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feat(plc4j): Support for CANopen NMT commands.
Fixes #2468. Re-enabling tests for SDO operations. Signed-off-by: Łukasz Dywicki <luke@code-house.org>
1 parent e500266 commit 0ff7356

7 files changed

Lines changed: 294 additions & 84 deletions

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‎plc4j/drivers/canopen/src/main/java/org/apache/plc4x/java/canopen/protocol/CANOpenProtocolLogic.java‎

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Original file line numberDiff line numberDiff line change
@@ -191,6 +191,10 @@ public CompletableFuture<PlcWriteResponse> write(PlcWriteRequest writeRequest) {
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writeInternally((DefaultPlcWriteRequest) writeRequest, (CANOpenPDOTag) tag, response);
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return response;
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}
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if (tag instanceof CANOpenNMTTag) {
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writeInternally((DefaultPlcWriteRequest) writeRequest, (CANOpenNMTTag) tag, response);
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return response;
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}
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response.completeExceptionally(new IllegalArgumentException("Only CANOpenSDOTag instances are supported"));
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return response;
@@ -238,6 +242,29 @@ private void writeInternally(DefaultPlcWriteRequest writeRequest, CANOpenPDOTag
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}
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}
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private void writeInternally(DefaultPlcWriteRequest writeRequest, CANOpenNMTTag tag, CompletableFuture<PlcWriteResponse> response) {
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PlcValue writeValue = writeRequest.getPlcValues().get(0);
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NMTStateRequest request = null;
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if (writeValue.isInteger() || writeValue.isShort() || writeValue.isByte()) {
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request = NMTStateRequest.enumForValue(writeValue.getShort());
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}
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if (request == null) {
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response.completeExceptionally(new PlcRuntimeException("Unsupported NMTStateRequest value: " + writeValue));
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return;
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}
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try {
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String tagName = writeRequest.getTagNames().iterator().next();
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final CANOpenNetworkPayload payload = new CANOpenNetworkPayload(request, Integer.valueOf(tag.getNodeId()).byteValue());
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conversationContext.sendToWire(new CANOpenFrame((short) 0, tag.getService(), payload));
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response.complete(new DefaultPlcWriteResponse(writeRequest, Collections.singletonMap(tagName, PlcResponseCode.OK)));
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} catch (Exception e) {
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response.completeExceptionally(e);
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}
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}
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public CompletableFuture<PlcReadResponse> read(PlcReadRequest readRequest) {
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CompletableFuture<PlcReadResponse> response = new CompletableFuture<>();
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if (readRequest.getTagNames().size() != 1) {

‎plc4j/drivers/canopen/src/main/java/org/apache/plc4x/java/canopen/tag/CANOpenNMTTag.java‎

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Original file line numberDiff line numberDiff line change
@@ -51,12 +51,12 @@ public boolean isWildcard() {
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@Override
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public String getAddressString() {
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return "NMT:" + getNodeId();
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return isWildcard() ? "NMT" : "NMT:" + getNodeId();
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}
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@Override
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public PlcValueType getPlcValueType() {
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return PlcValueType.NULL;
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return PlcValueType.USINT;
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}
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@Override

‎plc4j/drivers/canopen/src/test/java/org/apache/plc4x/java/canopen/CANOpenDriverNMTIT.java‎

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@@ -0,0 +1,30 @@
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/*
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* Licensed to the Apache Software Foundation (ASF) under one
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* or more contributor license agreements. See the NOTICE file
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* distributed with this work for additional information
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* regarding copyright ownership. The ASF licenses this file
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* to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance
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* with the License. You may obtain a copy of the License at
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*
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* https://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing,
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* software distributed under the License is distributed on an
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* "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
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* KIND, either express or implied. See the License for the
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* specific language governing permissions and limitations
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* under the License.
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*/
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package org.apache.plc4x.java.canopen;
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import org.apache.plc4x.test.driver.DriverTestsuiteRunner;
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import org.junit.jupiter.api.Disabled;
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class CANOpenDriverNMTIT extends DriverTestsuiteRunner {
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public CANOpenDriverNMTIT() {
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super("/protocols/canopen/CANOpenDriverNMTIT.xml", true);
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}
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}

‎plc4j/drivers/canopen/src/test/java/org/apache/plc4x/java/canopen/CANOpenDriverSDOIT.java‎

