From 58d2918d0669e602b6ec116e2204076ed30f9707 Mon Sep 17 00:00:00 2001
From: TrashGod <974980621@qq.com>
Date: Fri, 28 Jun 2024 19:13:27 +0800
Subject: [PATCH 1/4] =?UTF-8?q?=E8=B7=91=E8=B5=B7=E6=9D=A5=E5=92=8Cplecs?=
 =?UTF-8?q?=E7=9A=84=E7=BB=93=E6=9E=9C=E4=B8=80=E6=A0=B7?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 vscode/CMakeLists.txt                        |  2 +-
 vscode/FSM_OOP/baseFSM/FSM.c                 |  4 +---
 vscode/FSM_OOP/childtest/ParentFSM.c         |  3 ++-
 vscode/FSM_OOP/childtest/ParentFSM_private.h |  9 ++++++---
 vscode/FSM_OOP/childtest/childFSM.c          |  3 ++-
 vscode/FSM_OOP/childtest/childFSM_private.h  | 12 ++++++++----
 vscode/FSM_OOP/childtest/main.c              |  5 +++++
 7 files changed, 25 insertions(+), 13 deletions(-)

diff --git a/vscode/CMakeLists.txt b/vscode/CMakeLists.txt
index bb30d7d..198660d 100644
--- a/vscode/CMakeLists.txt
+++ b/vscode/CMakeLists.txt
@@ -7,7 +7,7 @@ aux_source_directory(${PROJECT_SOURCE_DIR}/FSM_OOP/baseFSM  SRC_FSM_OOP)
 
 
 # set(keytest 789)
-# set(child_parent 789) 
+set(child_parent 789) 
 if(DEFINED keytest)
     include_directories(${PROJECT_SOURCE_DIR}/FSM_OOP/keytest)
     aux_source_directory(${PROJECT_SOURCE_DIR}/FSM_OOP/keytest      SRC_FSM_USR)
diff --git a/vscode/FSM_OOP/baseFSM/FSM.c b/vscode/FSM_OOP/baseFSM/FSM.c
index 16a7770..95d6b65 100644
--- a/vscode/FSM_OOP/baseFSM/FSM.c
+++ b/vscode/FSM_OOP/baseFSM/FSM.c
@@ -92,9 +92,7 @@ void stepBaseFSM(FSM *pFSM)
         // 进子状态机，必须从默认状态开始
         if(childFSMTable[nextState] != NULL){
             FSM *cFSM = childFSMTable[nextState];
-            int cFSMNextState = cFSM->privateVars->defaultState;
-            cFSM->privateVars->fcns.enterActionTable[cFSMNextState](cFSM->data);
-            cFSM->privateVars->curState = cFSMNextState;
+            Step(cFSM);
         }
 
         pFSM->privateVars->curState = nextState;
diff --git a/vscode/FSM_OOP/childtest/ParentFSM.c b/vscode/FSM_OOP/childtest/ParentFSM.c
index 27a61db..2f73856 100644
--- a/vscode/FSM_OOP/childtest/ParentFSM.c
+++ b/vscode/FSM_OOP/childtest/ParentFSM.c
@@ -73,6 +73,7 @@ static void initDataLoader(ParentFSM *pFSM){   // 必须重新实现
  */
 static void setupHandler(FSMHandler* fcns){ // 必须重新实现
     /* ------------------------------- 添加下一个状态选择函数 ------------------------------ */
+    addSelectNextStateFcn(Idle);
     addSelectNextStateFcn(A);
     addSelectNextStateFcn(B);
     addSelectNextStateFcn(C);
@@ -131,7 +132,7 @@ void bindChildFSM(FSM *pFSM, FSM *cFSM){
  */
 ParentFSM *createParentFSM(){
     ParentFSM *pFSM;
-    pFSM = (ParentFSM *)newBaseFSM(Count_State, DEFAULT_STATE);
+    pFSM = (ParentFSM *)newBaseFSM(Count_State);
 
     // 重新实现的函数
     pFSM->base.publicFcns.step = (Avoid_WARNING_Overrider_Fcns)step;
diff --git a/vscode/FSM_OOP/childtest/ParentFSM_private.h b/vscode/FSM_OOP/childtest/ParentFSM_private.h
index b9f2683..01e059d 100644
--- a/vscode/FSM_OOP/childtest/ParentFSM_private.h
+++ b/vscode/FSM_OOP/childtest/ParentFSM_private.h
@@ -35,14 +35,17 @@ typedef enum _State
 
     Count_State, /**< 必须在结尾，用来统计状态数量 */
 } State;
-#define     DEFAULT_STATE       A /**< 默认状态，Idle状态会先跳转到默认状态 */
 
 /* -------------------------------------------------------------------------- */
 /*                         下一个状态选择函数                                 */
 /* -------------------------------------------------------------------------- */
 
