32 lines
831 B
C++
Executable File
32 lines
831 B
C++
Executable File
#pragma once
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#include <Arduino.h>
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// Singleton-instance
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class StateMachine
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{
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public:
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enum class STATE {
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INITIALIZING,
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IDLING,
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MOVING,
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ERROR
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};
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StateMachine(const StateMachine&) = delete;
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StateMachine(StateMachine&&) = delete;
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static StateMachine& getInstance() noexcept;
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STATE getState() const noexcept { return state; };
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String getLastError() const noexcept { return lastError; };
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// May fail if a state transition from state a to b is not valid
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bool setState(const STATE newState) noexcept;
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bool raiseError(const String& reason) noexcept;
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bool canSwitchToState(const STATE newState) const noexcept;
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private:
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StateMachine() noexcept;
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STATE state = STATE::INITIALIZING;
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String lastError = "";
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};
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