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godcreator 2024-01-23 20:05:30 +08:00
commit 2bbe89d54b
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1
.gitignore vendored Normal file
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/build/

21
.vscode/c_cpp_properties.json vendored Normal file
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{
"configurations": [
{
"name": "Win32",
"includePath": [
"${workspaceFolder}\\FSM_OOP\\**"
],
"defines": [
"_DEBUG",
"UNICODE",
"_UNICODE"
],
"compilerPath": "C:\\mingw64\\bin\\gcc.exe",
"cStandard": "c99",
"cppStandard": "gnu++14",
"intelliSenseMode": "windows-gcc-x64"
}
],
"version": 4
}

34
.vscode/launch.json vendored Normal file
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{
// 使用 IntelliSense 了解相关属性。
// 悬停以查看现有属性的描述。
// 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387
"version": "0.2.0",
"configurations": [
{
"name": "gcc.exe - 生成和调试活动文件",
"type": "cppdbg",
"request": "launch",
"program": "${workspaceFolder}\\build\\test.exe",
"args": [],
"stopAtEntry": false,
"cwd": "${fileDirname}",
"environment": [],
"externalConsole": false,
"MIMode": "gdb",
"miDebuggerPath": "C:\\mingw64\\bin\\gdb.exe",
"setupCommands": [
{
"description": "为 gdb 启用整齐打印",
"text": "-enable-pretty-printing",
"ignoreFailures": true
},
{
"description": "将反汇编风格设置为 Intel",
"text": "-gdb-set disassembly-flavor intel",
"ignoreFailures": true
},
],
"preLaunchTask": "Build my project"
}
]
}

10
.vscode/settings.json vendored Normal file
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{
"files.associations": {
"filter.h": "c",
"fsm_protected.h": "c",
"keyfsm.h": "c",
"fsm_public.h": "c",
"stdio.h": "c"
},
"files.encoding": "utf8"
}

34
.vscode/tasks.json vendored Normal file
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{
"version": "2.0.0",
"options": {
"cwd": "${workspaceFolder}/build/"
},
"tasks": [
{
"label": "cmake",
"type": "shell",
"command": "cmake",
"args": [
".."
]
},
{
"label": "make",
"group":{
"kind":"build",
"isDefault":true
},
"command": "mingw32-make.exe",
"args":[
]
},
{
"label":"Build my project",
"dependsOn":[
"cmake",
"make"
]
}
]
}

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CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.28)
project(controller)
include_directories(${PROJECT_SOURCE_DIR}/FSM_OOP/baseFSM)
include_directories(${PROJECT_SOURCE_DIR}/FSM_OOP/usr)
aux_source_directory(${PROJECT_SOURCE_DIR}/FSM_OOP/baseFSM SRC_FSM_OOP)
aux_source_directory(${PROJECT_SOURCE_DIR}/FSM_OOP/usr SRC_FSM_USR)
aux_source_directory(src SRC_SUB)
aux_source_directory(. SRC_CUR)
add_executable(test ${SRC_SUB} ${SRC_CUR} ${SRC_FSM_OOP} ${SRC_FSM_USR})
include_directories(include)