 
-static State selectNextStateFcn(A)(ParentFSM *data, FSMSignals *signals){
+static State selectNextStateFcn(Idle)(ParentFSMData *data, FSMSignals *signals){
+    return A;
+}
+
+static State selectNextStateFcn(A)(ParentFSMData *data, FSMSignals *signals){
     if(getSignal(signals, Signal_toB)){
         signals->lastTriggeredSignal = Signal_toB;
         return B;
@@ -50,7 +53,7 @@ static State selectNextStateFcn(A)(ParentFSM *data, FSMSignals *signals){
     return Idle;
 }
 
-static State selectNextStateFcn(B)(ParentFSM *data, FSMSignals *signals){
+static State selectNextStateFcn(B)(ParentFSMData *data, FSMSignals *signals){
     if(getSignal(signals, Signal_toA)){
         signals->lastTriggeredSignal = Signal_toA;
         return A;
diff --git a/vscode/FSM_OOP/childtest/childFSM.c b/vscode/FSM_OOP/childtest/childFSM.c
index e795b48..42c4fd1 100644
--- a/vscode/FSM_OOP/childtest/childFSM.c
+++ b/vscode/FSM_OOP/childtest/childFSM.c
@@ -73,6 +73,7 @@ static void initDataLoader(ChildFSM *pFSM){   // 必须重新实现
  */
 static void setupHandler(FSMHandler* fcns){ // 必须重新实现
     /* ------------------------------- 添加下一个状态选择函数 ------------------------------ */
+    addSelectNextStateFcn(Idle);
     addSelectNextStateFcn(D);
     addSelectNextStateFcn(E);
 
@@ -123,7 +124,7 @@ static void step(ChildFSM* pFSM){
  */
 ChildFSM *createChildFSM(){
     ChildFSM *pFSM;
-    pFSM = (ChildFSM *)newBaseFSM(Count_State, DEFAULT_STATE);
+    pFSM = (ChildFSM *)newBaseFSM(Count_State);
 
     // 重新实现的函数
     pFSM->base.publicFcns.step = (Avoid_WARNING_Overrider_Fcns)step;
diff --git a/vscode/FSM_OOP/childtest/childFSM_private.h b/vscode/FSM_OOP/childtest/childFSM_private.h
index f3ac364..b0d46ec 100644
--- a/vscode/FSM_OOP/childtest/childFSM_private.h
+++ b/vscode/FSM_OOP/childtest/childFSM_private.h
@@ -34,14 +34,18 @@ typedef enum _State
 
     Count_State, /**< 必须在结尾，用来统计状态数量 */
 } State;
-#define     DEFAULT_STATE       D /**< 默认状态，Idle状态会先跳转到默认状态 */
 
 /* -------------------------------------------------------------------------- */
 /*                         下一个状态选择函数                                 */
 /* -------------------------------------------------------------------------- */
+static State selectNextStateFcn(Idle)(ChildFSMData *data, FSMSignals *signals){
+    if(data->external.x == 1)
+        return D;
+    else
+        return E;
+}
 
-
-static State selectNextStateFcn(D)(ChildFSM *data, FSMSignals *signals){
+static State selectNextStateFcn(D)(ChildFSMData *data, FSMSignals *signals){
     if(getSignal(signals, Signal_toE)){
         signals->lastTriggeredSignal = Signal_toE;
         return E;
@@ -49,7 +53,7 @@ static State selectNextStateFcn(D)(ChildFSM *data, FSMSignals *signals){
     return Idle;
 }
 
-static State selectNextStateFcn(E)(ChildFSM *data, FSMSignals *signals){
+static State selectNextStateFcn(E)(ChildFSMData *data, FSMSignals *signals){
     if(getSignal(signals, Signal_toD)){
         signals->lastTriggeredSignal = Signal_toD;
         return D;
diff --git a/vscode/FSM_OOP/childtest/main.c b/vscode/FSM_OOP/childtest/main.c
index 0b0fec2..0d93dae 100644
--- a/vscode/FSM_OOP/childtest/main.c
+++ b/vscode/FSM_OOP/childtest/main.c
@@ -16,6 +16,7 @@ int main(){
     pFSM = createParentFSM();
 
     registerChildFSM(pFSM, cFSM, 2);
+    ((ParentFSMData *)GetData(cFSM))->external.x = 1;
 
     for (int k = 0; k < 15; k++)
     {   
@@ -23,6 +24,10 @@ int main(){
         SetSignal(pFSM, i[k]);
         SetSignal(cFSM, j[k]);
 
+        if(k > 5){
+            ((ParentFSMData *)GetData(cFSM))->external.x = 0;
+        }
+
         Step(pFSM);
         
         

