GuardianStateMachine.hpp

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#ifndef GUARDIAN_STATE_MACHINE_HPP
#define GUARDIAN_STATE_MACHINE_HPP
 
#include <functional>
#include <string>
 
enum class GuardianState {
    SAFE_MONITORING,  
    FROZEN_UNSAFE,    
    RESET_PENDING     
};
 
enum class FrameStatus {
    FRAME_GOOD,  
    FRAME_BAD    
};
 
enum class GuardianEvent {
    FRAME_GOOD,   
    FRAME_BAD,    
    OPERATOR_ACK  
};
 
enum class GuardianAction {
    NONE,         
    FREEZE_NOW,   
    CLEAR_FREEZE  
};
 
class GuardianStateMachine {
public:
    GuardianStateMachine(int fc = 30, int rc = 3);
 
    void processEvent(GuardianEvent event);
 
    void processFrame(FrameStatus status);
 
    void operatorAcknowledge();
 
    void setOnFreezeCallback(std::function<void()> callback);
 
    void setOnClearFreezeCallback(std::function<void()> callback);
 
    void setOnStateChangeCallback(
        std::function<void(GuardianState, GuardianState)> callback);
 
    GuardianState getState() const;
 
    bool isMotionBlocked() const;
 
    bool isMotionAllowed() const;
 
    int getBadCount() const;
 
    int getGoodCount() const;
 
    std::string stateToString(GuardianState state) const;
 
    std::string getCurrentStateString() const;
 
    void printStatus() const;
 
private:
    // State and counters
    GuardianState currentState;
    int badCount;
    int goodCount;
    int freezeCount;
    int recoverCount;
    bool motionBlocked;
 
    // Integration callbacks
    std::function<void()> onFreezeCallback;
    std::function<void()> onClearFreezeCallback;
    std::function<void(GuardianState, GuardianState)> onStateChangeCallback;
 
    // Internal helpers
    void executeAction(GuardianAction action);
    void transitionTo(GuardianState newState, GuardianAction action);
    void logTransition(GuardianState from, GuardianState to);
    void logAction(const std::string& action);
};
 
#endif  // GUARDIAN_STATE_MACHINE_HPP