FSM/vscode/FSM_OOP/baseFSM/FSM_private.h

/**
 * @file FSM_private.h
 * @author 天神 (dalaoshi@stu.xjtu.edu.cn)
 * @brief 状态机框架的私有变量，只能在状态机框架内使用。
 * @details 基类私有变量对子类和外界隐藏实现，通过指针进行访问。
 * @version 2.1
 * @date 2024-05-07
 * 
 * @copyright 天神创意无限公司 2024
 * 
 */


#ifndef __FSM_PRIVATE_H_
#define __FSM_PRIVATE_H_

#include <string.h>
#include "FSM_protected.h"

typedef struct FSMHandler FSMHandler;
typedef struct FSM FSM;
typedef struct FSMSignals FSMSignals;

/* -------------------------------------------------------------------------- */
/*                             private数据类型                                */
/* -------------------------------------------------------------------------- */
/**
 * @brief 
 * @deprecated 预装载器弃用
 * 
 */
typedef struct FSMDataLoader
{   
    void *shadowData;
    int isReady;
    int isOverflow;
    size_t size;
}FSMDataLoader;


/**
 * @brief 基类状态机的私有变量和函数，子类不可直接访问
 * 
 */
typedef struct FSMPrivateVars
{
    int numState;  /**< 状态数量 */ 
    int defaultState; /**< Idle状态不能停留，必须指定一个初始状态 */ 
    
    int curState;    /**< 当前状态 */ 
    int nextState;   /**< nextState为Idle代表状态机不发生变化 */ 
    int index;  /**< 状态转移函数表对应的标号 */ 

    FSMHandler fcns;    /**< 状态函数表 */ 

    // FSM *childFSM;     /**< 限定只能有一个子状态机 */  
    FSM **childFSMTable; /**< 每个状态都可配置一个子状态机 */

    FSMDataLoader preloader;    /**< @deprecated 弃用 */

}FSMPrivateVars;

/**
 * @brief 纯纯空函数
 */
static void empty_func(){
}


/**
 * @brief 仅在FSM.c中调用，新建私有变量并分配空间
 * 
 * @param numState 
 * @return FSMPrivateVars* 
 */
FSMPrivateVars* newFMSPrivateVars(int numState){
    typedef void (*StateFuncPtr)(void *); 
    typedef void (*ChildFSMStepFuncPtr)(FSM **); 
    typedef int (*TransitionFuncPtr)(void *, int *);
    typedef int (*SelectNextStateFcnPtr)(void *, FSMSignals *);

    FSMPrivateVars *privateVars = calloc(1, sizeof(FSMPrivateVars));
    privateVars->numState = numState;
    privateVars->curState = 0;
    privateVars->nextState = 0;
    privateVars->childFSMTable = calloc(numState, sizeof(FSM));

    privateVars->preloader.isReady = 0;

    privateVars->fcns.duringActionTable = calloc(numState,  sizeof(StateFuncPtr));
    privateVars->fcns.enterActionTable = calloc(numState, sizeof(StateFuncPtr));
    privateVars->fcns.exitActionTable = calloc(numState, sizeof(StateFuncPtr));

    for (int i = 0; i < numState; i++)
    {
        privateVars->fcns.duringActionTable[i] = empty_func;
        privateVars->fcns.enterActionTable[i] = empty_func;
        privateVars->fcns.exitActionTable[i] = empty_func;
    }
    
    
    // 包括默认状态
    privateVars->fcns.selectNextState = calloc(numState+1, sizeof(SelectNextStateFcnPtr));
    privateVars->fcns.transitionTable = calloc(numState * numState, sizeof(TransitionFuncPtr));
    for (int i = 0; i < numState * numState; i++)
    {
        privateVars->fcns.transitionTable[i] = empty_func;
    }

    privateVars->fcns.transitionGeneralAction = calloc(1, sizeof(StateFuncPtr));
    privateVars->fcns.transitionGeneralAction = empty_func;

    privateVars->fcns.childFSMStepTable = calloc(numState * numState, sizeof(ChildFSMStepFuncPtr));
    
    return privateVars;
}



/* -------------------------------------------------------------------------- */
/*                         以下开始是FSM私有函数                               */
/* -------------------------------------------------------------------------- */
static inline FSM * getChildFSM(FSM *pFSM, int state){
    return pFSM->privateVars->childFSMTable[state];
}

static inline int hasChildFSM(FSM *pFSM, int state){
    return (pFSM->privateVars->childFSMTable[state] != NULL);
}

static inline void setCurState(FSM *pFSM, int state){
    pFSM->privateVars->curState = state;
}




static inline int getCurState(FSM *pFSM){
    return pFSM->privateVars->curState;
}

static inline void doExit(FSM *pFSM){
    pFSM->privateVars->fcns.exitActionTable[getCurState(pFSM)](pFSM->data);
}

static inline void doEnter(FSM *pFSM, int state){
    pFSM->privateVars->fcns.enterActionTable[state](pFSM->data);
}

static inline void doDuring(FSM *pFSM){
    pFSM->privateVars->fcns.duringActionTable[getCurState(pFSM)](pFSM->data);
}


static inline void doGeneralTransition(FSM *pFSM){
    pFSM->privateVars->fcns.transitionGeneralAction(pFSM->data);
}

static inline void doTransition(FSM *pFSM, int index){
    pFSM->privateVars->fcns.transitionTable[index](pFSM->data);
}


static void exitFSM(FSM *pFSM)
{
    doExit(pFSM);

    int curState = getCurState(pFSM);
    if(hasChildFSM(pFSM, curState)){
        exitFSM(getChildFSM(pFSM, curState));
    }
    setCurState(pFSM, 0);
}


#endif