From f48889bf230e50a0e6fb8be04c405ec53d742dc5 Mon Sep 17 00:00:00 2001
From: TrashGod <974980621@qq.com>
Date: Fri, 28 Jun 2024 19:45:02 +0800
Subject: [PATCH 2/4] =?UTF-8?q?=E5=B0=81=E8=A3=85=E4=BA=86=E4=B8=80?=
 =?UTF-8?q?=E4=B8=8B=E5=87=BD=E6=95=B0=EF=BC=8C=E6=9B=B4=E5=A5=BD=E6=87=82?=
 =?UTF-8?q?=E4=BA=86?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 vscode/FSM_OOP/baseFSM/FSM.c           | 43 ++++++++-----------
 vscode/FSM_OOP/baseFSM/FSM_private.h   | 58 +++++++++++++++++++++++++-
 vscode/FSM_OOP/baseFSM/FSM_protected.h |  2 +-
 3 files changed, 75 insertions(+), 28 deletions(-)

diff --git a/vscode/FSM_OOP/baseFSM/FSM.c b/vscode/FSM_OOP/baseFSM/FSM.c
index 95d6b65..83fcfec 100644
--- a/vscode/FSM_OOP/baseFSM/FSM.c
+++ b/vscode/FSM_OOP/baseFSM/FSM.c
@@ -73,37 +73,35 @@ void stepBaseFSM(FSM *pFSM)
     
     if(nextState && curState != nextState){  // 状态切换
         // 退子状态机
-        if(childFSMTable[curState] != NULL){
-            FSM *cFSM = childFSMTable[curState];
-            int cFSMCurState = cFSM->privateVars->curState;
-            cFSM->privateVars->fcns.exitActionTable[cFSMCurState](cFSM->data);
-            resetBaseFSM(cFSM);
+        if(hasChildFSM(pFSM, curState)){
+            FSM *cFSM = getChildFSM(pFSM, curState);
+            exitFSM(cFSM);
         }
-        // 退父状态机
-        fcns->exitActionTable[curState](data);
+        // 退状态机
+        doExit(pFSM);
 
         // 转移函数
-        fcns->transitionTable[index](data);   // 有特定的状态转移函数
-        fcns->transitionGeneralAction(data);    // 通用状态转移函数
+        doTransition(pFSM, index);       // 有特定的状态转移函数
+        doGeneralTransition(pFSM);      // 通用状态转移函数 
 
-        // 进父状态机
-        fcns->enterActionTable[nextState](data);
+        // 进状态机
+        doEnter(pFSM, nextState);
 
         // 进子状态机，必须从默认状态开始
-        if(childFSMTable[nextState] != NULL){
-            FSM *cFSM = childFSMTable[nextState];
+        if(hasChildFSM(pFSM, nextState)){
+            FSM *cFSM = getChildFSM(pFSM, nextState);
             Step(cFSM);
         }
-
-        pFSM->privateVars->curState = nextState;
+        setCurState(pFSM, nextState);
     }
     else    // 状态机没动
     {
-        if(childFSMTable[curState] == NULL){
-            fcns->duringActionTable[curState](data);
+        if(!hasChildFSM(pFSM, curState)){
+            doDuring(pFSM);
         }
         else{
-            Step(childFSMTable[curState]);
+            FSM *cFSM = getChildFSM(pFSM, curState);
+            Step(cFSM);
         }
     }
 }
@@ -114,12 +112,6 @@ void stepBaseFSM(FSM *pFSM)
 /* -------------------------------------------------------------------------- */
 /*                                public 函数                                 */
 /* -------------------------------------------------------------------------- */
-void resetBaseFSM(FSM *pFSM)
-{
-
-    pFSM->privateVars->curState = 0;
-}
-
 void _stepFSM(FSM *pFSM){
     pFSM->publicFcns.step(pFSM);
 }
@@ -138,6 +130,8 @@ void registerChildFSM(FSM *parent, FSM *child, int state){
     parent->privateVars->childFSMTable[state] = child;
 }
 
+
+
 const void *_getData(FSM* pFSM){
     return (const void *)pFSM->data;
 }
@@ -213,7 +207,6 @@ FSM*  newBaseFSM(int numState){
     pFSM->pureVtbl = pureVtbl;
 
     pFSM->publicFcns.step = stepBaseFSM;
-    pFSM->publicFcns.reset = resetBaseFSM;
 
     return pFSM;
 }
diff --git a/vscode/FSM_OOP/baseFSM/FSM_private.h b/vscode/FSM_OOP/baseFSM/FSM_private.h
index e1897c9..3ef762f 100644
--- a/vscode/FSM_OOP/baseFSM/FSM_private.h
+++ b/vscode/FSM_OOP/baseFSM/FSM_private.h
@@ -60,7 +60,9 @@ typedef struct FSMPrivateVars
 
 }FSMPrivateVars;
 
-
+/**
+ * @brief 纯纯空函数
+ */
 static void empty_func(){
 }
 
@@ -114,9 +116,61 @@ FSMPrivateVars* newFMSPrivateVars(int numState){
 }
 
 
-static int hasChildFSM(FSM *pFSM, int state){
+
+/* -------------------------------------------------------------------------- */
+/*                         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
diff --git a/vscode/FSM_OOP/baseFSM/FSM_protected.h b/vscode/FSM_OOP/baseFSM/FSM_protected.h
index ceaadd4..3350b23 100644
--- a/vscode/FSM_OOP/baseFSM/FSM_protected.h
+++ b/vscode/FSM_OOP/baseFSM/FSM_protected.h
@@ -134,7 +134,7 @@ typedef struct FSM
 void stepBaseFSM(FSM *pFSM);
 void constructFSM(FSM* pFSM);
 FSM*  newBaseFSM(int numState);
-void resetBaseFSM(FSM *pFSM);
+void resetFSM2Idle(FSM *pFSM);
 
