量子编程详解之一: QP-nano代码大餐之状态机函数详细注释

先把内容贴上来再说，下一步接着来

这个是量子编程的学习心得的第一篇

先是qepn.c

格式还弄不好

研究好了重发一篇

/*****************************************************************************
* Product: QEP-nano implemenation
* Last Updated for Version: 4.1.05
* Date of the Last Update:  Oct 27, 2010
*
*                    Q u a n t u m     L e a P s
*                    ---------------------------
*                    innovating embedded systems
*
* Copyright (C) 2002-2010 Quantum Leaps, LLC. All rights reserved.
*
* This software may be distributed and modified under the terms of the GNU
* General Public License version 2 (GPL) as published by the Free Software
* Foundation and appearing in the file GPL.TXT included in the packaging of
* this file. Please note that GPL Section 2[b] requires that all works based
* on this software must also be made publicly available under the terms of
* the GPL ("Copyleft").
*
* Alternatively, this software may be distributed and modified under the
* terms of Quantum Leaps commercial licenses, which expressly supersede
* the GPL and are specifically designed for licensees interested in
* retaining the proprietary status of their code.
*
* Contact information:
* Quantum Leaps Web site:  http://www.quantum-leaps.com
* e-mail:                  info@quantum-leaps.com
*****************************************************************************/
#include "qpn_port.h"                                       /* QP-nano port */


#ifndef Q_NHSM
Q_DEFINE_THIS_MODULE(qepn)
#endif


/**
* \file
* \ingroup qepn qfn
* QEP-nano implementation.
*/


/** empty signal for internal use only */
#define QEP_EMPTY_SIG_        0


/** maximum depth of state nesting (including the top level), must be >= 2 */
#define QEP_MAX_NEST_DEPTH_   5


/*..........................................................................*/
/*lint -e970 -e971 */      /* ignore MISRA rules 13 and 14 in this function */
char const Q_ROM * Q_ROM_VAR QP_getVersion(void) {
    static char const Q_ROM Q_ROM_VAR version[] = {
        ((QP_VERSION >> 12) & 0xF) + '0',
        '.',
        ((QP_VERSION >>  8) & 0xF) + '0',
        '.',
        ((QP_VERSION >>  4) & 0xF) + '0',
        (QP_VERSION         & 0xF) + '0',
        '\0'
    };
    return version;
}


#ifndef Q_NFSM
/*..........................................................................*/
void QFsm_init(QFsm *me) {
    (void)(*me->state)(me);      /* execute the top-most initial transition */


    Q_SIG(me) = (QSignal)Q_ENTRY_SIG;
    (void)(*me->state)(me);                             /* enter the target */
}
/*..........................................................................*/
#ifndef QK_PREEMPTIVE
void QFsm_dispatch(QFsm *me) {
#else
void QFsm_dispatch(QFsm *me) Q_REENTRANT {
#endif
    QStateHandler s = me->state;


    if ((*s)(me) == Q_RET_TRAN) {                      /* transition taken? */
        Q_SIG(me) = (QSignal)Q_EXIT_SIG;
        (void)(*s)(me);                                  /* exit the source */


        Q_SIG(me) = (QSignal)Q_ENTRY_SIG;
        (void)(*me->state)(me);                         /* enter the target */
    }
}
#endif                                                            /* Q_NFSM */


#ifndef Q_NHSM
/*..........................................................................*/
QState QHsm_top(QHsm *me) {
    (void)me;             /* supress the "unused argument" compiler warning */
    return Q_IGNORED();                 /* the top state ignores all events */
}
/*..........................................................................*/
void QHsm_init(QHsm *me) {
    QStateHandler t;


/* 初始化状态机时必须转换到一个明确的状态 */
    Q_ALLEGE((*me->state)(me) == Q_RET_TRAN);/* initial tran. must be taken */


/*从顶层状态开始，执行递归的进入操作
* 此时me->state已经为初始化后的目标状态
*/


    t = (QStateHandler)&QHsm_top;         /* an HSM starts in the top state */
    do {                              /* drill into the target hierarchy... */
        QStateHandler path[QEP_MAX_NEST_DEPTH_];
        int8_t ip = (int8_t)0;


/*利用QEP_EMPTY_SIG_信号，从目标状态回溯到顶状态，
* QEP_EMPTY_SIG_信号除把状态转换到超状态，不做任何操作
* 保存回溯的路径到ip数组中，保存为逆序
* 即第一个数组元素为目标状态，上层状态其后
* 顶层状态并不包括在路径中
*/
        path[0] = me->state;
        Q_SIG(me) = (QSignal)QEP_EMPTY_SIG_;
        (void)(*me->state)(me);
        while (me->state != t) {
            ++ip;
            path[ip] = me->state;
            (void)(*me->state)(me);
        }


/* 回到目标状态 */
        me->state = path[0];


/* 确保深度在预定内 */
                                            /* entry path must not overflow */
        Q_ASSERT(ip < (int8_t)QEP_MAX_NEST_DEPTH_);


/* 从进入路径执行Q_ENTRY_SIG信号事件 */
        Q_SIG(me) = (QSignal)Q_ENTRY_SIG;
        do {        /* retrace the entry path in reverse (correct) order... */
            (void)(*path[ip])(me);                        /* enter path[ip] */
            --ip;
        } while (ip >= (int8_t)0);


/* 在目标状态上执行初始化 */
        t = path[0];
        Q_SIG(