Vehicle Simulator: standalone Avalonia app for hardware simulation

AgValoniaGPS.sln

@@ -31,6 +31,10 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AgValoniaGPS.UI.Tests", "Te
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AgValoniaGPS.ViewModels.Tests", "Tests\AgValoniaGPS.ViewModels.Tests\AgValoniaGPS.ViewModels.Tests.csproj", "{6FDD0F8C-981C-4F77-BCFE-0CD17ED91D7A}"
 EndProject
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Simulators", "Simulators", "{F41F6DDB-AB3C-76ED-EA37-439EFA4D513D}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AgValoniaGPS.VehicleSimulator", "Simulators\AgValoniaGPS.VehicleSimulator\AgValoniaGPS.VehicleSimulator.csproj", "{6EFCAF65-34FF-4AA8-B9E5-8CCB3DC67B2A}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -173,6 +177,18 @@ Global
 		{6FDD0F8C-981C-4F77-BCFE-0CD17ED91D7A}.Release|x64.Build.0 = Release|Any CPU
 		{6FDD0F8C-981C-4F77-BCFE-0CD17ED91D7A}.Release|x86.ActiveCfg = Release|Any CPU
 		{6FDD0F8C-981C-4F77-BCFE-0CD17ED91D7A}.Release|x86.Build.0 = Release|Any CPU
+		{6EFCAF65-34FF-4AA8-B9E5-8CCB3DC67B2A}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{6EFCAF65-34FF-4AA8-B9E5-8CCB3DC67B2A}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{6EFCAF65-34FF-4AA8-B9E5-8CCB3DC67B2A}.Debug|x64.ActiveCfg = Debug|Any CPU
+		{6EFCAF65-34FF-4AA8-B9E5-8CCB3DC67B2A}.Debug|x64.Build.0 = Debug|Any CPU
+		{6EFCAF65-34FF-4AA8-B9E5-8CCB3DC67B2A}.Debug|x86.ActiveCfg = Debug|Any CPU
+		{6EFCAF65-34FF-4AA8-B9E5-8CCB3DC67B2A}.Debug|x86.Build.0 = Debug|Any CPU
+		{6EFCAF65-34FF-4AA8-B9E5-8CCB3DC67B2A}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{6EFCAF65-34FF-4AA8-B9E5-8CCB3DC67B2A}.Release|Any CPU.Build.0 = Release|Any CPU
+		{6EFCAF65-34FF-4AA8-B9E5-8CCB3DC67B2A}.Release|x64.ActiveCfg = Release|Any CPU
+		{6EFCAF65-34FF-4AA8-B9E5-8CCB3DC67B2A}.Release|x64.Build.0 = Release|Any CPU
+		{6EFCAF65-34FF-4AA8-B9E5-8CCB3DC67B2A}.Release|x86.ActiveCfg = Release|Any CPU
+		{6EFCAF65-34FF-4AA8-B9E5-8CCB3DC67B2A}.Release|x86.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -184,5 +200,6 @@ Global
 		{36B31CF8-F762-4767-8A87-32AB5BC72E26} = {0AB3BF05-4346-4AA6-1389-037BE0695223}
 		{84DCD742-8E48-4579-90C1-4FF9D1820FDA} = {0AB3BF05-4346-4AA6-1389-037BE0695223}
 		{6FDD0F8C-981C-4F77-BCFE-0CD17ED91D7A} = {0AB3BF05-4346-4AA6-1389-037BE0695223}
+		{6EFCAF65-34FF-4AA8-B9E5-8CCB3DC67B2A} = {F41F6DDB-AB3C-76ED-EA37-439EFA4D513D}
 	EndGlobalSection
 EndGlobal

Platforms/AgValoniaGPS.Desktop/App.axaml

@@ -35,7 +35,13 @@ along with this program. If not, see <https://www.gnu.org/licenses/>.
     </Application.DataTemplates>
 