 
 /* -------------------------------------------------------------------------- */

From 5240b835782720e58e84cd044ce365d4bd314306 Mon Sep 17 00:00:00 2001
From: TrashGod <974980621@qq.com>
Date: Fri, 28 Jun 2024 21:40:28 +0800
Subject: [PATCH 3/4] =?UTF-8?q?=E7=9B=AE=E5=89=8D=E7=9C=8B=E8=B5=B7?=
 =?UTF-8?q?=E6=9D=A5=E6=B2=A1=E9=97=AE=E9=A2=98=E4=BA=86=EF=BC=8C=E6=98=8E?=
 =?UTF-8?q?=E5=A4=A9=E5=8E=BB=E6=9D=BF=E5=AD=90=E4=B8=8A=E6=B5=8B=E8=AF=95?=
 =?UTF-8?q?=E4=B8=80=E4=B8=8B?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 vscode/FSM_OOP/baseFSM/FSM.c           | 54 ++++++++++++++++----------
 vscode/FSM_OOP/baseFSM/FSM_private.h   | 49 ++++++++++++++---------
 vscode/FSM_OOP/baseFSM/FSM_protected.h |  8 ++--
 vscode/FSM_OOP/baseFSM/FSM_public.h    |  4 +-
 vscode/FSM_OOP/childtest/ParentFSM.c   | 12 ++++--
 vscode/FSM_OOP/childtest/childFSM.h    |  2 -
 vscode/FSM_OOP/childtest/main.c        |  3 +-
 vscode/FSM_OOP/childtest/parentFSM.h   | 16 +++++---
 vscode/FSM_OOP/template/templateFSM.h  |  2 -
 父子状态机测试.plecs                   | 28 ++++++-------
 10 files changed, 102 insertions(+), 76 deletions(-)

diff --git a/vscode/FSM_OOP/baseFSM/FSM.c b/vscode/FSM_OOP/baseFSM/FSM.c
index 83fcfec..23b0096 100644
--- a/vscode/FSM_OOP/baseFSM/FSM.c
+++ b/vscode/FSM_OOP/baseFSM/FSM.c
@@ -27,15 +27,32 @@
  * 
  * @param pFSM 状态机变量的基类指针
  */
-static inline void setNextState(FSM* pFSM){
-    int curState = pFSM->privateVars->curState;
-
-    pFSM->signals.lastTriggeredSignal = Idle_Signal;
-    pFSM->privateVars->nextState = pFSM->privateVars->fcns.selectNextState[curState](pFSM->data, &pFSM->signals);
-    pFSM->privateVars->index = pFSM->privateVars->curState * pFSM->privateVars->numState + pFSM->privateVars->nextState;
+static inline void updateNextState(FSM* pFSM){
+    int curState = getCurState(pFSM);
 
+    
+    int nextState = doSelectNextState(pFSM, curState);
+    setNextState(pFSM, nextState); 
+    updateIndex(pFSM);
 }
 
+/**
+ * @brief 递归退出整个状态机包括其子状态机，执行exit函数
+ * 
+ * @param pFSM 状态机变量的基类指针
+ */
+static void exitFSM(FSM *pFSM)
+{
+    int curState = getCurState(pFSM);
+    if(hasChildFSM(pFSM, curState)){
+        exitFSM(getChildFSM(pFSM, curState));
+    }
+    doExit(pFSM);
+    setCurState(pFSM, Idle_State);
+}
+
+
+
 /**
  * @brief 
  * @deprecated 去掉了所有和预装载器相关的内容
@@ -59,32 +76,27 @@ static inline void preload(FSM* pFSM){
  */
 void stepBaseFSM(FSM *pFSM)
 {
-    pFSM->pureVtbl.loadExternalData(pFSM->data);
+    // pFSM->pureVtbl.loadExternalData(pFSM->data);
     // preload(pFSM);
-    setNextState(pFSM);
-    pFSM->pureVtbl.resetSignals(&pFSM->signals, pFSM->data);
+    updateNextState(pFSM);
+    doResetSignals(pFSM);
     
-    FSMHandler *fcns = &pFSM->privateVars->fcns;
-    int curState = pFSM->privateVars->curState;
-    void *data = pFSM->data;
-    FSM **childFSMTable = pFSM->privateVars->childFSMTable;
-    int index = pFSM->privateVars->index;
-    int nextState = pFSM->privateVars->nextState;
+    int curState = getCurState(pFSM);
+    int index = getIndex(pFSM);
+    int nextState = getNextState(pFSM);
     
     if(nextState && curState != nextState){  // 状态切换
-        // 退子状态机
+        // 退出子状态机
         if(hasChildFSM(pFSM, curState)){
             FSM *cFSM = getChildFSM(pFSM, curState);
             exitFSM(cFSM);
         }
-        // 退状态机
-        doExit(pFSM);
 
