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[Core]: Switch to smart pointers for CFs
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With this change all the current raw pointers are converted to smart pointers, e.g. `shared_ptr`
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@GwnDaan
GwnDaan committed Jun 19, 2023
1 parent fd61d5a commit 41c51d9
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Showing 62 changed files with 938 additions and 842 deletions.
2 changes: 1 addition & 1 deletion examples/diagnostic_protocol/main.cpp
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Expand Up @@ -64,7 +64,7 @@ int main()
TestDeviceNAME.set_device_class_instance(0);
TestDeviceNAME.set_manufacturer_code(64);

auto TestInternalECU = std::make_shared<isobus::InternalControlFunction>(TestDeviceNAME, 0x1C, 0);
auto TestInternalECU = isobus::InternalControlFunction::create(TestDeviceNAME, 0x1C, 0);

// Wait to make sure address claiming is done. The time is arbitrary.
//! @todo Check this instead of asuming it is done
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8 changes: 4 additions & 4 deletions examples/nmea2000/main.cpp
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Expand Up @@ -20,8 +20,8 @@ void nmea2k_callback(const isobus::CANMessage &message, void *)

void nmea2k_transmit_complete_callback(std::uint32_t parameterGroupNumber,
std::uint32_t dataLength,
isobus::InternalControlFunction *,
isobus::ControlFunction *,
std::shared_ptr<isobus::InternalControlFunction>,
std::shared_ptr<isobus::ControlFunction>,
bool successful,
void *)
{
Expand Down Expand Up @@ -85,7 +85,7 @@ int main()
TestDeviceNAME.set_device_class_instance(0);
TestDeviceNAME.set_manufacturer_code(64);

isobus::InternalControlFunction TestInternalECU(TestDeviceNAME, 0x1C, 0);
auto TestInternalECU = isobus::InternalControlFunction::create(TestDeviceNAME, 0x1C, 0);

isobus::CANNetworkManager::CANNetwork.get_fast_packet_protocol().register_multipacket_message_callback(0x1F001, nmea2k_callback, nullptr);

Expand All @@ -105,7 +105,7 @@ int main()
while (running)
{
// Send a fast packet message
isobus::CANNetworkManager::CANNetwork.get_fast_packet_protocol().send_multipacket_message(0x1F001, testMessageData, TEST_MESSAGE_LENGTH, &TestInternalECU, nullptr, isobus::CANIdentifier::PriorityLowest7, nmea2k_transmit_complete_callback);
isobus::CANNetworkManager::CANNetwork.get_fast_packet_protocol().send_multipacket_message(0x1F001, testMessageData, TEST_MESSAGE_LENGTH, TestInternalECU, nullptr, isobus::CANIdentifier::PriorityLowest7, nmea2k_transmit_complete_callback);

// Sleep for a while
std::this_thread::sleep_for(std::chrono::milliseconds(2000));
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12 changes: 6 additions & 6 deletions examples/pgn_requests/main.cpp
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Expand Up @@ -13,7 +13,7 @@

//! It is discouraged to use global variables, but it is done here for simplicity.
static std::uint32_t propARepetitionRate_ms = 0xFFFFFFFF;
static isobus::ControlFunction *repetitionRateRequestor = nullptr;
static std::shared_ptr<isobus::ControlFunction> repetitionRateRequestor = nullptr;
static std::atomic_bool running = { true };

void signal_handler(int)
Expand All @@ -22,7 +22,7 @@ void signal_handler(int)
}

bool example_proprietary_a_pgn_request_handler(std::uint32_t parameterGroupNumber,
isobus::ControlFunction *,
std::shared_ptr<isobus::ControlFunction>,
bool &acknowledge,
isobus::AcknowledgementType &acknowledgeType,
void *)
Expand Down Expand Up @@ -50,7 +50,7 @@ bool example_proprietary_a_pgn_request_handler(std::uint32_t parameterGroupNumbe
}

bool example_proprietary_a_request_for_repetition_rate_handler(std::uint32_t parameterGroupNumber,
isobus::ControlFunction *requestingControlFunction,
std::shared_ptr<isobus::ControlFunction> requestingControlFunction,
std::uint32_t repetitionRate,
void *)
{
Expand Down Expand Up @@ -125,7 +125,7 @@ int main()
TestDeviceNAME.set_device_class_instance(0);
TestDeviceNAME.set_manufacturer_code(64);

std::shared_ptr<isobus::InternalControlFunction> TestInternalECU = std::make_shared<isobus::InternalControlFunction>(TestDeviceNAME, 0x1C, 0);
auto TestInternalECU = isobus::InternalControlFunction::create(TestDeviceNAME, 0x1C, 0);
std::signal(SIGINT, signal_handler);

