TACOS/include/sta/README.md

TACOS.hpp

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

Functions

uint16_t getState()

Retrieves the current state of the TACOS state machine.

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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.

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.

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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.

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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.

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CAN Bus Functions (Conditional)

The following functions are available only if STA_TACOS_CAN_BUS_ENABLED is defined:

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.

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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.