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feat: main loop now listens to state

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Leonetienne
2025-12-15 20:13:05 +01:00
parent 0405df14fe
commit ace1b9ef66
3 changed files with 56 additions and 45 deletions
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StateMachine.cpp
+14 -14
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@@ -14,7 +14,7 @@ StateMachine& StateMachine::getInstance() noexcept
return instance;
}
bool StateMachine::setState(const State newState) noexcept
bool StateMachine::setState(const STATE newState) noexcept
{
if (canSwitchToState(newState)) {
state = newState;
@@ -24,15 +24,15 @@ bool StateMachine::setState(const State newState) noexcept
return false;
}
bool StateMachine::canSwitchToState(const State newState) const noexcept
bool StateMachine::canSwitchToState(const STATE newState) const noexcept
{
// Error state is final
if (state == State::ERROR) {
if (state == STATE::ERROR) {
return false;
}
// Error state only settable via raiseError()
if (newState == State::ERROR) {
if (newState == STATE::ERROR) {
return false;
}
@@ -42,39 +42,39 @@ bool StateMachine::canSwitchToState(const State newState) const noexcept
}
switch (state) {
case StateMachine::State::INITIALIZING:
case StateMachine::STATE::INITIALIZING:
switch (newState) {
// Can go to idle
case State::IDLING:
case STATE::IDLING:
return true;
// Can't go straight to moving
case State::MOVING:
case STATE::MOVING:
return false;
default:
return false;
}
break;
case StateMachine::State::IDLING:
case StateMachine::STATE::IDLING:
switch (newState) {
// Can't initialize again
case State::INITIALIZING:
case STATE::INITIALIZING:
return false;
// Can enter move state
case State::MOVING:
case STATE::MOVING:
return true;
default:
return false;
}
break;
case StateMachine::State::MOVING:
case StateMachine::STATE::MOVING:
switch (newState) {
// Can't initialize again
case State::INITIALIZING:
case STATE::INITIALIZING:
return false;
// Can go into idling
case State::IDLING:
case STATE::IDLING:
return true;
default:
@@ -87,7 +87,7 @@ bool StateMachine::canSwitchToState(const State newState) const noexcept
bool StateMachine::raiseError(const String &reason) noexcept
{
state = State::ERROR;
state = STATE::ERROR;
lastError = reason;
digitalWrite(ERROR_INDICATOR_LED_PIN, HIGH);
if (Serial) {