Added Publishing and handling of CAN state transition

include/sta/tacos.hpp

@@ -78,7 +78,31 @@ namespace sta
             return thread_ptr;
         }
 
+		/**
+		 * @brief Queue a message to be sent over the CAN bus.
+		 * 
+		 * @param msg The message to be sent.
+		 * @param timeout The time to wait for the message to be sent.
+		 * 
+		 * @return bool True if the message was sent successfully.
+		 * 
+		 * @ingroup tacos_api
+		 */
 		bool queueCanBusMsg(CanSysMsg & msg, uint32_t timeout);
+
+		/**
+		 * @brief Publish a state transition message to the CAN bus.
+		 * 
+		 * @param from The state 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.
+		 * 
+		 * @return bool True if the message was sent successfully.
+		 * 
+		 * @ingroup tacos_api
+		 */
+		bool publishState(uint32_t from, uint32_t to, uint32_t lockout = 0);
+
 	}  // namespace tacos
 }