isobus::TaskControllerClient Class Reference

A class to manage a client connection to a ISOBUS field computer's task controller or data logger. More...

#include <isobus_task_controller_client.hpp>

Collaboration diagram for isobus::TaskControllerClient:

Classes
struct	ProcessDataCallbackInfo
	Stores data related to requests and commands from the TC. More...
struct	RequestValueCommandCallbackInfo
	Stores a TC value command callback along with its parent pointer. More...
struct	ValueCommandCallbackInfo
	Stores a TC value command callback along with its parent pointer. More...

Public Types
enum class	StateMachineState {   Disconnected , WaitForStartUpDelay , WaitForServerStatusMessage , SendWorkingSetMaster ,   SendStatusMessage , RequestVersion , WaitForRequestVersionResponse , WaitForRequestVersionFromServer ,   SendRequestVersionResponse , RequestLanguage , WaitForLanguageResponse , ProcessDDOP ,   RequestStructureLabel , WaitForStructureLabelResponse , RequestLocalizationLabel , WaitForLocalizationLabelResponse ,   SendDeleteObjectPool , WaitForDeleteObjectPoolResponse , SendRequestTransferObjectPool , WaitForRequestTransferObjectPoolResponse ,   BeginTransferDDOP , WaitForDDOPTransfer , WaitForObjectPoolTransferResponse , SendObjectPoolActivate ,   WaitForObjectPoolActivateResponse , Connected , DeactivateObjectPool , WaitForObjectPoolDeactivateResponse }
	Enumerates the different internal state machine states. More...
enum class	Version : std::uint8_t {   DraftInternationalStandard = 0 , FinalDraftInternationalStandardFirstEdition = 1 , FirstPublishedEdition = 2 , SecondEditionDraft = 3 ,   SecondPublishedEdition = 4 , Unknown = 0xFF }
	Enumerates the different task controller versions. More...
enum class	ServerOptions : std::uint8_t {   SupportsDocumentation = 0x01 , SupportsTCGEOWithoutPositionBasedControl = 0x02 , SupportsTCGEOWithPositionBasedControl = 0x04 , SupportsPeerControlAssignment = 0x08 ,   SupportsImplementSectionControlFunctionality = 0x10 , ReservedOption1 = 0x20 , ReservedOption2 = 0x40 , ReservedOption3 = 0x80 }
	Enumerates the bits stored in our version data that we send to the TC when handshaking. More...
using	RequestValueCommandCallback
	A callback for handling a value request command from the TC.
using	ValueCommandCallback
	A callback for handling a set value command from the TC.

Public Member Functions
	TaskControllerClient (std::shared_ptr< PartneredControlFunction > partner, std::shared_ptr< InternalControlFunction > clientSource, std::shared_ptr< PartneredControlFunction > primaryVT)
	The constructor for a TaskControllerClient.
	~TaskControllerClient ()
	Destructor for the client.
void	initialize (bool spawnThread)
	This function starts the state machine. Call this once you have created your DDOP, set up the client capabilities, and are ready to connect.
void	add_request_value_callback (RequestValueCommandCallback callback, void *parentPointer)
	This adds a callback that will be called when the TC requests the value of one of your variables.
void	add_value_command_callback (ValueCommandCallback callback, void *parentPointer)
	Adds a callback that will be called when the TC commands a new value for one of your variables.
void	remove_request_value_callback (RequestValueCommandCallback callback, void *parentPointer)
	Removes the specified callback from the list of value request callbacks.
void	remove_value_command_callback (ValueCommandCallback callback, void *parentPointer)
	Removes the specified callback from the list of value command callbacks.
void	configure (std::shared_ptr< DeviceDescriptorObjectPool > DDOP, std::uint8_t maxNumberBoomsSupported, std::uint8_t maxNumberSectionsSupported, std::uint8_t maxNumberChannelsSupportedForPositionBasedControl, bool reportToTCSupportsDocumentation, bool reportToTCSupportsTCGEOWithoutPositionBasedControl, bool reportToTCSupportsTCGEOWithPositionBasedControl, bool reportToTCSupportsPeerControlAssignment, bool reportToTCSupportsImplementSectionControl)
	A convenient way to set all client options at once instead of calling the individual setters.
void	configure (std::uint8_t const *binaryDDOP, std::uint32_t DDOPSize, std::uint8_t maxNumberBoomsSupported, std::uint8_t maxNumberSectionsSupported, std::uint8_t maxNumberChannelsSupportedForPositionBasedControl, bool reportToTCSupportsDocumentation, bool reportToTCSupportsTCGEOWithoutPositionBasedControl, bool reportToTCSupportsTCGEOWithPositionBasedControl, bool reportToTCSupportsPeerControlAssignment, bool reportToTCSupportsImplementSectionControl)
	A convenient way to set all client options at once instead of calling the individual setters.
void	configure (std::shared_ptr< std::vector< std::uint8_t > > binaryDDOP, std::uint8_t maxNumberBoomsSupported, std::uint8_t maxNumberSectionsSupported, std::uint8_t maxNumberChannelsSupportedForPositionBasedControl, bool reportToTCSupportsDocumentation, bool reportToTCSupportsTCGEOWithoutPositionBasedControl, bool reportToTCSupportsTCGEOWithPositionBasedControl, bool reportToTCSupportsPeerControlAssignment, bool reportToTCSupportsImplementSectionControl)
	A convenient way to set all client options at once instead of calling the individual setters.
void	restart ()
	Calling this function will reset the task controller client's connection with the TC server, and cause it to reconnect after a short delay.
void	terminate ()
	Terminates the client and joins the worker thread if applicable.
std::shared_ptr< InternalControlFunction >	get_internal_control_function () const
	Returns the internal control function being used by the interface to send messages.
std::shared_ptr< PartneredControlFunction >	get_partner_control_function () const
	Returns the control function of the TC server with which this TC client communicates.
std::uint8_t	get_number_booms_supported () const
	Returns the previously configured number of booms supported by the client.
std::uint8_t	get_number_sections_supported () const
	Returns the previously configured number of section supported by the client.
std::uint8_t	get_number_channels_supported_for_position_based_control () const
	Returns the previously configured number of channels supported for position based control.
bool	get_supports_documentation () const
	Returns if the client has been configured to report that it supports documentation to the TC.
bool	get_supports_tcgeo_without_position_based_control () const
	Returns if the client has been configured to report that it supports TC-GEO without position based control to the TC.
bool	get_supports_tcgeo_with_position_based_control () const
	Returns if the client has been configured to report that it supports TC-GEO with position based control to the TC.
bool	get_supports_peer_control_assignment () const
	Returns if the client has been configured to report that it supports peer control assignment to the TC.
bool	get_supports_implement_section_control () const
	Returns if the client has been configured to report that it supports implement section control to the TC.
bool	get_is_initialized () const
	Returns if the client has been initialized.
bool	get_is_connected () const
	Check whether the client is connected to the TC server.
bool	get_is_task_active () const
	Returns if a task is active as indicated by the TC.
StateMachineState	get_state () const
	Returns the current state machine state.
std::uint8_t	get_connected_tc_number_booms_supported () const
	Returns the number of booms that the connected TC supports for section control.
std::uint8_t	get_connected_tc_number_sections_supported () const
	Returns the number of sections that the connected TC supports for section control.
std::uint8_t	get_connected_tc_number_channels_supported () const
	Returns the number of channels that the connected TC supports for position control.
std::uint8_t	get_connected_tc_max_boot_time () const
	Returns the maximum boot time in seconds reported by the connected TC.
bool	get_connected_tc_option_supported (ServerOptions option) const
	Returns if the connected TC supports a certain option.
Version	get_connected_tc_version () const
	Returns the version of the connected task controller.
void	on_value_changed_trigger (std::uint16_t elementNumber, std::uint16_t DDI)
	Tells the TC client that a value was changed or the TC client needs to command a value to the TC server.
bool	request_task_controller_identification () const
	Sends a broadcast request to TCs to identify themseleves.
bool	reupload_device_descriptor_object_pool (std::shared_ptr< std::vector< std::uint8_t > > binaryDDOP)
	If the TC client is connected to a TC, calling this function will cause the TC client interface to delete the currently active DDOP, reupload it, then reactivate it using the pool passed into the parameter of this function. This process is faster than restarting the whole interface, and you have to call it if you change certain things in your DDOP at runtime after the DDOP has already been activated.
bool	reupload_device_descriptor_object_pool (std::uint8_t const *binaryDDOP, std::uint32_t DDOPSize)
	If the TC client is connected to a TC, calling this function will cause the TC client interface to delete the currently active DDOP, reupload it, then reactivate it using the pool passed into the parameter of this function. This process is faster than restarting the whole interface, and you have to call it if you change certain things in your DDOP at runtime after the DDOP has already been activated.
bool	reupload_device_descriptor_object_pool (std::shared_ptr< DeviceDescriptorObjectPool > DDOP)
	If the TC client is connected to a TC, calling this function will cause the TC client interface to delete the currently active DDOP, reupload it, then reactivate it using the pool passed into the parameter of this function. This process is faster than restarting the whole interface, and you have to call it if you change certain things in your DDOP at runtime after the DDOP has already been activated.
void	update ()
	The cyclic update function for this interface.

