Compare commits
16 Commits
| Author | SHA1 | Date |
|---|---|---|
 TrashGod
|
50b9788e6a | |
godcreator02
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27acc2bb1b | |
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godcreator02
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d48d5c7cc1 | |
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godcreator02
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ea121bcb29 | |
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TrashGod
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951e6d1695 | |
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TrashGod
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010e6a907f | |
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TrashGod
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2667b895df | |
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TrashGod
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f0c905baa9 | |
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TrashGod
|
5240b83578 | |
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TrashGod
|
f48889bf23 | |
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TrashGod
|
58d2918d06 | |
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TrashGod
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6cefb9dae5 | |
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godcreator02
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d6791ef8d4 | |
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godcreator02
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04c8c07b8f | |
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godcreator02
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0cff421be5 | |
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godcreator02
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e31139d36b |
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@ -44,15 +44,8 @@
|
|||
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.FP_MODE.860711964" name="Floating Point mode (--fp_mode)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.FP_MODE" value="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.FP_MODE.relaxed" valueType="enumerated"/>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.INCLUDE_PATH.2094867255" name="Add dir to #include search path (--include_path, -I)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.INCLUDE_PATH" valueType="includePath">
|
||||
<listOptionValue builtIn="false" value="${PROJECT_ROOT}"/>
|
||||
<listOptionValue builtIn="false" value="${PROJECT_ROOT}/FSM_OOP/baseFSM"/>
|
||||
<listOptionValue builtIn="false" value="${PROJECT_ROOT}/FSM_OOP/usr"/>
|
||||
<listOptionValue builtIn="false" value="${PROJECT_ROOT}/include/common"/>
|
||||
<listOptionValue builtIn="false" value="${PROJECT_ROOT}/include/headers"/>
|
||||
<listOptionValue builtIn="false" value="${PROJECT_LOC}/../key_FSM/FSM_OOP/usr"/>
|
||||
<listOptionValue builtIn="false" value="${PROJECT_LOC}/../key_FSM/FSM_OOP/baseFSM"/>
|
||||
<listOptionValue builtIn="false" value="${PROJECT_LOC}/../FSM_vscode/FSM_OOP/childtest"/>
|
||||
<listOptionValue builtIn="false" value="${PROJECT_LOC}/../FSM_vscode/FSM_OOP/baseFSM"/>
|
||||
<listOptionValue builtIn="false" value="${PROJECT_LOC}/../FSM_vscode/FSM_OOP/keytest"/>
|
||||
<listOptionValue builtIn="false" value="${PROJECT_LOC}/../vscode/FSM_OOP/keytest"/>
|
||||
<listOptionValue builtIn="false" value="${PROJECT_LOC}/../vscode/FSM_OOP/childtest"/>
|
||||
<listOptionValue builtIn="false" value="${PROJECT_LOC}/../vscode/FSM_OOP/baseFSM"/>
|
||||
|
|
@ -61,8 +54,6 @@
|
|||
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.ADVICE__PERFORMANCE.171868085" name="Provide advice on optimization techniques (--advice:performance)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.ADVICE__PERFORMANCE" value="--advice:performance=all" valueType="string"/>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DEFINE.1681891118" name="Pre-define NAME (--define, -D)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DEFINE" valueType="definedSymbols">
|
||||
<listOptionValue builtIn="false" value="_INLINE"/>
|
||||
<listOptionValue builtIn="false" value="NDEBUG"/>
|
||||
<listOptionValue builtIn="false" value="DSP28377"/>
|
||||
<listOptionValue builtIn="false" value="CPU1"/>
|
||||
</option>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DEBUGGING_MODEL.1901056751" name="Debugging model" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DEBUGGING_MODEL" value="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DEBUGGING_MODEL.SYMDEBUG__DWARF" valueType="enumerated"/>
|
||||
|
|
@ -73,6 +64,12 @@
|
|||
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DIAG_WRAP.1704240081" name="Wrap diagnostic messages (--diag_wrap) [deprecated]" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DIAG_WRAP" value="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DIAG_WRAP.off" valueType="enumerated"/>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DISPLAY_ERROR_NUMBER.65226327" name="Emit diagnostic identifier numbers (--display_error_number, -pden) [deprecated]" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DISPLAY_ERROR_NUMBER" value="true" valueType="boolean"/>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.ABI.476173017" name="Application binary interface [See 'General' page to edit] (--abi)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.ABI" value="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.ABI.eabi" valueType="enumerated"/>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DIAG_SUPPRESS.591047759" name="Suppress diagnostic <id> (--diag_suppress, -pds)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.DIAG_SUPPRESS" valueType="stringList">
|
||||
<listOptionValue builtIn="false" value="303"/>
|
||||
</option>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.OTHER_FLAGS.1805123875" name="Other flags" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compilerID.OTHER_FLAGS" valueType="stringList">
|
||||
<listOptionValue builtIn="false" value=""/>
|
||||
</option>
|
||||
<inputType id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compiler.inputType__C_SRCS.1245540863" name="C Sources" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compiler.inputType__C_SRCS"/>
|
||||
<inputType id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compiler.inputType__CPP_SRCS.2068954361" name="C++ Sources" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compiler.inputType__CPP_SRCS"/>
|
||||
<inputType id="com.ti.ccstudio.buildDefinitions.C2000_22.6.compiler.inputType__ASM_SRCS.812447921" name="Assembly Sources" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.compiler.inputType__ASM_SRCS"/>
|
||||
|
|
@ -101,6 +98,12 @@
|
|||
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.linkerID.ENTRY_POINT.1816405551" name="Specify program entry point for the output module (--entry_point, -e)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.linkerID.ENTRY_POINT" value="code_start" valueType="string"/>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.linkerID.CINIT_COMPRESSION.934245867" name="Compress ELF C style auto initialization data (--cinit_compression)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.linkerID.CINIT_COMPRESSION" value="com.ti.ccstudio.buildDefinitions.C2000_22.6.linkerID.CINIT_COMPRESSION.off" valueType="enumerated"/>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.linkerID.INITIALIZATION_MODEL.483430313" name="Initialization model" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.linkerID.INITIALIZATION_MODEL" value="com.ti.ccstudio.buildDefinitions.C2000_22.6.linkerID.INITIALIZATION_MODEL.RAM_MODEL" valueType="enumerated"/>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="true" id="com.ti.ccstudio.buildDefinitions.C2000_22.6.linkerID.DIAG_SUPPRESS.828333989" name="Suppress diagnostic <id> (--diag_suppress)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.linkerID.DIAG_SUPPRESS" valueType="stringList"/>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.linkerID.NO_WARNINGS.1360684884" name="Suppress warnings (--no_warnings)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.linkerID.NO_WARNINGS" value="false" valueType="boolean"/>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.linkerID.NO_DEMANGLE.134029592" name="Don't demangle symbol names in diagnostics (--no_demangle)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.linkerID.NO_DEMANGLE" value="false" valueType="boolean"/>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="true" id="com.ti.ccstudio.buildDefinitions.C2000_22.6.linkerID.DIAG_REMARK.591856308" name="Treat diagnostic <id> as remark (--diag_remark)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.linkerID.DIAG_REMARK" valueType="stringList"/>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="true" id="com.ti.ccstudio.buildDefinitions.C2000_22.6.linkerID.DIAG_ERROR.1347655044" name="Treat diagnostic <id> as error (--diag_error)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.linkerID.DIAG_ERROR" valueType="stringList"/>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.C2000_22.6.linkerID.EMIT_WARNINGS_AS_ERRORS.320090475" name="Treat warnings as errors (--emit_warnings_as_errors, -pdew)" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.linkerID.EMIT_WARNINGS_AS_ERRORS" value="false" valueType="boolean"/>
|
||||
<inputType id="com.ti.ccstudio.buildDefinitions.C2000_22.6.exeLinker.inputType__CMD_SRCS.737359659" name="Linker Command Files" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.exeLinker.inputType__CMD_SRCS"/>
|
||||
<inputType id="com.ti.ccstudio.buildDefinitions.C2000_22.6.exeLinker.inputType__CMD2_SRCS.1248498450" name="Linker Command Files" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.exeLinker.inputType__CMD2_SRCS"/>
|
||||
<inputType id="com.ti.ccstudio.buildDefinitions.C2000_22.6.exeLinker.inputType__GEN_CMDS.212203086" name="Generated Linker Command Files" superClass="com.ti.ccstudio.buildDefinitions.C2000_22.6.exeLinker.inputType__GEN_CMDS"/>
|
||||
|
|
@ -109,7 +112,7 @@
|
|||
</toolChain>
|
||||
</folderInfo>
|
||||
<sourceEntries>
|
||||
<entry excluding="ParentFSM.c|childFSM.c|2837x_FLASH_lnk_cpu1.cmd|source/F2837xD_SWPrioritizedPieVect.c|2837xD_FLASH_lnk_cpu1.cmd" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
<entry excluding="2837x_FLASH_lnk_cpu1.cmd|source/F2837xD_SWPrioritizedPieVect.c|2837xD_FLASH_lnk_cpu1.cmd" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
</sourceEntries>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
|
|
|
|||
|
|
@ -19,3 +19,6 @@ encoding//CPU1_RAM/source/subdir_vars.mk=UTF-8
|
|||
encoding//CPU1_RAM/sources.mk=UTF-8
|
||||
encoding//CPU1_RAM/subdir_rules.mk=UTF-8
|
||||
encoding//CPU1_RAM/subdir_vars.mk=UTF-8
|
||||
encoding/<project>=UTF-8
|
||||
encoding/FSM_private.h=UTF-8
|
||||
encoding/FSM_protected.h=UTF-8
|
||||
|
|
|
|||
|
|
@ -8,6 +8,8 @@
|
|||
#define LED_BLINKY_GPIO 2
|
||||
#define INPUT_GPIO 15
|
||||
|
||||
#pragma diag_suppress 303
|
||||
|
||||
uint32_t exec_time[50];
|
||||
uint32_t stop_time;
|
||||
int index = 0;
|
||||
|
|
@ -30,36 +32,6 @@ 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");
|
||||
// }
|
||||
//}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
KeyFSM* keyFSM;
|
||||
|
|
@ -68,7 +40,6 @@ KeyIn keystat;
|
|||
|
||||
void keyFSMTest(){
|
||||
keyFSM = createKeyFSM();
|
||||
data = _getData((FSM *)keyFSM);
|
||||
|
||||
printf("hello 28377\n");
|
||||
|
||||
|
|
@ -80,8 +51,9 @@ void keyFSMTest(){
|
|||
Step(keyFSM);
|
||||
toc(index++);
|
||||
|
||||
if(data->internal.out != Idle){
|
||||
printf("%s\n", keyStr[data->internal.out]);
|
||||
KeyOut out = readKeyFSMOut(keyFSM);
|
||||
if(out != Idle){
|
||||
printf("\t\t\t\t%d\n", out);
|
||||
}
|
||||
else{
|
||||
index--;
|
||||
|
|
@ -91,27 +63,41 @@ void keyFSMTest(){
|
|||
}
|
||||
}
|
||||
|
||||
typedef int (*fcn)(int, int);
|
||||
int printtest(int a, int b){
|
||||
return a+b;
|
||||
}
|
||||
|
||||
void funptrTest(){
|
||||
fcn fcnptr;
|
||||
fcnptr = printtest;
|
||||
|
||||
int index = 0;