126
FSM_OOP/baseFSM/FSM.c Normal file
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#include <stdlib.h>
#include <stdio.h>
#include <assert.h>
#include "FSM_private.h"
#include "FSM_protected.h"
#include "FSM_public.h"
/*
protected 函数
*/
void resetBaseFSM(FSM *pFSM)
{
if (pFSM->privateVars.fcns.exitActionTable[pFSM->privateVars.curState] != NULL)
pFSM->privateVars.fcns.exitActionTable[pFSM->privateVars.curState](pFSM);
pFSM->privateVars.curState = 0;
}
void stepBaseFSM(FSM *pFSM)
{
int index = pFSM->privateVars.curState * pFSM->privateVars.numEvent + pFSM->privateVars.curEvent;
if (pFSM->privateVars.fcns.transitionTable[index] != NULL)
{
if (pFSM->privateVars.fcns.exitActionTable[pFSM->privateVars.curState] != NULL)
pFSM->privateVars.fcns.exitActionTable[pFSM->privateVars.curState](pFSM);
pFSM->privateVars.curState = (*pFSM->privateVars.fcns.transitionTable[index])(pFSM);
if (pFSM->privateVars.fcns.enterActionTable[pFSM->privateVars.curState] != NULL)
pFSM->privateVars.fcns.enterActionTable[pFSM->privateVars.curState](pFSM);
}
else if(pFSM->privateVars.curState == 0){
pFSM->privateVars.curState = pFSM->privateVars.defaultState;
if (pFSM->privateVars.fcns.enterActionTable[pFSM->privateVars.curState] != NULL)
pFSM->privateVars.fcns.enterActionTable[pFSM->privateVars.curState](pFSM);
}
else
{
if (pFSM->privateVars.fcns.duringActionTable[pFSM->privateVars.curState] != NULL)
pFSM->privateVars.fcns.duringActionTable[pFSM->privateVars.curState](pFSM);
}
}
FSM* newBaseFSM(int numState, int numEvent, int defaultState){
typedef void (*StateFuncPtr)(FSM* pFSM);
typedef int (*TransitionFuncPtr)(FSM* pFSM);
FSM *pFSM = calloc(1, sizeof(FSM));
pFSM->privateVars.curEvent = 0;
pFSM->privateVars.curState = 0;
pFSM->privateVars.numEvent = numEvent;
pFSM->privateVars.defaultState = defaultState;
pFSM->privateVars.numChild = 0;
pFSM->privateVars.fcns.duringActionTable = calloc(numState, sizeof(StateFuncPtr));
pFSM->privateVars.fcns.enterActionTable = calloc(numState, sizeof(StateFuncPtr));
pFSM->privateVars.fcns.exitActionTable = calloc(numState, sizeof(StateFuncPtr));
pFSM->privateVars.fcns.transitionTable = calloc(numState * numEvent, sizeof(TransitionFuncPtr));
FSMVtbl vtbl = {
.reset = resetBaseFSM,
.step = stepBaseFSM,
.selectEvent = NULL,
.setupHandler = NULL,
.initData = NULL,
};
pFSM->vtbl = vtbl;
return pFSM;
}
void constructFSM(FSM* pFSM){
assert(pFSM->vtbl.setupHandler);
assert(pFSM->vtbl.initData);
pFSM->vtbl.setupHandler(&pFSM->privateVars.fcns);
pFSM->vtbl.initData(pFSM);
}
/*
public 函数
*/
int getFSMCurState(FSM *pFSM){
return pFSM->privateVars.curState;
}
int getFSMCurEvent(FSM *pFSM){
return pFSM->privateVars.curEvent;
}
void setEvent(FSM* pFSM){
assert(pFSM->vtbl.selectEvent);
int e = pFSM->vtbl.selectEvent(pFSM->data);
pFSM->privateVars.curEvent = e;
for (int i = 0; i < pFSM->privateVars.numChild; i++)
{
FSM *cFSM = pFSM->privateVars.childFSM[i];
setEvent(cFSM);
}
}
void setChildNum(FSM *pFSM, int num){
pFSM->privateVars.numChild = num;
pFSM->privateVars.childFSM = (FSM **)calloc(num, sizeof(FSM *));
}
void registerChildFSM(FSM *parent, FSM *child, int index){
parent->privateVars.childFSM[index] = child;
}
void *getData(FSM* pFSM){
return pFSM->data;
}
FSMVtbl *vptrFSM(FSM* pFSM){
return &pFSM->vtbl;
}

7
FSM_OOP/baseFSM/FSM_private.h Normal file
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#ifndef __FSM_PRIVATE_H_
#define __FSM_PRIVATE_H_
// 这个文件里函数定义和声明写一块
#endif

