157 lines
6.3 KiB
C
157 lines
6.3 KiB
C
/**
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* @file FSM_protected.h
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* @author 天神 (dalaoshi@stu.xjtu.edu.cn)
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* @brief 状态机框架的protected函数和变量，在继承的子类中可使用，在外界不可使用
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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_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 struct FSMPrivateVars FSMPrivateVars;
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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, void *);
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typedef void (*Avoid_WARNING_loadData_Fcns)(void*);
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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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* @brief 状态处理函数集合，全部需要子类重新填充内容
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* @details 这个结构体是私有变量，子状态机和外界都不该访问。但是写在FSM_protect.h文件，这样方便在子类中添加函数。不然添加函数得再写个函数添加，
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* 有点麻烦
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*
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*/
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typedef struct FSMHandler{
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int (**selectNextState)(void *data, FSMSignals* signals); /**< 每个状态配置的状态选择函数 */
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void (**transitionTable)(void *data); /**< 状态转移函数表 */
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void (*transitionGeneralAction)(void *data); /**< 通用状态转移函数，不论有没有独立的状态转移函数都会执行。常用来清空内部变量 */
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void (**enterActionTable)(void *data); /**< 进入状态时运行的函数，和plecs对标 */
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void (**duringActionTable)(void *data); /**< 状态不变时运行的函数，和plecs对标 */
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void (**exitActionTable)(void *data); /**< 状态退出时运行的函数，和plecs对标 */
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void (**childFSMStepTable)(FSM **cFSM); /**< @deprecated 子状态机暂时弃用 */
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}FSMHandler;
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/**
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* @brief 状态机用的信号，protected子类可以访问
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* @details 外部只能通过SetSignal函数对信号进行设置，在状态机运行时会根据信号清除函数清除信号。信号
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* 利用位进行存储，每个位代表一个信号，通过移位操作设置和清除信号。
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*/
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typedef struct FSMSignals
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{
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Uint16 all; /**< 外部信号 */
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Uint16 lastTriggeredSignal; /**< 上一次触发的外部信号，用于信号清除 */
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}FSMSignals;
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#define Idle_Signal 0 /**< 清空上次触发信号，占用第一个信号位 */
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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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/**
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* @brief 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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*/
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typedef struct FSMPureVtbl {
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// 状态机控制
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void (*setupHandler)(FSMHandler *fcns); /**< 设置所有的FSMHandler，必须重新实现 */
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void (*initData)(FSM *pFSM); /**< 初始化状态机用数据，包括内部数据和外部数据 */
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void (*loadExternalData)(void *extData); /**< @deprecated 暂时没用，后续可能考虑外部数据是否允许随时修改 */
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void (*initDataLoader)(FSM *pFSM); /**< @deprecated 和预装载器相关 */
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void (*initSignals)(FSM *pFSM); /**< 初始化状态机信号 */
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void (*resetSignals)(FSMSignals *signals, void *data); /**< 根据条件重置状态机信号 */
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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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FSMPublicFcns publicFcns;
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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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FSMPrivateVars* privateVars; /**< 细节被隐藏，无法在子类中访问 */
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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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static inline void clearAllSignals(FSMSignals *signals){
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signals->all = 0;
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}
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#endif
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