[gunicsba]

Do not merge. This is a test build that combines the changes waiting to go into develop, so they can be tried together on a real tractor. Please leave what you find as comments here.

Getting the build

Open the Checks tab of this PR, then the Build workflow run. The Windows Installer and the Linux tarballs are under Artifacts at the bottom of the run page (you need to be signed in to GitHub). Each new push here produces a new build.

Please attach the log to your comment. When AgIO starts the TC, logging is already on; if you start it yourself, add --log2file. On Windows the logs are in %APPDATA%\AOG-TaskController\logs.

What to try

PR	Change	What to check
#118	Second TECU: fills the gaps next to the tractor's own TECU	See below.
#122	Time/Date answered on request, never sent unprompted	A device requesting PGN 65254 gets UTC plus the correct local offset, unless the tractor's TECU provides it.
#102	Section control switches on by itself	Connect an implement, and open a field in AOG. It should go to automatic without pressing AOG's SC button. Settings: sectionControlOnConnect, sectionControlOnFieldOpen (both default to on).
#105	Reconnect after a TC restart	Restart the TC while an implement is connected. The implement should reconnect and accept section commands again.
#107, #98	UDP parsing and less log noise	Sections and speed keep working. The log has fewer repeated "Unknown start of message" lines.
#82	Tractor Facilities (PGN 65033)	Implements that ask what the tractor provides get an answer. Look for [TractorFacilities] in the log.
#84, #85	Guidance track data and track control levels	With a TRACK-capable implement: track number and deviation arrive, and level negotiation completes. Needs an AgOpenGPS change, see below.
#120	AgIsoStack++ update	General regression check, especially the VT connecting and reconnecting, and implements uploading their object pool.
#121	candleLight/gs_usb adapters on Windows	Only if you have one. Needs an AgOpenGPS change to pick it from AgIO, see below.
#123	TC number setting	Only if the tractor has its own TC: set tcNumber to 2 in settings.json, then restart the TC.

Second TECU (#118). The tecuEnabled setting now picks the role:

• Off, for a tractor with its own TECU: the TC runs as a second TECU and adds only what the tractor's TECU doesn't provide. Search the log for [TECU] to see what it decided to send. Please check that it doesn't duplicate any of the tractor's messages, including in the first seconds after start.
• On, for a tractor without one: the TC is the main TECU at address 240. If a tractor TECU appears, the TC steps down to second TECU, and the VT shows "Tractor ECU found: AOG adds only missing data".

Changes needed in AgOpenGPS

Checked against AgOpenGPS develop (64984a3d).

Feature	What AgOpenGPS needs	Without it
Guidance track data (#84, #85)	PGN 0xF4 from AgOpenGPS-Official/AgOpenGPS#1218 (branch tracksForTC). Still open, so test with an AgOpenGPS built from that PR.	Implements get no track data (DDI 507-513). Track level negotiation and the track control state (DDI 515) don't depend on it.
GNSS quality (DDI 514, already in develop)	AgOpenGPS-Official/AgOpenGPS#1231, still open: AgIO only forwards PGN 0xD6 to the TC when setUDP_isSendNMEAToUDP is on. That defaults to off and has no setting in the UI, so it has to be changed in the AgIO profile for now.	The TC sends a fixed placeholder, quality 1, instead of the real fix quality.
candleLight adapters (#121)	Add a candleLight entry at the end of the adapter list in FormISOBUS.Designer.cs. It has to go at the end because AgIO saves the selected position. To choose between several adapters, also add it to adapterChannels in FormISOBUS.cs.	It can't be picked in AgIO. Start the TC from the command line with --can_adapter=candlelight.

Nothing else needs an AgOpenGPS change. AgOpenGPS develop already sends the field name (PGN 0xF3) that #102 and #84 use. tcNumber and the sectionControlOn... settings have no screen in AgIO, so they're edited in settings.json.

Not in this build

Draft PRs #106, #111, #76 and #75.

