#include <can_address_claim_state_machine.hpp>

Collaboration diagram for isobus::AddressClaimStateMachine:

Public Types
enum class	State { None , WaitForClaim , SendRequestForClaim , WaitForRequestContentionPeriod , SendPreferredAddressClaim , ContendForPreferredAddress , SendArbitraryAddressClaim , SendReclaimAddressOnRequest , UnableToClaim , AddressClaimingComplete }
	Defines the state machine states for address claiming. More...

Public Member Functions
	AddressClaimStateMachine (std::uint8_t preferredAddressValue, NAME ControlFunctionNAME, std::uint8_t portIndex)
	The constructor of the state machine class.

	~AddressClaimStateMachine ()
	The destructor for the address claim state machine.

State	get_current_state () const
	Returns the current state of the state machine.

void	on_address_violation ()
	Used to inform the address claim state machine that two CFs are using the same source address. This function may cause the state machine to emit an address claim depending on its state, as is required by ISO11783-5.

void	process_commanded_address (std::uint8_t commandedAddress)
	Attempts to process a commanded address.

void	set_is_enabled (bool value)
	Enables or disables the address claimer.

bool	get_enabled () const
	Returns if the address claimer is enabled.

std::uint8_t	get_claimed_address () const
	Returns the address claimed by the state machine or 0xFE if none claimed.

void	update ()
	Updates the state machine, should be called periodically.

Private Member Functions
void	set_current_state (State value)
	Sets the current state machine state.

bool	send_request_to_claim () const
	Sends the PGN request for the address claim PGN.

bool	send_address_claim (std::uint8_t address)
	Sends the address claim message.

Static Private Member Functions
static void	process_rx_message (const CANMessage &message, void *parentPointer)
	Processes a CAN message.

Private Attributes
NAME	m_isoname
	The ISO NAME to claim as.

State	m_currentState = State::None
	The address claim state machine state.

std::uint32_t	m_timestamp_ms = 0
	A generic timestamp in milliseconds used to find timeouts.

std::uint8_t	m_portIndex
	The CAN channel index to claim on.

std::uint8_t	m_preferredAddress
	The address we'd prefer to claim as (we may not get it)

std::uint8_t	m_randomClaimDelay_ms
	The random delay as required by the ISO11783 standard.

std::uint8_t	m_claimedAddress = NULL_CAN_ADDRESS
	The actual address we ended up claiming.

bool	m_enabled = true
	Enable/disable state for this state machine.

Detailed Description

Forward declare CANMessage.

State machine for managing the J1939/ISO11783 address claim process

This class manages address claiming for internal control functions and keeps track of things like requests for address claim.

Definition at line 28 of file can_address_claim_state_machine.hpp.

Member Enumeration Documentation

◆ State

enum class isobus::AddressClaimStateMachine::State

strong

Defines the state machine states for address claiming.

Enumerator
None	Address claiming is uninitialized.
WaitForClaim	State machine is waiting for the random delay time.
SendRequestForClaim	State machine is sending the request for address claim.
WaitForRequestContentionPeriod	State machine is waiting for the address claim contention period.
SendPreferredAddressClaim	State machine is claiming the preferred address.
ContendForPreferredAddress	State machine is contending the preferred address.
SendArbitraryAddressClaim	State machine is claiming an address.
SendReclaimAddressOnRequest	An ECU requested address claim, inform the bus of our current address.
UnableToClaim	State machine could not claim an address.
AddressClaimingComplete	Address claiming is complete and we have an address.

Definition at line 32 of file can_address_claim_state_machine.hpp.

Constructor & Destructor Documentation

◆ AddressClaimStateMachine()

isobus::AddressClaimStateMachine::AddressClaimStateMachine	(	std::uint8_t	preferredAddressValue,
		NAME	ControlFunctionNAME,
		std::uint8_t	portIndex )

The constructor of the state machine class.

Parameters

[in]	preferredAddressValue	The address you prefer to claim
[in]	ControlFunctionNAME	The NAME you want to claim
[in]	portIndex	The CAN channel index to claim on

Definition at line 21 of file can_address_claim_state_machine.cpp.

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◆ ~AddressClaimStateMachine()

isobus::AddressClaimStateMachine::~AddressClaimStateMachine ( )

The destructor for the address claim state machine.

Definition at line 41 of file can_address_claim_state_machine.cpp.

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Member Function Documentation

◆ get_claimed_address()

std::uint8_t isobus::AddressClaimStateMachine::get_claimed_address ( ) const

Returns the address claimed by the state machine or 0xFE if none claimed.

Returns: The address claimed by the state machine or 0xFE if no address has been claimed

Definition at line 106 of file can_address_claim_state_machine.cpp.

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◆ get_current_state()

AddressClaimStateMachine::State isobus::AddressClaimStateMachine::get_current_state ( ) const

Returns the current state of the state machine.

Returns: The current state of the state machine

Definition at line 47 of file can_address_claim_state_machine.cpp.

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◆ get_enabled()

bool isobus::AddressClaimStateMachine::get_enabled ( ) const

Returns if the address claimer is enabled.

Returns: true if the class will address claim, false if in sniffing mode

Definition at line 101 of file can_address_claim_state_machine.cpp.

