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Log AOG's section demand and warn when an implement works without it #108

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Log AOG's section demand and warn when an implement works without it #108

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19 changes: 19 additions & 0 deletions include/app.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,13 @@ class Application

void send_task_controller_status_message();

/// @brief Logs AOG's section demand (PGN 229) when it changed, at most every SECTION_DEMAND_LOG_INTERVAL_MS
void log_section_demand();
/// @brief Logs when PGN 229 starts and stops, and warns when an implement in automatic is working
/// while AOG asks for no sections — e.g. AOG's own section Auto button is off after a field change
void check_section_demand();
static std::string describe_section_demand(const std::vector<bool> &demand, std::uint8_t numberOfSections);

bool setup_can_hardware();
bool setup_control_functions();
void setup_task_controller_server();
Expand Down Expand Up @@ -107,6 +114,18 @@ class Application
static constexpr std::uint32_t GNSS_QUALITY_TIMEOUT_MS = 2000; ///< No PGN 0xD6 for this long = fix quality unknown
std::uint32_t lastDistanceMm = 0;
std::uint32_t lastAogPacketMs = 0;

static constexpr std::uint32_t SECTION_DEMAND_LOG_INTERVAL_MS = 200;
static constexpr std::uint32_t SECTION_DEMAND_TIMEOUT_MS = 2000; ///< AOG sends PGN 229 every frame while a field is open
static constexpr std::uint32_t WORKING_WITHOUT_DEMAND_WARNING_MS = 10000;
std::vector<bool> sectionDemand; ///< Last section states from AOG (PGN 229)
std::vector<bool> loggedSectionDemand; ///< The section demand last written to the log
std::uint32_t sectionDemandChangesSinceLog = 0;
std::uint32_t lastSectionDemandMs = 0; ///< When PGN 229 was last received, 0 = never
std::uint32_t lastSectionDemandLogMs = 0;
bool sectionDemandArriving = false;
std::map<std::uint64_t, std::uint32_t> workingWithoutDemandSinceMs; ///< Per client NAME
std::map<std::uint64_t, bool> workingWithoutDemandWarned; ///< Per client NAME
std::uint32_t vtDisconnectedSinceMs = 0;
std::uint32_t lastVtStatusUpdateMs = 0;
std::uint32_t lastVtSectionUpdateMs = 0;
Expand Down
132 changes: 132 additions & 0 deletions src/app.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -501,6 +501,12 @@ void Application::setup_udp_connections()
sectionStates.push_back(data[j] & (1 << i));
}
}
lastSectionDemandMs = (0 == lastAogPacketMs) ? 1 : lastAogPacketMs;
if (sectionStates != sectionDemand)
{
sectionDemand = sectionStates;
sectionDemandChangesSinceLog++;
}
tcServer->update_section_states(sectionStates);
}
else if (pgn == 0xF1 && !data.empty()) // 241 - Section Control
Expand Down Expand Up @@ -643,6 +649,14 @@ bool Application::update()
if (vtClient)
update_vt_client();

log_section_demand();
static std::uint32_t lastSectionDemandCheckMs = 0;
if (isobus::SystemTiming::time_expired_ms(lastSectionDemandCheckMs, 1000))
{
check_section_demand();
lastSectionDemandCheckMs = isobus::SystemTiming::get_timestamp_ms();
}

// Check for TC address conflicts every 15 seconds
static std::uint32_t lastConflictCheck = 0;
if (isobus::SystemTiming::time_expired_ms(lastConflictCheck, 15000))
Expand Down Expand Up @@ -933,6 +947,124 @@ Application::ImplementDetails Application::derive_implement_details(ClientState
return details;
}

std::string Application::describe_section_demand(const std::vector<bool> &demand, std::uint8_t numberOfSections)
{
// Sections that are on, as ranges: "4 on: 3-6"
std::ostringstream ranges;
std::size_t onCount = 0;
std::size_t count = (0 == numberOfSections) ? demand.size() : std::min<std::size_t>(numberOfSections, demand.size());
for (std::size_t i = 0; i < count; i++)
{
if (!demand[i] || ((i > 0) && demand[i - 1]))
{
onCount += demand[i] ? 1 : 0;
continue;
}
std::size_t last = i;
while ((last + 1 < count) && demand[last + 1])
{
last++;
}
ranges << ((0 == onCount) ? "" : ",") << (i + 1);
if (last > i)
{
ranges << "-" << (last + 1);
}
onCount++;
}
if (0 == onCount)
{
return "all off";
}
return std::to_string(onCount) + " on: " + ranges.str();
}