|
||||
while(1){
|
||||
ChildFSM *cFSM;
|
||||
ParentFSM *pFSM;
|
||||
|
||||
enum ParentFSMSignals i[20] = {0, Signal_toA, Signal_toB,0,0,0,0,0, Signal_toC, Signal_toA, Signal_toB, Signal_toA};
|
||||
enum ChildFSMSignals j[20] = {0,0,Signal_toD,0,0,Signal_toE, Signal_toD, Signal_toE,0,0,0,0};
|
||||
|
||||
void childFSMTest(){
|
||||
cFSM = createChildFSM();
|
||||
pFSM = createParentFSM();
|
||||
|
||||
bind_ParentFSM_ChildFSMs(pFSM, (FSM *)cFSM);
|
||||
|
||||
((ParentFSMData *)GetData(cFSM))->external.x = 1;
|
||||
|
||||
for (int k = 0; k < 15; k++)
|
||||
{
|
||||
printf("i: ",k+1);
|
||||
SetSignal(pFSM, i[k]);
|
||||
SetSignal(cFSM, j[k]);
|
||||
|
||||
if(k > 5){
|
||||
((ParentFSMData *)GetData(cFSM))->external.x = 0;
|
||||
}
|
||||
|
||||
tic();
|
||||
int c = fcnptr(10, 20);
|
||||
toc(index);
|
||||
index++;
|
||||
Step(pFSM);
|
||||
toc(index++);
|
||||
|
||||
printf("%d\n", c);
|
||||
DELAY_US(20*1000);
|
||||
printf("\n");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void main(void)
|
||||
{
|
||||
InitSysCtrl();
|
||||
|
|
@ -124,10 +110,8 @@ void main(void)
|
|||
GPIO_SetupPinMux(LED_BLINKY_GPIO, GPIO_MUX_CPU1, 0);
|
||||
GPIO_SetupPinOptions(INPUT_GPIO, GPIO_INPUT, GPIO_PULLUP);
|
||||
|
||||
|
||||
// childTest();
|
||||
keyFSMTest();
|
||||
// funptrTest();
|
||||
// keyFSMTest();
|
||||
childFSMTest();
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -36,7 +36,9 @@
|
|||
"*.tcc": "c",
|
||||
"typeinfo": "c",
|
||||
"templatefsm.h": "c",
|
||||
"templatefsm_private.h": "c"
|
||||
"templatefsm_private.h": "c",
|
||||
"keyfsm_private.h": "c",
|
||||
"childfsm_state.h": "c"
|
||||
},
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -6,8 +6,8 @@ include_directories(${PROJECT_SOURCE_DIR}/FSM_OOP/baseFSM)
|
|||
aux_source_directory(${PROJECT_SOURCE_DIR}/FSM_OOP/baseFSM SRC_FSM_OOP)
|
||||
|
||||
|
||||
set(keytest 789)
|
||||
# set(child_parent 789)
|
||||
# set(keytest 789)
|
||||
set(child_parent 789)
|
||||
if(DEFINED keytest)
|
||||
include_directories(${PROJECT_SOURCE_DIR}/FSM_OOP/keytest)
|
||||
aux_source_directory(${PROJECT_SOURCE_DIR}/FSM_OOP/keytest SRC_FSM_USR)
|
||||
|
|
|
|||
|
|
@ -27,25 +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;
|
||||
if(curState != 0){
|
||||
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;
|
||||
}
|
||||
static inline void updateNextState(FSM* pFSM){
|
||||
int curState = getCurState(pFSM);
|
||||
|
||||
if(0 == pFSM->privateVars->numChild)
|
||||
return;
|
||||
|
||||
|
||||
for (int i = 0; i < pFSM->privateVars->numChild; i++)
|
||||
{
|
||||
FSM *cFSM = pFSM->privateVars->childFSM[i];
|
||||
setNextState(cFSM);
|
||||
}
|
||||
|
||||
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 shutFSM(FSM *pFSM)
|
||||
{
|
||||
int curState = getCurState(pFSM);
|
||||
if(hasChildFSM(pFSM, curState)){
|
||||
shutFSM(getChildFSM(pFSM, curState));
|
||||
}
|
||||
doExit(pFSM);
|
||||
setCurState(pFSM, FSM_Idle);
|
||||
}
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* @brief
|
||||
* @deprecated 去掉了所有和预装载器相关的内容
|
||||
|
|
@ -71,88 +78,85 @@ void stepBaseFSM(FSM *pFSM)
|
|||
{
|
||||
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 **childFSM = pFSM->privateVars->childFSM;
|
||||
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
|
||||
if (fcns->exitActionTable[curState] != NULL)
|
||||
fcns->exitActionTable[curState](data, childFSM);
|
||||
// 退出子状态机
|
||||
if(hasChildFSM(pFSM, curState)){
|
||||
FSM *cFSM = getChildFSM(pFSM, curState);
|
||||
shutFSM(cFSM);
|
||||
}
|
||||
|
||||
if (fcns->transitionTable[index] != NULL) // 有特定的状态转移函数
|
||||
(*fcns->transitionTable[index])(data);
|
||||
doExit(pFSM);
|
||||
|
||||
doTransition(pFSM); // 有特定的状态转移函数
|
||||
doGeneralTransition(pFSM); // 通用状态转移函数
|
||||
|
||||
if(fcns->transitionGeneralAction != NULL)
|
||||
fcns->transitionGeneralAction(data); // 通用状态转移函数
|
||||
|
||||
if (fcns->enterActionTable[nextState] != NULL)
|
||||
fcns->enterActionTable[nextState](data, childFSM);
|
||||
doEnter(pFSM, nextState);
|
||||
|
||||
pFSM->privateVars->curState = nextState;
|
||||
}
|
||||
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;
|
||||
// 进子状态机，必须从默认状态开始
|
||||
if(hasChildFSM(pFSM, nextState)){
|
||||
FSM *cFSM = getChildFSM(pFSM, nextState);
|
||||
Step(cFSM);
|
||||
}
|
||||
setCurState(pFSM, nextState);
|
||||
}
|
||||
else // 状态机没动
|
||||
{
|
||||
if (fcns->duringActionTable[curState] != NULL)
|
||||
fcns->duringActionTable[curState](data, childFSM);
|
||||
if(!hasChildFSM(pFSM, curState)){
|
||||
doDuring(pFSM);
|
||||
}
|
||||
else{
|
||||
FSM *cFSM = getChildFSM(pFSM, curState);
|
||||
Step(cFSM);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 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;
|
||||
}
|
||||
|
||||
void _stepFSM(FSM *pFSM){
|
||||
pFSM->publicFcns.step(pFSM);
|
||||
}
|
||||
|
||||
const char * _curState2ASCII(FSM *pFSM){
|
||||
return pFSM->publicFcns.curState2ASCII(pFSM);
|
||||
}
|
||||
|
||||
int getFSMCurState(FSM *pFSM){
|
||||
inline int getFSMCurState(FSM *pFSM){
|
||||
return pFSM->privateVars->curState;
|
||||
}
|
||||
int getFSMNextState(FSM *pFSM){
|
||||
inline 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 *));
|
||||
|
||||
|
||||
void registerChildFSM(FSM *parent, FSM *child, int state){
|
||||
parent->privateVars->childFSMTable[state] = child;
|
||||
}
|
||||
|
||||
void registerChildFSM(FSM *parent, FSM *child, int index){
|
||||
parent->privateVars->childFSM[index] = child;
|
||||
}
|
||||
|
||||
|
||||
const void *_getData(FSM* pFSM){
|
||||
return (const void *)pFSM->data;
|
||||
}
|
||||
|
||||
void _setSignal(FSM *pFSM, Uint16 signalFlag){
|
||||
void _setSignal(FSM *pFSM, unsigned int signalFlag){
|
||||
pFSM->signals.all |= (1 << signalFlag);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief
|
||||
* @deprecated 弃用
|
||||
|
|
@ -200,14 +204,14 @@ 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,
|
||||
|
|
@ -220,7 +224,6 @@ FSM* newBaseFSM(int numState, int defaultState){
|
|||
pFSM->pureVtbl = pureVtbl;
|
||||
|
||||
pFSM->publicFcns.step = stepBaseFSM;
|
||||
pFSM->publicFcns.reset = resetBaseFSM;
|
||||
|
||||
return pFSM;
|
||||
}
|
||||
|
|
@ -231,6 +234,8 @@ void constructFSM(FSM* pFSM){
|
|||
assert(pFSM->pureVtbl.initData);
|
||||
assert(pFSM->pureVtbl.initDataLoader);
|
||||
|
||||
|
||||
|
||||
pFSM->pureVtbl.setupHandler(&pFSM->privateVars->fcns);
|
||||
pFSM->pureVtbl.initData(pFSM);
|
||||
pFSM->pureVtbl.initDataLoader(pFSM);
|
||||
|
|
|
|||
|
|
@ -16,60 +16,27 @@
|
|||
|
||||
#include <string.h>
|
||||
#include "FSM_protected.h"
|
||||
#include "FSM_private_vars.h"
|
||||
|
||||
typedef struct FSMHandler FSMHandler;
|
||||
typedef struct FSM FSM;
|
||||
typedef struct FSMSignals FSMSignals;
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* private数据类型 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/**
|
||||
* @brief
|
||||
* @deprecated 预装载器弃用
|
||||
*
|
||||
*/
|
||||
typedef struct FSMDataLoader
|
||||
{
|
||||
void *shadowData;
|
||||
int isReady;
|
||||
int isOverflow;
|
||||
size_t size;
|
||||
}FSMDataLoader;
|
||||
|
||||
|
||||
/**
|
||||
* @brief 基类状态机的私有变量和函数，子类不可直接访问
|
||||
*
|
||||
* @brief 纯纯空函数
|
||||
*/
|
||||
typedef struct FSMPrivateVars
|
||||
{
|
||||
int numState; /**< 状态数量 */
|
||||
int defaultState; /**< Idle状态不能停留，必须指定一个初始状态 */
|
||||
|
||||
int curState; /**< 当前状态 */
|
||||
int nextState; /**< nextState为Idle代表状态机不发生变化 */
|
||||
int index; /**< 状态转移函数表对应的标号 */
|
||||
|
||||
FSMHandler fcns; /**< 状态函数表 */
|
||||
|
||||
int numChild; /**< @deprecated 和子状态机相关的暂时弃用 */
|
||||
FSM **childFSM; /**< @deprecated 和子状态机相关的暂时弃用 */
|
||||
|
||||
FSMDataLoader preloader; /**< @deprecated 弃用 */
|
||||
|
||||
}FSMPrivateVars;
|
||||
|
||||
static void empty_func(void * a){
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @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 *);
|
||||
|
|
@ -77,24 +44,109 @@ 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->numChild = 0;
|
||||
privateVars->childFSMTable = calloc(numState, sizeof(FSM));
|
||||
|
||||
privateVars->preloader.isReady = 0;
|
||||
|
||||
privateVars->fcns.duringActionTable = calloc(numState, sizeof(StateFuncPtr));
|
||||
privateVars->fcns.enterActionTable = calloc(numState, sizeof(StateFuncPtr));
|
||||
privateVars->fcns.exitActionTable = calloc(numState, sizeof(StateFuncPtr));
|
||||
|
||||
privateVars->fcns.selectNextState = calloc(numState, sizeof(SelectNextStateFcnPtr));
|
||||
privateVars->fcns.transitionTable = calloc(numState * numState, sizeof(TransitionFuncPtr));
|
||||
privateVars->fcns.transitionGeneralAction = calloc(1, sizeof(StateFuncPtr));
|
||||
|
||||
privateVars->fcns.childFSMStepTable = calloc(numState * numState, sizeof(ChildFSMStepFuncPtr));
|
||||
for (int i = 0; i < numState; i++)
|
||||
{
|
||||
privateVars->fcns.duringActionTable[i] = empty_func;
|
||||
privateVars->fcns.enterActionTable[i] = empty_func;
|
||||
privateVars->fcns.exitActionTable[i] = empty_func;
|
||||
}
|
||||
|
||||
|
||||
|
||||
privateVars->fcns.selectNextState = calloc(numState, 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++)
|
||||
{
|
||||
privateVars->fcns.transitionTable[i] = empty_func;
|
||||
}
|
||||
|
||||
privateVars->fcns.transitionGeneralAction = calloc(1, sizeof(StateFuncPtr));
|
||||
privateVars->fcns.transitionGeneralAction = empty_func;
|
||||
|
||||
|
||||
return privateVars;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 以下开始是FSM私有函数 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
static inline FSM * getChildFSM(FSM *pFSM, int state){
|
||||
return pFSM->privateVars->childFSMTable[state];
|
||||
}
|
||||
|
||||
static inline int hasChildFSM(FSM *pFSM, int state){
|
||||
return (pFSM->privateVars->childFSMTable[state] != NULL);
|
||||
}
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
static inline void doEnter(FSM *pFSM, int state){
|
||||
pFSM->privateVars->fcns.enterActionTable[state](pFSM->data);
|
||||
}
|
||||
|
||||
static inline void doDuring(FSM *pFSM){
|
||||
pFSM->privateVars->fcns.duringActionTable[getCurState(pFSM)](pFSM->data);
|
||||
}
|
||||
|
||||
|
||||
static inline void doGeneralTransition(FSM *pFSM){
|
||||
pFSM->privateVars->fcns.transitionGeneralAction(pFSM->data);
|
||||
}
|
||||
|
||||
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){
|
||||
return pFSM->privateVars->fcns.selectNextState[state](pFSM->data, &pFSM->signals);
|
||||
}
|
||||
|
||||
|
||||
|
||||
static inline void doResetSignals(FSM *pFSM){
|
||||
pFSM->pureVtbl.resetSignals(&pFSM->signals, pFSM->data);
|
||||
}
|
||||
|
||||
static inline void clearLastTriggeredSignal(FSM *pFSM){
|
||||
pFSM->signals.lastTriggeredSignal = FSM_Idle;
|
||||
}
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -0,0 +1,63 @@
|
|||
/**
|
||||
* @file FSM_private.h
|
||||
* @author 天神 (dalaoshi@stu.xjtu.edu.cn)
|
||||
* @brief 状态机框架的私有变量，只能在状态机框架内使用。
|
||||
* @details 基类私有变量对子类和外界隐藏实现，通过指针进行访问。
|
||||
* @version 2.1
|
||||
* @date 2024-05-07
|
||||
*
|
||||
* @copyright 天神创意无限公司 2024
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
#ifndef __FSM_PRIVATE_VARS_H_
|
||||
#define __FSM_PRIVATE_VARS_H_
|
||||
|
||||
#include "FSM_protected.h"
|
||||
|
||||
typedef struct FSMHandler FSMHandler;
|
||||
typedef struct FSM FSM;
|
||||
typedef struct FSMSignals FSMSignals;
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* private数据类型 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/**
|
||||
* @brief
|
||||
* @deprecated 预装载器弃用
|
||||
*
|
||||
*/
|
||||
typedef struct FSMDataLoader
|
||||
{
|
||||
void *shadowData;
|
||||
int isReady;
|
||||
int isOverflow;
|
||||
unsigned long long size;
|
||||
}FSMDataLoader;
|
||||
|
||||
|
||||
/**
|
||||
* @brief 基类状态机的私有变量和函数，子类不可直接访问
|
||||
*
|
||||
*/
|
||||
typedef struct FSMPrivateVars
|
||||
{
|
||||
int numState; /**< 状态数量 */
|
||||
int defaultState; /**< Idle状态不能停留，必须指定一个初始状态 */
|
||||
|
||||
int curState; /**< 当前状态 */
|
||||
int nextState; /**< nextState为Idle代表状态机不发生变化 */
|
||||
int index; /**< 状态转移函数表对应的标号 */
|
||||
|
||||
FSMHandler fcns; /**< 状态函数表 */
|
||||
|
||||
// FSM *childFSM; /**< 限定只能有一个子状态机 */
