92 lines
2.3 KiB
C
92 lines
2.3 KiB
C
#ifndef __FSM_PROTECTED_H_
|
||
#define __FSM_PROTECTED_H_
|
||
|
||
#include "FSM_public.h"
|
||
|
||
#ifdef DSP28377
|
||
#define NDEBUG
|
||
#else
|
||
#define FSM_LOG_ON
|
||
#endif
|
||
|
||
|
||
#ifdef FSM_LOG_ON
|
||
#define FSM_LOG(...) printf(__VA_ARGS__)
|
||
#else
|
||
#define FSM_LOG(...) ((void)0)
|
||
#endif
|
||
|
||
#define delay delay
|
||
#define during during
|
||
#define enter enter
|
||
#define exit exit
|
||
|
||
#define transitionHandler(event) event##Handler
|
||
#define actionFcn(action, state) state##_##action##Action
|
||
#define index(state, event) (state*Count_Event + event)
|
||
|
||
typedef struct _FSMHandler FSMHandler;
|
||
typedef void (*Avoid_WARNING_State_Fcns)(void *data);
|
||
typedef int (*Avoid_WARNING_Transition_Handler)(void *data, int curState);
|
||
typedef void (*Avoid_WARNING_Overrider_Fcns)(FSM *pFsm);
|
||
typedef int (*Avoid_WARNING_SelectEvent)(void *data);
|
||
typedef void (*Avoid_WARNING_void_fcns)(FSMHandler *fcns);
|
||
|
||
|
||
#define addStateActionFcn(type, state) fcns->type##ActionTable[state] = (Avoid_WARNING_State_Fcns)actionFcn(type, state)
|
||
#define addTransitionHandler(state, event) fcns->transitionTable[index(state, event)] = (Avoid_WARNING_Transition_Handler)transitionHandler(event)
|
||
|
||
|
||
typedef struct _FSM FSM;
|
||
typedef struct _FSMHandler{
|
||
int (**transitionTable)(void *data, int currentState);
|
||
|
||
void (**enterActionTable)(void *data);
|
||
void (**delayActionTable)(void *data);
|
||
void (**duringActionTable)(void *data);
|
||
void (**exitActionTable)(void *data);
|
||
|
||
void (**childFSMStepTable)(FSM **cFSM);
|
||
}FSMHandler;
|
||
|
||
|
||
typedef struct _FSMPrivateVars
|
||
{
|
||
int curState;
|
||
int curEvent;
|
||
int defaultState; // Idle状态不能停留，必须指定一个初始状态
|
||
int numEvent;
|
||
int numChild;
|
||
FSM **childFSM;
|
||
|
||
FSMHandler fcns;
|
||
}FMSPrivateVars;
|
||
|
||
|
||
// 类似于纯虚类, vptr中的函数必须继承后重新实现
|
||
typedef struct _FSM
|
||
{
|
||
// public functions
|
||
FSMVtbl vtbl;
|
||
|
||
// private
|
||
FMSPrivateVars privateVars;
|
||
|
||
// protected
|
||
|
||
void *data;
|
||
|
||
} FSM;
|
||
|
||
|
||
// protected, 子类能用, 外界用不了
|
||
void constructFSM(FSM* pFSM);
|
||
|
||
// 继承的函数
|
||
FSM *newBaseFSM(int numState, int numEvent, int defaultState);
|
||
void stepBaseFSM(FSM *pFSM);
|
||
void resetBaseFSM(FSM *pFSM);
|
||
|
||
|
||
#endif
|