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feat(plc4j): Support for CANopen NMT commands. #2489

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feat(plc4j): Support for CANopen NMT commands. #2489

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27 changes: 27 additions & 0 deletions ...rs/canopen/src/main/java/org/apache/plc4x/java/canopen/protocol/CANOpenProtocolLogic.java
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Original file line number Diff line number Diff line change
Expand Up @@ -191,6 +191,10 @@ public CompletableFuture<PlcWriteResponse> write(PlcWriteRequest writeRequest) {
writeInternally((DefaultPlcWriteRequest) writeRequest, (CANOpenPDOTag) tag, response);
return response;
}
if (tag instanceof CANOpenNMTTag) {
writeInternally((DefaultPlcWriteRequest) writeRequest, (CANOpenNMTTag) tag, response);
return response;
}

response.completeExceptionally(new IllegalArgumentException("Only CANOpenSDOTag instances are supported"));
return response;
Expand Down Expand Up @@ -238,6 +242,29 @@ private void writeInternally(DefaultPlcWriteRequest writeRequest, CANOpenPDOTag
}
}

private void writeInternally(DefaultPlcWriteRequest writeRequest, CANOpenNMTTag tag, CompletableFuture<PlcWriteResponse> response) {
PlcValue writeValue = writeRequest.getPlcValues().get(0);

NMTStateRequest request = null;
if (writeValue.isInteger() || writeValue.isShort() || writeValue.isByte()) {
request = NMTStateRequest.enumForValue(writeValue.getShort());
}
if (request == null) {
response.completeExceptionally(new PlcRuntimeException("Unsupported NMTStateRequest value: " + writeValue));
return;
}

try {
String tagName = writeRequest.getTagNames().iterator().next();

final CANOpenNetworkPayload payload = new CANOpenNetworkPayload(request, Integer.valueOf(tag.getNodeId()).byteValue());
conversationContext.sendToWire(new CANOpenFrame((short) 0, tag.getService(), payload));
response.complete(new DefaultPlcWriteResponse(writeRequest, Collections.singletonMap(tagName, PlcResponseCode.OK)));
} catch (Exception e) {
response.completeExceptionally(e);
}
}

public CompletableFuture<PlcReadResponse> read(PlcReadRequest readRequest) {
CompletableFuture<PlcReadResponse> response = new CompletableFuture<>();
if (readRequest.getTagNames().size() != 1) {
Expand Down
4 changes: 2 additions & 2 deletions plc4j/drivers/canopen/src/main/java/org/apache/plc4x/java/canopen/tag/CANOpenNMTTag.java
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Original file line number Diff line number Diff line change
Expand Up @@ -51,12 +51,12 @@ public boolean isWildcard() {

@Override
public String getAddressString() {
return "NMT:" + getNodeId();
return isWildcard() ? "NMT" : "NMT:" + getNodeId();
}

@Override
public PlcValueType getPlcValueType() {
return PlcValueType.NULL;
return PlcValueType.USINT;
}

@Override
Expand Down
30 changes: 30 additions & 0 deletions plc4j/drivers/canopen/src/test/java/org/apache/plc4x/java/canopen/CANOpenDriverNMTIT.java
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@@ -0,0 +1,30 @@
/*
* 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
*
* https://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.canopen;

import org.apache.plc4x.test.driver.DriverTestsuiteRunner;
import org.junit.jupiter.api.Disabled;

class CANOpenDriverNMTIT extends DriverTestsuiteRunner {

public CANOpenDriverNMTIT() {
super("/protocols/canopen/CANOpenDriverNMTIT.xml", true);
}

}
1 change: 0 additions & 1 deletion plc4j/drivers/canopen/src/test/java/org/apache/plc4x/java/canopen/CANOpenDriverSDOIT.java
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Expand Up @@ -21,7 +21,6 @@
import org.apache.plc4x.test.driver.DriverTestsuiteRunner;
import org.junit.jupiter.api.Disabled;

@Disabled("Fix this")
class CANOpenDriverSDOIT extends DriverTestsuiteRunner {

public CANOpenDriverSDOIT() {
Expand Down
122 changes: 122 additions & 0 deletions protocols/canopen/src/test/resources/protocols/canopen/CANOpenDriverNMTIT.xml
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@@ -0,0 +1,122 @@
<?xml version="1.0" encoding="UTF-8"?>
<!--
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

https://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.
-->
<test:driver-testsuite xmlns:test="https://plc4x.apache.org/schemas/driver-testsuite.xsd"
byteOrder="LITTLE_ENDIAN">

<name>CANOpen SDO Segmentation</name>

<protocolName>canopen</protocolName>
<outputFlavor>read-write</outputFlavor>

<driver-name>canopen</driver-name>

<driver-parameters>
<parameter>
<name>nodeId</name>
<value>15</value>
</parameter>
<parameter>
<name>request-timeout</name>
<value>5000</value>
</parameter>
</driver-parameters>

<testcase>
<name>Send NMT write request</name>
<description>
Trigger write using CANOpen NMT requesting specific node to change its state.
</description>
<steps>
<api-request name="Request node 1 to enter PRE_OPERATIONAL state">
<TestWriteRequest>
<tags isList="true">
<tag className="org.apache.plc4x.test.driver.internal.api.TestValueTag">
<name>boot_up_request</name>
<address>NMT:1</address>
<value>
<PlcUSINT>128</PlcUSINT>
</value>
</tag>
</tags>
</TestWriteRequest>
</api-request>
<outgoing-plc-message name="Send NMT Request">
<CANOpenFrame>
<nodeId dataType="uint" bitLength="8">0</nodeId>
<service>
<CANOpenService dataType="uint" bitLength="4" stringRepresentation="NMT">0</CANOpenService>
</service>
<alignment dataType="uint" bitLength="4">0</alignment>
<payload>
<CANOpenPayload>
<CANOpenNetworkPayload>
<request>
<NMTStateRequest dataType="uint" bitLength="8" stringRepresentation="PRE_OPERATIONAL">128</NMTStateRequest>
</request>
<reserved dataType="uint" bitLength="1">0</reserved>
<node dataType="uint" bitLength="7">1</node>
</CANOpenNetworkPayload>
</CANOpenPayload>
</payload>
<padding isList="true">
<value dataType="uint" bitLength="8">0</value>
<value dataType="uint" bitLength="8">0</value>
<value dataType="uint" bitLength="8">0</value>
<value dataType="uint" bitLength="8">0</value>
<value dataType="uint" bitLength="8">0</value>
<value dataType="uint" bitLength="8">0</value>
</padding>
</CANOpenFrame>
</outgoing-plc-message>
<api-response name="Report Write Response to application">
<PlcWriteResponse>
<request>
<PlcWriteRequest>
<PlcTagRequest>
<tags isList="true">
<boot_up_request>
<PlcTagValueItem>
<tag>
<CANOpenNMTTag>
<service dataType="string" bitLength="24" encoding="UTF-8">NMT</service>
<node dataType="int" bitLength="64">1</node>
</CANOpenNMTTag>
</tag>
<value>
<PlcUSINT dataType="int" bitLength="8">128</PlcUSINT>
</value>
</PlcTagValueItem>
</boot_up_request>
</tags>
</PlcTagRequest>
</PlcWriteRequest>
</request>
<responseCodes isList="true">
<boot_up_request>
<ResponseCode dataType="uint" bitLength="8" stringRepresentation="OK">1</ResponseCode>
</boot_up_request>
</responseCodes>
</PlcWriteResponse>
</api-response>
<delay>1000</delay>
</steps>
</testcase>

</test:driver-testsuite>
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