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Fix ddop filename #22

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572b78a
Tested with 16 sections, and added the check for the master switch.
gunicsba Dec 24, 2025
768677a
Merge branch 'develop' of https://github.com/GwnDaan/AOG-TaskControll…
gunicsba Dec 24, 2025
b7e6273
Added support for legacy section control DDI-s required by Damman / M…
gunicsba Dec 24, 2025
983c3fb
Increased CTS packet count to get rid of message flood from some impl…
gunicsba Dec 24, 2025
c677e8c
Renamed the get_element to try_get_element_work_state as I found it c…
gunicsba Dec 24, 2025
fccd331
Renamed the get_element to try_get_element_work_state as I found it c…
gunicsba Dec 24, 2025
547bd67
Merge branch 'gunicsba/section-fixes' of https://github.com/gunicsba/…
gunicsba Dec 24, 2025
94369f9
Renamed the get_element to try_get_element_work_state as I found it c…
gunicsba Dec 24, 2025
d704409
Merge branch 'gunicsba/section-fixes' of https://github.com/gunicsba/…
gunicsba Dec 24, 2025
ec80df3
Separate the Tractor ECU function from Task Controller.
gunicsba Dec 27, 2025
69f9bf4
Execute clang-format
gunicsba Dec 27, 2025
4287e03
64 sections are now supported by TC (no changes are necessary in AgOp…
gunicsba Dec 27, 2025
ff8c863
Merge branch 'gunicsba/fix-speed-add-tecu' of https://github.com/guni…
gunicsba Dec 28, 2025
01d2bc0
Fix the DDOP filename generation. Some implements have the "no more t…
gunicsba Dec 30, 2025
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4 changes: 2 additions & 2 deletions CMakeLists.txt
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@@ -1,7 +1,7 @@
cmake_minimum_required(VERSION 3.16)
project("AOG-TaskController")
set(PROJECT_VERSION_MAJOR 1)
set(PROJECT_VERSION_MINOR 2)
set(PROJECT_VERSION_MINOR 3)
set(PROJECT_VERSION_PATCH 0)
set(PROJECT_VERSION
"${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}"
Expand Down Expand Up @@ -29,7 +29,7 @@ FetchContent_MakeAvailable(Boost)
FetchContent_Declare(
isobus
GIT_REPOSITORY https://github.com/Open-Agriculture/AgIsoStack-plus-plus.git
GIT_TAG 495eba6653010449d6202165240da7623243f416
GIT_TAG 05e5fd73315d79a48c21c24f39350063a1556af6
DOWNLOAD_EXTRACT_TIMESTAMP TRUE)
FetchContent_MakeAvailable(isobus)

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1 change: 1 addition & 0 deletions include/app.hpp
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Expand Up @@ -35,6 +35,7 @@ class Application

std::shared_ptr<isobus::CANHardwarePlugin> canDriver;
std::shared_ptr<MyTCServer> tcServer;
std::shared_ptr<isobus::InternalControlFunction> tecuCF = nullptr;
std::unique_ptr<isobus::SpeedMessagesInterface> speedMessagesInterface;
std::unique_ptr<isobus::NMEA2000MessageInterface> nmea2000MessageInterface;
std::uint8_t nmea2000SequenceIdentifier = 0;
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5 changes: 5 additions & 0 deletions include/task_controller.hpp
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Expand Up @@ -9,6 +9,7 @@

#pragma once

#include "isobus/isobus/isobus_data_dictionary.hpp"
#include "isobus/isobus/isobus_device_descriptor_object_pool.hpp"
#include "isobus/isobus/isobus_standard_data_description_indices.hpp"
#include "isobus/isobus/isobus_task_controller_server.hpp"
Expand Down Expand Up @@ -48,6 +49,9 @@ class ClientState
void mark_measurement_commands_sent();
std::uint16_t get_element_number_for_ddi(isobus::DataDescriptionIndex ddi) const;
void set_element_number_for_ddi(isobus::DataDescriptionIndex ddi, std::uint16_t elementNumber);
// Element work state management these act like master / override for actual sections
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The comment is missing proper capitalization at the start. It should be: "Element work state management: these act like master/override for actual sections" or split into a proper sentence structure.

