizeof(StateFuncPtr));
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pFSM->privateVars.fcns.enterActionTable = calloc(numState, sizeof(StateFuncPtr));
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pFSM->privateVars.fcns.exitActionTable = calloc(numState, sizeof(StateFuncPtr));
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2024-04-20 20:05:10 +08:00
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pFSM->privateVars.fcns.selectNextState = calloc(numState, sizeof(SelectNextStateFcnPtr));
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pFSM->privateVars.fcns.transitionTable = calloc(numState * numState, sizeof(TransitionFuncPtr));
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pFSM->privateVars.fcns.transitionGeneralAction = calloc(1, sizeof(StateFuncPtr));
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pFSM->privateVars.fcns.transitionDelayTable = calloc(numState * numState, sizeof(StateFuncPtr));
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pFSM->privateVars.fcns.childFSMStepTable = calloc(numState * numState, sizeof(ChildFSMStepFuncPtr));
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2024-01-23 20:05:30 +08:00
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2024-04-23 14:03:00 +08:00
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2024-01-23 20:05:30 +08:00
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FSMVtbl vtbl = {
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.reset = resetBaseFSM,
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.step = stepBaseFSM,
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.setupHandler = NULL,
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.initData = NULL,
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.initDataLoader = NULL,
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2024-04-19 15:58:28 +08:00
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.initSignals = NULL,
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};
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pFSM->vtbl = vtbl;
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return pFSM;
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}
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void constructFSM(FSM* pFSM){
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assert(pFSM->vtbl.setupHandler);
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assert(pFSM->vtbl.initData);
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assert(pFSM->vtbl.initDataLoader);
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2024-04-19 15:58:28 +08:00
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assert(pFSM->vtbl.initSignals);
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2024-01-23 20:05:30 +08:00
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pFSM->vtbl.setupHandler(&pFSM->privateVars.fcns);
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pFSM->vtbl.initData(pFSM);
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pFSM->vtbl.initDataLoader(pFSM);
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2024-04-19 15:58:28 +08:00
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pFSM->vtbl.initSignals(pFSM);
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2024-04-23 14:03:00 +08:00
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/* ---------------------------------- 检查状态表 --------------------------------- */
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for (int i = 1; i < pFSM->privateVars.numState; i++) // 跳过Idle状态,Idle状态只能跳转到默认状态
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{
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if(!pFSM->privateVars.fcns.selectNextState[i]){
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FSM_LOG("每个状态都要有一个状态选择函数!\n");
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assert(0); // 强制退出
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}
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}
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2024-01-23 20:05:30 +08:00
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}
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/*
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public 函数
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*/
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int getFSMCurState(FSM *pFSM){
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return pFSM->privateVars.curState;
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}
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2024-04-20 20:05:10 +08:00
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int getFSMNextState(FSM *pFSM){
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return pFSM->privateVars.nextState;
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2024-01-23 20:05:30 +08:00
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}
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void setChildNum(FSM *pFSM, int num){
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pFSM->privateVars.numChild = num;
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pFSM->privateVars.childFSM = (FSM **)calloc(num, sizeof(FSM *));
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}
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void registerChildFSM(FSM *parent, FSM *child, int index){
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parent->privateVars.childFSM[index] = child;
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}
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2024-04-19 13:07:09 +08:00
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const void *_getData(FSM* pFSM){
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return (const void *)pFSM->data;
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}
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2024-04-19 15:58:28 +08:00
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void *_getSignals(FSM* pFSM){
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return pFSM->signals;
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}
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2024-04-19 13:07:09 +08:00
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2024-01-30 23:00:38 +08:00
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void *_preloadIn(FSM *pFSM){
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return pFSM->privateVars.preloader.in;
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}
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2024-01-30 23:07:08 +08:00
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void _preloaderGetReady(FSM *pFSM){
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if(pFSM->privateVars.preloader.isReady){
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pFSM->privateVars.preloader.isOverflow = 1;
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}
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pFSM->privateVars.preloader.isReady = 1;
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}
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2024-04-19 13:07:09 +08:00
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int _getPreloaderOverFlag(FSM *pFSM){
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return pFSM->privateVars.preloader.isOverflow;
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}
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void _clearPreloaderOverFlag(FSM *pFSM){
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pFSM->privateVars.preloader.isOverflow = 0;
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}
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2024-01-30 15:11:15 +08:00
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2024-01-30 23:00:38 +08:00
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FSMVtbl *_vptrFSM(FSM* pFSM){
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return &pFSM->vtbl;
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}
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