// Wait to make sure address claiming is done. The time is arbitrary.
Expand Down Expand Up @@ -157,7 +157,7 @@ int main()

// This is how you would request a PGN from someone else. In this example, we request it from the broadcast address.
// Generally you'd want to replace nullptr with your partner control function as its a little nicer than just asking everyone on the bus for a PGN
isobus::ParameterGroupNumberRequestProtocol::request_parameter_group_number(static_cast<std::uint32_t>(isobus::CANLibParameterGroupNumber::ProprietaryA), TestInternalECU.get(), nullptr);
isobus::ParameterGroupNumberRequestProtocol::request_parameter_group_number(static_cast<std::uint32_t>(isobus::CANLibParameterGroupNumber::ProprietaryA), TestInternalECU, nullptr);
}

while (running)
Expand All @@ -166,7 +166,7 @@ int main()
{
// If someone has requested a repetition rate for PROPA, service it here (in the application layer)
std::uint8_t buffer[isobus::CAN_DATA_LENGTH] = { 0 };
isobus::CANNetworkManager::CANNetwork.send_can_message(static_cast<std::uint32_t>(isobus::CANLibParameterGroupNumber::ProprietaryA), buffer, isobus::CAN_DATA_LENGTH, TestInternalECU.get(), repetitionRateRequestor);
isobus::CANNetworkManager::CANNetwork.send_can_message(static_cast<std::uint32_t>(isobus::CANLibParameterGroupNumber::ProprietaryA), buffer, isobus::CAN_DATA_LENGTH, TestInternalECU, repetitionRateRequestor);
std::this_thread::sleep_for(std::chrono::milliseconds(propARepetitionRate_ms));
}
else
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4 changes: 2 additions & 2 deletions examples/task_controller_client/main.cpp
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Expand Up @@ -76,8 +76,8 @@ int main()

const isobus::NAMEFilter filterTaskController(isobus::NAME::NAMEParameters::FunctionCode, static_cast<std::uint8_t>(isobus::NAME::Function::TaskController));
const std::vector<isobus::NAMEFilter> tcNameFilters = { filterTaskController };
auto TestInternalECU = std::make_shared<isobus::InternalControlFunction>(TestDeviceNAME, 0x1C, 0);
auto TestPartnerTC = std::make_shared<isobus::PartneredControlFunction>(0, tcNameFilters);
auto TestInternalECU = isobus::InternalControlFunction::create(TestDeviceNAME, 0x1C, 0);
auto TestPartnerTC = isobus::PartneredControlFunction::create(0, tcNameFilters);

TestTCClient = std::make_shared<isobus::TaskControllerClient>(TestPartnerTC, TestInternalECU, nullptr);

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14 changes: 7 additions & 7 deletions examples/transport_layer/main.cpp
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Expand Up @@ -70,8 +70,8 @@ int main()

const isobus::NAMEFilter filterVirtualTerminal(isobus::NAME::NAMEParameters::FunctionCode, static_cast<std::uint8_t>(isobus::NAME::Function::VirtualTerminal));

isobus::InternalControlFunction TestInternalECU(TestDeviceNAME, 0x1C, 0);
isobus::PartneredControlFunction TestPartner(0, { filterVirtualTerminal });
auto TestInternalECU = isobus::InternalControlFunction::create(TestDeviceNAME, 0x1C, 0);
auto TestPartner = isobus::PartneredControlFunction::create(0, { filterVirtualTerminal });

// Wait to make sure address claiming is done. The time is arbitrary.
//! @todo Check this instead of asuming it is done
Expand All @@ -91,14 +91,14 @@ int main()
}

