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64 sections support #28

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15 changes: 6 additions & 9 deletions src/app.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -134,19 +134,16 @@ bool Application::initialize()
static std::uint32_t lastXteTransmit = 0;

auto packetHandler = [this, tcCF](std::uint8_t src, std::uint8_t pgn, std::span<std::uint8_t> data) {
if (src == 0x7F && pgn == 0xFE) // 254 - Steer Data
if (src == 0x7F && pgn == 0xE5) // 229 - 64 sections PGN
{
// TODO: hack to get desired section states. probably want to make a new pgn later when we need more than 16 sections
std::vector<bool> sectionStates;
for (std::uint8_t i = 0; i < 8; i++)
for (std::uint8_t j = 0; j < 8; j++)
{
sectionStates.push_back(data[6] & (1 << i));
}
for (std::uint8_t i = 0; i < 8; i++)
{
sectionStates.push_back(data[7] & (1 << i));
for (std::uint8_t i = 0; i < 8; i++)
{
sectionStates.push_back(data[j] & (1 << i));
}
}

tcServer->update_section_states(sectionStates);
}
else if (src == 0x7F && pgn == 0xF1) // 241 - Section Control
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4 changes: 2 additions & 2 deletions src/task_controller.cpp
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Expand Up @@ -228,8 +228,8 @@ bool ClientState::try_get_element_work_state(std::uint16_t elementNumber, bool &
MyTCServer::MyTCServer(std::shared_ptr<isobus::InternalControlFunction> internalControlFunction) :
TaskControllerServer(internalControlFunction,
1, // AOG limits to 1 boom
16, // AOG limits to 16 sections of unique width
16, // 16 channels for position based control
64, // AOG limits to 16 sections of unique width but can be 64 by using zones
64, // 64 channels for position based control
isobus::TaskControllerOptions()
.with_implement_section_control(), // We support section control
TaskControllerVersion::SecondEditionDraft)
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