Make Task Controller work with John Deere tractors factory harness

CMakeLists.txt

@@ -1,8 +1,8 @@
 cmake_minimum_required(VERSION 3.16)
 project("AOG-TaskController")
 set(PROJECT_VERSION_MAJOR 1)
-set(PROJECT_VERSION_MINOR 2)
-set(PROJECT_VERSION_PATCH 0)
+set(PROJECT_VERSION_MINOR 3)
+set(PROJECT_VERSION_PATCH 1)
 set(PROJECT_VERSION
     "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}"
 )

include/settings.hpp

@@ -48,6 +48,20 @@ class Settings
 	 */
 	bool set_subnet(std::array<std::uint8_t, 3> subnet, bool save = true);
 
+	/**
+	 * @brief Check if Tractor ECU is enabled
+	 * @return True if TECU is enabled, false otherwise
+	 */
+	bool is_tecu_enabled() const;
+
+	/**
+	 * @brief Set the Tractor ECU enabled state
+	 * @param enabled Whether to enable the Tractor ECU
+	 * @param save Whether or not to save the settings to file
+	 * @return True if the setting was set successfully, false otherwise
+	 */
+	bool set_tecu_enabled(bool enabled, bool save = true);
+
 	/**
 	 * @brief Get the absolute path to the settings file
 	 * @param filename The filename to get the path for
@@ -57,5 +71,7 @@ class Settings
 
 private:
 	constexpr static std::array<std::uint8_t, 3> DEFAULT_SUBNET = { 192, 168, 5 };
+	constexpr static bool DEFAULT_TECU_ENABLED = true;
 	std::array<std::uint8_t, 3> configuredSubnet = DEFAULT_SUBNET;
+	bool tecuEnabled = DEFAULT_TECU_ENABLED;
 };

readme.md

@@ -25,8 +25,48 @@ Then, you can run the following commands:
 
 ```bash
 mkdir build
-cmake -S . -B build -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -Wno-dev
+cmake -S . -B build -DBUILD_EXAMPLES=OFF -DCMAKE_POLICY_VERSION_MINIMUM="3.16" -DBUILD_TESTING=OFF -Wno-dev
 cmake --build build --config Release --target package
 ```
 