Public Attributes
LanguageCommandInterface	languageCommandInterface
	Used to determine the language and unit systems in use by the TC server.

Protected Types
enum class	ProcessDataCommands : std::uint8_t {   TechnicalCapabilities = 0x00 , DeviceDescriptor = 0x01 , RequestValue = 0x02 , Value = 0x03 ,   MeasurementTimeInterval = 0x04 , MeasurementDistanceInterval = 0x05 , MeasurementMinimumWithinThreshold = 0x06 , MeasurementMaximumWithinThreshold = 0x07 ,   MeasurementChangeThreshold = 0x08 , PeerControlAssignment = 0x09 , SetValueAndAcknowledge = 0x0A , Reserved1 = 0x0B ,   Reserved2 = 0x0C , ProcessDataAcknowledge = 0x0D , StatusMessage = 0x0E , ClientTask = 0x0F }
	Enumerates the different Process Data commands from ISO11783-10 Table B.1. More...
enum class	TechnicalDataMessageCommands : std::uint8_t { ParameterRequestVersion = 0x00 , ParameterVersion = 0x01 , IdentifyTaskController = 0x02 }
	Enumerates the subcommands within the technical data message group. More...
enum class	DeviceDescriptorCommands : std::uint8_t {   RequestStructureLabel = 0x00 , StructureLabel = 0x01 , RequestLocalizationLabel = 0x02 , LocalizationLabel = 0x03 ,   RequestObjectPoolTransfer = 0x04 , RequestObjectPoolTransferResponse = 0x05 , ObjectPoolTransfer = 0x06 , ObjectPoolTransferResponse = 0x07 ,   ObjectPoolActivateDeactivate = 0x08 , ObjectPoolActivateDeactivateResponse = 0x09 , ObjectPoolDelete = 0x0A , ObjectPoolDeleteResponse = 0x0B ,   ChangeDesignator = 0x0C , ChangeDesignatorResponse = 0x0D }
	Enumerates the subcommands within the device descriptor command message group. More...

Protected Member Functions
void	clear_queues ()
	Clears all queued TC commands and responses.
bool	get_was_ddop_supplied () const
	Checks if a DDOP was provided via one of the configure functions.
void	process_labels_from_ddop ()
	Searches the DDOP for a device object and stores that object's structure and localization labels.
void	process_queued_commands ()
	Processes queued TC requests and commands. Calls the user's callbacks if needed.
void	process_queued_threshold_commands ()
	Processes measurement threshold/interval commands.
bool	send_delete_object_pool () const
	Sends the delete object pool command to the TC.
bool	send_generic_process_data (std::uint8_t multiplexor) const
	Sends a process data message with 1 mux byte and all 0xFFs as payload.
bool	send_object_pool_activate () const
	Sends the activate object pool message.
bool	send_object_pool_deactivate () const
	Sends the deactivate object pool message.
bool	send_pdack (std::uint16_t elementNumber, std::uint16_t ddi) const
	Sends a Process Data ACK.
bool	send_request_localization_label () const
	Sends a request to the TC for its localization label.
bool	send_request_object_pool_transfer () const
	Sends a request to the TC indicating we wish to transfer an object pool.
bool	send_request_structure_label () const
	Sends a request to the TC for its structure label.
bool	send_request_version_response () const
	Sends the response to a request for version from the TC.
bool	send_status () const
	Sends the status message to the TC.
bool	send_value_command (std::uint16_t elementNumber, std::uint16_t ddi, std::int32_t value) const
	Sends the value command message for a specific DDI/Element number combo.
bool	send_version_request () const
	Sends the version request message to the TC.
bool	send_working_set_master () const
	Sends the working set master message.
void	set_common_config_items (std::uint8_t maxNumberBoomsSupported, std::uint8_t maxNumberSectionsSupported, std::uint8_t maxNumberChannelsSupportedForPositionBasedControl, bool reportToTCSupportsDocumentation, bool reportToTCSupportsTCGEOWithoutPositionBasedControl, bool reportToTCSupportsTCGEOWithPositionBasedControl, bool reportToTCSupportsPeerControlAssignment, bool reportToTCSupportsImplementSectionControl)
	Sets the common items found in all versions of configure
void	set_state (StateMachineState newState)
	Changes the internal state machine state and updates the associated timestamp.
void	set_state (StateMachineState newState, std::uint32_t timestamp)
	Changes the internal state machine state and updates the associated timestamp to the specified one.
void	select_language_command_partner ()
	Sets the behavior of the language command interface based on the TC's reported version information.
void	worker_thread_function ()
	The worker thread will execute this function when it runs, if applicable.

Static Protected Member Functions
static bool	process_internal_object_pool_upload_callback (std::uint32_t callbackIndex, std::uint32_t bytesOffset, std::uint32_t numberOfBytesNeeded, std::uint8_t *chunkBuffer, void *parentPointer)
	The data callback passed to the network manger's send function for the transport layer messages.
static void	process_rx_message (const CANMessage &message, void *parentPointer)
	Processes a CAN message destined for any TC client.
static void	process_tx_callback (std::uint32_t parameterGroupNumber, std::uint32_t dataLength, std::shared_ptr< InternalControlFunction > sourceControlFunction, std::shared_ptr< ControlFunction > destinationControlFunction, bool successful, void *parentPointer)
	The callback passed to the network manager's send function to know when a Tx is completed.

Static Protected Attributes
static constexpr std::uint32_t	SIX_SECOND_TIMEOUT_MS = 6000
	The startup delay time defined in the standard.
static constexpr std::uint16_t	TWO_SECOND_TIMEOUT_MS = 2000
	Used for sending the status message to the TC.

Private Types
enum class	DDOPUploadType { ProgramaticallyGenerated , UserProvidedBinaryPointer , UserProvidedVector }
	Enumerates the modes that the client may use when dealing with a DDOP. More...

Private Attributes
std::shared_ptr< PartneredControlFunction >	partnerControlFunction
	The partner control function this client will send to.
std::shared_ptr< InternalControlFunction >	myControlFunction
	The internal control function the client uses to send from.
std::shared_ptr< PartneredControlFunction >	primaryVirtualTerminal
	A pointer to the primary VT's control function. Used for TCs < version 4 and language command compatibility.
std::shared_ptr< DeviceDescriptorObjectPool >	clientDDOP
	Stores the DDOP for upload to the TC (if needed)
std::uint8_t const *	userSuppliedBinaryDDOP = nullptr
	Stores a client-provided DDOP if one was provided.
std::shared_ptr< std::vector< std::uint8_t > >	userSuppliedVectorDDOP
	Stores a client-provided DDOP if one was provided.
std::vector< std::uint8_t >	generatedBinaryDDOP
	Stores the DDOP in binary form after it has been generated.
std::vector< RequestValueCommandCallbackInfo >	requestValueCallbacks
	A list of callbacks that will be called when the TC requests a process data value.
std::vector< ValueCommandCallbackInfo >	valueCommandsCallbacks
	A list of callbacks that will be called when the TC sets a process data value.
std::list< ProcessDataCallbackInfo >	queuedValueRequests
	A list of queued value requests that will be processed on the next update.
std::list< ProcessDataCallbackInfo >	queuedValueCommands
	A list of queued value commands that will be processed on the next update.
std::list< ProcessDataCallbackInfo >	measurementTimeIntervalCommands
	A list of measurement commands that will be processed on a time interval.
std::list< ProcessDataCallbackInfo >	measurementMinimumThresholdCommands
	A list of measurement commands that will be processed when the value drops below a threshold.
std::list< ProcessDataCallbackInfo >	measurementMaximumThresholdCommands
	A list of measurement commands that will be processed when the value above a threshold.
std::list< ProcessDataCallbackInfo >	measurementOnChangeThresholdCommands
	A list of measurement commands that will be processed when the value changes by the specified amount.
Mutex	clientMutex
	A general mutex to protect data in the worker thread against data accessed by the app or the network manager.
std::thread *	workerThread = nullptr
	The worker thread that updates this interface.
std::string	ddopStructureLabel
	Stores a pre-parsed structure label, helps to avoid processing the whole DDOP during a CAN message callback.
std::string	previousStructureLabel
	Stores the last structure label we used, helps to warn the user if they aren't updating the label properly.
std::array< std::uint8_t, 7 >	ddopLocalizationLabel = { 0 }
	Stores a pre-parsed localization label, helps to avoid processing the whole DDOP during a CAN message callback.
DDOPUploadType	ddopUploadMode = DDOPUploadType::ProgramaticallyGenerated
	Determines if DDOPs get generated or raw uploaded.
StateMachineState	currentState = StateMachineState::Disconnected
	Tracks the internal state machine's current state.
std::uint32_t	stateMachineTimestamp_ms = 0
	Timestamp that tracks when the state machine last changed states (in milliseconds)
std::uint32_t	statusMessageTimestamp_ms = 0
	Timestamp corresponding to the last time we sent a status message to the TC.
std::uint32_t	serverStatusMessageTimestamp_ms = 0
	Timestamp corresponding to the last time we received a status message from the TC.
std::uint32_t	userSuppliedBinaryDDOPSize_bytes = 0
	The number of bytes in the user provided binary DDOP (if one was provided)
std::uint32_t	languageCommandWaitingTimestamp_ms = 0
	Timestamp used to determine when to give up on waiting for a language command response.
std::uint8_t	numberOfWorkingSetMembers = 1
	The number of working set members that will be reported in the working set master message.
std::uint8_t	tcStatusBitfield = 0
	The last received TC/DL status from the status message.
std::uint8_t	sourceAddressOfCommandBeingExecuted = 0
	Source address of client for which the current command is being executed.
std::uint8_t	commandBeingExecuted = 0
	The current command the TC is executing as reported in the status message.
std::uint8_t	serverVersion = 0
	The detected version of the TC Server.
std::uint8_t	maxServerBootTime_s = 0
	Maximum number of seconds from a power cycle to transmission of first �Task Controller Status message� or 0xFF.
std::uint8_t	serverOptionsByte1 = 0
	The options specified in ISO 11783-10 that this TC, DL, or client meets (The definition of this byte is introduced in ISO11783-10 version 3)
std::uint8_t	serverOptionsByte2 = 0
	Reserved for ISO assignment, should be zero or 0xFF.
std::uint8_t	serverNumberOfBoomsForSectionControl = 0
	When reported by the TC, this is the maximum number of section control booms that are supported.
std::uint8_t	serverNumberOfSectionsForSectionControl = 0
	When reported by the TC, this is the maximum number of sections that are supported (or 0xFF for version 2 and earlier).
std::uint8_t	serverNumberOfChannelsForPositionBasedControl = 0
	When reported by the TC, this is the maximum number of individual control channels that is supported.
std::uint8_t	numberBoomsSupported = 0
	Stores the number of booms this client supports for section control.
std::uint8_t	numberSectionsSupported = 0
	Stores the number of sections this client supports for section control.
std::uint8_t	numberChannelsSupportedForPositionBasedControl = 0
	Stores the number of channels this client supports for position based control.
bool	initialized = false
	Tracks the initialization state of the interface instance.
bool	shouldTerminate = false
	This variable tells the worker thread to exit.
bool	enableStatusMessage = false
	Enables sending the status message to the TC cyclically.
bool	supportsDocumentation = false
	Determines if the client reports documentation support to the TC.
bool	supportsTCGEOWithoutPositionBasedControl = false
	Determines if the client reports TC-GEO without position control capability to the TC.
bool	supportsTCGEOWithPositionBasedControl = false
	Determines if the client reports TC-GEO with position control capability to the TC.
bool	supportsPeerControlAssignment = false
	Determines if the client reports peer control assignment capability to the TC.
bool	supportsImplementSectionControl = false
	Determines if the client reports implement section control capability to the TC.
bool	shouldReuploadAfterDDOPDeletion = false
	Used to determine how the state machine should progress when updating a DDOP.