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FSM_OOP/baseFSM/FSM_protected.h Normal file
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#ifndef __FSM_PROTECTED_H_
#define __FSM_PROTECTED_H_
#include "FSM_public.h"
#define during
#define enter
#define exit
#define transitionHandler(event) event##Handler
#define actionFcn(action, state) state##_##action##Action
#define index(state, event) (state*Count_Event + event)
typedef struct _FSMHandler FSMHandler;
typedef void (*Avoid_WARNING_void_FSM)(FSM *pFSM);
typedef int (*Avoid_WARNING_int_FSM)(FSM *pFSM);
typedef int (*Avoid_WARNING_int_data)(void *data);
typedef void (*Avoid_WARNING_void_fcns)(FSMHandler *fcns);
typedef struct _FSM FSM;
typedef struct _FSMHandler{
int (**transitionTable)(FSM *pFSM);
void (**enterActionTable)(FSM *pFSM);
void (**duringActionTable)(FSM *pFSM);
void (**exitActionTable)(FSM *pFSM);
}FSMHandler;
typedef struct _FSMPrivateVars
{
int curState;
int defaultState; // Idle状态不能停留，必须指定一个初始状态
int curEvent;
int numEvent;
int numChild;
FSM **childFSM;
FSMHandler fcns;
}FMSPrivateVars;
// 类似于纯虚类, vptr中的函数必须继承后重新实现
typedef struct _FSM
{
// public functions
FSMVtbl vtbl;
// private
FMSPrivateVars privateVars;
// protected
void *data;
} FSM;
// protected, 子类能用, 外界用不了
int getFSMCurState(FSM *pFSM);
int getFSMCurEvent(FSM *pFSM);
void constructFSM(FSM* pFSM);
// 继承的函数
FSM *newBaseFSM(int numState, int numEvent, int defaultState);
void stepBaseFSM(FSM *pFSM);
void resetBaseFSM(FSM *pFSM);
#endif

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FSM_OOP/baseFSM/FSM_public.h Normal file
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#ifndef __FSM_PUBLIC_H_
#define __FSM_PUBLIC_H_
#define BASE_FSM(ptr) ((FSM *)(ptr))
#define BASE_PTR (FSM *)
typedef struct _FSM FSM;
typedef FSM * FSM_Ptr;
typedef struct _FSMHandler FSMHandler;
// 这几个函数可认为是虚函数, 构造函数里不会初始化FSMVtbl, 必须由子类重新实现
typedef struct _FSMVtbl {
// 状态机控制
int (*selectEvent)(void *data); // 可以认为是纯虚函数, 子类必须重新实现
void (*reset)(FSM *pFSM); // 子类重新实现可以添加一些打印信息
void (*step)(FSM *pFSM); // 子类重新实现可以添加一些打印信息
void (*initData)(FSM *pFSM); // 子类必须重新实现
void (*setupHandler)(FSMHandler *fcns); // 子类必须重新实现
}FSMVtbl;
void setEvent(FSM* pFSM);
void setChildNum(FSM *pFSM, int num);
void registerChildFSM(FSM *parent, FSM *child, int index);
void *getData(FSM* pFSM);
FSMVtbl *vptrFSM(FSM* pFSM);
#endif

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FSM_OOP/template/templateFSM.c Normal file
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#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_void_FSM)actionFcn(during, E);
fcns->duringActionTable[D] = (Avoid_WARNING_void_FSM)actionFcn(during, D);
fcns->enterActionTable[D] = (Avoid_WARNING_void_FSM)actionFcn(enter, D);
fcns->enterActionTable[E] = (Avoid_WARNING_void_FSM)actionFcn(enter, E);
fcns->exitActionTable[D] = (Avoid_WARNING_void_FSM)D_exitAction;
fcns->exitActionTable[E] = (Avoid_WARNING_void_FSM)E_exitAction;
fcns->transitionTable[index(Idle, Idle2D)] = (Avoid_WARNING_int_FSM)transitionHandler(Idle2D);
fcns->transitionTable[index(Idle, Idle2E)] = (Avoid_WARNING_int_FSM)transitionHandler(Idle2E);
fcns->transitionTable[index(D, D2E)] = (Avoid_WARNING_int_FSM)transitionHandler(D2E);
fcns->transitionTable[index(E, E2D)] = (Avoid_WARNING_int_FSM)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_void_FSM)step;
pFSM->base.vtbl.selectEvent = (Avoid_WARNING_int_data)selectEvent;
pFSM->base.vtbl.initData = (Avoid_WARNING_void_FSM)initData;
pFSM->base.vtbl.setupHandler = (Avoid_WARNING_void_fcns)setupHandler;
constructFSM((FSM_Ptr)pFSM);
return pFSM;
}

