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 a314c4034443545aa169422d0abd3c9f29b3d0cd Author: Łukasz Dywicki <[email protected]> AuthorDate: Sun Nov 8 01:15:24 2020 +0100 Further work on stabilizing CANopen implementation. --- .../api/conversation/canopen/CANConversation.java | 2 + .../canopen/CANOpenConversationBase.java | 81 ++++++++++- .../canopen/SDODownloadConversation.java | 85 +++++++----- .../canopen/SDOUploadConversation.java | 79 ++++++----- .../java/can/canopen/CANOpenAbortException.java | 23 ++++ .../java/can/protocol/CANOpenProtocolLogic.java | 54 ++++++-- .../java/can/socketcan/SocketCANConversation.java | 4 + .../resources/testsuite/CANOpenDriverSDOIT.xml | 149 +++++++++++++++++++++ 8 files changed, 389 insertions(+), 88 deletions(-) diff --git a/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/api/conversation/canopen/CANConversation.java b/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/api/conversation/canopen/CANConversation.java index 67dd41b..5676ff8 100644 --- a/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/api/conversation/canopen/CANConversation.java +++ b/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/api/conversation/canopen/CANConversation.java @@ -14,5 +14,7 @@ public interface CANConversation<W extends CANOpenFrame> { SendRequestContext<W> send(W frame); + void sendToWire(W frame); + } diff --git a/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/api/conversation/canopen/CANOpenConversationBase.java b/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/api/conversation/canopen/CANOpenConversationBase.java index d3a41ae..bdfc38e 100644 --- a/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/api/conversation/canopen/CANOpenConversationBase.java +++ b/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/api/conversation/canopen/CANOpenConversationBase.java @@ -1,20 +1,24 @@ package org.apache.plc4x.java.can.api.conversation.canopen; +import io.vavr.control.Either; +import org.apache.plc4x.java.api.exceptions.PlcException; import org.apache.plc4x.java.api.value.PlcValue; import org.apache.plc4x.java.can.canopen.CANOpenFrame; -import org.apache.plc4x.java.canopen.readwrite.CANOpenSDORequest; -import org.apache.plc4x.java.canopen.readwrite.SDORequest; +import org.apache.plc4x.java.canopen.readwrite.*; import org.apache.plc4x.java.canopen.readwrite.io.DataItemIO; import org.apache.plc4x.java.canopen.readwrite.types.CANOpenDataType; import org.apache.plc4x.java.canopen.readwrite.types.CANOpenService; import org.apache.plc4x.java.spi.generation.ParseException; import org.apache.plc4x.java.spi.generation.ReadBuffer; +import java.util.concurrent.CompletableFuture; +import java.util.function.Predicate; + public abstract class CANOpenConversationBase { protected final CANConversation<CANOpenFrame> delegate; protected final int nodeId; - private final int answerNodeId; + protected final int answerNodeId; public CANOpenConversationBase(CANConversation<CANOpenFrame> delegate, int nodeId, int answerNodeId) { this.delegate = delegate; @@ -26,8 +30,27 @@ public abstract class CANOpenConversationBase { return DataItemIO.staticParse(new ReadBuffer(data, true), type, length); } - protected boolean isTransmitSDOFromReceiver(CANOpenFrame frame) { - return frame.getNodeId() == answerNodeId && frame.getService() == CANOpenService.TRANSMIT_SDO; + protected <T> void onError(CompletableFuture<T> receiver, CANOpenSDOResponse response, Throwable error) { + if (error != null) { + receiver.completeExceptionally(error); + return; + } + + if (response.getResponse() instanceof SDOAbortResponse) { + SDOAbortResponse abort = (SDOAbortResponse) response.getResponse(); + SDOAbort sdoAbort = abort.getAbort(); + receiver.completeExceptionally(new