# TACOS.hpp

The TACOS API is defined in the tacos.hpp, in normal use cases you should only need to include this file.

## Functions

```cpp
uint16_t getState()
```

Retrieves the current state of the TACOS state machine.

---
```cpp
void requestState(uint32_t from, uint32_t to, uint32_t lockout = 0, bool publish = true)
```

Requests a state transition. Invalid state transitions will be dismissed. First come, first serve. Can be blocked by the lockout timer.

- **Parameters**:
  - `from`: The starting state for the transition.
  - `to`: The target state to transition to.
  - `lockout`: (Optional) A timer to block further transitions.
  - `publish`: (Optional) Whether to publish the state transition to the CAN bus.

```cpp
void forceState(uint32_t from, uint32_t to, uint32_t lockout = 0, bool publish = true)
```

Forces a state transition. Will be ignored if already in the given state. Triggers instantly. Ignores the lockout timer.

- **Parameters**:
  - `from`: The starting state for the transition.
  - `to`: The target state to transition to.
  - `lockout`: (Optional) A timer to block further transitions.
  - `publish`: (Optional) Whether to publish the state transition to the CAN bus.

---

```cpp
void setStateTimed(uint32_t from, uint32_t to, uint32_t millis, uint32_t lockout = 0, bool publish = false)
```

Requests a state transition after a specified time. Equivalent to calling `requestState` after a specified time.

- **Parameters**:
  - `from`: The starting state.
  - `to`: The target state.
  - `millis`: The wait time in milliseconds before requesting the transition.
  - `lockout`: (Optional) A timer for blocking subsequent transitions.

> [!IMPORTANT]  
> If there is already a timed transition scheduled, calling `setStateTimed` will overwrite this request.

---

```cpp 
template<typename T, typename ... Args> std::shared_ptr<T> addThread(std::set<uint16_t> states, Args ... args)
```

Registers a new thread to be run by TACOS.

- **Template Parameters**:
  - `T`: The class type of the thread, which should inherit from `TacosThread`.
- **Parameters**:
  - `states`: A set of states in which the thread should be active.
  - `args`: The constructor arguments for the thread class.

---

### CAN Bus Functions (Conditional)

The following functions are available only if `STA_TACOS_CAN_BUS_ENABLED` is defined:

```cpp 
bool queueCanBusMsg(CanSysMsg & msg, uint32_t timeout)
```

Queues a message to be sent over the CAN bus.

- **Parameters**:
  - `msg`: The message to be sent.
  - `timeout`: The maximum time to wait for sending the message.

---

```cpp
bool publishState(uint32_t from, uint32_t to, uint32_t timeout = 0)
```

Publishes a state transition message to the CAN bus.

- **Parameters**:
  - `from`: The starting state for the transition.
  - `to`: The target state.
  - `timeout`: (Optional) A timeout for CAN communication.