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#ifndef __TEMPLATE_FSM_H_
#define __TEMPLATE_FSM_H_
typedef struct _templateFSMData
{
int arrindex;
}TemplateFSMData;
typedef struct _TemplateFSM TemplateFSM;
TemplateFSM *createTemplateFSM();
#endif

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FSM_OOP/template/templateFSM_private.h Normal file
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#ifndef __TEMPLATE_PRIVATE_FSM_H_
#define __TEMPLATE_PRIVATE_FSM_H_
#include "FSM_protected.h"
#include "templateFSM.h"
#include <stdio.h>
/*
继承基类
*/
typedef struct _TemplateFSM
{
// 继承父类
FSM base;
}TemplateFSM;
/*
状态和对应的 action, exit, during 函数
*/
typedef enum _State
{
Idle,
D,
E,
Count_State,
} State;
#define DEFAULT_STATE E
static void actionFcn(enter, D)()
{
printf(" enterD ");
}
static void actionFcn(during, D)()
{
printf(" duringD ");
}
static void actionFcn(exit, D)()
{
printf(" exitD ");
}
static void actionFcn(enter, E)()
{
printf(" enterE ");
}
static void actionFcn(during, E)()
{
printf(" duringE ");
}
static void actionFcn(exit, E)()
{
printf(" exitE ");
}
/*
事件和对应的转移函数
*/
typedef enum _Event{
Idle_Event,
Idle2D,
Idle2E,
D2E,
E2D,
Count_Event,
}Event;
static State transitionHandler(Idle2D)()
{
printf(" Idle2D ");
return D;
}
static State transitionHandler(Idle2E)()
{
printf(" Idle2E ");
return E;
}
static State transitionHandler(D2E)()
{
printf(" D2E ");
return E;
}
static State transitionHandler(E2D)()
{
printf(" E2D ");
return D;
}
/*
用户自定义事件选择逻辑—————————————————begin
*/
const static char *stateStr[] = {
"Idle",
"D",
"E",
};
const static char *eventStr[] = {
"Idle",
"Idle2D",
"Idle2E",
"D2E",
"E2D",
};
static void printFSM(TemplateFSM* pFSM){
printf(" \t\tTemplateFSM: ");
printf("当前状态:%s, 当前事件:%s, 动作：", stateStr[getFSMCurState((FSM_Ptr)pFSM)], eventStr[getFSMCurEvent((FSM_Ptr)pFSM)]);
}
#endif

