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87 lines
1.3 KiB
87 lines
1.3 KiB
2 days ago
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/*
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* bsp_FSM.h
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*
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* Created on: Aug 2, 2024
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* Author: akeguo
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*/
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#ifndef INC_FSM_TXT_
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#define INC_FSM_TXT_
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#include "BHBF_ROBOT.h"
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#include "BSP/bsp_include.h"
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#include "robot_state.h"
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typedef enum
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{
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Manual=0,
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Auto,
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Abnormal,
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SetLaneChangeDistance,
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SetBackwardsDistance,
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LaneChangeMode,
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Forwards,
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Backwards,
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TurnLeft,
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TurnRight
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} STATE_t;
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typedef void (*STATE_ACTION)(void);
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typedef struct ACTION_MAP
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{
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STATE_t stStateID;
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STATE_ACTION EnterAct;
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STATE_ACTION RunningAct;
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STATE_ACTION ExitAct;
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} ACTION_MAP_t;
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extern ACTION_MAP_t actionMap[];
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typedef enum
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{
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EVENT_Manual=0,
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EVENT_Auto,
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EVENT_Abnormal,
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EVENT_SetLaneChangeDistance,
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EVENT_SetBackwardsDistance,
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EVENT_LaneChangeMode,
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EVENT_Forwards,
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EVENT_Backwards,
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EVENT_TurnLeft,
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EVENT_TurnRight,
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EVENT_MAP_END
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} EVENT_t;
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//注：定义EVENT_MAP_END的目的是为了方便查表。
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//
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//定义EVENT_MAP_t结构体类型，表示事件表属性：
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typedef struct EVENT_MAP
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{
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EVENT_t stEventID;
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STATE_t stCurState;
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STATE_t stNextState;
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} EVENT_MAP_t;
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extern EVENT_MAP_t eventMap[];
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typedef struct FSM
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{
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STATE_t stCurState;
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STATE_t stNextState;
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ACTION_MAP_t *pActionMap;
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EVENT_MAP_t *pEventMap;
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} FSM_t;
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extern FSM_t RobotFSM; //定义状态机
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void fsm_state_transfer(FSM_t *pFsm, EVENT_t stEventID);
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#endif /* INC_BSP_BSP_FSM_H_ */
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