     <Application.Styles>
-        <FluentTheme />
+        <FluentTheme>
+            <FluentTheme.Palettes>
+                <!-- Lighter accent for better contrast on colored buttons in light mode -->
+                <ColorPaletteResources x:Key="Light" Accent="#2B88D8"/>
+                <ColorPaletteResources x:Key="Dark" Accent="#0078D7"/>
+            </FluentTheme.Palettes>
+        </FluentTheme>
         <!-- Include shared styles -->
         <StyleInclude Source="avares://AgValoniaGPS.Views/Styles/SharedStyles.axaml"/>
     </Application.Styles>

Shared/AgValoniaGPS.Models/Configuration/AutoSteerConfig.cs

@@ -329,7 +329,7 @@ public bool InvertRelays
         set => SetProperty(ref _invertRelays, value);
     }
 
-    private int _motorDriver = 0;
+    private int _motorDriver = 1;
     /// <summary>
     /// Motor driver type: 0 = IBT2, 1 = Cytron
     /// </summary>
@@ -339,7 +339,7 @@ public int MotorDriver
         set => SetProperty(ref _motorDriver, value);
     }
 
-    private int _adConverter = 0;
+    private int _adConverter = 1;
     /// <summary>
     /// A/D converter type: 0 = Differential, 1 = Single
     /// </summary>

Shared/AgValoniaGPS.Services/AutoSteer/AutoSteerService.cs

@@ -122,6 +122,10 @@ public void Stop()
     /// <summary>Sensor reading as percentage (0-100).</summary>
     public double SensorPercent => _sensorPercent;
 
+    /// <inheritdoc/>
+    public VehicleStateSnapshot? LatestSnapshot => _latestSnapshot;
+    private VehicleStateSnapshot? _latestSnapshot;
+
     /// <summary>
     /// Handle incoming UDP data from steering module.
     /// </summary>
@@ -307,6 +311,15 @@ public void ProcessGpsBuffer(byte[] buffer, int length)
             return;
         }
 
+        // Auto-create a temporary local plane from first GPS fix
+        // so the tractor moves on screen without opening a field
+        if (_localPlane == null && _state.FixQuality > 0)
+        {
+            _localPlane = new LocalPlane(
+                new Wgs84(_state.Latitude, _state.Longitude),
+                new SharedFieldProperties());
+        }
+
         // Convert to local coordinates if we have a plane
         if (_localPlane != null)
         {
@@ -456,7 +469,9 @@ private void RecordLatency(double latencyMs)
 
     private void NotifyStateUpdated()
     {
-        StateUpdated?.Invoke(this, CreateSnapshot());
+        var snapshot = CreateSnapshot();
+        _latestSnapshot = snapshot;
+        StateUpdated?.Invoke(this, snapshot);
     }
 
     private VehicleStateSnapshot CreateSnapshot()

Shared/AgValoniaGPS.Services/GpsService.cs

@@ -151,6 +151,12 @@ public void UpdateImuData()
     /// <summary>
     /// Check if GPS data is flowing (10Hz expected)
     /// </summary>
+    public void MarkGpsReceived()
+    {
+        _lastGpsDataReceived = Clock.Current.Now;
+        IsConnected = true;
+    }
+
     public bool IsGpsDataOk()
     {
         bool ok = (Clock.Current.Now - _lastGpsDataReceived).TotalMilliseconds < GPS_TIMEOUT_MS;

Shared/AgValoniaGPS.Services/Interfaces/IAutoSteerService.cs

@@ -168,6 +168,12 @@ void ProcessSimulatedPosition(double latitude, double longitude, double altitude
     /// Derived from LastSensorData.SensorValue.
     /// </summary>
     double SensorPercent { get; }
+
+    /// <summary>
+    /// Latest vehicle state snapshot for UI/wizard consumption.
+    /// Null if no state has been produced yet.
+    /// </summary>
+    VehicleStateSnapshot? LatestSnapshot { get; }
 }
 