PlcException("Could not read value. Remote party reported code " + sdoAbort.getCode())); + } + } + + protected <X extends SDOResponse> Either<SDOAbort, X> unwrap(Class<X> payload, SDOResponse response) { + if (response instanceof SDOAbortResponse) { + return Either.left(((SDOAbortResponse) response).getAbort()); + } + if (payload.isInstance(response)) { + return Either.right((X) response); + } + throw new RuntimeException("Unexpected payload kind " + response); } protected CANOpenFrame createFrame(SDORequest rq) { @@ -38,4 +61,52 @@ public abstract class CANOpenConversationBase { .build(); } + static class NodeIdPredicate implements Predicate<CANOpenFrame> { + + private final int nodeId; + + NodeIdPredicate(int nodeId) { + this.nodeId = nodeId; + } + + @Override + public boolean test(CANOpenFrame frame) { + return frame.getNodeId() == nodeId && frame.getService() == CANOpenService.TRANSMIT_SDO; + } + + @Override + public String toString() { + return "NodeIdPredicate [" + nodeId + "]"; + } + } + + static class TypePredicate<T, X> implements Predicate<X> { + + private final Class<T> type; + + public TypePredicate(Class<T> type) { + this.type = type; + } + + @Override + public boolean test(X value) { + return type.isInstance(value); + } + + public String toString() { + return "Type [" + type + "]"; + } + } + + static class TypeOrAbortPredicate<T extends SDOResponse> extends TypePredicate<T, SDOResponse> { + + public TypeOrAbortPredicate(Class<T> type) { + super(type); + } + + @Override + public boolean test(SDOResponse response) { + return super.test(response) || response instanceof SDOAbortResponse; + } + } } diff --git a/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/api/conversation/canopen/SDODownloadConversation.java b/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/api/conversation/canopen/SDODownloadConversation.java index 689aec9..f887b10 100644 --- a/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/api/conversation/canopen/SDODownloadConversation.java +++ b/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/api/conversation/canopen/SDODownloadConversation.java @@ -1,14 +1,13 @@ package org.apache.plc4x.java.can.api.conversation.canopen; -import org.apache.plc4x.java.api.exceptions.PlcException; import org.apache.plc4x.java.api.exceptions.PlcRuntimeException; import org.apache.plc4x.java.api.types.PlcResponseCode; import org.apache.plc4x.java.api.value.PlcValue; +import org.apache.plc4x.java.can.canopen.CANOpenAbortException; import org.apache.plc4x.java.can.canopen.CANOpenFrame; import org.apache.plc4x.java.canopen.readwrite.*; import org.apache.plc4x.java.canopen.readwrite.io.DataItemIO; import org.apache.plc4x.java.canopen.readwrite.types.CANOpenDataType; -import org.apache.plc4x.java.canopen.readwrite.types.CANOpenService; import org.apache.plc4x.java.canopen.readwrite.types.SDOResponseCommand; import org.apache.plc4x.java.spi.generation.ParseException; @@ -37,17 +36,28 @@ public class SDODownloadConversation extends CANOpenConversationBase { // segmented SDOInitiateSegmentedUploadResponse size = new SDOInitiateSegmentedUploadResponse(data.length); delegate.send(createFrame(new SDOInitiateDownloadRequest(false, true, indexAddress, size))) - .check(this::isTransmitSDOFromReceiver) + .check(new NodeIdPredicate(answerNodeId)) .onTimeout(receiver::completeExceptionally) .onError((response, error) -> receiver.completeExceptionally(error)) .unwrap(CANOpenFrame::getPayload) .only(CANOpenSDOResponse.class) .unwrap(CANOpenSDOResponse::getResponse) - .check(p -> p.getCommand() == SDOResponseCommand.INITIATE_DOWNLOAD) - .only(SDOInitiateDownloadResponse.class) - .check(p -> indexAddress.equals(p.getAddress())) - .handle(x -> { - put(data, receiver, false, 