|
||||
FSM **childFSMTable; /**< 每个状态都可配置一个子状态机 */
|
||||
|
||||
FSMDataLoader preloader; /**< @deprecated 弃用 */
|
||||
|
||||
}FSMPrivateVars;
|
||||
|
||||
|
||||
#endif
|
||||
|
|
@ -48,10 +48,11 @@ 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);
|
||||
typedef const char * (*Avoid_WARNING_2ASCII_Fcns)(FSM *pFSM);
|
||||
typedef void (*Avoid_WARNING_ResetSignals_Fcns)(FSMSignals* signals, void *);
|
||||
typedef void (*Avoid_WARNING_loadData_Fcns)(void*);
|
||||
typedef int (*Avoid_WARNING_SelectNextState)(void *data, FSMSignals* signals);
|
||||
|
|
@ -68,13 +69,12 @@ typedef struct FSMHandler{
|
|||
int (**selectNextState)(void *data, FSMSignals* signals); /**< 每个状态配置的状态选择函数 */
|
||||
|
||||
void (**transitionTable)(void *data); /**< 状态转移函数表 */
|
||||
void (*transitionGeneralAction)(void *data); /**< 通用状态转移函数，不论有没有独立的状态转移函数都会执行 */
|
||||
void (*transitionGeneralAction)(void *data); /**< 通用状态转移函数，不论有没有独立的状态转移函数都会执行。常用来清空内部变量 */
|
||||
|
||||
void (**enterActionTable)(void *data, FSM **cFSM); /**< 进入状态时运行的函数，和plecs对标 */
|
||||
void (**duringActionTable)(void *data, FSM **cFSM); /**< 状态不变时运行的函数，和plecs对标 */
|
||||
void (**exitActionTable)(void *data, FSM **cFSM); /**< 状态退出时运行的函数，和plecs对标 */
|
||||
void (**enterActionTable)(void *data); /**< 进入状态时运行的函数，和plecs对标 */
|
||||
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;
|
||||
|
||||
/**
|
||||
|
|
@ -84,10 +84,12 @@ typedef struct FSMHandler{
|
|||
*/
|
||||
typedef struct FSMSignals
|
||||
{
|
||||
Uint16 all; /**< 外部信号 */
|
||||
Uint16 lastTriggeredSignal; /**< 上一次触发的外部信号，用于信号清除 */
|
||||
unsigned int all; /**< 外部信号 */
|
||||
unsigned int 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 FSM_Idle 0 /**< 清空上次触发信号，占用第一个信号位 */
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 纯虚函数，子类必须重新实现，父类构造函数不会初始化 */
|
||||
|
|
@ -133,17 +135,16 @@ typedef struct FSM
|
|||
/* -------------------------------------------------------------------------- */
|
||||
void stepBaseFSM(FSM *pFSM);
|
||||
void constructFSM(FSM* pFSM);
|
||||
FSM* newBaseFSM(int numState, int defaultState);
|
||||
void resetBaseFSM(FSM *pFSM);
|
||||
|
||||
FSM* newBaseFSM(int numState);
|
||||
void registerChildFSM(FSM *parent, FSM *child, int state);
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 内联函数 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
static inline void clearSignal(FSMSignals *signals, Uint16 signalFlag){
|
||||
static inline void clearSignal(FSMSignals *signals, unsigned int signalFlag){
|
||||
signals->all &= ~(1 << signalFlag);
|
||||
}
|
||||
static inline Uint16 getSignal(FSMSignals *signals, Uint16 signalFlag){
|
||||
static inline unsigned int getSignal(FSMSignals *signals, unsigned int signalFlag){
|
||||
return (signals->all >> signalFlag) & 1;
|
||||
}
|
||||
static inline void clearAllSignals(FSMSignals *signals){
|
||||
|
|
@ -151,4 +152,6 @@ static inline void clearAllSignals(FSMSignals *signals){
|
|||
}
|
||||
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -11,8 +11,6 @@
|
|||
#ifndef __FSM_PUBLIC_H_
|
||||
#define __FSM_PUBLIC_H_
|
||||
|
||||
typedef unsigned int Uint16;
|
||||
typedef unsigned long Uint32;
|
||||
|
||||
#define BASE_FSM(ptr) ((FSM *)(ptr))
|
||||
#define BASE_PTR (FSM *)
|
||||
|
|
@ -23,30 +21,29 @@ typedef struct FSMPublicFcns
|
|||
{
|
||||
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
|
||||
|
||||
const char *(*curState2ASCII)(FSM *pFSM);
|
||||
}FSMPublicFcns;
|
||||
|
||||
/* -------------------------------- 避免警告的函数定义 ------------------------------- */
|
||||
#define Step(pFSM) _stepFSM((FSM *)pFSM) /**< 外界调用这个 */
|
||||
#define CurState2ASCII(pFSM) _curState2ASCII((FSM *)pFSM) /**< 外界调用这个 */
|
||||
#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 */
|
||||
|
||||
|
||||
void _stepFSM(FSM *pFSM);
|
||||
const char * _curState2ASCII(FSM *pFSM);
|
||||
/* --------------------------------- 状态机信息获取 -------------------------------- */
|
||||
int getFSMCurState(FSM *pFSM);
|
||||
int getFSMNextState(FSM *pFSM);
|
||||
void setChildNum(FSM *pFSM, int num);
|
||||
void registerChildFSM(FSM *parent, FSM *child, int index);
|
||||
|
||||
/* ------------------------------ Data和Signals ------------------------------ */
|
||||
const void *_getData(FSM* pFSM);
|
||||
void _setSignal(FSM *pFSM, Uint16 signalFlag);
|
||||
void _setSignal(FSM *pFSM, unsigned int signalFlag);
|
||||
|
||||
/* ---------------------------------- 预装载器 ---------------------------------- */
|
||||
void *_preloadIn(FSM *pFSM);
|
||||
|
|
|
|||
|
|
@ -1,123 +1,83 @@
|
|||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
|
||||
#include "parentFSM.h"
|
||||
#include "FSM_protected.h"
|
||||
|
||||
#define DEFAULT_STATE Idle
|
||||
|
||||
typedef struct _ParentFSM
|
||||
{
|
||||
FSM base;
|
||||
}ParentFSM;
|
||||
|
||||
typedef enum _State{
|
||||
Idle,
|
||||
A,
|
||||
B,
|
||||
C,
|
||||
|
||||
Count_State,
|
||||
}State;
|
||||
|
||||
typedef enum _Event{
|
||||
Idle_Event,
|
||||
Start,
|
||||
A2B,
|
||||
B2A,
|
||||
B2C,
|
||||
C2A,
|
||||
|
||||
Count_Event,
|
||||
}Event;
|
||||
|
||||
const static char *stateStr[] = {
|
||||
"Idle",
|
||||
"A",
|
||||
"B",
|
||||
"C",
|
||||
};
|
||||
|
||||
const static char *eventStr[] = {
|
||||
"Idle",
|
||||
"Start",
|
||||
"A2B",
|
||||
"B2A",
|
||||
"B2C",
|
||||
"C2A",
|
||||
};
|
||||
#include "parentFSM.h"
|
||||
#include "parentFSM_private.h"
|
||||
|
||||
|
||||
State StartHandler(){
|
||||
FSM_LOG(" start ");
|
||||
return A;
|
||||
}
|
||||
|
||||
State A2BHandler(){
|
||||
FSM_LOG(" A2B ");
|
||||
return B;
|
||||
}
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 纯虚函数，允许调用privateVars */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
|
||||
State B2AHandler(){
|
||||
FSM_LOG(" B2A ");
|
||||
return A;
|
||||
}
|
||||
|
||||
State B2CHandler(){
|
||||
FSM_LOG(" B2C ");
|
||||
return C;
|
||||
}
|
||||
|
||||
State C2AHandler(){
|
||||
FSM_LOG(" C2A ");
|
||||
return A;
|
||||
/**
|
||||
* @brief
|
||||
* @deprecated 暂时没用，后续考虑data是否需要加锁再说
|
||||
* @param data 主要是外部数据
|
||||
*/
|
||||
static void loadExternalData(ParentFSMData *data){ // 必须重新实现
|
||||
}
|
||||
|
||||
|
||||
void A_enterAction(){
|
||||
FSM_LOG(" enterA ");
|
||||
}
|
||||
void A_duringAction(){
|
||||
FSM_LOG(" duringA ");
|
||||
}
|
||||
void A_exitAction(){
|
||||
FSM_LOG(" exitA ");
|
||||
/**
|
||||
* @brief 根据条件重置信号
|
||||
* @details 清除被响应信号和所有小于被响应信号优先级的信号，具体可以参考notion
|
||||
* @param signals 状态机接收到的信号
|
||||
* @param data 状态机数据
|
||||
*/
|
||||
static void resetSignals(FSMSignals *signals, ParentFSMData *data){ // 必须重新实现
|
||||
clearAllSignals(signals);
|
||||
}
|
||||
|
||||
void B_enterAction(void *data, FSM **childFSM){
|
||||
FSM_LOG(" enterB ");
|
||||
|
||||
FSM *cFSM = childFSM[0];
|
||||
cFSM->pureVtbl.step(cFSM);
|
||||
}
|
||||
void B_duringAction(void *data, FSM **childFSM){
|
||||
FSM_LOG(" duringB ");
|
||||
/**
|
||||
* @brief 给所有内部、外部数据分配堆空间
|
||||
*
|
||||
* @param pFSM
|
||||
*/
|
||||
static void initData(ParentFSM *pFSM){ // 必须重新实现
|
||||
ParentFSMData *data = (ParentFSMData *)malloc(sizeof(ParentFSMData));
|
||||
|
||||
FSM *cFSM = childFSM[0];
|
||||
cFSM->pureVtbl.step(cFSM);
|
||||
}
|
||||
void B_exitAction(void *data, FSM **childFSM){
|
||||
FSM *cFSM = childFSM[0];
|
||||
cFSM->pureVtbl.reset(cFSM);
|
||||
ParentFSMData tempData = {
|
||||
.external = {
|
||||
.arrindex = 0,
|
||||
.x = 0,
|
||||
},
|
||||
.internal = {
|
||||
.inner1 = 0,
|
||||
.y1 = 0,
|
||||
},
|
||||
};
|
||||
*data = tempData;
|
||||
|
||||
FSM_LOG(" exitB ");
|
||||
pFSM->base.data = data;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief
|
||||
* @deprecated 弃用
|
||||
* @param pFSM
|
||||
*/
|
||||
static void initDataLoader(ParentFSM *pFSM){ // 必须重新实现
|
||||
// pFSM->base.privateVars->preloader.shadowData = malloc(sizeof(ParentFSMExternalData));
|
||||
// pFSM->base.privateVars->preloader.size = sizeof(ParentFSMExternalData);
|
||||
}
|
||||
|
||||
|
||||
void C_enterAction(){
|
||||
FSM_LOG(" enterC ");
|
||||
}
|
||||
void C_duringAction(){
|
||||
FSM_LOG(" duringC ");
|
||||
}
|
||||
void C_exitAction(){
|
||||
FSM_LOG(" exitC ");
|
||||
}
|
||||
|
||||
|
||||
|
||||
static void setupHandler(FSMHandler* fcns){
|
||||
/**
|
||||
* @brief 设置状态选择函数、状态内函数和状态转移函数
|
||||
*
|
||||
* @param fcns 状态机函数表
|
||||
*/
|
||||
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(A);
|
||||
addSelectNextStateFcn(B);
|
||||
addSelectNextStateFcn(C);
|
||||
|
||||
/* ----------------------- 添加状态中事件，action during exit ----------------------- */
|
||||
addStateActionFcn(during, A);
|
||||
addStateActionFcn(during, B);
|
||||
addStateActionFcn(during, C);
|
||||
|
|
@ -128,85 +88,68 @@ static void setupHandler(FSMHandler* fcns){
|
|||
addStateActionFcn(exit, B);
|
||||
addStateActionFcn(exit, C);
|
||||
|
||||
addTransitionHandler(Idle, Start);
|
||||
addTransitionHandler(A, A2B);
|
||||
addTransitionHandler(B, B2A);
|
||||
addTransitionHandler(B, B2C);
|
||||
addTransitionHandler(C, C2A);
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
用户自定义事件选择逻辑—————————————————begin
|
||||
*/
|
||||
Event peventArr[20] = {
|
||||
Idle_Event,
|
||||
Start,
|
||||
A2B,
|
||||
Idle_Event,
|
||||
Idle_Event,
|
||||
Idle_Event,
|
||||
Idle_Event,
|
||||
Idle_Event,
|
||||
B2C,
|
||||
C2A,
|
||||
A2B,
|
||||
B2A,
|
||||
};
|
||||
|
||||
static Event selectEvent(ParentFSMData *data){
|
||||
return peventArr[data->arrindex];
|
||||
}
|
||||
/*
|
||||
用户自定义事件选择逻辑————————end
|
||||
*/
|
||||
|
||||
static void printFSM(ParentFSM* pFSM){
|
||||
FSM_LOG("\tParentFSM: ");
|
||||
|
||||
FSM_LOG("当前状态:%s, 当前事件:%s, 动作：", stateStr[pFSM->base.privateVars.curState], eventStr[pFSM->base.privateVars.curEvent]);
|
||||
/* --------------------------- 添加转移函数和转移函数对应的Delay -------------------------- */
|
||||
addTransitionHandler(Idle, A);
|
||||
addTransitionHandler(A, B);
|
||||
addTransitionHandler(B, A);
|
||||
addTransitionHandler(B, C);
|
||||
addTransitionHandler(C, A);
|
||||
|
||||
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 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/**
|
||||
* @brief 重新实现基类的step函数，添加一些打印信息
|
||||
*
|
||||
* @param pFSM 子类状态机指针
|
||||
*/
|
||||
static void step(ParentFSM* pFSM){
|
||||
printFSM(pFSM);
|
||||
_stepFSM(BASE_FSM(pFSM));
|
||||
}
|
||||
|
||||
static void reset(ParentFSM* pFSM){
|
||||
resetBaseFSM(BASE_FSM(pFSM));
|
||||
FSM_LOG(" ParentFSM-reset");
|
||||
}
|
||||
|
||||
static void initData(ParentFSM *pFSM){
|
||||
ParentFSMData *data = (ParentFSMData *)malloc(sizeof(ParentFSMData));
|
||||
data->arrindex = 0;
|
||||
|
||||
pFSM->base.data = data;
|
||||
}
|
||||
|
||||
static void initDataLoader(ParentFSM *pFSM){ // 必须重新实现
|
||||
pFSM->base.privateVars.preloader.in = malloc(sizeof(ParentFSMData));
|
||||
pFSM->base.privateVars.preloader.preloadSize = sizeof(ParentFSMData);
|
||||
stepBaseFSM(BASE_FSM(pFSM));
|
||||
FSM_LOG("NextState:%s", stateStr[getFSMNextState((FSM *)pFSM)]);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @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);
|
||||
}
|
||||
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 子类构造函数 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
|
||||
/**
|
||||
* @brief Create a Parent FSM object
|
||||
* @details 子类状态机细节对外隐藏，外部只能访问基类的公有函数来操作子类变量
|
||||
* @return ParentFSM*
|
||||
*/
|
||||
ParentFSM *createParentFSM(){
|
||||
|
||||
ParentFSM *pFSM;
|
||||
pFSM = (ParentFSM *)newBaseFSM(Count_State, Count_Event, DEFAULT_STATE);
|
||||
pFSM = (ParentFSM *)newBaseFSM(Count_State);
|
||||
|
||||
// 重新实现的函数
|
||||
pFSM->base.publicFcns.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.setupHandler = (Avoid_WARNING_void_fcns)setupHandler;
|
||||
pFSM->base.pureVtbl.resetSignals = (Avoid_WARNING_ResetSignals_Fcns)resetSignals;
|
||||
pFSM->base.pureVtbl.loadExternalData = (Avoid_WARNING_loadData_Fcns)loadExternalData;
|
||||
|
||||
// 调用父类构造函数
|
||||
constructFSM((FSM *)pFSM);
|
||||
|
||||
FSM_LOG("ok\n");
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,149 @@
|
|||
#ifdef __PARENTFSM_PRIVATE_FSM_H_
|
||||
#error This file can only be included once!!!
