/*
 * fsm.c
 *
 *  Created on: 2025年7月14日
 *      Author: akeguo
 */
#include "fsm_state.h"
#include "stdint.h"




void fsm_state_run(transition_t* p_this)
{
	// turnstile_pass(&turnstile)
	if (p_this->p_state->robotRun!= NULL)
	{
		p_this->p_state->robotRun(p_this);
	}

}


//修改状态机状态，若状态机修改后，则查看是否有enter 和 exit命令进行运动
void fsm_state_set(transition_t* p_this, transition_state_t* p_new_state)
{
	if(p_this==NULL){return;}
	// turnstile_pass(&turnstile)
	if (p_this->p_state!= p_new_state) /* 状态不等 */
	{
		if (p_this->p_state->robotExit!=NULL)
		{
			p_this->p_state->robotExit(p_this);
		}

		p_this->p_state = p_new_state;
		if (p_this->p_state->robotEnter != NULL)
		{
			p_this->p_state->robotEnter(p_this);
		}
		//exit

	}

}
//状态机初始化设定
void fsm_state_init(transition_t* p_this,transition_state_t* inti_state)
{
	p_this->p_state  =inti_state;
}