feat: began working on cleaning up explorative main file

2025-12-13 20:50:31 +01:00
commit 181139aae5
11 changed files with 583 additions and 0 deletions
@@ -0,0 +1,85 @@
+#include "StateMachine.hpp"
+
+StateMachine& StateMachine::getInstance() noexcept
+{
+    static StateMachine instance;
+    return instance;
+}
+
+bool StateMachine::setState(const State newState) noexcept
+{
+    if (canSwitchToState(newState)) {
+        state = newState;
+        return true;
+    }
+
+    return false;
+}
+
+bool StateMachine::canSwitchToState(const State newState) const noexcept
+{
+    // Error state is final
+    if (state == State::ERROR) {
+        return false;
+    }
+
+    // Error state only settable via raiseError()
+    if (newState == State::ERROR) {
+        return false;
+    }
+
+    // Allow same-to-same transition
+    if (state == newState) {
+        return true;
+    }
+
+    switch (state) {
+        case StateMachine::State::INITIALIZING:
+            switch (newState) {
+                // Can go to idle
+                case State::IDLING:
+                    return true;
+                // Can't go straight to moving
+                case State::MOVING:
+                    return false;
+
+                default:
+                    return false;
+            }
+        break;
+        case StateMachine::State::IDLING:
+            switch (newState) {
+                // Can't initialize again
+                case State::INITIALIZING:
+                    return false;
+                // Can enter move state
+                case State::MOVING:
+                    return true;
+
+                default:
+                    return false;
+            }
+        break;
+        case StateMachine::State::MOVING:
+            switch (newState) {
+                // Can't initialize again
+                case State::INITIALIZING:
+                    return false;
+                // Can go into idling
+                case State::IDLING:
+                    return true;
+
+                default:
+                    return false;
+            }
+        break;
+    }
+    return false;
+}
+
+
+bool StateMachine::raiseError(const String &reason) noexcept
+{
+    state = State::ERROR;
+    lastError = reason;
+}