Suggested change
// Element work state management these act like master / override for actual sections
// Element work state management: these act like master/override for actual sections

Copilot uses AI. Check for mistakes.
void set_element_work_state(std::uint16_t elementNumber, bool isWorking);
bool try_get_element_work_state(std::uint16_t elementNumber, bool &isWorking) const;

private:
isobus::DeviceDescriptorObjectPool pool; ///< The device descriptor object pool (DDOP) for the TC
Expand All @@ -59,6 +63,7 @@ class ClientState
std::vector<std::uint8_t> sectionActualStates; // 2 bits per section (0 = off, 1 = on, 2 = error, 3 = not installed)
bool setpointWorkState = false; ///< The overall work state desired
bool actualWorkState = false; ///< The overall work state actual
std::map<std::uint16_t, bool> elementWorkStates; ///< Work state per element (element number -> is working)
bool isSectionControlEnabled = false; ///< Stores auto vs manual mode setting
};

Expand Down
145 changes: 96 additions & 49 deletions src/app.cpp
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Expand Up @@ -41,70 +41,109 @@ bool Application::initialize()
return false;
}

isobus::CANNetworkManager::CANNetwork.get_configuration().set_number_of_packets_per_cts_message(255);

isobus::NAME ourNAME(0);

//! Make sure you change these for your device!!!!
ourNAME.set_arbitrary_address_capable(true);
ourNAME.set_industry_group(2);
ourNAME.set_device_class(0);
ourNAME.set_function_code(static_cast<std::uint8_t>(isobus::NAME::Function::TaskController));
ourNAME.set_identity_number(20);
ourNAME.set_ecu_instance(0);
ourNAME.set_function_instance(0); // TC #1. If you want to change the TC number, change this.
ourNAME.set_device_class_instance(0);
ourNAME.set_manufacturer_code(1407);

auto serverCF = isobus::CANNetworkManager::CANNetwork.create_internal_control_function(ourNAME, 0, isobus::preferred_addresses::IndustryGroup2::TaskController_MappingComputer); // The preferred address for a TC is defined in ISO 11783
auto addressClaimedFuture = std::async(std::launch::async, [&serverCF]() {
while (!serverCF->get_address_valid())
std::this_thread::sleep_for(std::chrono::milliseconds(100)); });
isobus::NAME tcNAME = ourNAME;
tcNAME.set_function_code(static_cast<std::uint8_t>(isobus::NAME::Function::TaskController));

isobus::NAME tecuNAME = ourNAME;
tecuNAME.set_function_code(static_cast<std::uint8_t>(isobus::NAME::Function::TractorECU));
tecuNAME.set_arbitrary_address_capable(false); // TECU address is fixed
tecuNAME.set_ecu_instance(0);

std::cout << "[Init] Creating Task Controller control function..." << std::endl;
auto tcCF = isobus::CANNetworkManager::CANNetwork.create_internal_control_function(tcNAME, 0, isobus::preferred_addresses::IndustryGroup2::TaskController_MappingComputer); // The preferred address for a TC is defined in ISO 11783
auto tcAddressClaimedFuture = std::async(std::launch::async, [&tcCF]() {
while (!tcCF->get_address_valid())
{
std::this_thread::sleep_for(std::chrono::milliseconds(100));
isobus::CANNetworkManager::CANNetwork.update();
}
});

// If this fails, probably the update thread is not started
addressClaimedFuture.wait_for(std::chrono::seconds(5));
if (!serverCF->get_address_valid())
tcAddressClaimedFuture.wait_for(std::chrono::seconds(5));
if (!tcCF->get_address_valid())
{
std::cout << "Failed to claim address for TC server. The control function might be invalid." << std::endl;
return false;
}

tcServer = std::make_shared<MyTCServer>(serverCF);
// Create TECU control function
// TODO: Should we wait between this and TC?
// TODO: If there's already a TECU on the bus we should not create ours
if (tcCF)
{ // Only create TECU if TC was created
std::cout << "[Init] Creating Tractor ECU control function..." << std::endl;
tecuCF = isobus::CANNetworkManager::CANNetwork.create_internal_control_function(tecuNAME, 0, isobus::preferred_addresses::IndustryGroup2::TractorECU);
std::cout << "[Init] Tractor ECU control function created, waiting 1.5 seconds..." << std::endl;

