FSM/vscode/FSM_OOP/template/templateFSM.c

#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,
};

static Event selectEvent(TemplateFSMData *data){   // 必须重新实现
    return ceventArr[data->arrindex];
}

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));
    data->arrindex = 0;

    pFSM->base.data = data;
}

static void setupHandler(FSMHandler* fcns){ // 必须重新实现
    fcns->duringActionTable[E] = (Avoid_WARNING_State_Fcns)actionFcn(during, E);
    fcns->duringActionTable[D] = (Avoid_WARNING_State_Fcns)actionFcn(during, D);

    fcns->enterActionTable[D] = (Avoid_WARNING_State_Fcns)actionFcn(enter, D);
    fcns->enterActionTable[E] = (Avoid_WARNING_State_Fcns)actionFcn(enter, E);

    fcns->exitActionTable[D] = (Avoid_WARNING_State_Fcns)D_exitAction;
    fcns->exitActionTable[E] = (Avoid_WARNING_State_Fcns)E_exitAction;

    fcns->transitionTable[index(Idle, Idle2D)] = (Avoid_WARNING_Transition_Handler)transitionHandler(Idle2D);
    fcns->transitionTable[index(Idle, Idle2E)] = (Avoid_WARNING_Transition_Handler)transitionHandler(Idle2E);
    fcns->transitionTable[index(D, D2E)] = (Avoid_WARNING_Transition_Handler)transitionHandler(D2E);
    fcns->transitionTable[index(E, E2D)] = (Avoid_WARNING_Transition_Handler)transitionHandler(E2D);
}

/* 
    唯一外界调用的函数
 */

TemplateFSM *createTemplateFSM(){
  
    TemplateFSM *pFSM;
    pFSM = (TemplateFSM *)newBaseFSM(Count_State, Count_Event, DEFAULT_STATE);

    pFSM->base.vtbl.step = (Avoid_WARNING_State_Fcns)step;
    pFSM->base.vtbl.selectEvent = (Avoid_WARNING_int_data)selectEvent;
    pFSM->base.vtbl.initData = (Avoid_WARNING_State_Fcns)initData;
    pFSM->base.vtbl.setupHandler = (Avoid_WARNING_void_fcns)setupHandler;

    constructFSM((FSM_Ptr)pFSM);

    return pFSM;
}