|
||||
|
||||
#else
|
||||
#define __PARENTFSM_PRIVATE_FSM_H_
|
||||
#endif
|
||||
|
||||
#include "FSM_protected.h"
|
||||
#include "parentFSM.h"
|
||||
#include "parentFSM_state.h"
|
||||
#include <stdio.h>
|
||||
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 继承基类 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
typedef struct ParentFSM
|
||||
{
|
||||
FSM base;
|
||||
}ParentFSM;
|
||||
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 下一个状态选择函数 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
|
||||
|
||||
static State selectNextStateFcn(Idle)(ParentFSMData *data, FSMSignals *signals){
|
||||
return A;
|
||||
}
|
||||
|
||||
static State selectNextStateFcn(A)(ParentFSMData *data, FSMSignals *signals){
|
||||
if(getSignal(signals, Signal_toB)){
|
||||
signals->lastTriggeredSignal = Signal_toB;
|
||||
return B;
|
||||
}
|
||||
return Idle;
|
||||
}
|
||||
|
||||
static State selectNextStateFcn(B)(ParentFSMData *data, FSMSignals *signals){
|
||||
if(getSignal(signals, Signal_toA)){
|
||||
signals->lastTriggeredSignal = Signal_toA;
|
||||
return A;
|
||||
}
|
||||
else if(getSignal(signals, Signal_toC)){
|
||||
signals->lastTriggeredSignal = Signal_toC;
|
||||
return C;
|
||||
}
|
||||
return Idle;
|
||||
}
|
||||
|
||||
static State selectNextStateFcn(C)(ParentFSM *data, FSMSignals *signals){
|
||||
if(getSignal(signals, Signal_toA)){
|
||||
signals->lastTriggeredSignal = Signal_toA;
|
||||
return A;
|
||||
}
|
||||
return Idle;
|
||||
}
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 对应的 action, exit, during 函数 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
static void actionFcn(enter, A)()
|
||||
{
|
||||
FSM_LOG(" enterA ");
|
||||
}
|
||||
static void actionFcn(during, A)()
|
||||
{
|
||||
FSM_LOG(" duringA ");
|
||||
}
|
||||
static void actionFcn(exit, A)()
|
||||
{
|
||||
FSM_LOG(" exitA ");
|
||||
}
|
||||
|
||||
static void actionFcn(enter, B)()
|
||||
{
|
||||
FSM_LOG(" enterB ");
|
||||
}
|
||||
static void actionFcn(during, B)()
|
||||
{
|
||||
FSM_LOG(" duringB ");
|
||||
}
|
||||
static void actionFcn(exit, B)()
|
||||
{
|
||||
FSM_LOG(" exitB ");
|
||||
}
|
||||
|
||||
static void actionFcn(enter, C)()
|
||||
{
|
||||
FSM_LOG(" enterC ");
|
||||
}
|
||||
static void actionFcn(during, C)()
|
||||
{
|
||||
FSM_LOG(" duringC ");
|
||||
}
|
||||
static void actionFcn(exit, C)()
|
||||
{
|
||||
FSM_LOG(" exitC");
|
||||
}
|
||||
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 转移函数 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
static void transitionGeneralAction(ParentFSMData *data){
|
||||
FSM_LOG("general");
|
||||
}
|
||||
|
||||
static void transitionHandler(Idle, A)()
|
||||
{
|
||||
FSM_LOG(" Idle2A ");
|
||||
}
|
||||
|
||||
|
||||
static void transitionHandler(A, B)()
|
||||
{
|
||||
FSM_LOG(" A2B ");
|
||||
}
|
||||
|
||||
static void transitionHandler(B, A)()
|
||||
{
|
||||
FSM_LOG(" B2A ");
|
||||
}
|
||||
|
||||
static void transitionHandler(B, C)()
|
||||
{
|
||||
FSM_LOG(" B2C ");
|
||||
}
|
||||
|
||||
static void transitionHandler(C, A)()
|
||||
{
|
||||
FSM_LOG(" C2A ");
|
||||
}
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 打印调试 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
const static char *stateStr[] = {
|
||||
"Idle",
|
||||
"A",
|
||||
"B",
|
||||
"C",
|
||||
};
|
||||
|
||||
static void printFSM(ParentFSM* pFSM){
|
||||
FSM_LOG(" \tParent: ");
|
||||
FSM_LOG("CurrentState:%s, Action", stateStr[getFSMCurState((FSM *)pFSM)]);
|
||||
}
|
||||
|
|
@ -1,82 +1,143 @@
|
|||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
|
||||
#include "FSM_protected.h"
|
||||
#include "childFSM.h"
|
||||
#include "childFSM_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
|
||||
*/
|
||||
Event ceventArr[20] = {
|
||||
Idle_Event,
|
||||
Idle_Event,
|
||||
Idle2D,
|
||||
Idle_Event,
|
||||
Idle_Event,
|
||||
D2E,
|
||||
E2D,
|
||||
D2E,
|
||||
Idle_Event,
|
||||
Idle_Event,
|
||||
Idle_Event,
|
||||
Idle_Event,
|
||||
};
|
||||
|
||||
static Event selectEvent(ChildFSMData *data){ // 必须重新实现
|
||||
return ceventArr[data->arrindex];
|
||||
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 纯虚函数，允许调用privateVars */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
|
||||
/**
|
||||
* @brief
|
||||
* @deprecated 暂时没用，后续考虑data是否需要加锁再说
|
||||
* @param data 主要是外部数据
|
||||
*/
|
||||
static void loadExternalData(ChildFSMData *data){ // 必须重新实现
|
||||
}
|
||||
|
||||
static void step(ChildFSM* pFSM){
|
||||
printFSM(pFSM);
|
||||
_stepFSM(BASE_FSM(pFSM));
|
||||
|
||||
/**
|
||||
* @brief 根据条件重置信号
|
||||
* @details 清除被响应信号和所有小于被响应信号优先级的信号，具体可以参考notion
|
||||
* @param signals 状态机接收到的信号
|
||||
* @param data 状态机数据
|
||||
*/
|
||||
static void resetSignals(FSMSignals *signals, ChildFSMData *data){ // 必须重新实现
|
||||
clearAllSignals(signals);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 给所有内部、外部数据分配堆空间
|
||||
*
|
||||
* @param pFSM
|
||||
*/
|
||||
static void initData(ChildFSM *pFSM){ // 必须重新实现
|
||||
ChildFSMData *data = (ChildFSMData *)malloc(sizeof(ChildFSMData));
|
||||
data->arrindex = 0;
|
||||
|
||||
pFSM->base.privateVars.preloader.in = malloc(sizeof(ChildFSMData));
|
||||
pFSM->base.privateVars.preloader.preloadSize = sizeof(ChildFSMData);
|
||||
ChildFSMData tempData = {
|
||||
.external = {
|
||||
.arrindex = 0,
|
||||
.x = 0,
|
||||
},
|
||||
.internal = {
|
||||
.inner1 = 0,
|
||||
.y1 = 0,
|
||||
},
|
||||
};
|
||||
*data = tempData;
|
||||
|
||||
pFSM->base.data = data;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief
|
||||
* @deprecated 弃用
|
||||
* @param pFSM
|
||||
*/
|
||||
static void initDataLoader(ChildFSM *pFSM){ // 必须重新实现
|
||||
pFSM->base.privateVars.preloader.in = malloc(sizeof(ChildFSMData));
|
||||
pFSM->base.privateVars.preloader.preloadSize = sizeof(ChildFSMData);
|
||||
// pFSM->base.privateVars->preloader.shadowData = malloc(sizeof(ChildFSMExternalData));
|
||||
// pFSM->base.privateVars->preloader.size = sizeof(ChildFSMExternalData);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief 设置状态选择函数、状态内函数和状态转移函数
|
||||
*
|
||||
* @param fcns 状态机函数表
|
||||
*/
|
||||
static void setupHandler(FSMHandler* fcns){ // 必须重新实现
|
||||
addStateActionFcn(during, E);
|
||||
/* ------------------------------- 添加下一个状态选择函数 ------------------------------ */
|
||||
addSelectNextStateFcn(Idle);
|
||||
addSelectNextStateFcn(D);
|
||||
addSelectNextStateFcn(E);
|
||||
|
||||
/* ----------------------- 添加状态中事件，action during exit ----------------------- */
|
||||
addStateActionFcn(during, D);
|
||||
addStateActionFcn(during, E);
|
||||
addStateActionFcn(enter, D);
|
||||
addStateActionFcn(exit, D);
|
||||
addStateActionFcn(enter, E);
|
||||
addStateActionFcn(exit, D);
|
||||
addStateActionFcn(exit, E);
|
||||
|
||||
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);
|
||||
|
||||
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 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/**
|
||||
* @brief 重新实现基类的step函数，添加一些打印信息
|
||||
*
|
||||
* @param pFSM 子类状态机指针
|
||||
*/
|
||||
static void step(ChildFSM* pFSM){
|
||||
printFSM(pFSM);
|
||||
stepBaseFSM(BASE_FSM(pFSM));
|
||||
FSM_LOG("NextState:%s", stateStr[getFSMNextState((FSM *)pFSM)]);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 子类构造函数 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
|
||||
/**
|
||||
* @brief Create a Child FSM object
|
||||
* @details 子类状态机细节对外隐藏，外部只能访问基类的公有函数来操作子类变量
|
||||
* @return ChildFSM*
|
||||
*/
|
||||
ChildFSM *createChildFSM(){
|
||||
|
||||
ChildFSM *pFSM;
|
||||
pFSM = (ChildFSM *)newBaseFSM(Count_State, Count_Event, DEFAULT_STATE);
|
||||
pFSM = (ChildFSM *)newBaseFSM(Count_State);
|
||||
|
||||
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;
|
||||
// 重新实现的函数
|
||||
pFSM->base.publicFcns.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.setupHandler = (Avoid_WARNING_void_fcns)setupHandler;
|
||||
pFSM->base.pureVtbl.resetSignals = (Avoid_WARNING_ResetSignals_Fcns)resetSignals;
|
||||
pFSM->base.pureVtbl.loadExternalData = (Avoid_WARNING_loadData_Fcns)loadExternalData;
|
||||
|
||||
constructFSM((FSM *)pFSM);
|
||||
// 调用父类构造函数
|
||||
constructFSM((FSM *)pFSM);
|
||||
|
||||
FSM_LOG("ok\n");
|
||||
|
||||
return pFSM;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,17 +1,57 @@
|
|||
#ifndef __CHILD_FSM_H_
|
||||
#define __CHILD_FSM_H_
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 提前做类型声明 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
|
||||
#define ChildFSM_Input(pFSM) ((ChildFSMData *)_preloadIn((FSM *)pFSM))
|
||||
|
||||
typedef struct _childFSMData
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 自定义数据和信号 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/**
|
||||
* @brief 自定义外部信号，目前最多15个
|
||||
* @details 因为是Unint16存储的信号位
|
||||
*
|
||||
*/
|
||||
enum ChildFSMSignals{
|
||||
Signal_toD = 1, /**< 必须从1开始，0预留给Idle信号了*/
|
||||
Signal_toE,
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 自定义外部数据
|
||||
*
|
||||
*/
|
||||
typedef struct ChildFSMExternalData
|
||||
{
|
||||
int arrindex;
|
||||
int x;
|
||||
}ChildFSMExternalData;
|
||||
|
||||
|
||||
/**
|
||||
* @brief 自定义内部数据
|
||||
*
|
||||
*/
|
||||
typedef struct ChildFSMInnerData
|
||||
{
|
||||
int y1;
|
||||
int inner1;
|
||||
}ChildFSMInnerData;
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 下面的改个名字就行了 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
typedef struct ChildFSMData
|
||||
{
|
||||
ChildFSMExternalData external;
|
||||
ChildFSMInnerData internal;
|
||||
}ChildFSMData;
|
||||
|
||||
typedef struct _ChildFSM ChildFSM;
|
||||
|
||||
typedef struct ChildFSM ChildFSM;
|
||||
ChildFSM *createChildFSM();
|
||||
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -1,121 +1,123 @@
|
|||
#ifndef __CHILD_PRIVATE_FSM_H_
|
||||
#define __CHILD_PRIVATE_FSM_H_
|
||||
#ifdef __CHILDFSM_PRIVATE_FSM_H_
|
||||
#error This file can only be included once!!!
