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 55aa58819a3690bb32130c61b5ce0ad308049a2f Author: Łukasz Dywicki <[email protected]> AuthorDate: Fri Aug 28 00:14:16 2020 +0200 Focus on payloads and not frames. --- .../src/main/resources/protocols/can/canopen.mspec | 41 +++++---- .../apache/plc4x/java/can/CANOpenPlcDriver.java | 102 +++++++++++++++++++++ .../java/can/protocol/CANOpenProtocolLogic.java | 62 +++++++++++++ .../{CANOpenTest.java => CANOpenPayloadTest.java} | 6 +- ...enTestSuite.xml => CANOpenPayloadTestSuite.xml} | 11 ++- 5 files changed, 198 insertions(+), 24 deletions(-) diff --git a/protocols/can/src/main/resources/protocols/can/canopen.mspec b/protocols/can/src/main/resources/protocols/can/canopen.mspec index 553d12a..54337b4 100644 --- a/protocols/can/src/main/resources/protocols/can/canopen.mspec +++ b/protocols/can/src/main/resources/protocols/can/canopen.mspec @@ -17,28 +17,35 @@ * under the License. */ -[type 'CANOpenFrame' - [enum CANOpenService 'function'] - [simple int 11 'identifier'] - [reserved int 9 '0x0'] // filling gap used by extended frame, and extended marker which should always be 0 - [simple bit 'remote'] - [simple bit 'error'] - [reserved int 5 '0x0'] // filling gap used by extended frame - [implicit uint 8 'size' 'COUNT(payload)'] - [reserved uint 8 '0x0'] // in case of fd frame these are flags - [reserved uint 8 '0x0'] // padding 1 - [reserved uint 8 '0x0'] // padding 2 - [simple CANOpenPayload 'payload' ['function', 'size']] +[enum uint 4 'CANOpenService' + ['0x00' BROADCAST] + ['0x07' NMT] ] -[enum uint 4 'CANOpenService' - ['0b1110' NMT] +[enum uint 8 'NMTStateRequest' + ['0x01' OPERATIONAL] + ['0x02' STOP] + ['0x80' PRE_OPERATIONAL] + ['0x81' RESET_NODE] + ['0x82' RESET_COMMUNICATION] ] -[discriminatedType 'CANOpenPayload' [CANOpenService 'function', uint 8 'size'] +[enum uint 8 'NMTState' + ['0x00' BOOTED_UP] + ['0x04' STOPPED] + ['0x05' OPERATIONAL] + ['0x7f' PRE_OPERATIONAL] +] + +[discriminatedType 'CANOpenPayload' [CANOpenService 'function'] [typeSwitch 'function' - ['CANOpenService.NMT' CANOpenNetworkPayload [uint 8 'size'] - [array int 8 'data' COUNT 'size'] + ['CANOpenService.BROADCAST' CANOpenBroadcastPayload + [enum NMTStateRequest 'request'] + [reserved uint 1 '0x0'] + [simple uint 7 'node'] + ] + ['CANOpenService.NMT' CANOpenNetworkPayload + [enum NMTState 'state'] ] ] ] \ No newline at end of file diff --git a/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/CANOpenPlcDriver.java b/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/CANOpenPlcDriver.java new file mode 100644 index 0000000..b1c6fe6 --- /dev/null +++ b/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/CANOpenPlcDriver.java @@ -0,0 +1,102 @@ +/* + Licensed to the Apache Software Foundation (ASF) under one + or more contributor license agreements. See the NOTICE file + distributed with this work for additional information + regarding copyright ownership. The ASF licenses this file + to you under the Apache License, Version 2.0 (the + "License"); you may not use this file except in compliance + with the License. You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, + software distributed under the License is distributed on an + "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY + KIND, either express or implied. See the License for the + specific language governing permissions and limitations + under the License. + */ +package org.apache.plc4x.java.can; + +import io.netty.buffer.ByteBuf; +import io.netty.buffer.ByteBufUtil; +import org.apache.plc4x.java.can.configuration.CANConfiguration; +import org.apache.plc4x.java.can.context.CANDriverContext; +import org.apache.plc4x.java.can.field.CANFieldHandler; +import org.apache.plc4x.java.can.protocol.CANOpenProtocolLogic; +import org.apache.plc4x.java.can.protocol.CANProtocolLogic; +import org.apache.plc4x.java.socketcan.readwrite.SocketCANFrame; +import org.apache.plc4x.java.socketcan.readwrite.io.SocketCANFrameIO; +import org.apache.plc4x.java.spi.configuration.Configuration; +import org.apache.plc4x.java.spi.connection.GeneratedDriverBase; +import org.apache.plc4x.java.spi.connection.ProtocolStackConfigurer; +import org.apache.plc4x.java.spi.connection.SingleProtocolStackConfigurer; +import tel.schich.javacan.CanFrame; + +import java.util.function.Consumer; +import java.util.function.ToIntFunction; + +/** + */ +public class CANOpenPlcDriver extends GeneratedDriverBase<SocketCANFrame> { + + @Override + public String getProtocolCode() { + return "can"; + } + + @Override + public String getProtocolName() { + return "Controller Area Network"; + } + + @Override + protected Class<? extends Configuration> getConfigurationType() { + return CANConfiguration.class; + } + + @Override + protected String getDefaultTransport() { + return "javacan"; + } + + @Override + protected CANFieldHandler getFieldHandler() { + return new CANFieldHandler(); + } + + @Override + protected ProtocolStackConfigurer<SocketCANFrame> getStackConfigurer() { + return SingleProtocolStackConfigurer.builder(SocketCANFrame.class, SocketCANFrameIO.class) + .withProtocol(CANOpenProtocolLogic.class) + .withDriverContext(CANDriverContext.class) + .withPacketSizeEstimator(CANEstimator.class) + .build(); + } + + public