-        // 转移函数
-        doTransition(pFSM, index);       // 有特定的状态转移函数
+        doExit(pFSM);
+        
+        doTransition(pFSM);       // 有特定的状态转移函数
         doGeneralTransition(pFSM);      // 通用状态转移函数 
 
-        // 进状态机
         doEnter(pFSM, nextState);
 
         // 进子状态机，必须从默认状态开始
diff --git a/vscode/FSM_OOP/baseFSM/FSM_private.h b/vscode/FSM_OOP/baseFSM/FSM_private.h
index 3ef762f..b92d8d6 100644
--- a/vscode/FSM_OOP/baseFSM/FSM_private.h
+++ b/vscode/FSM_OOP/baseFSM/FSM_private.h
@@ -99,8 +99,8 @@ FSMPrivateVars* newFMSPrivateVars(int numState){
     }
     
     
-    // 包括默认状态
-    privateVars->fcns.selectNextState = calloc(numState+1, sizeof(SelectNextStateFcnPtr));
+    
+    privateVars->fcns.selectNextState = calloc(numState+1, sizeof(SelectNextStateFcnPtr)); // 包括默认状态，所以要+1
     privateVars->fcns.transitionTable = calloc(numState * numState, sizeof(TransitionFuncPtr));
     for (int i = 0; i < numState * numState; i++)
     {
@@ -110,7 +110,6 @@ FSMPrivateVars* newFMSPrivateVars(int numState){
     privateVars->fcns.transitionGeneralAction = calloc(1, sizeof(StateFuncPtr));
     privateVars->fcns.transitionGeneralAction = empty_func;
 
-    privateVars->fcns.childFSMStepTable = calloc(numState * numState, sizeof(ChildFSMStepFuncPtr));
     
     return privateVars;
 }
@@ -131,14 +130,24 @@ static inline int hasChildFSM(FSM *pFSM, int state){
 static inline void setCurState(FSM *pFSM, int state){
     pFSM->privateVars->curState = state;
 }
-
-
-
-
 static inline int getCurState(FSM *pFSM){
     return pFSM->privateVars->curState;
 }
 
+static inline int setNextState(FSM *pFSM, int state){
+    return pFSM->privateVars->nextState = state;
+}
+static inline int getNextState(FSM *pFSM){
+    return pFSM->privateVars->nextState;
+}
+
+static inline int getIndex(FSM *pFSM){
+    return pFSM->privateVars->index;
+}
+static inline void updateIndex(FSM *pFSM){
+    pFSM->privateVars->index = pFSM->privateVars->curState * pFSM->privateVars->numState + pFSM->privateVars->nextState;
+}
+
 static inline void doExit(FSM *pFSM){
     pFSM->privateVars->fcns.exitActionTable[getCurState(pFSM)](pFSM->data);
 }
@@ -156,21 +165,25 @@ static inline void doGeneralTransition(FSM *pFSM){
     pFSM->privateVars->fcns.transitionGeneralAction(pFSM->data);
 }
 
-static inline void doTransition(FSM *pFSM, int index){
+static inline void doTransition(FSM *pFSM){
+    int index = getIndex(pFSM);
     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);
+static inline int doSelectNextState(FSM *pFSM, int state){
+    return pFSM->privateVars->fcns.selectNextState[state](pFSM->data, &pFSM->signals);
 }
 
 
+
+static inline void doResetSignals(FSM *pFSM){
+    pFSM->pureVtbl.resetSignals(&pFSM->signals, pFSM->data);
+}
+
+static inline void clearLastTriggeredSignal(FSM *pFSM){
+    pFSM->signals.lastTriggeredSignal = Idle_State;
+}
+
+
+
 #endif
diff --git a/vscode/FSM_OOP/baseFSM/FSM_protected.h b/vscode/FSM_OOP/baseFSM/FSM_protected.h
index 3350b23..a969cca 100644
--- a/vscode/FSM_OOP/baseFSM/FSM_protected.h
+++ b/vscode/FSM_OOP/baseFSM/FSM_protected.h
@@ -48,7 +48,7 @@ typedef struct FSM FSM;
 typedef struct FSMSignals FSMSignals;
 typedef struct FSMPrivateVars FSMPrivateVars;
 
-typedef void (*Avoid_WARNING_State_Fcns)(void *data, FSM **childFSM);
+typedef void (*Avoid_WARNING_State_Fcns)(void *data);
 typedef void (*Avoid_WARNING_General_Handlers)(void *data);
 typedef void (*Avoid_WARNING_Transition_Handler)(void *data);
 typedef void (*Avoid_WARNING_Overrider_Fcns)(FSM *pFSM);
@@ -74,7 +74,6 @@ typedef struct FSMHandler{
     void (**duringActionTable)(void *data); /**< 状态不变时运行的函数，和plecs对标 */
     void (**exitActionTable)(void *data); /**< 状态退出时运行的函数，和plecs对标 */
 
