Test build: upcoming changes for field testing (do not merge)

.github/workflows/validate-iop.yml

@@ -34,7 +34,7 @@ jobs:
           -Wno-dev
 
       - name: Build
-        run: cmake --build build --config Release --target iop_validator
+        run: cmake --build build --config Release --target iop_validator test_tractor_facilities
 
       - name: Validate object pool
         run: ctest --test-dir build --output-on-failure

CMakeLists.txt

@@ -41,6 +41,7 @@ if(NOT DEFINED CAN_DRIVER)
     list(APPEND CAN_DRIVER "WindowsInnoMakerUSB2CAN")
     list(APPEND CAN_DRIVER "TouCAN")
     list(APPEND CAN_DRIVER "SYS_TEC")
+    list(APPEND CAN_DRIVER "WindowsCandleLight")
   elseif(APPLE)
     set(CAN_DRIVER "MacCANPCAN")
   else()
@@ -62,7 +63,7 @@ FetchContent_MakeAvailable(Boost)
 FetchContent_Declare(
   isobus
   GIT_REPOSITORY https://github.com/Open-Agriculture/AgIsoStack-plus-plus.git
-  GIT_TAG 1d081d9a9df61e256015efda3683d15c8fa3d580
+  GIT_TAG 02f3fe910de5fdc73e2014394c2e80900490b9cc
   DOWNLOAD_EXTRACT_TIMESTAMP TRUE)
 FetchContent_MakeAvailable(isobus)
 
@@ -159,6 +160,22 @@ if(AOG_TC_VALIDATE_IOP)
   add_test(NAME object_pool_attributes_in_range COMMAND iop_validator
                                                         "${AOG_TC_IOP_SOURCE}")
 
+  # GuidanceTrackProvider (AOG PGN 0xF4 parsing) unit tests. Made a dependency
+  # of iop_validator so the validation workflow, which builds only that target,
+  # also builds this test.
+  add_executable(
+    test_guidance_track
+    ${CMAKE_CURRENT_LIST_DIR}/tools/test_guidance_track.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/src/guidance_track_context.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/src/async_log.cpp)
+  target_compile_features(test_guidance_track PRIVATE cxx_std_20)
+  set_target_properties(test_guidance_track PROPERTIES CXX_EXTENSIONS OFF)
+  target_include_directories(test_guidance_track
+                             PRIVATE ${CMAKE_CURRENT_LIST_DIR}/include)
+  target_link_libraries(test_guidance_track PRIVATE Threads::Threads)
+  add_dependencies(iop_validator test_guidance_track)
+  add_test(NAME guidance_track_parsing COMMAND test_guidance_track)
+
   # A deliberately broken pool, so the suite asserts more than "today's pool
   # passes". One case per message, since a shared exit code stays green as long
   # as any one check still fires.
@@ -194,6 +211,16 @@ if(AOG_TC_VALIDATE_IOP)
   add_dependencies(iop_validator test_async_log)
   add_test(NAME async_log COMMAND test_async_log)
 
+  # AOG UDP datagram parsing; the parser is header-only.
+  add_executable(test_aog_packet_parser
+                 ${CMAKE_CURRENT_LIST_DIR}/tools/test_aog_packet_parser.cpp)
+  target_compile_features(test_aog_packet_parser PRIVATE cxx_std_20)
+  set_target_properties(test_aog_packet_parser PROPERTIES CXX_EXTENSIONS OFF)
+  target_include_directories(test_aog_packet_parser
+                             PRIVATE ${CMAKE_CURRENT_LIST_DIR}/include)
+  add_dependencies(iop_validator test_aog_packet_parser)
+  add_test(NAME aog_packet_parser COMMAND test_aog_packet_parser)
+
   # element_hierarchy (cached element parents for the section state lookup) unit
   # tests, built with the validation workflow for the same reason.
   add_executable(test_element_hierarchy
@@ -212,6 +239,37 @@ if(AOG_TC_VALIDATE_IOP)
   add_test(NAME malformed_pool_exit_status COMMAND iop_validator
                                                    "${AOG_TC_MALFORMED_IOP}")
   set_tests_properties(malformed_pool_exit_status PROPERTIES WILL_FAIL TRUE)
+
+  # Tractor Facilities (PGN 65033) encode/decode unit tests
+  add_executable(
+    test_tractor_facilities
+    ${CMAKE_CURRENT_LIST_DIR}/tools/test_tractor_facilities.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/src/tractor_facilities.cpp)
+  target_compile_features(test_tractor_facilities PRIVATE cxx_std_20)
+  set_target_properties(test_tractor_facilities PROPERTIES CXX_EXTENSIONS OFF)
+  target_include_directories(test_tractor_facilities
+                             PRIVATE ${CMAKE_CURRENT_LIST_DIR}/include)
+  target_link_libraries(
+    test_tractor_facilities PRIVATE isobus::Isobus isobus::HardwareIntegration
+                                    isobus::Utility)
+  add_test(NAME tractor_facilities_encode_decode
+           COMMAND test_tractor_facilities)
+
+  # Sharing the bus with other Tractor ECUs (ISO 11783-9 4.4.2.1)
+  add_executable(
+    test_tecu_coexistence
+    ${CMAKE_CURRENT_LIST_DIR}/tools/test_tecu_coexistence.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/src/tecu_coexistence.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/src/tractor_facilities.cpp)
+  target_compile_features(test_tecu_coexistence PRIVATE cxx_std_20)
+  set_target_properties(test_tecu_coexistence PROPERTIES CXX_EXTENSIONS OFF)
+  target_include_directories(test_tecu_coexistence
+                             PRIVATE ${CMAKE_CURRENT_LIST_DIR}/include)
+  target_link_libraries(
+    test_tecu_coexistence PRIVATE isobus::Isobus isobus::HardwareIntegration
+                                  isobus::Utility)
+  add_dependencies(iop_validator test_tecu_coexistence)
+  add_test(NAME tecu_coexistence COMMAND test_tecu_coexistence)
 endif()
 
