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xiaoliangstd avatar xiaoliangstd commented on July 21, 2024 2

你好，我的建议是直接新建一个FSM，在一个专门的FSM状态机里测试您的功能，您这样的写法相当于重写了一个main.cpp了，这是我们不推荐的。您可以参考State_SwingTest.cpp 和 State_SwingTest.h 新建一个类似的用于测试您上述功能的状态机。

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Alleneeous avatar Alleneeous commented on July 21, 2024

也就是说重新创建State_x.cpp和State_x.h，添加一个新的状态机模块，设置好启动该状态机的键位，再用jounir_ctrl打开自定义的状态机，这样理解正确吗？

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xiaoliangstd avatar xiaoliangstd commented on July 21, 2024

是的，这样做的好处是 您就可以把主要的精力放于想要实现的功能上了，先实现您的功能剩下的事情就好办了。你上述问题没有响应需要参考下
1.
while(running){
ctrlFrame.run();
}
2.
void FSM::run(){
_startTime = getSystemTime();
_ctrlComp->sendRecv();
_ctrlComp->runWaveGen();
_ctrlComp->estimator->run();
if(!checkSafty()){
_ctrlComp->ioInter->setPassive();
}

if(_mode == FSMMode::NORMAL){
    _currentState->run();
    _nextStateName = _currentState->checkChange();
    if(_nextStateName != _currentState->_stateName){
        _mode = FSMMode::CHANGE;
        _nextState = getNextState(_nextStateName);
        std::cout << "Switched from " << _currentState->_stateNameString
                  << " to " << _nextState->_stateNameString << std::endl;
    }
}
else if(_mode == FSMMode::CHANGE){
    _currentState->exit();
    _currentState = _nextState;
    _currentState->enter();
    _mode = FSMMode::NORMAL;
    _currentState->run();
}

absoluteWait(_startTime, (long long)(_ctrlComp->dt * 1000000));

}

FSM Class 相当于一个状态机管理器，管理这FSM文件夹里的状态机。

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