Detailed Description

A class to manage a client connection to a ISOBUS field computer's task controller or data logger.

Definition at line 26 of file isobus_task_controller_client.hpp.

Member Typedef Documentation

RequestValueCommandCallback

using isobus::TaskControllerClient::RequestValueCommandCallback

Initial value:

 bool (*)(std::uint16_t elementNumber,
                                                     std::uint16_t DDI,
                                                     std::int32_t &processVariableValue,
                                                     void *parentPointer)

A callback for handling a value request command from the TC.

Definition at line 87 of file isobus_task_controller_client.hpp.

ValueCommandCallback

using isobus::TaskControllerClient::ValueCommandCallback

Initial value:

 bool (*)(std::uint16_t elementNumber,
                                              std::uint16_t DDI,
                                              std::int32_t processVariableValue,
                                              void *parentPointer)

A callback for handling a set value command from the TC.

Definition at line 93 of file isobus_task_controller_client.hpp.

Member Enumeration Documentation

DDOPUploadType

enum class isobus::TaskControllerClient::DDOPUploadType

strongprivate

Enumerates the modes that the client may use when dealing with a DDOP.

Enumerator
ProgramaticallyGenerated	Using the AgIsoStack++ DeviceDescriptorObjectPool class.
UserProvidedBinaryPointer	Using a raw pointer to a binary DDOP.
UserProvidedVector	Uses a vector of bytes that comprise a binary DDOP.

Definition at line 609 of file isobus_task_controller_client.hpp.

DeviceDescriptorCommands

enum class isobus::TaskControllerClient::DeviceDescriptorCommands : std::uint8_t

strongprotected

Enumerates the subcommands within the device descriptor command message group.

Enumerator
RequestStructureLabel	Allows the client to determine the availability of the requested device descriptor structure.
StructureLabel	The Structure Label message is sent by the TC or DL to inform the client about the availability of the requested version of the device descriptor structure.
RequestLocalizationLabel	Allows the client to determine the availability of the requested device descriptor localization.
LocalizationLabel	Sent by the TC or DL to inform the client about the availability of the requested localization version of the device descriptor.
RequestObjectPoolTransfer	The Request Object-pool Transfer message allows the client to determine whether it is allowed to transfer(part of) the device descriptor object pool to the TC.
RequestObjectPoolTransferResponse	Sent in response to Request Object-pool Transfer message.
ObjectPoolTransfer	Enables the client to transfer (part of) the device descriptor object pool to the TC.
ObjectPoolTransferResponse	Response to an object pool transfer.
ObjectPoolActivateDeactivate	sent by a client to complete its connection procedure to a TC or DL or to disconnect from a TC or DL.
ObjectPoolActivateDeactivateResponse	sent by a client to complete its connection procedure to a TC or DL or to disconnect from a TC or DL.
ObjectPoolDelete	This is a message to delete the device descriptor object pool for the client that sends this message.
ObjectPoolDeleteResponse	TC response to a Object-pool Delete message.
ChangeDesignator	This message is used to update the designator of an object.
ChangeDesignatorResponse	Sent in response to Change Designator message.

Definition at line 388 of file isobus_task_controller_client.hpp.

ProcessDataCommands

enum class isobus::TaskControllerClient::ProcessDataCommands : std::uint8_t

strongprotected

Enumerates the different Process Data commands from ISO11783-10 Table B.1.

Enumerator
TechnicalCapabilities	Used for determining the technical capabilities of a TC, DL, or client.
DeviceDescriptor	Subcommand for the transfer and management of device descriptors.
RequestValue	The value of the data entity specified by the data dictionary identifier is requested.
Value	This command is used both to answer a request value command and to set the value of a process data entity.
MeasurementTimeInterval	The process data value is the time interval for sending the data element specified by the data dictionary identifier.
MeasurementDistanceInterval	The process data value is the distance interval for sending the data element specified by the data dictionary identifier.
MeasurementMinimumWithinThreshold	The client has to send the value of this data element to the TC or DL when the value is higher than the threshold value.
MeasurementMaximumWithinThreshold	The client has to send the value of this data element to the TC or DL when the value is lower than the threshold value.
MeasurementChangeThreshold	The client has to send the value of this data element to the TC or DL when the value change is higher than or equal to the change threshold since last transmission.
PeerControlAssignment	This message is used to establish a connection between a setpoint value source and a setpoint value user.
SetValueAndAcknowledge	This command is used to set the value of a process data entity and request a reception acknowledgement from the recipient.
Reserved1	Reserved.
Reserved2	Reserved.
ProcessDataAcknowledge	Message is a Process Data Acknowledge (PDACK).
StatusMessage	Message is a Task Controller Status message.
ClientTask	Sent by the client.

Definition at line 359 of file isobus_task_controller_client.hpp.

ServerOptions

enum class isobus::TaskControllerClient::ServerOptions : std::uint8_t

strong

Enumerates the bits stored in our version data that we send to the TC when handshaking.

Definition at line 74 of file isobus_task_controller_client.hpp.

StateMachineState

enum class isobus::TaskControllerClient::StateMachineState

strong

Enumerates the different internal state machine states.

Enumerator
Disconnected	Not communicating with the TC.
WaitForStartUpDelay	Client is waiting for the mandatory 6s startup delay.
WaitForServerStatusMessage	Client is waiting to identify the TC via reception of a valid status message.
SendWorkingSetMaster	Client initating communication with TC by sending the working set master message.
SendStatusMessage	Enables sending the status message.
RequestVersion	Requests the TC version and related data from the TC.
WaitForRequestVersionResponse	Waiting for the TC to respond to a request for its version.
WaitForRequestVersionFromServer	Waiting to see if the TC will request our version (optional)
SendRequestVersionResponse	Sending our response to the TC's request for out version information.
RequestLanguage	Client is requesting the language command PGN from the TC.
WaitForLanguageResponse	Waiting for a response to our request for the language command PGN.
ProcessDDOP	Client is processing the DDOP into a binary DDOP and validating object IDs in the pool.
RequestStructureLabel	Client is requesting the DDOP structure label that the TC has (if any)
WaitForStructureLabelResponse	Client is waiting for the TC to respond to our request for its structure label.
RequestLocalizationLabel	Client is requesting the DDOP localization label the TC has for us (if any)
WaitForLocalizationLabelResponse	Waiting for a response to our request for the localization label from the TC.
SendDeleteObjectPool	Client is sending a request to the TC to delete its current copy of our object pool.
WaitForDeleteObjectPoolResponse	Waiting for a response to our request to delete our object pool off the TC.
SendRequestTransferObjectPool	Client is requesting to transfer the DDOP to the TC.
WaitForRequestTransferObjectPoolResponse	Waiting for a response to our request to transfer the DDOP to the TC.
BeginTransferDDOP	Client is initiating the DDOP transfer.
WaitForDDOPTransfer	The DDOP transfer in ongoing. Client is waiting for a callback from the transport layer.
WaitForObjectPoolTransferResponse	DDOP has transferred. Waiting for a response to our object pool transfer.
SendObjectPoolActivate	Client is sending the activate object pool message.
WaitForObjectPoolActivateResponse	Client is waiting for a response to its request to activate the object pool.
Connected	TC is connected.
DeactivateObjectPool	Client is shutting down and is therefore sending the deactivate object pool message.
WaitForObjectPoolDeactivateResponse	Client is waiting for a response to the deactivate object pool message.

