diff --git a/test_on_28377/.cproject b/test_on_28377/.cproject index 27deca7..e223d50 100644 --- a/test_on_28377/.cproject +++ b/test_on_28377/.cproject @@ -15,8 +15,8 @@ - - - + diff --git a/test_on_28377/.launches/02code_speed_test.launch b/test_on_28377/.launches/02code_speed_test.launch deleted file mode 100644 index 59a7ca6..0000000 --- a/test_on_28377/.launches/02code_speed_test.launch +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/test_on_28377/.launches/FSM_test.launch b/test_on_28377/.launches/FSM_test.launch index 164d719..94a4d3b 100644 --- a/test_on_28377/.launches/FSM_test.launch +++ b/test_on_28377/.launches/FSM_test.launch @@ -1,28 +1,8 @@ - - - - - - - - - - - - - - - - - - - + - - @@ -32,10 +12,5 @@ - - - - - - + diff --git a/test_on_28377/main.c b/test_on_28377/main.c index c7b5e9f..d38510c 100644 --- a/test_on_28377/main.c +++ b/test_on_28377/main.c @@ -30,33 +30,33 @@ int isDown = 0; -ChildFSM *cFSM; -ParentFSM *pFSM; -void childTest(){ - - cFSM = createChildFSM(); - pFSM = createParentFSM(); - - setChildNum((pFSM), 1); - registerChildFSM((pFSM), (cFSM), 0); - - for (int i = 0; i < 15; i++) - { - ParentFSM_Input(pFSM)->arrindex = i; - SetPreloaderReady(pFSM); - - ChildFSM_Input(cFSM)->arrindex = i; - SetPreloaderReady(cFSM); - - ChildFSMData* data = getData((FSM *)(cFSM)); - printf(" %d ", data->arrindex); - - tic(); - _vptrFSM((FSM *)pFSM)->step((FSM *)pFSM); - toc(index++); - printf("\n"); - } -} +//ChildFSM *cFSM; +//ParentFSM *pFSM; +//void childTest(){ +// +// cFSM = createChildFSM(); +// pFSM = createParentFSM(); +// +// setChildNum((pFSM), 1); +// registerChildFSM((pFSM), (cFSM), 0); +// +// for (int i = 0; i < 15; i++) +// { +// ParentFSM_Input(pFSM)->arrindex = i; +// SetPreloaderReady(pFSM); +// +// ChildFSM_Input(cFSM)->arrindex = i; +// SetPreloaderReady(cFSM); +// +// ChildFSMData* data = getData((FSM *)(cFSM)); +// printf(" %d ", data->arrindex); +// +// tic(); +// _vptrFSM((FSM *)pFSM)->step((FSM *)pFSM); +// toc(index++); +// printf("\n"); +// } +//} @@ -67,24 +67,25 @@ KeyFSMData* data; void keyFSMTest(){ keyFSM = createKeyFSM(); - data = getData((FSM *)keyFSM); + data = _getData((FSM *)keyFSM); printf("hello 28377\n"); while(1){ *KeyFSM_Input(keyFSM) = !GPIO_ReadPin(INPUT_GPIO); - SetPreloaderReady(keyFSM); + PreloaderGetReady(keyFSM); + tic(); Step(keyFSM); + toc(index++); if(data->out != Idle){ - toc(++index); printf("%s\n", keyStr[data->out]); } else{ - toc(0); + index--; } DELAY_US(20*1000); @@ -125,8 +126,8 @@ void main(void) GPIO_SetupPinOptions(INPUT_GPIO, GPIO_INPUT, GPIO_PULLUP); - childTest(); -// keyFSMTest(); +// childTest(); + keyFSMTest(); // funptrTest(); } diff --git a/test_on_28377/targetConfigs/TMS320F28377D.ccxml b/test_on_28377/targetConfigs/TMS320F28377D.ccxml index 5d896ab..85ba6c4 100644 --- a/test_on_28377/targetConfigs/TMS320F28377D.ccxml +++ b/test_on_28377/targetConfigs/TMS320F28377D.ccxml @@ -1,62 +1,22 @@ - - - - - - - - - - - - - - - - - - - - - - - + - - - - - - - - - - - - - - - - - - diff --git a/vscode/.vscode/settings.json b/vscode/.vscode/settings.json index 6a6f9c2..31d996f 100644 --- a/vscode/.vscode/settings.json +++ b/vscode/.vscode/settings.json @@ -1,11 +1,46 @@ { + "terminal.integrated.profiles.windows": { + "PowerShell": { + "source": "PowerShell", + "icon": "terminal-powershell", + "args": ["-NoExit","chcp 65001"] + }, + "Command Prompt": { + "path": [ + "${env:windir}\\Sysnative\\cmd.exe", + "${env:windir}\\System32\\cmd.exe" + ], + "args": ["/K","chcp 65001"], + "icon": "terminal-cmd" + }, + "Git Bash": { + "source": "Git Bash" + } + }, + "files.associations": { "filter.h": "c", "fsm_protected.h": "c", "keyfsm.h": "c", "fsm_public.h": "c", "stdio.h": "c", - "assert.h": "c" + "assert.h": "c", + "climits": "c", + "cmath": "c", + "cstdarg": "c", + "cstdint": "c", + "cstdio": "c", + "cstdlib": "c", + "type_traits": "c", + "limits": "c", + "*.tcc": "c", + "typeinfo": "c", + "templatefsm.h": "c" }, - "files.encoding": "utf8" -} \ No newline at end of file + + + "files.encoding": "utf8", + + +} + diff --git a/vscode/CMakeLists.txt b/vscode/CMakeLists.txt index bdbcfa0..db5c3bf 100644 --- a/vscode/CMakeLists.txt +++ b/vscode/CMakeLists.txt @@ -6,7 +6,7 @@ include_directories(${PROJECT_SOURCE_DIR}/FSM_OOP/baseFSM) aux_source_directory(${PROJECT_SOURCE_DIR}/FSM_OOP/baseFSM SRC_FSM_OOP) -# set(keytest 789) +set(keytest 789) # set(child_parent 789) if(DEFINED keytest) include_directories(${PROJECT_SOURCE_DIR}/FSM_OOP/keytest) diff --git a/vscode/FSM_OOP/baseFSM/FSM.c b/vscode/FSM_OOP/baseFSM/FSM.c index 946b286..4ea05ec 100644 --- a/vscode/FSM_OOP/baseFSM/FSM.c +++ b/vscode/FSM_OOP/baseFSM/FSM.c @@ -7,148 +7,108 @@ #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->data, pFSM->privateVars.childFSM); - - pFSM->privateVars.curState = 0; -} - -static inline void setEvent(FSM* pFSM){ - assert(pFSM->vtbl.selectEvent); - pFSM->privateVars.curEvent = pFSM->vtbl.selectEvent(pFSM->data, pFSM->signals); - - if(0 == pFSM->privateVars.numChild){ - return; +/* -------------------------------------------------------------------------- */ +/* private函数 */ +/* -------------------------------------------------------------------------- */ +static inline void setNextState(FSM* pFSM){ + int curState = pFSM->privateVars.curState; + if(curState != 0){ + pFSM->privateVars.nextState = pFSM->privateVars.fcns.selectNextState[curState](pFSM->data, pFSM->signals); + pFSM->privateVars.index = pFSM->privateVars.curState * pFSM->privateVars.numState + pFSM->privateVars.nextState; } + if(0 == pFSM->privateVars.numChild) + return; + + for (int i = 0; i < pFSM->privateVars.numChild; i++) { FSM *cFSM = pFSM->privateVars.childFSM[i]; - setEvent(cFSM); + setNextState(cFSM); } } static inline void preload(FSM* pFSM){ if(pFSM->privateVars.preloader.isReady){ - memcpy(pFSM->data, pFSM->privateVars.preloader.in, pFSM->privateVars.preloader.preloadSize); + memcpy(pFSM->data, pFSM->privateVars.preloader.shadowData, pFSM->privateVars.preloader.size); pFSM->privateVars.preloader.isReady = 0; } } +static inline void resetSignals(FSM *pFSM){ + memset(pFSM->signals, 0, pFSM->signalSize); +} +/* -------------------------------------------------------------------------- */ +/* protected */ +/* -------------------------------------------------------------------------- */ void stepBaseFSM(FSM *pFSM) { preload(pFSM); - setEvent(pFSM); - pFSM->vtbl.resetSignals(pFSM); - + setNextState(pFSM); + resetSignals(pFSM); + FSMHandler *fcns = &pFSM->privateVars.fcns; int curState = pFSM->privateVars.curState; void *data = pFSM->data; FSM **childFSM = pFSM->privateVars.childFSM; - int index = pFSM->privateVars.curState * pFSM->privateVars.numEvent + pFSM->privateVars.curEvent; - int nextState; + int index = pFSM->privateVars.index; + int nextState = pFSM->privateVars.nextState; - if(fcns->delayedEvent){ - fcns->transitionDelayTable[fcns->delayedEvent](data); - fcns->delayedEvent = 0; - } - if (fcns->transitionTable[index] != NULL) - { - if (fcns->exitActionTable[curState] != NULL) - fcns->exitActionTable[curState](data, childFSM); - - nextState = (*fcns->transitionTable[index])(data, curState, &fcns->delayedEvent); - - if (fcns->enterActionTable[nextState] != NULL) - fcns->enterActionTable[nextState](data, childFSM); + if(nextState && curState != nextState){ // 状态切换 + if (fcns->transitionTable[index] != NULL) // 有特定的状态转移函数 + { + if (fcns->exitActionTable[curState] != NULL) + fcns->exitActionTable[curState](data, childFSM); + (*fcns->transitionTable[index])(data); + + if (fcns->enterActionTable[nextState] != NULL) + fcns->enterActionTable[nextState](data, childFSM); + } + if(fcns->transitionGeneralAction != NULL) + fcns->transitionGeneralAction(data); // 通用状态转移函数 pFSM->privateVars.curState = nextState; } - else if(curState == 0){ + else if(curState == 0){ // 处理刚运行进入的默认状态 nextState = pFSM->privateVars.defaultState; if (fcns->enterActionTable[nextState] != NULL) fcns->enterActionTable[nextState](data, childFSM); pFSM->privateVars.curState = nextState; } - else + else // 状态机没动 { if (fcns->duringActionTable[curState] != NULL) fcns->duringActionTable[curState](data, childFSM); } } -FSM* newBaseFSM(int numState, int numEvent, int defaultState){ - typedef void (*StateFuncPtr)(void *data); - typedef void (*ChildFSMStepFuncPtr)(FSM **cFSM); - typedef int (*TransitionFuncPtr)(void *data, int currentState); - FSM *pFSM = calloc(1, sizeof(FSM)); - pFSM->privateVars.curEvent = 0; +/* -------------------------------------------------------------------------- */ +/* public 函数 */ +/* -------------------------------------------------------------------------- */ +void resetBaseFSM(FSM *pFSM) +{ + if (pFSM->privateVars.fcns.exitActionTable[pFSM->privateVars.curState] != NULL) + pFSM->privateVars.fcns.exitActionTable[pFSM->privateVars.curState](pFSM->data, pFSM->privateVars.childFSM); + pFSM->privateVars.curState = 0; - pFSM->privateVars.numEvent = numEvent; - pFSM->privateVars.defaultState = defaultState; - pFSM->privateVars.numChild = 0; +} - pFSM->privateVars.preloader.isReady = 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)); - pFSM->privateVars.fcns.childFSMStepTable = calloc(numState * numEvent, sizeof(ChildFSMStepFuncPtr)); - pFSM->privateVars.fcns.transitionDelayTable = calloc(numEvent, sizeof(StateFuncPtr)); - - FSMVtbl vtbl = { - .reset = resetBaseFSM, - .step = stepBaseFSM, - .selectEvent = NULL, - .setupHandler = NULL, - .initData = NULL, - .initDataLoader = NULL, - .initSignals = NULL, - }; - - pFSM->vtbl = vtbl; - return pFSM; +void _stepFSM(FSM *pFSM){ + pFSM->step(pFSM); } -void constructFSM(FSM* pFSM){ - assert(pFSM->vtbl.setupHandler); - assert(pFSM->vtbl.initData); - assert(pFSM->vtbl.initDataLoader); - assert(pFSM->vtbl.initSignals); - - pFSM->vtbl.setupHandler(&pFSM->privateVars.fcns); - pFSM->vtbl.initData(pFSM); - pFSM->vtbl.initDataLoader(pFSM); - pFSM->vtbl.initSignals(pFSM); -} - - -/* - public 函数 - */ int getFSMCurState(FSM *pFSM){ return pFSM->privateVars.curState; } -int getFSMCurEvent(FSM *pFSM){ - return pFSM->privateVars.curEvent; +int getFSMNextState(FSM *pFSM){ + return pFSM->privateVars.nextState; } - - void setChildNum(FSM *pFSM, int num){ pFSM->privateVars.numChild = num; pFSM->privateVars.childFSM = (FSM **)calloc(num, sizeof(FSM *)); @@ -168,7 +128,7 @@ void *_getSignals(FSM* pFSM){ void *_preloadIn(FSM *pFSM){ - return pFSM->privateVars.preloader.in; + return pFSM->privateVars.preloader.shadowData; } void _preloaderGetReady(FSM *pFSM){ @@ -187,6 +147,70 @@ void _clearPreloaderOverFlag(FSM *pFSM){ } -FSMVtbl *_vptrFSM(FSM* pFSM){ - return &pFSM->vtbl; + + +/* -------------------------------------------------------------------------- */ +/* 构造函数，分两段，先新建再赋值 */ +/* -------------------------------------------------------------------------- */ +FSM* newBaseFSM(int numState, int defaultState){ + typedef void (*StateFuncPtr)(void *); + typedef void (*ChildFSMStepFuncPtr)(FSM **); + typedef int (*TransitionFuncPtr)(void *, int *); + typedef int (*SelectNextStateFcnPtr)(void *, void *); + + FSM *pFSM = calloc(1, sizeof(FSM)); + pFSM->privateVars.numState = numState; + pFSM->privateVars.defaultState = defaultState; + pFSM->privateVars.curState = 0; + pFSM->privateVars.nextState = 0; + pFSM->privateVars.numChild = 0; + + pFSM->privateVars.preloader.isReady = 