static class CANEstimator implements ToIntFunction<ByteBuf> { + @Override + public int applyAsInt(ByteBuf byteBuf) { + if (byteBuf.readableBytes() >= 5) { + + System.out.println(ByteBufUtil.prettyHexDump(byteBuf)); + byte len = byteBuf.getByte(4); + System.out.println("Length " + (int) len); + + CanFrame frame = CanFrame.create(byteBuf.nioBuffer()); + System.out.println(frame); + + return len + 8 /* overhead */; + } + return -1; //discard + } + } + + public class CANCleaner implements Consumer<ByteBuf> { + @Override + public void accept(ByteBuf byteBuf) { + System.out.println("Discard"); + byteBuf.readByte(); + } + } +} 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 new file mode 100644 index 0000000..e6f18ca --- /dev/null +++ b/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/protocol/CANOpenProtocolLogic.java @@ -0,0 +1,62 @@ +/* +Licensed to the Apache Software Foundation (ASF) under one +or more contributor license agreements. See the NOTICE file +distributed with this work for additional information +regarding copyright ownership. The ASF licenses this file +to you under the Apache License, Version 2.0 (the +"License"); you may not use this file except in compliance +with the License. You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, +software distributed under the License is distributed on an +"AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY +KIND, either express or implied. See the License for the +specific language governing permissions and limitations +under the License. +*/ +package org.apache.plc4x.java.can.protocol; + +import org.apache.plc4x.java.canopen.readwrite.CANOpenPayload; +import org.apache.plc4x.java.canopen.readwrite.io.CANOpenPayloadIO; +import org.apache.plc4x.java.canopen.readwrite.types.CANOpenService; +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.generation.ReadBuffer; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; + +public class CANOpenProtocolLogic extends Plc4xProtocolBase<SocketCANFrame> { + + private Logger logger = LoggerFactory.getLogger(CANOpenProtocolLogic.class); + + @Override + public void onConnect(ConversationContext<SocketCANFrame> context) { + context.fireConnected(); + } + + @Override + protected void decode(ConversationContext<SocketCANFrame> context, SocketCANFrame msg) throws Exception { + logger.info("Decode CAN message {}", msg); + + int identifier = msg.getIdentifier(); + CANOpenService service = CANOpenService.valueOf((byte) (identifier >> 7)); + if (service != null) { + ReadBuffer buffer = new ReadBuffer(msg.getData()); + CANOpenPayload payload = CANOpenPayloadIO.staticParse(buffer, service); + } + } + + @Override + public void close(ConversationContext<SocketCANFrame> context) { + + } + + @Override + public void onDisconnect(ConversationContext<SocketCANFrame> context) { + + } + +} diff --git a/sandbox/test-java-can-driver/src/test/java/org/apache/plc4x/java/can/CANOpenTest.java b/sandbox/test-java-can-driver/src/test/java/org/apache/plc4x/java/can/CANOpenPayloadTest.java similarity index 84% rename from sandbox/test-java-can-driver/src/test/java/org/apache/plc4x/java/can/CANOpenTest.java rename to sandbox/test-java-can-driver/src/test/java/org/apache/plc4x/java/can/CANOpenPayloadTest.java index a97a1eb..8af4f2b 100644 --- a/sandbox/test-java-can-driver/src/test/java/org/apache/plc4x/java/can/CANOpenTest.java +++ b/sandbox/test-java-can-driver/src/test/java/org/apache/plc4x/java/can/CANOpenPayloadTest.java @@ -21,10 +21,10 @@ package org.apache.plc4x.java.can; import org.apache.plc4x.test.parserserializer.ParserSerializerTestsuiteRunner; -public class CANOpenTest extends ParserSerializerTestsuiteRunner { +public class CANOpenPayloadTest extends ParserSerializerTestsuiteRunner { - public CANOpenTest() { - super("/testsuite/CANOpenTestSuite.xml"); + public CANOpenPayloadTest() { + super("/testsuite/CANOpenPayloadTestSuite.xml"); } } diff --git a/sandbox/test-java-can-driver/src/test/resources/testsuite/CANOpenTestSuite.xml b/sandbox/test-java-can-driver/src/test/resources/testsuite/CANOpenPayloadTestSuite.xml similarity index 85% rename from sandbox/test-java-can-driver/src/test/resources/testsuite/CANOpenTestSuite.xml rename to sandbox/test-java-can-driver/src/test/resources/testsuite/CANOpenPayloadTestSuite.xml index b99128d..b5676d9 100644 --- a/sandbox/test-java-can-driver/src/test/resources/testsuite/CANOpenTestSuite.xml +++ b/sandbox/test-java-can-driver/src/test/resources/testsuite/CANOpenPayloadTestSuite.xml @@ -22,11 +22,14 @@ <name>Tests of socketcan/CANopen frames.</name> <testcase> - <name>Network heartbeat frame: 728#05</name> - <raw>280700000100000005</raw> - <root-type>CANOpenFrame</root-type> + <name>Network heartbeat payload: 0000</name> + <raw>0000</raw> + <root-type>CANOpenPayload</root-type> + <parser-arguments> + <arg1>NMT</arg1> + </parser-arguments> <xml> - <SocketCANFrame className="org.apache.plc4x.java.canopen.readwrite.CANOpenFrame"> + <SocketCANFrame className="org.apache.plc4x.java.canopen.readwrite.CANOpenPayload"> <function>15</function> <identifier>5</identifier> <extended>false</extended>