|
||||
|
||||
#else
|
||||
#define __CHILDFSM_PRIVATE_FSM_H_
|
||||
#endif
|
||||
|
||||
#include "FSM_protected.h"
|
||||
#include "childFSM.h"
|
||||
#include "childFSM_state.h"
|
||||
#include <stdio.h>
|
||||
|
||||
|
||||
/*
|
||||
继承基类
|
||||
*/
|
||||
typedef struct _ChildFSM
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 继承基类 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
typedef struct ChildFSM
|
||||
{
|
||||
// 继承父类
|
||||
FSM base;
|
||||
}ChildFSM;
|
||||
|
||||
/*
|
||||
状态和对应的 action, exit, during 函数
|
||||
*/
|
||||
|
||||
typedef enum _State
|
||||
{
|
||||
Idle,
|
||||
D,
|
||||
E,
|
||||
|
||||
Count_State,
|
||||
} State;
|
||||
#define DEFAULT_STATE E
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 下一个状态选择函数 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
static State selectNextStateFcn(Idle)(ChildFSMData *data, FSMSignals *signals){
|
||||
if(data->external.x == 1)
|
||||
return D;
|
||||
else
|
||||
return E;
|
||||
}
|
||||
|
||||
void actionFcn(enter, D)()
|
||||
static State selectNextStateFcn(D)(ChildFSMData *data, FSMSignals *signals){
|
||||
if(getSignal(signals, Signal_toE)){
|
||||
signals->lastTriggeredSignal = Signal_toE;
|
||||
return E;
|
||||
}
|
||||
return Idle;
|
||||
}
|
||||
|
||||
static State selectNextStateFcn(E)(ChildFSMData *data, FSMSignals *signals){
|
||||
if(getSignal(signals, Signal_toD)){
|
||||
signals->lastTriggeredSignal = Signal_toD;
|
||||
return D;
|
||||
}
|
||||
return Idle;
|
||||
}
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 对应的 action, exit, during 函数 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
static void actionFcn(enter, D)()
|
||||
{
|
||||
FSM_LOG(" enterD ");
|
||||
}
|
||||
void actionFcn(during, D)()
|
||||
static void actionFcn(during, D)()
|
||||
{
|
||||
FSM_LOG(" duringD ");
|
||||
}
|
||||
void actionFcn(exit, D)()
|
||||
static void actionFcn(exit, D)()
|
||||
{
|
||||
FSM_LOG(" exitD ");
|
||||
}
|
||||
|
||||
void actionFcn(enter, E)()
|
||||
static void actionFcn(enter, E)()
|
||||
{
|
||||
FSM_LOG(" enterE ");
|
||||
}
|
||||
void actionFcn(during, E)()
|
||||
static void actionFcn(during, E)()
|
||||
{
|
||||
FSM_LOG(" duringE ");
|
||||
}
|
||||
void actionFcn(exit, E)()
|
||||
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,
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 转移函数 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
static void transitionGeneralAction(FSM pFSM){
|
||||
// FSM_LOG("general");
|
||||
}
|
||||
|
||||
Count_Event,
|
||||
}Event;
|
||||
// static void transitionGeneralAction(TemplateFSMData *data){
|
||||
// FSM_LOG("general");
|
||||
// }
|
||||
|
||||
|
||||
State transitionHandler(Idle2D)()
|
||||
static void transitionHandler(Idle, D)()
|
||||
{
|
||||
FSM_LOG(" Idle2D ");
|
||||
return D;
|
||||
}
|
||||
|
||||
State transitionHandler(Idle2E)()
|
||||
static void transitionHandler(Idle, E)()
|
||||
{
|
||||
FSM_LOG(" Idle2E ");
|
||||
return E;
|
||||
}
|
||||
|
||||
State transitionHandler(D2E)()
|
||||
static void transitionHandler(D, E)()
|
||||
{
|
||||
FSM_LOG(" D2E ");
|
||||
return E;
|
||||
}
|
||||
|
||||
State transitionHandler(E2D)()
|
||||
static void 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(ChildFSM* pFSM){
|
||||
FSM_LOG(" \t\tChildFSM: ");
|
||||
FSM_LOG("当前状态:%s, 当前事件:%s, 动作：", stateStr[getFSMCurState((FSM *)pFSM)], eventStr[getFSMCurEvent((FSM *)pFSM)]);
|
||||
FSM_LOG(" \tChild: ");
|
||||
FSM_LOG("CurrentState:%s, Action", stateStr[getFSMCurState((FSM *)pFSM)]);
|
||||
}
|
||||
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -0,0 +1,22 @@
|
|||
#ifndef __CHILD_FSM_STATE_H_
|
||||
#define __CHILD_FSM_STATE_H_
|
||||
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 状态定义 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
|
||||
/**
|
||||
* @brief 状态机内状态定义，Idle和Count_State必须占据开头和结尾两个位置
|
||||
*
|
||||
*/
|
||||
typedef enum _State
|
||||
{
|
||||
Idle, /**< 必须在开头，并且枚举值=0 */
|
||||
D,
|
||||
E,
|
||||
|
||||
Count_State, /**< 必须在结尾，用来统计状态数量 */
|
||||
} State;
|
||||
|
||||
#endif
|
||||
|
|
@ -7,27 +7,31 @@
|
|||
ChildFSM *cFSM;
|
||||
ParentFSM *pFSM;
|
||||
|
||||
enum ParentFSMSignals i[20] = {0, Signal_toA, Signal_toB,0,0,0,0,0, Signal_toC, Signal_toA, Signal_toB, Signal_toA};
|
||||
enum ChildFSMSignals j[20] = {0,0,Signal_toD,0,0,Signal_toE, Signal_toD, Signal_toE,0,0,0,0};
|
||||
|
||||
int main(){
|
||||
|
||||
cFSM = createChildFSM();
|
||||
pFSM = createParentFSM();
|
||||
|
||||
setChildNum((pFSM), 1);
|
||||
registerChildFSM((pFSM), (cFSM), 0);
|
||||
bind_ParentFSM_ChildFSMs(pFSM, (FSM *)cFSM);
|
||||
|
||||
for (int i = 0; i < 15; i++)
|
||||
((ParentFSMData *)GetData(cFSM))->external.x = 1;
|
||||
|
||||
for (int k = 0; k < 15; k++)
|
||||
{
|
||||
ParentFSM_Input(pFSM)->arrindex = i;
|
||||
PreloaderGetReady(pFSM);
|
||||
printf("%d: ",k+1);
|
||||
SetSignal(pFSM, i[k]);
|
||||
SetSignal(cFSM, j[k]);
|
||||
|
||||
ChildFSM_Input(cFSM)->arrindex = i;
|
||||
PreloaderGetReady(cFSM);
|
||||
if(k > 5){
|
||||
((ParentFSMData *)GetData(cFSM))->external.x = 0;
|
||||
}
|
||||
|
||||
ChildFSMData* data = _getData((FSM *)(cFSM));
|
||||
printf(" %d ", data->arrindex);
|
||||
Step(pFSM);
|
||||
|
||||
|
||||
_vptrFSM((FSM *)pFSM)->step((FSM *)pFSM);
|
||||
printf("\n");
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -1,15 +1,67 @@
|
|||
#ifndef __PARENT_FSM_H_
|
||||
#define __PARENT_FSM_H_
|
||||
|
||||
#define ParentFSM_Input(pFSM) ((ParentFSMData *)_preloadIn((FSM *)pFSM))
|
||||
|
||||
typedef struct _parentFSMData
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 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 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/**
|
||||
* @brief 自定义外部信号，目前最多15个
|
||||
* @details 因为是Unint16存储的信号位
|
||||
*
|
||||
*/
|
||||
enum ParentFSMSignals{
|
||||
Signal_toA = 1, /**< 必须从1开始，0预留给Idle信号了*/
|
||||
Signal_toB,
|
||||
Signal_toC,
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 自定义外部数据
|
||||
*
|
||||
*/
|
||||
typedef struct ParentFSMExternalData
|
||||
{
|
||||
int arrindex;
|
||||
int x;
|
||||
}ParentFSMExternalData;
|
||||
|
||||
|
||||
/**
|
||||
* @brief 自定义内部数据
|
||||
*
|
||||
*/
|
||||
typedef struct ParentFSMInnerData
|
||||
{
|
||||
int y1;
|
||||
int inner1;
|
||||
}ParentFSMInnerData;
|
||||
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 这一块改个名字就行了 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
|
||||
typedef struct ParentFSMData
|
||||
{
|
||||
ParentFSMExternalData external;
|
||||
ParentFSMInnerData internal;
|
||||
}ParentFSMData;
|
||||
typedef struct _ParentFSM ParentFSM;
|
||||
|
||||
ParentFSM *createParentFSM();
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -0,0 +1,24 @@
|
|||
#ifndef __PARENT_FSM_STATE_H_
|
||||
#define __PARENT_FSM_STATE_H_
|
||||
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 状态定义 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
|
||||
/**
|
||||
* @brief 状态机内状态定义，Idle和Count_State必须占据开头和结尾两个位置
|
||||
*
|
||||
*/
|
||||
typedef enum _State
|
||||
{
|
||||
Idle, /**< 必须在开头，并且枚举值=0，表示空状态 */
|
||||
A,
|
||||
B,
|
||||
C,
|
||||
|
||||
Count_State, /**< 必须在结尾，用来统计状态数量 */
|
||||
} State;
|
||||
|
||||
|
||||
#endif
|
||||
|
|
@ -14,6 +14,25 @@
|
|||
#include "keyFSM.h"
|
||||
#include "keyFSM_private.h"
|
||||
|
||||
extern KeyIn keystat;
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 用户定义逻辑 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
|
||||
KeyOut readKeyFSMOut(KeyFSM *FSM){
|
||||
KeyFSMData *data= FSM->base.data;
|
||||
KeyOut out = data->internal.out;
|
||||
data->internal.out = Idle;
|
||||
|
||||
return out;
|
||||
}
|
||||
|
||||
|
||||
void setKeyFSMOut(KeyFSMData *data, KeyOut keyout){
|
||||
data->internal.out = keyout;
|
||||
}
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 纯虚函数，允许调用privateVars */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
|
|
@ -22,7 +41,7 @@ static void loadExternalData(KeyFSMData *data){ // 必须重新实现
|
|||
}
|
||||
|
||||
static void resetSignals(FSMSignals *signals, KeyFSMData *data){ // 必须重新实现
|
||||
data->internal.out = Idle;
|
||||
// data->internal.out = Idle;
|
||||
}
|
||||
|
||||
static void initData(KeyFSM *pFSM){ // 必须重新实现
|
||||
|
|
@ -41,6 +60,7 @@ static void initDataLoader(KeyFSM *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_State);
|
||||
addSelectNextStateFcn(Waiting);
|
||||
addSelectNextStateFcn(DownDebouncing);
|
||||
addSelectNextStateFcn(Downing);
|
||||
|
|
@ -96,7 +116,7 @@ static void step(KeyFSM* pFSM){
|
|||
KeyFSM *createKeyFSM(){
|
||||
|
||||
KeyFSM *pFSM;
|
||||
pFSM = (KeyFSM *)newBaseFSM(Count_State, DEFAULT_STATE);
|
||||
pFSM = (KeyFSM *)newBaseFSM(Count_State);
|
||||
|
||||
#ifndef DSP28377
|
||||
pFSM->base.publicFcns.step = (Avoid_WARNING_Overrider_Fcns)step;
|
||||
|
|
|
|||
|
|
@ -51,5 +51,7 @@ typedef struct _KeyFSM KeyFSM;
|
|||
KeyFSM *createKeyFSM();
|
||||
|
||||
|
||||
KeyOut readKeyFSMOut(KeyFSM *FSM);
|
||||
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -6,7 +6,7 @@
|
|||
#include <stdio.h>
|
||||
#include <assert.h>
|
||||
|
||||
extern KeyIn keystat;
|
||||
|
||||
|
||||
|
||||
/*
|
||||
|
|
@ -37,14 +37,17 @@ typedef enum _State
|
|||
|
||||
Count_State,
|
||||
} State;
|
||||
#define DEFAULT_STATE Waiting
