[Core]: Refactorization of control function address claiming and fact…

…ory methods (#463)

* refactor(core): move the control function' create and destroy functions to the network manager

The new way of making control functions will be `CANNetworkManager::create_internal_control_function` and `CANNetworkManager::create_partnered_control_function` respectively. For de-activating a control function the function  `CANNetworkManager::deactivate_control_function` should now be used.

* refactor(core): move address claiming into internal control function class

* feat: add range detection based on IG for dynamic address claiming

Other small improvements:
- removed unused include in seeder example
- added boundary check on the control function table

examples/diagnostic_protocol/main.cpp

@@ -66,7 +66,7 @@ int main()
 	TestDeviceNAME.set_device_class_instance(0);
 	TestDeviceNAME.set_manufacturer_code(1407);
 
-	auto TestInternalECU = isobus::InternalControlFunction::create(TestDeviceNAME, 0x1C, 0);
+	auto TestInternalECU = isobus::CANNetworkManager::CANNetwork.create_internal_control_function(TestDeviceNAME, 0);
 
 	// Make sure address claiming is done before we continue
 	auto addressClaimedFuture = std::async(std::launch::async, [&TestInternalECU]() {

examples/nmea2000/fast_packet_protocol/main.cpp

@@ -86,7 +86,7 @@ int main()
 	TestDeviceNAME.set_device_class_instance(0);
 	TestDeviceNAME.set_manufacturer_code(1407);
 
-	auto TestInternalECU = isobus::InternalControlFunction::create(TestDeviceNAME, 0x1C, 0);
+	auto TestInternalECU = isobus::CANNetworkManager::CANNetwork.create_internal_control_function(TestDeviceNAME, 0);
 
 	isobus::CANNetworkManager::CANNetwork.get_fast_packet_protocol(0)->register_multipacket_message_callback(0x1F001, nmea2k_callback, nullptr);
 

examples/nmea2000/nmea2000_generator/main.cpp

@@ -64,7 +64,7 @@ int main()
 	TestDeviceNAME.set_device_class_instance(0);
 	TestDeviceNAME.set_manufacturer_code(1407);
 
-	auto TestInternalECU = isobus::InternalControlFunction::create(TestDeviceNAME, 0x1C, 0);
+	auto TestInternalECU = isobus::CANNetworkManager::CANNetwork.create_internal_control_function(TestDeviceNAME, 0);
 
 	// Make sure address claiming is done before we continue
 	auto addressClaimedFuture = std::async(std::launch::async, [&TestInternalECU]() {

examples/nmea2000/nmea2000_parser/main.cpp

@@ -139,7 +139,7 @@ int main()
 	TestDeviceNAME.set_device_class_instance(0);
 	TestDeviceNAME.set_manufacturer_code(1407);
 
-	auto TestInternalECU = isobus::InternalControlFunction::create(TestDeviceNAME, 0x1D, 0);
+	auto TestInternalECU = isobus::CANNetworkManager::CANNetwork.create_internal_control_function(TestDeviceNAME, 0);
 
 	// Make sure address claiming is done before we continue
 	auto addressClaimedFuture = std::async(std::launch::async, [&TestInternalECU]() {

examples/pgn_requests/main.cpp

@@ -128,7 +128,7 @@ int main()
 	TestDeviceNAME.set_device_class_instance(0);
 	TestDeviceNAME.set_manufacturer_code(1407);
 
-	auto TestInternalECU = isobus::InternalControlFunction::create(TestDeviceNAME, 0x1C, 0);
+	auto TestInternalECU = isobus::CANNetworkManager::CANNetwork.create_internal_control_function(TestDeviceNAME, 0);
 	std::signal(SIGINT, signal_handler);
 
 	// Make sure address claiming is done before we continue

examples/seeder_example/seeder.cpp

@@ -76,9 +76,9 @@ bool Seeder::initialize()
 		                                                      filterTaskControllerIndustryGroup,
 		                                                      filterTaskControllerDeviceClass };
 	const std::vector<isobus::NAMEFilter> vtNameFilters = { filterVirtualTerminal };
-	auto InternalECU = isobus::InternalControlFunction::create(TestDeviceNAME, 0x81, 0);
-	auto PartnerVT = isobus::PartneredControlFunction::create(0, vtNameFilters);
-	auto PartnerTC = isobus::PartneredControlFunction::create(0, tcNameFilters);
+	auto InternalECU = isobus::CANNetworkManager::CANNetwork.create_internal_control_function(TestDeviceNAME, 0);
+	auto PartnerVT = isobus::CANNetworkManager::CANNetwork.create_partnered_control_function(0, vtNameFilters);
+	auto PartnerTC = isobus::CANNetworkManager::CANNetwork.create_partnered_control_function(0, tcNameFilters);
 
