[TC]: TC Server Cleanup and Fixes

Add TC server options helper class.
Continued improving unit tests.
Replaced some manual bit shifting with helper functions.
Cleaned up some sonar warnings.
Added helper function for sending process data messages.
Add condition variable for when messages are received by the TC.
Improved thread safety of TC server.

examples/task_controller_server/console_logger.cpp

@@ -6,6 +6,9 @@
 class CustomLogger : public isobus::CANStackLogger
 {
 public:
+	/// @brief Destructor for the custom logger.
+	virtual ~CustomLogger() = default;
+
 	void sink_CAN_stack_log(CANStackLogger::LoggingLevel level, const std::string &text) override
 	{
 		switch (level)

examples/task_controller_server/main.cpp

@@ -4,6 +4,7 @@
 #include "isobus/isobus/can_network_manager.hpp"
 #include "isobus/isobus/can_partnered_control_function.hpp"
 #include "isobus/isobus/can_stack_logger.hpp"
+#include "isobus/isobus/isobus_preferred_addresses.hpp"
 #include "isobus/isobus/isobus_task_controller_server.hpp"
 
 #include "console_logger.cpp"
@@ -31,12 +32,12 @@ class MyTCServer : public isobus::TaskControllerServer
 	           std::uint8_t numberBoomsSupported,
 	           std::uint8_t numberSectionsSupported,
 	           std::uint8_t numberChannelsSupportedForPositionBasedControl,
-	           std::uint8_t optionsBitfield) :
+	           const isobus::TaskControllerOptions &options) :
 	  TaskControllerServer(internalControlFunction,
 	                       numberBoomsSupported,
 	                       numberSectionsSupported,
 	                       numberChannelsSupportedForPositionBasedControl,
-	                       optionsBitfield)
+	                       options)
 	{
 	}
 
@@ -45,59 +46,58 @@ class MyTCServer : public isobus::TaskControllerServer
 		return true;
 	}
 
-	bool change_designator(std::shared_ptr<isobus::ControlFunction>, std::uint16_t, const std::vector<std::uint8_t> &)
+	bool change_designator(std::shared_ptr<isobus::ControlFunction>, std::uint16_t, const std::vector<std::uint8_t> &) override
 	{
 		return true;
 	}
 
-	bool deactivate_object_pool(std::shared_ptr<isobus::ControlFunction>)
+	bool deactivate_object_pool(std::shared_ptr<isobus::ControlFunction>) override
 	{
 		return true;
 	}
 
-	bool delete_device_descriptor_object_pool(std::shared_ptr<isobus::ControlFunction>, ObjectPoolDeletionErrors &)
+	bool delete_device_descriptor_object_pool(std::shared_ptr<isobus::ControlFunction>, ObjectPoolDeletionErrors &) override
 	{
 		return true;
 	}
 
-	bool get_is_stored_device_descriptor_object_pool_by_structure_label(std::shared_ptr<isobus::ControlFunction>, const std::vector<std::uint8_t> &, const std::vector<std::uint8_t> &)
+	bool get_is_stored_device_descriptor_object_pool_by_structure_label(std::shared_ptr<isobus::ControlFunction>, const std::vector<std::uint8_t> &, const std::vector<std::uint8_t> &) override
 	{
 		return false;
 	}
 
-	bool get_is_stored_device_descriptor_object_pool_by_localization_label(std::shared_ptr<isobus::ControlFunction>, const std::array<std::uint8_t, 7> &)
+	bool get_is_stored_device_descriptor_object_pool_by_localization_label(std::shared_ptr<isobus::ControlFunction>, const std::array<std::uint8_t, 7> &) override
 	{
 		return false;
 	}
 
-	bool get_is_enough_memory_available(std::uint32_t)
+	bool get_is_enough_memory_available(std::uint32_t) override
 	{
 		return true;
 	}
 
