Merge pull request 'api-changes' (#18) from api-changes into main

Reviewed-on: https://git.intern.spaceteamaachen.de/ALPAKA/TACOS/pulls/18
Reviewed-by: carlwachter <carlwachter@noreply.git.intern.spaceteamaachen.de>

include/sta/tacos.hpp

@@ -0,0 +1,64 @@
+/*
+ * tacos.hpp
+ *
+ *  Created on: Jan 2, 2024
+ *      Author: Dario
+ */
+
+#ifndef STA_TACOS_HPP
+#define STA_TACOS_HPP
+
+#include <sta/tacos/thread.hpp>
+#include <sta/tacos/manager.hpp>
+#include <sta/tacos/statemachine.hpp>
+
+#include <initializer_list>
+#include <type_traits>
+
+
+namespace sta
+{
+	namespace tacos
+	{
+		/**
+		 * @brief Get the current state of the TACOS statemachine.
+		 * 
+		 * @return uint16_t Returns the state.
+		 */
+		uint16_t getState();
+
+		/**
+		 * @brief Request a state transition. Invalid state transitions will be dismissed.
+		 * 
+		 * @param from The start we want to transition from.
+		 * @param to The state we want to transition to.
+		 * @param lockout An optional timer blocking state transition for a given time.
+		 */
+		void setState(uint32_t from, uint32_t to, uint32_t lockout = 0);
+
+		/**
+		 * @brief Request a state transition after a given time has passed. Invalid state transitions will be dismissed.
+		 * 
+		 * @param from The start we want to transition from.
+		 * @param to The state we want to transition to.
+		 * @param millis The time to wait until the transition is requested.
+		 * @param lockout An optional timer blocking state transition for a given time. Will be active after this transition was executed.
+		 */
+		void setStateTimed(uint32_t from, uint32_t to, uint32_t millis, uint32_t lockout = 0);
+
+		/**
+		 * @brief Register a new thread to be run by TACOS.
+		 * 
+		 * @tparam T The class of the thread to be created. A subclass of TacosThread.
+		 * @param states A list of states in which the thread should run. 
+		 * @param args The constructor arguments for the provided class.
+		 */
+		template<typename T, typename ... Args>
+		void addThread(std::list<uint16_t> states, Args ... args)
+		{
+            Manager::instance()->registerThread(std::make_shared<T>(args...), states);
+        }
+	}  // namespace tacos
+}
+
+#endif /* STA_TACOS_HPP */

src/tacos.cpp

@@ -0,0 +1,33 @@
+/*
+ * tacos.cpp
+ *
+ *  Created on: Jan 2, 2024
+ *      Author: Dario
+ */
+
+#include <sta/tacos.hpp>
+
+
+namespace sta
+{
+    namespace tacos
+    {
+		uint16_t getState()
+        {
+            return Statemachine::instance()->getCurrentState();
+        }
+
+		void setState(uint32_t from, uint32_t to, uint32_t lockout /* = 0 */)
+        {
+            Statemachine::instance()->requestStateTransition(from, to, lockout);
+        }
+
+		void setStateTimed(uint32_t from, uint32_t to, uint32_t millis, uint32_t lockout /* = 0 */)
+        {
+            Statemachine::instance()->requestTimedStateTransition(from, to, millis, lockout);
+        }
+    } // namespace tacos
+    
+} // namespace sta
+
+