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[TC]: Add product abstraction to DDOP helper
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This provides a way to get rate/product information from a DDOP.
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@ad3154
ad3154 committed Mar 2, 2024
1 parent 89964c4 commit ee79ec9
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107 changes: 93 additions & 14 deletions isobus/include/isobus/isobus/isobus_device_descriptor_object_pool_helpers.hpp
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#ifndef ISOBUS_DEVICE_DESCRIPTOR_OBJECT_POOL_HELPERS_HPP
#define ISOBUS_DEVICE_DESCRIPTOR_OBJECT_POOL_HELPERS_HPP

#include "isobus/isobus/can_constants.hpp"
#include "isobus/isobus/isobus_device_descriptor_object_pool.hpp"
#include "isobus_standard_data_description_indices.hpp"
#include "isobus/isobus/isobus_standard_data_description_indices.hpp"

namespace isobus
{
Expand Down Expand Up @@ -52,38 +53,63 @@ namespace isobus
/// @returns The value if it exists, otherwise 0.
std::int32_t get() const;

private:
protected:
friend class DeviceDescriptorObjectPoolHelper; ///< Allow our helper to change the values

std::int32_t value = 0; ///< The value being wrapped by this object
bool isValuePresent = false; ///< Stores if the value has ever been set
bool isSettable = false; ///< Stores if the value can be set, such as on a DPD's value
};

/// @brief A helper class that groups a DDI with an object id
class RateMetadata : public ObjectPoolValue
{
public:
std::uint16_t dataDictionaryIdentifier = static_cast<std::uint16_t>(DataDescriptionIndex::Reserved); ///< The data dictionary index of the product control rate
std::uint16_t objectID = NULL_OBJECT_ID; ///< The object ID of the rate

protected:
friend class DeviceDescriptorObjectPoolHelper; ///< Allow our helper to change the values
};

/// @brief A helper class that groups product rate infomation together.
/// A TC server could use this to know quickly what rates are available and how to interact with them.
/// Use the associated element number and DDI to perform value commands and requests with a client.
class ProductControlInformation
{
public:
/// @brief Returns true if any rate information is populated.
/// @returns true if any rate information is populated, otherwise false
bool is_valid() const;

RateMetadata rateSetpoint; ///< The info needed to interact with the rate setpoint
RateMetadata rateActual; ///< The info needed to get the actual rate
RateMetadata rateDefault; ///< The info needed to interact with the default rate
RateMetadata rateMinimum; ///< The info needed to interact with the minimum rate
RateMetadata rateMaximum; ///< The info needed to interact with the maximum rate
};

/// @brief A helper class that describes an individual section of a boom.
/// This is used to describe the sections of a boom. Units are defined in mm as specified
/// in the ISO 11783-10 standard. X offsets are fore/aft. Y offsets are left/right again as
/// defined in the ISO 11783-10 standard.
class Section
{
public:
/// @brief Default constructor for a helper class that describes an individual section of a boom
Section();

ObjectPoolValue xOffset_mm; ///< The x offset of the section in mm. X offsets are fore+/aft-.
ObjectPoolValue yOffset_mm; ///< The y offset of the section in mm. Y offsets are left-/right+.
ObjectPoolValue zOffset_mm; ///< The z offset of the section in mm. Z offsets are up+/down-.
ObjectPoolValue width_mm; ///< The width of the section in mm.
std::vector<ProductControlInformation> rates; ///< If the section has rates, this will contain the associated data needed to control the product.
std::uint16_t elementNumber = NULL_OBJECT_ID; ///< The element number of the section, which can be used to avoid further parsing of the DDOP when issuing commands.
};

/// @brief A helper class that describes a sub boom (not all devices support this)
class SubBoom
{
public:
/// @brief Default constructor for a helper class that describes a sub boom
SubBoom();

std::vector<Section> sections; ///< The sections of the sub boom
std::vector<ProductControlInformation> rates; ///< If the sub-boom has rates, this will contain the associated data needed to control the product.
ObjectPoolValue xOffset_mm; ///< The x offset of the sub boom in mm. X offsets are fore+/aft-.
ObjectPoolValue yOffset_mm; ///< The y offset of the sub boom in mm. Y offsets are left-/right+.
ObjectPoolValue zOffset_mm; ///< The z offset of the sub boom in mm. Z offsets are up+/down-.
Expand All @@ -97,6 +123,7 @@ namespace isobus
public:
std::vector<Section> sections; ///< The sections of the boom
std::vector<SubBoom> subBooms; ///< The sub booms of the boom
std::vector<ProductControlInformation> rates; ///< If the boom has rates, this will contain the associated data needed to control the product.
ObjectPoolValue xOffset_mm; ///< The x offset of the sub boom in mm. X offsets are fore+/aft-.
ObjectPoolValue yOffset_mm; ///< The y offset of the sub boom in mm. Y offsets are left-/right+.
ObjectPoolValue zOffset_mm; ///< The z offset of the sub boom in mm. Z offsets are up+/down-.
Expand Down Expand Up @@ -137,21 +164,73 @@ namespace isobus
static SubBoom parse_sub_boom(DeviceDescriptorObjectPool &ddop,
std::shared_ptr<task_controller_object::DeviceElementObject> elementObject);

