2024-01-23 20:05:30 +08:00
|
|
|
|
#include <stdio.h>
|
|
|
|
|
#include <stdlib.h>
|
2024-04-19 16:11:24 +08:00
|
|
|
|
#include <string.h>
|
2024-01-23 20:05:30 +08:00
|
|
|
|
|
|
|
|
|
#include "FSM_protected.h"
|
|
|
|
|
#include "templateFSM.h"
|
|
|
|
|
#include "templateFSM_private.h"
|
|
|
|
|
|
2024-04-23 19:35:16 +08:00
|
|
|
|
/* -------------------------------------------------------------------------- */
|
|
|
|
|
/* 纯虚函数,允许调用privateVars */
|
|
|
|
|
/* -------------------------------------------------------------------------- */
|
2024-04-24 14:25:31 +08:00
|
|
|
|
static void loadExternalData(TemplateFSMData *data){ // 必须重新实现
|
|
|
|
|
data->external.arrindex = arrindex;
|
|
|
|
|
data->external.x = x;
|
2024-04-24 13:18:59 +08:00
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
2024-04-24 14:25:31 +08:00
|
|
|
|
static void resetSignals(FSMSignals *signals, TemplateFSMData *data){ // 必须重新实现
|
2024-04-24 13:18:59 +08:00
|
|
|
|
|
|
|
|
|
switch (signals->lastTriggeredSignal)
|
|
|
|
|
{
|
|
|
|
|
case Signal_A:
|
|
|
|
|
clearSignal(signals, Signal_A);
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
default:
|
|
|
|
|
break;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
2024-01-23 20:05:30 +08:00
|
|
|
|
static void initData(TemplateFSM *pFSM){ // 必须重新实现
|
|
|
|
|
TemplateFSMData *data = (TemplateFSMData *)malloc(sizeof(TemplateFSMData));
|
2024-04-23 17:37:25 +08:00
|
|
|
|
|
2024-01-30 23:00:38 +08:00
|
|
|
|
TemplateFSMData tempData = {
|
2024-04-23 17:37:25 +08:00
|
|
|
|
.external = {
|
2024-01-30 23:00:38 +08:00
|
|
|
|
.arrindex = 0,
|
|
|
|
|
.x = 0,
|
|
|
|
|
},
|
2024-04-24 13:18:59 +08:00
|
|
|
|
.internal = {
|
2024-04-23 17:37:25 +08:00
|
|
|
|
.inner1 = 0,
|
|
|
|
|
.y1 = 0,
|
|
|
|
|
},
|
2024-01-30 23:00:38 +08:00
|
|
|
|
};
|
|
|
|
|
*data = tempData;
|
2024-01-23 20:05:30 +08:00
|
|
|
|
|
2024-04-23 19:35:16 +08:00
|
|
|
|
pFSM->base.data = data;
|
2024-01-23 20:05:30 +08:00
|
|
|
|
}
|
|
|
|
|
|
2024-05-07 15:46:51 +08:00
|
|
|
|
/**
|
|
|
|
|
* @brief
|
|
|
|
|
* @deprecated
|
|
|
|
|
* @param pFSM
|
|
|
|
|
*/
|
2024-04-23 19:35:16 +08:00
|
|
|
|
static void initDataLoader(TemplateFSM *pFSM){ // 必须重新实现
|
2024-05-07 15:46:51 +08:00
|
|
|
|
// pFSM->base.privateVars->preloader.shadowData = malloc(sizeof(TemplateFSMExternalData));
|
|
|
|
|
// pFSM->base.privateVars->preloader.size = sizeof(TemplateFSMExternalData);
|
2024-04-23 19:35:16 +08:00
|
|
|
|
}
|
2024-04-19 15:58:28 +08:00
|
|
|
|
|
2024-01-23 20:05:30 +08:00
|
|
|
|
static void setupHandler(FSMHandler* fcns){ // 必须重新实现
|
2024-04-20 20:05:10 +08:00
|
|
|
|
