158 lines
5.1 KiB
C
158 lines
5.1 KiB
C
#ifndef __FSM_PROTECTED_H_
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#define __FSM_PROTECTED_H_
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#include "FSM_public.h"
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// #define DSP28377
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#ifdef DSP28377
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#define NDEBUG
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#else
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#define FSM_LOG_ON
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#endif
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#ifdef FSM_LOG_ON
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#define FSM_LOG(...) printf(__VA_ARGS__)
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#else
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#define FSM_LOG(...) ((void)0)
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#endif
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#define during during
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#define enter enter
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#define exit exit
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#define selectNextStateFcn(curstate) curstate##_##selectNextState
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#define transitionHandler(curstate, nextstate) curstate##2##nextstate##Handler
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#define actionFcn(action, curstate) curstate##_##action##Action
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#define index(curstate, nextstate) (curstate*Count_State + nextstate)
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#define addSelectNextStateFcn(curstate) fcns->selectNextState[curstate] = (Avoid_WARNING_SelectNextState)selectNextStateFcn(curstate)
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#define addStateActionFcn(type, state) fcns->type##ActionTable[state] = (Avoid_WARNING_State_Fcns)actionFcn(type, state)
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#define addTransitionHandler(curstate, nextstate) fcns->transitionTable[index(curstate, nextstate)] = (Avoid_WARNING_Transition_Handler)transitionHandler(curstate, nextstate)
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typedef struct _FSMHandler FSMHandler;
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typedef struct _FSM FSM;
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typedef struct _FSMSignals FSMSignals;
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typedef void (*Avoid_WARNING_State_Fcns)(void *data, FSM **childFSM);
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typedef void (*Avoid_WARNING_General_Handlers)(void *data);
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typedef void (*Avoid_WARNING_Transition_Handler)(void *data);
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typedef void (*Avoid_WARNING_Overrider_Fcns)(FSM *pFSM);
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typedef void (*Avoid_WARNING_ResetSignals_Fcns)(FSMSignals* signals);
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typedef int (*Avoid_WARNING_SelectNextState)(void *data, FSMSignals* signals);
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typedef void (*Avoid_WARNING_void_fcns)(FSMHandler *fcns);
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/* -------------------------------------------------------------------------- */
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/* private数据类型，但是不能声明到private.h里 */
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/* -------------------------------------------------------------------------- */
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typedef struct _FSMHandler{
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int (**selectNextState)(void *data, FSMSignals* signals);
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void (**transitionTable)(void *data);
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void (*transitionGeneralAction)(void *data);
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void (**enterActionTable)(void *data, FSM **cFSM);
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void (**duringActionTable)(void *data, FSM **cFSM);
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void (**exitActionTable)(void *data, FSM **cFSM);
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void (**childFSMStepTable)(FSM **cFSM);
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}FSMHandler;
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typedef struct _FSMDataLoader
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{
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void *shadowData;
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int isReady;
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int isOverflow;
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size_t size;
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}FSMDataLoader;
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typedef struct _FSMPrivateVars
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{
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int numState;
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int defaultState; // Idle状态不能停留，必须指定一个初始状态
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int curState;
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int nextState;
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int index;
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FSMHandler fcns;
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int numChild;
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FSM **childFSM;
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FSMDataLoader preloader;
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}FMSPrivateVars;
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#define Idle_Signal 16
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typedef struct _FSMSignals
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{
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Uint16 all;
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Uint16 lastTriggeredSignal;
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}FSMSignals;
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/* -------------------------------------------------------------------------- */
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/* 纯虚函数，子类必须重新实现，父类构造函数不会初始化 */
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/* -------------------------------------------------------------------------- */
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typedef struct _FSMPureVtbl {
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// 状态机控制
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void (*initData)(FSM *pFSM); // =0子类必须重新实现
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void (*initSignals)(FSM *pFSM); // =0子类必须重新实现
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void (*resetSignals)(FSMSignals *signalRegs); // =0子类必须重新实现
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void (*setupHandler)(FSMHandler *fcns); // =0子类必须重新实现
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void (*initDataLoader)(FSM *pFSM); // =0子类必须重新实现
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}FSMPureVtbl;
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/* -------------------------------------------------------------------------- */
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/* 基类定义，纯虚类 */
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/* -------------------------------------------------------------------------- */
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typedef struct _FSM
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{
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// public functions
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void (*step)(FSM *pFSM); // 子类重新实现可以添加一些打印信息
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void (*reset)(FSM *pFSM); // 子类重新实现可以添加一些打印信息
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// protected
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FSMPureVtbl pureVtbl;
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void *data;
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FSMSignals signals;
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// private
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FMSPrivateVars privateVars;
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} FSM;
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/* -------------------------------------------------------------------------- */
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/* protected函数，子类能用外界用不了 */
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/* -------------------------------------------------------------------------- */
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void stepBaseFSM(FSM *pFSM);
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void constructFSM(FSM* pFSM);
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FSM* newBaseFSM(int numState, int defaultState);
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void resetBaseFSM(FSM *pFSM);
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/* -------------------------------------------------------------------------- */
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/* 内联函数 */
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/* -------------------------------------------------------------------------- */
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static inline void clearSignal(FSMSignals *signals, Uint16 signalFlag){
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signals->all &= ~(1 << signalFlag);
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}
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static inline Uint16 getSignal(FSMSignals *signals, Uint16 signalFlag){
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return (signals->all >> signalFlag) & 1;
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}
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#endif
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