FSM/vscode/FSM_OOP/baseFSM/FSM.c

#include <stdlib.h>
#include <stdio.h>
#include <assert.h>
#include <string.h>

#include "FSM_private.h"
#include "FSM_protected.h"
#include "FSM_public.h"

/* 
    protected 函数
 */

void resetBaseFSM(FSM *pFSM)
{
    if (pFSM->privateVars.fcns.exitActionTable[pFSM->privateVars.curState] != NULL)
        pFSM->privateVars.fcns.exitActionTable[pFSM->privateVars.curState](pFSM->data, pFSM->privateVars.childFSM);

    pFSM->privateVars.curState = 0;
}

static inline void setNextState(FSM* pFSM){
    int curState = pFSM->privateVars.curState;
    if(curState != 0){
        pFSM->privateVars.nextState = pFSM->privateVars.fcns.selectNextState[curState](pFSM->data, pFSM->signals);
    }

    if(0 == pFSM->privateVars.numChild){
        return;
    }

    for (int i = 0; i < pFSM->privateVars.numChild; i++)
    {
        FSM *cFSM = pFSM->privateVars.childFSM[i];
        setNextState(cFSM);
    }
}

static inline void preload(FSM* pFSM){
    if(pFSM->privateVars.preloader.isReady){
        memcpy(pFSM->data, pFSM->privateVars.preloader.in, pFSM->privateVars.preloader.preloadSize);
        pFSM->privateVars.preloader.isReady = 0;
    }    
}

  
void stepBaseFSM(FSM *pFSM)
{
    preload(pFSM);
    setNextState(pFSM);
    pFSM->vtbl.resetSignals(pFSM);

    FSMHandler *fcns = &pFSM->privateVars.fcns;
    int curState = pFSM->privateVars.curState;
    void *data = pFSM->data;
    FSM **childFSM = pFSM->privateVars.childFSM;
    int index = pFSM->privateVars.curState * pFSM->privateVars.numState + pFSM->privateVars.nextState;
    int nextState = pFSM->privateVars.nextState;

    if(fcns->delayedIndex){
        fcns->transitionDelayTable[fcns->delayedIndex](data);
        fcns->delayedIndex = 0;
    }

    if (fcns->transitionTable[index] != NULL)
    {
        if (fcns->exitActionTable[curState] != NULL)
            fcns->exitActionTable[curState](data, childFSM);


        (*fcns->transitionTable[index])(data, &fcns->delayedIndex);
        fcns->transitionGeneralAction(data);

        if (fcns->enterActionTable[nextState] != NULL)
            fcns->enterActionTable[nextState](data, childFSM);

        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;
    }
    else    // 状态机没动
    {
        if (fcns->duringActionTable[curState] != NULL)
            fcns->duringActionTable[curState](data, childFSM);
    }
}

FSM*  newBaseFSM(int numState, int defaultState){
    typedef void (*StateFuncPtr)(void *); 
    typedef void (*ChildFSMStepFuncPtr)(FSM **); 
    typedef int (*TransitionFuncPtr)(void *, int *);
    typedef int (*SelectNextStateFcnPtr)(void *, void *);

    FSM *pFSM = calloc(1, sizeof(FSM));
    pFSM->privateVars.numState = numState;
    pFSM->privateVars.defaultState = defaultState;
    pFSM->privateVars.curState = 0;
    pFSM->privateVars.nextState = 0;
    pFSM->privateVars.numChild = 0;

    pFSM->privateVars.preloader.isReady = 0;

    pFSM->privateVars.fcns.duringActionTable = calloc(numState,  sizeof(StateFuncPtr));
    pFSM->privateVars.fcns.enterActionTable = calloc(numState, sizeof(StateFuncPtr));
    pFSM->privateVars.fcns.exitActionTable = calloc(numState, sizeof(StateFuncPtr));
    
    pFSM->privateVars.fcns.selectNextState = calloc(numState, sizeof(SelectNextStateFcnPtr));
    pFSM->privateVars.fcns.transitionTable = calloc(numState * numState, sizeof(TransitionFuncPtr));
    pFSM->privateVars.fcns.transitionGeneralAction = calloc(1, sizeof(StateFuncPtr));
    pFSM->privateVars.fcns.transitionDelayTable = calloc(numState * numState,  sizeof(StateFuncPtr));

    pFSM->privateVars.fcns.childFSMStepTable = calloc(numState * numState, sizeof(ChildFSMStepFuncPtr));

    FSMVtbl vtbl = {
        .reset = resetBaseFSM,
        .step = stepBaseFSM,
        .setupHandler = NULL,
        .initData = NULL,
        .initDataLoader = NULL,
        .initSignals = NULL,
    };

    pFSM->vtbl = vtbl;
    return pFSM;
}


void constructFSM(FSM* pFSM){
    assert(pFSM->vtbl.setupHandler);
    assert(pFSM->vtbl.initData);
    assert(pFSM->vtbl.initDataLoader);
    assert(pFSM->vtbl.initSignals);

    pFSM->vtbl.setupHandler(&pFSM->privateVars.fcns);
    pFSM->vtbl.initData(pFSM);
    pFSM->vtbl.initDataLoader(pFSM);
    pFSM->vtbl.initSignals(pFSM);
}


/* 
    public 函数
 */
int getFSMCurState(FSM *pFSM){
    return pFSM->privateVars.curState;
}
int 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 index){
    parent->privateVars.childFSM[index] = child;
}

const void *_getData(FSM* pFSM){
    return (const void *)pFSM->data;
}

void *_getSignals(FSM* pFSM){
    return pFSM->signals;
}


void *_preloadIn(FSM *pFSM){
    return pFSM->privateVars.preloader.in;
}

void _preloaderGetReady(FSM *pFSM){
    if(pFSM->privateVars.preloader.isReady){
        pFSM->privateVars.preloader.isOverflow = 1;
    }
    pFSM->privateVars.preloader.isReady = 1;
}

int _getPreloaderOverFlag(FSM *pFSM){
    return pFSM->privateVars.preloader.isOverflow;
}

void _clearPreloaderOverFlag(FSM *pFSM){
    pFSM->privateVars.preloader.isOverflow = 0;
}


FSMVtbl *_vptrFSM(FSM* pFSM){
    return &pFSM->vtbl;
}