/* ------------------------------- 添加下一个状态选择函数 ------------------------------ */
|
2024-04-20 21:16:26 +08:00
|
|
|
|
addSelectNextStateFcn(D);
|
|
|
|
|
addSelectNextStateFcn(E);
|
2024-04-20 20:05:10 +08:00
|
|
|
|
|
|
|
|
|
/* ----------------------- 添加状态中事件,action during exit ----------------------- */
|
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
|
|
|
|
|
2024-04-20 20:05:10 +08:00
|
|
|
|
/* --------------------------- 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);
|
2024-01-23 20:05:30 +08:00
|
|
|
|
|
2024-04-23 17:37:25 +08:00
|
|
|
|
fcns->transitionGeneralAction = (Avoid_WARNING_General_Handlers)transitionGeneralAction;
|
2024-01-23 20:05:30 +08:00
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
2024-04-23 19:35:16 +08:00
|
|
|
|
/* -------------------------------------------------------------------------- */
|
|
|
|
|
/* 其他重新实现的函数,父类已有实现,实现多态 */
|
|
|
|
|
/* -------------------------------------------------------------------------- */
|
|
|
|
|
static void step(TemplateFSM* pFSM){
|
|
|
|
|
printFSM(pFSM);
|
|
|
|
|
stepBaseFSM(BASE_FSM(pFSM));
|
|
|
|
|
FSM_LOG("下次状态:%s", stateStr[getFSMNextState((FSM *)pFSM)]);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
/* -------------------------------------------------------------------------- */
|
|
|
|
|
/* 子类构造函数 */
|
|
|
|
|
/* -------------------------------------------------------------------------- */
|
2024-01-23 20:05:30 +08:00
|
|
|
|
TemplateFSM *createTemplateFSM(){
|
|
|
|
|
TemplateFSM *pFSM;
|
2024-04-20 20:05:10 +08:00
|
|
|
|
pFSM = (TemplateFSM *)newBaseFSM(Count_State, DEFAULT_STATE);
|
2024-01-23 20:05:30 +08:00
|
|
|
|
|
2024-04-23 19:35:16 +08:00
|
|
|
|
// 重新实现的函数
|
2024-05-07 15:52:18 +08:00
|
|
|
|
pFSM->base.publicFcns.step = (Avoid_WARNING_Overrider_Fcns)step;
|
2024-04-23 19:35:16 +08:00
|
|
|
|
pFSM->base.pureVtbl.initData = (Avoid_WARNING_Overrider_Fcns)initData;
|
|
|
|
|
pFSM->base.pureVtbl.initDataLoader = (Avoid_WARNING_Overrider_Fcns)initDataLoader;
|
2024-04-23 22:09:53 +08:00
|
|
|
|
pFSM->base.pureVtbl.setupHandler = (Avoid_WARNING_void_fcns)setupHandler;
|
|
|
|
|
pFSM->base.pureVtbl.resetSignals = (Avoid_WARNING_ResetSignals_Fcns)resetSignals;
|
2024-04-24 14:25:31 +08:00
|
|
|
|
pFSM->base.pureVtbl.loadExternalData = (Avoid_WARNING_loadData_Fcns)loadExternalData;
|
2024-01-23 20:05:30 +08:00
|
|
|
|
|
2024-04-23 19:35:16 +08:00
|
|
|
|
// 调用父类构造函数
|
|
|
|
|
constructFSM((FSM *)pFSM);
|
2024-01-23 20:05:30 +08:00
|
|
|
|
|
2024-05-07 15:46:51 +08:00
|
|
|
|
FSM_LOG("ok\n");
|
|
|
|
|
|
2024-01-23 20:05:30 +08:00
|
|
|
|
return pFSM;
|
2024-04-23 21:18:30 +08:00
|
|
|
|
}
|