Line-Following-Robot/lfr_state_machine.h

#pragma once

class LFR_StateMachine;

class LFR_State
{
 public:
 virtual void enter(LFR_StateMachine* stateMachine) = 0;
 virtual void exit(LFR_StateMachine* stateMachine) = 0;
 virtual ~LFR_State() {}
};


namespace State
{
    class Idle: public LFR_State
    {
        Idle() {}
        Idle(const Idle& other) {};
        Idle& operator= (const Idle& other);

    public:
        void enter(LFR_StateMachine*);
        void exit(LFR_StateMachine*);
        static LFR_State& getInstance();
    };


    class Autonomous: public LFR_State
    {
        Autonomous() {}
        Autonomous(const Autonomous& other) {};
        Autonomous& operator= (const Autonomous& other);

    public:
        void enter(LFR_StateMachine*);
        void exit(LFR_StateMachine*);
        static LFR_State& getInstance();
    };


    class Manual: public LFR_State
    {
        Manual() {}
        Manual(const Manual& other) {};
        Manual& operator= (const Manual& other);

    public:
        void enter(LFR_StateMachine*);
        void exit(LFR_StateMachine*);
        static LFR_State& getInstance();
    };
}

class LFR_StateMachine
{
    LFR_State* currentState;
public:
    LFR_StateMachine(){
        setState(State::Idle::getInstance());
    }
    inline LFR_State* getCurrentState() const {return currentState;}
    void setState(LFR_State& newState)
    {
        currentState->exit(this);
        currentState = &newState;
        currentState->enter(this);
    }
};