-    void (**childFSMStepTable)(FSM **cFSM); /**< @deprecated 子状态机暂时弃用 */
 }FSMHandler;
 
 /**
@@ -88,7 +87,7 @@ typedef struct FSMSignals
     Uint16 lastTriggeredSignal; /**< 上一次触发的外部信号，用于信号清除 */
 }FSMSignals;
 #define     Idle_Signal     0   /**< 清空上次触发信号，占用第一个信号位 */
-
+#define     Idle_State      0
 /* -------------------------------------------------------------------------- */
 /*             纯虚函数，子类必须重新实现，父类构造函数不会初始化               */
 /* -------------------------------------------------------------------------- */
@@ -134,8 +133,7 @@ typedef struct FSM
 void stepBaseFSM(FSM *pFSM);
 void constructFSM(FSM* pFSM);
 FSM*  newBaseFSM(int numState);
-void resetFSM2Idle(FSM *pFSM);
-
+void registerChildFSM(FSM *parent, FSM *child, int state);
 
 /* -------------------------------------------------------------------------- */
 /*                               内联函数                                    */
diff --git a/vscode/FSM_OOP/baseFSM/FSM_public.h b/vscode/FSM_OOP/baseFSM/FSM_public.h
index 81cea86..707f71c 100644
--- a/vscode/FSM_OOP/baseFSM/FSM_public.h
+++ b/vscode/FSM_OOP/baseFSM/FSM_public.h
@@ -31,7 +31,6 @@ typedef struct FSMPublicFcns
 #define     GetData(pFSM)                    _getData((FSM*)pFSM)  /**< 外界调用这个 */
 #define     SetSignal(pFSM, signal)          _setSignal((FSM*)pFSM, signal)  /**< 外界调用这个 */
 
-
 #define     PreloaderGetReady(pFSM)          _preloaderGetReady((FSM *)pFSM);   /**< @deprecated */
 #define     GetPreloaderOverFlag(pFSM)       _getPreloaderOverFlag((FSM *)pFSM) /**< @deprecated */
 #define     ClearPreloaderOverFlag(pFSM)     _clearPreloaderOverFlag((FSM *)pFSM) /**< @deprecated */
@@ -52,7 +51,6 @@ void _preloaderGetReady(FSM *pFSM);
 int _getPreloaderOverFlag(FSM *pFSM);
 void _clearPreloaderOverFlag(FSM *pFSM);
 
-/* ---------------------------------- 子状态机 ---------------------------------- */
-void registerChildFSM(FSM *parent, FSM *child, int state);
+
 
 #endif
diff --git a/vscode/FSM_OOP/childtest/ParentFSM.c b/vscode/FSM_OOP/childtest/ParentFSM.c
index 2f73856..9e60e3c 100644
--- a/vscode/FSM_OOP/childtest/ParentFSM.c
+++ b/vscode/FSM_OOP/childtest/ParentFSM.c
@@ -8,7 +8,6 @@
 
 
 
-
 /* -------------------------------------------------------------------------- */
 /*                       纯虚函数，允许调用privateVars                        */
 /* -------------------------------------------------------------------------- */
@@ -115,9 +114,14 @@ static void step(ParentFSM* pFSM){
 }
 
 
-// 绑定子状态机
-void bindChildFSM(FSM *pFSM, FSM *cFSM){
-    registerChildFSM(pFSM, cFSM, B);
+/**
+ * @brief 绑定子状态机，需要自己实现逻辑
+ * 
+ * @param pFSM 父状态机指针
+ * @param B_FSM B状态对应的子状态机的指针，后续按照这种命名方式写
+ */
+void bind_ParentFSM_ChildFSMs(ParentFSM *pFSM, FSM *B_FSM){
+    registerChildFSM((FSM *)pFSM, B_FSM, B);
 }
 
 
diff --git a/vscode/FSM_OOP/childtest/childFSM.h b/vscode/FSM_OOP/childtest/childFSM.h
index 74b4eb4..b220cd5 100644
--- a/vscode/FSM_OOP/childtest/childFSM.h
+++ b/vscode/FSM_OOP/childtest/childFSM.h
@@ -42,8 +42,6 @@ typedef struct ChildFSMInnerData
 /* -------------------------------------------------------------------------- */
 /*                           下面的改个名字就行了                             */
 /* -------------------------------------------------------------------------- */
-#define     ChildFSM_Input(pFSM)          ((ChildFSMExternalData *)_preloadIn((FSM *)pFSM)) /**< @deprecated 暂时弃用 */
-
 typedef struct ChildFSMData
 {
     ChildFSMExternalData external;
diff --git a/vscode/FSM_OOP/childtest/main.c b/vscode/FSM_OOP/childtest/main.c
index 0d93dae..36f2615 100644
--- a/vscode/FSM_OOP/childtest/main.c
+++ b/vscode/FSM_OOP/childtest/main.c
@@ -15,7 +15,8 @@ int main(){
     cFSM = createChildFSM();
     pFSM = createParentFSM();
 
