116 lines
3.0 KiB
C
116 lines
3.0 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 delay delay
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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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typedef struct _FSMHandler FSMHandler;
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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 int (*Avoid_WARNING_SelectNextState)(void *data, void *signals);
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typedef void (*Avoid_WARNING_void_fcns)(FSMHandler *fcns);
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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 _FSM FSM;
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typedef struct _FSMHandler{
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int (**selectNextState)(void *data, void *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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FSMHandler fcns;
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int numChild;
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FSM **childFSM;
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void *data;
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}FMSPrivateVars;
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// 类似于纯虚类, vptr中的函数必须继承后重新实现
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typedef struct _FSM
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{
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// public functions
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FSMVtbl vtbl;
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// private
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FMSPrivateVars privateVars;
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// protected
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FSMDataLoader preloader;
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void *signals;
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int signalSize;
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} FSM;
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// protected, 子类能用, 外界用不了
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void constructFSM(FSM* pFSM);
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// 继承的函数
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FSM* newBaseFSM(int numState, int defaultState);
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void stepBaseFSM(FSM *pFSM);
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void resetBaseFSM(FSM *pFSM);
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#endif
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