Combined here

Merging these needed conflict resolution, so a problem could come from the combination rather than from a single PR:

• Cut log noise: duplicate UDP warnings, global-destination RTS, non-section clients #98 and Parse each AOG UDP datagram on its own so short packets do not drop the next one #107 both rewrote UDP parsing. This build uses Parse each AOG UDP datagram on its own so short packets do not drop the next one #107's parser with Cut log noise: duplicate UDP warnings, global-destination RTS, non-section clients #98's duplicate-log filter.
• Switch section control on automatically when an implement connects #102 and Announce guidance track data (DDI 507-511, 513) to implements #84 both handle the AOG field name (PGN 0xF3). This build has one handler that does both jobs.

Built on Windows, and all 11 unit tests pass. It has not been run on a bus yet.

🤖 Generated with Claude Code

[gunicsba]

Test plan

You don't need to test everything. Start with 1. Basics, then pick the sections that match your tractor and implement. The quoted text is what appears in the log, so you can search for it.

For every test, please note: tractor and implement model, whether the tractor has its own TECU, the tecuEnabled value, the AgOpenGPS version, and roughly what time the problem happened. Attach the log. A CAN trace (PCAN-View, SavvyCAN) helps a lot if you can record one.

Reading a CAN trace: in a 29-bit ID like 0CFE49F0, the middle four digits are the message (FE49) and the last two are the sender (F0). The first two digits vary, so ignore them.

Normal, not a bug: for the first 6.5 s after the TC starts, implements can't connect. The log shows Holding TC Status for 6500 ms (startup), then Quiet period over, sending TC Status again. This is deliberate, see section 4.

---

1. Basics (#120 AgIsoStack update): everyone, please

This update touches address claiming, VT handling and threading, so normal use is the real test.

Do this	Expect	Report if
Start the TC with the implement connected	It connects, uploads its object pool and appears in AgOpenGPS with the right section count	Connection loops, or the pool upload never finishes
Open the VT screens	All pages draw, and speed and status update	Blank or garbled pages, or the VT keeps reconnecting
Turn the VT or tractor off and on, or unplug the implement and plug it back in	Everything reconnects without restarting the TC. Unplugging shows Implement lost: on the VT	The TC crashes or needs a restart, or an implement is reported lost while still connected
Work for an hour or more	Sections and speed stay steady	Crashes, freezes, sections dropping out, or the log growing very fast

2. Second TECU (#118): tractors with and without their own TECU

Changing tecuEnabled needs a TC restart.

A. Tractor has its own TECU, tecuEnabled off (the most important case)

1. Start the TC, and look in the log for Tractor ECU already on the bus.
2. Then Requested tractor facilities (PGN 65033), then either The other Tractor ECUs reported their facilities or Not every Tractor ECU answered PGN 65033; going by what they send.
3. Then one Sending ...: no other Tractor ECU provides it line for each message the tractor doesn't provide. A message with no such line was left to the tractor.
4. In a CAN trace, check that none of these come from two senders: FE48 wheel speed, FE49 ground speed, F022 machine selected speed, FEE8 vehicle direction/speed, F802 COG/SOG. Check the first few seconds after start too.

Report if: any of those comes from both the tractor and the TC, the implement's speed jumps around, or the tractor shows new errors.

B. Tractor has no TECU, tecuEnabled on: the TC takes address 240 (F0) and sends everything. No "stepping down" line should appear.

C. Tractor has no TECU, tecuEnabled off: after 1 to 2.5 s you get a Sending line for every message.

D. Stepping down (tecuEnabled on): start the TC first, then power up the tractor's TECU. Expect stepping down to a secondary Tractor ECU and "Tractor ECU found: AOG adds only missing data" on the VT. Speed at the implement shouldn't drop to zero.

E. The tractor's TECU goes away (if you can do this safely): expect The Tractor ECU at ... left the bus, then Sending lines within a few seconds.

Always report: TECU failed to claim an address.