-    registerChildFSM(pFSM, cFSM, 2);
+    bind_ParentFSM_ChildFSMs(pFSM, (FSM *)cFSM);
+
     ((ParentFSMData *)GetData(cFSM))->external.x = 1;
 
     for (int k = 0; k < 15; k++)
diff --git a/vscode/FSM_OOP/childtest/parentFSM.h b/vscode/FSM_OOP/childtest/parentFSM.h
index 4f41fe4..ece41a0 100644
--- a/vscode/FSM_OOP/childtest/parentFSM.h
+++ b/vscode/FSM_OOP/childtest/parentFSM.h
@@ -1,10 +1,19 @@
 #ifndef __PARENT_FSM_H_
 #define __PARENT_FSM_H_
+
+
 /* -------------------------------------------------------------------------- */
 /*                               提前做类型声明                               */
 /* -------------------------------------------------------------------------- */
+typedef struct FSM FSM;
+typedef struct ParentFSM ParentFSM;
 
 
+/* -------------------------------------------------------------------------- */
+/*                         子状态机绑定，需要自己实现逻辑                       */
+/* -------------------------------------------------------------------------- */
+void bind_ParentFSM_ChildFSMs(ParentFSM *pFSM, FSM *B_FSM);
+
 /* -------------------------------------------------------------------------- */
 /*                               自定义数据和信号                              */
 /* -------------------------------------------------------------------------- */
@@ -41,12 +50,9 @@ typedef struct ParentFSMInnerData
 }ParentFSMInnerData;
 
 
-
-
 /* -------------------------------------------------------------------------- */
-/*                           下面的改个名字就行了                             */
+/*                          这一块改个名字就行了                             */
 /* -------------------------------------------------------------------------- */
-#define     ParentFSM_Input(pFSM)          ((ParentFSMExternalData *)_preloadIn((FSM *)pFSM)) /**< @deprecated 暂时弃用 */
 
 typedef struct ParentFSMData
 {
@@ -54,10 +60,8 @@ typedef struct ParentFSMData
     ParentFSMInnerData internal;
 }ParentFSMData;
 
-typedef struct ParentFSM ParentFSM;
 ParentFSM *createParentFSM();
 
 
 