0); + .check(new TypeOrAbortPredicate<>(SDOInitiateDownloadResponse.class)) + .unwrap(payload -> unwrap(SDOInitiateDownloadResponse.class, payload)) + .handle(either -> { + if (either.isLeft()) { + receiver.completeExceptionally(new CANOpenAbortException("Could not initiate upload", either.getLeft().getCode())); + } else { + SDOInitiateDownloadResponse response = either.get(); + if (response.getAddress().equals(indexAddress)) { + put(data, receiver, false, 0); + } else { + // TODO find proper error code in spec + SDOAbort abort = new SDOAbort(indexAddress, 1000); + delegate.sendToWire(createFrame(new SDOAbortRequest(abort))); + receiver.complete(PlcResponseCode.REMOTE_ERROR); + } + } }); return; @@ -61,22 +71,25 @@ public class SDODownloadConversation extends CANOpenConversationBase { ); delegate.send(createFrame(rq)) - .check(this::isTransmitSDOFromReceiver) + .check(new NodeIdPredicate(answerNodeId)) .onTimeout(receiver::completeExceptionally) - .onError((response, error) -> { - if (error != null) { - receiver.completeExceptionally(error); - } else { - receiver.completeExceptionally(new PlcException("Transaction terminated")); - } - }) .unwrap(CANOpenFrame::getPayload) .only(CANOpenSDOResponse.class) + .onError((response, error) -> onError(receiver, response, error)) .unwrap(CANOpenSDOResponse::getResponse) - .only(SDOInitiateDownloadResponse.class) - .check(r -> r.getCommand() == SDOResponseCommand.INITIATE_DOWNLOAD) - .handle(r -> { - receiver.complete(PlcResponseCode.OK); + .check(new TypeOrAbortPredicate<>(SDOInitiateDownloadResponse.class)) + .unwrap(payload -> unwrap(SDOInitiateDownloadResponse.class, payload)) + .handle(either -> { + if (either.isLeft()) { + receiver.completeExceptionally(new CANOpenAbortException("Could not initiate upload", either.getLeft().getCode())); + } else { + SDOInitiateDownloadResponse response = either.get(); + if (response.getCommand() == SDOResponseCommand.INITIATE_DOWNLOAD) { + receiver.complete(PlcResponseCode.OK); + } else { + receiver.complete(PlcResponseCode.REMOTE_ERROR); + } + } }); } @@ -86,25 +99,29 @@ public class SDODownloadConversation extends CANOpenConversationBase { System.arraycopy(data, offset, segment, 0, segment.length); delegate.send(createFrame(new SDOSegmentDownloadRequest(toggle, remaining <= 7, segment))) - .check(this::isTransmitSDOFromReceiver) + .check(new NodeIdPredicate(answerNodeId)) .onTimeout(receiver::completeExceptionally) .unwrap(CANOpenFrame::getPayload) .only(CANOpenSDOResponse.class) + .onError((response, error) -> onError(receiver, response, error)) .unwrap(CANOpenSDOResponse::getResponse) - .only(SDOSegmentDownloadResponse.class) - .onError((response, error) -> { - if (error != null) { - receiver.completeExceptionally(error); + .check(new TypeOrAbortPredicate<>(SDOSegmentDownloadResponse.class)) + .unwrap(payload -> unwrap(SDOSegmentDownloadResponse.class, payload)) + .handle(either -> { + if (either.isLeft()) { + return; } else { - receiver.completeExceptionally(new PlcException("Transaction terminated")); - } - }) - .check(response -> response.getToggle() == toggle) - .handle(reply -> { - if (offset + segment.length == data.length) { - receiver.complete(PlcResponseCode.OK); - } else { - put(data, receiver, !toggle, offset + segment.length); + SDOSegmentDownloadResponse response = either.get(); + if (response.getToggle() != toggle) { + receiver.complete(PlcResponseCode.REMOTE_ERROR); + return; + } + + if (offset + segment.length == data.length) { + receiver.complete(PlcResponseCode.OK); + } else { + put(data, receiver, !toggle, offset + segment.length); + } } }); } diff --git a/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/api/conversation/canopen/SDOUploadConversation.java