diff --git a/FSM_OOP/baseFSM/FSM.c b/FSM_OOP/baseFSM/FSM.c index 7d65451..4489006 100644 --- a/FSM_OOP/baseFSM/FSM.c +++ b/FSM_OOP/baseFSM/FSM.c @@ -12,9 +12,9 @@ void resetBaseFSM(FSM *pFSM) { - + if (pFSM->privateVars.fcns.exitActionTable[pFSM->privateVars.curState] != NULL) - pFSM->privateVars.fcns.exitActionTable[pFSM->privateVars.curState](pFSM); + pFSM->privateVars.fcns.exitActionTable[pFSM->privateVars.curState](pFSM->data); pFSM->privateVars.curState = 0; } @@ -22,31 +22,44 @@ void resetBaseFSM(FSM *pFSM) 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); + int curState = pFSM->privateVars.curState; + int nextState; + void *data = pFSM->data; + FSMHandler *fcns = &pFSM->privateVars.fcns; - 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); + if(fcns->delayActionTable[curState] != NULL ){ + fcns->delayActionTable[curState](data); } - 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); + + if (fcns->transitionTable[index] != NULL) + { + if (fcns->exitActionTable[curState] != NULL) + fcns->exitActionTable[curState](data); + + nextState = (*fcns->transitionTable[index])(data, curState); + + if (fcns->enterActionTable[nextState] != NULL) + fcns->enterActionTable[nextState](data); + + pFSM->privateVars.curState = nextState; + } + else if(curState == 0){ + nextState = pFSM->privateVars.defaultState; + if (fcns->enterActionTable[nextState] != NULL) + fcns->enterActionTable[nextState](data); + pFSM->privateVars.curState = nextState; } else { - if (pFSM->privateVars.fcns.duringActionTable[pFSM->privateVars.curState] != NULL) - pFSM->privateVars.fcns.duringActionTable[pFSM->privateVars.curState](pFSM); + if (fcns->duringActionTable[curState] != NULL) + fcns->duringActionTable[curState](data); } } FSM* newBaseFSM(int numState, int numEvent, int defaultState){ - typedef void (*StateFuncPtr)(FSM* pFSM); - typedef int (*TransitionFuncPtr)(FSM* pFSM); + 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; @@ -56,9 +69,12 @@ FSM* newBaseFSM(int numState, int numEvent, int defaultState){ pFSM->privateVars.numChild = 0; pFSM->privateVars.fcns.duringActionTable = calloc(numState, sizeof(StateFuncPtr)); + pFSM->privateVars.fcns.delayActionTable = 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)); FSMVtbl vtbl = { .reset = resetBaseFSM, diff --git a/FSM_OOP/baseFSM/FSM_protected.h b/FSM_OOP/baseFSM/FSM_protected.h index 9ff2e41..9a0c155 100644 --- a/FSM_OOP/baseFSM/FSM_protected.h +++ b/FSM_OOP/baseFSM/FSM_protected.h @@ -3,15 +3,20 @@ #include "FSM_public.h" -#define NDEBUG -// #define FSM_LOG_ON +#ifdef DSP28377 + #define NDEBUG +#else + #define FSM_LOG_ON +#endif + + #ifdef FSM_LOG_ON #define FSM_LOG(...) printf(__VA_ARGS__) #else #define FSM_LOG(...) ((void)0) #endif - +#define delay delay #define during during #define enter enter #define exit exit @@ -21,32 +26,36 @@ #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_State_Fcns)(void *data); +typedef int (*Avoid_WARNING_Transition_Handler)(void *data, int curState); +typedef void (*Avoid_WARNING_Overrider_Fcns)(FSM *pFsm); +typedef int (*Avoid_WARNING_SelectEvent)(void *data); typedef void (*Avoid_WARNING_void_fcns)(FSMHandler *fcns); -#define addStateActionFcn(type, state) fcns->type##ActionTable[state] = (Avoid_WARNING_void_FSM)actionFcn(type, state) -#define addTransitionHandler(state, event) fcns->transitionTable[index(state, event)] = (Avoid_WARNING_int_FSM)transitionHandler(event) +#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) typedef struct _FSM FSM; typedef struct _FSMHandler{ - int (**transitionTable)(FSM *pFSM); - void (**enterActionTable)(FSM *pFSM); - void (**duringActionTable)(FSM *pFSM); - void (**exitActionTable)(FSM *pFSM); + int (**transitionTable)(void *data, int currentState); + + void (**enterActionTable)(void *data); + void (**delayActionTable)(void *data); + void (**duringActionTable)(void *data); + void (**exitActionTable)(void *data); + + void (**childFSMStepTable)(FSM **cFSM); }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 defaultState; // Idle状态不能停留,必须指定一个初始状态 int numEvent; - int numChild; FSM **childFSM; @@ -64,14 +73,13 @@ typedef struct _FSM 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 diff --git a/FSM_OOP/baseFSM/FSM_public.h b/FSM_OOP/baseFSM/FSM_public.h index b9b3cb0..7829675 100644 --- a/FSM_OOP/baseFSM/FSM_public.h +++ b/FSM_OOP/baseFSM/FSM_public.h @@ -1,15 +1,15 @@ #ifndef __FSM_PUBLIC_H_ #define __FSM_PUBLIC_H_ - - - -#define BASE_FSM(ptr) ((FSM *)(ptr)) -#define BASE_PTR (FSM *) +// #define BASE_FSM(ptr) ((FSM *)(ptr)) +// #define BASE_PTR (FSM *) typedef struct _FSM FSM; typedef FSM * FSM_Ptr; +#define SetEvent(FSM) setEvent((FSM_Ptr)FSM) +#define Step(FSM) vptrFSM((FSM_Ptr)FSM)->step((FSM_Ptr)FSM) + 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 { @@ -22,7 +22,8 @@ typedef struct _FSMVtbl { }FSMVtbl; - +int getFSMCurState(FSM *pFSM); +int getFSMCurEvent(FSM *pFSM); void setEvent(FSM* pFSM); void setChildNum(FSM *pFSM, int num); void registerChildFSM(FSM *parent, FSM *child, int index); diff --git a/FSM_OOP/template/templateFSM.c b/FSM_OOP/template/templateFSM.c index 404537f..6dd06b7 100644 --- a/FSM_OOP/template/templateFSM.c +++ b/FSM_OOP/template/templateFSM.c @@ -40,19 +40,19 @@ static void initData(TemplateFSM *pFSM){ // 必须重新实现 } 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->duringActionTable[E] = (Avoid_WARNING_State_Fcns)actionFcn(during, E); + fcns->duringActionTable[D] = (Avoid_WARNING_State_Fcns)actionFcn(during, D); - fcns->enterActionTable[D] = (Avoid_WARNING_void_FSM)actionFcn(enter, D); - fcns->enterActionTable[E] = (Avoid_WARNING_void_FSM)actionFcn(enter, E); + fcns->enterActionTable[D] = (Avoid_WARNING_State_Fcns)actionFcn(enter, D); + fcns->enterActionTable[E] = (Avoid_WARNING_State_Fcns)actionFcn(enter, E); - fcns->exitActionTable[D] = (Avoid_WARNING_void_FSM)D_exitAction; - fcns->exitActionTable[E] = (Avoid_WARNING_void_FSM)E_exitAction; + fcns->exitActionTable[D] = (Avoid_WARNING_State_Fcns)D_exitAction; + fcns->exitActionTable[E] = (Avoid_WARNING_State_Fcns)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); + fcns->transitionTable[index(Idle, Idle2D)] = (Avoid_WARNING_Transition_Handler)transitionHandler(Idle2D); + fcns->transitionTable[index(Idle, Idle2E)] = (Avoid_WARNING_Transition_Handler)transitionHandler(Idle2E); + fcns->transitionTable[index(D, D2E)] = (Avoid_WARNING_Transition_Handler)transitionHandler(D2E); + fcns->transitionTable[index(E, E2D)] = (Avoid_WARNING_Transition_Handler)transitionHandler(E2D); } /* @@ -64,9 +64,9 @@ 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.step = (Avoid_WARNING_State_Fcns)step; pFSM->base.vtbl.selectEvent = (Avoid_WARNING_int_data)selectEvent; - pFSM->base.vtbl.initData = (Avoid_WARNING_void_FSM)initData; + pFSM->base.vtbl.initData = (Avoid_WARNING_State_Fcns)initData; pFSM->base.vtbl.setupHandler = (Avoid_WARNING_void_fcns)setupHandler; constructFSM((FSM_Ptr)pFSM); diff --git a/FSM_OOP/usr/keyFSM.c b/FSM_OOP/usr/keyFSM.c index adf2053..faf13a7 100644 --- a/FSM_OOP/usr/keyFSM.c +++ b/FSM_OOP/usr/keyFSM.c @@ -28,7 +28,7 @@ static Event selectEvent(KeyFSMData *data){ // 必须重新实现 static void step(KeyFSM* pFSM){ printFSM(pFSM); - stepBaseFSM(BASE_FSM(pFSM)); + stepBaseFSM((FSM_Ptr)pFSM); KeyFSMData * data = pFSM->base.data; @@ -48,21 +48,15 @@ static void initData(KeyFSM *pFSM){ // 必须重新实现 static void setupHandler(FSMHandler* fcns){ // 必须重新实现 addStateActionFcn(enter, Waiting); addStateActionFcn(during, DownDebouncing); - addStateActionFcn(exit, DownDebouncing); addStateActionFcn(during, Downing); - addStateActionFcn(exit, Downing); + addStateActionFcn(delay, Downing); addStateActionFcn(during, UpDebouncing); - addStateActionFcn(exit, UpDebouncing); addStateActionFcn(during, Holding); addStateActionFcn(exit, Holding); addStateActionFcn(during, MultiDownWaiting); - addStateActionFcn(exit, MultiDownWaiting); - addStateActionFcn(during, MultiDowning); - addStateActionFcn(exit, MultiDowning); + addStateActionFcn(delay, MultiDowning); addStateActionFcn(during, HoldUpDebouncing); - addStateActionFcn(exit, HoldUpDebouncing); addStateActionFcn(during, MultiDownDebouncing); - addStateActionFcn(exit, MultiDownDebouncing); addTransitionHandler(Waiting, PhsicalDown); @@ -91,9 +85,12 @@ 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; +#ifndef DSP28377 + pFSM->base.vtbl.step = (Avoid_WARNING_Overrider_Fcns)step; +#endif + + pFSM->base.vtbl.selectEvent = (Avoid_WARNING_SelectEvent)selectEvent; + pFSM->base.vtbl.initData = (Avoid_WARNING_Overrider_Fcns)initData; pFSM->base.vtbl.setupHandler = (Avoid_WARNING_void_fcns)setupHandler; constructFSM((FSM_Ptr)pFSM); diff --git a/FSM_OOP/usr/keyFSM_private.h b/FSM_OOP/usr/keyFSM_private.h index 1791681..a3d6bf3 100644 --- a/FSM_OOP/usr/keyFSM_private.h +++ b/FSM_OOP/usr/keyFSM_private.h @@ -37,117 +37,79 @@ typedef enum _State #define DEFAULT_STATE Waiting -static void actionFcn(enter, Waiting)(KeyFSM *pFSM){ - KeyFSMData * data = pFSM->base.data; +static void actionFcn(enter, Waiting)(KeyFSMData* data){ + data->out = Idle; data->countDelay = 0; data->countMultiDown = 0; } -static void actionFcn(during, DownDebouncing)(KeyFSM *pFSM) +static void actionFcn(during, DownDebouncing)(KeyFSMData* data) { - KeyFSMData * data = pFSM->base.data; + data->countDelay++; FSM_LOG(" during开启消抖 "); } -static void actionFcn(exit, DownDebouncing)(KeyFSM *pFSM) + +static void actionFcn(delay, Downing)(KeyFSMData* data) { - KeyFSMData * data = pFSM->base.data; - data->countDelay = 0; + data->out = Idle; } - - - -static void actionFcn(during, Downing)(KeyFSM *pFSM) +static void actionFcn(during, Downing)(KeyFSMData* data) { - KeyFSMData * data = pFSM->base.data; + data->countDelay++; data->out = Idle; } -static void actionFcn(exit, Downing)(KeyFSM *pFSM) -{ - KeyFSMData * data = pFSM->base.data; - data->countDelay = 0; - data->out = Idle; -} -static void actionFcn(during, UpDebouncing)(KeyFSM *pFSM){ - KeyFSMData * data = pFSM->base.data; +static void actionFcn(during, UpDebouncing)(KeyFSMData* data){ + data->countDelay++; FSM_LOG(" during松开消抖 "); } -static void actionFcn(exit, UpDebouncing)(KeyFSM *pFSM){ - KeyFSMData * data = pFSM->base.data; - data->countDelay = 0; -} -static void actionFcn(during, Holding)(KeyFSM *pFSM){ - KeyFSMData * data = pFSM->base.data; +static void actionFcn(during, Holding)(KeyFSMData* data){ + data->out = Idle; data->countDelay++; if(data->countDelay == 2){ data->out = Hold; data->countDelay = 0; } - else{ - data->out = Idle; - } } -static void actionFcn(exit, Holding)(KeyFSM *pFSM){ - KeyFSMData * data = pFSM->base.data; - data->countDelay = 0; +static void actionFcn(exit, Holding)(KeyFSMData* data){ data->out = Idle; } -static void actionFcn(during, MultiDownWaiting)(KeyFSM *pFSM){ - KeyFSMData * data = pFSM->base.data; +static void actionFcn(during, MultiDownWaiting)(KeyFSMData* data){ data->countDelay++; FSM_LOG(" during多击等待 "); } -static void actionFcn(exit, MultiDownWaiting)(KeyFSM *pFSM){ - KeyFSMData * data = pFSM->base.data; - data->countDelay = 0; -} -static void actionFcn(during, MultiDowning)(KeyFSM *pFSM) +static void actionFcn(delay, MultiDowning)(KeyFSMData* data) { - KeyFSMData * data = pFSM->base.data; data->out = Idle; } -static void actionFcn(exit, MultiDowning)(KeyFSM *pFSM){ - KeyFSMData * data = pFSM->base.data; - data->out = Idle; -} -static void actionFcn(during, HoldUpDebouncing)(KeyFSM *pFSM) +static void actionFcn(during, HoldUpDebouncing)(KeyFSMData* data) { - KeyFSMData * data = pFSM->base.data; data->countDelay++; } -static void actionFcn(exit, HoldUpDebouncing)(KeyFSM *pFSM) -{ - KeyFSMData * data = pFSM->base.data; - data->countDelay = 0; -} -static void actionFcn(during, MultiDownDebouncing)(KeyFSM *pFSM) + +static void actionFcn(during, MultiDownDebouncing)(KeyFSMData* data) { - KeyFSMData * data = pFSM->base.data; data->countDelay++; } -static void actionFcn(exit, MultiDownDebouncing)(KeyFSM *pFSM) -{ - KeyFSMData * data = pFSM->base.data; - data->countDelay = 0; -} + @@ -165,11 +127,12 @@ typedef enum _Event{ Count_Event, }Event; -static State transitionHandler(PhsicalDown)(KeyFSM *pFSM) +static State transitionHandler(PhsicalDown)(KeyFSMData* data, State curState) { FSM_LOG(" 物理按键按下 "); - KeyFSMData * data = pFSM->base.data; - switch (pFSM->base.privateVars.curState) + data->countDelay = 0; + + switch (curState) { case Waiting: return DownDebouncing; @@ -194,11 +157,12 @@ static State transitionHandler(PhsicalDown)(KeyFSM *pFSM) } } -static State transitionHandler(PhsicalUp)(KeyFSM *pFSM) +static State transitionHandler(PhsicalUp)(KeyFSMData* data, State curState) { FSM_LOG(" 物理按键松开 "); - KeyFSMData * data = pFSM->base.data; - switch (pFSM->base.privateVars.curState) + data->countDelay = 0; + + switch (curState) { case DownDebouncing: if(data->countMultiDown){ @@ -221,11 +185,11 @@ static State transitionHandler(PhsicalUp)(KeyFSM *pFSM) } } -static State transitionHandler(DelayCount3)(KeyFSM *pFSM){ +static State transitionHandler(DelayCount3)(KeyFSMData* data, State curState){ FSM_LOG(" 延迟计数到3 "); - KeyFSMData * data = pFSM->base.data; + data->countDelay = 0; - switch (pFSM->base.privateVars.curState) + switch (curState) { case DownDebouncing: data->out = Down; @@ -269,9 +233,10 @@ static State transitionHandler(DelayCount3)(KeyFSM *pFSM){ } -static State transitionHandler(HoldCount4)(KeyFSM *pFSM){ +static State transitionHandler(HoldCount4)(KeyFSMData* data, State curState){ FSM_LOG(" 计数到2进入长按模式 "); - KeyFSMData * data = pFSM->base.data; + data->countDelay = 0; + data->out = Hold; return Holding; } @@ -302,7 +267,7 @@ const static char *eventStr[] = { "HoldCount4", }; static void printFSM(KeyFSM* pFSM){ - KeyFSMData * data = pFSM->base.data; + 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_Ptr)pFSM)], eventStr[getFSMCurEvent((FSM_Ptr)pFSM)]); } diff --git a/main.c b/main.c index 175ee8f..5052178 100644 --- a/main.c +++ b/main.c @@ -19,6 +19,12 @@ KeyIn testin[NUM] = { pDown,pDown,pDown,pDown }; +typedef void (*fcn)(); + +void printtest(){ + printf("fcn\n"); +} + int main(){ @@ -29,8 +35,9 @@ int main(){ printf("第%d次: ",i+1); KeyFSMData* data = getData((FSM_Ptr)keyFSM); data->in = testin[i]; - setEvent((FSM_Ptr)keyFSM); - vptrFSM((FSM_Ptr)keyFSM)->step((FSM_Ptr)keyFSM); + + SetEvent(keyFSM); + Step(keyFSM); if(data->out){ printf("\t\t\t\t%d", data->out); @@ -41,7 +48,9 @@ int main(){ } - printf("hello world, 你好世界"); + printf("hello world, 你好世界\n"); + fcn fcnptr = printtest; + (fcnptr == NULL) ? : fcnptr(); return 0; } \ No newline at end of file