Definition at line 30 of file isobus_task_controller_client.hpp.

TechnicalDataMessageCommands

enum class isobus::TaskControllerClient::TechnicalDataMessageCommands : std::uint8_t

strongprotected

Enumerates the subcommands within the technical data message group.

Enumerator
ParameterRequestVersion	The Request Version message allows the TC, DL, and the client to determine the ISO 11783-10 version of the implementation.
ParameterVersion	The Version message is sent in response to the request version message and contains the ISO 11783-10 version information of the TC, DL, or client implementation.
IdentifyTaskController	Upon receipt of this message, the TC shall display, for a period of 3 s, the TC Number.

Definition at line 380 of file isobus_task_controller_client.hpp.

Version

enum class isobus::TaskControllerClient::Version : std::uint8_t

strong

Enumerates the different task controller versions.

Enumerator
DraftInternationalStandard	The version of the DIS (draft International Standard).
FinalDraftInternationalStandardFirstEdition	The version of the FDIS.1 (final draft International Standard, first edition).
FirstPublishedEdition	The version of the FDIS.2 and the first edition published ss an International Standard.
SecondEditionDraft	The version of the second edition published as a draft International Standard(E2.DIS).
SecondPublishedEdition	The version of the second edition published as the final draft International Standard(E2.FDIS) and as the International Standard(E2.IS)

Definition at line 63 of file isobus_task_controller_client.hpp.

Constructor & Destructor Documentation

TaskControllerClient()

isobus::TaskControllerClient::TaskControllerClient	(	std::shared_ptr< PartneredControlFunction >	partner,
		std::shared_ptr< InternalControlFunction >	clientSource,
		std::shared_ptr< PartneredControlFunction >	primaryVT )

The constructor for a TaskControllerClient.

Parameters

[in]	partner	The TC server control function
[in]	clientSource	The internal control function to communicate from
[in]	primaryVT	Pointer to our primary VT. This is optional (can be nullptr), but should be provided if possible to provide the best compatibility to TC < version 4.

Definition at line 27 of file isobus_task_controller_client.cpp.

~TaskControllerClient()

isobus::TaskControllerClient::~TaskControllerClient

(

)

Destructor for the client.

Definition at line 35 of file isobus_task_controller_client.cpp.

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Member Function Documentation

add_request_value_callback()

void isobus::TaskControllerClient::add_request_value_callback	(	RequestValueCommandCallback	callback,
		void *	parentPointer )

This adds a callback that will be called when the TC requests the value of one of your variables.

The task controller will often send a request for the value of a process data variable. When the stack receives those messages, it will call this callback to request the value from your application. You must provide the value at that time for the associated process data variable identified by its element number and DDI.

Parameters

[in]	callback	The callback to add
[in]	parentPointer	A generic context variable that will be passed into the associated callback when it gets called

Definition at line 73 of file isobus_task_controller_client.cpp.

add_value_command_callback()

void isobus::TaskControllerClient::add_value_command_callback	(	ValueCommandCallback	callback,
		void *	parentPointer )

Adds a callback that will be called when the TC commands a new value for one of your variables.

The task controller will often send a command to set one of your process data variables to a new value. This callback will get called when that happens, and you will need to set the variable to the commanded value in your application.

Parameters

[in]	callback	The callback to add
[in]	parentPointer	A generic context variable that will be passed into the associated callback when it gets called

Definition at line 81 of file isobus_task_controller_client.cpp.

clear_queues()

void isobus::TaskControllerClient::clear_queues ( )

protected

Clears all queued TC commands and responses.

Definition at line 889 of file isobus_task_controller_client.cpp.

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configure() [1/3]

void isobus::TaskControllerClient::configure	(	std::shared_ptr< DeviceDescriptorObjectPool >	DDOP,
		std::uint8_t	maxNumberBoomsSupported,
		std::uint8_t	maxNumberSectionsSupported,
		std::uint8_t	maxNumberChannelsSupportedForPositionBasedControl,
		bool	reportToTCSupportsDocumentation,
		bool	reportToTCSupportsTCGEOWithoutPositionBasedControl,
		bool	reportToTCSupportsTCGEOWithPositionBasedControl,
		bool	reportToTCSupportsPeerControlAssignment,
		bool	reportToTCSupportsImplementSectionControl )

A convenient way to set all client options at once instead of calling the individual setters.

This function sets up the parameters that the client will report to the TC server. These parameters should be tailored to your specific application.

Note

This version of the configure function takes a DeviceDescriptorObjectPool. The other versions of the configure function take various other kinds of DDOP.

Parameters

[in]	DDOP	The device descriptor object pool to upload to the TC
[in]	maxNumberBoomsSupported	Configures the max number of booms the client supports
[in]	maxNumberSectionsSupported	Configures the max number of sections supported by the client for section control
[in]	maxNumberChannelsSupportedForPositionBasedControl	Configures the max number of channels supported by the client for position based control
[in]	reportToTCSupportsDocumentation	Denotes if your app supports documentation
[in]	reportToTCSupportsTCGEOWithoutPositionBasedControl	Denotes if your app supports TC-GEO without position based control
[in]	reportToTCSupportsTCGEOWithPositionBasedControl	Denotes if your app supports TC-GEO with position based control
[in]	reportToTCSupportsPeerControlAssignment	Denotes if your app supports peer control assignment
[in]	reportToTCSupportsImplementSectionControl	Denotes if your app supports implement section control

Definition at line 115 of file isobus_task_controller_client.cpp.

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configure() [2/3]

void isobus::TaskControllerClient::configure	(	std::shared_ptr< std::vector< std::uint8_t > >	binaryDDOP,
		std::uint8_t	maxNumberBoomsSupported,
		std::uint8_t	maxNumberSectionsSupported,
		std::uint8_t	maxNumberChannelsSupportedForPositionBasedControl,
		bool	reportToTCSupportsDocumentation,
		bool	reportToTCSupportsTCGEOWithoutPositionBasedControl,
		bool	reportToTCSupportsTCGEOWithPositionBasedControl,
		bool	reportToTCSupportsPeerControlAssignment,
		bool	reportToTCSupportsImplementSectionControl )

A convenient way to set all client options at once instead of calling the individual setters.

This function sets up the parameters that the client will report to the TC server. These parameters should be tailored to your specific application.

Note

This version of the configure function takes a vector of bytes, and stores a copy of it. The other versions of the configure function take various other kinds of DDOP.

Parameters

[in]	binaryDDOP	The device descriptor object pool to upload to the TC
[in]	maxNumberBoomsSupported	Configures the max number of booms the client supports
[in]	maxNumberSectionsSupported	Configures the max number of sections supported by the client for section control
[in]	maxNumberChannelsSupportedForPositionBasedControl	Configures the max number of channels supported by the client for position based control
[in]	reportToTCSupportsDocumentation	Denotes if your app supports documentation
[in]	reportToTCSupportsTCGEOWithoutPositionBasedControl	Denotes if your app supports TC-GEO without position based control
[in]	reportToTCSupportsTCGEOWithPositionBasedControl	Denotes if your app supports TC-GEO with position based control
[in]	reportToTCSupportsPeerControlAssignment	Denotes if your app supports peer control assignment
[in]	reportToTCSupportsImplementSectionControl	Denotes if your app supports implement section control

Definition at line 190 of file isobus_task_controller_client.cpp.

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configure() [3/3]

void isobus::TaskControllerClient::configure	(	std::uint8_t const *	binaryDDOP,
		std::uint32_t	DDOPSize,
		std::uint8_t	maxNumberBoomsSupported,
		std::uint8_t	maxNumberSectionsSupported,
		std::uint8_t	maxNumberChannelsSupportedForPositionBasedControl,
		bool	reportToTCSupportsDocumentation,
		bool	reportToTCSupportsTCGEOWithoutPositionBasedControl,
		bool	reportToTCSupportsTCGEOWithPositionBasedControl,
		bool	reportToTCSupportsPeerControlAssignment,
		bool	reportToTCSupportsImplementSectionControl )

A convenient way to set all client options at once instead of calling the individual setters.

This function sets up the parameters that the client will report to the TC server. These parameters should be tailored to your specific application.

