Tc fix working width

isobus/include/isobus/isobus/isobus_task_controller_client_objects.hpp

@@ -9,6 +9,8 @@
 #ifndef ISOBUS_TASK_CONTROLLER_CLIENT_OBJECTS_HPP
 #define ISOBUS_TASK_CONTROLLER_CLIENT_OBJECTS_HPP
 
+#include "isobus/utility/data_span.hpp"
+
 #include <array>
 #include <cstdint>
 #include <string>
@@ -22,11 +24,11 @@ namespace isobus
 		/// @brief Enumerates the different kinds of DDOP objects
 		enum class ObjectTypes
 		{
-			Device, ///< The root object. Each device shall have one single Device
-			DeviceElement, ///< Subcomponent of a device. Has multiple sub-types
-			DeviceProcessData, ///< Contains a single process data variable definition
-			DeviceProperty, ///< A device property element
-			DeviceValuePresentation ///< Contains the presentation information to display the value of a DeviceProcessData or DeviceProperty object
+			Device, ///< The root object. Each device shall have one single Device (DVC)
+			DeviceElement, ///< Subcomponent of a device. Has multiple sub-types (DET)
+			DeviceProcessData, ///< Contains a single process data variable definition (DPD)
+			DeviceProperty, ///< A device property element (DPT)
+			DeviceValuePresentation ///< Contains the presentation information to display the value of a DeviceProcessData or DeviceProperty object (DVP)
 		};
 
 		/// @brief A base class for a Task Controller Object
@@ -272,6 +274,10 @@ namespace isobus
 			/// @returns true if the child object ID was found and removed, otherwise false
 			bool remove_reference_to_child_object(std::uint16_t childID);
 
+			/// @brief Returns a span of the child objects added with `add_reference_to_child_object`.
+			/// @returns A span of the child object IDs
+			DataSpan<const std::uint16_t> get_child_object_ids() const;
+
 			/// @brief Returns the number of child objects added with `add_reference_to_child_object`.
 			/// @note The maximum number of child objects is technically 65535 because the serialized
 			/// form of the value uses a 16-bit integer to store the count.
@@ -368,6 +374,11 @@ namespace isobus
 			/// @param[in] properties The new properties bitfield to set
 			void set_properties_bitfield(std::uint8_t properties);
 
+			/// @brief Tests whether a property is set in the properties bitfield
+			/// @param property The property to test for
+			/// @returns `true` if the property is set, otherwise `false`
+			bool has_property(DeviceProcessDataObject::PropertiesBit property);
+
 			/// @brief Returns the object's available trigger methods
 			/// @returns The available trigger methods bitfield for this object
 			std::uint8_t get_trigger_methods_bitfield() const;
@@ -376,6 +387,11 @@ namespace isobus
 			/// @param[in] methods The new trigger methods bitfield to set
 			void set_trigger_methods_bitfield(std::uint8_t methods);
 
+			/// @brief Tests whether a trigger method is set in the trigger methods bitfield
+			/// @param method The trigger method to test for
+			/// @returns `true` if the trigger method is set, otherwise `false`
+			bool has_trigger_method(DeviceProcessDataObject::AvailableTriggerMethods method);
+
 		private:
 			static const std::string tableID; ///< XML element namespace for DeviceProcessData.
 			std::uint16_t ddi; ///< Identifier of process data variable

isobus/include/isobus/isobus/isobus_task_controller_server.hpp

@@ -260,22 +260,22 @@ namespace isobus
 		/// @brief Sends a time interval measurement command.
 		/// The process data value for this command is the time interval for sending the data element
 		/// specified by the data dictionary identifier.The client has to send the value of this data
-		/// element to the TC or DL cyclic with this time interval.
+		/// element to the TC or DL cyclic with this time interval in milliseconds.
 		/// @param[in] clientControlFunction The control function to send the message to
 		/// @param[in] dataDescriptionIndex The data description index of the data element to send the command for
 		/// @param[in] elementNumber The element number of the data element to send the command for
-		/// @param[in] timeInterval The time interval for sending the data element specified by the data dictionary identifier.
+		/// @param[in] timeInterval The time interval in milliseconds for sending the data element specified by the data dictionary identifier.
 		/// @returns true if the message was sent, otherwise false
 		bool send_time_interval_measurement_command(std::shared_ptr<ControlFunction> clientControlFunction, std::uint16_t dataDescriptionIndex, std::uint16_t elementNumber, std::uint32_t timeInterval) const;
 
