FSM/vscode/FSM_OOP/childtest/childFSM.c

#include <stdio.h>
#include <stdlib.h>
#include <string.h>

#include "FSM_protected.h"
#include "childFSM.h"
#include "childFSM_private.h"




/* -------------------------------------------------------------------------- */
/*                       纯虚函数，允许调用privateVars                        */
/* -------------------------------------------------------------------------- */

/**
 * @brief 
 * @deprecated 暂时没用，后续考虑data是否需要加锁再说
 * @param data 主要是外部数据
 */
static void loadExternalData(ChildFSMData *data){ // 必须重新实现
}


/**
 * @brief 根据条件重置信号
 * @details 清除被响应信号和所有小于被响应信号优先级的信号，具体可以参考notion
 * @param signals 状态机接收到的信号 
 * @param data 状态机数据
 */
static void resetSignals(FSMSignals *signals, ChildFSMData *data){   // 必须重新实现
    clearAllSignals(signals);
}

/**
 * @brief 给所有内部、外部数据分配堆空间
 * 
 * @param pFSM 
 */
static void initData(ChildFSM *pFSM){   // 必须重新实现
    ChildFSMData *data = (ChildFSMData *)malloc(sizeof(ChildFSMData));

    ChildFSMData tempData = {
        .external = {
            .arrindex = 0,
            .x = 0,
        },
        .internal = {
            .inner1 = 0,
            .y1 = 0,
        },
    };
    *data = tempData;

    pFSM->base.data = data;
}

/**
 * @brief 
 * @deprecated 弃用
 * @param pFSM 
 */
static void initDataLoader(ChildFSM *pFSM){   // 必须重新实现
    // pFSM->base.privateVars->preloader.shadowData = malloc(sizeof(ChildFSMExternalData));
    // pFSM->base.privateVars->preloader.size = sizeof(ChildFSMExternalData);
}


/**
 * @brief 设置状态选择函数、状态内函数和状态转移函数
 * 
 * @param fcns 状态机函数表
 */
static void setupHandler(FSMHandler* fcns){ // 必须重新实现
    /* ------------------------------- 添加下一个状态选择函数 ------------------------------ */
    addSelectNextStateFcn(Idle);
    addSelectNextStateFcn(D);
    addSelectNextStateFcn(E);

    /* ----------------------- 添加状态中事件，action during exit ----------------------- */
    addStateActionFcn(during, D);
    addStateActionFcn(during, E);
    addStateActionFcn(enter, D);
    addStateActionFcn(enter, E);
    addStateActionFcn(exit, D);
    addStateActionFcn(exit, E);

    /* --------------------------- 添加转移函数和转移函数对应的Delay -------------------------- */
    addTransitionHandler(Idle, D);
    addTransitionHandler(Idle, E);
    addTransitionHandler(D, E);
    addTransitionHandler(E, D);

    fcns->transitionGeneralAction = (Avoid_WARNING_General_Handlers)transitionGeneralAction;
}


/* -------------------------------------------------------------------------- */
/*            其他重新实现的函数，父类已有实现，实现多态                       */
/* -------------------------------------------------------------------------- */
/**
 * @brief 重新实现基类的step函数，添加一些打印信息
 * 
 * @param pFSM 子类状态机指针
 */
static void step(ChildFSM* pFSM){
    printFSM(pFSM);
    stepBaseFSM(BASE_FSM(pFSM));
    FSM_LOG("NextState:%s", stateStr[getFSMNextState((FSM *)pFSM)]);
}





/* -------------------------------------------------------------------------- */
/*                                子类构造函数                                */
/* -------------------------------------------------------------------------- */

/**
 * @brief Create a Child FSM object
 * @details 子类状态机细节对外隐藏，外部只能访问基类的公有函数来操作子类变量
 * @return ChildFSM* 
 */
ChildFSM *createChildFSM(){
    ChildFSM *pFSM;
    pFSM = (ChildFSM *)newBaseFSM(Count_State);

    // 重新实现的函数
    pFSM->base.publicFcns.step = (Avoid_WARNING_Overrider_Fcns)step;
    pFSM->base.pureVtbl.initData = (Avoid_WARNING_Overrider_Fcns)initData;
    pFSM->base.pureVtbl.initDataLoader = (Avoid_WARNING_Overrider_Fcns)initDataLoader;
    pFSM->base.pureVtbl.setupHandler = (Avoid_WARNING_void_fcns)setupHandler;
    pFSM->base.pureVtbl.resetSignals = (Avoid_WARNING_ResetSignals_Fcns)resetSignals;
    pFSM->base.pureVtbl.loadExternalData = (Avoid_WARNING_loadData_Fcns)loadExternalData;

    // 调用父类构造函数
    constructFSM((FSM *)pFSM); 

    FSM_LOG("ok\n");

    return pFSM;
}