rocketFSM.h

 
#ifndef ROCKET_FSM_H
#define ROCKET_FSM_H
 
// #include "sensors.h"
#include <ChRt.h>
#include <stdint.h>
 
// forward declare pointers
struct pointers;
 
class RocketFSM {
   public:
    enum class FSM_State {
        STATE_INIT,
        STATE_IDLE,
        STATE_LAUNCH_DETECT,
        STATE_BOOST,
        STATE_BURNOUT_DETECT,
        STATE_COAST_PREGNC,
        STATE_COAST_GNC,
        STATE_APOGEE_DETECT,
        STATE_APOGEE,
        STATE_DROGUE_DETECT,
        STATE_DROGUE,
        STATE_MAIN_DETECT,
        STATE_MAIN,
        STATE_LANDED_DETECT,
        STATE_LANDED,
        STATE_ABORT
    };
 
    virtual void tickFSM() = 0;
 
    FSM_State getFSMState() const { return rocket_state_; }
 
   protected:
    FSM_State rocket_state_ = FSM_State::STATE_INIT;
};
 
template <size_t count>
struct rocketStateData {
    RocketFSM::FSM_State rocketStates[count];
    systime_t timeStamp_RS = 0;
 
    rocketStateData() : rocketStates() {
        for (size_t i = 0; i < count; i++) {
            rocketStates[i] = RocketFSM::FSM_State::STATE_INIT;
        }
    }
};
 
#endif