This is an automated email from the ASF dual-hosted git repository. ldywicki pushed a commit to branch feature/socketcan-0.8-preparations in repository https://gitbox.apache.org/repos/asf/plc4x.git
commit 052df1a0fdba2662402853a7a3c8eb7c5224788a Author: Łukasz Dywicki <[email protected]> AuthorDate: Mon Oct 19 00:33:20 2020 +0200 Support for NMT subscriptions. --- ...ndle.java => CANOpenPDOSubscriptionHandle.java} | 6 +-- .../java/can/protocol/CANOpenProtocolLogic.java | 56 +++++++++++++++------- 2 files changed, 43 insertions(+), 19 deletions(-) diff --git a/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/protocol/CANOpenSubscriptionHandle.java b/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/protocol/CANOpenPDOSubscriptionHandle.java similarity index 71% rename from sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/protocol/CANOpenSubscriptionHandle.java rename to sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/protocol/CANOpenPDOSubscriptionHandle.java index 9bfd688..80876c6 100644 --- a/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/protocol/CANOpenSubscriptionHandle.java +++ b/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/protocol/CANOpenPDOSubscriptionHandle.java @@ -5,11 +5,11 @@ import org.apache.plc4x.java.canopen.readwrite.types.CANOpenService; import org.apache.plc4x.java.spi.messages.PlcSubscriber; import org.apache.plc4x.java.spi.model.DefaultPlcSubscriptionHandle; -public class CANOpenSubscriptionHandle extends DefaultPlcSubscriptionHandle { +public class CANOpenPDOSubscriptionHandle extends DefaultPlcSubscriptionHandle { private final String name; private final CANOpenPDOField field; - public CANOpenSubscriptionHandle(PlcSubscriber subscriber, String name, CANOpenPDOField field) { + public CANOpenPDOSubscriptionHandle(PlcSubscriber subscriber, String name, CANOpenPDOField field) { super(subscriber); this.name = name; this.field = field; @@ -31,7 +31,7 @@ public class CANOpenSubscriptionHandle extends DefaultPlcSubscriptionHandle { } public String toString() { - return "CANOpenSubscriptionHandle [service=" + field.getService() + ", node=" + intAndHex(field.getNodeId()) + ", cob=" + intAndHex(field.getService().getMin() + field.getNodeId()) + "]"; + return "CANOpenPDOSubscriptionHandle [service=" + field.getService() + ", node=" + intAndHex(field.getNodeId()) + ", cob=" + intAndHex(field.getService().getMin() + field.getNodeId()) + "]"; } private static String intAndHex(int val) { diff --git a/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/protocol/CANOpenProtocolLogic.java b/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/protocol/CANOpenProtocolLogic.java index 96488ec..5285b16 100644 --- a/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/protocol/CANOpenProtocolLogic.java +++ b/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/protocol/CANOpenProtocolLogic.java @@ -19,28 +19,27 @@ under the License. package org.apache.plc4x.java.can.protocol; import org.apache.commons.codec.binary.Hex; -import org.apache.plc4x.java.api.exceptions.PlcException; -import org.apache.plc4x.java.api.exceptions.PlcRuntimeException; import org.apache.plc4x.java.api.messages.*; import org.apache.plc4x.java.api.model.PlcConsumerRegistration; import org.apache.plc4x.java.api.model.PlcField; import org.apache.plc4x.java.api.model.PlcSubscriptionHandle; import org.apache.plc4x.java.api.types.PlcResponseCode; import org.apache.plc4x.java.api.types.PlcSubscriptionType; -import org.apache.plc4x.java.api.value.PlcList; import org.apache.plc4x.java.api.value.PlcNull; +import org.apache.plc4x.java.api.value.PlcStruct; +import org.apache.plc4x.java.api.value.PlcUSINT; import org.apache.plc4x.java.api.value.PlcValue; import org.apache.plc4x.java.can.canopen.CANOpenFrame; import org.apache.plc4x.java.can.api.conversation.canopen.CANConversation; import org.apache.plc4x.java.can.api.conversation.canopen.CANOpenConversation; import org.apache.plc4x.java.can.api.conversation.canopen.SDODownloadConversation; import org.apache.plc4x.java.can.api.conversation.canopen.SDOUploadConversation; -import org.apache.plc4x.java.can.canopen.CANOpenFrameBuilder; import org.apache.plc4x.java.can.canopen.CANOpenFrameBuilderFactory; import org.apache.plc4x.java.can.canopen.socketcan.CANOpenSocketCANFrameBuilder; import org.apache.plc4x.java.can.configuration.CANConfiguration; import org.apache.plc4x.java.can.context.CANOpenDriverContext; import org.apache.plc4x.java.can.field.CANOpenField; +import org.apache.plc4x.java.can.field.CANOpenNMTField; import org.apache.plc4x.java.can.field.CANOpenPDOField; import org.apache.plc4x.java.can.field.CANOpenSDOField; import org.apache.plc4x.java.can.socketcan.SocketCANConversation; @@ -49,7 +48,6 @@ import org.apache.plc4x.java.canopen.readwrite.io.CANOpenPayloadIO; import org.apache.plc4x.java.canopen.readwrite.io.DataItemIO; import org.apache.plc4x.java.canopen.readwrite.types.CANOpenService; import org.apache.plc4x.java.canopen.readwrite.types.NMTState; -import org.apache.plc4x.java.socketcan.readwrite.SocketCANFrame; import org.apache.plc4x.java.spi.ConversationContext; import org.apache.plc4x.java.spi.Plc4xProtocolBase; import org.apache.plc4x.java.spi.configuration.HasConfiguration; @@ -60,6 +58,7 @@ import org.apache.plc4x.java.spi.generation.WriteBuffer; import org.apache.plc4x.java.spi.messages.