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Merged
Pat-I merged 6 commits into from
Jan 19, 2026
Merged

Separate the Tractor ECU function from Task Controller. #20

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ec80df3
Separate the Tractor ECU function from Task Controller.
gunicsba Dec 27, 2025
69f9bf4
Execute clang-format
gunicsba Dec 27, 2025
f710437
Implement J1939 Speed
gunicsba Dec 30, 2025
0840907
Separate the Tractor ECU function from Task Controller.
gunicsba Dec 27, 2025
990c894
Merge branch 'gunicsba/fix-speed-add-tecu' of https://github.com/guni…
gunicsba Dec 31, 2025
09d22e7
Add address_valid calls this should help if we have another TECU on t…
gunicsba Jan 3, 2026
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3 changes: 3 additions & 0 deletions include/app.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,10 @@ 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;
std::uint32_t lastJ1939SpeedTransmit = 0;
std::int32_t lastSpeedValue = 0;
};
149 changes: 109 additions & 40 deletions src/app.cpp
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Expand Up @@ -47,51 +47,91 @@ bool Application::initialize()
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 && tecuCF->get_address_valid())
{
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) {
auto packetHandler = [this, tcCF](std::uint8_t src, std::uint8_t pgn, std::span<std::uint8_t> data) {
if (src == 0x7F && pgn == 0xFE) // 254 - Steer Data
{
// TODO: hack to get desired section states. probably want to make a new pgn later when we need more than 16 sections
Expand Down Expand Up @@ -120,25 +160,31 @@ bool Application::initialize()
std::int32_t value = data[2] | (data[3] << 8) | (data[4] << 16) | (data[5] << 24);
if (identifier == isobus::DataDescriptionIndex::ActualSpeed)
{
lastSpeedValue = value; // Store the full precision value
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 +206,13 @@ 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 +232,17 @@ 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 Expand Up @@ -221,6 +270,26 @@ bool Application::update()
lastHeartbeatTransmit = isobus::SystemTiming::get_timestamp_ms();
}

// Send J1939 PGN 65256 every 100ms (0.1 seconds)
if (isobus::SystemTiming::time_expired_ms(lastJ1939SpeedTransmit, 100) && tecuCF && tecuCF->get_address_valid())
{
std::uint16_t speed_j1939 = (static_cast<std::uint32_t>(std::abs(lastSpeedValue)) * 576u + 312u) / 625u; // mm/s -> (km/h)*256
std::array<std::uint8_t, 8> j1939_speed_data = {
0xFF,
0xFF, // Compass Bearing (SPN 165)
static_cast<std::uint8_t>(speed_j1939 & 0xFF),
static_cast<std::uint8_t>((speed_j1939 >> 8) & 0xFF), // Machine Speed MSB (SPN 517)
0xFF,
0xFF, // Pitch (SPN 583)
0xFF,
0xFF // Altitude (SPN 580)
};
if (isobus::CANNetworkManager::CANNetwork.send_can_message(0xFEE8, j1939_speed_data.data(), j1939_speed_data.size(), tecuCF))
{
lastJ1939SpeedTransmit = isobus::SystemTiming::get_timestamp_ms();
}
}

return true;
}

Expand Down