 	diagnosticProtocol = std::make_unique<isobus::DiagnosticProtocol>(InternalECU);
 	diagnosticProtocol->initialize();

examples/task_controller_client/main.cpp

@@ -83,8 +83,8 @@ int main()
 		                                                      filterTaskControllerInstance,
 		                                                      filterTaskControllerIndustryGroup,
 		                                                      filterTaskControllerDeviceClass };
-	auto TestInternalECU = isobus::InternalControlFunction::create(TestDeviceNAME, 0x1C, 0);
-	auto TestPartnerTC = isobus::PartneredControlFunction::create(0, tcNameFilters);
+	auto TestInternalECU = isobus::CANNetworkManager::CANNetwork.create_internal_control_function(TestDeviceNAME, 0);
+	auto TestPartnerTC = isobus::CANNetworkManager::CANNetwork.create_partnered_control_function(0, tcNameFilters);
 
 	TestTCClient = std::make_shared<isobus::TaskControllerClient>(TestPartnerTC, TestInternalECU, nullptr);
 

examples/transport_layer/main.cpp

@@ -77,10 +77,10 @@ int main()
 	const NAMEFilter filterOriginator(NAME::NAMEParameters::FunctionCode, static_cast<std::uint8_t>(NAME::Function::SteeringControl));
 	const NAMEFilter filterRecipient(NAME::NAMEParameters::FunctionCode, static_cast<std::uint8_t>(NAME::Function::VirtualTerminal));
 
-	auto originatorECU = InternalControlFunction::create(originatorNAME, 0x1C, 0);
-	auto originatorPartner = PartneredControlFunction::create(1, { filterOriginator });
-	auto recipientECU = InternalControlFunction::create(recipientNAME, 0x1D, 1);
-	auto recipientPartner = PartneredControlFunction::create(0, { filterRecipient });
+	auto originatorECU = CANNetworkManager::CANNetwork.create_internal_control_function(originatorNAME, 0, 0x1C);
+	auto originatorPartner = CANNetworkManager::CANNetwork.create_partnered_control_function(1, { filterOriginator });
+	auto recipientECU = CANNetworkManager::CANNetwork.create_internal_control_function(recipientNAME, 1, 0x1D);
+	auto recipientPartner = CANNetworkManager::CANNetwork.create_partnered_control_function(0, { filterRecipient });
 
 	// We want to make sure address claiming is successful before continuing
 	auto addressClaimedFuture = std::async(std::launch::async, [&originatorECU, &recipientECU, &originatorPartner, &recipientPartner]() {

examples/virtual_terminal/aux_functions/main.cpp

@@ -96,8 +96,8 @@ 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 = isobus::InternalControlFunction::create(TestDeviceNAME, 0x1D, 0);
-	auto TestPartnerVT = isobus::PartneredControlFunction::create(0, vtNameFilters);
+	auto TestInternalECU = isobus::CANNetworkManager::CANNetwork.create_internal_control_function(TestDeviceNAME, 0);
+	auto TestPartnerVT = isobus::CANNetworkManager::CANNetwork.create_partnered_control_function(0, vtNameFilters);
 
 	TestVirtualTerminalClient = std::make_shared<isobus::VirtualTerminalClient>(TestPartnerVT, TestInternalECU);
 	TestVirtualTerminalClient->set_object_pool(0, testPool.data(), testPool.size(), objectPoolHash);

examples/virtual_terminal/aux_inputs/main.cpp

@@ -159,8 +159,8 @@ 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 = isobus::InternalControlFunction::create(TestDeviceNAME, 0x1E, 0);
-	auto TestPartnerVT = isobus::PartneredControlFunction::create(0, vtNameFilters);
+	auto TestInternalECU = isobus::CANNetworkManager::CANNetwork.create_internal_control_function(TestDeviceNAME, 0);
+	auto TestPartnerVT = isobus::CANNetworkManager::CANNetwork.create_partnered_control_function(0, vtNameFilters);
 