// Send a classic CAN message to a specific destination(8 bytes or less)
if (running && isobus::CANNetworkManager::CANNetwork.send_can_message(0xEF00, ETPTestBuffer, isobus::CAN_DATA_LENGTH, &TestInternalECU, &TestPartner))
if (running && isobus::CANNetworkManager::CANNetwork.send_can_message(0xEF00, ETPTestBuffer, isobus::CAN_DATA_LENGTH, TestInternalECU, TestPartner))
{
std::cout << "Sent a normal CAN Message with length 8" << std::endl;
std::this_thread::sleep_for(std::chrono::milliseconds(4)); // Arbitrary
}

// Send a classic CAN message to global (0xFF) (8 bytes or less)
if (running && isobus::CANNetworkManager::CANNetwork.send_can_message(0xEF00, ETPTestBuffer, isobus::CAN_DATA_LENGTH, &TestInternalECU))
if (running && isobus::CANNetworkManager::CANNetwork.send_can_message(0xEF00, ETPTestBuffer, isobus::CAN_DATA_LENGTH, TestInternalECU))
{
std::cout << "Sent a broadcast CAN Message with length 8" << std::endl;
std::this_thread::sleep_for(std::chrono::milliseconds(4)); // Arbitrary
Expand All @@ -115,7 +115,7 @@ int main()
}

// Send message
if (isobus::CANNetworkManager::CANNetwork.send_can_message(0xEF00, TPTestBuffer, i, &TestInternalECU, &TestPartner))
if (isobus::CANNetworkManager::CANNetwork.send_can_message(0xEF00, TPTestBuffer, i, TestInternalECU, TestPartner))
{
std::cout << "Started TP CM Session with length " << i << std::endl;
}
Expand All @@ -139,7 +139,7 @@ int main()
}

// Send message
if (isobus::CANNetworkManager::CANNetwork.send_can_message(0xEF00, TPTestBuffer, i, &TestInternalECU))
if (isobus::CANNetworkManager::CANNetwork.send_can_message(0xEF00, TPTestBuffer, i, TestInternalECU))
{
std::cout << "Started BAM Session with length " << i << std::endl;
}
Expand All @@ -153,7 +153,7 @@ int main()

// ETP Example
// Send one ETP message
if (running && isobus::CANNetworkManager::CANNetwork.send_can_message(0xEF00, ETPTestBuffer, ETP_TEST_SIZE, &TestInternalECU, &TestPartner))
if (running && isobus::CANNetworkManager::CANNetwork.send_can_message(0xEF00, ETPTestBuffer, ETP_TEST_SIZE, TestInternalECU, TestPartner))
{
std::cout << "Started ETP Session with length " << ETP_TEST_SIZE << std::endl;
std::this_thread::sleep_for(std::chrono::milliseconds(2000));
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4 changes: 2 additions & 2 deletions examples/virtual_terminal/aux_functions/main.cpp
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Expand Up @@ -95,8 +95,8 @@ int main()

const isobus::NAMEFilter filterVirtualTerminal(isobus::NAME::NAMEParameters::FunctionCode, static_cast<std::uint8_t>(isobus::NAME::Function::VirtualTerminal));
const std::vector<isobus::NAMEFilter> vtNameFilters = { filterVirtualTerminal };
auto TestInternalECU = std::make_shared<isobus::InternalControlFunction>(TestDeviceNAME, 0x1D, 0);
auto TestPartnerVT = std::make_shared<isobus::PartneredControlFunction>(0, vtNameFilters);
auto TestInternalECU = isobus::InternalControlFunction::create(TestDeviceNAME, 0x1D, 0);
auto TestPartnerVT = isobus::PartneredControlFunction::create(0, vtNameFilters);

TestVirtualTerminalClient = std::make_shared<isobus::VirtualTerminalClient>(TestPartnerVT, TestInternalECU);
TestVirtualTerminalClient->set_object_pool(0, isobus::VirtualTerminalClient::VTVersion::Version3, testPool.data(), testPool.size(), objectPoolHash);
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4 changes: 2 additions & 2 deletions examples/virtual_terminal/aux_inputs/main.cpp
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Expand Up @@ -158,8 +158,8 @@ int main()

const isobus::NAMEFilter filterVirtualTerminal(isobus::NAME::NAMEParameters::FunctionCode, static_cast<std::uint8_t>(isobus::NAME::Function::VirtualTerminal));
const std::vector<isobus::NAMEFilter> vtNameFilters = { filterVirtualTerminal };
auto TestInternalECU = std::make_shared<isobus::InternalControlFunction>(TestDeviceNAME, 0x1E, 0);
auto TestPartnerVT = std::make_shared<isobus::PartneredControlFunction>(0, vtNameFilters);
auto TestInternalECU = isobus::InternalControlFunction::create(TestDeviceNAME, 0x1E, 0);
auto TestPartnerVT = isobus::PartneredControlFunction::create(0, vtNameFilters);