3. Section control switches on by itself (#102)

Do this	Expect in the log	Report if
Connect an implement	About 2 s after its pool is activated: Applying initial section control state: enabled. The implement goes to automatic without pressing the SC button	It stays in manual
Close and open a field in AgOpenGPS	AOG opened field '...': switching section control on	It stays in manual after a field change
Press AgOpenGPS's SC button off, then on	The implement follows, as before	The button no longer works, or section control switches itself back on
Set the operator's switch on the implement to manual	The implement stays in manual until the next connect or field open	The TC fights the operator
Set sectionControlOnConnect and sectionControlOnFieldOpen to false	It goes back to the old behaviour: press the button yourself	It still switches on

4. Reconnect after a TC restart (#105)

1. With the implement connected and working, restart the TC (close and start it from AgIO).
2. Expect the 6.5 s pause, then the implement reconnects and sections work again without power-cycling it.

If an implement keeps talking without having reconnected, the log shows is talking to us as if connected and the VT shows "Reconnecting implement". This can repeat up to 3 times, 30 s apart.

Report if: the log repeats NACKing process data command, the VT shows "Implement not reconnecting: power-cycle it", or sections stay dead after a restart.

5. UDP and log noise (#107, #98)

• Sections and speed from AgOpenGPS stay smooth, with no missed section changes.
• Truncated AOG packet or Unknown start of message lines should be rare. The second one should appear once per packet, not twice. Please report what's after it if you see many.
• If devices on the bus send invalid transport messages, you get one summary line a minute (Ignored N Request to Send message(s)...) instead of a warning for each one.
• The tractor's own TECU shows Non-section client: instead of No supported section control method detected. If an implement with sections gets either of those, please report it.

6. Tractor Facilities and Time/Date (#82, #122)

• Facilities: expect [TractorFacilities] Sent PGN 65033 (power-up). As the main TECU the bytes are 0x6 0x0 0xf8 0x0 0x4 0x0 0x0 0x0. As a second TECU they should list only what it adds.
• Time/Date: the TC should never send FEE6 by itself, so a trace should be silent unless something asks. When something does, the log shows Answering requests for PGN 65254 once.
• If nothing on your bus asks, you can send a global request from a CAN tool: ID 18EAFFFA, data E6 FE 00. We've only read through this path in the code, so tell us if there's no answer.
• Checking the answer: the bytes are seconds×4, minutes, hours (UTC), month, day×4, year−1985, then minute offset+125 and hour offset+125. In Central Europe the last byte is 7E (+1 h) in winter and 7F (+2 h) in summer.
• With a tractor TECU that provides Time/Date, the TC must stay silent.

7. Guidance track data and track control (#84, #85): TRACK-capable implement only

Needs AgOpenGPS built from AgOpenGPS-Official/AgOpenGPS#1218. Without it, the "Track state" line on the VT stays OFF.

Do this	Expect	Report if
Open a field	Field opened: NAME (index N). Reopening the same field gives the same index	The index changes for the same field
Connect the implement	Mapped DDI 507 to 513 lines for what it declares. declared but not settable means that one isn't sent, which is fine	Expected DDIs are missing
Select an AB line or curve	The VT status page shows Track state ref:... track:...	It stays OFF
Drive across passes, including a U-turn	The track number follows the pass; the implement agrees on the left and right neighbours	Wrong number or left and right swapped
Switch to another guidance line	ref changes	ref stays the same
Close the field or turn guidance off	Track data stops, and Track state goes back to OFF	Old track data keeps being sent
Connect, level negotiation	Implement reports supported track control levels=, Wrote track control level 1, Implement confirmed track control level 1 — negotiation complete. The VT shows Track levels L1	no common level on an implement that supports Level 1
Press Auto on and off in AgOpenGPS	Track control state=On / Off, and the implement follows	The implement doesn't follow

An implement without TRACK should behave exactly as before.

8. Only if it applies to you

• candleLight adapter (Add the candleLight/gs_usb adapter option on Windows #121): start the TC from the command line with --can_adapter=candlelight. The adapter has to appear in Device Manager under "Universal Serial Bus devices". Then repeat section 1. No candleLight/gs_usb WinUSB device found means the adapter wasn't found or isn't using WinUSB.
• TC number (Make the TC number configurable, with automatic selection #123), for a tractor with its own TC: set "tcNumber": 2 in settings.json and restart. The log shows Creating Task Controller control function (TC number 2). The implement should offer or connect to TC 2, and "Identify TC" shows === TC NUMBER 2 IDENTIFIED === in the log.