BaseStateMachine.h

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#ifndef BASE_STATE_MACHINE_H
#define BASE_STATE_MACHINE_H
 
#include <array>
#include <cstddef>
#include <cstdint>
 
#include "data_handling/DataPoint.h"
#include "state_estimation/StateEstimationTypes.h"
#include "state_estimation/States.h"

class BaseStateMachine {
    public:
        // Type alias for a function pointer with void return and no args
        using StateEntryCallback = void (*)();
 
        static constexpr std::size_t kMaxStateEntryCallbacks = 32;
 
        explicit BaseStateMachine(FlightState initialState = STATE_UNARMED);
        virtual ~BaseStateMachine() = default;

        virtual int update(const AccelerationTriplet& accel, const DataPoint& alt) = 0;

        virtual uint8_t getState() const;

        bool registerOnStateEntry(FlightState targetState, StateEntryCallback functionPtr);
 
        static constexpr std::size_t getMaxStateEntryCallbacks() {
            return kMaxStateEntryCallbacks;
        }
 
    protected:
        bool changeState(FlightState newState);

        FlightState getFlightState() const;
 
    private:
        struct StateCallbackRegistration {
            FlightState state;
            StateEntryCallback functionPtr;
        };
 
        FlightState state_;
        std::size_t callbackCount_ = 0;
        std::array<StateCallbackRegistration, kMaxStateEntryCallbacks> onStateEntryCallbacks_{};
};
 
#endif