// Update the network manager to process TECU CF claiming
for (int i = 0; i < 15; i++)
{
std::this_thread::sleep_for(std::chrono::milliseconds(100));
isobus::CANNetworkManager::CANNetwork.update();
}
}

tcServer = std::make_shared<MyTCServer>(tcCF);
auto &languageInterface = tcServer->get_language_command_interface();
languageInterface.set_language_code("en"); // This is the default, but you can change it if you want
languageInterface.set_country_code("US"); // This is the default, but you can change it if you want
tcServer->initialize();
tcServer->set_task_totals_active(true); // TODO: make this dynamic based on status in AOG

// Initialize speed and distance messages
speedMessagesInterface = std::make_unique<isobus::SpeedMessagesInterface>(serverCF, true, true, true, false); //TODO: make configurable whether to send these messages
speedMessagesInterface->initialize();
nmea2000MessageInterface = std::make_unique<isobus::NMEA2000MessageInterface>(serverCF, false, false, false, false, false, false, false);
nmea2000MessageInterface->initialize();
nmea2000MessageInterface->set_enable_sending_cog_sog_cyclically(true); // TODO: make configurable whether to send these messages

speedMessagesInterface->wheelBasedSpeedTransmitData.set_implement_start_stop_operations_state(isobus::SpeedMessagesInterface::WheelBasedMachineSpeedData::ImplementStartStopOperations::NotAvailable);
speedMessagesInterface->wheelBasedSpeedTransmitData.set_key_switch_state(isobus::SpeedMessagesInterface::WheelBasedMachineSpeedData::KeySwitchState::NotAvailable);
speedMessagesInterface->wheelBasedSpeedTransmitData.set_operator_direction_reversed_state(isobus::SpeedMessagesInterface::WheelBasedMachineSpeedData::OperatorDirectionReversed::NotAvailable);
speedMessagesInterface->machineSelectedSpeedTransmitData.set_speed_source(isobus::SpeedMessagesInterface::MachineSelectedSpeedData::SpeedSource::NavigationBasedSpeed);
if (tecuCF)
{
std::cout << "[Init] Creating Speed Messages Interface on TECU..." << std::endl;
speedMessagesInterface = std::make_unique<isobus::SpeedMessagesInterface>(tecuCF, true, true, true, false); //TODO: make configurable whether to send these messages
speedMessagesInterface->initialize();
speedMessagesInterface->wheelBasedSpeedTransmitData.set_implement_start_stop_operations_state(isobus::SpeedMessagesInterface::WheelBasedMachineSpeedData::ImplementStartStopOperations::NotAvailable);
speedMessagesInterface->wheelBasedSpeedTransmitData.set_key_switch_state(isobus::SpeedMessagesInterface::WheelBasedMachineSpeedData::KeySwitchState::NotAvailable);
speedMessagesInterface->wheelBasedSpeedTransmitData.set_operator_direction_reversed_state(isobus::SpeedMessagesInterface::WheelBasedMachineSpeedData::OperatorDirectionReversed::NotAvailable);
speedMessagesInterface->machineSelectedSpeedTransmitData.set_speed_source(isobus::SpeedMessagesInterface::MachineSelectedSpeedData::SpeedSource::NavigationBasedSpeed);
std::cout << "[Init] Speed Messages Interface created and initialized." << std::endl;

