base_state_machine.h

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#pragma once

// Logging library
#include <glog/logging.h>

// Store state machine states
#include <array>

// Type index
#include <typeindex>

// Robot system container
#include <aerial_autonomy/common/robot_system_container.h>

template <class RobotSystemT> class BaseStateMachine {

protected:
  std::type_index no_transition_event_index_ = typeid(NULL);

public:
  RobotSystemContainer<RobotSystemT> robot_system_container_;

  std::type_index get_no_transition_event_index() const {
    return no_transition_event_index_;
  }

  BaseStateMachine(RobotSystemT &robot_system)
      : robot_system_container_(robot_system) {}

  template <class FSM, class Event>
  void no_transition(Event const &e, FSM &, int state_index) {
    no_transition_event_index_ = typeid(e);
    LOG(WARNING) << "Event " << no_transition_event_index_.name()
                 << " triggered no transition";
  }
};