2024-01-23 20:05:30 +08:00
|
|
|
|
#include <stdio.h>
|
|
|
|
|
#include <stdlib.h>
|
|
|
|
|
|
|
|
|
|
#include "FSM_protected.h"
|
|
|
|
|
#include "templateFSM.h"
|
|
|
|
|
#include "templateFSM_private.h"
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
|
重载函数,有些是纯虚的必须重新实现,有些可以不重新实现直接用父类的
|
|
|
|
|
*/
|
|
|
|
|
static Event ceventArr[20] = {
|
|
|
|
|
Idle_Event,
|
|
|
|
|
Idle_Event,
|
|
|
|
|
Idle2D,
|
|
|
|
|
Idle_Event,
|
|
|
|
|
Idle_Event,
|
|
|
|
|
D2E,
|
|
|
|
|
E2D,
|
|
|
|
|
D2E,
|
|
|
|
|
Idle_Event,
|
|
|
|
|
Idle_Event,
|
|
|
|
|
Idle_Event,
|
|
|
|
|
Idle_Event,
|
2024-04-19 15:58:28 +08:00
|
|
|
|
Idle_Event,
|
|
|
|
|
Idle_Event,
|
|
|
|
|
Idle_Event,
|
2024-01-23 20:05:30 +08:00
|
|
|
|
};
|
|
|
|
|
|
2024-04-19 15:58:28 +08:00
|
|
|
|
static Event selectEvent(TemplateFSMData *data, TemplateFSMSignals *signals){ // 必须重新实现
|
|
|
|
|
if(signals->signalA){
|
|
|
|
|
signals->signalA = 0;
|
|
|
|
|
return E2D;
|
|
|
|
|
}
|
|
|
|
|
if(signals->signalB){
|
|
|
|
|
signals->signalB = 0;
|
|
|
|
|
return D2E;
|
|
|
|
|
}
|
|
|
|
|
|
2024-01-30 23:00:38 +08:00
|
|
|
|
return ceventArr[data->in.arrindex];
|
2024-01-23 20:05:30 +08:00
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
static void step(TemplateFSM* pFSM){
|
|
|
|
|
printFSM(pFSM);
|
|
|
|
|
stepBaseFSM(BASE_FSM(pFSM));
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
static void initData(TemplateFSM *pFSM){ // 必须重新实现
|
|
|
|
|
TemplateFSMData *data = (TemplateFSMData *)malloc(sizeof(TemplateFSMData));
|
2024-01-30 23:00:38 +08:00
|
|
|
|
TemplateFSMData tempData = {
|
|
|
|
|
.in = {
|
|
|
|
|
.arrindex = 0,
|
|
|
|
|
.x = 0,
|
|
|
|
|
},
|
|
|
|
|
.inner1 = 0,
|
|
|
|
|
.y1 = 0,
|
|
|
|
|
};
|
|
|
|
|
*data = tempData;
|
2024-01-23 20:05:30 +08:00
|
|
|
|
|
|
|
|
|
pFSM->base.data = data;
|
|
|
|
|
}
|
|
|
|
|
|
2024-04-19 15:58:28 +08:00
|
|
|
|
|
|
|
|
|
static void initSignals(TemplateFSM *pFSM){
|
|
|
|
|
TemplateFSMSignals *signals = (TemplateFSMSignals *)malloc(sizeof(TemplateFSMSignals));
|
|
|
|
|
TemplateFSMSignals tempSignals = {
|
|
|
|
|
.signalA = 0,
|
|
|
|
|
.signalB = 0,
|
|
|
|
|
};
|
|
|
|
|
*signals = tempSignals;
|
|
|
|
|
pFSM->base.signals = signals;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
2024-01-30 23:00:38 +08:00
|
|
|
|
static void initDataLoader(TemplateFSM *pFSM){ // 必须重新实现
|
|
|
|
|
pFSM->base.privateVars.preloader.in = malloc(sizeof(TemplateFSMIn));
|
|
|
|
|
pFSM->base.privateVars.preloader.preloadSize = sizeof(TemplateFSMIn);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
2024-01-23 20:05:30 +08:00
|
|
|
|
static void setupHandler(FSMHandler* fcns){ // 必须重新实现
|
|
|
|
|
|
2024-01-30 23:00:38 +08:00
|
|
|
|
addStateActionFcn(during, E);
|
|
|
|
|
addStateActionFcn(during, D);
|
|
|
|
|
addStateActionFcn(enter, E);
|
|
|
|
|
addStateActionFcn(enter, D);
|
|
|
|
|
addStateActionFcn(exit, E);
|
|
|
|
|
addStateActionFcn(exit, D);
|
2024-01-23 20:05:30 +08:00
|
|
|
|
|
2024-01-30 23:00:38 +08:00
|
|
|
|
addTransitionHandler(Idle, Idle2D);
|
|
|
|
|
addTransitionHandler(Idle, Idle2E);
|
|
|
|
|
addTransitionHandler(D, D2E);
|
|
|
|
|
addTransitionHandler(E, E2D);
|
2024-01-23 20:05:30 +08:00
|
|
|
|
|
2024-01-30 23:00:38 +08:00
|
|
|
|
addDelayHandler(Idle2D);
|
2024-01-23 20:05:30 +08:00
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
|
唯一外界调用的函数
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
TemplateFSM *createTemplateFSM(){
|
|
|
|
|
TemplateFSM *pFSM;
|
|
|
|
|
pFSM = (TemplateFSM *)newBaseFSM(Count_State, Count_Event, DEFAULT_STATE);
|
|
|
|
|
|
2024-01-30 23:00:38 +08:00
|
|
|
|
pFSM->base.vtbl.step = (Avoid_WARNING_Overrider_Fcns)step;
|
|
|
|
|
pFSM->base.vtbl.initData = (Avoid_WARNING_Overrider_Fcns)initData;
|
|
|
|
|
pFSM->base.vtbl.initDataLoader = (Avoid_WARNING_Overrider_Fcns)initDataLoader;
|
2024-04-19 15:58:28 +08:00
|
|
|
|
pFSM->base.vtbl.initSignals = (Avoid_WARNING_Overrider_Fcns)initSignals;
|
2024-01-30 23:00:38 +08:00
|
|
|
|
|
|
|
|
|
pFSM->base.vtbl.selectEvent = (Avoid_WARNING_SelectEvent)selectEvent;
|
2024-01-23 20:05:30 +08:00
|
|
|
|
pFSM->base.vtbl.setupHandler = (Avoid_WARNING_void_fcns)setupHandler;
|
|
|
|
|
|
2024-01-30 23:00:38 +08:00
|
|
|
|
constructFSM((FSM *)pFSM);
|
2024-01-23 20:05:30 +08:00
|
|
|
|
|
|
|
|
|
return pFSM;
|
|
|
|
|
}
|