*; import org.apache.plc4x.java.spi.messages.utils.ResponseItem; import org.apache.plc4x.java.spi.model.DefaultPlcConsumerRegistration; +import org.apache.plc4x.java.spi.model.DefaultPlcSubscriptionHandle; import org.apache.plc4x.java.spi.model.InternalPlcSubscriptionHandle; import org.apache.plc4x.java.spi.model.SubscriptionPlcField; import org.apache.plc4x.java.spi.transaction.RequestTransactionManager; @@ -72,7 +71,6 @@ import java.util.Collection; import java.util.Collections; import java.util.HashMap; import java.util.LinkedHashMap; -import java.util.List; import java.util.Map; import java.util.Timer; import java.util.TimerTask; @@ -251,12 +249,16 @@ public class CANOpenProtocolLogic extends Plc4xProtocolBase<CANOpenFrame> implem SubscriptionPlcField subscription = entry.getValue(); if (subscription.getPlcSubscriptionType() != PlcSubscriptionType.EVENT) { answers.put(entry.getKey(), new ResponseItem<>(PlcResponseCode.UNSUPPORTED, null)); - } else if (!(subscription.getPlcField() instanceof CANOpenPDOField)) { - answers.put(entry.getKey(), new ResponseItem<>(PlcResponseCode.INVALID_ADDRESS, null)); - } else { + } else if ((subscription.getPlcField() instanceof CANOpenPDOField)) { + answers.put(entry.getKey(), new ResponseItem<>(PlcResponseCode.OK, + new CANOpenPDOSubscriptionHandle(this, entry.getKey(), (CANOpenPDOField) subscription.getPlcField()) + )); + } else if ((subscription.getPlcField() instanceof CANOpenNMTField)) { answers.put(entry.getKey(), new ResponseItem<>(PlcResponseCode.OK, - new CANOpenSubscriptionHandle(this, entry.getKey(), (CANOpenPDOField) subscription.getPlcField()) + new CANOpenNMTSubscriptionHandle(this, entry.getKey(), (CANOpenNMTField) subscription.getPlcField()) )); + } else { + answers.put(entry.getKey(), new ResponseItem<>(PlcResponseCode.INVALID_ADDRESS, null)); } } @@ -295,6 +297,8 @@ public class CANOpenProtocolLogic extends Plc4xProtocolBase<CANOpenFrame> implem if (service != null) { if (service.getPdo() && payload instanceof CANOpenPDOPayload) { publishEvent(service, nodeId, (CANOpenPDOPayload) payload); + } else if (service == CANOpenService.NMT && payload instanceof CANOpenNetworkPayload) { + publishEvent(service, nodeId, (CANOpenNetworkPayload) payload); } else { String hex = ""; if (logger.isInfoEnabled()) { @@ -320,22 +324,22 @@ public class CANOpenProtocolLogic extends Plc4xProtocolBase<CANOpenFrame> implem // } } - private void publishEvent(CANOpenService service, int nodeId, CANOpenPDOPayload payload) { - CANOpenSubscriptionHandle dispatchedHandle = null; + private void publishEvent(CANOpenService service, int nodeId, CANOpenPayload payload) { + DefaultPlcSubscriptionHandle dispatchedHandle = null; for (Map.Entry<DefaultPlcConsumerRegistration, Consumer<PlcSubscriptionEvent>> entry : consumers.entrySet()) { DefaultPlcConsumerRegistration registration = entry.getKey(); Consumer<PlcSubscriptionEvent> consumer = entry.getValue(); for (InternalPlcSubscriptionHandle handler : registration.getAssociatedHandles()) { - if (handler instanceof CANOpenSubscriptionHandle) { - CANOpenSubscriptionHandle handle = (CANOpenSubscriptionHandle) handler; + if (handler instanceof CANOpenPDOSubscriptionHandle && payload instanceof CANOpenPDOPayload) { + CANOpenPDOSubscriptionHandle handle = (CANOpenPDOSubscriptionHandle) handler; if (handle.matches(service, nodeId)) { logger.trace("Dispatching notification {} for node {} to {}", service, nodeId, handle); dispatchedHandle = handle; CANOpenPDOField field = handle.getField(); - byte[] data = payload.getPdo().getData(); + byte[] data = ((CANOpenPDOPayload) payload).getPdo().getData(); try { PlcValue value = DataItemIO.staticParse(new ReadBuffer(data, true), field.getCanOpenDataType(), data.length); DefaultPlcSubscriptionEvent event = new DefaultPlcSubscriptionEvent( @@ -357,7 +361,27 @@ public class CANOpenProtocolLogic extends Plc4xProtocolBase<CANOpenFrame> implem ); consumer.accept(event); } - } else { + } + } else if (handler instanceof CANOpenPDOSubscriptionHandle && payload instanceof CANOpenHeartbeatPayload) { + CANOpenNMTSubscriptionHandle handle = (CANOpenNMTSubscriptionHandle) handler; + + if (handle.matches(service, nodeId)) { + logger.trace("Dispatching notification {} for node {} to {}", service, nodeId, handle); + dispatchedHandle = handle; + + final NMTState state = ((CANOpenHeartbeatPayload) payload).getState(); + Map<String, PlcValue> fields = new HashMap<>(); + fields.put("state", new PlcUSINT(state.getValue())); + fields.put("node", new PlcUSINT(nodeId)); + PlcStruct struct = new PlcStruct(fields); + DefaultPlcSubscriptionEvent event = new DefaultPlcSubscriptionEvent( + Instant.now(), + Collections.singletonMap( + handle.getName(), + new ResponseItem<>(PlcResponseCode.OK, struct) + ) + ); + consumer.accept(event); } } }
