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Advertise TC-BAS/TC-SC capabilities in Control Function Functionalities (PGN 64654) #57

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Merged
gunicsba merged 3 commits into from
Jun 1, 2026
Merged

Advertise TC-BAS/TC-SC capabilities in Control Function Functionalities (PGN 64654) #57

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bcefdcb
Initial plan
Copilot May 31, 2026
43e31ae
Add tcFunctionalities initialization
Copilot May 31, 2026
3acc41b
Advertise TC BAS and SC capabilities via PGN 64654
Copilot May 31, 2026
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1 change: 1 addition & 0 deletions include/app.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,7 @@ class Application
std::unique_ptr<isobus::SpeedMessagesInterface> speedMessagesInterface;
std::unique_ptr<isobus::NMEA2000MessageInterface> nmea2000MessageInterface;
std::unique_ptr<isobus::ControlFunctionFunctionalities> tecuFunctionalities;
std::unique_ptr<isobus::ControlFunctionFunctionalities> tcFunctionalities;
std::uint8_t nmea2000SequenceIdentifier = 0;
std::uint32_t lastJ1939SpeedTransmit = 0;
std::uint32_t lastTCStatusTransmit = 0;
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20 changes: 20 additions & 0 deletions src/app.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -180,6 +180,24 @@ bool Application::initialize()
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
tcFunctionalities = std::make_unique<isobus::ControlFunctionFunctionalities>(tcCF);
tcFunctionalities->set_functionality_is_supported(
isobus::ControlFunctionFunctionalities::Functionalities::TaskControllerBasicServer,
1,
true);
tcFunctionalities->set_functionality_is_supported(
isobus::ControlFunctionFunctionalities::Functionalities::TaskControllerGeoServer,
1,
false);
tcFunctionalities->set_task_controller_geo_server_option_state(
isobus::ControlFunctionFunctionalities::TaskControllerGeoServerOptions::PolygonBasedPrescriptionMapsAreSupported,
false);
tcFunctionalities->set_functionality_is_supported(
isobus::ControlFunctionFunctionalities::Functionalities::TaskControllerSectionControlServer,
1,
true);
tcFunctionalities->set_task_controller_section_control_server_option_state(1, 64);
std::cout << "[" << get_timestamp() << "] [Init] TC announced TC-BAS and TC-SC (1 boom / 64 sections) via PGN 64654" << std::endl;

// Initialize speed and distance messages
if (tecuCF && tecuCF->get_address_valid())
Expand Down Expand Up @@ -332,6 +350,8 @@ bool Application::update()

tcServer->request_measurement_commands();
tcServer->update();
if (tcFunctionalities)
tcFunctionalities->update();
if (tecuFunctionalities)
tecuFunctionalities->update();
if (speedMessagesInterface)
Expand Down
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