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.selectNextState = calloc(numState, sizeof(SelectNextStateFcnPtr)); + pFSM->privateVars.fcns.transitionTable = calloc(numState * numState, sizeof(TransitionFuncPtr)); + pFSM->privateVars.fcns.transitionGeneralAction = calloc(1, sizeof(StateFuncPtr)); + + pFSM->privateVars.fcns.childFSMStepTable = calloc(numState * numState, sizeof(ChildFSMStepFuncPtr)); + + FSMPureVtbl pureVtbl = { + .setupHandler = NULL, + .initData = NULL, + .initDataLoader = NULL, + .initSignals = NULL, + }; + pFSM->pureVtbl = pureVtbl; + + pFSM->step = stepBaseFSM; + pFSM->reset = resetBaseFSM; + + return pFSM; } + + +void constructFSM(FSM* pFSM){ + assert(pFSM->pureVtbl.setupHandler); + assert(pFSM->pureVtbl.initData); + assert(pFSM->pureVtbl.initDataLoader); + assert(pFSM->pureVtbl.initSignals); + + pFSM->pureVtbl.setupHandler(&pFSM->privateVars.fcns); + pFSM->pureVtbl.initData(pFSM); + pFSM->pureVtbl.initDataLoader(pFSM); + pFSM->pureVtbl.initSignals(pFSM); + + + /* ---------------------------------- 检查状态表 --------------------------------- */ + for (int i = 1; i < pFSM->privateVars.numState; i++) // 跳过Idle状态，Idle状态只能跳转到默认状态 + { + if(!pFSM->privateVars.fcns.selectNextState[i]){ + FSM_LOG("每个状态都要有一个状态选择函数!\n"); + assert(0); // 强制退出 + } + } +} + diff --git a/vscode/FSM_OOP/baseFSM/FSM_protected.h b/vscode/FSM_OOP/baseFSM/FSM_protected.h index 565eca3..a6680f6 100644 --- a/vscode/FSM_OOP/baseFSM/FSM_protected.h +++ b/vscode/FSM_OOP/baseFSM/FSM_protected.h @@ -17,93 +17,118 @@ #define FSM_LOG(...) ((void)0) #endif -#define delay delay #define during during #define enter enter #define exit exit -#define transitionHandler(event) event##Handler -#define delayHanlder(event) event##DelayHandler -#define actionFcn(action, state) state##_##action##Action -#define index(state, event) (state*Count_Event + event) +#define selectNextStateFcn(curstate) curstate##_##selectNextState +#define transitionHandler(curstate, nextstate) curstate##2##nextstate##Handler +#define actionFcn(action, curstate) curstate##_##action##Action +#define index(curstate, nextstate) (curstate*Count_State + nextstate) + +#define addSelectNextStateFcn(curstate) fcns->selectNextState[curstate] = (Avoid_WARNING_SelectNextState)selectNextStateFcn(curstate) +#define addStateActionFcn(type, state) fcns->type##ActionTable[state] = (Avoid_WARNING_State_Fcns)actionFcn(type, state) +#define addTransitionHandler(curstate, nextstate) fcns->transitionTable[index(curstate, nextstate)] = (Avoid_WARNING_Transition_Handler)transitionHandler(curstate, nextstate) + + typedef struct _FSMHandler FSMHandler; +typedef struct _FSM FSM; + typedef void (*Avoid_WARNING_State_Fcns)(void *data, FSM **childFSM); -typedef void (*Avoid_WARNING_Delay_Handlers)(void *data); -typedef int (*Avoid_WARNING_Transition_Handler)(void *data, int curState, int *); +typedef void (*Avoid_WARNING_General_Handlers)(void *data); +typedef void (*Avoid_WARNING_Transition_Handler)(void *data); typedef void (*Avoid_WARNING_Overrider_Fcns)(FSM *pFsm); -typedef int (*Avoid_WARNING_SelectEvent)(void *data, void *signals); +typedef int (*Avoid_WARNING_SelectNextState)(void *data, void *signals); typedef void (*Avoid_WARNING_void_fcns)(FSMHandler *fcns); - -#define addStateActionFcn(type, state) fcns->type##ActionTable[state] = (Avoid_WARNING_State_Fcns)actionFcn(type, state) -#define addTransitionHandler(state, event) fcns->transitionTable[index(state, event)] = (Avoid_WARNING_Transition_Handler)transitionHandler(event) -#define addDelayHandler(event) fcns->transitionDelayTable[event] = (Avoid_WARNING_Delay_Handlers)delayHanlder(event) +/* -------------------------------------------------------------------------- */ +/* private数据类型，但是不能声明到private.h里 */ +/* -------------------------------------------------------------------------- */ - -typedef struct _FSM FSM; typedef struct _FSMHandler{ - int (**transitionTable)(void *data, int currentState, int *); + int (**selectNextState)(void *data, void *signals); + + void (**transitionTable)(void *data); + void (*transitionGeneralAction)(void *data); void (**enterActionTable)(void *data, FSM **cFSM); void (**duringActionTable)(void *data, FSM **cFSM); void (**exitActionTable)(void *data, FSM **cFSM); - int delayedEvent; - void (**transitionDelayTable)(void *data); - void (**childFSMStepTable)(FSM **cFSM); }FSMHandler; typedef struct _FSMDataLoader { - void *in; + void *shadowData; int isReady; int isOverflow; - size_t preloadSize; + size_t size; }FSMDataLoader; typedef struct _FSMPrivateVars { - int curState; + int numState; int defaultState; // Idle状态不能停留，必须指定一个初始状态 - - int curEvent; - int numEvent; - - FSMDataLoader preloader; + + int curState; + int nextState; + int index; FSMHandler fcns; int numChild; FSM **childFSM; + + FSMDataLoader preloader; + }FMSPrivateVars; -// 类似于纯虚类, vptr中的函数必须继承后重新实现 + +/* -------------------------------------------------------------------------- */ +/* 纯虚函数，子类必须重新实现，父类构造函数不会初始化 */ +/* -------------------------------------------------------------------------- */ +typedef struct _FSMPureVtbl { + // 状态机控制 + void (*initData)(FSM *pFSM); // =0子类必须重新实现 + void (*initSignals)(FSM *pFSM); // =0子类必须重新实现 + void (*setupHandler)(FSMHandler *fcns); // =0子类必须重新实现 + void (*initDataLoader)(FSM *pFSM); // =0子类必须重新实现 +}FSMPureVtbl; + + +/* -------------------------------------------------------------------------- */ +/* 基类定义，纯虚类 */ +/* -------------------------------------------------------------------------- */ typedef struct _FSM { // public functions - FSMVtbl vtbl; - - // private - FMSPrivateVars privateVars; + void (*step)(FSM *pFSM); // 子类重新实现可以添加一些打印信息 + void (*reset)(FSM *pFSM); // 