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 下一个状态选择函数 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
static State selectNextStateFcn(Idle_State)(KeyFSMData *data){
|
||||
return Waiting;
|
||||
}
|
||||
|
||||
static State selectNextStateFcn(Waiting)(KeyFSMData *data){
|
||||
|
||||
if(data->external.in == Down){
|
||||
if(data->external.in == pDown){
|
||||
FSM_LOG(" 物理按键按下 ");
|
||||
return DownDebouncing;
|
||||
}
|
||||
|
|
@ -83,7 +86,7 @@ static State selectNextStateFcn(Holding)(KeyFSMData *data){
|
|||
}
|
||||
|
||||
static State selectNextStateFcn(HoldUpDebouncing)(KeyFSMData *data){
|
||||
if(data->external.in == Down){
|
||||
if(data->external.in == pDown){
|
||||
FSM_LOG(" 物理按键按下 ");
|
||||
return Holding;
|
||||
}
|
||||
|
|
@ -94,7 +97,7 @@ static State selectNextStateFcn(HoldUpDebouncing)(KeyFSMData *data){
|
|||
}
|
||||
|
||||
static State selectNextStateFcn(UpDebouncing)(KeyFSMData *data){
|
||||
if(data->external.in == Down){
|
||||
if(data->external.in == pDown){
|
||||
FSM_LOG(" 物理按键按下 ");
|
||||
if(data->internal.countMultiDown){
|
||||
return MultiDowning;
|
||||
|
|
@ -111,7 +114,7 @@ static State selectNextStateFcn(UpDebouncing)(KeyFSMData *data){
|
|||
}
|
||||
|
||||
static State selectNextStateFcn(MultiDownWaiting)(KeyFSMData *data){
|
||||
if(data->external.in == Down){
|
||||
if(data->external.in == pDown){
|
||||
FSM_LOG(" 物理按键按下 ");
|
||||
return MultiDownDebouncing;
|
||||
}
|
||||
|
|
@ -213,17 +216,17 @@ void transitionGeneralAction(KeyFSMData *data){
|
|||
data->internal.countDelay = 0;
|
||||
}
|
||||
|
||||
static State transitionHandler(DownDebouncing, Downing)(KeyFSMData* data){
|
||||
static void transitionHandler(DownDebouncing, Downing)(KeyFSMData* data){
|
||||
data->internal.out = Down;
|
||||
}
|
||||
|
||||
|
||||
static State transitionHandler(UpDebouncing, MultiDownWaiting)(KeyFSMData* data){
|
||||
static void transitionHandler(UpDebouncing, MultiDownWaiting)(KeyFSMData* data){
|
||||
data->internal.out = Idle;
|
||||
data->internal.countMultiDown++;
|
||||
}
|
||||
|
||||
static State transitionHandler(MultiDownDebouncing, MultiDowning)(KeyFSMData* data){
|
||||
static void transitionHandler(MultiDownDebouncing, MultiDowning)(KeyFSMData* data){
|
||||
switch (data->internal.countMultiDown + 1)
|
||||
{
|
||||
case 2:
|
||||
|
|
@ -241,18 +244,18 @@ static State transitionHandler(MultiDownDebouncing, MultiDowning)(KeyFSMData* da
|
|||
}
|
||||
|
||||
|
||||
static State transitionHandler(Downing, Holding)(KeyFSMData* data){
|
||||
static void transitionHandler(Downing, Holding)(KeyFSMData* data){
|
||||
data->internal.out = Hold;
|
||||
}
|
||||
|
||||
static State transitionHandler(MultiDownWaiting, Waiting)(KeyFSMData* data){
|
||||
static void transitionHandler(MultiDownWaiting, Waiting)(KeyFSMData* data){
|
||||
data->internal.countMultiDown = 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
用户自定义事件选择逻辑—————————————————begin
|
||||
用户自定义事件选择逻辑—————————————————begin
|
||||
*/
|
||||
const static char *stateStr[] = {
|
||||
"Idle",
|
||||
|
|
@ -270,7 +273,7 @@ const static char *stateStr[] = {
|
|||
static void printFSM(KeyFSM* pFSM){
|
||||
KeyFSMData* data = pFSM->base.data;
|
||||
FSM_LOG("KeyFSM: ");
|
||||
FSM_LOG("%d, 当前状态:%s, \t上一个下次事件:%s \t转移：", data->internal.countDelay, stateStr[getFSMCurState((FSM *)pFSM)], stateStr[getFSMNextState((FSM *)pFSM)]);
|
||||
FSM_LOG("%d, 当前状态:%s, \t上一个下次状态:%s \t转移：", data->internal.countDelay, stateStr[getFSMCurState((FSM *)pFSM)], stateStr[getFSMNextState((FSM *)pFSM)]);
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,4 +1,5 @@
|
|||
#include <stdio.h>
|
||||
#include "assert.h"
|
||||
|
||||
#include "keyFSM.h"
|
||||
#include "FSM_public.h"
|
||||
|
|
@ -23,19 +24,20 @@ KeyIn keystat;
|
|||
|
||||
int main(){
|
||||
|
||||
|
||||
KeyFSM* keyFSM = createKeyFSM();
|
||||
|
||||
for (int i = 0; i < NUM; i++)
|
||||
{
|
||||
printf("第%d次: ",i+1);
|
||||
const KeyFSMData* data = _getData((FSM *)keyFSM);
|
||||
|
||||
keystat = testin[i];
|
||||
|
||||
Step(keyFSM);
|
||||
|
||||
if(data->internal.out){
|
||||
printf("\t\t\t\t%d", data->internal.out);
|
||||
KeyOut out = readKeyFSMOut(keyFSM);
|
||||
if(out != Idle){
|
||||
printf("\t\t\t\t%d", out);
|
||||
}
|
||||
printf("\n");
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,4 +1,5 @@
|
|||
#include <stdio.h>
|
||||
#include <assert.h>
|
||||
|
||||
#include "templateFSM.h"
|
||||
#include "FSM_public.h"
|
||||
|
|
@ -27,8 +28,11 @@ int main(){
|
|||
if(i == 7){
|
||||
x = 0;
|
||||
}
|
||||
|
||||
|
||||
printf("%d, " ,i);
|
||||
|
||||
printf("\t\t %s", CurState2ASCII(pFSM));
|
||||
|
||||
Step(pFSM);
|
||||
printf("\n");
|
||||
|
|
|
|||
|
|
@ -17,6 +17,11 @@
|
|||
#include "templateFSM.h"
|
||||
#include "templateFSM_private.h"
|
||||
|
||||
|
||||
const char * curState2ASCII(TemplateFSM *pFSM){
|
||||
return stateStr[getFSMCurState((FSM *)pFSM)];
|
||||
}
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 纯虚函数，允许调用privateVars */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
|
|
@ -92,6 +97,7 @@ 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);
|
||||
|
||||
|
|
@ -142,10 +148,11 @@ 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;
|
||||
pFSM->base.publicFcns.curState2ASCII = (Avoid_WARNING_2ASCII_Fcns)curState2ASCII;
|
||||
pFSM->base.pureVtbl.initData = (Avoid_WARNING_Overrider_Fcns)initData;
|
||||
pFSM->base.pureVtbl.initDataLoader = (Avoid_WARNING_Overrider_Fcns)initDataLoader;
|
||||
pFSM->base.pureVtbl.setupHandler = (Avoid_WARNING_void_fcns)setupHandler;
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
|
|
@ -64,6 +62,7 @@ typedef struct TemplateFSMData
|
|||
|
||||
typedef struct TemplateFSM TemplateFSM;
|
||||
TemplateFSM *createTemplateFSM();
|
||||
const char * curState2ASCII_TemplateFSM(TemplateFSM *pFSM);
|
||||
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -17,6 +17,7 @@
|
|||
|
||||
#include "FSM_protected.h"
|
||||
#include "templateFSM.h"
|
||||
#include "templateFSM_state.h"
|
||||
#include <stdio.h>
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
|
|
@ -34,28 +35,17 @@ typedef struct TemplateFSM
|
|||
FSM base;
|
||||
}TemplateFSM;
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 状态定义 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
|
||||
/**
|
||||
* @brief 状态机内状态定义，Idle和Count_State必须占据开头和结尾两个位置
|
||||
*
|
||||
*/
|
||||
typedef enum _State
|
||||
{
|
||||
Idle, /**< 必须在开头，并且枚举值=0 */
|
||||
D,
|
||||
E,
|
||||
|
||||
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)){
|
||||
|
|
@ -115,7 +105,7 @@ static void actionFcn(exit, E)()
|
|||
/* -------------------------------------------------------------------------- */
|
||||
/* 转移函数 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
static void transitionGeneralAction(FSM pFSM){
|
||||
static void transitionGeneralAction(FSM *pFSM){
|
||||
FSM_LOG("general");
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,22 @@
|
|||
#ifndef __TEMPLATE_FSM_STATE_H_
|
||||
#define __TEMPLATE_FSM_STATE_H_
|
||||
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* 状态定义 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
|
||||
/**
|
||||
* @brief 状态机内状态定义，Idle和Count_State必须占据开头和结尾两个位置
|
||||
*
|
||||
*/
|
||||
typedef enum _State
|
||||
{
|
||||
Idle, /**< 必须在开头，并且枚举值=0 */
|
||||
D,
|
||||
E,
|
||||
|
||||
Count_State, /**< 必须在结尾，用来统计状态数量 */
|
||||
} State;
|
||||
|
||||
#endif
|
||||
|
|
@ -42,7 +42,7 @@ DOXYFILE_ENCODING = UTF-8
|
|||
# title of most generated pages and in a few other places.
|
||||
# The default value is: My Project.
|
||||
|
||||
PROJECT_NAME = 科湃100kW样机代码
|
||||
PROJECT_NAME = 状态机框架
|
||||
|
||||
# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
|
||||
# could be handy for archiving the generated documentation or if some version
|
||||
|
|
@ -61,7 +61,7 @@ PROJECT_BRIEF = "by 天神"
|
|||
# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
|
||||
# the logo to the output directory.
|
||||
|
||||
PROJECT_LOGO = C:/Users/97498/Desktop/无标题.png
|
||||
PROJECT_LOGO = D:/godsays/indexfiles/AZ8OJKZLGK/FSM/vscode/doxygen/logo_transparent.png
|
||||
|
||||
# With the PROJECT_ICON tag one can specify an icon that is included in the tabs
|
||||
# when the HTML document is shown. Doxygen will copy the logo to the output
|
||||
|
|
@ -74,7 +74,7 @@ PROJECT_ICON =
|
|||
# entered, it will be relative to the location where doxygen was started. If
|
||||
# left blank the current directory will be used.
|
||||
|
||||
OUTPUT_DIRECTORY = C:/Users/97498/Desktop/doxgentest
|
||||
OUTPUT_DIRECTORY = manual
|
||||
|
||||
# If the CREATE_SUBDIRS tag is set to YES then doxygen will create up to 4096
|
||||
# sub-directories (in 2 levels) under the output directory of each output format
|
||||
|
|
@ -643,7 +643,7 @@ CASE_SENSE_NAMES = SYSTEM
|
|||
# scope will be hidden.
|
||||
# The default value is: NO.
|
||||
|
||||
HIDE_SCOPE_NAMES = YES
|
||||
HIDE_SCOPE_NAMES = NO
|
||||
|
||||
# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will
|
||||
# append additional text to a page's title, such as Class Reference. If set to
|
||||
|
|
@ -822,7 +822,7 @@ FILE_VERSION_FILTER =
|
|||
# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
|
||||
# tag is left empty.
|
||||
|
||||
LAYOUT_FILE = D:/godsays/indexfiles/M3J7THMQES/empty_project_with_init_28388S/doxygen/DoxygenLayout.xml