 		/// @brief Sends a distance interval measurement command.
 		/// The process data value for this command is the distance interval for sending the data element
 		/// specified by the data dictionary identifier.The client has to send the value of this data
-		/// element to the TC or DL cyclic with this distance interval.
+		/// element to the TC or DL cyclic with this distance interval in millimeters.
 		/// @param[in] clientControlFunction The control function to send the message to
 		/// @param[in] dataDescriptionIndex The data description index of the data element to send the command for
 		/// @param[in] elementNumber The element number of the data element to send the command for
-		/// @param[in] distanceInterval The distance interval for sending the data element specified by the data dictionary identifier.
+		/// @param[in] distanceInterval The distance interval in millimeters for sending the data element specified by the data dictionary identifier.
 		/// @returns true if the message was sent, otherwise false
 		bool send_distance_interval_measurement_command(std::shared_ptr<ControlFunction> clientControlFunction, std::uint16_t dataDescriptionIndex, std::uint16_t elementNumber, std::uint32_t distanceInterval) const;
 

isobus/src/isobus_device_descriptor_object_pool_helpers.cpp

@@ -236,6 +236,14 @@ namespace isobus
 					set_value_from_property(retVal.yOffset_mm, property, DataDescriptionIndex::DeviceElementOffsetY);
 					set_value_from_property(retVal.zOffset_mm, property, DataDescriptionIndex::DeviceElementOffsetZ);
 					set_value_from_property(retVal.width_mm, property, DataDescriptionIndex::ActualWorkingWidth);
+					if (!retVal.width_mm.isValuePresent)
+					{
+						set_value_from_property(retVal.width_mm, property, DataDescriptionIndex::MaximumWorkingWidth);
+					}
+					if (!retVal.width_mm.isValuePresent)
+					{
+						set_value_from_property(retVal.width_mm, property, DataDescriptionIndex::DefaultWorkingWidth);
+					}
 				}
 				else if (task_controller_object::ObjectTypes::DeviceProcessData == sectionChildObject->get_object_type())
 				{

isobus/src/isobus_task_controller_client_objects.cpp

@@ -319,6 +319,11 @@ namespace isobus
 			return retVal;
 		}
 
+		DataSpan<const std::uint16_t> DeviceElementObject::get_child_object_ids() const
+		{
+			return DataSpan<const std::uint16_t>(referenceList.data(), referenceList.size());
+		}
+
 		std::uint16_t DeviceElementObject::get_number_child_objects() const
 		{
 			return static_cast<std::uint16_t>(referenceList.size());
@@ -416,6 +421,11 @@ namespace isobus
 			propertiesBitfield = properties;
 		}
 
+		bool DeviceProcessDataObject::has_property(DeviceProcessDataObject::PropertiesBit property)
+		{
+			return (0 != (propertiesBitfield & static_cast<std::uint8_t>(property)));
+		}
+
 		std::uint8_t DeviceProcessDataObject::get_trigger_methods_bitfield() const
 		{
 			return triggerMethodsBitfield;
@@ -426,6 +436,11 @@ namespace isobus
 			triggerMethodsBitfield = methods;
 		}
 
+		bool DeviceProcessDataObject::has_trigger_method(DeviceProcessDataObject::AvailableTriggerMethods method)
+		{
+			return (0 != (triggerMethodsBitfield & static_cast<std::uint8_t>(method)));
+		}
+
 		const std::string DevicePropertyObject::tableID = "DPT";
 
 		DevicePropertyObject::DevicePropertyObject(std::string propertyDesignator,

isobus/src/isobus_task_controller_server.cpp

@@ -61,36 +61,43 @@ namespace isobus
 
 	bool TaskControllerServer::send_time_interval_measurement_command(std::shared_ptr<ControlFunction> clientControlFunction, std::uint16_t dataDescriptionIndex, std::uint16_t elementNumber, std::uint32_t timeInterval) const
 	{
+		LOG_DEBUG("[TC Server]: Requesting time interval measurement from client %hhu for DDI %s element %hu with time interval %u ms", clientControlFunction->get_address(), DataDictionary::ddi_to_string(dataDescriptionIndex).c_str(), elementNumber, timeInterval);
 		return send_measurement_command(clientControlFunction, static_cast<std::uint8_t>(ProcessDataCommands::MeasurementTimeInterval), dataDescriptionIndex, elementNumber, timeInterval);
 	}
 
