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51 lines
940 B
51 lines
940 B
/*
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* fsm.c
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*
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* Created on: 2025年7月14日
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* Author: akeguo
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*/
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#include "fsm_state.h"
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#include "stdint.h"
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void fsm_state_run(transition_t* p_this)
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{
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// turnstile_pass(&turnstile)
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if (p_this->p_state->robotRun!= NULL)
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{
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p_this->p_state->robotRun(p_this);
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}
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}
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//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
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void fsm_state_set(transition_t* p_this, transition_state_t* p_new_state)
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{
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if(p_this==NULL){return;}
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// turnstile_pass(&turnstile)
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if (p_this->p_state!= p_new_state) /* 状态不等 */
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{
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if (p_this->p_state->robotExit!=NULL)
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{
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p_this->p_state->robotExit(p_this);
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}
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p_this->p_state = p_new_state;
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if (p_this->p_state->robotEnter != NULL)
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{
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p_this->p_state->robotEnter(p_this);
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}
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//exit
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}
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}
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//状态机初始化设定
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void fsm_state_init(transition_t* p_this,transition_state_t* inti_state)
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{
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p_this->p_state =inti_state;
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}
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