目前看起来没问题了，明天去板子上测试一下

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){
+static inline void updateNextState(FSM* pFSM){
-    int curState = pFSM->privateVars->curState;
+    int curState = getCurState(pFSM);
-
-    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;
 
+    
+    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);
+    updateNextState(pFSM);
-    pFSM->pureVtbl.resetSignals(&pFSM->signals, pFSM->data);
+    doResetSignals(pFSM);
     
-    FSMHandler *fcns = &pFSM->privateVars->fcns;
+    int curState = getCurState(pFSM);
-    int curState = pFSM->privateVars->curState;
+    int index = getIndex(pFSM);
-    void *data = pFSM->data;
+    int nextState = getNextState(pFSM);
-    FSM **childFSMTable = pFSM->privateVars->childFSMTable;
-    int index = pFSM->privateVars->index;
-    int nextState = pFSM->privateVars->nextState;
     
     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
+        doExit(pFSM);
-        doTransition(pFSM, index);       // 有特定的状态转移函数
+        
+        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

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 inline int doSelectNextState(FSM *pFSM, int state){
-static void exitFSM(FSM *pFSM)
+    return pFSM->privateVars->fcns.selectNextState[state](pFSM->data, &pFSM->signals);
-{
-    doExit(pFSM);
-
-    int curState = getCurState(pFSM);
-    if(hasChildFSM(pFSM, curState)){
-        exitFSM(getChildFSM(pFSM, curState));
-    }
-    setCurState(pFSM, 0);
 }
 
 
+
+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

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                                    */

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

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){
+ * @brief 绑定子状态机，需要自己实现逻辑
-    registerChildFSM(pFSM, cFSM, B);
+ * 
+ * @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);
 }
 
 

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;

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++)

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

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;

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]
+          Position      [1210, 400]
-          Frame         [-530, -240; 530, 240]
+          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"
+"gAAAGQAAAAJAAAAZAAAAAgAAABkAAAABQAAAGQAAAAEAAAAZAAAAAcAAABkAAAABgAAAGQAAAABAA"
-"AAZAAAAAgAAABkAAAAiwAAAAsBAAABAAAAAAAAAAAAAAAAZP////8AAACBAAAAAAAAAAsAAABzAAA"
+"AAZAAAAAMAAABkAAAAiwAAAAsBAAABAAAAAAAAAAAAAAAAZP////8AAACBAAAAAAAAAAsAAABzAAA"
 "AAQAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAQAAAAAAAAAA"
 "AAAAAQAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAQAAAAAAA"
 "AAYAAAAAQAAAAAAAAPoAAAAABg="
@@ -781,4 +781,4 @@ Plecs {
     }
   }
 }
-DemoSignature "GVuBD7S6RWz7S12avKXRuEMLBGx74onrKaOKhUN+KRs="
+DemoSignature "jw8KDReJrMPoo1lAaPtOZeufBUfPGFLDXzJKLXRaW0c="