...

asibfm700/asibfm700_mount.h

@@ -64,6 +64,14 @@ class Asibfm700Mount1 : public mcc::ccte::erfa::MccCCTE_ERFA,
                                                                             mcc::MccSimpleTrackingModel,
                                                                             Asibfm700Logger>>
 {
+    typedef mcc::MccGenericMount<AsibFM700ServoController,
+                                 mcc::MccTelemetry,
+                                 Asibfm700PZoneContainer,
+                                 mcc::MccSimpleSlewingModel,
+                                 mcc::MccSimpleTrackingModel,
+                                 Asibfm700Logger>
+        gm_class_t;
+
     typedef mcc::MccGenericFsmMount<mcc::MccGenericMount<AsibFM700ServoController,
                                                          mcc::MccTelemetry,
                                                          Asibfm700PZoneContainer,
@@ -72,6 +80,41 @@ class Asibfm700Mount1 : public mcc::ccte::erfa::MccCCTE_ERFA,
                                                          Asibfm700Logger>>
         base_gm_class_t;
 
+protected:
+    struct Asibfm700ErrorState : base_gm_class_t::MccGenericFsmMountBaseState {
+        static constexpr std::string_view ID{"ASIBFM700-MOUNT-ERROR-STATE"};
+
+        void exit(MccGenericFsmMountErrorEvent& event)
+        {
+            event.mount()->logWarn("The mount already in error state!");
+        }
+
+        void enter(MccGenericFsmMountErrorEvent& event)
+        {
+            event.mount()->logWarn("The mount already in error state!");
+        }
+
+        void exit(mcc::fsm::traits::fsm_event_c auto& event)
+        {
+            exitLog(event);
+        }
+
+        void enter(mcc::fsm::traits::fsm_event_c auto& event)
+        {
+            enterLog(event);
+
+            // ...
+        }
+
+        using transition_t = mcc::fsm::fsm_transition_table_t<
+            std::pair<MccGenericFsmMountErrorEvent, Asibfm700ErrorState>,
+            std::pair<MccGenericFsmMountInitEvent, MccGenericFsmMountInitState<Asibfm700ErrorState>>,
+            std::pair<MccGenericFsmMountIdleEvent, MccGenericFsmMountIdleState<Asibfm700ErrorState>>>;
+    };
+
+
+    typedef base_gm_class_t::MccGenericFsmMountStartState<Asibfm700ErrorState> Asibfm700StartState;
+
 public:
     using base_gm_class_t::error_t;