/// @brief Parses a bin element of the DDOP
/// @param[in] ddop The DDOP to get the implement product control info from
/// @param[in] elementObject The element to parse
/// @returns The parsed product control information, or a default product control information if the elementObject is invalid or has no relevant data
static ProductControlInformation parse_bin(DeviceDescriptorObjectPool &ddop,
std::shared_ptr<task_controller_object::DeviceElementObject> elementObject);

/// @brief Sets the value and presence based on a DDI match.
/// @param[in,out] objectPoolValue The object pool value to set.
/// @param[in] property The device property object.
/// @param[in] ddi The DDI to check against.
static void setValueFromProperty(ObjectPoolValue &objectPoolValue,
const std::shared_ptr<task_controller_object::DevicePropertyObject> &property,
DataDescriptionIndex ddi);
static void set_value_from_property(ObjectPoolValue &objectPoolValue,
const std::shared_ptr<task_controller_object::DevicePropertyObject> &property,
DataDescriptionIndex ddi);

/// @brief Sets the settable flag based on a DDI match for process data.
/// @param[in,out] objectPoolValue The object pool value to update.
/// @param[in] processData The device process data object.
/// @param[in] ddi The DDI to check against.
static void setEditableFromProcessData(ObjectPoolValue &objectPoolValue,
const std::shared_ptr<task_controller_object::DeviceProcessDataObject> &processData,
DataDescriptionIndex ddi);
static void set_editable_from_process_data(ObjectPoolValue &objectPoolValue,
const std::shared_ptr<task_controller_object::DeviceProcessDataObject> &processData,
DataDescriptionIndex ddi);

/// @brief Sets the max rate field of the product control information based on the supplied object
/// if the DDI is known to be a max rate DDI.
/// @param[in,out] productControlInformation The product control information to update.
/// @param[in] object The object to use to update the product control information.
/// @param[in] ddi The DDI to check against.
static void set_product_control_information_max_rate(ProductControlInformation &productControlInformation,
const std::shared_ptr<task_controller_object::Object> &object,
std::uint16_t ddi);

/// @brief Sets the minimum rate field of the product control information based on the supplied object
/// if the DDI is known to be a minimum rate DDI.
/// @param[in,out] productControlInformation The product control information to update.
/// @param[in] object The object to use to update the product control information.
/// @param[in] ddi The DDI to check against.
static void set_product_control_information_min_rate(ProductControlInformation &productControlInformation,
const std::shared_ptr<task_controller_object::Object> &object,
std::uint16_t ddi);

/// @brief Sets the default rate field of the product control information based on the supplied object
/// if the DDI is known to be a default rate DDI.
/// @param[in,out] productControlInformation The product control information to update.
/// @param[in] object The object to use to update the product control information.
/// @param[in] ddi The DDI to check against.
static void set_product_control_information_default_rate(ProductControlInformation &productControlInformation,
const std::shared_ptr<task_controller_object::Object> &object,
std::uint16_t ddi);

/// @brief Sets the setpoint rate field of the product control information based on the supplied object
/// if the DDI is known to be a setpoint rate DDI.
/// @param[in,out] productControlInformation The product control information to update.
/// @param[in] object The object to use to update the product control information.
/// @param[in] ddi The DDI to check against.
static void set_product_control_information_setpoint_rate(ProductControlInformation &productControlInformation,
const std::shared_ptr<task_controller_object::Object> &object,
std::uint16_t ddi);

/// @brief Sets the actual rate field of the product control information based on the supplied object
/// if the DDI is known to be a actual rate DDI.
/// @param[in,out] productControlInformation The product control information to update.
/// @param[in] object The object to use to update the product control information.
/// @param[in] ddi The DDI to check against.
static void set_product_control_information_actual_rate(ProductControlInformation &productControlInformation,
const std::shared_ptr<task_controller_object::Object> &object,
std::uint16_t ddi);
};
} // namespace isobus

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3 changes: 2 additions & 1 deletion isobus/include/isobus/isobus/isobus_standard_data_description_indices.hpp
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Expand Up @@ -541,7 +541,8 @@ namespace isobus
ActualCoolingFluidTemperature = 0x020E, ///< The actual temperature of the cooling fluid for the machine.
LastBaleCapacity = 0x0210, ///< The capacity of the bale that leaves the machine.
PGNBasedData = 0xDFFE, ///< This DDI is used in the XML files to identify PGN based data.
RequestDefaultProcessData = 0xDFFF ///< Request Default Process Data. This DDE is the highest ISO assigned entity. The range above this number is reserved for manufacture specific DDE's.
RequestDefaultProcessData = 0xDFFF, ///< Request Default Process Data. This DDE is the highest ISO assigned entity. The range above this number is reserved for manufacture specific DDE's.
Reserved = 0xFFFF
};
}

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