Note

This version of the configure function takes a pointer to an array of bytes. The other versions of the configure function take various other kinds of DDOP.

Parameters

[in]	binaryDDOP	The device descriptor object pool to upload to the TC
[in]	DDOPSize	The number of bytes in the binary DDOP that will be uploaded
[in]	maxNumberBoomsSupported	Configures the max number of booms the client supports
[in]	maxNumberSectionsSupported	Configures the max number of sections supported by the client for section control
[in]	maxNumberChannelsSupportedForPositionBasedControl	Configures the max number of channels supported by the client for position based control
[in]	reportToTCSupportsDocumentation	Denotes if your app supports documentation
[in]	reportToTCSupportsTCGEOWithoutPositionBasedControl	Denotes if your app supports TC-GEO without position based control
[in]	reportToTCSupportsTCGEOWithPositionBasedControl	Denotes if your app supports TC-GEO with position based control
[in]	reportToTCSupportsPeerControlAssignment	Denotes if your app supports peer control assignment
[in]	reportToTCSupportsImplementSectionControl	Denotes if your app supports implement section control

Definition at line 152 of file isobus_task_controller_client.cpp.

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get_connected_tc_max_boot_time()

std::uint8_t isobus::TaskControllerClient::get_connected_tc_max_boot_time

(

)

const

Returns the maximum boot time in seconds reported by the connected TC.

Returns

Maximum boot time (seconds) reported by the connected TC, or 0xFF if that info is not available.

Definition at line 2130 of file isobus_task_controller_client.cpp.

get_connected_tc_number_booms_supported()

std::uint8_t isobus::TaskControllerClient::get_connected_tc_number_booms_supported

(

)

const

Returns the number of booms that the connected TC supports for section control.

Returns

Number of booms that the connected TC supports for section control

Definition at line 2115 of file isobus_task_controller_client.cpp.

get_connected_tc_number_channels_supported()

std::uint8_t isobus::TaskControllerClient::get_connected_tc_number_channels_supported

(

)

const

Returns the number of channels that the connected TC supports for position control.

Returns

Number of channels that the connected TC supports for position control

Definition at line 2125 of file isobus_task_controller_client.cpp.

get_connected_tc_number_sections_supported()

std::uint8_t isobus::TaskControllerClient::get_connected_tc_number_sections_supported

(

)

const

Returns the number of sections that the connected TC supports for section control.

Returns

Number of sections that the connected TC supports for section control

Definition at line 2120 of file isobus_task_controller_client.cpp.

get_connected_tc_option_supported()

bool isobus::TaskControllerClient::get_connected_tc_option_supported

(

ServerOptions

option

)

const

Returns if the connected TC supports a certain option.

Parameters

[in]

option

The option to check against

Returns

true if the option was reported as "supported" by the TC, otherwise false

Definition at line 2135 of file isobus_task_controller_client.cpp.

get_connected_tc_version()

TaskControllerClient::Version isobus::TaskControllerClient::get_connected_tc_version

(

)

const

Returns the version of the connected task controller.

Returns

The version reported by the connected task controller

Definition at line 2140 of file isobus_task_controller_client.cpp.

get_internal_control_function()

std::shared_ptr< InternalControlFunction > isobus::TaskControllerClient::get_internal_control_function

(

)

const

Returns the internal control function being used by the interface to send messages.

Returns

The internal control function being used by the interface to send messages

Definition at line 259 of file isobus_task_controller_client.cpp.

get_is_connected()

bool isobus::TaskControllerClient::get_is_connected

(

)

const

Check whether the client is connected to the TC server.

Returns

true if cconnected, false otherwise

Definition at line 314 of file isobus_task_controller_client.cpp.

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get_is_initialized()

bool isobus::TaskControllerClient::get_is_initialized

(

)

const

Returns if the client has been initialized.

Note

This does not mean that the client is connected to the TC server

Returns

true if the client has been initialized

Definition at line 309 of file isobus_task_controller_client.cpp.

get_is_task_active()

bool isobus::TaskControllerClient::get_is_task_active

(

)

const

Returns if a task is active as indicated by the TC.

Attention

Some TCs will report they are always in a task rather than properly reporting this. For example, John Deere TCs have a bad habit of doing this. Use caution before relying on the TC's task status.

Returns

true if the TC is connected and the TC is reporting it is in a task, otherwise false

Definition at line 319 of file isobus_task_controller_client.cpp.

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get_number_booms_supported()

std::uint8_t isobus::TaskControllerClient::get_number_booms_supported

(

)

const

Returns the previously configured number of booms supported by the client.

Returns

The previously configured number of booms supported by the client

Definition at line 269 of file isobus_task_controller_client.cpp.

get_number_channels_supported_for_position_based_control()

std::uint8_t isobus::TaskControllerClient::get_number_channels_supported_for_position_based_control

(

)

const

Returns the previously configured number of channels supported for position based control.

Returns

The previously configured number of channels supported for position based control

Definition at line 279 of file isobus_task_controller_client.cpp.

get_number_sections_supported()

std::uint8_t isobus::TaskControllerClient::get_number_sections_supported

(

)

const

Returns the previously configured number of section supported by the client.

Returns

The previously configured number of booms supported by the client

Definition at line 274 of file isobus_task_controller_client.cpp.

get_partner_control_function()

std::shared_ptr< PartneredControlFunction > isobus::TaskControllerClient::get_partner_control_function

(

)

const

Returns the control function of the TC server with which this TC client communicates.

Returns

The partner control function for the TC server

Definition at line 264 of file isobus_task_controller_client.cpp.

get_state()

TaskControllerClient::StateMachineState isobus::TaskControllerClient::get_state

(

)

const

Returns the current state machine state.

Returns

The current internal state machine state

Definition at line 2110 of file isobus_task_controller_client.cpp.

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get_supports_documentation()

bool isobus::TaskControllerClient::get_supports_documentation

(

)

const

Returns if the client has been configured to report that it supports documentation to the TC.

Returns

true if the client has been configured to report that it supports documentation, otherwise false

Definition at line 284 of file isobus_task_controller_client.cpp.

get_supports_implement_section_control()

bool isobus::TaskControllerClient::get_supports_implement_section_control

(

)

const

Returns if the client has been configured to report that it supports implement section control to the TC.

Returns

true if the client has been configured to report that it supports implement section control, otherwise false

Definition at line 304 of file isobus_task_controller_client.cpp.

get_supports_peer_control_assignment()

bool isobus::TaskControllerClient::get_supports_peer_control_assignment

(

)

const

Returns if the client has been configured to report that it supports peer control assignment to the TC.

Returns

true if the client has been configured to report that it supports peer control assignment, otherwise false

Definition at line 299 of file isobus_task_controller_client.cpp.

get_supports_tcgeo_with_position_based_control()

bool isobus::TaskControllerClient::get_supports_tcgeo_with_position_based_control

(

)

const

Returns if the client has been configured to report that it supports TC-GEO with position based control to the TC.

Returns

true if the client has been configured to report that it supports TC-GEO with position based control, otherwise false

Definition at line 294 of file isobus_task_controller_client.cpp.

get_supports_tcgeo_without_position_based_control()

bool isobus::TaskControllerClient::get_supports_tcgeo_without_position_based_control

(

)

const

Returns if the client has been configured to report that it supports TC-GEO without position based control to the TC.

Returns

true if the client has been configured to report that it supports TC-GEO without position based control, otherwise false

Definition at line 289 of file isobus_task_controller_client.cpp.

get_was_ddop_supplied()

bool isobus::TaskControllerClient::get_was_ddop_supplied ( ) const

protected

Checks if a DDOP was provided via one of the configure functions.

Returns

true if a DDOP was provided, otherwise false

Definition at line 899 of file isobus_task_controller_client.cpp.

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initialize()

void isobus::TaskControllerClient::initialize

(

bool

spawnThread

)

This function starts the state machine. Call this once you have created your DDOP, set up the client capabilities, and are ready to connect.

Parameters

[in]

spawnThread

The client will start a thread to manage itself if this parameter is true. Otherwise you must update it cyclically by calling the update function.

Definition at line 40 of file isobus_task_controller_client.cpp.

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on_value_changed_trigger()

void isobus::TaskControllerClient::on_value_changed_trigger	(	std::uint16_t	elementNumber,
		std::uint16_t	DDI )

Tells the TC client that a value was changed or the TC client needs to command a value to the TC server.

If you provide on-change triggers in your DDOP, this is how you can request the TC client to update the TC server on the current value of your process data variables.

Parameters

[in]	elementNumber	The element number of the process data variable that changed
[in]	DDI	The DDI of the process data variable that changed

Definition at line 2151 of file isobus_task_controller_client.cpp.

process_internal_object_pool_upload_callback()

bool isobus::TaskControllerClient::process_internal_object_pool_upload_callback ( std::uint32_t callbackIndex, std::uint32_t bytesOffset, std::uint32_t numberOfBytesNeeded, std::uint8_t * chunkBuffer, void * parentPointer )

staticprotected

The data callback passed to the network manger's send function for the transport layer messages.

We upload the data with callbacks to avoid making yet another complete copy of the pool to accommodate the multiplexor that needs to get passed to the transport layer message's first byte.

