170 lines
4.1 KiB
C
170 lines
4.1 KiB
C
#ifdef __PARENTFSM_PRIVATE_FSM_H_
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#error This file can only be included once!!!
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#else
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#define __PARENTFSM_PRIVATE_FSM_H_
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#endif
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#include "FSM_protected.h"
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#include "parentFSM.h"
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#include <stdio.h>
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/* -------------------------------------------------------------------------- */
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/* 继承基类 */
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/* -------------------------------------------------------------------------- */
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typedef struct ParentFSM
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{
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FSM base;
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}ParentFSM;
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/* -------------------------------------------------------------------------- */
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/* 状态定义 */
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/* -------------------------------------------------------------------------- */
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/**
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* @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
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*
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*/
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typedef enum _State
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{
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Idle, /**< 必须在开头，并且枚举值=0 */
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A,
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B,
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C,
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Count_State, /**< 必须在结尾，用来统计状态数量 */
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} State;
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/* -------------------------------------------------------------------------- */
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/* 下一个状态选择函数 */
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/* -------------------------------------------------------------------------- */
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static State selectNextStateFcn(Idle)(ParentFSMData *data, FSMSignals *signals){
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return A;
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}
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static State selectNextStateFcn(A)(ParentFSMData *data, FSMSignals *signals){
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if(getSignal(signals, Signal_toB)){
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signals->lastTriggeredSignal = Signal_toB;
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return B;
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}
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return Idle;
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}
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static State selectNextStateFcn(B)(ParentFSMData *data, FSMSignals *signals){
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if(getSignal(signals, Signal_toA)){
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signals->lastTriggeredSignal = Signal_toA;
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return A;
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}
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else if(getSignal(signals, Signal_toC)){
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signals->lastTriggeredSignal = Signal_toC;
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return C;
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}
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return Idle;
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}
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static State selectNextStateFcn(C)(ParentFSM *data, FSMSignals *signals){
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if(getSignal(signals, Signal_toA)){
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signals->lastTriggeredSignal = Signal_toA;
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return A;
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}
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return Idle;
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}
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/* -------------------------------------------------------------------------- */
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/* 对应的 action, exit, during 函数 */
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/* -------------------------------------------------------------------------- */
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static void actionFcn(enter, A)()
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{
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FSM_LOG(" enterA ");
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}
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static void actionFcn(during, A)()
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{
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FSM_LOG(" duringA ");
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}
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static void actionFcn(exit, A)()
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{
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FSM_LOG(" exitA ");
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}
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static void actionFcn(enter, B)()
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{
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FSM_LOG(" enterB ");
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}
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static void actionFcn(during, B)()
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{
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FSM_LOG(" duringB ");
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}
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static void actionFcn(exit, B)()
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{
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FSM_LOG(" exitB ");
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}
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static void actionFcn(enter, C)()
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{
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FSM_LOG(" enterC ");
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}
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static void actionFcn(during, C)()
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{
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FSM_LOG(" duringC ");
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}
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static void actionFcn(exit, C)()
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{
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FSM_LOG(" exitC");
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}
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/* -------------------------------------------------------------------------- */
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/* 转移函数 */
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/* -------------------------------------------------------------------------- */
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static void transitionGeneralAction(FSM pFSM){
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// FSM_LOG("general");
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}
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// static void transitionGeneralAction(TemplateFSMData *data){
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// FSM_LOG("general");
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// }
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static void transitionHandler(Idle, A)()
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{
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FSM_LOG(" Idle2A ");
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}
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static void transitionHandler(A, B)()
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{
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FSM_LOG(" A2B ");
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}
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static void transitionHandler(B, A)()
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{
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FSM_LOG(" B2A ");
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}
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static void transitionHandler(B, C)()
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{
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FSM_LOG(" B2C ");
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}
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static void transitionHandler(C, A)()
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{
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FSM_LOG(" C2A ");
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}
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/* -------------------------------------------------------------------------- */
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/* 打印调试 */
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/* -------------------------------------------------------------------------- */
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const static char *stateStr[] = {
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"Idle",
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"A",
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"B",
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"C",
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};
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static void printFSM(ParentFSM* pFSM){
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FSM_LOG(" \tParent: ");
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FSM_LOG("当前状态:%s, 动作：", stateStr[getFSMCurState((FSM *)pFSM)]);
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}
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