MinumelArmMCU/StateMachine.hpp

#pragma once
#include <Arduino.h>

// Singleton-instance
class StateMachine
{
    public:
      enum class STATE {
        INITIALIZING,
        IDLING,
        MOVING,
        FAULT
    };
 
    StateMachine(const StateMachine&) = delete;
    StateMachine(StateMachine&&) = delete;
    static StateMachine& getInstance() noexcept;

    STATE getState() const noexcept { return state; };
    String getLastError() const noexcept { return lastError; };
    // May fail if a state transition from state a to b is not valid
    bool setState(const STATE newState) noexcept;
    bool raiseError(const String& reason) noexcept;
    bool canSwitchToState(const STATE newState) const noexcept;

    private:
    StateMachine() noexcept;

    STATE state = STATE::INITIALIZING;
    String lastError = "";
};