...

mcc/mcc_finite_state_machine.h

@@ -396,6 +396,10 @@ public:
                           [p_event, states, currentState, this]<traits::fsm_state_c curr_state_t>(curr_state_t*) {
                               using to_state_t = curr_state_t::transition_t::template find_state_by_event_t<EvT>;
 
+                              if constexpr (std::holds_alternative<to_state_t>(*currentState)) {
+                                  // ?!!!!  from self
+                              }
+
                               if constexpr (!std::is_void_v<to_state_t>) {
                                   std::lock_guard lock(_transitionMutex);
 

mcc/mcc_generic_mount.h

@@ -260,7 +260,7 @@ public:
         using transition_t =
             fsm::fsm_transition_table_t<std::pair<MccGenericMountEventInit, MccGenericMountStateInit>,
                                         std::pair<MccGenericMountEventIDLE, MccGenericMountStateUninit>,
-                                        std::pair<MccGenericMountEventError, MccGenericMountStateError>,
+                                        std::pair<MccGenericMountEventError, MccGenericMountStateUninit>,
                                         std::pair<MccGenericMountEventStop, MccGenericMountStateUninit>,
                                         std::pair<MccGenericMountEventSlew, MccGenericMountStateUninit>,
                                         std::pair<MccGenericMountEventTrack, MccGenericMountStateUninit>,
@@ -272,14 +272,6 @@ public:
             this->exitLog(event);
         }
 
-        void enter(MccGenericMountEventInit& event)
-        {
-            error_t err = event.mount().initMount();
-            if (err) {
-                event.mount().dispatchEvent(MccGenericMountEventError{event.mount(), err});
-            }
-        }
-
         template <std::derived_from<MccGenericMountBaseEvent> EvT>
         void enter(EvT& event)
         {
@@ -287,6 +279,35 @@ public:
         }
     };
 
+    struct MccGenericMountStateInit : MccGenericMountBaseState {
+        using transition_t =
+            fsm::fsm_transition_table_t<std::pair<MccGenericMountEventInit, MccGenericMountStateInit>,
+                                        std::pair<MccGenericMountEventIDLE, MccGenericMountStateIDLE>,
+                                        std::pair<MccGenericMountEventError, MccGenericMountStateError>,
+                                        std::pair<MccGenericMountEventStop, MccGenericMountStateInit>,
+                                        std::pair<MccGenericMountEventSlew, MccGenericMountStateInit>,
+                                        std::pair<MccGenericMountEventTrack, MccGenericMountStateInit>,
+                                        std::pair<MccGenericMountEventGuiding, MccGenericMountStateInit>>;
+
+        template <std::derived_from<MccGenericMountBaseEvent> EvT>
+        void exit(EvT& event)
+        {
+            this->exitLog(event);
+        }
+
+        template <std::derived_from<MccGenericMountBaseEvent> EvT>
+        void enter(EvT& event)
+        {
+            this->enterLog(event);
+
+            error_t err = event.mount()._initMount();
+            if (err) {
+                event.mount().dispatchEvent(MccGenericMountEventError{event.mount(), err});
+            } else {
+                event.mount().dispatchEvent(MccGenericMountEventIDLE{event.mount()});
+            }
+        }
+    };
 
     /*  CONSTRUCTORS AND DESTRUCTOR  */
 
@@ -311,10 +332,30 @@ public:
 
     virtual ~MccGenericMountFSM() = default;
 
+    auto initMount()
+    {
+        this->dispatchEvent(MccGenericMountEventInit{*this});
+    }
+
+
     auto stopMount()
     {
         this->dispatchEvent(MccGenericMountEventStop{*this});
     }
+
+protected:
+    // wrappers
+
+    auto _initMount()
+    {
+        return base_gmount_t::initMount();
+    }
+
+
+    auto _stopMount()
+    {
+        return base_gmount_t::stopMount();
+    }
 };