 /// <summary>

Shared/AgValoniaGPS.Services/Interfaces/IGpsService.cs

@@ -59,6 +59,12 @@ public interface IGpsService
     /// </summary>
     void UpdateGpsData(GpsData newData);
 
+    /// <summary>
+    /// Mark that GPS data was received (updates timeout tracking).
+    /// Called by the zero-copy pipeline path which bypasses UpdateGpsData.
+    /// </summary>
+    void MarkGpsReceived();
+
     /// <summary>
     /// Update IMU data timestamp (called when IMU data received)
     /// </summary>

Shared/AgValoniaGPS.Services/UdpCommunicationService.cs

@@ -15,8 +15,10 @@
 // along with this program. If not, see <https://www.gnu.org/licenses/>.
 
 using System;
+using System.Collections.Generic;
 using System.Linq;
 using System.Net;
+using System.Net.NetworkInformation;
 using System.Net.Sockets;
 using System.Threading;
 using System.Threading.Tasks;
@@ -48,8 +50,14 @@ public class UdpCommunicationService : IUdpCommunicationService, IDisposable
     // AutoSteer service for zero-copy GPS processing
     private IAutoSteerService? _autoSteerService;
 
-    // Module broadcast endpoint (e.g., 192.168.5.255:8888)
-    private IPEndPoint? _moduleEndpoint;
+    // Auto-discovery: broadcast on all interfaces until a module responds
+    private List<IPEndPoint> _discoveryEndpoints = new();
+    private IPEndPoint? _lockedEndpoint;
+    private DateTime _lastModuleResponse = DateTime.MinValue;
+    private DateTime _lastDiscoveryRefresh = DateTime.MinValue;
+    private static readonly IPEndPoint _localhostEndpoint = new(IPAddress.Loopback, 8888);
+    private const int ModuleTimeoutSeconds = 5;
+    private const int DiscoveryRefreshSeconds = 30;
 
     // Hello packet: [0x80, 0x81, 0x7F, 200, 3, 56, 0, 0, CRC]
     private readonly byte[] _helloPacket = { 0x80, 0x81, 0x7F, 200, 3, 56, 0, 0, 0x47 };
@@ -100,8 +108,10 @@ public async Task StartAsync()
 
             _udpSocket.Bind(new IPEndPoint(IPAddress.Any, 9999));
 
-            // Set up module broadcast endpoint (default: 192.168.5.255:8888)
-            _moduleEndpoint = new IPEndPoint(IPAddress.Parse("192.168.5.255"), 8888);
+            // Discover broadcast endpoints on all network interfaces
+            _discoveryEndpoints = GetBroadcastEndpoints();
+            _lockedEndpoint = null;
+            _lastDiscoveryRefresh = DateTime.UtcNow;
 
             IsConnected = true;
 
@@ -133,19 +143,42 @@ public async Task StopAsync()
 
     public void SendToModules(byte[] data)
     {
-        if (!IsConnected || _udpSocket == null || _moduleEndpoint == null) return;
+        if (!IsConnected || _udpSocket == null) return;
 