void Application::log_section_demand()
{
if ((0 == sectionDemandChangesSinceLog) ||
!isobus::SystemTiming::time_expired_ms(lastSectionDemandLogMs, SECTION_DEMAND_LOG_INTERVAL_MS))
{
return;
}

if (sectionDemand != loggedSectionDemand)
{
std::uint8_t numberOfSections = 0;
for (auto &client : tcServer->get_clients())
{
numberOfSections = std::max(numberOfSections, client.second.get_number_of_sections());
}

std::ostream &line = log("AOG");
line << "Section demand (PGN 229): " << describe_section_demand(sectionDemand, numberOfSections);
if (sectionDemandChangesSinceLog > 1)
{
line << " (" << (sectionDemandChangesSinceLog - 1) << " intermediate changes not logged)";
}
line << std::endl;
loggedSectionDemand = sectionDemand;
}
sectionDemandChangesSinceLog = 0;
lastSectionDemandLogMs = isobus::SystemTiming::get_timestamp_ms();
}

void Application::check_section_demand()
{
const bool arriving = (0 != lastSectionDemandMs) && !isobus::SystemTiming::time_expired_ms(lastSectionDemandMs, SECTION_DEMAND_TIMEOUT_MS);
if (arriving != sectionDemandArriving)
{
sectionDemandArriving = arriving;
log("AOG") << (arriving ? "Section demand (PGN 229) started arriving"
: "Section demand (PGN 229) stopped arriving (AOG sends it only while a field is open)")
<< std::endl;
}

const std::uint32_t nowMs = isobus::SystemTiming::get_timestamp_ms();
for (auto &client : tcServer->get_clients())
{
auto &state = client.second;
const std::uint64_t name = client.first->get_NAME().get_full_name();
std::vector<bool> actual;
bool demanded = false;
for (std::uint8_t i = 0; i < state.get_number_of_sections(); i++)
{
actual.push_back(SectionState::ON == state.get_section_actual_state(i));
demanded = demanded || (arriving && (i < sectionDemand.size()) && sectionDemand[i]);
}
const bool working = (actual.end() != std::find(actual.begin(), actual.end(), true));

std::ostringstream clientText;
clientText << "0x" << std::hex << std::uppercase << std::setw(2) << std::setfill('0') << static_cast<int>(client.first->get_address());

if (!state.is_section_control_enabled() || !working || demanded)
{
if (workingWithoutDemandWarned[name])
{
log("AOG") << "Client " << clientText.str() << " sections follow AOG's section control again" << std::endl;
}
workingWithoutDemandSinceMs.erase(name);
workingWithoutDemandWarned.erase(name);
continue;
}

auto since = workingWithoutDemandSinceMs.try_emplace(name, nowMs).first;
if (!workingWithoutDemandWarned[name] && ((nowMs - since->second) >= WORKING_WITHOUT_DEMAND_WARNING_MS))
{
workingWithoutDemandWarned[name] = true;
log("AOG") << "WARNING: client " << clientText.str() << " has been in automatic and working for "
<< (WORKING_WITHOUT_DEMAND_WARNING_MS / 1000) << " s (actual: "
<< describe_section_demand(actual, state.get_number_of_sections()) << ") but AOG "
<< (arriving ? "asks for no sections. Is AOG's section Auto button on?"
: "sends no section states. Is a field open in AOG?")
<< std::endl;
send_hardware_message(arriving ? "Implement working but AOG sections are off: turn on AOG's section Auto"
: "Implement working but no field is open in AOG",
20,
HW_MSG_ALERT);
}
}
}

void Application::send_task_controller_status_message()
{
// ISO 11783-10 B.8.1 Task Controller Status message
Expand Down
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