std::cout << "[Init] Creating NMEA2000 Message Interface on TECU..." << std::endl;
nmea2000MessageInterface = std::make_unique<isobus::NMEA2000MessageInterface>(tecuCF, false, false, false, false, false, false, false);
nmea2000MessageInterface->initialize();
nmea2000MessageInterface->set_enable_sending_cog_sog_cyclically(true); // TODO: make configurable whether to send these messages
std::cout << "[Init] NMEA2000 Message Interface created and initialized." << std::endl;
}
else
{
std::cout << "[Warning] TECU Control Function not available, Speed/NMEA interfaces not created" << std::endl;
}

std::cout << "Task controller server started." << std::endl;

static std::uint8_t xteSid = 0;
static std::uint32_t lastXteTransmit = 0;

auto packetHandler = [this, serverCF](std::uint8_t src, std::uint8_t pgn, std::span<std::uint8_t> data) {
if (src == 0x7F && pgn == 0xFE) // 254 - Steer Data
auto packetHandler = [this, tcCF](std::uint8_t src, std::uint8_t pgn, std::span<std::uint8_t> data) {
if (src == 0x7F && pgn == 0xE5) // 229 - Section Data 1 to 64
{
// TODO: hack to get desired section states. probably want to make a new pgn later when we need more than 16 sections
std::vector<bool> sectionStates;
for (std::uint8_t i = 0; i < 8; i++)
{
sectionStates.push_back(data[6] & (1 << i));
}
for (std::uint8_t i = 0; i < 8; i++)
for (std::uint8_t scb = 0; scb < 8; scb++)
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There's trailing whitespace after 'scb' on this line. Consider removing it for code cleanliness.

Suggested change
for (std::uint8_t scb = 0; scb < 8; scb++)
for (std::uint8_t scb = 0; scb < 8; scb++)

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The variable name 'scb' is unclear and cryptic. Consider using a more descriptive name like 'byteIndex' or 'sectionByte' to improve code readability.

Copilot uses AI. Check for mistakes.
{
sectionStates.push_back(data[7] & (1 << i));
for (std::uint8_t i = 0; i < 8; i++)
{
sectionStates.push_back(data[scb] & (1 << i));
}
}

tcServer->update_section_states(sectionStates);
}
else if (src == 0x7F && pgn == 0xF1) // 241 - Section Control
Expand All @@ -122,23 +161,28 @@ bool Application::initialize()
{
std::uint16_t speed = std::abs(value);
auto direction = value < 0 ? isobus::SpeedMessagesInterface::MachineDirection::Reverse : isobus::SpeedMessagesInterface::MachineDirection::Forward;
speedMessagesInterface->groundBasedSpeedTransmitData.set_machine_direction_of_travel(direction);
speedMessagesInterface->wheelBasedSpeedTransmitData.set_machine_direction_of_travel(direction);
speedMessagesInterface->machineSelectedSpeedTransmitData.set_machine_direction_of_travel(direction);

speedMessagesInterface->groundBasedSpeedTransmitData.set_machine_speed(speed);
speedMessagesInterface->wheelBasedSpeedTransmitData.set_machine_speed(speed);
speedMessagesInterface->machineSelectedSpeedTransmitData.set_machine_speed(speed);

speedMessagesInterface->groundBasedSpeedTransmitData.set_machine_distance(0); // TODO: Implement distance
speedMessagesInterface->wheelBasedSpeedTransmitData.set_machine_distance(0); // TODO: Implement distance
speedMessagesInterface->machineSelectedSpeedTransmitData.set_machine_distance(0); // TODO: Implement distance

auto &cog_sog_message = nmea2000MessageInterface->get_cog_sog_transmit_message();
cog_sog_message.set_sequence_id(nmea2000SequenceIdentifier++);
cog_sog_message.set_speed_over_ground(speed);
cog_sog_message.set_course_over_ground(0); // TODO: Implement course
cog_sog_message.set_course_over_ground_reference(isobus::NMEA2000Messages::CourseOverGroundSpeedOverGroundRapidUpdate::CourseOverGroundReference::NotApplicableOrNull);
if (speedMessagesInterface)
{
speedMessagesInterface->groundBasedSpeedTransmitData.set_machine_direction_of_travel(direction);
speedMessagesInterface->wheelBasedSpeedTransmitData.set_machine_direction_of_travel(direction);
speedMessagesInterface->machineSelectedSpeedTransmitData.set_machine_direction_of_travel(direction);