 The installer will be generated in the `build` directory.
+
+## Configuration
+
+AOG-TaskController reads its configuration from a `settings.json` file located in:
+
+- **Windows:** `%APPDATA%\AOG-Taskcontroller\settings.json`
+
+One of the available options is the `tecuEnabled` flag:
+
+- **Key:** `tecuEnabled`
+- **Default:** `true`
+- **Description:** Enables communication with the Tractor ECU (TECU) over ISOBUS/CAN.
+- **When to disable:** Set to `false` if your tractor or simulator does not provide TECU messages, if you do not need TECU-related data, or if you are troubleshooting TECU-related issues on the CAN bus.
+
+Example `settings.json` snippet:
+
+```json
+{
+  "tecuEnabled": true
+}
+```
+
+Before committing it's better to run these commands: (requires the LLVM project to be installed)
+ ```powershell
+git ls-files | Select-String '\.(c|cc|cpp|cxx|h|hh|hpp|hxx|proto)$' | ForEach-Object {
+    clang-format -i $_.ToString()
+}
+```
+
+Install cmake-format with: 
+```powershell
+python -m pip install --upgrade pip
+pip install cmake-format pyyaml
+```
+Then execute with:
+```powershell
+Get-ChildItem -Recurse -Filter CMakeLists.txt | ForEach-Object {
+    python -m cmakelang.format -i $_.FullName
+}
+```

src/app.cpp

@@ -84,8 +84,8 @@ bool Application::initialize()
 	// 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
+	if (tcCF && settings->is_tecu_enabled())
+	{ // Only create TECU if TC was created and ECU is enabled
 		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;
@@ -125,7 +125,14 @@ bool Application::initialize()
 	}
 	else
 	{
-		std::cout << "[Warning] TECU Control Function not available, Speed/NMEA interfaces not created" << std::endl;
+		if (!settings->is_tecu_enabled())
+		{
+			std::cout << "[Info] Tractor ECU disabled in settings, skipping ECU initialization." << 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;
@@ -248,6 +255,13 @@ bool Application::update()
 		for (auto &client : tcServer->get_clients())
 		{
 			auto &state = client.second;
+
+			// Skip clients with no sections (e.g., tractors or non-implement devices)
+			if (state.get_number_of_sections() == 0)
+			{
+				continue;
+			}
+
 			std::vector<uint8_t> data = { state.is_section_control_enabled(), state.get_number_of_sections() };
 
 			std::uint8_t sectionIndex = 0;

src/settings.cpp

@@ -44,13 +44,31 @@ bool Settings::load()
 		configuredSubnet = DEFAULT_SUBNET; // Key not found, use default
 	}
 
+	if (data.contains("tecuEnabled"))
+	{
+		try
+		{
+			tecuEnabled = data["tecuEnabled"].get<bool>();
+		}
+		catch (const nlohmann::json::exception &e)
+		{
+			std::cout << "Error parsing 'tecuEnabled': " << e.what() << std::endl;
+			tecuEnabled = DEFAULT_TECU_ENABLED; // Fallback to default
+		}
+	}
+	else
+	{
+		tecuEnabled = DEFAULT_TECU_ENABLED; // Key not found, use default
+	}
+
 	return true;
 }
 
 bool Settings::save() const
 {
 	json data;
 	data["subnet"] = configuredSubnet;
+	data["tecuEnabled"] = tecuEnabled;
 
 	std::ofstream file(get_filename_path("settings.json"));
 	if (!file.is_open())
@@ -82,6 +100,21 @@ bool Settings::set_subnet(std::array<std::uint8_t, 3> subnet, bool save)
 	return true;
 }
 
+bool Settings::is_tecu_enabled() const
+{
+	return tecuEnabled;
+}
+
+bool Settings::set_tecu_enabled(bool enabled, bool save)
+{
+	tecuEnabled = enabled;
+	if (save)
+	{
+		return this->save();
+	}
+	return true;
+}
+
 std::string Settings::get_filename_path(std::string fileName)
 {
 	char path[MAX_PATH];

src/task_controller.cpp

@@ -238,6 +238,7 @@ MyTCServer::MyTCServer(std::shared_ptr<isobus::InternalControlFunction> internal
 
 bool MyTCServer::activate_object_pool(std::shared_ptr<isobus::ControlFunction> partnerCF, ObjectPoolActivationError &, ObjectPoolErrorCodes &, std::uint16_t &, std::uint16_t &)
 {
+	std::cout << "[TC Server] Client " << partnerCF->get_NAME().get_full_name() << " requesting object pool activation" << std::endl;
 	// Safety check to make sure partnerCF has uploaded a DDOP
 	if (uploadedPools.find(partnerCF) == uploadedPools.end())
 	{
@@ -339,6 +340,8 @@ bool MyTCServer::activate_object_pool(std::shared_ptr<isobus::ControlFunction> p
 	}
 
 	clients[partnerCF] = state;
+	std::cout << "[TC Server] Client " << partnerCF->get_NAME().get_full_name() << " registered successfully with "
+	          << static_cast<int>(state.get_number_of_sections()) << " sections." << std::endl;
 	return true;
 }
 
@@ -385,6 +388,7 @@ void MyTCServer::identify_task_controller(std::uint8_t)
 void MyTCServer::on_client_timeout(std::shared_ptr<isobus::ControlFunction> partner)
 {
 	// Cleanup the client state
+	std::cout << "[TC Server] Client " << partner->get_NAME().get_full_name() << " has timed out!" << std::endl;
 	clients.erase(partner);
 }
 
@@ -452,6 +456,7 @@ bool MyTCServer::on_value_command(std::shared_ptr<isobus::ControlFunction> partn
 
 bool MyTCServer::store_device_descriptor_object_pool(std::shared_ptr<isobus::ControlFunction> partnerCF, const std::vector<std::uint8_t> &binaryPool, bool appendToPool)
 {
+	std::cout << "[TC Server] Client " << partnerCF->get_NAME().get_full_name() << " requesting object pool transfer of " << binaryPool.size() << " bytes" << std::endl;
 	if (uploadedPools.find(partnerCF) == uploadedPools.end())
 	{
 		uploadedPools[partnerCF] = std::queue<std::vector<std::uint8_t>>();
@@ -579,7 +584,13 @@ void MyTCServer::update_section_states(std::vector<bool> &sectionStates)
 		if (!state.is_section_control_enabled())
 		{
 			// According to standard, the section setpoint states should only be sent when in auto mode
-			return;
+			continue;
+		}
+
+		// Skip clients that don't have any sections configured (e.g., tractors or other non-implement devices)
+		if (state.get_number_of_sections() == 0)
+		{
+			continue;
 		}
 
 		bool requiresUpdate = false;
@@ -614,9 +625,16 @@ void MyTCServer::update_section_control_enabled(bool enabled)
 {
 	for (auto &client : clients)
 	{
+		// Always update the local flag
 		if (client.second.is_section_control_enabled() != enabled)
 		{
 			client.second.set_section_control_enabled(enabled);
+		}
+
+		// Only send ISOBUS command to clients that support SectionControlState DDI and have sections
+		if (client.second.has_element_number_for_ddi(isobus::DataDescriptionIndex::SectionControlState) &&
+		    client.second.get_number_of_sections() > 0)
+		{
 			send_section_control_state(client.first, enabled);
 		}
 	}