AOG-TaskController 🚜

This is an experimental project to control sections of an ISOBUS implement using AgOpenGPS. It is based on the AgIsoStack++ library.

Documentation

• docs/LINUX_DAEMON.md — running AOG-TaskController as a headless Linux service (Raspberry Pi, x86 SBCs, generic Linux). Install, systemd, CAN setup, troubleshooting.
• docs/PROTOCOL.md — UDP wire protocol, PGN reference, settings/CLI, ISOBUS overview, and Python/C# example clients. Read this if you are writing an AgIO / AgValonia / third-party client.

How to run the project

After installing the desired release of AOG-TaskController, you can run it directly through AgOpenGPS itself:

1. Open AgIO.
2. Go to the Settings tab.
3. Click on the ISOBUS tab.
4. Select the CAN adapter and channel you want to use.
5. Click on the connect button.

Raising tickets

Open %APPDATA% folder in explorer. Zip all the folders (sometimes we need the ddop found in the subfolders) and the logs. Attach them to the ticket.

How to package the project

To package the project, you need to have the following tools installed:

• CMake
• C++ build tools

Then, you can run the following commands:

mkdir build
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
• Linux: $XDG_CONFIG_HOME/AOG-TaskController/settings.json, or ~/.config/AOG-TaskController/settings.json
• macOS: ~/Library/Application Support/AOG-TaskController/settings.json

Available Settings

Key	Type	Default	Description
subnet	int[3]	[192, 168, 5]	LAN prefix used to select the AOG-facing NIC and broadcast address.
tecuEnabled	bool	true	Enables the internal Tractor ECU. Disable it when the tractor already has a TECU. A change made from the VT takes effect after restart.
nmeaSendEnabled	bool	true	Enables cyclic NMEA2000 COG/SOG transmission. Requires tecuEnabled.
aogHeartbeatEnabled	bool	true	Sends the 100 ms zero-section heartbeat when no implement is connected. Disable for AgOpenGPS versions before v6.8.2 beta 5.
vtEnabled	bool	true	Enables the ISOBUS Virtual Terminal UI.
tcVersion	integer	3	Task Controller version code, from 0 through 4; 3 is Second Edition Draft.
languageCode	string	"en"	Two-character language code advertised on ISOBUS.
countryCode	string	"US"	Two-character country code advertised on ISOBUS.

Example settings.json

{
  "subnet": [192, 168, 5],
  "tecuEnabled": true,
  "nmeaSendEnabled": true,
  "aogHeartbeatEnabled": true,
  "vtEnabled": true,
  "tcVersion": 3,
  "languageCode": "en",
  "countryCode": "US"
}

Virtual Terminal compatibility

The VT object pool is embedded in the executable and automatically scales from its authored 480-pixel data mask and 80-pixel softkey designator to the connected terminal. It uses five virtual navigation softkeys. A VT with fewer than five physical keys must support softkey paging.

The application logs the detected VT version, screen size, softkey dimensions, and virtual/physical softkey counts. If a detected VT does not connect within 30 seconds, check those values and clear the terminal's stored/cached object pools before retrying.

Task Controller Capabilities

• ISO 11783-10 Version: 2 (Second Edition)
• Maximum Booms: 1
• Maximum Sections: 64 (supports both individual sections and zone-based control)
• Section Control: Generation 1 (TC-SC) with support for DDI 160/161/290

Contributing

Before committing it's better to run these commands: (requires the LLVM project to be installed)

git ls-files | Select-String '\.(c|cc|cpp|cxx|h|hh|hpp|hxx|proto)$' | ForEach-Object {
   clang-format -i $_.ToString()
}

Install cmake-format with:

python -m pip install --upgrade pip
pip install cmake-format pyyaml

Then execute with:

Get-ChildItem -Recurse -Filter CMakeLists.txt | ForEach-Object {
    python -m cmakelang.format -i $_.FullName
}