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FSM_OOP/usr/keyFSM.c Normal file
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#include <stdio.h>
#include <stdlib.h>
#include "FSM_protected.h"
#include "keyFSM.h"
#include "keyFSM_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(KeyFSMData *data){ // 必须重新实现
return ceventArr[data->arrindex];
}
static void step(KeyFSM* pFSM){
printFSM(pFSM);
stepBaseFSM(BASE_FSM(pFSM));
}
static void initData(KeyFSM *pFSM){ // 必须重新实现
KeyFSMData *data = (KeyFSMData *)malloc(sizeof(KeyFSMData));
data->arrindex = 0;
pFSM->base.data = data;
}
static void setupHandler(FSMHandler* fcns){ // 必须重新实现
fcns->duringActionTable[E] = (Avoid_WARNING_void_FSM)actionFcn(during, E);
fcns->duringActionTable[D] = (Avoid_WARNING_void_FSM)actionFcn(during, D);
fcns->enterActionTable[D] = (Avoid_WARNING_void_FSM)actionFcn(enter, D);
fcns->enterActionTable[E] = (Avoid_WARNING_void_FSM)actionFcn(enter, E);
fcns->exitActionTable[D] = (Avoid_WARNING_void_FSM)D_exitAction;
fcns->exitActionTable[E] = (Avoid_WARNING_void_FSM)E_exitAction;
fcns->transitionTable[index(Idle, Idle2D)] = (Avoid_WARNING_int_FSM)transitionHandler(Idle2D);
fcns->transitionTable[index(Idle, Idle2E)] = (Avoid_WARNING_int_FSM)transitionHandler(Idle2E);
fcns->transitionTable[index(D, D2E)] = (Avoid_WARNING_int_FSM)transitionHandler(D2E);
fcns->transitionTable[index(E, E2D)] = (Avoid_WARNING_int_FSM)transitionHandler(E2D);
}
/*
唯一外界调用的函数
*/
KeyFSM *createKeyFSM(){
KeyFSM *pFSM;
pFSM = (KeyFSM *)newBaseFSM(Count_State, Count_Event, DEFAULT_STATE);
pFSM->base.vtbl.step = (Avoid_WARNING_void_FSM)step;
pFSM->base.vtbl.selectEvent = (Avoid_WARNING_int_data)selectEvent;
pFSM->base.vtbl.initData = (Avoid_WARNING_void_FSM)initData;
pFSM->base.vtbl.setupHandler = (Avoid_WARNING_void_fcns)setupHandler;
constructFSM((FSM_Ptr)pFSM);
return pFSM;
}

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FSM_OOP/usr/keyFSM.h Normal file
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#ifndef __KEY_FSM_H_
#define __KEY_FSM_H_
typedef struct _keyFSMData
{
int arrindex;
}KeyFSMData;
typedef struct _KeyFSM KeyFSM;
KeyFSM *createKeyFSM();
#endif

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FSM_OOP/usr/keyFSM_private.h Normal file
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#ifndef __KEY_PRIVATE_FSM_H_
#define __KEY_PRIVATE_FSM_H_
#include "FSM_protected.h"
#include "keyFSM.h"
#include <stdio.h>
/*
继承基类
*/
typedef struct _KeyFSM
{
// 继承父类
FSM base;
}KeyFSM;
/*
状态和对应的 action, exit, during 函数
*/
typedef enum _State
{
Idle,
D,
E,
Count_State,
} State;
#define DEFAULT_STATE E
static void actionFcn(enter, D)()
{
printf(" enterD ");
}
static void actionFcn(during, D)()
{
printf(" duringD ");
}
static void actionFcn(exit, D)()
{
printf(" exitD ");
}
static void actionFcn(enter, E)()
{
printf(" enterE ");
}
static void actionFcn(during, E)()
{
printf(" duringE ");
}
static void actionFcn(exit, E)()
{
printf(" exitE ");
}
/*
事件和对应的转移函数
*/
typedef enum _Event{
Idle_Event,
Idle2D,
Idle2E,
D2E,
E2D,
Count_Event,
}Event;
static State transitionHandler(Idle2D)()
{
printf(" Idle2D ");
return D;
}
static State transitionHandler(Idle2E)()
{
printf(" Idle2E ");
return E;
}
static State transitionHandler(D2E)()
{
printf(" D2E ");
return E;
}
static State transitionHandler(E2D)()
{
printf(" E2D ");
return D;
}
/*
用户自定义事件选择逻辑—————————————————begin
*/
const static char *stateStr[] = {
"Idle",
"D",
"E",
};
const static char *eventStr[] = {
"Idle",
"Idle2D",
"Idle2E",
"D2E",
"E2D",
};
static void printFSM(KeyFSM* pFSM){
printf(" \t\tKeyFSM: ");
printf("当前状态:%s, 当前事件:%s, 动作：", stateStr[getFSMCurState((FSM_Ptr)pFSM)], eventStr[getFSMCurEvent((FSM_Ptr)pFSM)]);
}
#endif

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main.c Normal file
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#include <stdio.h>
int main(){
printf("hello world, 你好世界");
return 0;
}