Parameters

[in]	callbackIndex	The number of times the callback has been called
[in]	bytesOffset	The byte offset at which to get pool data
[in]	numberOfBytesNeeded	The number of bytes the protocol needs to send another frame (usually 7)
[out]	chunkBuffer	A pointer through which the data should be returned to the protocol
[in]	parentPointer	A context variable that is passed back through the callback

Returns

true if the data was successfully returned via the callback

Definition at line 1777 of file isobus_task_controller_client.cpp.

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process_labels_from_ddop()

void isobus::TaskControllerClient::process_labels_from_ddop ( )

protected

Searches the DDOP for a device object and stores that object's structure and localization labels.

Definition at line 931 of file isobus_task_controller_client.cpp.

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process_queued_commands()

void isobus::TaskControllerClient::process_queued_commands ( )

protected

Processes queued TC requests and commands. Calls the user's callbacks if needed.

Todo

process PDACKs better

Definition at line 1032 of file isobus_task_controller_client.cpp.

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process_queued_threshold_commands()

void isobus::TaskControllerClient::process_queued_threshold_commands ( )

protected

Processes measurement threshold/interval commands.

Definition at line 1073 of file isobus_task_controller_client.cpp.

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process_rx_message()

void isobus::TaskControllerClient::process_rx_message ( const CANMessage & message, void * parentPointer )

staticprotected

Processes a CAN message destined for any TC client.

Parameters

[in]	message	The CAN message being received
[in]	parentPointer	A context variable to find the relevant TC client class

Todo

Localization label partial pool handling

Definition at line 1185 of file isobus_task_controller_client.cpp.

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process_tx_callback()

void isobus::TaskControllerClient::process_tx_callback ( std::uint32_t parameterGroupNumber, std::uint32_t dataLength, std::shared_ptr< InternalControlFunction > sourceControlFunction, std::shared_ptr< ControlFunction > destinationControlFunction, bool successful, void * parentPointer )

staticprotected

The callback passed to the network manager's send function to know when a Tx is completed.

Parameters

[in]	parameterGroupNumber	The parameter group number of the message that was sent
[in]	dataLength	The number of bytes sent
[in]	sourceControlFunction	The control function that sent the message
[in]	destinationControlFunction	The control function that received the message
[in]	successful	Whether the message was sent successfully
[in]	parentPointer	A context variable that is passed back through the callback

Definition at line 1831 of file isobus_task_controller_client.cpp.

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remove_request_value_callback()

void isobus::TaskControllerClient::remove_request_value_callback	(	RequestValueCommandCallback	callback,
		void *	parentPointer )

Removes the specified callback from the list of value request callbacks.

Parameters

[in]	callback	The callback to remove
[in]	parentPointer	parent pointer associated to the callback being removed

Definition at line 89 of file isobus_task_controller_client.cpp.

remove_value_command_callback()

void isobus::TaskControllerClient::remove_value_command_callback	(	ValueCommandCallback	callback,
		void *	parentPointer )

Removes the specified callback from the list of value command callbacks.

Parameters

[in]	callback	The callback to remove
[in]	parentPointer	parent pointer associated to the callback being removed

Definition at line 102 of file isobus_task_controller_client.cpp.

request_task_controller_identification()

bool isobus::TaskControllerClient::request_task_controller_identification

(

)

const

Sends a broadcast request to TCs to identify themseleves.

Upon receipt of this message, the TC shall display, for a period of 3 s, the TC Number

Returns

true if the message was sent, otherwise false

Definition at line 2163 of file isobus_task_controller_client.cpp.

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restart()

void isobus::TaskControllerClient::restart

(

)

Calling this function will reset the task controller client's connection with the TC server, and cause it to reconnect after a short delay.

Definition at line 226 of file isobus_task_controller_client.cpp.

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reupload_device_descriptor_object_pool() [1/3]

bool isobus::TaskControllerClient::reupload_device_descriptor_object_pool

(

std::shared_ptr< DeviceDescriptorObjectPool >

DDOP

)

If the TC client is connected to a TC, calling this function will cause the TC client interface to delete the currently active DDOP, reupload it, then reactivate it using the pool passed into the parameter of this function. This process is faster than restarting the whole interface, and you have to call it if you change certain things in your DDOP at runtime after the DDOP has already been activated.

Parameters

[in]

DDOP

The updated device descriptor object pool to upload to the TC

Returns

true if the interface accepted the command to reupload the pool, or false if the command cannot be handled right now

Definition at line 374 of file isobus_task_controller_client.cpp.

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reupload_device_descriptor_object_pool() [2/3]

bool isobus::TaskControllerClient::reupload_device_descriptor_object_pool

(

std::shared_ptr< std::vector< std::uint8_t > >

binaryDDOP

)

If the TC client is connected to a TC, calling this function will cause the TC client interface to delete the currently active DDOP, reupload it, then reactivate it using the pool passed into the parameter of this function. This process is faster than restarting the whole interface, and you have to call it if you change certain things in your DDOP at runtime after the DDOP has already been activated.

Parameters

[in]

binaryDDOP

The updated device descriptor object pool to upload to the TC

Returns

true if the interface accepted the command to reupload the pool, or false if the command cannot be handled right now

Definition at line 324 of file isobus_task_controller_client.cpp.

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reupload_device_descriptor_object_pool() [3/3]

bool isobus::TaskControllerClient::reupload_device_descriptor_object_pool	(	std::uint8_t const *	binaryDDOP,
		std::uint32_t	DDOPSize )

If the TC client is connected to a TC, calling this function will cause the TC client interface to delete the currently active DDOP, reupload it, then reactivate it using the pool passed into the parameter of this function. This process is faster than restarting the whole interface, and you have to call it if you change certain things in your DDOP at runtime after the DDOP has already been activated.

Parameters

[in]	binaryDDOP	The updated device descriptor object pool to upload to the TC
[in]	DDOPSize	The number of bytes in the binary DDOP that will be uploaded

Returns

true if the interface accepted the command to reupload the pool, or false if the command cannot be handled right now

Definition at line 349 of file isobus_task_controller_client.cpp.

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select_language_command_partner()

void isobus::TaskControllerClient::select_language_command_partner ( )

protected

Sets the behavior of the language command interface based on the TC's reported version information.

Definition at line 2078 of file isobus_task_controller_client.cpp.

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send_delete_object_pool()

bool isobus::TaskControllerClient::send_delete_object_pool ( ) const

protected

Sends the delete object pool command to the TC.

This is a message to delete the device descriptor object pool for the client that sends this message. The Object pool Delete message enables a client to delete the entire device descriptor object pool before sending an updated or changed device descriptor object pool with the object pool transfer message.

Returns

true if the message was sent, otherwise false

Definition at line 1859 of file isobus_task_controller_client.cpp.

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send_generic_process_data()

bool isobus::TaskControllerClient::send_generic_process_data ( std::uint8_t multiplexor ) const

protected

Sends a process data message with 1 mux byte and all 0xFFs as payload.

This just reduces code duplication by consolidating common message formats

Parameters

[in]

multiplexor

The multiplexor to use for the message

Returns

true if the message was sent, otherwise false

Definition at line 1865 of file isobus_task_controller_client.cpp.

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send_object_pool_activate()

bool isobus::TaskControllerClient::send_object_pool_activate ( ) const

protected

Sends the activate object pool message.

This message is sent by a client to complete its connection procedure to a TC

Returns

true if the message was sent, otherwise false

Definition at line 1883 of file isobus_task_controller_client.cpp.

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send_object_pool_deactivate()

bool isobus::TaskControllerClient::send_object_pool_deactivate ( ) const

protected

Sends the deactivate object pool message.

This message is sent by a client to disconnect from a TC

Returns

true if the message was sent otherwise false

Definition at line 1889 of file isobus_task_controller_client.cpp.

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send_pdack()

bool isobus::TaskControllerClient::send_pdack ( std::uint16_t elementNumber, std::uint16_t ddi ) const

protected

Sends a Process Data ACK.

Parameters

[in]	elementNumber	The element number being acked
[in]	ddi	The DDI being acked

Returns

true if the message was sent, otherwise false

Definition at line 1908 of file isobus_task_controller_client.cpp.

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send_request_localization_label()

bool isobus::TaskControllerClient::send_request_localization_label ( ) const

protected

Sends a request to the TC for its localization label.

The Request Localization Label message allows the client to determine the availability of the requested device descriptor localization at the TC or DL.If the requested localization label is present, a localization label message with the requested localization label shall be transmitted by the TC or DL to the sender of the Request Localization Label message. Otherwise, a localization label message with all localization label bytes set to value = 0xFF shall be transmitted by the TC or DL to the sender of the Request Localization Label message.

Returns

true if the message was sent, otherwise false

Definition at line 1926 of file isobus_task_controller_client.cpp.

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send_request_object_pool_transfer()

bool isobus::TaskControllerClient::send_request_object_pool_transfer ( ) const

protected

Sends a request to the TC indicating we wish to transfer an object pool.

The Request Object-pool Transfer message allows the client to determine whether it is allowed to transfer(part of) the device descriptor object pool to the TC or DL.

Returns

true if the message was sent, otherwise false

Definition at line 1932 of file isobus_task_controller_client.cpp.