 	TestVirtualTerminalClient = std::make_shared<isobus::VirtualTerminalClient>(TestPartnerVT, TestInternalECU);
 	TestVirtualTerminalClient->set_object_pool(0, testPool.data(), testPool.size(), objectPoolHash);

examples/virtual_terminal/esp32_platformio_object_pool/src/main.cpp

@@ -131,8 +131,8 @@ extern "C" void app_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 = isobus::InternalControlFunction::create(TestDeviceNAME, 0x1C, 0);
-	auto TestPartnerVT = isobus::PartneredControlFunction::create(0, vtNameFilters);
+	auto TestInternalECU = isobus::CANNetworkManager::CANNetwork.create_internal_control_function(TestDeviceNAME, 0);
+	auto TestPartnerVT = isobus::CANNetworkManager::CANNetwork.create_partnered_control_function(0, vtNameFilters);
 
 	virtualTerminalClient = std::make_shared<isobus::VirtualTerminalClient>(TestPartnerVT, TestInternalECU);
 	virtualTerminalClient->set_object_pool(0, testPool, (object_pool_end - object_pool_start) - 1, "ais1");

examples/virtual_terminal/version3_object_pool/main.cpp

@@ -159,8 +159,8 @@ 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 = isobus::InternalControlFunction::create(TestDeviceNAME, 0x1C, 0);
-	auto TestPartnerVT = isobus::PartneredControlFunction::create(0, vtNameFilters);
+	auto TestInternalECU = isobus::CANNetworkManager::CANNetwork.create_internal_control_function(TestDeviceNAME, 0);
+	auto TestPartnerVT = isobus::CANNetworkManager::CANNetwork.create_partnered_control_function(0, vtNameFilters);
 
 	virtualTerminalClient = std::make_shared<isobus::VirtualTerminalClient>(TestPartnerVT, TestInternalECU);
 	virtualTerminalClient->set_object_pool(0, testPool.data(), testPool.size(), objectPoolHash);

isobus/CMakeLists.txt

@@ -14,7 +14,6 @@ set(ISOBUS_SRC
     "can_control_function.cpp"
     "can_message.cpp"
     "can_network_manager.cpp"
-    "can_address_claim_state_machine.cpp"
     "can_internal_control_function.cpp"
     "can_partnered_control_function.cpp"
     "can_NAME_filter.cpp"
@@ -62,7 +61,6 @@ set(ISOBUS_INCLUDE
     "can_message.hpp"
     "can_general_parameter_group_numbers.hpp"
     "can_network_manager.hpp"
-    "can_address_claim_state_machine.hpp"
     "can_NAME_filter.hpp"
     "can_transport_protocol.hpp"
     "can_transport_protocol_base.hpp"

isobus/include/isobus/isobus/can_control_function.hpp

@@ -5,7 +5,7 @@
 /// @author Adrian Del Grosso
 /// @author Daan Steenbergen
 ///
-/// @copyright 2022 Adrian Del Grosso
+/// @copyright 2024 The Open-Agriculture Developers
 //================================================================================================
 
 #ifndef CAN_CONTROL_FUNCTION_HPP
@@ -19,12 +19,8 @@
 
 namespace isobus
 {
-	//================================================================================================
-	/// @class ControlFunction
-	///
 	/// @brief A class that describes an ISO11783 control function, which includes a NAME and address.
-	//================================================================================================
-	class ControlFunction : public std::enable_shared_from_this<ControlFunction>
+	class ControlFunction
 	{
 	public:
 		/// @brief The type of the control function
@@ -35,19 +31,15 @@ namespace isobus
 			Partnered ///< An external control function that you explicitly want to talk to
 		};
 
-		virtual ~ControlFunction() = default;
-
-		/// @brief The factory function to construct a control function
+		/// @brief The constructor of a control function. In most cases use `CANNetworkManager::create_internal_control_function()` or
+		/// `CANNetworkManager::create_partnered_control_function()` instead, only use this constructor if you have advanced needs.
 		/// @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
-		/// @returns A shared pointer to a ControlFunction object created with the parameters passed in
-		static std::shared_ptr<ControlFunction> create(NAME NAMEValue, std::uint8_t addressValue, std::uint8_t CANPort);
+		/// @param[in] type The 'Type' of control function to create
+		ControlFunction(NAME NAMEValue, std::uint8_t addressValue, std::uint8_t CANPort, Type type = Type::External);
 
-		/// @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);
+		virtual ~ControlFunction() = default;
 
 		/// @brief Returns the current address of the control function
 		/// @returns The current address of the control function
@@ -74,13 +66,6 @@ namespace isobus
 		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
-		/// @param[in] type The 'Type' of control function to create
-		ControlFunction(NAME NAMEValue, std::uint8_t addressValue, std::uint8_t CANPort, Type type = Type::External);
-
 		friend class CANNetworkManager; ///< The network manager needs access to the control function's internals
 		static Mutex controlFunctionProcessingMutex; ///< Protects the control function tables
 		const Type controlFunctionType; ///< The Type of the control function