子类重新实现可以添加一些打印信息 // protected + FSMPureVtbl pureVtbl; + void *data; void *signals; + int signalSize; + // private + FMSPrivateVars privateVars; } FSM; -// protected, 子类能用, 外界用不了 -void constructFSM(FSM* pFSM); - -// 继承的函数 -FSM *newBaseFSM(int numState, int numEvent, int defaultState); +/* -------------------------------------------------------------------------- */ +/* protected函数，子类能用外界用不了 */ +/* -------------------------------------------------------------------------- */ void stepBaseFSM(FSM *pFSM); + +void constructFSM(FSM* pFSM); +FSM* newBaseFSM(int numState, int defaultState); void resetBaseFSM(FSM *pFSM); diff --git a/vscode/FSM_OOP/baseFSM/FSM_public.h b/vscode/FSM_OOP/baseFSM/FSM_public.h index a394855..69ee93a 100644 --- a/vscode/FSM_OOP/baseFSM/FSM_public.h +++ b/vscode/FSM_OOP/baseFSM/FSM_public.h @@ -1,3 +1,11 @@ +/* + * @Author: godcreator02 qq974980621@gmail.com + * @Date: 2024-04-20 18:52:14 + * @LastEditors: godcreator02 qq974980621@gmail.com + * @LastEditTime: 2024-04-23 19:34:34 + * @FilePath: \vscode\FSM_OOP\baseFSM\FSM_public.h + * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE + */ #ifndef __FSM_PUBLIC_H_ #define __FSM_PUBLIC_H_ @@ -6,30 +14,17 @@ typedef struct _FSM FSM; -#define Step(pFSM) _vptrFSM((FSM *)pFSM)->step((FSM *)pFSM) +#define Step(pFSM) _stepFSM((FSM *)pFSM) #define PreloaderGetReady(pFSM) _preloaderGetReady((FSM *)pFSM); #define GetPreloaderOverFlag(pFSM) _getPreloaderOverFlag((FSM *)pFSM) #define ClearPreloaderOverFlag(pFSM) _clearPreloaderOverFlag((FSM *)pFSM) #define GetData(pFSM) _getData((FSM*)pFSM) -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, void *signals); // 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 (*initSignals)(FSM *pFSM); // 子类必须重新实现 - void (*resetSignals)(FSM *pFSM); // 子类必须重新实现 - void (*setupHandler)(FSMHandler *fcns); // 子类必须重新实现 - void (*initDataLoader)(FSM *pFSM); // 子类必须重新实现 -}FSMVtbl; - +void _stepFSM(FSM *pFSM); /* --------------------------------- 状态机信息获取 -------------------------------- */ int getFSMCurState(FSM *pFSM); -int getFSMCurEvent(FSM *pFSM); +int getFSMNextState(FSM *pFSM); void setChildNum(FSM *pFSM, int num); void registerChildFSM(FSM *parent, FSM *child, int index); @@ -43,7 +38,6 @@ void _preloaderGetReady(FSM *pFSM); int _getPreloaderOverFlag(FSM *pFSM); void _clearPreloaderOverFlag(FSM *pFSM); -FSMVtbl *_vptrFSM(FSM* pFSM); #endif \ No newline at end of file diff --git a/vscode/FSM_OOP/childtest/ParentFSM.c b/vscode/FSM_OOP/childtest/ParentFSM.c index b145f7a..a84f4b8 100644 --- a/vscode/FSM_OOP/childtest/ParentFSM.c +++ b/vscode/FSM_OOP/childtest/ParentFSM.c @@ -88,17 +88,17 @@ void B_enterAction(void *data, FSM **childFSM){ FSM_LOG(" enterB "); FSM *cFSM = childFSM[0]; - cFSM->vtbl.step(cFSM); + cFSM->pureVtbl.step(cFSM); } void B_duringAction(void *data, FSM **childFSM){ FSM_LOG(" duringB "); FSM *cFSM = childFSM[0]; - cFSM->vtbl.step(cFSM); + cFSM->pureVtbl.step(cFSM); } void B_exitAction(void *data, FSM **childFSM){ FSM *cFSM = childFSM[0]; - cFSM->vtbl.reset(cFSM); + cFSM->pureVtbl.reset(cFSM); FSM_LOG(" exitB "); } @@ -171,7 +171,7 @@ static void printFSM(ParentFSM* pFSM){ static void step(ParentFSM* pFSM){ printFSM(pFSM); - stepBaseFSM(BASE_FSM(pFSM)); + _stepFSM(BASE_FSM(pFSM)); } static void reset(ParentFSM* pFSM){ @@ -197,11 +197,11 @@ ParentFSM *createParentFSM(){ ParentFSM *pFSM; pFSM = (ParentFSM *)newBaseFSM(Count_State, Count_Event, DEFAULT_STATE); - pFSM->base.vtbl.step = step; - pFSM->base.vtbl.selectEvent = selectEvent; - pFSM->base.vtbl.initData = initData; - pFSM->base.vtbl.setupHandler = setupHandler; - pFSM->base.vtbl.initDataLoader = initDataLoader; + pFSM->base.pureVtbl.step = step; + pFSM->base.pureVtbl.selectNextState = selectEvent; + pFSM->base.pureVtbl.initData = initData; + pFSM->base.pureVtbl.setupHandler = setupHandler; + pFSM->base.pureVtbl.initDataLoader = initDataLoader; constructFSM((FSM *)pFSM); return pFSM; diff --git a/vscode/FSM_OOP/childtest/childFSM.c b/vscode/FSM_OOP/childtest/childFSM.c index c3b1c63..e887f19 100644 --- a/vscode/FSM_OOP/childtest/childFSM.c +++ b/vscode/FSM_OOP/childtest/childFSM.c @@ -29,7 +29,7 @@ static Event selectEvent(ChildFSMData *data){ // 必须重新实现 static void step(ChildFSM* pFSM){ printFSM(pFSM); - stepBaseFSM(BASE_FSM(pFSM)); + _stepFSM(BASE_FSM(pFSM)); } static void initData(ChildFSM *pFSM){ // 必须重新实现 @@ -70,11 +70,11 @@ ChildFSM *createChildFSM(){ ChildFSM *pFSM; pFSM = (ChildFSM *)newBaseFSM(Count_State, Count_Event, DEFAULT_STATE); - pFSM->base.vtbl.step = step; - pFSM->base.vtbl.selectEvent = selectEvent; - pFSM->base.vtbl.initData = initData; - pFSM->base.vtbl.setupHandler = setupHandler; - pFSM->base.vtbl.initDataLoader = initDataLoader; + pFSM->base.pureVtbl.step = step; + pFSM->base.pureVtbl.selectNextState = selectEvent; + pFSM->base.pureVtbl.initData = initData; + pFSM->base.pureVtbl.setupHandler = setupHandler; + pFSM->base.pureVtbl.initDataLoader = initDataLoader; constructFSM((FSM *)pFSM); diff --git a/vscode/FSM_OOP/keytest/keyFSM.c b/vscode/FSM_OOP/keytest/keyFSM.c index 575b107..b8b0467 100644 --- a/vscode/FSM_OOP/keytest/keyFSM.c +++ b/vscode/FSM_OOP/keytest/keyFSM.c @@ -1,39 +1,22 @@ +/* + * @Author: godcreator02 qq974980621@gmail.com + * @Date: 2024-04-20 19:02:11 + * @LastEditors: godcreator02 qq974980621@gmail.com + * @LastEditTime: 2024-04-23 19:37:03 + * @FilePath: \vscode\FSM_OOP\keytest\keyFSM.c + * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE + */ #include #include +#include #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 selectEvent(KeyFSMData *data){ // 必须重新实现 - - if(data->countDelay == 10){ - return HoldCount4; - } - else if(data->countDelay == 5){ - return DelayCount3; - } - else if(data->in == Up){ - return PhsicalUp; - } - else{ - return PhsicalDown; - } -} - -static void step(KeyFSM* pFSM){ - printFSM(pFSM); - stepBaseFSM((FSM *)pFSM); - - KeyFSMData * data = pFSM->base.data; - - FSM_LOG("\t信号:%d, 计数%d ", data->out, data->countDelay); -} - +/* -------------------------------------------------------------------------- */ +/* 纯虚函数，允许调用privateVars */ +/* -------------------------------------------------------------------------- */ static void initData(KeyFSM *pFSM){ // 必须重新实现 KeyFSMData *data = (KeyFSMData *)malloc(sizeof(KeyFSMData)); data->countDelay = 0; @@ -42,14 +25,34 @@ static void initData(KeyFSM *pFSM){ // 必须重新实现 data->out = Idle; pFSM->base.data = data; + + pFSM->base.signals = &data->out; } static void initDataLoader(KeyFSM *pFSM){ // 必须重新实现 - pFSM->base.privateVars.preloader.in = malloc(sizeof(KeyIn)); - pFSM->base.privateVars.preloader.preloadSize = sizeof(KeyIn); + pFSM->base.privateVars.preloader.shadowData = malloc(sizeof(KeyIn)); + pFSM->base.privateVars.preloader.size = sizeof(KeyIn); } +static void initSignals(KeyFSM *pFSM){ // 必须重新实现 + pFSM->base.signalSize = sizeof(KeyOutSignal); +} + + static void setupHandler(FSMHandler* fcns){ // 必须重新实现 + /* ------------------------------- 添加下一个状态选择函数 ------------------------------ */ + addSelectNextStateFcn(Waiting); + addSelectNextStateFcn(DownDebouncing); + addSelectNextStateFcn(Downing); + addSelectNextStateFcn(Holding); + addSelectNextStateFcn(HoldUpDebouncing); + addSelectNextStateFcn(UpDebouncing); + addSelectNextStateFcn(MultiDownWaiting); + addSelectNextStateFcn(MultiDowning); + addSelectNextStateFcn(MultiDownDebouncing); + + + /* ----------------------- 添加状态中事件，action during exit ----------------------- */ addStateActionFcn(enter, Waiting); addStateActionFcn(during, DownDebouncing); addStateActionFcn(during, Downing); @@ -61,25 +64,31 @@ static void setupHandler(FSMHandler* fcns){ // 必须重新实现 addStateActionFcn(during, MultiDownDebouncing); - addTransitionHandler(Waiting, PhsicalDown); - addTransitionHandler(DownDebouncing, PhsicalUp); - addTransitionHandler(DownDebouncing, DelayCount3); - addTransitionHandler(Downing, PhsicalUp); - addTransitionHandler(Downing, HoldCount4); - addTransitionHandler(UpDebouncing, PhsicalDown); - addTransitionHandler(UpDebouncing, DelayCount3); - addTransitionHandler(Holding, PhsicalUp); - addTransitionHandler(MultiDownWaiting, PhsicalDown); - addTransitionHandler(MultiDownWaiting, DelayCount3); - addTransitionHandler(MultiDowning, PhsicalUp); - addTransitionHandler(HoldUpDebouncing, PhsicalDown); - addTransitionHandler(HoldUpDebouncing, DelayCount3); - addTransitionHandler(MultiDownDebouncing, DelayCount3); - addTransitionHandler(MultiDownDebouncing, PhsicalUp); + /* --------------------------- 添加转移函数和转移函数对应的Delay -------------------------- */ + addTransitionHandler(DownDebouncing, Downing); + addTransitionHandler(UpDebouncing, MultiDownWaiting); + addTransitionHandler(MultiDownDebouncing, MultiDowning); + addTransitionHandler(Downing, Holding); + addTransitionHandler(MultiDownWaiting, Waiting); - addDelayHandler(DelayCount3); + + fcns->transitionGeneralAction = (Avoid_WARNING_General_Handlers)transitionGeneralAction; } + +/* -------------------------------------------------------------------------- */ +/* 其他重新实现的函数，父类已有实现，实现多态 */ +/* -------------------------------------------------------------------------- */ +static void step(KeyFSM* pFSM){ + printFSM(pFSM); + stepBaseFSM(BASE_FSM(pFSM)); + + KeyFSMData * data = pFSM->base.data; + + FSM_LOG("\t信号:%d, 计数%d ", data->out, data->countDelay); +} + + /* 唯一外界调用的函数 */ @@ -87,16 +96,15 @@ static void setupHandler(FSMHandler* fcns){ // 必须重新实现 KeyFSM *createKeyFSM(){ KeyFSM *pFSM; - pFSM = (KeyFSM *)newBaseFSM(Count_State, Count_Event, DEFAULT_STATE); + pFSM = (KeyFSM *)newBaseFSM(Count_State, DEFAULT_STATE); #ifndef DSP28377 - pFSM->base.vtbl.step = (Avoid_WARNING_Overrider_Fcns)step; + pFSM->base.step = (Avoid_WARNING_Overrider_Fcns)step; #endif - - pFSM->base.vtbl.selectEvent = (Avoid_WARNING_SelectEvent)selectEvent; - pFSM->base.vtbl.setupHandler = (Avoid_WARNING_void_fcns)setupHandler; - pFSM->base.vtbl.initData = (Avoid_WARNING_Overrider_Fcns)initData; - pFSM->base.vtbl.initDataLoader = (Avoid_WARNING_Overrider_Fcns)initDataLoader; + pFSM->base.pureVtbl.setupHandler = (Avoid_WARNING_void_fcns)setupHandler; + pFSM->base.pureVtbl.initData = (Avoid_WARNING_Overrider_Fcns)initData; + pFSM->base.pureVtbl.initDataLoader = (Avoid_WARNING_Overrider_Fcns)initDataLoader; + pFSM->base.pureVtbl.initSignals = (Avoid_WARNING_Overrider_Fcns)initSignals; constructFSM((FSM *)pFSM); diff --git a/vscode/FSM_OOP/keytest/keyFSM.h b/vscode/FSM_OOP/keytest/keyFSM.h index 620b002..717290e 100644 --- a/vscode/FSM_OOP/keytest/keyFSM.h +++ b/vscode/FSM_OOP/keytest/keyFSM.h @@ -10,7 +10,7 @@ typedef enum _keyIn{ }KeyIn; -typedef enum _keyOutSignal{ +typedef enum _keyOutSignals{ Idle, Down, Hold, diff --git a/vscode/FSM_OOP/keytest/keyFSM_private.h b/vscode/FSM_OOP/keytest/keyFSM_private.h index 2e290fe..48122bb 100644 --- a/vscode/FSM_OOP/keytest/keyFSM_private.h +++ b/vscode/FSM_OOP/keytest/keyFSM_private.h @@ -26,19 +26,119 @@ typedef enum _State DownDebouncing, Downing, Holding, + HoldUpDebouncing, UpDebouncing, MultiDownWaiting, MultiDowning, - HoldUpDebouncing, MultiDownDebouncing, Count_State, } State; #define DEFAULT_STATE Waiting +/* -------------------------------------------------------------------------- */ +/* 下一个状态选择函数 */ +/* -------------------------------------------------------------------------- */ +static State selectNextStateFcn(Waiting)(KeyFSMData *data){ + if(data->in == Down){ + FSM_LOG(" 物理按键按下 "); + return DownDebouncing; + } + return Idle_State; +} +static State selectNextStateFcn(DownDebouncing)(KeyFSMData *data){ + if(data->in == Up){ + FSM_LOG(" 物理按键松开 "); + return Waiting; + } + else if(data->countDelay == 5){ + return Downing; + } + return Idle_State; +} + +static State selectNextStateFcn(Downing)(KeyFSMData *data){ + if(data->in == Up){ + FSM_LOG(" 物理按键松开 "); + return UpDebouncing; + } + else if(data->countDelay == 10){ + return Holding; + } + return Idle_State; +} + +static State selectNextStateFcn(Holding)(KeyFSMData *data){ + if(data->in == Up){ + FSM_LOG(" 物理按键松开 "); + return HoldUpDebouncing; + } + return Idle_State; +} + +static State selectNextStateFcn(HoldUpDebouncing)(KeyFSMData *data){ + if(data->in == Down){ + FSM_LOG(" 物理按键按下 "); + return Holding; + } + else if(data->countDelay == 5){ + return Waiting; + } + return Idle_State; +} + +static State selectNextStateFcn(UpDebouncing)(KeyFSMData *data){ + if(data->in == Down){ + FSM_LOG(" 物理按键按下 "); + if(data->countMultiDown){ + return MultiDowning; + } + else{ + return Downing; + } + } + else if(data->countDelay == 5){ + return MultiDownWaiting; + } + + return Idle_State; +} + +static State selectNextStateFcn(MultiDownWaiting)(KeyFSMData *data){ + if(data->in == Down){ + FSM_LOG(" 物理按键按下 "); + return MultiDownDebouncing; + } + else if(data->countDelay == 5){ + return Waiting; + } + return Idle_State; +} + +static State selectNextStateFcn(MultiDowning)(KeyFSMData *data){ + if(data->in == Up){ + FSM_LOG(" 物理按键松开 "); + return UpDebouncing; + } + return Idle_State; +} + +static State selectNextStateFcn(MultiDownDebouncing)(KeyFSMData *data){ + if(data->in == Up){ + FSM_LOG(" 物理按键松开 "); + return MultiDownWaiting; + } + else if(data->countDelay == 5){ + return MultiDowning; + } + return Idle_State; +} + +/* -------------------------------------------------------------------------- */ +/* 对应的 action, exit, during 函数 */ +/* -------------------------------------------------------------------------- */ static void actionFcn(enter, Waiting)(KeyFSMData* data){ - data->out = Idle; data->countDelay = 0; data->countMultiDown = 0; @@ -101,143 +201,48 @@ static void actionFcn(during, MultiDownDebouncing)(KeyFSMData* data) } - - -/* - 事件和对应的转移函数 - */ - -typedef enum _Event{ - Idle_Event, - PhsicalDown, - PhsicalUp, - DelayCount3, - HoldCount4, - - Count_Event, -}Event; - -static State transitionHandler(PhsicalDown)(KeyFSMData* data, State curState, int *isDelayExecuted) -{ - FSM_LOG(" 物理按键按下 "); +/* -------------------------------------------------------------------------- */ +/* 转移函数 */ +/* -------------------------------------------------------------------------- */ +void transitionGeneralAction(KeyFSMData *data){ data->countDelay = 0; - - switch (curState) - { - case Waiting: - return DownDebouncing; - - case UpDebouncing: - if(data->countMultiDown) - return MultiDowning; - else - return Downing; - - case HoldUpDebouncing: - return Holding; - - case MultiDownWaiting: - return MultiDownDebouncing; - - - default: - FSM_LOG("检查状态转移表设计，不应该到这里"); - assert(0); - - } } -static State transitionHandler(PhsicalUp)(KeyFSMData* data, State curState, Event *delayedEvent) -{ - FSM_LOG(" 物理按键松开 "); - data->countDelay = 0; - - switch (curState) - { - case DownDebouncing: - if(data->countMultiDown){ - return MultiDownWaiting; - } - return Waiting; - - case Downing: - return UpDebouncing; - case Holding: - return HoldUpDebouncing; - - case MultiDowning: - return UpDebouncing; - - default: - FSM_LOG("检查状态转移表设计，不应该到这里"); - assert(0); - - } +static State transitionHandler(DownDebouncing, Downing)(KeyFSMData* data){ + data->out = Down; } -static void delayHanlder(DelayCount3)(KeyFSMData* data){ + +static State transitionHandler(UpDebouncing, MultiDownWaiting)(KeyFSMData* data){ data->out = Idle; + data->countMultiDown++; } -static State transitionHandler(DelayCount3)(KeyFSMData* data, State curState, Event *delayedEvent){ - FSM_LOG(" 延迟计数到3 "); - data->countDelay = 0; - - switch (curState) +static State transitionHandler(MultiDownDebouncing, MultiDowning)(KeyFSMData* data){ + switch (data->countMultiDown + 1) { - case DownDebouncing: - data->out = Down; - *delayedEvent = DelayCount3; - - FSM_LOG("按键按下"); - return Downing; - - case UpDebouncing: - data->out = Idle; - data->countMultiDown++; - - FSM_LOG("按键松开"); - return MultiDownWaiting; - - case MultiDownWaiting: - return Waiting; - - case HoldUpDebouncing: - return Waiting; - - case MultiDownDebouncing: - switch (data->countMultiDown + 1) - { - case 2: - data->out = Down_2times; - break; - case 3: - data->out = Down_3times; - break; - - default: - printf("reach MultiDown Limit!\n"); - break; - } - FSM_LOG(" 多击%d ", data->countMultiDown+1); - *delayedEvent = DelayCount3; - return MultiDowning; - + case 2: + data->out = Down_2times; + break; + case 3: + data->out = Down_3times; + break; + default: - FSM_LOG("检查状态转移表设计，不应该到这里"); - assert(0); + printf("reach MultiDown Limit!