b/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/api/conversation/canopen/SDOUploadConversation.java index 7e0b3b0..ab87926 100644 --- a/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/api/conversation/canopen/SDOUploadConversation.java +++ b/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/api/conversation/canopen/SDOUploadConversation.java @@ -3,6 +3,7 @@ package org.apache.plc4x.java.can.api.conversation.canopen; import org.apache.plc4x.java.api.exceptions.PlcException; import org.apache.plc4x.java.api.value.PlcValue; import org.apache.plc4x.java.can.api.segmentation.accumulator.ByteStorage; +import org.apache.plc4x.java.can.canopen.CANOpenAbortException; import org.apache.plc4x.java.can.canopen.CANOpenFrame; import org.apache.plc4x.java.canopen.readwrite.*; import org.apache.plc4x.java.canopen.readwrite.types.CANOpenDataType; @@ -29,26 +30,22 @@ public class SDOUploadConversation extends CANOpenConversationBase { SDOInitiateUploadRequest rq = new SDOInitiateUploadRequest(address); delegate.send(createFrame(rq)) - .check(this::isTransmitSDOFromReceiver) + .check(new NodeIdPredicate(answerNodeId)) .onTimeout(receiver::completeExceptionally) .unwrap(CANOpenFrame::getPayload) .only(CANOpenSDOResponse.class) - .onError((response, error) -> { - if (error != null) { - receiver.completeExceptionally(error); - return; - } - if (response.getResponse() instanceof SDOAbortResponse) { - SDOAbortResponse abort = (SDOAbortResponse) response.getResponse(); - SDOAbort sdoAbort = abort.getAbort(); - receiver.completeExceptionally(new PlcException("Could not read value. Remote party reported code " + sdoAbort.getCode())); - } - }) + .onError((payload, error) -> onError(receiver, payload, error)) .unwrap(CANOpenSDOResponse::getResponse) - .only(SDOInitiateUploadResponse.class) - .check(response -> response.getAddress().equals(address)) - .handle(response -> { - handle(receiver, response); + .check(new TypeOrAbortPredicate<>(SDOInitiateUploadResponse.class)) + .unwrap(payload -> unwrap(SDOInitiateUploadResponse.class, payload)) + .check(either -> either.isLeft() || either.get().getAddress().equals(address)) + .handle(either -> { + if (either.isLeft()) { + SDOAbort abort = either.getLeft(); + receiver.completeExceptionally(new CANOpenAbortException("Could not complete operation", abort.getCode())); + } else { + handle(receiver, either.get()); + } }); } @@ -80,35 +77,37 @@ public class SDOUploadConversation extends CANOpenConversationBase { private void fetch(ByteStorage.SDOUploadStorage storage, BiConsumer<Integer, byte[]> valueCallback, CompletableFuture<PlcValue> receiver, boolean toggle, int size) { logger.info("Request next data block for address {}/{}", Integer.toHexString(address.getIndex()), Integer.toHexString(address.getSubindex())); delegate.send(createFrame(new SDOSegmentUploadRequest(toggle))) - .check(this::isTransmitSDOFromReceiver) + .check(new NodeIdPredicate(answerNodeId)) .onTimeout(receiver::completeExceptionally) .unwrap(CANOpenFrame::getPayload) .only(CANOpenSDOResponse.class) + .onError((payload, error) -> onError(receiver, payload, error)) .unwrap(CANOpenSDOResponse::getResponse) - .onError((response, error) -> { - if (error != null) { - receiver.completeExceptionally(error); - return; - } - - if (response instanceof SDOAbortResponse) { - SDOAbortResponse abort = (SDOAbortResponse) response; - SDOAbort sdoAbort = abort.getAbort(); - receiver.completeExceptionally(new PlcException("Could not read value. Remote party reported code " + sdoAbort.getCode())); - } - }) - .only(SDOSegmentUploadResponse.class) - .check(r -> r.getToggle() == toggle) - .handle(response -> { - storage.append(response); - - if (response.getLast()) { - // validate size - logger.trace("Completed reading of data from {}/{}, collected {}, wanted {}", Integer.toHexString(address.getIndex()), Integer.toHexString(address.getSubindex()), storage.size(), size); - valueCallback.accept(Long.valueOf(size).intValue(), storage.get()); + .check(new TypeOrAbortPredicate<>(SDOSegmentUploadResponse.class)) + .unwrap(payload -> unwrap(SDOSegmentUploadResponse.class, payload)) + .handle(either -> { + if (either.isLeft()) { + SDOAbort abort = either.getLeft(); + receiver.completeExceptionally(new CANOpenAbortException("Could not complete operation", abort.getCode())); } else { - logger.trace("Continue reading of data from {}/{}, collected {}, wanted {}", Integer.toHexString(address.getIndex()), Integer.toHexString(address.getSubindex()), storage.size(), size); - fetch(storage, valueCallback, receiver, !toggle, size); + SDOSegmentUploadResponse response = either.get(); + if (response.getToggle() != toggle) { + // TODO find proper error code in specs + receiver.completeExceptionally(new CANOpenAbortException("Remote operation failed", 1000)); + SDOAbort abort = new SDOAbort(address, 1000); + delegate.sendToWire(createFrame(new SDOAbortRequest(abort))); + return; + } + + storage.append(either.get()); + if (response.getLast()) { + // validate size + logger.trace("Completed reading of data from {}/{}, collected {}, wanted {}", Integer.toHexString(address.getIndex()), Integer.toHexString(address.getSubindex()), storage.size(), size); + valueCallback.accept(Long.valueOf(size).intValue(), storage.get()); + } else { + logger.trace("Continue reading of data from {}/{}, collected {}, wanted {}", Integer.toHexString(address.getIndex()), Integer.toHexString(address.getSubindex()), storage.size(), size); + fetch(storage, valueCallback, receiver, !toggle, size); + } } }); } diff --git a/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/canopen/CANOpenAbortException.java b/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/canopen/CANOpenAbortException.java new file mode 100644 index 0000000..6ccdcf2 --- /dev/null +++ b/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/canopen/CANOpenAbortException.java @@ -0,0 +1,23 @@ +package org.apache.plc4x.java.can.canopen; + +import org.apache.plc4x.java.api.exceptions.PlcProtocolException; + +public class CANOpenAbortException extends PlcProtocolException { + + private final long abortCode; + + public CANOpenAbortException(String message, long abortCode) { + super(message); + this.abortCode = abortCode; + } + + public CANOpenAbortException(Throwable cause, long abortCode) { + super(cause); + this.abortCode = abortCode; + } + + public long getAbortCode() { + return abortCode; + } + +} 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 830656d..e8c9a0d 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 @@ -19,7 +19,13 @@ under the License. package org.apache.plc4x.java.can.protocol; import org.apache.commons.codec.binary.Hex; -import org.apache.plc4x.java.api.messages.*; +import org.apache.plc4x.java.api.messages.PlcReadRequest; +import org.apache.plc4x.java.api.messages.PlcReadResponse; +import org.apache.plc4x.java.api.messages.PlcSubscriptionEvent; +import org.apache.plc4x.java.api.messages.PlcSubscriptionRequest; +import org.apache.plc4x.java.api.messages.PlcSubscriptionResponse; +import org.apache.plc4x.java.api.messages.PlcWriteRequest; +import org.apache.plc4x.java.api.messages.PlcWriteResponse; import org.apache.plc4x.java.api.model.PlcConsumerRegistration; import org.apache.plc4x.java.api.model.PlcField; import org.apache.plc4x.java.api.model.PlcSubscriptionHandle; @@ -29,6 +35,8 @@ 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.api.value.PlcValues; +import org.apache.plc4x.java.can.canopen.CANOpenAbortException; 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.SDODownloadConversation; @@ -37,9 +45,18 @@ 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.