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 e7bdacbc247a0e876ea0f04091116bf236ee2bc3 Author: Łukasz Dywicki <[email protected]> AuthorDate: Tue Sep 1 18:13:32 2020 +0200 More tests of canopen payload. --- .../src/main/resources/protocols/can/canopen.mspec | 67 +++++++++++++++++----- .../testsuite/CANOpenPayloadTestSuite.xml | 41 +++++++++++++ 2 files changed, 94 insertions(+), 14 deletions(-) diff --git a/protocols/can/src/main/resources/protocols/can/canopen.mspec b/protocols/can/src/main/resources/protocols/can/canopen.mspec index 0c4f175..c929ae4 100644 --- a/protocols/can/src/main/resources/protocols/can/canopen.mspec +++ b/protocols/can/src/main/resources/protocols/can/canopen.mspec @@ -17,20 +17,21 @@ * under the License. */ -[enum uint 4 'CANOpenService' - ['0b0000' BROADCAST ] - ['0b0001' SYNC ] - ['0b1110' NMT ] - ['0b1100' SDO_REQUEST ] - ['0b1011' SDO_RESPONSE] - ['0b0011' TPDO_1] - ['0b0100' RPDO_1] - ['0b0101' TPDO_2] - ['0b0110' RPDO_2] - ['0b0111' TPDO_3] - ['0b1000' RPDO_3] - ['0b1001' TPDO_4] - ['0b1010' RPDO_4] +[enum uint 4 'CANOpenService' [bit 'sdo', bit 'pdo', bit 'transmit', bit 'receive'] + ['0b0000' BROADCAST ['false', 'false', 'false', 'false'] ] + ['0b0001' SYNC ['false', 'false', 'false', 'false'] ] + ['0b0010' TIME ['false', 'false', 'false', 'false'] ] + ['0b1110' NMT ['false', 'false', 'false', 'false'] ] + ['0b1100' SDO_REQUEST ['true', 'false', 'false', 'true' ] ] + ['0b1011' SDO_RESPONSE ['true', 'false', 'true', 'false'] ] + ['0b0011' TPDO_1 ['false', 'true', 'true', 'false'] ] + ['0b0100' RPDO_1 ['false', 'true', 'false', 'true' ] ] + ['0b0101' TPDO_2 ['false', 'true', 'true', 'false'] ] + ['0b0110' RPDO_2 ['false', 'true', 'false', 'true' ] ] + ['0b0111' TPDO_3 ['false', 'true', 'true', 'false'] ] + ['0b1000' RPDO_3 ['false', 'true', 'false', 'true' ] ] + ['0b1001' TPDO_4 ['false', 'true', 'true', 'false'] ] + ['0b1010' RPDO_4 ['false', 'true', 'false', 'true' ] ] ] [enum uint 8 'NMTStateRequest' @@ -55,6 +56,9 @@ [reserved uint 1 '0x00'] [simple uint 7 'node'] ] + ['CANOpenService.TIME' CANOpenTimeSynchronization + [simple TimeOfDay 'timeOfDay'] + ] ['CANOpenService.NMT' CANOpenNetworkPayload [enum NMTState 'state'] ] @@ -78,6 +82,30 @@ [simple uint 8 'subindex'] [array uint 8 'data' COUNT 'size'] ] + ['CANOpenService.RPDO_1' CANOpenRPDO + [simple CANOpenPDO 'pdo' ['1', 'true']] + ] + ['CANOpenService.TPDO_1' CANOpenTPDO + [simple CANOpenPDO 'pdo' ['1', 'false']] + ] + ['CANOpenService.RPDO_2' CANOpenRPDO + [simple CANOpenPDO 'pdo' ['2', 'true']] + ] + ['CANOpenService.TPDO_2' CANOpenTPDO + [simple CANOpenPDO 'pdo' ['1', 'false']] + ] + ['CANOpenService.RPDO_3' CANOpenRPDO + [simple CANOpenPDO 'pdo' ['3', 'true']] + ] + ['CANOpenService.TPDO_3' CANOpenTPDO + [simple CANOpenPDO 'pdo' ['1', 'false']] + ] + ['CANOpenService.RPDO_4' CANOpenRPDO + [simple CANOpenPDO 'pdo' ['4', 'true']] + ] + ['CANOpenService.TPDO_4' CANOpenTPDO + [simple CANOpenPDO 'pdo' ['1', 'false']] + ] ] ] @@ -90,3 +118,14 @@ ['0x05' BLOCK_UPLOAD] ['0x06' BLOCK_DOWNLOAD] ] + +[type 'CANOpenPDO' [uint 2 'index', bit 'receive'] + +] + +[type 'TimeOfDay' + // CiA 301 - section 7.1.6.5 + [simple uint 28 'millis'] + [reserved int 4 '0x00'] + [simple uint 16 'days'] +] \ No newline at end of file diff --git a/sandbox/test-java-can-driver/src/test/resources/testsuite/CANOpenPayloadTestSuite.xml b/sandbox/test-java-can-driver/src/test/resources/testsuite/CANOpenPayloadTestSuite.xml index ecf224b..3188005 100644 --- a/sandbox/test-java-can-driver/src/test/resources/testsuite/CANOpenPayloadTestSuite.xml +++ b/sandbox/test-java-can-driver/src/test/resources/testsuite/CANOpenPayloadTestSuite.xml @@ -21,6 +21,47 @@ <name>Tests of CANopen frames payload.</name> + + <testcase> + <name>Time synchronization, payload: A017BD805034</name> + <!-- + Initial test payload was A017BD835034, however it does not align with CANOpen spec or mapping on our side is wrong + --> + <raw>A017BD805034</raw> + <root-type>CANOpenPayload</root-type> + <parser-arguments> + <arg1>TIME</arg1> + </parser-arguments> + <xml> + <CANOpenTimeSynchronization className="org.apache.plc4x.java.canopen.readwrite.CANOpenTimeSynchronization"> + <timeOfDay className="org.apache.plc4x.java.canopen.readwrite.TimeOfDay"> + <millis>-663027446</millis> + <days>13392</days> + </timeOfDay> + </CANOpenTimeSynchronization> + </xml> + </testcase> + + <testcase> + <name>Time synchronization, payload: 7019BE805034</name> + <!-- + Initial test payload was 7019BE835034, however it does not align with CANOpen spec or mapping on our side is wrong + --> + <raw>7019BE805034</raw> + <root-type>CANOpenPayload</root-type> + <parser-arguments> + <arg1>TIME</arg1> + </parser-arguments> + <xml> + <CANOpenTimeSynchronization className="org.apache.plc4x.java.canopen.readwrite.CANOpenTimeSynchronization"> + <timeOfDay className="org.apache.plc4x.java.canopen.readwrite.TimeOfDay"> + <millis>-392494841</millis> + <days>13392</days> + </timeOfDay> + </CANOpenTimeSynchronization> + </xml> + </testcase> + <testcase> <name>Network heartbeat, payload: 00</name> <raw>00</raw>