 if(WIN32)

docs/CONCURRENCY.md

@@ -38,8 +38,9 @@ registered:
   `softKeyEventDispatcher`/`buttonEventDispatcher`/`changeNumericValueEventDispatcher`/etc.
   synchronously). Any raw
   `add_global_parameter_group_number_callback`/`add_any_control_function_parameter_group_number_callback`
-  registered directly in `app.cpp` is in this category too, unless proven otherwise the same way:
-  read the registration call, not the surrounding comments.
+  registered directly in `app.cpp`/`tractor_facilities.cpp` (PGN-request handlers, diagnostic
+  loggers) is in this category too, unless proven otherwise the same way: read the registration
+  call, not the surrounding comments.
 
 If you're not sure which category a new callback falls into, trace it the way this file's history
 did: find where it's registered with `CANNetworkManager`/`ControlFunction` and check whether that
@@ -58,6 +59,21 @@ registration point itself defers to an `update()` call, or invokes the listener/
   overrides may turn out to already be main-thread-only — the lock is cheap insurance and keeps
   every entry point consistent regardless of how the library's internals might change.
 
+- **`OtherTecuMonitor`** (`tecu_coexistence.hpp`/`.cpp`) — `on_frame()` (frame-received event) and its
+  PGN 65033 callback run on the background thread, `refresh()` and the queries on the main thread. The
+  per-address and per-message flags are atomics; the facility map is under its own mutex. It lives as long
+  as `Application` because the stack calls global PGN callbacks from a copy of the list, so one can still run
+  once after `remove_global_parameter_group_number_callback()` returns.
+- **Rebuilding the TECU at runtime** (`Application::teardown_tecu()`, when stepping down to a secondary Tractor
+  ECU) destroys `TractorFacilities`, `SpeedMessagesInterface`, `NMEA2000MessageInterface` and the functionalities
+  object before `deactivate_control_function()`. The PGN request protocol and the "any control function"
+  callbacks are invoked under the same locks their removal takes, so they cannot run against a destroyed
+  object. `TractorFacilities`' PGN 65032 callback may still run once after removal, which is harmless: it only
+  logs and never touches the object. `TractorFacilities::providedFacilities` is under its own mutex
+  (set on the main thread, read when answering a PGN 65033 request).
+- **`TractorFacilities::timeDateActive`** — atomic: set on the main thread from the TECU plan, read on the
+  background thread when answering a request for PGN 65033 or PGN 65254.
+
 ## What's *not* protected yet — known gap
 
 Calls into `vtClient` (`isobus::VirtualTerminalClient`) happen from both the main thread

docs/LINUX_DAEMON.md

@@ -125,6 +125,7 @@ The TC reads `settings.json` from `$XDG_CONFIG_HOME/AOG-TaskController/` (typica
     "aogHeartbeatEnabled": true,
     "vtEnabled": true,
     "tcVersion": 3,
+    "tcNumber": 1,
     "languageCode": "en",
     "countryCode": "US"
 }
@@ -138,6 +139,7 @@ The TC reads `settings.json` from `$XDG_CONFIG_HOME/AOG-TaskController/` (typica
 | `aogHeartbeatEnabled` | `bool` | `true` | Whether the TC sends a 100 ms heartbeat UDP packet to AgIO/AgValonia even when no implement is connected. **Set to `false` if pairing with AgOpenGPS pre-v6.8.2 beta 5** — older AOG versions choke on the heartbeat. |
 | `vtEnabled` | `bool` | `true` | Whether the TC registers its Virtual Terminal UI. |
 | `tcVersion` | `integer` | `3` | Task Controller version code (`0`–`4`); `3` selects Second Edition Draft. |
+| `tcNumber` | `integer` | `1` | Task Controller number, `1`–`32` (ISO 11783-10: the TC NAME's function instance + 1). Set `2` or higher when the tractor already has a TC, so implements can tell the two apart. `0` picks the first number no other TC on the bus has, which adds about 1.4 s to startup. Takes effect after restart. |
 | `languageCode` | `string` | `"en"` | Two-character ISOBUS language code. |
 | `countryCode` | `string` | `"US"` | Two-character ISOBUS country code. |