TestVirtualTerminalClient = std::make_shared<isobus::VirtualTerminalClient>(TestPartnerVT, TestInternalECU);
TestVirtualTerminalClient->set_object_pool(0, isobus::VirtualTerminalClient::VTVersion::Version3, testPool.data(), testPool.size(), objectPoolHash);
Expand Down
4 changes: 2 additions & 2 deletions examples/virtual_terminal/version3_object_pool/main.cpp
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Expand Up @@ -134,8 +134,8 @@ int main()

const isobus::NAMEFilter filterVirtualTerminal(isobus::NAME::NAMEParameters::FunctionCode, static_cast<std::uint8_t>(isobus::NAME::Function::VirtualTerminal));
const std::vector<isobus::NAMEFilter> vtNameFilters = { filterVirtualTerminal };
auto TestInternalECU = std::make_shared<isobus::InternalControlFunction>(TestDeviceNAME, 0x1C, 0);
auto TestPartnerVT = std::make_shared<isobus::PartneredControlFunction>(0, vtNameFilters);
auto TestInternalECU = isobus::InternalControlFunction::create(TestDeviceNAME, 0x1C, 0);
auto TestPartnerVT = isobus::PartneredControlFunction::create(0, vtNameFilters);

TestVirtualTerminalClient = std::make_shared<isobus::VirtualTerminalClient>(TestPartnerVT, TestInternalECU);
TestVirtualTerminalClient->set_object_pool(0, isobus::VirtualTerminalClient::VTVersion::Version3, testPool.data(), testPool.size(), objectPoolHash);
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14 changes: 7 additions & 7 deletions isobus/include/isobus/isobus/can_callbacks.hpp
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Expand Up @@ -38,19 +38,19 @@ namespace isobus
/// @brief A callback for when a transmit is completed by the stack
using TransmitCompleteCallback = void (*)(std::uint32_t parameterGroupNumber,
std::uint32_t dataLength,
InternalControlFunction *sourceControlFunction,
ControlFunction *destinationControlFunction,
std::shared_ptr<InternalControlFunction> sourceControlFunction,
std::shared_ptr<ControlFunction> destinationControlFunction,
bool successful,
void *parentPointer);
/// @brief A callback for handling a PGN request
using PGNRequestCallback = bool (*)(std::uint32_t parameterGroupNumber,
ControlFunction *requestingControlFunction,
std::shared_ptr<ControlFunction> requestingControlFunction,
bool &acknowledge,
AcknowledgementType &acknowledgeType,
void *parentPointer);
/// @brief A callback for handling a request for repetition rate for a specific PGN
using PGNRequestForRepetitionRateCallback = bool (*)(std::uint32_t parameterGroupNumber,
ControlFunction *requestingControlFunction,
std::shared_ptr<ControlFunction> requestingControlFunction,
std::uint32_t repetitionRate,
void *parentPointer);

Expand All @@ -67,7 +67,7 @@ namespace isobus
/// @param[in] callback The function you want the stack to call when it gets receives a message with a matching PGN
/// @param[in] parentPointer A generic variable that can provide context to which object the callback was meant for
/// @param[in] internalControlFunction An internal control function to use as an additional filter for the callback
ParameterGroupNumberCallbackData(std::uint32_t parameterGroupNumber, CANLibCallback callback, void *parentPointer, InternalControlFunction *internalControlFunction);
ParameterGroupNumberCallbackData(std::uint32_t parameterGroupNumber, CANLibCallback callback, void *parentPointer, std::shared_ptr<InternalControlFunction> internalControlFunction);