+        // Refresh discovery endpoints periodically
+        if ((DateTime.UtcNow - _lastDiscoveryRefresh).TotalSeconds > DiscoveryRefreshSeconds)
+        {
+            _discoveryEndpoints = GetBroadcastEndpoints();
+            _lastDiscoveryRefresh = DateTime.UtcNow;
+        }
+
+        // Check for module timeout -> go back to discovery
+        if (_lockedEndpoint != null &&
+            (DateTime.UtcNow - _lastModuleResponse).TotalSeconds > ModuleTimeoutSeconds)
+        {
+            _lockedEndpoint = null;
+        }
+
+        if (_lockedEndpoint != null)
+        {
+            // Connected: send to locked endpoint + localhost only
+            SendPacket(data, _lockedEndpoint);
+            SendPacket(data, _localhostEndpoint);
+        }
+        else
+        {
+            // Discovery: broadcast on all interfaces
+            foreach (var ep in _discoveryEndpoints)
+                SendPacket(data, ep);
+        }
+    }
+
+    private void SendPacket(byte[] data, IPEndPoint endpoint)
+    {
         try
         {
-            _udpSocket.BeginSendTo(data, 0, data.Length, SocketFlags.None, _moduleEndpoint,
-                ar =>
-                {
-                    try
-                    {
-                        _udpSocket?.EndSendTo(ar);
-                    }
-                    catch { }
-                }, null);
+            _udpSocket!.BeginSendTo(data, 0, data.Length, SocketFlags.None, endpoint,
+                ar => { try { _udpSocket?.EndSendTo(ar); } catch { } }, null);
         }
         catch { }
     }
@@ -253,7 +286,7 @@ private void ProcessReceivedData(byte[] data, IPEndPoint remoteEndPoint)
             byte pgn = data[3];
 
             // Track module connections based on hello messages
-            UpdateModuleConnection(pgn);
+            UpdateModuleConnection(pgn, remoteEndPoint);
 
             // Fire event
             DataReceived?.Invoke(this, new UdpDataReceivedEventArgs
@@ -278,7 +311,7 @@ private void ProcessReceivedData(byte[] data, IPEndPoint remoteEndPoint)
         }
     }
 
-    private void UpdateModuleConnection(byte pgn)
+    private void UpdateModuleConnection(byte pgn, IPEndPoint remoteEndPoint)
     {
         var now = DateTime.Now;
 
@@ -288,6 +321,7 @@ private void UpdateModuleConnection(byte pgn)
             // AutoSteer PGNs
             case PgnNumbers.HELLO_FROM_AUTOSTEER: // 126
                 _lastHelloFromAutoSteer = now;
+                LockToSubnet(remoteEndPoint.Address);
                 System.Diagnostics.Debug.WriteLine($"AutoSteer HELLO received at {now:HH:mm:ss.fff}");
                 break;
 
@@ -297,17 +331,20 @@ private void UpdateModuleConnection(byte pgn)
             case PgnNumbers.STEER_SETTINGS:       // 252
             case PgnNumbers.STEER_CONFIG:         // 251
                 _lastDataFromAutoSteer = now;
+                _lastModuleResponse = DateTime.UtcNow;
                 break;
 
             // Machine PGNs (receive-only, only Hello matters)
             case PgnNumbers.HELLO_FROM_MACHINE:  // 123
                 _lastHelloFromMachine = now;
+                LockToSubnet(remoteEndPoint.Address);
                 System.Diagnostics.Debug.WriteLine($"Machine HELLO received at {now:HH:mm:ss.fff}");
                 break;
 
             // IMU PGNs (only Hello matters - data only sent when active)
             case PgnNumbers.HELLO_FROM_IMU: // 121
                 _lastHelloFromIMU = now;
+                LockToSubnet(remoteEndPoint.Address);
                 System.Diagnostics.Debug.WriteLine($"IMU HELLO received at {now:HH:mm:ss.fff}");
                 break;
 
@@ -318,6 +355,66 @@ private void UpdateModuleConnection(byte pgn)
         }
     }
 
