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目前看起来没问题了，明天去板子上测试一下

This commit is contained in:
TrashGod 2024-06-28 21:40:28 +08:00
parent f48889bf23
commit 5240b83578
10 changed files with 102 additions and 76 deletions
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50
vscode/FSM_OOP/baseFSM/FSM.c
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@ -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;
static inline void updateNextState(FSM* pFSM){
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);
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
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

47
vscode/FSM_OOP/baseFSM/FSM_private.h
View File

@ -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));
static inline int doSelectNextState(FSM *pFSM, int state){
return pFSM->privateVars->fcns.selectNextState[state](pFSM->data, &pFSM->signals);
}
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

8
vscode/FSM_OOP/baseFSM/FSM_protected.h
View File

@ -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 */

4
vscode/FSM_OOP/baseFSM/FSM_public.h
View File

@ -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

12
vscode/FSM_OOP/childtest/ParentFSM.c
View File

@ -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);
}

2
vscode/FSM_OOP/childtest/childFSM.h
View File

@ -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;

3
vscode/FSM_OOP/childtest/main.c
View File

@ -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++)

16
vscode/FSM_OOP/childtest/parentFSM.h
View File

@ -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

2
vscode/FSM_OOP/template/templateFSM.h
View File

@ -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;

28
父子状态机测试.plecs
View File

@ -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="