TACOS/Tacos/include/sta/tacos/statemachine.hpp

/*
 * statemachine.hpp
 *
 *  Created on: Sep 14, 2023
 *      Author: Dario
 */

#ifndef INCLUDE_TACOS_STATEMACHINE_HPP_
#define INCLUDE_TACOS_STATEMACHINE_HPP_

#include <sta/config.hpp>


#ifndef STA_TACOS_NUM_STATES
#	error "Number of states wasn't defined in config.hpp"
#else


#ifndef STA_TACOS_INITIAL_STATE
#	define STA_TACOS_INITIAL_STATE 0
#endif

#define TACOS_STATE_TRANSITION_FLAG			0x00000001U
#define TACOS_STATE_CHANGE_FORCED_FLAG		0x00000002U
#define TACOS_STATE_CHANGE_ALL_FLAG			0x00000003U


#include <sta/tacos/thread.hpp>
#include <sta/rtos/timer.hpp>
#include <sta/rtos/event.hpp>
#include <sta/debug/assert.hpp>

#include <functional>


namespace sta
{
	namespace tacos
	{
		class Statemachine : public TacosThread
		{
		public:
			static RtosEvent* stateChangeEvent;

			static Statemachine* instance()
			{
				static CGuard g;

				if (!_instance)
				{
					// Create a the manager singleton instance.
					Statemachine::_instance = new Statemachine();
					Statemachine::stateChangeEvent = new RtosEvent();
				}

				return _instance;
			}

			void init() override;

			void func() override;

			/**
			 * @brief Returns the statemachine's current state.
			 */
			uint16_t getCurrentState() const;

			/**
			 * @brief Registers a new state transition function.
			 */
			void setStateTransitionFunction(std::function<uint16_t(uint16_t)> function);

			void forceStateTransition(uint16_t state);
		private:
			static Statemachine * _instance;

			class CGuard
			{
			public:
			   ~CGuard()
			   {
				  if( NULL != Statemachine::_instance )
				  {
					 delete Statemachine::_instance;
					 delete Statemachine::stateChangeEvent;
					 Statemachine::_instance = NULL;
					 Statemachine::stateChangeEvent = NULL;
				  }
			   }
			};

			Statemachine();

			Statemachine(const Statemachine&);

			~Statemachine() {}
		private:
			uint16_t currentState_;
			RtosTimer lockoutTimer_;
			RtosTimer failsafeTimer_;
			std::function<uint16_t(uint16_t)> transitionFunc_;
		};
	}  // namespace tacos
}  // namespace sta

#endif // STA_TACOS_NUM_STATES

#endif /* INCLUDE_TACOS_STATEMACHINE_HPP_ */