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Are Finite State Machines generally considered as bad design in OOP ?
I hear that a lot. And, after I had to work on a really old, undocumented piece of C++ making use of it, I tend to agree. It was a pain to debug.
what about readability/maintainability concerns?
FSMs should never be considered bad. They are far too useful, but people whom aren’t accustomed to them will often consider them burdensome.
There are numerous ways to implement one with OOP. Some are uglier than others. Your low-level guys will use switch statements, jump tables or even “goto.”
If you’re looking for a cleaner way to do it, I’d recommend Boost’s State Chart library, which is built just for implementing UML state diagrams in C++. It makes use of modern template techniques, to make things more readable. It also performs very well.