speedMessagesInterface->groundBasedSpeedTransmitData.set_machine_speed(speed);
speedMessagesInterface->wheelBasedSpeedTransmitData.set_machine_speed(speed);
speedMessagesInterface->machineSelectedSpeedTransmitData.set_machine_speed(speed);

speedMessagesInterface->groundBasedSpeedTransmitData.set_machine_distance(0); // TODO: Implement distance
speedMessagesInterface->wheelBasedSpeedTransmitData.set_machine_distance(0); // TODO: Implement distance
speedMessagesInterface->machineSelectedSpeedTransmitData.set_machine_distance(0); // TODO: Implement distance
}
if (nmea2000MessageInterface)
{
auto &cog_sog_message = nmea2000MessageInterface->get_cog_sog_transmit_message();
cog_sog_message.set_sequence_id(nmea2000SequenceIdentifier++);
cog_sog_message.set_speed_over_ground(speed / 10);
cog_sog_message.set_course_over_ground(0); // TODO: Implement course
cog_sog_message.set_course_over_ground_reference(isobus::NMEA2000Messages::CourseOverGroundSpeedOverGroundRapidUpdate::CourseOverGroundReference::NotApplicableOrNull);
}
}
else if (identifier == isobus::DataDescriptionIndex::GuidanceLineDeviation)
{
Expand All @@ -160,13 +204,13 @@ bool Application::initialize()
};
if (isobus::SystemTiming::time_expired_ms(lastXteTransmit, 1000)) // Transmit every second
{
if (isobus::CANNetworkManager::CANNetwork.send_can_message(0x1F903, xteData.data(), xteData.size(), serverCF))
if (isobus::CANNetworkManager::CANNetwork.send_can_message(0x1F903, xteData.data(), xteData.size(), tcCF))
{
lastXteTransmit = isobus::SystemTiming::get_timestamp_ms();
}
}
}
else if (static_cast<std::uint16_t>(identifier) == 597 /*isobus::DataDescriptionIndex::TotalDistance*/)
else if (static_cast<std::uint16_t>(identifier) == 597 /*isobus::DataDescriptionIndex::TotalDistance*/ && speedMessagesInterface)
{
auto distance = static_cast<std::uint32_t>(value);
speedMessagesInterface->groundBasedSpeedTransmitData.set_machine_distance(distance);
Expand All @@ -186,14 +230,17 @@ bool Application::initialize()
bool Application::update()
{
static std::uint32_t lastHeartbeatTransmit = 0;
static std::uint32_t lastTECUStatusTransmit = 0;

udpConnections->handle_address_detection();
udpConnections->handle_incoming_packets();

tcServer->request_measurement_commands();
tcServer->update();
speedMessagesInterface->update();
nmea2000MessageInterface->update();
if (speedMessagesInterface)
speedMessagesInterface->update();
if (nmea2000MessageInterface)
nmea2000MessageInterface->update();

if (isobus::SystemTiming::time_expired_ms(lastHeartbeatTransmit, 100))
{
Expand Down
4 changes: 2 additions & 2 deletions src/main.cpp
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Expand Up @@ -116,8 +116,8 @@ class ArgumentProcessor
std::cout << "Options:\n";
std::cout << " --help\t\tShow this help message\n";
std::cout << " --version\t\tShow the version of the application\n";
std::cout << " --adapter=<driver>\tSelect the CAN driver\n";
std::cout << " --channel=<channel>\tSelect the CAN channel\n";
std::cout << " --can_adapter=<driver>\tSelect the CAN driver\n";
std::cout << " --can_channel=<channel>\tSelect the CAN channel\n";
std::cout << " --log_level=<level>\tSet the log level (debug, info, warning, error, critical)\n";
std::cout << " --log2file\t\tLog to file\n";
exit(0);
Expand Down
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