*; +import org.apache.plc4x.java.can.field.CANOpenField; +import org.apache.plc4x.java.can.field.CANOpenHeartbeatField; +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; -import org.apache.plc4x.java.canopen.readwrite.*; +import org.apache.plc4x.java.canopen.readwrite.CANOpenHeartbeatPayload; +import org.apache.plc4x.java.canopen.readwrite.CANOpenNetworkPayload; +import org.apache.plc4x.java.canopen.readwrite.CANOpenPDO; +import org.apache.plc4x.java.canopen.readwrite.CANOpenPDOPayload; +import org.apache.plc4x.java.canopen.readwrite.CANOpenPayload; +import org.apache.plc4x.java.canopen.readwrite.IndexAddress; 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; @@ -52,7 +69,14 @@ import org.apache.plc4x.java.spi.context.DriverContext; import org.apache.plc4x.java.spi.generation.ParseException; import org.apache.plc4x.java.spi.generation.ReadBuffer; import org.apache.plc4x.java.spi.generation.WriteBuffer; -import org.apache.plc4x.java.spi.messages.*; +import org.apache.plc4x.java.spi.messages.DefaultPlcReadResponse; +import org.apache.plc4x.java.spi.messages.DefaultPlcSubscriptionEvent; +import org.apache.plc4x.java.spi.messages.DefaultPlcSubscriptionResponse; +import org.apache.plc4x.java.spi.messages.DefaultPlcWriteResponse; +import org.apache.plc4x.java.spi.messages.InternalPlcReadRequest; +import org.apache.plc4x.java.spi.messages.InternalPlcSubscriptionRequest; +import org.apache.plc4x.java.spi.messages.InternalPlcWriteRequest; +import org.apache.plc4x.java.spi.messages.PlcSubscriber; 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; @@ -114,7 +138,7 @@ public class CANOpenProtocolLogic extends Plc4xProtocolBase<CANOpenFrame> implem if (configuration.isHeartbeat()) { context.sendToWire(createFrame(new CANOpenHeartbeatPayload(NMTState.BOOTED_UP))); - this.heartbeat = new Timer(); + this.heartbeat = new Timer("can-heartbeat"); this.heartbeat.scheduleAtFixedRate(new TimerTask() { @Override public void run() { @@ -124,7 +148,7 @@ public class CANOpenProtocolLogic extends Plc4xProtocolBase<CANOpenFrame> implem e.printStackTrace(); } } - }, 5000, 5000); + }, 10000, 10000); } context.fireConnected(); } catch (ParseException e) { @@ -176,7 +200,11 @@ public class CANOpenProtocolLogic extends Plc4xProtocolBase<CANOpenFrame> implem CompletableFuture<PlcResponseCode> callback = new CompletableFuture<>(); callback.whenComplete((code, error) -> { if (error != null) { - response.completeExceptionally(error); + if (error instanceof CANOpenAbortException) { + response.complete(new DefaultPlcWriteResponse(writeRequest, Collections.singletonMap(fieldName, PlcResponseCode.REMOTE_ERROR))); + } else { + response.complete(new DefaultPlcWriteResponse(writeRequest, Collections.singletonMap(fieldName, PlcResponseCode.INTERNAL_ERROR))); + } transaction.endRequest(); return; } @@ -185,7 +213,8 @@ public class CANOpenProtocolLogic extends Plc4xProtocolBase<CANOpenFrame> implem }); PlcValue writeValue = writeRequest.getPlcValues().get(0); - SDODownloadConversation download = new SDODownloadConversation(conversation, field.getNodeId(), field.getAnswerNodeId(), new IndexAddress(field.getIndex(), field.getSubIndex()), writeValue, field.getCanOpenDataType()); + SDODownloadConversation download = new SDODownloadConversation(conversation, field.getNodeId(), field.getAnswerNodeId(), + new IndexAddress(field.getIndex(), field.getSubIndex()), writeValue, field.getCanOpenDataType()); transaction.submit(() -> download.execute(callback)); } @@ -272,8 +301,15 @@ public class CANOpenProtocolLogic extends Plc4xProtocolBase<CANOpenFrame> implem