去掉了template的默认状态，和plecs对标

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)

vscode/FSM_OOP/baseFSM/FSM.c

@@ -29,8 +29,6 @@
  */
 static inline void setNextState(FSM* pFSM){
     int curState = pFSM->privateVars->curState;
-    if(curState == 0)
-        return;
 
     pFSM->signals.lastTriggeredSignal = Idle_Signal;
     pFSM->privateVars->nextState = pFSM->privateVars->fcns.selectNextState[curState](pFSM->data, &pFSM->signals);
@@ -101,20 +99,6 @@ void stepBaseFSM(FSM *pFSM)
 
         pFSM->privateVars->curState = nextState;
     }
-    else if(curState == 0){ // 处理刚运行进入的默认状态
-        nextState = pFSM->privateVars->defaultState;
-        // 进父状态机
-        fcns->enterActionTable[nextState](data);
-        // 进子状态机
-        if(childFSMTable[nextState] != NULL){
-            FSM *cFSM = childFSMTable[nextState];
-            int cFSMNextState = cFSM->privateVars->defaultState;
-            cFSM->privateVars->fcns.enterActionTable[cFSMNextState](cFSM->data);
-            cFSM->privateVars->curState = cFSMNextState;
-        }
-
-        pFSM->privateVars->curState = nextState;
-    }
     else    // 状态机没动
     {
         if(childFSMTable[curState] == NULL){
@@ -156,11 +140,6 @@ void registerChildFSM(FSM *parent, FSM *child, int state){
     parent->privateVars->childFSMTable[state] = child;
 }
 
-
-
-
-
-
 const void *_getData(FSM* pFSM){
     return (const void *)pFSM->data;
 }
@@ -169,9 +148,6 @@ void _setSignal(FSM *pFSM, Uint16 signalFlag){
     pFSM->signals.all |= (1 << signalFlag);
 }
 
-
-
-
 /**
  * @brief 
  * @deprecated 弃用
@@ -219,14 +195,14 @@ void _clearPreloaderOverFlag(FSM *pFSM){
 /* -------------------------------------------------------------------------- */
 /*                   构造函数，分两段，先新建再赋值                            */
 /* -------------------------------------------------------------------------- */
-FSM*  newBaseFSM(int numState, int defaultState){
+FSM*  newBaseFSM(int numState){
     typedef void (*StateFuncPtr)(void *); 
     typedef void (*ChildFSMStepFuncPtr)(FSM **); 
     typedef int (*TransitionFuncPtr)(void *, int *);
     typedef int (*SelectNextStateFcnPtr)(void *, FSMSignals *);
 
     FSM *pFSM = calloc(1, sizeof(FSM));
-    pFSM->privateVars = newFMSPrivateVars(numState, defaultState);
+    pFSM->privateVars = newFMSPrivateVars(numState);
 
     FSMPureVtbl pureVtbl = {
         .setupHandler = NULL,

vscode/FSM_OOP/baseFSM/FSM_private.h

@@ -69,10 +69,9 @@ 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 
- * @param defaultState 
  * @return FSMPrivateVars* 
  */
-FSMPrivateVars* newFMSPrivateVars(int numState, int defaultState){
+FSMPrivateVars* newFMSPrivateVars(int numState){
     typedef void (*StateFuncPtr)(void *); 
     typedef void (*ChildFSMStepFuncPtr)(FSM **); 
     typedef int (*TransitionFuncPtr)(void *, int *);
@@ -80,7 +79,6 @@ FSMPrivateVars* newFMSPrivateVars(int numState, int defaultState){
 
     FSMPrivateVars *privateVars = calloc(1, sizeof(FSMPrivateVars));
     privateVars->numState = numState;
-    privateVars->defaultState = defaultState;
     privateVars->curState = 0;
     privateVars->nextState = 0;
     privateVars->childFSMTable = calloc(numState, sizeof(FSM));
@@ -99,7 +97,8 @@ FSMPrivateVars* newFMSPrivateVars(int numState, int defaultState){
     }
     
     
-    privateVars->fcns.selectNextState = calloc(numState, sizeof(SelectNextStateFcnPtr));
+    // 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++)
     {

vscode/FSM_OOP/baseFSM/FSM_protected.h

@@ -133,7 +133,7 @@ typedef struct FSM
 /* -------------------------------------------------------------------------- */
 void stepBaseFSM(FSM *pFSM);
 void constructFSM(FSM* pFSM);
-FSM*  newBaseFSM(int numState, int defaultState);
+FSM*  newBaseFSM(int numState);
 void resetBaseFSM(FSM *pFSM);
 
 

vscode/FSM_OOP/template/templateFSM.c

@@ -92,6 +92,7 @@ static void initDataLoader(TemplateFSM *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);
 
@@ -142,7 +143,7 @@ static void step(TemplateFSM* pFSM){
  */
 TemplateFSM *createTemplateFSM(){
     TemplateFSM *pFSM;
-    pFSM = (TemplateFSM *)newBaseFSM(Count_State, DEFAULT_STATE);
+    pFSM = (TemplateFSM *)newBaseFSM(Count_State);
 
     // 重新实现的函数
     pFSM->base.publicFcns.step = (Avoid_WARNING_Overrider_Fcns)step;

vscode/FSM_OOP/template/templateFSM_private.h

@@ -50,12 +50,16 @@ typedef enum _State
 
     Count_State, /**< 必须在结尾，用来统计状态数量 */
 } State;
-#define     DEFAULT_STATE       E /**< 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)(TemplateFSMData *data, FSMSignals *signals){
+    return E;
+}
+
 
 static State selectNextStateFcn(D)(TemplateFSMData *data, FSMSignals *signals){
     if(getSignal(signals, Signal_A)){