 	bool TaskControllerServer::send_distance_interval_measurement_command(std::shared_ptr<ControlFunction> clientControlFunction, std::uint16_t dataDescriptionIndex, std::uint16_t elementNumber, std::uint32_t distanceInterval) const
 	{
+		LOG_DEBUG("[TC Server]: Requesting distance interval measurement from client %hhu for DDI %s element %hu with distance interval %u mm", clientControlFunction->get_address(), DataDictionary::ddi_to_string(dataDescriptionIndex).c_str(), elementNumber, distanceInterval);
 		return send_measurement_command(clientControlFunction, static_cast<std::uint8_t>(ProcessDataCommands::MeasurementDistanceInterval), dataDescriptionIndex, elementNumber, distanceInterval);
 	}
 
 	bool TaskControllerServer::send_minimum_threshold_measurement_command(std::shared_ptr<ControlFunction> clientControlFunction, std::uint16_t dataDescriptionIndex, std::uint16_t elementNumber, std::uint32_t minimum) const
 	{
+		LOG_DEBUG("[TC Server]: Requesting minimum threshold measurement from client %hhu for DDI %s element %hu with minimum threshold %u", clientControlFunction->get_address(), DataDictionary::ddi_to_string(dataDescriptionIndex).c_str(), elementNumber, minimum);
 		return send_measurement_command(clientControlFunction, static_cast<std::uint8_t>(ProcessDataCommands::MeasurementMinimumWithinThreshold), dataDescriptionIndex, elementNumber, minimum);
 	}
 
 	bool TaskControllerServer::send_maximum_threshold_measurement_command(std::shared_ptr<ControlFunction> clientControlFunction, std::uint16_t dataDescriptionIndex, std::uint16_t elementNumber, std::uint32_t maximum) const
 	{
+		LOG_DEBUG("[TC Server]: Requesting maximum threshold measurement from client %hhu for DDI %s element %hu with maximum threshold %u", clientControlFunction->get_address(), DataDictionary::ddi_to_string(dataDescriptionIndex).c_str(), elementNumber, maximum);
 		return send_measurement_command(clientControlFunction, static_cast<std::uint8_t>(ProcessDataCommands::MeasurementMaximumWithinThreshold), dataDescriptionIndex, elementNumber, maximum);
 	}
 
 	bool TaskControllerServer::send_change_threshold_measurement_command(std::shared_ptr<ControlFunction> clientControlFunction, std::uint16_t dataDescriptionIndex, std::uint16_t elementNumber, std::uint32_t threshold) const
 	{
+		LOG_DEBUG("[TC Server]: Requesting change threshold measurement from client %hhu for DDI %s element %hu with threshold %u", clientControlFunction->get_address(), DataDictionary::ddi_to_string(dataDescriptionIndex).c_str(), elementNumber, threshold);
 		return send_measurement_command(clientControlFunction, static_cast<std::uint8_t>(ProcessDataCommands::MeasurementChangeThreshold), dataDescriptionIndex, elementNumber, threshold);
 	}
 
 	bool TaskControllerServer::send_set_value_and_acknowledge(std::shared_ptr<ControlFunction> clientControlFunction, std::uint16_t dataDescriptionIndex, std::uint16_t elementNumber, std::uint32_t processDataValue) const
 	{
+		LOG_DEBUG("[TC Server]: Sending set value and acknowledge to client %hhu for DDI %s element %hu with value %s", clientControlFunction->get_address(), DataDictionary::ddi_to_string(dataDescriptionIndex).c_str(), elementNumber, DataDictionary::format_value_with_ddi(dataDescriptionIndex, processDataValue).c_str());
 		return send_measurement_command(clientControlFunction, static_cast<std::uint8_t>(ProcessDataCommands::SetValueAndAcknowledge), dataDescriptionIndex, elementNumber, processDataValue);
 	}
 
 	bool TaskControllerServer::send_set_value(std::shared_ptr<ControlFunction> clientControlFunction, std::uint16_t dataDescriptionIndex, std::uint16_t elementNumber, std::uint32_t processDataValue) const
 	{
+		LOG_DEBUG("[TC Server]: Sending set value to client %hhu for DDI %s element %hu with value %s", clientControlFunction->get_address(), DataDictionary::ddi_to_string(dataDescriptionIndex).c_str(), elementNumber, DataDictionary::format_value_with_ddi(dataDescriptionIndex, processDataValue).c_str());
 		return send_measurement_command(clientControlFunction, static_cast<std::uint8_t>(ProcessDataCommands::Value), dataDescriptionIndex, elementNumber, processDataValue);
 	}