-	std::uint32_t get_number_of_complete_object_pools_stored_for_client(std::shared_ptr<isobus::ControlFunction>)
+	void identify_task_controller(std::uint8_t) override
 	{
-		return 0;
+		// When this is called, the TC is supposed to display its TC number for 3 seconds if possible (which is passed into this function).
+		// Your TC's number is your function code + 1, in the range of 1-32.
 	}
 
-	void identify_task_controller(std::uint8_t)
+	void on_client_timeout(std::shared_ptr<isobus::ControlFunction>) override
 	{
+		// You can use this function to handle when a client times out (6 Seconds)
 	}
 
-	void on_client_timeout(std::shared_ptr<isobus::ControlFunction>)
+	void on_process_data_acknowledge(std::shared_ptr<isobus::ControlFunction>, std::uint16_t, std::uint16_t, std::uint8_t, ProcessDataCommands) override
 	{
+		// This callback lets you know when a client sends a process data acknowledge (PDACK) message to you
 	}
 
-	void on_process_data_acknowledge(std::shared_ptr<isobus::ControlFunction>, std::uint16_t, std::uint16_t, std::uint8_t, ProcessDataCommands)
-	{
-	}
-
-	bool on_value_command(std::shared_ptr<isobus::ControlFunction>, std::uint16_t, std::uint16_t, std::int32_t, std::uint8_t &)
+	bool on_value_command(std::shared_ptr<isobus::ControlFunction>, std::uint16_t, std::uint16_t, std::int32_t, std::uint8_t &) override
 	{
 		return true;
 	}
 
-	bool store_device_descriptor_object_pool(std::shared_ptr<isobus::ControlFunction>, const std::vector<std::uint8_t> &, bool)
+	bool store_device_descriptor_object_pool(std::shared_ptr<isobus::ControlFunction>, const std::vector<std::uint8_t> &, bool) override
 	{
 		return true;
 	}
@@ -152,8 +152,15 @@ int main()
 	TestDeviceNAME.set_device_class_instance(0);
 	TestDeviceNAME.set_manufacturer_code(1407);
 
-	auto TestInternalECU = isobus::InternalControlFunction::create(TestDeviceNAME, 247, 0); // The preferred address for a TC is defined in ISO 11783
-	MyTCServer server(TestInternalECU, 4, 255, 16, 0x17); // 4 booms, 255 sections, 16 channels, some options configured using isobus::TaskControllerServer::ServerOptions, such as "Supports Documentation"
+	auto TestInternalECU = isobus::InternalControlFunction::create(TestDeviceNAME, isobus::preferred_addresses::IndustryGroup2::TaskController_MappingComputer, 0);
+	MyTCServer server(TestInternalECU,
+	                  4, // Booms
+	                  255, // Sections
+	                  16, // Channels
+	                  isobus::TaskControllerOptions()
+	                    .with_documentation()
+	                    .with_implement_section_control()
+	                    .with_tc_geo_with_position_based_control());
 	auto &languageInterface = server.get_language_command_interface();
 	languageInterface.set_language_code("en"); // This is the default, but you can change it if you want
 	languageInterface.set_country_code("US"); // This is the default, but you can change it if you want

isobus/CMakeLists.txt

@@ -44,6 +44,7 @@ set(ISOBUS_SRC
     "isobus_virtual_terminal_client_state_tracker.cpp"
     "isobus_virtual_terminal_client_update_helper.cpp"
     "isobus_task_controller_server.cpp"
+    "isobus_task_controller_server_options.cpp"
     "nmea2000_message_definitions.cpp"
     "nmea2000_message_interface.cpp"
     "can_message_data.cpp")
@@ -91,6 +92,7 @@ set(ISOBUS_INCLUDE
     "isobus_virtual_terminal_client_state_tracker.hpp"
     "isobus_virtual_terminal_client_update_helper.hpp"
     "isobus_task_controller_server.hpp"
+    "isobus_task_controller_server_options.hpp"
     "nmea2000_message_definitions.hpp"
     "nmea2000_message_interface.hpp"
     "isobus_preferred_addresses.hpp"