|
||||
LAYOUT_FILE = doxygen/DoxygenLayout.xml
|
||||
|
||||
# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
|
||||
# the reference definitions. This must be a list of .bib files. The .bib
|
||||
|
|
@ -950,7 +950,7 @@ WARN_LOGFILE =
|
|||
# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
|
||||
# Note: If this tag is empty the current directory is searched.
|
||||
|
||||
INPUT =
|
||||
INPUT = FSM_OOP
|
||||
|
||||
# This tag can be used to specify the character encoding of the source files
|
||||
# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
|
||||
|
|
@ -1056,10 +1056,7 @@ RECURSIVE = YES
|
|||
# Note that relative paths are relative to the directory from which doxygen is
|
||||
# run.
|
||||
|
||||
EXCLUDE = D:/godsays/indexfiles/M3J7THMQES/empty_project_with_init_28388S/include \
|
||||
D:/godsays/indexfiles/M3J7THMQES/empty_project_with_init_28388S/source \
|
||||
D:/godsays/indexfiles/M3J7THMQES/empty_project_with_init_28388S/CPU1_FLASH \
|
||||
D:/godsays/indexfiles/M3J7THMQES/empty_project_with_init_28388S/CPU1_RAM
|
||||
EXCLUDE =
|
||||
|
||||
# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
|
||||
# directories that are symbolic links (a Unix file system feature) are excluded
|
||||
|
|
|
|||
116
父子状态机测试.plecs
116
父子状态机测试.plecs
|
|
@ -1,5 +1,5 @@
|
|||
Plecs {
|
||||
Name base64 "54q25oCB5py65rWL6K+V"
|
||||
Name base64 "54i25a2Q54q25oCB5py65rWL6K+V"
|
||||
Version "4.7"
|
||||
CircuitModel "ContStateSpace"
|
||||
StartTime "0.0"
|
||||
|
|
@ -47,7 +47,7 @@ Plecs {
|
|||
ScriptsDialogGeometry ""
|
||||
ScriptsDialogSplitterPos "0"
|
||||
Schematic {
|
||||
Location [1734, 301; 2376, 730]
|
||||
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|
||||
ZoomFactor 1.71498
|
||||
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|
||||
ShowBrowser off
|
||||
|
|
@ -139,9 +139,9 @@ Plecs {
|
|||
Show off
|
||||
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|
||||
FSM {
|
||||
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|
||||
ZoomFactor 1.14437
|
||||
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|
||||
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|
||||
ZoomFactor 0.76361
|
||||
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|
||||
FsmState {
|
||||
Name "A"
|
||||
Position [360, 480]
|
||||
|
|
@ -161,8 +161,8 @@ Plecs {
|
|||
}
|
||||
FsmState {
|
||||
Name "B"
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
Name "EnterAction"
|
||||
Value "printf(\" enterB \");"
|
||||
|
|
@ -177,7 +177,7 @@ Plecs {
|
|||
}
|
||||
FsmState {
|
||||
Name "D"
|
||||
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|
||||
Position [-340, 20]
|
||||
Frame [-100, -90; 100, 90]
|
||||
Parameter {
|
||||
Name "EnterAction"
|
||||
|
|
@ -192,10 +192,18 @@ Plecs {
|
|||
Value "printf(\" exitD \");"
|
||||
}
|
||||
}
|
||||
FsmState {
|
||||
Name ".Junction"
|
||||
Position [-190, -130]
|
||||
}
|
||||
FsmState {
|
||||
Name ".PointState"
|
||||
Position [-190, -170]
|
||||
}
|
||||
FsmState {
|
||||
Name "E"
|
||||
Position [210, -10]
|
||||
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|
||||
Position [240, 20]
|
||||
Frame [-230, -90; 230, 90]
|
||||
Parameter {
|
||||
Name "EnterAction"
|
||||
Value "printf(\" enterE \");"
|
||||
|
|
@ -209,19 +217,11 @@ Plecs {
|
|||
Value "printf(\" exitE \");"
|
||||
}
|
||||
}
|
||||
FsmState {
|
||||
Name ".Junction"
|
||||
Position [-90, -160]
|
||||
}
|
||||
FsmState {
|
||||
Name ".PointState"
|
||||
Position [-90, -200]
|
||||
}
|
||||
}
|
||||
FsmState {
|
||||
Name "C"
|
||||
Position [650, 1050]
|
||||
Frame [-100, -90; 100, 90]
|
||||
Position [850, 1050]
|
||||
Frame [-300, -90; 300, 90]
|
||||
Parameter {
|
||||
Name "EnterAction"
|
||||
Value "printf(\" enterC \");"
|
||||
|
|
@ -367,6 +367,38 @@ Plecs {
|
|||
Value "1"
|
||||
}
|
||||
}
|
||||
FsmTransition {
|
||||
FsmSrcInfo {
|
||||
StatePath ".PointState"
|
||||
TerminalLoc right
|
||||
TerminalCoord 0.5
|
||||
External on
|
||||
}
|
||||
FsmDstInfo {
|
||||
StatePath "A"
|
||||
TerminalLoc top
|
||||
TerminalCoord 0.507833
|
||||
External on
|
||||
}
|
||||
SegmentLengths []
|
||||
LabelPosition 0.5
|
||||
Parameter {
|
||||
Name "Trigger"
|
||||
Value ""
|
||||
}
|
||||
Parameter {
|
||||
Name "Condition"
|
||||
Value ""
|
||||
}
|
||||
Parameter {
|
||||
Name "Action"
|
||||
Value ""
|
||||
}
|
||||
Parameter {
|
||||
Name "Priority"
|
||||
Value "1"
|
||||
}
|
||||
}
|
||||
FsmTransition {
|
||||
FsmSrcInfo {
|
||||
StatePath "B/D"
|
||||
|
|
@ -527,38 +559,6 @@ Plecs {
|
|||
Value "2"
|
||||
}
|
||||
}
|
||||
FsmTransition {
|
||||
FsmSrcInfo {
|
||||
StatePath ".PointState"
|
||||
TerminalLoc bottom
|
||||
TerminalCoord 0.5
|
||||
External on
|
||||
}
|
||||
FsmDstInfo {
|
||||
StatePath "A"
|
||||
TerminalLoc top
|
||||
TerminalCoord 0.509626
|
||||
External on
|
||||
}
|
||||
SegmentLengths [63.5]
|
||||
LabelPosition 0.5
|
||||
Parameter {
|
||||
Name "Trigger"
|
||||
Value ""
|
||||
}
|
||||
Parameter {
|
||||
Name "Condition"
|
||||
Value ""
|
||||
}
|
||||
Parameter {
|
||||
Name "Action"
|
||||
Value ""
|
||||
}
|
||||
Parameter {
|
||||
Name "Priority"
|
||||
Value "1"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Component {
|
||||
|
|
@ -571,7 +571,7 @@ Plecs {
|
|||
LabelPosition south
|
||||
Parameter {
|
||||
Variable "DialogGeometry"
|
||||
Value "[1296 663 655 313]"
|
||||
Value "[947 556 655 313]"
|
||||
Show off
|
||||
}
|
||||
Parameter {
|
||||
|
|
@ -683,17 +683,17 @@ Plecs {
|
|||
Direction up
|
||||
Flipped off
|
||||
LabelPosition south
|
||||
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|
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|
||||
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||||
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||||
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|
||||
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|
||||
"AAAAA=="
|
||||
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||||
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||||
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||||
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||||
"gAAAGQAAAAJAAAAZAAAAAgAAABkAAAABQAAAGQAAAAEAAAAZAAAAAcAAABkAAAABgAAAGQAAAABAA"
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||||
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||||
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||||
"AAAAAQAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAQAAAAAAA"
|
||||
"AAYAAAAAQAAAAAAAAPoAAAAABg="
|
||||
|
|
@ -781,4 +781,4 @@ Plecs {
|
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|
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|
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DemoSignature "C/ZrxOQHJ0OXW30du/vTiFYFVRZZzc0r6Uyc2MRNbyo="
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||||
DemoSignature "jw8KDReJrMPoo1lAaPtOZeufBUfPGFLDXzJKLXRaW0c="
|
||||
|
|
|
|||
|
|
@ -0,0 +1,784 @@
|
|||
Plecs {
|
||||
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CircuitModel "ContStateSpace"
|
||||
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|
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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||||
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|
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|
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|
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|
||||
LossVariableLimitExceededMsg "3"
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
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||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
Show off
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"\n"
|
||||
" Parent_Count_Event,\n"
|
||||
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|
||||
"\n"
|
||||
"\n"
|
||||
"typedef enum _ChildEvent{\n"
|
||||
" Child_Idle_Event,\n"
|
||||
" Idle2D,\n"
|
||||
" Idle2E,\n"
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
Show off
|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
}
|
||||
Parameter {
|
||||
Name "DuringAction"
|
||||
Value "printf(\" duringD \");"
|
||||
}
|
||||
Parameter {
|
||||
Name "ExitAction"
|
||||
Value "printf(\" exitD \");"
|
||||
}
|
||||
}
|
||||
FsmState {
|
||||
Name "E"
|
||||
Position [210, -10]
|
||||
Frame [-100, -90; 100, 90]
|
||||
Parameter {
|
||||
Name "EnterAction"
|
||||
Value "printf(\" enterE \");"
|
||||
}
|
||||
Parameter {
|
||||
Name "DuringAction"
|
||||
Value "printf(\" duringE \");"
|
||||
}
|
||||
Parameter {
|
||||
Name "ExitAction"
|
||||
Value "printf(\" exitE \");"
|
||||
}
|
||||
}
|
||||
FsmState {
|
||||
Name ".Junction"
|
||||
Position [-90, -160]
|
||||
}
|
||||
FsmState {
|
||||
Name ".PointState"
|
||||
Position [-90, -200]
|
||||
}
|
||||
}
|
||||
FsmState {
|
||||
Name "C"
|
||||
Position [650, 1050]
|
||||
Frame [-100, -90; 100, 90]
|
||||
Parameter {
|
||||
Name "EnterAction"
|
||||
Value "printf(\" enterC \");"
|
||||
}
|
||||
Parameter {
|
||||
Name "DuringAction"
|
||||
Value "printf(\" duringC \");"
|
||||
}
|
||||
Parameter {
|
||||
Name "ExitAction"
|
||||
Value "printf(\" exitC \");"
|
||||
}
|
||||
}
|
||||
FsmState {
|
||||
Name ".PointState"
|
||||
Position [330, 250]
|
||||
}
|
||||
FsmTransition {
|
||||
FsmSrcInfo {
|
||||
StatePath "A"
|
||||
TerminalLoc right
|
||||
TerminalCoord 0.390136
|
||||
External on
|
||||
}
|
||||
FsmDstInfo {
|
||||
StatePath "B"
|
||||
TerminalLoc left
|
||||
TerminalCoord 0.511449
|
||||
External on
|
||||
}
|
||||
SegmentLengths [107.3600447694556]
|
||||
LabelPosition 0.685
|
||||
Parameter {
|
||||
Name "Trigger"
|
||||
Value "i==A2B"
|
||||
}
|
||||
Parameter {
|
||||
Name "Condition"
|
||||
Value ""
|
||||
}
|
||||
Parameter {
|
||||
Name "Action"
|
||||
Value "printf(\" A2B \");"
|
||||
}
|
||||
Parameter {
|
||||
Name "Priority"
|
||||
Value "1"
|
||||
}
|
||||
}
|
||||
FsmTransition {
|
||||
FsmSrcInfo {
|
||||
StatePath "B"
|
||||
TerminalLoc left
|
||||
TerminalCoord 0.654101
|
||||
External on
|
||||
}
|
||||
FsmDstInfo {
|
||||
StatePath "A"
|
||||
TerminalLoc right
|
||||
TerminalCoord 0.641567
|
||||
External on
|
||||
}
|
||||
SegmentLengths [-110]
|
||||
LabelPosition 0.5
|
||||
Parameter {
|
||||
Name "Trigger"
|
||||
Value "i==B2A"
|
||||
}
|
||||
Parameter {
|
||||
Name "Condition"
|
||||
Value ""
|
||||
}
|
||||
Parameter {
|
||||
Name "Action"
