From 9c167e207460f4889174e2bf7fa264a8e832182c Mon Sep 17 00:00:00 2001
From: dario <dario.vandenboom@arcor.de>
Date: Tue, 2 Jan 2024 01:03:01 +0100
Subject: [PATCH 1/2] Added a simple API for TACOS

---
 include/sta/tacos.hpp | 60 +++++++++++++++++++++++++++++++++++++++++++
 src/tacos.cpp         | 39 ++++++++++++++++++++++++++++
 2 files changed, 99 insertions(+)
 create mode 100644 include/sta/tacos.hpp
 create mode 100644 src/tacos.cpp

diff --git a/include/sta/tacos.hpp b/include/sta/tacos.hpp
new file mode 100644
index 0000000..fb14a3a
--- /dev/null
+++ b/include/sta/tacos.hpp
@@ -0,0 +1,60 @@
+/*
+ * 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>
+
+
+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>
+		void addThread(std::list<uint16_t> states, std::initializer_list<T> args);
+	}  // namespace tacos
+}
+
+#endif /* STA_TACOS_HPP */
diff --git a/src/tacos.cpp b/src/tacos.cpp
new file mode 100644
index 0000000..ea4a1c4
--- /dev/null
+++ b/src/tacos.cpp
@@ -0,0 +1,39 @@
+/*
+ * 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);
+        }
+
+        template<typename T>
+		void addThread(std::list<uint16_t> states, std::initializer_list<T> args)
+        {
+            Manager::instance()->registerThread(std::make_shared<T>(args), states);
+        }
+    } // namespace tacos
+    
+} // namespace sta
+
+

From 74e122699862e7818e51a220dd56049393701c70 Mon Sep 17 00:00:00 2001
From: dario <dario.vandenboom@arcor.de>
Date: Tue, 2 Jan 2024 01:40:09 +0100
Subject: [PATCH 2/2] Fixed the addThread function

---
 include/sta/tacos.hpp | 8 ++++++--
 src/tacos.cpp         | 6 ------
 2 files changed, 6 insertions(+), 8 deletions(-)

diff --git a/include/sta/tacos.hpp b/include/sta/tacos.hpp
index fb14a3a..bec1616 100644
--- a/include/sta/tacos.hpp
+++ b/include/sta/tacos.hpp
@@ -13,6 +13,7 @@
 #include <sta/tacos/statemachine.hpp>
 
 #include <initializer_list>
+#include <type_traits>
 
 
 namespace sta
@@ -52,8 +53,11 @@ namespace sta
 		 * @param states A list of states in which the thread should run. 
 		 * @param args The constructor arguments for the provided class.
 		 */
-		template<typename T>
-		void addThread(std::list<uint16_t> states, std::initializer_list<T> args);
+		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
 }
 
diff --git a/src/tacos.cpp b/src/tacos.cpp
index ea4a1c4..45aa708 100644
--- a/src/tacos.cpp
+++ b/src/tacos.cpp
@@ -26,12 +26,6 @@ namespace sta
         {
             Statemachine::instance()->requestTimedStateTransition(from, to, millis, lockout);
         }
-
-        template<typename T>
-		void addThread(std::list<uint16_t> states, std::initializer_list<T> args)
-        {
-            Manager::instance()->registerThread(std::make_shared<T>(args), states);
-        }
     } // namespace tacos
     
 } // namespace sta