FSM/vscode/FSM_OOP/baseFSM/FSM_private.h

/**
 * @file FSM_private.h
 * @author 天神 (dalaoshi@stu.xjtu.edu.cn)
 * @brief 状态机框架的私有变量，只能在状态机框架内使用。
 * @details 基类私有变量对子类和外界隐藏实现，通过指针进行访问。
 * @version 2.1
 * @date 2024-05-07
 * 
 * @copyright 天神创意无限公司 2024
 * 
 */


#ifndef __FSM_PRIVATE_H_
#define __FSM_PRIVATE_H_

#include <string.h>
#include "FSM_protected.h"
#include "FSM_private_vars.h"

typedef struct FSMHandler FSMHandler;
typedef struct FSM FSM;
typedef struct FSMSignals FSMSignals;


/**
 * @brief 纯纯空函数
 */
static void empty_func(void * a){
}


/**
 * @brief 仅在FSM.c中调用，新建私有变量并分配空间
 * 
 * @param numState 
 * @return FSMPrivateVars* 
 */
FSMPrivateVars* newFMSPrivateVars(int numState){
    typedef void (*StateFuncPtr)(void *); 
    typedef void (*ChildFSMStepFuncPtr)(FSM **); 
    typedef int (*TransitionFuncPtr)(void *, int *);
    typedef int (*SelectNextStateFcnPtr)(void *, FSMSignals *);

    FSMPrivateVars *privateVars = calloc(1, sizeof(FSMPrivateVars));
    privateVars->numState = numState;
    privateVars->curState = 0;
    privateVars->nextState = 0;
    privateVars->childFSMTable = calloc(numState, sizeof(FSM));

    privateVars->preloader.isReady = 0;

    privateVars->fcns.duringActionTable = calloc(numState,  sizeof(StateFuncPtr));
    privateVars->fcns.enterActionTable = calloc(numState, sizeof(StateFuncPtr));
    privateVars->fcns.exitActionTable = calloc(numState, sizeof(StateFuncPtr));

    for (int i = 0; i < numState; i++)
    {
        privateVars->fcns.duringActionTable[i] = empty_func;
        privateVars->fcns.enterActionTable[i] = empty_func;
        privateVars->fcns.exitActionTable[i] = empty_func;
    }
    
    
    
    privateVars->fcns.selectNextState = calloc(numState, sizeof(SelectNextStateFcnPtr)); // 包括默认状态，所以要+1
    privateVars->fcns.transitionTable = calloc(numState * numState, sizeof(TransitionFuncPtr));
    for (int i = 0; i < numState * numState; i++)
    {
        privateVars->fcns.transitionTable[i] = empty_func;
    }

    privateVars->fcns.transitionGeneralAction = calloc(1, sizeof(StateFuncPtr));
    privateVars->fcns.transitionGeneralAction = empty_func;

    
    return privateVars;
}



/* -------------------------------------------------------------------------- */
/*                         以下开始是FSM私有函数                               */
/* -------------------------------------------------------------------------- */
static inline FSM * getChildFSM(FSM *pFSM, int state){
    return pFSM->privateVars->childFSMTable[state];
}

static inline int hasChildFSM(FSM *pFSM, int state){
    return (pFSM->privateVars->childFSMTable[state] != NULL);
}

static inline void setCurState(FSM *pFSM, int state){
    pFSM->privateVars->curState = state;
}
static inline int getCurState(FSM *pFSM){
    return pFSM->privateVars->curState;
}

static inline int setNextState(FSM *pFSM, int state){
    return pFSM->privateVars->nextState = state;
}
static inline int getNextState(FSM *pFSM){
    return pFSM->privateVars->nextState;
}

static inline int getIndex(FSM *pFSM){
    return pFSM->privateVars->index;
}
static inline void updateIndex(FSM *pFSM){
    pFSM->privateVars->index = pFSM->privateVars->curState * pFSM->privateVars->numState + pFSM->privateVars->nextState;
}

static inline void doExit(FSM *pFSM){
    pFSM->privateVars->fcns.exitActionTable[getCurState(pFSM)](pFSM->data);
}

static inline void doEnter(FSM *pFSM, int state){
    pFSM->privateVars->fcns.enterActionTable[state](pFSM->data);
}

static inline void doDuring(FSM *pFSM){
    pFSM->privateVars->fcns.duringActionTable[getCurState(pFSM)](pFSM->data);
}


static inline void doGeneralTransition(FSM *pFSM){
    pFSM->privateVars->fcns.transitionGeneralAction(pFSM->data);
}

static inline void doTransition(FSM *pFSM){
    int index = getIndex(pFSM);
    pFSM->privateVars->fcns.transitionTable[index](pFSM->data);
}

static inline int doSelectNextState(FSM *pFSM, int state){
    return pFSM->privateVars->fcns.selectNextState[state](pFSM->data, &pFSM->signals);
}



static inline void doResetSignals(FSM *pFSM){
    pFSM->pureVtbl.resetSignals(&pFSM->signals, pFSM->data);
}

static inline void clearLastTriggeredSignal(FSM *pFSM){
    pFSM->signals.lastTriggeredSignal = FSM_Idle;
}



#endif