\n"); + break; } + FSM_LOG(" 多击%d ", data->countMultiDown+1); } -static State transitionHandler(HoldCount4)(KeyFSMData* data, State curState, int *isDelayExecuted){ - FSM_LOG(" 计数到2进入长按模式 "); - data->countDelay = 0; - +static State transitionHandler(Downing, Holding)(KeyFSMData* data){ data->out = Hold; - return Holding; } +static State transitionHandler(MultiDownWaiting, Waiting)(KeyFSMData* data){ + data->countMultiDown = 0; +} @@ -250,23 +255,17 @@ const static char *stateStr[] = { "DownDebouncing", "Downing", "Holding", + "HoldUpDebouncing", "UpDebouncing", "MultiDownWaiting", "MultiDowning", - "HoldUpDebouncing", "MultiDownDebouncing", }; -const static char *eventStr[] = { - "Idle", - "PhsicalDown", - "PhsicalUp", - "DelayCount3", - "HoldCount4", -}; + static void printFSM(KeyFSM* pFSM){ KeyFSMData* data = pFSM->base.data; FSM_LOG("KeyFSM: "); - FSM_LOG("%d, 当前状态:%s, \t当前事件:%s \t转移：", data->countDelay, stateStr[getFSMCurState((FSM *)pFSM)], eventStr[getFSMCurEvent((FSM *)pFSM)]); + FSM_LOG("%d, 当前状态:%s, \t上一个下次事件:%s \t转移：", data->countDelay, stateStr[getFSMCurState((FSM *)pFSM)], stateStr[getFSMNextState((FSM *)pFSM)]); } diff --git a/vscode/FSM_OOP/template/main.c b/vscode/FSM_OOP/template/main.c index f553d87..cbdf941 100644 --- a/vscode/FSM_OOP/template/main.c +++ b/vscode/FSM_OOP/template/main.c @@ -1,3 +1,11 @@ +/* + * @Author: godcreator02 qq974980621@gmail.com + * @Date: 2024-04-20 18:52:14 + * @LastEditors: godcreator02 qq974980621@gmail.com + * @LastEditTime: 2024-04-20 20:26:40 + * @FilePath: \vscode\FSM_OOP\template\main.c + * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE + */ #include #include "templateFSM.h" @@ -19,11 +27,11 @@ int main(){ int ovflag = GetPreloaderOverFlag(pFSM); - if(i == 10){ + if(i == 3){ TemplateFSM_Signals(pFSM)->signalA = 1; } - if(i == 11){ - TemplateFSM_Signals(pFSM)->signalB = 1; + if(i == 4){ + TemplateFSM_Signals(pFSM)->signalA = 1; } printf("%d, " ,i); diff --git a/vscode/FSM_OOP/template/templateFSM.c b/vscode/FSM_OOP/template/templateFSM.c index 43376d4..4c2b171 100644 --- a/vscode/FSM_OOP/template/templateFSM.c +++ b/vscode/FSM_OOP/template/templateFSM.c @@ -1,3 +1,11 @@ +/* + * @Author: godcreator02 qq974980621@gmail.com + * @Date: 2024-04-20 20:08:03 + * @LastEditors: godcreator02 qq974980621@gmail.com + * @LastEditTime: 2024-04-23 19:30:13 + * @FilePath: \vscode\FSM_OOP\template\templateFSM.c + * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE + */ #include #include #include @@ -6,84 +14,45 @@ #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, - Idle_Event, - Idle_Event, - Idle_Event, -}; - -static Event selectEvent(TemplateFSMData *data, TemplateFSMSignals *signals){ // 必须重新实现 - if(signals->signalA){ - return E2D; - } - if(signals->signalB){ - return D2E; - } - - return ceventArr[data->in.arrindex]; -} - -static void step(TemplateFSM* pFSM){ - printFSM(pFSM); - stepBaseFSM(BASE_FSM(pFSM)); -} - +/* -------------------------------------------------------------------------- */ +/* 纯虚函数，允许调用privateVars */ +/* -------------------------------------------------------------------------- */ static void initData(TemplateFSM *pFSM){ // 必须重新实现 TemplateFSMData *data = (TemplateFSMData *)malloc(sizeof(TemplateFSMData)); + TemplateFSMData tempData = { - .in = { + .external = { .arrindex = 0, .x = 0, }, - .inner1 = 0, - .y1 = 0, + .inner = { + .inner1 = 0, + .y1 = 0, + }, }; *data = tempData; pFSM->base.data = data; } - -static void initSignals(TemplateFSM *pFSM){ - TemplateFSMSignals *signals = (TemplateFSMSignals *)malloc(sizeof(TemplateFSMSignals)); - TemplateFSMSignals tempSignals = { - .signalA = 0, - .signalB = 0, - }; - *signals = tempSignals; - pFSM->base.signals = signals; -} - -static void resetSignals(TemplateFSM *pFSM){ - memset(pFSM->base.signals, 0, sizeof(TemplateFSMSignals)); -} - - - static void initDataLoader(TemplateFSM *pFSM){ // 必须重新实现 - pFSM->base.privateVars.preloader.in = malloc(sizeof(TemplateFSMIn)); - pFSM->base.privateVars.preloader.preloadSize = sizeof(TemplateFSMIn); + pFSM->base.privateVars.preloader.shadowData = malloc(sizeof(TemplateFSMExternalData)); + pFSM->base.privateVars.preloader.size = sizeof(TemplateFSMExternalData); } +static void initSignals(TemplateFSM *pFSM){ // 必须重新实现 + TemplateFSMSignals *signals = (TemplateFSMSignals *)calloc(1, sizeof(TemplateFSMSignals)); + pFSM->base.signals = signals; + pFSM->base.signalSize = sizeof(TemplateFSMSignals); +} static void setupHandler(FSMHandler* fcns){ // 必须重新实现 + /* ------------------------------- 添加下一个状态选择函数 ------------------------------ */ + addSelectNextStateFcn(D); + addSelectNextStateFcn(E); + /* ----------------------- 添加状态中事件，action during exit ----------------------- */ addStateActionFcn(during, E); addStateActionFcn(during, D); addStateActionFcn(enter, E); @@ -91,32 +60,46 @@ static void setupHandler(FSMHandler* fcns){ // 必须重新实现 addStateActionFcn(exit, E); addStateActionFcn(exit, D); - addTransitionHandler(Idle, Idle2D); - addTransitionHandler(Idle, Idle2E); - addTransitionHandler(D, D2E); - addTransitionHandler(E, E2D); + /* --------------------------- 添加转移函数和转移函数对应的Delay -------------------------- */ + addTransitionHandler(Idle, D); + addTransitionHandler(Idle, E); + addTransitionHandler(D, E); + addTransitionHandler(E, D); - addDelayHandler(Idle2D); + fcns->transitionGeneralAction = (Avoid_WARNING_General_Handlers)transitionGeneralAction; } -/* - 唯一外界调用的函数 - */ + +/* -------------------------------------------------------------------------- */ +/* 其他重新实现的函数，父类已有实现，实现多态 */ +/* -------------------------------------------------------------------------- */ +static void step(TemplateFSM* pFSM){ + printFSM(pFSM); + stepBaseFSM(BASE_FSM(pFSM)); + FSM_LOG("下次状态:%s", stateStr[getFSMNextState((FSM *)pFSM)]); +} + + + + + +/* -------------------------------------------------------------------------- */ +/* 子类构造函数 */ +/* -------------------------------------------------------------------------- */ TemplateFSM *createTemplateFSM(){ TemplateFSM *pFSM; - pFSM = (TemplateFSM *)newBaseFSM(Count_State, Count_Event, DEFAULT_STATE); + pFSM = (TemplateFSM *)newBaseFSM(Count_State, DEFAULT_STATE); - pFSM->base.vtbl.step = (Avoid_WARNING_Overrider_Fcns)step; - pFSM->base.vtbl.initData = (Avoid_WARNING_Overrider_Fcns)initData; - pFSM->base.vtbl.initDataLoader = (Avoid_WARNING_Overrider_Fcns)initDataLoader; - pFSM->base.vtbl.initSignals = (Avoid_WARNING_Overrider_Fcns)initSignals; - pFSM->base.vtbl.resetSignals = (Avoid_WARNING_Overrider_Fcns)resetSignals; + // 重新实现的函数 + pFSM->base.step = (Avoid_WARNING_Overrider_Fcns)step; + pFSM->base.pureVtbl.initData = (Avoid_WARNING_Overrider_Fcns)initData; + pFSM->base.pureVtbl.initDataLoader = (Avoid_WARNING_Overrider_Fcns)initDataLoader; + pFSM->base.pureVtbl.initSignals = (Avoid_WARNING_Overrider_Fcns)initSignals; + pFSM->base.pureVtbl.setupHandler = (Avoid_WARNING_void_fcns)setupHandler; - pFSM->base.vtbl.selectEvent = (Avoid_WARNING_SelectEvent)selectEvent; - pFSM->base.vtbl.setupHandler = (Avoid_WARNING_void_fcns)setupHandler; - - constructFSM((FSM *)pFSM); + // 调用父类构造函数 + constructFSM((FSM *)pFSM); return pFSM; } diff --git a/vscode/FSM_OOP/template/templateFSM.h b/vscode/FSM_OOP/template/templateFSM.h index a902b9f..0764ad5 100644 --- a/vscode/FSM_OOP/template/templateFSM.h +++ b/vscode/FSM_OOP/template/templateFSM.h @@ -1,31 +1,44 @@ #ifndef __TEMPLATE_FSM_H_ #define __TEMPLATE_FSM_H_ +/* -------------------------------------------------------------------------- */ +/* 提前做类型声明 */ +/* -------------------------------------------------------------------------- */ -#define TemplateFSM_Input(pFSM) ((TemplateFSMIn *)_preloadIn((FSM *)pFSM)) -#define TemplateFSM_Signals(pFSM) ((TemplateFSMSignals *)_getSignals((FSM *)pFSM)) - -typedef struct _templateFSMIn -{ - int arrindex; - int x; -}TemplateFSMIn; +/* -------------------------------------------------------------------------- */ +/* 自定义数据和信号 */ +/* -------------------------------------------------------------------------- */ typedef struct _templateFSMSignals { int signalA; int signalB; }TemplateFSMSignals; -typedef struct _templateFSMData +typedef struct _templateFSMExternalData +{ + int arrindex; + int x; +}TemplateFSMExternalData; + +typedef struct _templateFSMInnerData { - TemplateFSMIn in; int y1; int inner1; +}TemplateFSMInnerData; + +/* -------------------------------------------------------------------------- */ +/* 下面的改个名字就行了 */ +/* -------------------------------------------------------------------------- */ +#define TemplateFSM_Input(pFSM) ((TemplateFSMExternalData *)_preloadIn((FSM *)pFSM)) +#define TemplateFSM_Signals(pFSM) ((TemplateFSMSignals *)_getSignals((FSM *)pFSM)) + +typedef struct _templateFSMData +{ + TemplateFSMExternalData external; + TemplateFSMInnerData inner; }TemplateFSMData; - - typedef struct _TemplateFSM TemplateFSM; TemplateFSM *createTemplateFSM(); diff --git a/vscode/FSM_OOP/template/templateFSM_private.h b/vscode/FSM_OOP/template/templateFSM_private.h index af07c1c..815c312 100644 --- a/vscode/FSM_OOP/template/templateFSM_private.h +++ b/vscode/FSM_OOP/template/templateFSM_private.h @@ -6,19 +6,18 @@ #include -/* - 继承基类 - */ + +/* -------------------------------------------------------------------------- */ +/* 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 - */ - +/* -------------------------------------------------------------------------- */ +/* 状态定义 */ +/* -------------------------------------------------------------------------- */ typedef enum _State { Idle, @@ -29,6 +28,28 @@ typedef enum _State } State; #define DEFAULT_STATE E +/* -------------------------------------------------------------------------- */ +/* 下一个状态选择函数 */ +/* -------------------------------------------------------------------------- */ +static State selectNextStateFcn(D)(TemplateFSMData *data, TemplateFSMSignals *signals){ + if(signals->signalA){ + return E; + } + return Idle; +} + +static State selectNextStateFcn(E)(TemplateFSMData *data, TemplateFSMSignals *signals){ + if(signals->signalA){ + return D; + } + return Idle; +} + + + +/* -------------------------------------------------------------------------- */ +/* 对应的 action, exit, during 函数 */ +/* -------------------------------------------------------------------------- */ static void actionFcn(enter, D)() { FSM_LOG(" enterD "); @@ -55,70 +76,49 @@ static void actionFcn(exit, E)() FSM_LOG(" 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)() +/* -------------------------------------------------------------------------- */ +/* 转移函数 */ +/* -------------------------------------------------------------------------- */ +void transitionGeneralAction(TemplateFSMData *data){ + FSM_LOG("general"); +} + +static void transitionHandler(Idle, D)() { FSM_LOG(" Idle2D "); - return D; } -static void delayHanlder(Idle2D)(TemplateFSMData *data){ - FSM_LOG(" DelayIdle2D"); -} - -static State transitionHandler(Idle2E)() +static State transitionHandler(Idle, E)() { FSM_LOG(" Idle2E "); - return E; } -static State transitionHandler(D2E)() +static State transitionHandler(D, E)(TemplateFSMData *data, int *delayedIndex) { + *delayedIndex = index(D, E); FSM_LOG(" D2E "); - return E; } -static State transitionHandler(E2D)() +static State transitionHandler(E, D)() { FSM_LOG(" E2D "); - return D; } - - -/* - 用户自定义事件选择逻辑—————————————————begin -*/ +/* -------------------------------------------------------------------------- */ +/* 打印调试 */ +/* -------------------------------------------------------------------------- */ const static char *stateStr[] = { "Idle", "D", "E", - }; -const static char *eventStr[] = { - "Idle", - "Idle2D", - "Idle2E", - "D2E", - "E2D", }; + static void printFSM(TemplateFSM* pFSM){ FSM_LOG(" \tTemplateFSM: "); - FSM_LOG("上次事件:%s, 当前状态:%s, 预装载器溢出:%d ,动作：", eventStr[getFSMCurEvent((FSM *)pFSM)], stateStr[getFSMCurState((FSM *)pFSM)], _getPreloaderOverFlag((FSM *)pFSM)); + FSM_LOG("预装载器溢出:%d, 当前状态:%s, 动作：", _getPreloaderOverFlag((FSM *)pFSM), stateStr[getFSMCurState((FSM *)pFSM)]); }