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send_request_structure_label()

bool isobus::TaskControllerClient::send_request_structure_label ( ) const

protected

Sends a request to the TC for its structure label.

The Request Structure Label message allows the client to determine the availability of the requested device descriptor structure at the TC. If the requested structure label is present, a structure label message with the requested structure label shall be transmitted by the TC or DL to the sender of the Request Structure Label message. Otherwise, a structure label message with 7 structure label bytes set to value = 0xFF shall be transmitted by the TC or DL to the sender of the Request Structure Label message

Returns

true if the message was sent, otherwise false

Definition at line 1958 of file isobus_task_controller_client.cpp.

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send_request_version_response()

bool isobus::TaskControllerClient::send_request_version_response ( ) const

protected

Sends the response to a request for version from the TC.

Returns

true if the message was sent, otherwise false

Definition at line 1965 of file isobus_task_controller_client.cpp.

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send_status()

bool isobus::TaskControllerClient::send_status ( ) const

protected

Sends the status message to the TC.

Returns

true if the message was sent, otherwise false

Definition at line 1987 of file isobus_task_controller_client.cpp.

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send_value_command()

bool isobus::TaskControllerClient::send_value_command ( std::uint16_t elementNumber, std::uint16_t ddi, std::int32_t value ) const

protected

Sends the value command message for a specific DDI/Element number combo.

Parameters

[in]	elementNumber	The element number for the command
[in]	ddi	The DDI for the command
[in]	value	The value to send

Returns

true if the message was sent, otherwise false

Definition at line 2005 of file isobus_task_controller_client.cpp.

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send_version_request()

bool isobus::TaskControllerClient::send_version_request ( ) const

protected

Sends the version request message to the TC.

Returns

true if the message was sent, otherwise false

Definition at line 2023 of file isobus_task_controller_client.cpp.

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send_working_set_master()

bool isobus::TaskControllerClient::send_working_set_master ( ) const

protected

Sends the working set master message.

Returns

true if the message was sent, otherwise false

Definition at line 2028 of file isobus_task_controller_client.cpp.

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set_common_config_items()

void isobus::TaskControllerClient::set_common_config_items ( std::uint8_t maxNumberBoomsSupported, std::uint8_t maxNumberSectionsSupported, std::uint8_t maxNumberChannelsSupportedForPositionBasedControl, bool reportToTCSupportsDocumentation, bool reportToTCSupportsTCGEOWithoutPositionBasedControl, bool reportToTCSupportsTCGEOWithPositionBasedControl, bool reportToTCSupportsPeerControlAssignment, bool reportToTCSupportsImplementSectionControl )

protected

Sets the common items found in all versions of configure

Parameters

[in]	maxNumberBoomsSupported	Configures the max number of booms the client supports
[in]	maxNumberSectionsSupported	Configures the max number of sections supported by the client for section control
[in]	maxNumberChannelsSupportedForPositionBasedControl	Configures the max number of channels supported by the client for position based control
[in]	reportToTCSupportsDocumentation	Denotes if your app supports documentation
[in]	reportToTCSupportsTCGEOWithoutPositionBasedControl	Denotes if your app supports TC-GEO without position based control
[in]	reportToTCSupportsTCGEOWithPositionBasedControl	Denotes if your app supports TC-GEO with position based control
[in]	reportToTCSupportsPeerControlAssignment	Denotes if your app supports peer control assignment
[in]	reportToTCSupportsImplementSectionControl	Denotes if your app supports implement section control

Definition at line 2039 of file isobus_task_controller_client.cpp.

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set_state() [1/2]

void isobus::TaskControllerClient::set_state ( StateMachineState newState )

protected

Changes the internal state machine state and updates the associated timestamp.

Parameters

[in]

newState

The new state for the state machine

Definition at line 2058 of file isobus_task_controller_client.cpp.

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set_state() [2/2]

void isobus::TaskControllerClient::set_state ( StateMachineState newState, std::uint32_t timestamp )

protected

Changes the internal state machine state and updates the associated timestamp to the specified one.

Note

This is intended for testing purposes only

Parameters

[in]	newState	The new state for the state machine
[in]	timestamp	The new value for the state machine timestamp (in milliseconds)

Definition at line 2072 of file isobus_task_controller_client.cpp.

terminate()

void isobus::TaskControllerClient::terminate

(

)

Terminates the client and joins the worker thread if applicable.

Definition at line 235 of file isobus_task_controller_client.cpp.

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update()

void isobus::TaskControllerClient::update

(

)

The cyclic update function for this interface.

Note

This function may be called by the TC worker thread if you called initialize with a parameter of true, otherwise you must call it yourself at some interval.

Definition at line 399 of file isobus_task_controller_client.cpp.

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worker_thread_function()

void isobus::TaskControllerClient::worker_thread_function ( )

protected

The worker thread will execute this function when it runs, if applicable.

Definition at line 2095 of file isobus_task_controller_client.cpp.

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Member Data Documentation

clientDDOP

std::shared_ptr<DeviceDescriptorObjectPool> isobus::TaskControllerClient::clientDDOP

private

Stores the DDOP for upload to the TC (if needed)

Definition at line 619 of file isobus_task_controller_client.hpp.

clientMutex

Mutex isobus::TaskControllerClient::clientMutex

private

A general mutex to protect data in the worker thread against data accessed by the app or the network manager.

Definition at line 631 of file isobus_task_controller_client.hpp.

commandBeingExecuted

std::uint8_t isobus::TaskControllerClient::commandBeingExecuted = 0

private

The current command the TC is executing as reported in the status message.

Definition at line 648 of file isobus_task_controller_client.hpp.

currentState

StateMachineState isobus::TaskControllerClient::currentState = StateMachineState::Disconnected

private

Tracks the internal state machine's current state.

Definition at line 639 of file isobus_task_controller_client.hpp.

ddopLocalizationLabel

std::array<std::uint8_t, 7> isobus::TaskControllerClient::ddopLocalizationLabel = { 0 }

private

Stores a pre-parsed localization label, helps to avoid processing the whole DDOP during a CAN message callback.

Definition at line 637 of file isobus_task_controller_client.hpp.

ddopStructureLabel

std::string isobus::TaskControllerClient::ddopStructureLabel

private

Stores a pre-parsed structure label, helps to avoid processing the whole DDOP during a CAN message callback.

Definition at line 635 of file isobus_task_controller_client.hpp.

ddopUploadMode

DDOPUploadType isobus::TaskControllerClient::ddopUploadMode = DDOPUploadType::ProgramaticallyGenerated

private

Determines if DDOPs get generated or raw uploaded.

Definition at line 638 of file isobus_task_controller_client.hpp.

enableStatusMessage

bool isobus::TaskControllerClient::enableStatusMessage = false

private

Enables sending the status message to the TC cyclically.

Definition at line 661 of file isobus_task_controller_client.hpp.

generatedBinaryDDOP

std::vector<std::uint8_t> isobus::TaskControllerClient::generatedBinaryDDOP

private

Stores the DDOP in binary form after it has been generated.

Definition at line 622 of file isobus_task_controller_client.hpp.

initialized

bool isobus::TaskControllerClient::initialized = false

private

Tracks the initialization state of the interface instance.

Definition at line 659 of file isobus_task_controller_client.hpp.

languageCommandInterface

LanguageCommandInterface isobus::TaskControllerClient::languageCommandInterface

Used to determine the language and unit systems in use by the TC server.

Definition at line 355 of file isobus_task_controller_client.hpp.

languageCommandWaitingTimestamp_ms

std::uint32_t isobus::TaskControllerClient::languageCommandWaitingTimestamp_ms = 0

private

Timestamp used to determine when to give up on waiting for a language command response.

Definition at line 644 of file isobus_task_controller_client.hpp.

maxServerBootTime_s

std::uint8_t isobus::TaskControllerClient::maxServerBootTime_s = 0

private

Maximum number of seconds from a power cycle to transmission of first �Task Controller Status message� or 0xFF.

Definition at line 650 of file isobus_task_controller_client.hpp.

measurementMaximumThresholdCommands

std::list<ProcessDataCallbackInfo> isobus::TaskControllerClient::measurementMaximumThresholdCommands

private

A list of measurement commands that will be processed when the value above a threshold.

Definition at line 629 of file isobus_task_controller_client.hpp.

measurementMinimumThresholdCommands

std::list<ProcessDataCallbackInfo> isobus::TaskControllerClient::measurementMinimumThresholdCommands

private

A list of measurement commands that will be processed when the value drops below a threshold.

Definition at line 628 of file isobus_task_controller_client.hpp.

measurementOnChangeThresholdCommands

std::list<ProcessDataCallbackInfo> isobus::TaskControllerClient::measurementOnChangeThresholdCommands

private

A list of measurement commands that will be processed when the value changes by the specified amount.

Definition at line 630 of file isobus_task_controller_client.hpp.

measurementTimeIntervalCommands

std::list<ProcessDataCallbackInfo> isobus::TaskControllerClient::measurementTimeIntervalCommands

private

A list of measurement commands that will be processed on a time interval.