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@@ -21,7 +21,6 @@
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import org.apache.plc4x.test.driver.DriverTestsuiteRunner;
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import org.junit.jupiter.api.Disabled;
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@Disabled("Fix this")
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class CANOpenDriverSDOIT extends DriverTestsuiteRunner {
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public CANOpenDriverSDOIT() {

‎protocols/canopen/src/test/resources/protocols/canopen/CANOpenDriverNMTIT.xml‎

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@@ -0,0 +1,122 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<!--
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Licensed to the Apache Software Foundation (ASF) under one
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or more contributor license agreements. See the NOTICE file
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distributed with this work for additional information
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regarding copyright ownership. The ASF licenses this file
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to you under the Apache License, Version 2.0 (the
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"License"); you may not use this file except in compliance
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with the License. You may obtain a copy of the License at
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https://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing,
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software distributed under the License is distributed on an
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"AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
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KIND, either express or implied. See the License for the
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specific language governing permissions and limitations
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under the License.
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-->
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<test:driver-testsuite xmlns:test="https://plc4x.apache.org/schemas/driver-testsuite.xsd"
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byteOrder="LITTLE_ENDIAN">
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<name>CANOpen SDO Segmentation</name>
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<protocolName>canopen</protocolName>
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<outputFlavor>read-write</outputFlavor>
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<driver-name>canopen</driver-name>
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<driver-parameters>
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<parameter>
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<name>nodeId</name>
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<value>15</value>
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</parameter>
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<parameter>
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<name>request-timeout</name>
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<value>5000</value>
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</parameter>
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</driver-parameters>
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<testcase>
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<name>Send NMT write request</name>
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<description>
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Trigger write using CANOpen NMT requesting specific node to change its state.
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</description>
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<steps>
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<api-request name="Request node 1 to enter PRE_OPERATIONAL state">
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<TestWriteRequest>
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<tags isList="true">
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<tag className="org.apache.plc4x.test.driver.internal.api.TestValueTag">
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<name>boot_up_request</name>
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<address>NMT:1</address>
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<value>
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<PlcUSINT>128</PlcUSINT>
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</value>
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</tag>
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</tags>
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</TestWriteRequest>
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</api-request>
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<outgoing-plc-message name="Send NMT Request">
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<CANOpenFrame>
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<nodeId dataType="uint" bitLength="8">0</nodeId>
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<service>
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<CANOpenService dataType="uint" bitLength="4" stringRepresentation="NMT">0</CANOpenService>
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</service>
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<alignment dataType="uint" bitLength="4">0</alignment>
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<payload>
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<CANOpenPayload>
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<CANOpenNetworkPayload>
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<request>
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<NMTStateRequest dataType="uint" bitLength="8" stringRepresentation="PRE_OPERATIONAL">128</NMTStateRequest>
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</request>
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<reserved dataType="uint" bitLength="1">0</reserved>
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<node dataType="uint" bitLength="7">1</node>
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</CANOpenNetworkPayload>
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</CANOpenPayload>
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</payload>
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<padding isList="true">
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<value dataType="uint" bitLength="8">0</value>
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<value dataType="uint" bitLength="8">0</value>
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<value dataType="uint" bitLength="8">0</value>
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<value dataType="uint" bitLength="8">0</value>
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<value dataType="uint" bitLength="8">0</value>
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<value dataType="uint" bitLength="8">0</value>
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</padding>
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</CANOpenFrame>
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</outgoing-plc-message>
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<api-response name="Report Write Response to application">
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<PlcWriteResponse>
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<request>
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<PlcWriteRequest>
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<PlcTagRequest>
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<tags isList="true">
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<boot_up_request>
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<PlcTagValueItem>
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<tag>
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<CANOpenNMTTag>
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<service dataType="string" bitLength="24" encoding="UTF-8">NMT</service>
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<node dataType="int" bitLength="64">1</node>
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</CANOpenNMTTag>
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</tag>
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<value>
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<PlcUSINT dataType="int" bitLength="8">128</PlcUSINT>
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</value>
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</PlcTagValueItem>
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</boot_up_request>
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</tags>
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</PlcTagRequest>
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</PlcWriteRequest>
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</request>
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<responseCodes isList="true">
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<boot_up_request>
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<ResponseCode dataType="uint" bitLength="8" stringRepresentation="OK">1</ResponseCode>
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</boot_up_request>
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</responseCodes>
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</PlcWriteResponse>
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</api-response>
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<delay>1000</delay>
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</steps>
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</testcase>
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</test:driver-testsuite>

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