/*
 * 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 <sta/tacos/can_bus.hpp>

#include <initializer_list>
#include <type_traits>

/**
 * @defgroup tacos_api TACOS API
 * @brief Functions and classes that are used to interact with TACOS.
 * 
 * @details This module contains all functions and classes that are used to interact with TACOS. It is the only module that should be used in user code.
 */

namespace sta
{
	namespace tacos
	{
		/**
		 * @brief Get the current state of the TACOS statemachine.
		 * 
		 * @return uint16_t Returns the state.
		 * 
		 * @ingroup tacos_api
		 */
		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.
		 * @param force If true, the state transition will be executed regardless of the current state.
		 * 
		 * @ingroup tacos_api
		 */
		void setState(uint32_t from, uint32_t to, uint32_t lockout = 0, bool force = false);

		/**
		 * @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.
		 * 
		 * @ingroup tacos_api
		 */
		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.
		 * 
		 * @ingroup tacos_api
		 */
		template<typename T, typename ... Args>
		std::shared_ptr<T> addThread(std::set<uint16_t> states, Args ... args)
		{
			std::shared_ptr<T> thread_ptr = std::make_shared<T>(args...);

            Manager::instance()->registerThread(thread_ptr, states);

            return thread_ptr;
        }

#ifdef STA_TACOS_CAN_BUS_ENABLED
		/**
		 * @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);
#endif // STA_TACOS_CAN_BUS_ENABLED
	}  // namespace tacos
}

#endif /* STA_TACOS_HPP */