sf3000 to AOG as written by AI

include/app.hpp

@@ -15,6 +15,7 @@
 #include "isobus/isobus/isobus_speed_distance_messages.hpp"
 #include "isobus/isobus/nmea2000_message_interface.hpp"
 
+#include "gnss_receiver.hpp"
 #include "settings.hpp"
 #include "task_controller.hpp"
 #include "udp_connections.hpp"
@@ -38,6 +39,7 @@ class Application
 	std::shared_ptr<isobus::InternalControlFunction> tecuCF = nullptr;
 	std::unique_ptr<isobus::SpeedMessagesInterface> speedMessagesInterface;
 	std::unique_ptr<isobus::NMEA2000MessageInterface> nmea2000MessageInterface;
+	std::unique_ptr<GnssReceiver> gnssReceiver;
 	std::uint8_t nmea2000SequenceIdentifier = 0;
 	std::uint32_t lastJ1939SpeedTransmit = 0;
 	std::int32_t lastSpeedValue = 0;

include/gnss_receiver.hpp

@@ -0,0 +1,108 @@
+/**
+ * @author Qoder
+ * @brief GNSS receiver that parses J1939 PGNs from a John Deere SF3000 and generates $PANDA NMEA sentences
+ * @version 0.2
+ * @date 2025-03-14
+ */
+
+#pragma once
+
+#include <cstdint>
+#include <fstream>
+#include <memory>
+#include <mutex>
+#include <string>
+#include <unordered_map>
+
+#include "isobus/hardware_integration/can_hardware_interface.hpp"
+#include "isobus/isobus/can_message_frame.hpp"
+#include "isobus/utility/event_dispatcher.hpp"
+
+#include "udp_connections.hpp"
+
+class GnssReceiver
+{
+public:
+	GnssReceiver();
+	~GnssReceiver();
+
+	/// @brief Register the CAN frame listener. Must be called after CANHardwareInterface::start().
+	/// @param reverseEngineerMode If true, log all SF3000 frames to CSV for offline analysis
+	void initialize(bool reverseEngineerMode = false);
+
+	/// @brief Build and send a $PANDA sentence if position data is available. Throttled to 10 Hz.
+	/// @param udp The UDP connections to send the sentence on
+	void send_panda_if_ready(std::shared_ptr<UdpConnections> udp);
+
+private:
+	struct GnssData
+	{
+		double latitude_deg = 0.0;
+		double longitude_deg = 0.0;
+		double altitude_m = 0.0;
+		double heading_deg = 0.0;
+		double speed_kmh = 0.0;
+
+		std::uint8_t hour = 0;
+		std::uint8_t minute = 0;
+		std::uint16_t minute_ms = 0;
+
+		bool has_position = false;
+		bool has_time = false;
+		bool has_altitude = false;
+		bool has_heading = false;
+		bool has_speed = false;
+	};
+
+	/// @brief Per-PGN tracking for reverse engineering
+	struct PgnTracker
+	{
+		std::uint32_t count = 0;
+		std::uint8_t lastPayload[8] = {};
+		std::uint8_t lastLength = 0;
+		std::uint32_t firstSeenMs = 0;
+		std::uint32_t lastSeenMs = 0;
+	};
+
+	void on_can_frame(const isobus::CANMessageFrame &frame);
+
+	// Standard J1939 parsers (kept for buses that broadcast them)
+	void parse_position_standard(const isobus::CANMessageFrame &frame);
+	void parse_time_date_standard(const isobus::CANMessageFrame &frame);
+	void parse_altitude_standard(const isobus::CANMessageFrame &frame);
+	void parse_speed_standard(const isobus::CANMessageFrame &frame);
+
+	// Confirmed/candidate parsers for proprietary Deere PGNs
+	void parse_heading_FE48(const isobus::CANMessageFrame &frame);
+	void parse_candidate_FE45(const isobus::CANMessageFrame &frame);
+	void parse_candidate_FE43(const isobus::CANMessageFrame &frame);
+	void parse_candidate_FE12(const isobus::CANMessageFrame &frame);
+	void parse_candidate_FE13(const isobus::CANMessageFrame &frame);
+	void parse_candidate_FFFA(const isobus::CANMessageFrame &frame);
+	void parse_candidate_FFFB(const isobus::CANMessageFrame &frame);
+	void parse_candidate_ACFF(const isobus::CANMessageFrame &frame);
+	void parse_candidate_FE0A(const isobus::CANMessageFrame &frame);
+	void parse_candidate_F022(const isobus::CANMessageFrame &frame);
+	void parse_candidate_FFFF(const isobus::CANMessageFrame &frame);
+
+	void log_frame_raw(std::uint32_t pgn, std::uint8_t sa, const isobus::CANMessageFrame &frame);
+	void log_frame_csv(std::uint32_t pgn, std::uint8_t sa, const isobus::CANMessageFrame &frame);
+
+	std::string build_gga(const GnssData &snapshot) const;
+
+	static constexpr std::uint8_t SF3000_SOURCE_ADDRESS = 0x9A;
+
+	GnssData data;
+	std::mutex dataMutex;
+	isobus::EventCallbackHandle canFrameHandle = 0;
+	std::uint32_t lastPandaSend = 0;
+	std::uint32_t lastPandaLog = 0;
+	std::uint32_t lastWaitingLog = 0;
+	std::uint32_t lastPgnSummaryLog = 0;
+	bool pandaSending = false;
+	bool reMode = false;
+
+	std::unordered_map<std::uint32_t, PgnTracker> pgnTrackers;
+	std::mutex trackerMutex;
+	std::ofstream csvFile;
+};

include/udp_connections.hpp

@@ -11,6 +11,7 @@
 
 #include <boost/asio.hpp>
 #include <span>
+#include <string_view>
 #include "settings.hpp"
 
 using boost::asio::ip::udp;
@@ -69,6 +70,13 @@ class UdpConnections
      */
 	bool send(std::uint8_t src, std::uint8_t pgn, std::span<std::uint8_t> data);
 
+	/**
+     * @brief Send raw text to AOG (no binary framing)
+     * @param text The raw text to send (e.g. an NMEA sentence)
+     * @return True if the text was sent successfully, false otherwise
+     */
+	bool send_raw(std::string_view text);
+
 private:
 	static const std::size_t MAX_PACKET_SIZE = 512; // Mostly arbitrary, but should be large enough to hold any packet
 	static const std::uint16_t PACKET_START = 0x8081; // Start of packet

src/app.cpp

@@ -223,6 +223,9 @@ bool Application::initialize()
 	udpConnections->set_packet_handler(packetHandler);
 	udpConnections->open();
 
+	gnssReceiver = std::make_unique<GnssReceiver>();
+	gnssReceiver->initialize(true); // RE mode: log all SF3000 frames to CSV
+
 	std::cout << "UDP connections opened." << std::endl;
 
 	return true;
@@ -236,6 +239,9 @@ bool Application::update()
 	udpConnections->handle_address_detection();
 	udpConnections->handle_incoming_packets();
 
+	if (gnssReceiver)
+		gnssReceiver->send_panda_if_ready(udpConnections);
+
 	tcServer->request_measurement_commands();
 	tcServer->update();
 	if (speedMessagesInterface)