155 lines
4.8 KiB
C
155 lines
4.8 KiB
C
#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include "FSM_protected.h"
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#include "parentFSM.h"
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#include "parentFSM_private.h"
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/* -------------------------------------------------------------------------- */
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/* 纯虚函数，允许调用privateVars */
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/* -------------------------------------------------------------------------- */
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/**
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* @brief
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* @deprecated 暂时没用，后续考虑data是否需要加锁再说
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* @param data 主要是外部数据
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*/
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static void loadExternalData(ParentFSMData *data){ // 必须重新实现
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}
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/**
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* @brief 根据条件重置信号
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* @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
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* @param signals 状态机接收到的信号
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* @param data 状态机数据
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*/
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static void resetSignals(FSMSignals *signals, ParentFSMData *data){ // 必须重新实现
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clearAllSignals(signals);
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}
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/**
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* @brief 给所有内部、外部数据分配堆空间
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*
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* @param pFSM
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*/
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static void initData(ParentFSM *pFSM){ // 必须重新实现
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ParentFSMData *data = (ParentFSMData *)malloc(sizeof(ParentFSMData));
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ParentFSMData tempData = {
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.external = {
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.arrindex = 0,
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.x = 0,
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},
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.internal = {
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.inner1 = 0,
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.y1 = 0,
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},
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};
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*data = tempData;
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pFSM->base.data = data;
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}
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/**
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* @brief
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* @deprecated 弃用
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* @param pFSM
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*/
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static void initDataLoader(ParentFSM *pFSM){ // 必须重新实现
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// pFSM->base.privateVars->preloader.shadowData = malloc(sizeof(ParentFSMExternalData));
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// pFSM->base.privateVars->preloader.size = sizeof(ParentFSMExternalData);
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}
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/**
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* @brief 设置状态选择函数、状态内函数和状态转移函数
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*
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* @param fcns 状态机函数表
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*/
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static void setupHandler(FSMHandler* fcns){ // 必须重新实现
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/* ------------------------------- 添加下一个状态选择函数 ------------------------------ */
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addSelectNextStateFcn(Idle);
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addSelectNextStateFcn(A);
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addSelectNextStateFcn(B);
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addSelectNextStateFcn(C);
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/* ----------------------- 添加状态中事件，action during exit ----------------------- */
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addStateActionFcn(during, A);
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addStateActionFcn(during, B);
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addStateActionFcn(during, C);
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addStateActionFcn(enter, A);
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addStateActionFcn(enter, B);
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addStateActionFcn(enter, C);
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addStateActionFcn(exit, A);
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addStateActionFcn(exit, B);
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addStateActionFcn(exit, C);
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/* --------------------------- 添加转移函数和转移函数对应的Delay -------------------------- */
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addTransitionHandler(Idle, A);
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addTransitionHandler(A, B);
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addTransitionHandler(B, A);
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addTransitionHandler(B, C);
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addTransitionHandler(C, A);
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fcns->transitionGeneralAction = (Avoid_WARNING_General_Handlers)transitionGeneralAction;
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}
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/* -------------------------------------------------------------------------- */
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/* 其他重新实现的函数，父类已有实现，实现多态 */
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/* -------------------------------------------------------------------------- */
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/**
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* @brief 重新实现基类的step函数，添加一些打印信息
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*
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* @param pFSM 子类状态机指针
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*/
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static void step(ParentFSM* pFSM){
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printFSM(pFSM);
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stepBaseFSM(BASE_FSM(pFSM));
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FSM_LOG("NextState:%s", stateStr[getFSMNextState((FSM *)pFSM)]);
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}
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/**
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* @brief 绑定子状态机，需要自己实现逻辑
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*
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* @param pFSM 父状态机指针
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* @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
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*/
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void bind_ParentFSM_ChildFSMs(ParentFSM *pFSM, FSM *B_FSM){
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registerChildFSM((FSM *)pFSM, B_FSM, B);
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}
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/* -------------------------------------------------------------------------- */
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/* 子类构造函数 */
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/* -------------------------------------------------------------------------- */
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/**
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* @brief Create a Parent FSM object
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* @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
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* @return ParentFSM*
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*/
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ParentFSM *createParentFSM(){
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ParentFSM *pFSM;
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pFSM = (ParentFSM *)newBaseFSM(Count_State);
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// 重新实现的函数
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pFSM->base.publicFcns.step = (Avoid_WARNING_Overrider_Fcns)step;
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pFSM->base.pureVtbl.initData = (Avoid_WARNING_Overrider_Fcns)initData;
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pFSM->base.pureVtbl.initDataLoader = (Avoid_WARNING_Overrider_Fcns)initDataLoader;
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pFSM->base.pureVtbl.setupHandler = (Avoid_WARNING_void_fcns)setupHandler;
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pFSM->base.pureVtbl.resetSignals = (Avoid_WARNING_ResetSignals_Fcns)resetSignals;
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pFSM->base.pureVtbl.loadExternalData = (Avoid_WARNING_loadData_Fcns)loadExternalData;
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// 调用父类构造函数
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constructFSM((FSM *)pFSM);
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FSM_LOG("ok\n");
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return pFSM;
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} |