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HTHSM
A framework for implementing hierarchical finite state machines (HSMs) in C code. It's a good fit for firmware projects, and helps keep your event-driven system orderly with readable code.
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InfluxDB
Power Real-Time Data Analytics at Scale. Get real-time insights from all types of time series data with InfluxDB. Ingest, query, and analyze billions of data points in real-time with unbounded cardinality.
Sounds like your problem with HSMs was complexity of manual implementation. Find a library/tool that handles that for you and use the better product for the job? If you have a complex system HSMs will help you write less code than you would have with bunch of FSMs. If you use c++ I recommend boost::sml which is technically not a part of boost.
Here's a lightweight hierarchical state machine implementation in C that I put together: https://github.com/TheHumbleTransistor/HTHSM I tried to find a healthy harmony of performance and a lean syntax.