|
||||
Value "printf(\" B2A \");"
|
||||
}
|
||||
Parameter {
|
||||
Name "Priority"
|
||||
Value "1"
|
||||
}
|
||||
}
|
||||
FsmTransition {
|
||||
FsmSrcInfo {
|
||||
StatePath "B"
|
||||
TerminalLoc bottom
|
||||
TerminalCoord 0.491978
|
||||
External on
|
||||
}
|
||||
FsmDstInfo {
|
||||
StatePath "C"
|
||||
TerminalLoc top
|
||||
TerminalCoord 0.435411
|
||||
External on
|
||||
}
|
||||
SegmentLengths []
|
||||
LabelPosition 0.5
|
||||
Parameter {
|
||||
Name "Trigger"
|
||||
Value "i==B2C"
|
||||
}
|
||||
Parameter {
|
||||
Name "Condition"
|
||||
Value ""
|
||||
}
|
||||
Parameter {
|
||||
Name "Action"
|
||||
Value "printf(\" B2C \");"
|
||||
}
|
||||
Parameter {
|
||||
Name "Priority"
|
||||
Value "2"
|
||||
}
|
||||
}
|
||||
FsmTransition {
|
||||
FsmSrcInfo {
|
||||
StatePath "C"
|
||||
TerminalLoc left
|
||||
TerminalCoord 0.480089
|
||||
External on
|
||||
}
|
||||
FsmDstInfo {
|
||||
StatePath "A"
|
||||
TerminalLoc bottom
|
||||
TerminalCoord 0.531347
|
||||
External on
|
||||
}
|
||||
SegmentLengths []
|
||||
LabelPosition 0.5
|
||||
Parameter {
|
||||
Name "Trigger"
|
||||
Value "i == C2A"
|
||||
}
|
||||
Parameter {
|
||||
Name "Condition"
|
||||
Value ""
|
||||
}
|
||||
Parameter {
|
||||
Name "Action"
|
||||
Value "printf(\" C2A \");"
|
||||
}
|
||||
Parameter {
|
||||
Name "Priority"
|
||||
Value "1"
|
||||
}
|
||||
}
|
||||
FsmTransition {
|
||||
FsmSrcInfo {
|
||||
StatePath "B/D"
|
||||
TerminalLoc right
|
||||
TerminalCoord 0.336937
|
||||
External on
|
||||
}
|
||||
FsmDstInfo {
|
||||
StatePath "B/E"
|
||||
TerminalLoc left
|
||||
TerminalCoord 0.350905
|
||||
External on
|
||||
}
|
||||
SegmentLengths []
|
||||
LabelPosition 0.5
|
||||
Parameter {
|
||||
Name "Trigger"
|
||||
Value "j==D2E"
|
||||
}
|
||||
Parameter {
|
||||
Name "Condition"
|
||||
Value ""
|
||||
}
|
||||
Parameter {
|
||||
Name "Action"
|
||||
Value "printf(\" D2E \");"
|
||||
}
|
||||
Parameter {
|
||||
Name "Priority"
|
||||
Value "1"
|
||||
}
|
||||
}
|
||||
FsmTransition {
|
||||
FsmSrcInfo {
|
||||
StatePath "B/E"
|
||||
TerminalLoc left
|
||||
TerminalCoord 0.593025
|
||||
External on
|
||||
}
|
||||
FsmDstInfo {
|
||||
StatePath "B/D"
|
||||
TerminalLoc right
|
||||
TerminalCoord 0.560432
|
||||
External on
|
||||
}
|
||||
SegmentLengths []
|
||||
LabelPosition 0.5
|
||||
Parameter {
|
||||
Name "Trigger"
|
||||
Value "j==E2D"
|
||||
}
|
||||
Parameter {
|
||||
Name "Condition"
|
||||
Value ""
|
||||
}
|
||||
Parameter {
|
||||
Name "Action"
|
||||
Value "printf(\" E2D \");"
|
||||
}
|
||||
Parameter {
|
||||
Name "Priority"
|
||||
Value "1"
|
||||
}
|
||||
}
|
||||
FsmTransition {
|
||||
FsmSrcInfo {
|
||||
StatePath "B/.PointState"
|
||||
TerminalLoc bottom
|
||||
TerminalCoord 0.5
|
||||
External on
|
||||
}
|
||||
FsmDstInfo {
|
||||
StatePath "B/.Junction"
|
||||
TerminalLoc top
|
||||
TerminalCoord 0.5
|
||||
External on
|
||||
}
|
||||
SegmentLengths []
|
||||
LabelPosition 0.5
|
||||
Parameter {
|
||||
Name "Trigger"
|
||||
Value ""
|
||||
}
|
||||
Parameter {
|
||||
Name "Condition"
|
||||
Value ""
|
||||
}
|
||||
Parameter {
|
||||
Name "Action"
|
||||
Value ""
|
||||
}
|
||||
Parameter {
|
||||
Name "Priority"
|
||||
Value "1"
|
||||
}
|
||||
}
|
||||
FsmTransition {
|
||||
FsmSrcInfo {
|
||||
StatePath "B/.Junction"
|
||||
TerminalLoc left
|
||||
TerminalCoord 0.5
|
||||
External on
|
||||
}
|
||||
FsmDstInfo {
|
||||
StatePath "B/D"
|
||||
TerminalLoc top
|
||||
TerminalCoord 0.606534
|
||||
External on
|
||||
}
|
||||
SegmentLengths []
|
||||
LabelPosition 0.135
|
||||
Parameter {
|
||||
Name "Trigger"
|
||||
Value ""
|
||||
}
|
||||
Parameter {
|
||||
Name "Condition"
|
||||
Value "j == Idle2D"
|
||||
}
|
||||
Parameter {
|
||||
Name "Action"
|
||||
Value "printf(\" Idle2D \");"
|
||||
}
|
||||
Parameter {
|
||||
Name "Priority"
|
||||
Value "1"
|
||||
}
|
||||
}
|
||||
FsmTransition {
|
||||
FsmSrcInfo {
|
||||
StatePath "B/.Junction"
|
||||
TerminalLoc right
|
||||
TerminalCoord 0.5
|
||||
External on
|
||||
}
|
||||
FsmDstInfo {
|
||||
StatePath "B/E"
|
||||
TerminalLoc top
|
||||
TerminalCoord 0.519516
|
||||
External on
|
||||
}
|
||||
SegmentLengths []
|
||||
LabelPosition 0.5
|
||||
Parameter {
|
||||
Name "Trigger"
|
||||
Value ""
|
||||
}
|
||||
Parameter {
|
||||
Name "Condition"
|
||||
Value ""
|
||||
}
|
||||
Parameter {
|
||||
Name "Action"
|
||||
Value "printf(\" Idle2E \");"
|
||||
}
|
||||
Parameter {
|
||||
Name "Priority"
|
||||
Value "2"
|
||||
}
|
||||
}
|
||||
FsmTransition {
|
||||
FsmSrcInfo {
|
||||
StatePath ".PointState"
|
||||
TerminalLoc bottom
|
||||
TerminalCoord 0.5
|
||||
External on
|
||||
}
|
||||
FsmDstInfo {
|
||||
StatePath "A"
|
||||
TerminalLoc top
|
||||
TerminalCoord 0.509626
|
||||
External on
|
||||
}
|
||||
SegmentLengths [63.5]
|
||||
LabelPosition 0.5
|
||||
Parameter {
|
||||
Name "Trigger"
|
||||
Value ""
|
||||
}
|
||||
Parameter {
|
||||
Name "Condition"
|
||||
Value ""
|
||||
}
|
||||
Parameter {
|
||||
Name "Action"
|
||||
Value ""
|
||||
}
|
||||
Parameter {
|
||||
Name "Priority"
|
||||
Value "1"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Component {
|
||||
Type CScript
|
||||
Name "C-Script"
|
||||
Show on
|
||||
Position [75, 70]
|
||||
Direction up
|
||||
Flipped off
|
||||
LabelPosition south
|
||||
Parameter {
|
||||
Variable "DialogGeometry"
|
||||
Value "[1276 398 582 313]"
|
||||
Show off
|
||||
}
|
||||
Parameter {
|
||||
Variable "NumInputs"
|
||||
Value "1"
|
||||
Show off
|
||||
}
|
||||
Parameter {
|
||||
Variable "NumOutputs"
|
||||
Value "2"
|
||||
Show off
|
||||
}
|
||||
Parameter {
|
||||
Variable "NumContStates"
|
||||
Value "0"
|
||||
Show off
|
||||
}
|
||||
Parameter {
|
||||
Variable "NumDiscStates"
|
||||
Value "0"
|
||||
Show off
|
||||
}
|
||||
Parameter {
|
||||
Variable "NumZCSignals"
|
||||
Value "0"
|
||||
Show off
|
||||
}
|
||||
Parameter {
|
||||
Variable "DirectFeedthrough"
|
||||
Value "0"
|
||||
Show off
|
||||
}
|
||||
Parameter {
|
||||
Variable "Ts"
|
||||
Value "0.1"
|
||||
Show off
|
||||
}
|
||||
Parameter {
|
||||
Variable "Parameters"
|
||||
Value ""
|
||||
Show off
|
||||
}
|
||||
Parameter {
|
||||
Variable "LangStandard"
|
||||
Value "2"
|
||||
Show off
|
||||
}
|
||||
Parameter {
|
||||
Variable "GnuExtensions"
|
||||
Value "1"
|
||||
Show off
|
||||
}
|
||||
Parameter {
|
||||
Variable "RuntimeCheck"
|
||||
Value "2"
|
||||
Show off
|
||||
}
|
||||
Parameter {
|
||||
Variable "Declarations"
|
||||
Value "#include <stdio.h>\n"
|
||||
"\n"
|
||||
"static int index = 0;\n"
|
||||
"static int pu[20] = {0,1,2,0,0,0,0,0, 4,5,2,3};\n"
|
||||
"static int cu[20] = {0,0,1,0,0,3,4,3,0,0,0,0};"
|
||||
Show off
|
||||
}
|
||||
Parameter {
|
||||
Variable "StartFcn"
|
||||
Value ""
|
||||
Show off
|
||||
}
|
||||
Parameter {
|
||||
Variable "OutputFcn"
|
||||
Value base64 "cHJpbnRmKCJcbuesrCVk5qyhIiwgaW5kZXgpOwpPdXRwdXQo"
|
||||
"MCkgPSBwdVtpbmRleF07Ck91dHB1dCgxKSA9IGN1W2luZGV4XTsKaW5kZXgrKzsKCgo="
|
||||
Show off
|
||||
}
|
||||
Parameter {
|
||||
Variable "UpdateFcn"
|
||||
Value ""
|
||||
Show off
|
||||
}
|
||||
Parameter {
|
||||
Variable "DerivativeFcn"
|
||||
Value ""
|
||||
Show off
|
||||
}
|
||||
Parameter {
|
||||
Variable "TerminateFcn"
|
||||
Value ""
|
||||
Show off
|
||||
}
|
||||
Parameter {
|
||||
Variable "StoreCustomStateFcn"
|
||||
Value ""
|
||||
Show off
|
||||
}
|
||||
Parameter {
|
||||
Variable "RestoreCustomStateFcn"
|
||||
Value ""
|
||||
Show off
|
||||
}
|
||||
}
|
||||
Component {
|
||||
Type Scope
|
||||
Name "Scope"
|
||||
Show on
|
||||
Position [165, 35]
|
||||
Direction up
|
||||
Flipped off
|
||||
LabelPosition south
|
||||
Location [811, 582; 1161, 833]
|
||||
State "AAAA/wAAAAD9AAAAAgAAAAEAAAAAAAAAAPwCAAAAA/sAAAAQAFoAbwBvA"
|
||||
"G0AQQByAGUAYQAAAAAA/////wAAADQA////+wAAABQAUwBhAHYAZQBkAFYAaQBlAHcAcwAAAAAA//"
|
||||
"///wAAAGYA////+wAAAAwAVAByAGEAYwBlAHMAAAAAAP////8AAABmAP///wAAAAMAAAAAAAAAAPw"
|
||||
"BAAAAAfsAAAAUAEQAYQB0AGEAVwBpAGQAZwBlAHQAAAAAAP////8AAABQAP///wAAAV4AAADgAAAA"
|
||||
"BAAAAAQAAAAIAAAACPwAAAABAAAAAgAAAAEAAAAOAFQAbwBvAGwAQgBhAHIBAAAAAP////8AAAAAA"
|
||||
"AAAAA=="
|
||||
SavedViews "AAAAAgAAAAA="
|
||||
HeaderState "AAAA/wAAAAAAAAABAAAAAQAAAAAAAAAAAAAAAAAAAAAL/gMAAAAJAAAAB"
|
||||
"gAAAGQAAAAHAAAAZAAAAAgAAABkAAAACQAAAGQAAAABAAAAZAAAAAIAAABkAAAAAwAAAGQAAAAEAA"
|
||||
"AAZAAAAAUAAABkAAAAiwAAAAsBAAABAAAAAAAAAAAAAAAAZP////8AAACBAAAAAAAAAAsAAABzAAA"
|
||||
"AAQAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAQAAAAAAAAAA"
|
||||
"AAAAAQAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAQAAAAAAA"
|
||||
"AAYAAAAAQAAAAAAAAPoAAAAABg="
|
||||
PlotPalettes "AAAAAQAAAAEAAAABAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA"
|
||||
Axes "1"
|
||||
TimeRange "0.0"
|
||||
ScrollingMode "1"
|
||||
SingleTimeAxis "1"
|
||||
Open "0"
|
||||
Ts "-1"
|
||||
SampleLimit "0"
|
||||
XAxisLabel "Time / s"
|
||||
ShowLegend "1"
|
||||
Axis {
|
||||
Name ""
|
||||
AutoScale 1
|
||||
MinValue 0
|
||||
MaxValue 1
|
||||
Signals {}
|
||||
SignalTypes [ ]
|
||||
Untangle 0
|
||||
KeepBaseline off
|
||||
BaselineValue 0
|
||||
}
|
||||
Fourier {
|
||||
SingleXAxis on
|
||||
AxisLabel "Frequency / Hz"
|
||||
Scaling 0
|
||||
PhaseDisplay 0
|
||||
ShowFourierLegend off
|
||||
Axis {
|
||||
Name ""
|
||||
AutoScale 1
|
||||
MinValue 0
|
||||
MaxValue 1
|
||||
Signals {}
|
||||
Untangle 0
|
||||
KeepBaseline off
|
||||
BaselineValue 0
|
||||
}
|
||||
}
|
||||
}
|
||||
Component {
|
||||
Type SignalDemux
|
||||
Name "Demux"
|
||||
Show off
|
||||
Position [165, 100]
|
||||
Direction right
|
||||
Flipped on
|
||||
LabelPosition south
|
||||
Parameter {
|
||||
Variable "Width"
|
||||
Value "2"
|
||||
Show off
|
||||
}
|
||||
}
|
||||
Connection {
|
||||
Type Signal
|
||||
SrcComponent "C-Script"
|
||||
SrcTerminal 2
|
||||
Points [135, 70]
|
||||
Branch {
|
||||
DstComponent "Scope"
|
||||
DstTerminal 1
|
||||
}
|
||||
Branch {
|
||||
Points [135, 100]
|
||||
DstComponent "Demux"
|
||||
DstTerminal 1
|
||||
}
|
||||
}
|
||||
Connection {
|
||||
Type Signal
|
||||
SrcComponent "Demux"
|
||||
SrcTerminal 2
|
||||
DstComponent "State Machine"
|
||||
DstTerminal 1
|
||||
}
|
||||
Connection {
|
||||
Type Signal
|
||||
SrcComponent "Demux"
|
||||
SrcTerminal 3
|
||||
DstComponent "State Machine"
|
||||
DstTerminal 2
|
||||
}
|
||||
}
|
||||
}
|
||||
DemoSignature "vzTf+CQbDjWT4Ix1MTz+0HTDihYd6Bo2fAit4HiYDxE="
|
||||
Loading…
Reference in New Issue