/// @brief A copy constructor for holding callback data
/// @param[in] oldObj The object to copy from
Expand Down Expand Up @@ -96,13 +96,13 @@ namespace isobus

/// @brief Returns the ICF being used as a filter for this callback
/// @returns A pointer to the ICF being used as a filter, or nullptr
InternalControlFunction *get_internal_control_function() const;
std::shared_ptr<InternalControlFunction> get_internal_control_function() const;

private:
CANLibCallback mCallback; ///< The callback that will get called when a matching PGN is received
std::uint32_t mParameterGroupNumber; ///< The PGN assocuiated with this callback
void *mParent; ///< A generic variable that can provide context to which object the callback was meant for
InternalControlFunction *mInternalControlFunctionFilter; ///< An optional way to filter callbacks based on the destination of messages from the partner
std::shared_ptr<InternalControlFunction> mInternalControlFunctionFilter; ///< An optional way to filter callbacks based on the destination of messages from the partner
};
} // namespace isobus

Expand Down
32 changes: 24 additions & 8 deletions isobus/include/isobus/isobus/can_control_function.hpp
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Expand Up @@ -3,6 +3,7 @@
///
/// @brief Defines a base class to represent a generic ISOBUS control function.
/// @author Adrian Del Grosso
/// @author Daan Steenbergen
///
/// @copyright 2022 Adrian Del Grosso
//================================================================================================
Expand All @@ -12,6 +13,7 @@

#include "isobus/isobus/can_NAME.hpp"

#include <memory>
#include <mutex>

namespace isobus
Expand All @@ -21,7 +23,7 @@ namespace isobus
///
/// @brief A class that describes an ISO11783 control function, which includes a NAME and address.
//================================================================================================
class ControlFunction
class ControlFunction : public std::enable_shared_from_this<ControlFunction>
{
public:
/// @brief The type of the control function
Expand All @@ -32,14 +34,18 @@ namespace isobus
Partnered ///< An external control function that you explicitly want to talk to
};

/// @brief The base class constructor for a control function
virtual ~ControlFunction() = default;

/// @brief The factory function to construct a control function
/// @param[in] NAMEValue The NAME of the control function
/// @param[in] addressValue The current address of the control function
/// @param[in] CANPort The CAN channel index that the control function communicates on
ControlFunction(NAME NAMEValue, std::uint8_t addressValue, std::uint8_t CANPort);
static std::shared_ptr<ControlFunction> create(NAME NAMEValue, std::uint8_t addressValue, std::uint8_t CANPort);

/// @brief The base class destructor for a control function
virtual ~ControlFunction();
/// @brief Destroys this control function, by removing it from the network manager
/// @param[in] expectedRefCount The expected number of shared pointers to this control function after removal
/// @returns true if the control function was successfully removed from everywhere in the stack, otherwise false
virtual bool destroy(std::uint32_t expectedRefCount = 1);

/// @brief Returns the current address of the control function
/// @returns The current address of the control function
Expand All @@ -61,14 +67,24 @@ namespace isobus
/// @returns The control function type
Type get_type() const;

///@brief Returns the 'Type' of the control function as a string
///@returns The control function type as a string
std::string get_type_string() const;

protected:
/// @brief The protected constructor for the control function, which is called by the (inherited) factory function
/// @param[in] NAMEValue The NAME of the control function
/// @param[in] addressValue The current address of the control function
/// @param[in] CANPort The CAN channel index that the control function communicates on
ControlFunction(NAME NAMEValue, std::uint8_t addressValue, std::uint8_t CANPort, Type type = Type::External);

friend class CANNetworkManager;
static std::mutex controlFunctionProcessingMutex; ///< Protects the control function tables
const Type controlFunctionType; ///< The Type of the control function
NAME controlFunctionNAME; ///< The NAME of the control function
Type controlFunctionType = Type::External; ///< The Type of the control function
std::uint8_t address; ///< The address of the control function
std::uint8_t canPortIndex; ///< The CAN channel index of the control function
bool claimedAddressSinceLastAddressClaimRequest = false; ///< Used to mark CFs as stale if they don't claim within a certain time
std::uint8_t address; ///< The address of the control function
const std::uint8_t canPortIndex; ///< The CAN channel index of the control function
};

} // namespace isobus
Expand Down
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