can_address_claim_state_machine.hpp

Go to the documentation of this file.

//================================================================================================
//================================================================================================
 
#ifndef CAN_ADDRESS_CLAIM_STATE_MACHINE_HPP
#define CAN_ADDRESS_CLAIM_STATE_MACHINE_HPP
 
#include "isobus/isobus/can_NAME.hpp"
#include "isobus/isobus/can_constants.hpp"
 
namespace isobus
{
    class CANMessage; 
 
    //================================================================================================
    //================================================================================================
    class AddressClaimStateMachine
    {
    public:
        enum class State
        {
            None, 
            WaitForClaim, 
            SendRequestForClaim, 
            WaitForRequestContentionPeriod, 
            SendPreferredAddressClaim, 
            ContendForPreferredAddress, 
            SendArbitraryAddressClaim, 
            SendReclaimAddressOnRequest, 
            UnableToClaim, 
            AddressClaimingComplete 
        };
 
        AddressClaimStateMachine(std::uint8_t preferredAddressValue, NAME ControlFunctionNAME, std::uint8_t portIndex);
 
        ~AddressClaimStateMachine();
 
        State get_current_state() const;
 
        void on_address_violation();
 
        void process_commanded_address(std::uint8_t commandedAddress);
 
        void set_is_enabled(bool value);
 
        bool get_enabled() const;
 
        std::uint8_t get_claimed_address() const;
 
        void update();
 
    private:
        static void process_rx_message(const CANMessage &message, void *parentPointer);
 
        void set_current_state(State value);
 
        bool send_request_to_claim() const;
 
        bool send_address_claim(std::uint8_t address);
 
        NAME m_isoname; 
        State m_currentState = State::None; 
        std::uint32_t m_timestamp_ms = 0; 
        std::uint8_t m_portIndex; 
        std::uint8_t m_preferredAddress; 
        std::uint8_t m_randomClaimDelay_ms; 
        std::uint8_t m_claimedAddress = NULL_CAN_ADDRESS; 
        bool m_enabled = true; 
    };
 
} // namespace isobus
 
#endif // CAN_ADDRESS_CLAIM_STATE_MACHINE_HPP