CompletableFuture<PlcValue> callback = new CompletableFuture<>(); callback.whenComplete((value, error) -> { if (error != null) { - response.completeExceptionally(error); + Map<String, ResponseItem<PlcValue>> fields = new HashMap<>(); + if (error instanceof CANOpenAbortException) { + fields.put(fieldName, new ResponseItem<>(PlcResponseCode.REMOTE_ERROR, PlcValues.of(((CANOpenAbortException) error).getAbortCode()))); + } else { + fields.put(fieldName, new ResponseItem<>(PlcResponseCode.REMOTE_ERROR, null)); + } + response.complete(new DefaultPlcReadResponse(readRequest, fields)); transaction.endRequest(); + return; } diff --git a/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/socketcan/SocketCANConversation.java b/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/socketcan/SocketCANConversation.java index 305ed68..1ba85f4 100644 --- a/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/socketcan/SocketCANConversation.java +++ b/sandbox/test-java-can-driver/src/main/java/org/apache/plc4x/java/can/socketcan/SocketCANConversation.java @@ -39,4 +39,8 @@ public class SocketCANConversation implements CANConversation<CANOpenFrame> { .expectResponse(CANOpenFrame.class, Duration.ofMillis(timeout)); } + public void sendToWire(CANOpenFrame frame) { + context.sendToWire(frame); + } + } diff --git a/sandbox/test-java-can-driver/src/test/resources/testsuite/CANOpenDriverSDOIT.xml b/sandbox/test-java-can-driver/src/test/resources/testsuite/CANOpenDriverSDOIT.xml index f0e7e0d..1e1ddd3 100644 --- a/sandbox/test-java-can-driver/src/test/resources/testsuite/CANOpenDriverSDOIT.xml +++ b/sandbox/test-java-can-driver/src/test/resources/testsuite/CANOpenDriverSDOIT.xml @@ -127,6 +127,82 @@ </testcase> <testcase> + <name>Expedited SDO read request - short</name> + <description> + Single field read request which answers with 4 bytes of data. + </description> + <steps> + <api-request name="Receive Read Request from application"> + <TestReadRequest className="org.apache.plc4x.test.driver.model.api.TestReadRequest"> + <fields> + <field className="org.apache.plc4x.test.driver.model.api.TestField"> + <name>sdo1</name> + <address>SDO:1:9186/1:UNSIGNED8</address> + </field> + </fields> + </TestReadRequest> + </api-request> + <outgoing-plc-message name="Send SDO Initialize Upload Request"> + <CANOpenSocketCANFrame className="org.apache.plc4x.java.can.canopen.socketcan.CANOpenSocketCANFrame"> + <nodeId>1</nodeId> + <service>RECEIVE_SDO</service> + <payload className="org.apache.plc4x.java.canopen.readwrite.CANOpenSDORequest"> + <command>INITIATE_UPLOAD</command> + <request className="org.apache.plc4x.java.canopen.readwrite.SDOInitiateUploadRequest"> + <address className="org.apache.plc4x.java.canopen.readwrite.IndexAddress"> + <index>9186</index> + <subindex>1</subindex> + </address> + </request> + </payload> + </CANOpenSocketCANFrame> + </outgoing-plc-message> + <incoming-plc-message name="Receive SDO Initialize Upload Response for other node"> + <!-- one unwanted frame --> + <CANOpenSocketCANFrame className="org.apache.plc4x.java.can.canopen.socketcan.CANOpenSocketCANFrame"> + <nodeId>1</nodeId> + <service>TRANSMIT_SDO</service> + <payload className="org.apache.plc4x.java.canopen.readwrite.CANOpenSDOResponse"> + <command>INITIATE_UPLOAD</command> + <response className="org.apache.plc4x.java.canopen.readwrite.SDOInitiateUploadResponse"> + <expedited>true</expedited> + <indicated>true</indicated> + <address className="org.apache.plc4x.java.canopen.readwrite.IndexAddress"> + <index>9186</index> + <subindex>1</subindex> + </address> + <payload className="org.apache.plc4x.java.canopen.readwrite.SDOInitiateExpeditedUploadResponse"> + <data>YXNkZg==</data> + </payload> + </response> + </payload> + </CANOpenSocketCANFrame> + </incoming-plc-message> + <api-response