+    /// <summary>
+    /// Lock outgoing packets to the subnet of a responding module.
+    /// Assumes /24 subnet (most common for field hardware).
+    /// </summary>
+    private void LockToSubnet(IPAddress remoteIP)
+    {
+        _lastModuleResponse = DateTime.UtcNow;
+
+        if (_lockedEndpoint != null || IPAddress.IsLoopback(remoteIP))
+            return;
+
+        var ipBytes = remoteIP.GetAddressBytes();
+        ipBytes[3] = 255;
+        _lockedEndpoint = new IPEndPoint(new IPAddress(ipBytes), 8888);
+        System.Diagnostics.Debug.WriteLine($"Auto-discovery: locked to subnet {_lockedEndpoint}");
+    }
+
+    /// <summary>
+    /// Enumerate broadcast addresses for all active IPv4 network interfaces.
+    /// Always includes localhost for simulator support.
+    /// </summary>
+    private static List<IPEndPoint> GetBroadcastEndpoints()
+    {
+        var endpoints = new List<IPEndPoint> { _localhostEndpoint };
+
+        try
+        {
+            foreach (var nic in NetworkInterface.GetAllNetworkInterfaces())
+            {
+                if (nic.OperationalStatus != OperationalStatus.Up)
+                    continue;
+                if (!nic.Supports(NetworkInterfaceComponent.IPv4))
+                    continue;
+
+                foreach (var addr in nic.GetIPProperties().UnicastAddresses)
+                {
+                    if (addr.Address.AddressFamily != AddressFamily.InterNetwork)
+                        continue;
+                    if (IPAddress.IsLoopback(addr.Address))
+                        continue;
+
+                    // Calculate broadcast: IP | ~SubnetMask
+                    var ipBytes = addr.Address.GetAddressBytes();
+                    var maskBytes = addr.IPv4Mask.GetAddressBytes();
+                    var broadcastBytes = new byte[4];
+                    for (int i = 0; i < 4; i++)
+                        broadcastBytes[i] = (byte)(ipBytes[i] | ~maskBytes[i]);
+
+                    endpoints.Add(new IPEndPoint(new IPAddress(broadcastBytes), 8888));
+                }
+            }
+        }
+        catch (Exception ex)
+        {
+            System.Diagnostics.Debug.WriteLine($"Failed to enumerate network interfaces: {ex.Message}");
+        }
+
+        return endpoints;
+    }
+
     private string? GetLocalIPAddress()
     {
         try

Shared/AgValoniaGPS.ViewModels/AgValoniaGPS.ViewModels.csproj

@@ -14,6 +14,10 @@
     <DefineConstants>$(DefineConstants);IOS</DefineConstants>
   </PropertyGroup>
 
+  <ItemGroup>
+    <InternalsVisibleTo Include="AgValoniaGPS.Services.Tests" />
+  </ItemGroup>
+
   <ItemGroup>
     <PackageReference Include="Avalonia" Version="12.0.0" />
     <PackageReference Include="CommunityToolkit.Mvvm" Version="8.4.0" />

Shared/AgValoniaGPS.ViewModels/AutoSteerConfigViewModel.cs

@@ -40,6 +40,7 @@ public partial class AutoSteerConfigViewModel : ObservableObject
     private readonly IConfigurationService _configService;
     private readonly IUdpCommunicationService? _udpService;
     private readonly IAutoSteerService? _autoSteerService;
+    private readonly Action? _launchWizard;
 
     // Debounce timer for auto-sending slider changes
     private readonly System.Timers.Timer _sliderDebounceTimer;
@@ -65,11 +66,13 @@ public partial class AutoSteerConfigViewModel : ObservableObject
     public AutoSteerConfigViewModel(
         IConfigurationService configService,
         IUdpCommunicationService? udpService = null,
-        IAutoSteerService? autoSteerService = null)
+        IAutoSteerService? autoSteerService = null,
+        Action? launchWizard = null)
     {
         _configService = configService;
         _udpService = udpService;
         _autoSteerService = autoSteerService;
+        _launchWizard = launchWizard;
 
         // Set up debounce timer for slider changes
         _sliderDebounceTimer = new System.Timers.Timer(SliderDebounceDelayMs);
@@ -974,7 +977,9 @@ private void InitializeActionCommands()
 
         WizardCommand = new RelayCommand(() =>
         {
-            // TODO: Launch setup wizard
+            // Close the config panel before launching the wizard
+            IsPanelVisible = false;
+            _launchWizard?.Invoke();
         });
     }