-
 #endif
diff --git a/vscode/FSM_OOP/template/templateFSM.h b/vscode/FSM_OOP/template/templateFSM.h
index 74966c1..c244270 100644
--- a/vscode/FSM_OOP/template/templateFSM.h
+++ b/vscode/FSM_OOP/template/templateFSM.h
@@ -54,8 +54,6 @@ typedef struct TemplateFSMInnerData
 /* -------------------------------------------------------------------------- */
 /*                           下面的改个名字就行了                             */
 /* -------------------------------------------------------------------------- */
-#define     TemplateFSM_Input(pFSM)          ((TemplateFSMExternalData *)_preloadIn((FSM *)pFSM)) /**< @deprecated 暂时弃用 */
-
 typedef struct TemplateFSMData
 {
     TemplateFSMExternalData external;
diff --git a/父子状态机测试.plecs b/父子状态机测试.plecs
index 4643e69..d186e2b 100644
--- a/父子状态机测试.plecs
+++ b/父子状态机测试.plecs
@@ -47,7 +47,7 @@ Plecs {
   ScriptsDialogGeometry ""
   ScriptsDialogSplitterPos "0"
   Schematic {
-    Location      [147, 417; 789, 840]
+    Location      [306, 311; 948, 731]
     ZoomFactor    1.71498
     SliderPosition [0, 0]
     ShowBrowser   off
@@ -139,7 +139,7 @@ Plecs {
         Show          off
       }
       FSM {
-        Location       [661, 192; 2579, 1112]
+        Location       [190, 122; 1746, 914]
         ZoomFactor     0.76361
         SliderPosition [0, 47]
         FsmState {
@@ -161,8 +161,8 @@ Plecs {
         }
         FsmState {
           Name          "B"
-          Position      [1220, 400]
-          Frame         [-530, -240; 530, 240]
+          Position      [1210, 400]
+          Frame         [-520, -240; 520, 240]
           Parameter {
             Name     "EnterAction"
             Value    "printf(\" enterB \");"
@@ -177,7 +177,7 @@ Plecs {
           }
           FsmState {
             Name          "D"
-            Position      [-350, 20]
+            Position      [-340, 20]
             Frame         [-100, -90; 100, 90]
             Parameter {
               Name     "EnterAction"
@@ -194,15 +194,15 @@ Plecs {
           }
           FsmState {
             Name          ".Junction"
-            Position      [-200, -130]
+            Position      [-190, -130]
           }
           FsmState {
             Name          ".PointState"
-            Position      [-200, -170]
+            Position      [-190, -170]
           }
           FsmState {
             Name          "E"
-            Position      [230, 20]
+            Position      [240, 20]
             Frame         [-230, -90; 230, 90]
             Parameter {
               Name     "EnterAction"
@@ -571,7 +571,7 @@ Plecs {
       LabelPosition south
       Parameter {
         Variable      "DialogGeometry"
-        Value         "[782 587 655 313]"
+        Value         "[947 556 655 313]"
         Show          off
       }
       Parameter {
@@ -683,17 +683,17 @@ Plecs {
       Direction     up
       Flipped       off
       LabelPosition south
-      Location      [849, 525; 1199, 784]
+      Location      [974, 426; 1324, 693]
       State         "AAAA/wAAAAD9AAAAAgAAAAEAAAAAAAAAAPwCAAAAA/sAAAAQAFoAbwBvA"
 "G0AQQByAGUAYQAAAAAA/////wAAADQA////+wAAABQAUwBhAHYAZQBkAFYAaQBlAHcAcwAAAAAA//"
 "///wAAAGYA////+wAAAAwAVAByAGEAYwBlAHMAAAAAAP////8AAABmAP///wAAAAMAAAAAAAAAAPw"
-"BAAAAAfsAAAAUAEQAYQB0AGEAVwBpAGQAZwBlAHQAAAAAAP////8AAABQAP///wAAAV4AAADoAAAA"
+"BAAAAAfsAAAAUAEQAYQB0AGEAVwBpAGQAZwBlAHQAAAAAAP////8AAABQAP///wAAAV4AAADwAAAA"
 "BAAAAAQAAAAIAAAACPwAAAABAAAAAgAAAAEAAAAOAFQAbwBvAGwAQgBhAHIBAAAAAP////8AAAAAA"
 "AAAAA=="
       SavedViews    "AAAAAgAAAAA="
       HeaderState   "AAAA/wAAAAAAAAABAAAAAQAAAAAAAAAAAAAAAAAAAAAL/gMAAAAJAAAAA"
-"QAAAGQAAAADAAAAZAAAAAIAAABkAAAABQAAAGQAAAAEAAAAZAAAAAcAAABkAAAABgAAAGQAAAAJAA"
-"AAZAAAAAgAAABkAAAAiwAAAAsBAAABAAAAAAAAAAAAAAAAZP////8AAACBAAAAAAAAAAsAAABzAAA"
+"gAAAGQAAAAJAAAAZAAAAAgAAABkAAAABQAAAGQAAAAEAAAAZAAAAAcAAABkAAAABgAAAGQAAAABAA"
+"AAZAAAAAMAAABkAAAAiwAAAAsBAAABAAAAAAAAAAAAAAAAZP////8AAACBAAAAAAAAAAsAAABzAAA"
 "AAQAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAQAAAAAAAAAA"
 "AAAAAQAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAQAAAAAAA"
 "AAYAAAAAQAAAAAAAAPoAAAAABg="
@@ -781,4 +781,4 @@ Plecs {
     }
   }
 }
-DemoSignature "GVuBD7S6RWz7S12avKXRuEMLBGx74onrKaOKhUN+KRs="
+DemoSignature "jw8KDReJrMPoo1lAaPtOZeufBUfPGFLDXzJKLXRaW0c="

From f0c905baa9680a587224b95ddd54560329028c59 Mon Sep 17 00:00:00 2001
From: TrashGod <974980621@qq.com>
Date: Fri, 28 Jun 2024 21:44:33 +0800
Subject: [PATCH 4/4] no message

---
 vscode/FSM_OOP/childtest/ParentFSM_private.h | 10 +++-------
 1 file changed, 3 insertions(+), 7 deletions(-)

diff --git a/vscode/FSM_OOP/childtest/ParentFSM_private.h b/vscode/FSM_OOP/childtest/ParentFSM_private.h
index 01e059d..476902d 100644
--- a/vscode/FSM_OOP/childtest/ParentFSM_private.h
+++ b/vscode/FSM_OOP/childtest/ParentFSM_private.h
@@ -28,7 +28,7 @@ typedef struct ParentFSM
  */
 typedef enum _State
 {
-    Idle, /**< 必须在开头，并且枚举值=0 */
+    Idle, /**< 必须在开头，并且枚举值=0，表示空状态 */
     A,
     B,
     C,
@@ -119,14 +119,10 @@ static void actionFcn(exit, C)()
 /* -------------------------------------------------------------------------- */
 /*                                转移函数                                    */
 /* -------------------------------------------------------------------------- */
-static void transitionGeneralAction(FSM pFSM){
-    // FSM_LOG("general");
+static void transitionGeneralAction(ParentFSMData *data){
+    FSM_LOG("general");
 }
 
-// static void transitionGeneralAction(TemplateFSMData *data){
-//     FSM_LOG("general");
-// }
-
 static void transitionHandler(Idle, A)()
 {
     FSM_LOG(" Idle2A ");