FSM/vscode/FSM_OOP/baseFSM/FSM_protected.h

#ifndef __FSM_PROTECTED_H_
#define __FSM_PROTECTED_H_

#include "FSM_public.h"

// #define DSP28377
#ifdef      DSP28377
    #define     NDEBUG
#else
    #define     FSM_LOG_ON
#endif


#ifdef          FSM_LOG_ON
    #define     FSM_LOG(...)   printf(__VA_ARGS__)
#else
    #define     FSM_LOG(...)   ((void)0)
#endif

#define     during  during
#define     enter   enter
#define     exit    exit

#define     selectNextStateFcn(curstate)                       curstate##_##selectNextState
#define     transitionHandler(curstate, nextstate)             curstate##2##nextstate##Handler
#define     actionFcn(action, curstate)                        curstate##_##action##Action
#define     index(curstate, nextstate)                         (curstate*Count_State + nextstate)

#define     addSelectNextStateFcn(curstate)                         fcns->selectNextState[curstate] = (Avoid_WARNING_SelectNextState)selectNextStateFcn(curstate)
#define     addStateActionFcn(type, state)                          fcns->type##ActionTable[state] = (Avoid_WARNING_State_Fcns)actionFcn(type, state)
#define     addTransitionHandler(curstate, nextstate)               fcns->transitionTable[index(curstate, nextstate)] = (Avoid_WARNING_Transition_Handler)transitionHandler(curstate, nextstate)



typedef struct _FSMHandler FSMHandler;
typedef struct _FSM FSM;

typedef void (*Avoid_WARNING_State_Fcns)(void *data, FSM **childFSM);
typedef void (*Avoid_WARNING_General_Handlers)(void *data);
typedef void (*Avoid_WARNING_Transition_Handler)(void *data);
typedef void (*Avoid_WARNING_Overrider_Fcns)(FSM *pFsm);
typedef int (*Avoid_WARNING_SelectNextState)(void *data, void *signals);
typedef void (*Avoid_WARNING_void_fcns)(FSMHandler *fcns);


/* -------------------------------------------------------------------------- */
/*                        private数据类型，但是不能声明到private.h里           */
/* -------------------------------------------------------------------------- */

typedef struct _FSMHandler{
    int (**selectNextState)(void *data, void *signals);

    void (**transitionTable)(void *data);
    void (*transitionGeneralAction)(void *data);

    void (**enterActionTable)(void *data, FSM **cFSM);
    void (**duringActionTable)(void *data, FSM **cFSM);
    void (**exitActionTable)(void *data, FSM **cFSM);

    void (**childFSMStepTable)(FSM **cFSM);
}FSMHandler;

typedef struct _FSMDataLoader
{   
    void *shadowData;
    int isReady;
    int isOverflow;
    size_t size;
}FSMDataLoader;


typedef struct _FSMPrivateVars
{
    int numState;
    int defaultState; // Idle状态不能停留，必须指定一个初始状态
    
    int curState;    
    int nextState;
    int index;

    FSMHandler fcns;

    int numChild;
    FSM **childFSM;

    FSMDataLoader preloader;

}FMSPrivateVars;




/* -------------------------------------------------------------------------- */
/*             纯虚函数，子类必须重新实现，父类构造函数不会初始化               */
/* -------------------------------------------------------------------------- */
typedef struct _FSMPureVtbl {
    // 状态机控制
    void (*initData)(FSM *pFSM);    // =0子类必须重新实现
    void (*initSignals)(FSM *pFSM);    // =0子类必须重新实现
    void (*setupHandler)(FSMHandler *fcns);    // =0子类必须重新实现
    void (*initDataLoader)(FSM *pFSM);    // =0子类必须重新实现
}FSMPureVtbl;


/* -------------------------------------------------------------------------- */
/*                          基类定义，纯虚类                                  */
/* -------------------------------------------------------------------------- */
typedef struct _FSM
{
    // public functions
    void (*step)(FSM *pFSM);    // 子类重新实现可以添加一些打印信息
    void (*reset)(FSM *pFSM);   // 子类重新实现可以添加一些打印信息

    // protected
    FSMPureVtbl pureVtbl;
    
    void *data;
    void *signals;
    int signalSize;
    // private
    FMSPrivateVars privateVars;
} FSM;


/* -------------------------------------------------------------------------- */
/*                    protected函数，子类能用外界用不了                        */
/* -------------------------------------------------------------------------- */
void stepBaseFSM(FSM *pFSM);

void constructFSM(FSM* pFSM);
FSM*  newBaseFSM(int numState, int defaultState);
void resetBaseFSM(FSM *pFSM);


#endif