C状态机数据结构求资料

只看该作者 · 2019-2-19 21:44

本帖最后由紫阳真人于 2019-2-21 10:47 编辑

最近看别人的代码，运用了状态机，各种指针，比如下面，有些难懂，各位谁有类似的资料用来学习的。
EVENT_buf eventBuf;
FSM_T m_Fsm;/*在头文件中extern声明*/

ACT_TABLE_T stateInitActTable[] = {
      {EVENT_INIT_OK,             stateInitOKFun},
      {EVENT_INIT_FAIL,             stateInitFailFun}
};

ACT_TABLE_T stateSelftestActTable[] = {
      {EVENT_R_MOVE_COMPLETE,    stateSelftestRMoveCompleteFun},
      {EVENT_L_MOVE_COMPLETE, stateSelftestLsMoveCompleteFun},
      {EVENT_R_MOVE_COMPLETE, stateSelftestRsMoveCompleteFun},
      {EVENT_R_MOVE_COMPLETE,    stateSelftestRMoveCompleteFun},
      {EVENT_R_SWITCH_ACTIVE,    stateSelfTestRSwitchActiveFun},
      {EVENT_R_SWITCH_ACTIVE,    stateSelfTestRSwitchActiveFun},
      {EVENT_R_SWITCH_INACTIVE, stateSelfTestRSwitchInActiveFun}
};

ACT_TABLE_T stateIdleActTable[] = {
      {EVENT_SET_COL_RECT,          stateIdleRtMoveFun},
      {EVENT_SET_COL_SLOT,          stateIdleSMoveFun},
      {EVENT_SET_COL_ROT,          stateIdleRMoveFun},
      {EVENT_R_MOVE_COMPLETE,    stateIdleRtMoveCompleteFun},
      {EVENT_R_SWITCH_ACTIVE,    stateSelfTestRSwitchActiveFun}
      //{EVENT_L_SWITCH_ACTIVE, stateSelfTestLSwitchActiveFun},
      //{EVENT_R_SWITCH_ACTIVE, stateSelfTestRSwitchActiveFun},
      //{EVENT_R_SWITCH_ACTIVE,    stateSelfTestRSwitchActiveFun}
};

ACT_TABLE_T stateSlotActTable[] = {
      {EVENT_SET_COL_RECT,          stateIdleRMoveFun},
      {EVENT_SET_COL_SLOT,          stateSlotSMoveFun},
      {EVENT_SET_COL_ROT,          stateSlotRtMoveFun},
      {EVENT_L_MOVE_COMPLETE, stateSlotLMoveCompleteFun},
      {EVENT_R_MOVE_COMPLETE, stateSlotRMoveCompleteFun},
      {EVENT_R_MOVE_COMPLETE,    stateIdleRMoveCompleteFun},
      {EVENT_R_SWITCH_ACTIVE,    stateSelfTestRSwitchActiveFun}
      //{EVENT_LS_SWITCH_ACTIVE, stateSelfTestLSwitchActiveFun},
      //{EVENT_R_SWITCH_ACTIVE, stateSelfTestRSwitchActiveFun}
};

ACT_TABLE_T stateRotActTable[] = {
      {EVENT_SET_COL_RECT,          stateIdleRMoveFun},
      {EVENT_SET_COL_ROT,          stateRotRMoveFun},
      {EVENT_SET_COL_SLOT,          stateRotSMoveFun},
      {EVENT_R_MOVE_COMPLETE,    stateRotRMoveCompleteFun},
      {EVENT_R_MOVE_COMPLETE,    stateIdleRMoveCompleteFun},
      {EVENT_R_SWITCH_ACTIVE,    stateSelfTestRSwitchActiveFun},
      {EVENT_R_SWITCH_ACTIVE,    stateSelfTestRSwitchActiveFun}
};

ACT_TABLE_T statePrestageActTable[] = {
      {EVENT_P_STOP,       statePrestageStopFun},
      {EVENT_R_MOVE_COMPLETE,    statePrestageRMoveCompleteFun},
      {EVENT_L_MOVE_COMPLETE, statePrestageLMoveCompleteFun},
      {EVENT_R_MOVE_COMPLETE, statePrestageRMoveCompleteFun},
      {EVENT_R_MOVE_COMPLETE,    statePrestageRMoveCompleteFun},
      {EVENT_R_SWITCH_ACTIVE,    stateSelfTestRSwitchActiveFun}
};

ACT_TABLE_T stateErrorActTable[] = {
      {EVENT_ERR_TO_SELFTEST,       stateErrorReSelftestFun}
};

STATE_TABLE_T fsmTable[] = {
      {STATE_INIT,       sizeof(stateInitActTable)          / sizeof(ACT_TABLE_T), enterInit,       exitInit,       stateInitActTable},
      {STATE_SELFTEST,    sizeof(stateSelftestActTable)    / sizeof(ACT_TABLE_T), enterSelftest, exitSelftest, stateSelftestActTable},
      {STATE_IDLE,       sizeof(stateIdleActTable)          / sizeof(ACT_TABLE_T), enterIdle,       exitIdle,       stateIdleActTable},
      {STATE_S,       sizeof(stateSlotActTable)          / sizeof(ACT_TABLE_T), enterSlot,       exitSlot,       stateSActTable},
      {STATE_R,       sizeof(stateRotActTable)          / sizeof(ACT_TABLE_T), enterRot,       exitRot,       stateRActTable},
      {STATE_P,    sizeof(statePrestageActTable)    / sizeof(ACT_TABLE_T), enterPrestage, exitPrestage, statePrestageActTable},
      {STATE_ERROR,       sizeof(stateErrorActTable)       / sizeof(ACT_TABLE_T), enterError,    exitError,    stateErrorActTable}
};       /*在状态转换中，执行入口和出口函数，在processEvent();处执行后面列表中函数*/

void initStateMachine(void)
{
      memset(&m_Fsm, 0, sizeof(m_Fsm));/*在m_Fsm后面开辟sizeof(m_Fsm)个内存空间，并填写0，然后返回m_Fsm*/
      fsmRegister(&m_Fsm, fsmTable);/*把上面状态表赋值给m_Fsm*/
      m_Fsm.curState = STATE_INIT;/*当前状态为STATE_INIT*/
}

void addEvent(EVENT event)
{
      if(eventBuf.count >= MAX_EVENT_BUF)
      {
            /* eventBuf overflow */
            //while(1);
      }
      else
      {
            intMasterDisable();
            eventBuf.event[eventBuf.writeIndex] = event;
            eventBuf.count++;
            eventBuf.writeIndex++;
            if(MAX_EVENT_BUF <= eventBuf.writeIndex)
            {
                     eventBuf.writeIndex = 0;
            }
            intMasterEnable();
      }
}

void processEvent(void)
{
      if(eventBuf.count != 0)
      {
EVENT event = EVENT_MAX;/*20*/
            /* there is event in the eventBuf */
            intMasterDisable();
            event = eventBuf.event[eventBuf.readIndex];
            eventBuf.count--;
            eventBuf.readIndex++;
            if(MAX_EVENT_BUF <= eventBuf.readIndex)
            {
                     eventBuf.readIndex = 0;
            }
            intMasterEnable();
            fsmEventHandle(&m_Fsm, event);/*m_Fsm在初始化状态机过程中，包含了所有的状态信息*/
      }
}