Definition at line 627 of file isobus_task_controller_client.hpp.

myControlFunction

std::shared_ptr<InternalControlFunction> isobus::TaskControllerClient::myControlFunction

private

The internal control function the client uses to send from.

Definition at line 617 of file isobus_task_controller_client.hpp.

numberBoomsSupported

std::uint8_t isobus::TaskControllerClient::numberBoomsSupported = 0

private

Stores the number of booms this client supports for section control.

Definition at line 656 of file isobus_task_controller_client.hpp.

numberChannelsSupportedForPositionBasedControl

std::uint8_t isobus::TaskControllerClient::numberChannelsSupportedForPositionBasedControl = 0

private

Stores the number of channels this client supports for position based control.

Definition at line 658 of file isobus_task_controller_client.hpp.

numberOfWorkingSetMembers

std::uint8_t isobus::TaskControllerClient::numberOfWorkingSetMembers = 1

private

The number of working set members that will be reported in the working set master message.

Definition at line 645 of file isobus_task_controller_client.hpp.

numberSectionsSupported

std::uint8_t isobus::TaskControllerClient::numberSectionsSupported = 0

private

Stores the number of sections this client supports for section control.

Definition at line 657 of file isobus_task_controller_client.hpp.

partnerControlFunction

std::shared_ptr<PartneredControlFunction> isobus::TaskControllerClient::partnerControlFunction

private

The partner control function this client will send to.

Definition at line 616 of file isobus_task_controller_client.hpp.

previousStructureLabel

std::string isobus::TaskControllerClient::previousStructureLabel

private

Stores the last structure label we used, helps to warn the user if they aren't updating the label properly.

Definition at line 636 of file isobus_task_controller_client.hpp.

primaryVirtualTerminal

std::shared_ptr<PartneredControlFunction> isobus::TaskControllerClient::primaryVirtualTerminal

private

A pointer to the primary VT's control function. Used for TCs < version 4 and language command compatibility.

Definition at line 618 of file isobus_task_controller_client.hpp.

queuedValueCommands

std::list<ProcessDataCallbackInfo> isobus::TaskControllerClient::queuedValueCommands

private

A list of queued value commands that will be processed on the next update.

Definition at line 626 of file isobus_task_controller_client.hpp.

queuedValueRequests

std::list<ProcessDataCallbackInfo> isobus::TaskControllerClient::queuedValueRequests

private

A list of queued value requests that will be processed on the next update.

Definition at line 625 of file isobus_task_controller_client.hpp.

requestValueCallbacks

std::vector<RequestValueCommandCallbackInfo> isobus::TaskControllerClient::requestValueCallbacks

private

A list of callbacks that will be called when the TC requests a process data value.

Definition at line 623 of file isobus_task_controller_client.hpp.

serverNumberOfBoomsForSectionControl

std::uint8_t isobus::TaskControllerClient::serverNumberOfBoomsForSectionControl = 0

private

When reported by the TC, this is the maximum number of section control booms that are supported.

Definition at line 653 of file isobus_task_controller_client.hpp.

serverNumberOfChannelsForPositionBasedControl

std::uint8_t isobus::TaskControllerClient::serverNumberOfChannelsForPositionBasedControl = 0

private

When reported by the TC, this is the maximum number of individual control channels that is supported.

Definition at line 655 of file isobus_task_controller_client.hpp.

serverNumberOfSectionsForSectionControl

std::uint8_t isobus::TaskControllerClient::serverNumberOfSectionsForSectionControl = 0

private

When reported by the TC, this is the maximum number of sections that are supported (or 0xFF for version 2 and earlier).

Definition at line 654 of file isobus_task_controller_client.hpp.

serverOptionsByte1

std::uint8_t isobus::TaskControllerClient::serverOptionsByte1 = 0

private

The options specified in ISO 11783-10 that this TC, DL, or client meets (The definition of this byte is introduced in ISO11783-10 version 3)

Definition at line 651 of file isobus_task_controller_client.hpp.

serverOptionsByte2

std::uint8_t isobus::TaskControllerClient::serverOptionsByte2 = 0

private

Reserved for ISO assignment, should be zero or 0xFF.

Definition at line 652 of file isobus_task_controller_client.hpp.

serverStatusMessageTimestamp_ms

std::uint32_t isobus::TaskControllerClient::serverStatusMessageTimestamp_ms = 0

private

Timestamp corresponding to the last time we received a status message from the TC.

Definition at line 642 of file isobus_task_controller_client.hpp.

serverVersion

std::uint8_t isobus::TaskControllerClient::serverVersion = 0

private

The detected version of the TC Server.

Definition at line 649 of file isobus_task_controller_client.hpp.

shouldReuploadAfterDDOPDeletion

bool isobus::TaskControllerClient::shouldReuploadAfterDDOPDeletion = false

private

Used to determine how the state machine should progress when updating a DDOP.

Definition at line 667 of file isobus_task_controller_client.hpp.

shouldTerminate

bool isobus::TaskControllerClient::shouldTerminate = false

private

This variable tells the worker thread to exit.

Definition at line 660 of file isobus_task_controller_client.hpp.

SIX_SECOND_TIMEOUT_MS

constexpr std::uint32_t isobus::TaskControllerClient::SIX_SECOND_TIMEOUT_MS = 6000

staticconstexprprotected

The startup delay time defined in the standard.

Definition at line 567 of file isobus_task_controller_client.hpp.

sourceAddressOfCommandBeingExecuted

std::uint8_t isobus::TaskControllerClient::sourceAddressOfCommandBeingExecuted = 0

private

Source address of client for which the current command is being executed.

Definition at line 647 of file isobus_task_controller_client.hpp.

stateMachineTimestamp_ms

std::uint32_t isobus::TaskControllerClient::stateMachineTimestamp_ms = 0

private

Timestamp that tracks when the state machine last changed states (in milliseconds)

Definition at line 640 of file isobus_task_controller_client.hpp.

statusMessageTimestamp_ms

std::uint32_t isobus::TaskControllerClient::statusMessageTimestamp_ms = 0

private

Timestamp corresponding to the last time we sent a status message to the TC.

Definition at line 641 of file isobus_task_controller_client.hpp.

supportsDocumentation

bool isobus::TaskControllerClient::supportsDocumentation = false

private

Determines if the client reports documentation support to the TC.

Definition at line 662 of file isobus_task_controller_client.hpp.

supportsImplementSectionControl

bool isobus::TaskControllerClient::supportsImplementSectionControl = false

private

Determines if the client reports implement section control capability to the TC.

Definition at line 666 of file isobus_task_controller_client.hpp.

supportsPeerControlAssignment

bool isobus::TaskControllerClient::supportsPeerControlAssignment = false

private

Determines if the client reports peer control assignment capability to the TC.

Definition at line 665 of file isobus_task_controller_client.hpp.

supportsTCGEOWithoutPositionBasedControl

bool isobus::TaskControllerClient::supportsTCGEOWithoutPositionBasedControl = false

private

Determines if the client reports TC-GEO without position control capability to the TC.

Definition at line 663 of file isobus_task_controller_client.hpp.

supportsTCGEOWithPositionBasedControl

bool isobus::TaskControllerClient::supportsTCGEOWithPositionBasedControl = false

private

Determines if the client reports TC-GEO with position control capability to the TC.

Definition at line 664 of file isobus_task_controller_client.hpp.

tcStatusBitfield

std::uint8_t isobus::TaskControllerClient::tcStatusBitfield = 0

private

The last received TC/DL status from the status message.

Definition at line 646 of file isobus_task_controller_client.hpp.

TWO_SECOND_TIMEOUT_MS

constexpr std::uint16_t isobus::TaskControllerClient::TWO_SECOND_TIMEOUT_MS = 2000

staticconstexprprotected

Used for sending the status message to the TC.

Definition at line 568 of file isobus_task_controller_client.hpp.

userSuppliedBinaryDDOP

std::uint8_t const* isobus::TaskControllerClient::userSuppliedBinaryDDOP = nullptr

private

Stores a client-provided DDOP if one was provided.

Definition at line 620 of file isobus_task_controller_client.hpp.

userSuppliedBinaryDDOPSize_bytes

std::uint32_t isobus::TaskControllerClient::userSuppliedBinaryDDOPSize_bytes = 0

private

The number of bytes in the user provided binary DDOP (if one was provided)

Definition at line 643 of file isobus_task_controller_client.hpp.

userSuppliedVectorDDOP

std::shared_ptr<std::vector<std::uint8_t> > isobus::TaskControllerClient::userSuppliedVectorDDOP

private

Stores a client-provided DDOP if one was provided.

Definition at line 621 of file isobus_task_controller_client.hpp.

valueCommandsCallbacks

std::vector<ValueCommandCallbackInfo> isobus::TaskControllerClient::valueCommandsCallbacks

private

A list of callbacks that will be called when the TC sets a process data value.

Definition at line 624 of file isobus_task_controller_client.hpp.

workerThread

std::thread* isobus::TaskControllerClient::workerThread = nullptr

private

The worker thread that updates this interface.

Definition at line 633 of file isobus_task_controller_client.hpp.

---

The documentation for this class was generated from the following files:

• isobus/include/isobus/isobus/isobus_task_controller_client.hpp
• isobus/src/isobus_task_controller_client.cpp