90 lines
2.6 KiB
C
90 lines
2.6 KiB
C
/**
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* @file FSM_private.h
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* @author 天神 (dalaoshi@stu.xjtu.edu.cn)
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* @brief 状态机框架的私有变量，只能在状态机框架内使用。
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* @version 2.1
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* @date 2024-05-07
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*
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* @copyright 天神创意无限公司 2024
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*
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*/
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#ifndef __FSM_PRIVATE_H_
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#define __FSM_PRIVATE_H_
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#include <string.h>
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#include "FSM_protected.h"
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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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/* -------------------------------------------------------------------------- */
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/* private数据类型 */
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/* -------------------------------------------------------------------------- */
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/**
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* @brief
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* @deprecated 预装载器弃用
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*
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*/
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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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/**
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* @brief 基类状态机的私有变量和函数，子类不可直接访问
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*
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*/
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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; /**< nextState为Idle代表状态机不发生变化 */
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int index; /**< 状态转移函数表对应的标号 */
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FSMHandler fcns;
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int numChild;
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FSM **childFSM;
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FSMDataLoader preloader; /**< @deprecated 弃用 */
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}FSMPrivateVars;
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FSMPrivateVars* newFMSPrivateVars(int numState, int defaultState){
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typedef void (*StateFuncPtr)(void *);
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typedef void (*ChildFSMStepFuncPtr)(FSM **);
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typedef int (*TransitionFuncPtr)(void *, int *);
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typedef int (*SelectNextStateFcnPtr)(void *, FSMSignals *);
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FSMPrivateVars *privateVars = calloc(1, sizeof(FSMPrivateVars));
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privateVars->numState = numState;
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privateVars->defaultState = defaultState;
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privateVars->curState = 0;
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privateVars->nextState = 0;
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privateVars->numChild = 0;
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privateVars->preloader.isReady = 0;
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privateVars->fcns.duringActionTable = calloc(numState, sizeof(StateFuncPtr));
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privateVars->fcns.enterActionTable = calloc(numState, sizeof(StateFuncPtr));
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privateVars->fcns.exitActionTable = calloc(numState, sizeof(StateFuncPtr));
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privateVars->fcns.selectNextState = calloc(numState, sizeof(SelectNextStateFcnPtr));
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privateVars->fcns.transitionTable = calloc(numState * numState, sizeof(TransitionFuncPtr));
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privateVars->fcns.transitionGeneralAction = calloc(1, sizeof(StateFuncPtr));
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privateVars->fcns.childFSMStepTable = calloc(numState * numState, sizeof(ChildFSMStepFuncPtr));
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return privateVars;
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}
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#endif |