name="Report Read Response to application"> + <DefaultPlcReadResponse className="org.apache.plc4x.java.spi.messages.DefaultPlcReadResponse"> + <request className="org.apache.plc4x.java.spi.messages.DefaultPlcReadRequest"> + <sdo1 className="org.apache.plc4x.java.can.field.CANOpenSDOField"> + <nodeId>1</nodeId> + <index>9186</index> + <subIndex>1</subIndex> + <canOpenDataType>UNSIGNED8</canOpenDataType> + <answerNodeId>1</answerNodeId> + </sdo1> + </request> + <sdo1> + <code>OK</code> + <value className="org.apache.plc4x.java.api.value.PlcUSINT"> + <object>java.lang.Short</object> + <object>97</object> + </value> + </sdo1> + </DefaultPlcReadResponse> + </api-response> + <delay>1000</delay> + </steps> + </testcase> + + <testcase> <name>Expedited SDO read request - custom answer node id</name> <description> Single field read request which answers with 4 bytes of data. @@ -419,4 +495,77 @@ </steps> </testcase> + <testcase> + <name>Expedited SDO read request with abort answer</name> + <description> + Single field read request which answers with 4 bytes of data. + </description> + <steps> + <api-request name="Receive Read Request from application"> + <TestReadRequest className="org.apache.plc4x.test.driver.model.api.TestReadRequest"> + <fields> + <field className="org.apache.plc4x.test.driver.model.api.TestField"> + <name>sdo1</name> + <address>SDO:1:1000/22:UNSIGNED32</address> + </field> + </fields> + </TestReadRequest> + </api-request> + <outgoing-plc-message name="Send SDO Initialize Upload Request"> + <CANOpenSocketCANFrame className="org.apache.plc4x.java.can.canopen.socketcan.CANOpenSocketCANFrame"> + <nodeId>1</nodeId> + <service>RECEIVE_SDO</service> + <payload className="org.apache.plc4x.java.canopen.readwrite.CANOpenSDORequest"> + <command>INITIATE_UPLOAD</command> + <request className="org.apache.plc4x.java.canopen.readwrite.SDOInitiateUploadRequest"> + <address className="org.apache.plc4x.java.canopen.readwrite.IndexAddress"> + <index>1000</index> + <subindex>22</subindex> + </address> + </request> + </payload> + </CANOpenSocketCANFrame> + </outgoing-plc-message> + <incoming-plc-message name="Receive SDO Initialize Upload Response for other node"> + <CANOpenSocketCANFrame className="org.apache.plc4x.java.can.canopen.socketcan.CANOpenSocketCANFrame"> + <nodeId>1</nodeId> + <service>TRANSMIT_SDO</service> + <payload className="org.apache.plc4x.java.canopen.readwrite.CANOpenSDOResponse"> + <command>ABORT</command> + <response className="org.apache.plc4x.java.canopen.readwrite.SDOAbortResponse"> + <abort className="org.apache.plc4x.java.canopen.readwrite.SDOAbort"> + <address className="org.apache.plc4x.java.canopen.readwrite.IndexAddress"> + <index>1001</index> + <subindex>22</subindex> + </address> + <code>84082688</code> + </abort> + </response> + </payload> + </CANOpenSocketCANFrame> + </incoming-plc-message> + <api-response name="Report Read Response to application"> + <DefaultPlcReadResponse className="org.apache.plc4x.java.spi.messages.DefaultPlcReadResponse"> + <request className="org.apache.plc4x.java.spi.messages.DefaultPlcReadRequest"> + <sdo1 className="org.apache.plc4x.java.can.field.CANOpenSDOField"> + <nodeId>1</nodeId> + <index>1000</index> + <subIndex>22</subIndex> + <canOpenDataType>UNSIGNED32</canOpenDataType> + <answerNodeId>1</answerNodeId> + </sdo1> + </request> + <sdo1> + <code>REMOTE_ERROR</code> + <value className="org.apache.plc4x.java.api.value.PlcLINT"> + <object>java.lang.Long</object> + <object>84082688</object> + </value> + </sdo1> + </DefaultPlcReadResponse> + </api-response> + <delay>1000</delay> + </steps> + </testcase> + </test:driver-testsuite> \ No newline at end of file
