can_internal_control_function.cpp

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//================================================================================================
#include "isobus/isobus/can_internal_control_function.hpp"
 
#include "isobus/isobus/can_constants.hpp"
#include "isobus/isobus/can_network_manager.hpp"
#include "isobus/isobus/can_parameter_group_number_request_protocol.hpp"
 
#include <algorithm>
 
namespace isobus
{
    InternalControlFunction::InternalControlFunction(NAME desiredName, std::uint8_t preferredAddress, std::uint8_t CANPort, CANLibBadge<InternalControlFunction>) :
      ControlFunction(desiredName, NULL_CAN_ADDRESS, CANPort, Type::Internal),
      stateMachine(preferredAddress, desiredName, CANPort)
    {
    }
 
    std::shared_ptr<InternalControlFunction> InternalControlFunction::create(NAME desiredName, std::uint8_t preferredAddress, std::uint8_t CANPort)
    {
        // Unfortunately, we can't use `std::make_shared` here because the constructor is private
        CANLibBadge<InternalControlFunction> badge; // This badge is used to allow creation of the PGN request protocol only from within this class
        auto controlFunction = std::shared_ptr<InternalControlFunction>(new InternalControlFunction(desiredName, preferredAddress, CANPort, badge));
        controlFunction->pgnRequestProtocol.reset(new ParameterGroupNumberRequestProtocol(controlFunction, badge));
        CANNetworkManager::CANNetwork.on_control_function_created(controlFunction, badge);
        return controlFunction;
    }
 
    std::shared_ptr<InternalControlFunction> InternalControlFunction::create(NAME desiredName, std::uint8_t CANPort)
    {
        return create(desiredName, NULL_CAN_ADDRESS, CANPort);
    }
 
    bool InternalControlFunction::destroy(std::uint32_t expectedRefCount)
    {
        // We need to destroy the PGN request protocol before we destroy the control function
        pgnRequestProtocol.reset();
 
        return ControlFunction::destroy(expectedRefCount);
    }
 
    void InternalControlFunction::on_address_violation(CANLibBadge<CANNetworkManager>)
    {
        stateMachine.on_address_violation();
    }
 
    void InternalControlFunction::process_commanded_address(std::uint8_t commandedAddress, CANLibBadge<CANNetworkManager>)
    {
        stateMachine.process_commanded_address(commandedAddress);
    }
 
    bool InternalControlFunction::update_address_claiming(CANLibBadge<CANNetworkManager>)
    {
        std::uint8_t previousAddress = address;
        stateMachine.update();
        address = stateMachine.get_claimed_address();
 
        return previousAddress != address;
    }
 
    std::weak_ptr<ParameterGroupNumberRequestProtocol> InternalControlFunction::get_pgn_request_protocol() const
    {
        return pgnRequestProtocol;
    }
 
} // namespace isobus