From d2bab5d719965728c72c7ee8e8b686abb6816d06 Mon Sep 17 00:00:00 2001
From: Adrian Del Grosso <10929341+ad3154@users.noreply.github.com>
Date: Sun, 10 Sep 2023 11:14:22 -0600
Subject: [PATCH] Minor compilation and formatting fixes

Fixed some formatting and added some minor compilation fixes that were
missed from earlier.
---
 README.md                                    |  4 ++--
 examples/VirtualTerminal/VirtualTerminal.ino |  4 ++--
 src/can_hardware_interface_single_thread.cpp |  1 +
 src/event_dispatcher.hpp                     | 15 ++++++++++++++-
 src/isobus_guidance_interface.cpp            |  1 +
 src/isobus_virtual_terminal_client.cpp       |  1 +
 6 files changed, 21 insertions(+), 5 deletions(-)

diff --git a/README.md b/README.md
index 4824318..d5b4ba1 100644
--- a/README.md
+++ b/README.md
@@ -20,8 +20,8 @@ Currently this Arduino library is compatible with Teensy hardware only. ESP32 su
 
 ### Example
 
-An example ino file for Arduino IDE is located in the main AgIsoStack++ repo. [Starting from here](https://github.com/Open-Agriculture/AgIsoStack-plus-plus/tree/main/examples/arduino_example) is recommended!
-The example sketch loads a VT object pool to a virtual terminal, as long as your teensy is connected to an ISO11783 CAN network using the Teensy's CAN 1 pins and compatible CAN transceiver.
+Examples are located [here](https://github.com/Open-Agriculture/AgIsoStack-Arduino/tree/main/examples).
+The virtual terminal example sketch is a good starting point, and loads a VT object pool to a virtual terminal, as long as your teensy is connected to an ISO11783 CAN network using the Teensy's CAN 1 pins and compatible CAN transceiver.
 
 ### Troubleshooting
 
diff --git a/examples/VirtualTerminal/VirtualTerminal.ino b/examples/VirtualTerminal/VirtualTerminal.ino
index 8c83844..43f0278 100644
--- a/examples/VirtualTerminal/VirtualTerminal.ino
+++ b/examples/VirtualTerminal/VirtualTerminal.ino
@@ -12,7 +12,7 @@ std::shared_ptr<void> softKeyListener = nullptr;
 std::shared_ptr<void> buttonListener = nullptr;
 
 // A log sink for the CAN stack
-class CustomLogger : public isobus::CANStackLogger
+class CustomLogger : public CANStackLogger
 {
 public:
 	void sink_CAN_stack_log(CANStackLogger::LoggingLevel level, const std::string &text) override
@@ -45,7 +45,7 @@ public:
 
 			case LoggingLevel::Critical:
 			{
-        Serial.print("[Critical]: ");
+        		Serial.print("[Critical]: ");
 			}
 			break;
 		}
diff --git a/src/can_hardware_interface_single_thread.cpp b/src/can_hardware_interface_single_thread.cpp
index 6e4cfd5..136738e 100644
--- a/src/can_hardware_interface_single_thread.cpp
+++ b/src/can_hardware_interface_single_thread.cpp
@@ -12,6 +12,7 @@
 #include "to_string.hpp"
 
 #include <algorithm>
+#include <limits>
 
 namespace isobus
 {
diff --git a/src/event_dispatcher.hpp b/src/event_dispatcher.hpp
index 2fdfb7c..bb3cdca 100644
--- a/src/event_dispatcher.hpp
+++ b/src/event_dispatcher.hpp
@@ -12,9 +12,12 @@
 #include <algorithm>
 #include <functional>
 #include <memory>
-#include <mutex>
 #include <vector>
 
+#if !defined CAN_STACK_DISABLE_THREADS && !defined ARDUINO
+#include <mutex>
+#endif
+
 namespace isobus
 {
 	//================================================================================================
@@ -31,7 +34,9 @@ namespace isobus
 		/// @return A shared pointer to the callback.
 		std::shared_ptr<std::function<void(const E &...)>> add_listener(const std::function<void(const E &...)> &callback)
 		{
+#if !defined CAN_STACK_DISABLE_THREADS && !defined ARDUINO
 			std::lock_guard<std::mutex> lock(callbacksMutex);
+#endif
 			auto shared = std::make_shared<std::function<void(const E &...)>>(callback);
 			callbacks.push_back(shared);
 			return shared;
@@ -70,7 +75,9 @@ namespace isobus
 		/// @return The number of listeners
 		std::size_t get_listener_count()
 		{
+#if !defined CAN_STACK_DISABLE_THREADS && !defined ARDUINO
 			std::lock_guard<std::mutex> lock(callbacksMutex);
+#endif
 			return callbacks.size();
 		}
 
@@ -88,7 +95,9 @@ namespace isobus
 		/// @return True if the event was successfully invoked, false otherwise.
 		void invoke(E &&...args)
 		{
+#if !defined CAN_STACK_DISABLE_THREADS && !defined ARDUINO
 			std::lock_guard<std::mutex> lock(callbacksMutex);
+#endif
 			remove_expired_listeners();
 
 			std::for_each(callbacks.begin(), callbacks.end(), [&args...](std::weak_ptr<std::function<void(const E &...)>> &callback) {
@@ -104,7 +113,9 @@ namespace isobus
 		/// @return True if the event was successfully invoked, false otherwise.
 		void call(const E &...args)
 		{
+#if !defined CAN_STACK_DISABLE_THREADS && !defined ARDUINO
 			std::lock_guard<std::mutex> lock(callbacksMutex);
+#endif
 			remove_expired_listeners();
 
 			std::for_each(callbacks.begin(), callbacks.end(), [&args...](std::weak_ptr<std::function<void(const E &...)>> &callback) {
@@ -117,7 +128,9 @@ namespace isobus
 
 	private:
 		std::vector<std::weak_ptr<std::function<void(const E &...)>>> callbacks; ///< The callbacks to invoke
+#if !defined CAN_STACK_DISABLE_THREADS && !defined ARDUINO
 		std::mutex callbacksMutex; ///< The mutex to protect the callbacks
+#endif
 	};
 } // namespace isobus
 
diff --git a/src/isobus_guidance_interface.cpp b/src/isobus_guidance_interface.cpp
index 22ae8f8..f1a959d 100644
--- a/src/isobus_guidance_interface.cpp
+++ b/src/isobus_guidance_interface.cpp
@@ -29,6 +29,7 @@
 #include <algorithm>
 #include <cassert>
 #include <cmath>
+#include <limits>
 #include <memory>
 
 namespace isobus
diff --git a/src/isobus_virtual_terminal_client.cpp b/src/isobus_virtual_terminal_client.cpp
index 5ec4c9e..9ccf162 100644
--- a/src/isobus_virtual_terminal_client.cpp
+++ b/src/isobus_virtual_terminal_client.cpp
@@ -19,6 +19,7 @@
 #include <cassert>
 #include <cstring>
 #include <functional>
+#include <limits>
 #include <map>
 #include <unordered_map>