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https://git.intern.spaceteamaachen.de/ALPAKA/TACOS.git
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112 lines
3.3 KiB
C++
112 lines
3.3 KiB
C++
/*
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* tacos.hpp
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*
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* Created on: Jan 2, 2024
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* Author: Dario
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*/
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#ifndef STA_TACOS_HPP
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#define STA_TACOS_HPP
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#include <sta/tacos/thread.hpp>
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#include <sta/tacos/manager.hpp>
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#include <sta/tacos/statemachine.hpp>
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#include <sta/tacos/can_bus.hpp>
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#include <initializer_list>
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#include <type_traits>
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/**
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* @defgroup tacos_api TACOS API
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* @brief Functions and classes that are used to interact with TACOS.
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*
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* @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.
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*/
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namespace sta
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{
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namespace tacos
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{
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/**
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* @brief Get the current state of the TACOS statemachine.
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*
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* @return uint16_t Returns the state.
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*
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* @ingroup tacos_api
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*/
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uint16_t getState();
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/**
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* @brief Request a state transition. Invalid state transitions will be dismissed.
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*
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* @param from The start we want to transition from.
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* @param to The state we want to transition to.
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* @param lockout An optional timer blocking state transition for a given time.
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* @param force If true, the state transition will be executed regardless of the current state.
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*
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* @ingroup tacos_api
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*/
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void setState(uint32_t from, uint32_t to, uint32_t lockout = 0, bool force = false);
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/**
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* @brief Request a state transition after a given time has passed. Invalid state transitions will be dismissed.
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*
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* @param from The start we want to transition from.
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* @param to The state we want to transition to.
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* @param millis The time to wait until the transition is requested.
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* @param lockout An optional timer blocking state transition for a given time. Will be active after this transition was executed.
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*
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* @ingroup tacos_api
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*/
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void setStateTimed(uint32_t from, uint32_t to, uint32_t millis, uint32_t lockout = 0);
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/**
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* @brief Register a new thread to be run by TACOS.
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*
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* @tparam T The class of the thread to be created. A subclass of TacosThread.
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* @param states A list of states in which the thread should run.
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* @param args The constructor arguments for the provided class.
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*
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* @ingroup tacos_api
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*/
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template<typename T, typename ... Args>
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std::shared_ptr<T> addThread(std::set<uint16_t> states, Args ... args)
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{
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std::shared_ptr<T> thread_ptr = std::make_shared<T>(args...);
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Manager::instance()->registerThread(thread_ptr, states);
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return thread_ptr;
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}
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#ifdef STA_TACOS_CAN_BUS_ENABLED
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/**
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* @brief Queue a message to be sent over the CAN bus.
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*
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* @param msg The message to be sent.
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* @param timeout The time to wait for the message to be sent.
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*
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* @return bool True if the message was sent successfully.
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*
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* @ingroup tacos_api
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*/
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bool queueCanBusMsg(CanSysMsg & msg, uint32_t timeout);
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/**
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* @brief Publish a state transition message to the CAN bus.
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*
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* @param from The state we want to transition from.
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* @param to The state we want to transition to.
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* @param lockout An optional timer blocking state transition for a given time.
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*
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* @return bool True if the message was sent successfully.
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*
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* @ingroup tacos_api
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*/
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bool publishState(uint32_t from, uint32_t to, uint32_t lockout = 0);
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#endif // STA_TACOS_CAN_BUS_ENABLED
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} // namespace tacos
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}
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#endif /* STA_TACOS_HPP */
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