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◆ on_address_violation()

void isobus::AddressClaimStateMachine::on_address_violation ( )

Used to inform the address claim state machine that two CFs are using the same source address. This function may cause the state machine to emit an address claim depending on its state, as is required by ISO11783-5.

Definition at line 52 of file can_address_claim_state_machine.cpp.

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◆ process_commanded_address()

void isobus::AddressClaimStateMachine::process_commanded_address ( std::uint8_t commandedAddress )

Attempts to process a commanded address.

If the state machine has claimed successfully before, this will attempt to move a NAME from the claimed address to the new, specified address.

Parameters

[in] commandedAddress The address to attempt to claim

Definition at line 63 of file can_address_claim_state_machine.cpp.

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◆ process_rx_message()

void isobus::AddressClaimStateMachine::process_rx_message	(	const CANMessage &	message,
		void *	parentPointer )

staticprivate

Processes a CAN message.

Parameters

[in]	message	The CAN message being received
[in]	parentPointer	A context variable to find the relevant address claimer

Definition at line 271 of file can_address_claim_state_machine.cpp.

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◆ send_address_claim()

bool isobus::AddressClaimStateMachine::send_address_claim ( std::uint8_t address )

private

Sends the address claim message.

Parameters

[in] address The address to claim

Returns: true if the message was sent, otherwise false

Definition at line 370 of file can_address_claim_state_machine.cpp.

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◆ send_request_to_claim()

bool isobus::AddressClaimStateMachine::send_request_to_claim ( ) const

private

Sends the PGN request for the address claim PGN.

Returns: true if the message was sent, otherwise false

Definition at line 344 of file can_address_claim_state_machine.cpp.

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◆ set_current_state()

void isobus::AddressClaimStateMachine::set_current_state ( State value )

private

Sets the current state machine state.

Parameters

[in] value The state to set the state machine to

Definition at line 339 of file can_address_claim_state_machine.cpp.

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◆ set_is_enabled()

void isobus::AddressClaimStateMachine::set_is_enabled ( bool value )

Enables or disables the address claimer.

Parameters

[in] value true if you want the class to claim, false if you want to be a sniffer only

Definition at line 96 of file can_address_claim_state_machine.cpp.

◆ update()

void isobus::AddressClaimStateMachine::update ( )

Updates the state machine, should be called periodically.

Todo: Non-arbitratable address contention (there is not a good reason to use this, but we should add support anyways)

Definition at line 111 of file can_address_claim_state_machine.cpp.

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Member Data Documentation

◆ m_claimedAddress

std::uint8_t isobus::AddressClaimStateMachine::m_claimedAddress = NULL_CAN_ADDRESS

private

The actual address we ended up claiming.

Definition at line 110 of file can_address_claim_state_machine.hpp.

◆ m_currentState

State isobus::AddressClaimStateMachine::m_currentState = State::None

private

The address claim state machine state.

Definition at line 105 of file can_address_claim_state_machine.hpp.

◆ m_enabled

bool isobus::AddressClaimStateMachine::m_enabled = true

private

Enable/disable state for this state machine.

Definition at line 111 of file can_address_claim_state_machine.hpp.

◆ m_isoname

NAME isobus::AddressClaimStateMachine::m_isoname

private

The ISO NAME to claim as.

Definition at line 104 of file can_address_claim_state_machine.hpp.

◆ m_portIndex

std::uint8_t isobus::AddressClaimStateMachine::m_portIndex

private

The CAN channel index to claim on.

Definition at line 107 of file can_address_claim_state_machine.hpp.

◆ m_preferredAddress

std::uint8_t isobus::AddressClaimStateMachine::m_preferredAddress

private

The address we'd prefer to claim as (we may not get it)

Definition at line 108 of file can_address_claim_state_machine.hpp.

◆ m_randomClaimDelay_ms

std::uint8_t isobus::AddressClaimStateMachine::m_randomClaimDelay_ms

private

The random delay as required by the ISO11783 standard.

Definition at line 109 of file can_address_claim_state_machine.hpp.

◆ m_timestamp_ms

std::uint32_t isobus::AddressClaimStateMachine::m_timestamp_ms = 0

private

A generic timestamp in milliseconds used to find timeouts.

Definition at line 106 of file can_address_claim_state_machine.hpp.

The documentation for this class was generated from the following files:

isobus/include/isobus/isobus/can_address_claim_state_machine.hpp
isobus/src/can_address_claim_state_machine.cpp

Public Types

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ State

Constructor & Destructor Documentation

◆ AddressClaimStateMachine()

◆ ~AddressClaimStateMachine()

Member Function Documentation

◆ get_claimed_address()

◆ get_current_state()

◆ get_enabled()

◆ on_address_violation()

◆ process_commanded_address()

◆ process_rx_message()

◆ send_address_claim()

◆ send_request_to_claim()

◆ set_current_state()

◆ set_is_enabled()

◆ update()

Member Data Documentation

◆ m_claimedAddress

◆ m_currentState

◆ m_enabled

◆ m_isoname

◆ m_portIndex

◆ m_preferredAddress

◆ m_randomClaimDelay_ms

◆ m_timestamp_ms