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Update CAN bus interactions to match new plc4x 0.13 API behavior.
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Signed-off-by: Łukasz Dywicki <[email protected]>
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@splatch
splatch committed Apr 24, 2024
1 parent 8924850 commit 0edb45b
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Showing 10 changed files with 92 additions and 83 deletions.
8 changes: 2 additions & 6 deletions ...us/src/main/java/org/connectorio/addons/binding/canbus/internal/DefaultCanConnection.java
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Expand Up @@ -13,6 +13,7 @@
import org.apache.plc4x.java.api.value.PlcValue;
import org.apache.plc4x.java.can.generic.tag.GenericCANTag;
import org.apache.plc4x.java.genericcan.readwrite.GenericCANDataType;
import org.apache.plc4x.java.spi.values.PlcRawByteArray;
import org.apache.plc4x.java.spi.values.PlcUSINT;
import org.apache.plc4x.java.spi.values.PlcValues;
import org.connectorio.addons.binding.canbus.CanConnection;
Expand All @@ -35,12 +36,7 @@ public CompletableFuture<Void> write(int cob, byte[] data) {
}

private PlcValue encode(byte[] data) {
List<PlcUSINT> values = new ArrayList<>();
for (byte b : data) {
values.add(new PlcUSINT(b));
}

return PlcValues.of(values);
return new PlcRawByteArray(data);
}

@Override
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2 changes: 1 addition & 1 deletion ...g/connectorio/addons/binding/canbus/internal/discovery/CANInterfaceDiscoveryDelegate.java
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Expand Up @@ -41,7 +41,7 @@
/**
* Basic discovery service which rely on network API to discover CAN interface.
*/
@Component(service = {DiscoveryService.class, NetworkInterfaceStateCallback.class})
@Component(service = {DiscoveryService.class, NetworkInterfaceStateCallback.class}, immediate = true)
public class CANInterfaceDiscoveryDelegate extends AbstractDiscoveryService implements DiscoveryService,
NetworkInterfaceStateCallback {

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41 changes: 21 additions & 20 deletions ...ava/org/connectorio/addons/binding/canopen/ta/internal/handler/protocol/TAOperations.java
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Expand Up @@ -48,6 +48,7 @@
import org.apache.plc4x.java.spi.generation.ParseException;
import org.apache.plc4x.java.spi.generation.ReadBuffer;
import org.apache.plc4x.java.spi.generation.ReadBufferByteBased;
import org.apache.plc4x.java.spi.values.PlcRawByteArray;
import org.apache.plc4x.java.spi.values.PlcUSINT;
import org.apache.plc4x.java.spi.values.PlcValues;
import org.connectorio.addons.binding.canopen.ta.internal.type.TAString;
Expand Down Expand Up @@ -144,31 +145,31 @@ public CompletableFuture<?> reload(int nodeId) {
}

public CompletableFuture<? extends PlcWriteResponse> login(int nodeId, int clientId) {
return connection.writeRequestBuilder().addTag("mpdo", new CANOpenPDOTag(clientId, CANOpenService.RECEIVE_PDO_3, CANOpenDataType.RECORD), PlcValues.of(
new PlcUSINT((0x80 + nodeId)),
new PlcUSINT(0x00),
new PlcUSINT(0x1F),
new PlcUSINT(0x00),
new PlcUSINT(nodeId),
new PlcUSINT(clientId),
new PlcUSINT(0x80),
new PlcUSINT(0x12)
)).build().execute().whenComplete((response, error) -> {
return connection.writeRequestBuilder().addTag("mpdo", new CANOpenPDOTag(clientId, CANOpenService.RECEIVE_PDO_3, CANOpenDataType.RECORD), new PlcRawByteArray(new byte[] {
(byte) (0x80 + nodeId),
(byte) 0x00,
(byte) 0x1F,
(byte) 0x00,
(byte) nodeId,
(byte) clientId,
(byte) 0x80,
(byte) 0x12
})).build().execute().whenComplete((response, error) -> {
logger.debug("Dispatched login request to node {}", nodeId, error);
});
}

public CompletableFuture<? extends PlcWriteResponse> logout(int nodeId, int clientId) {
return connection.writeRequestBuilder().addTagAddress("mpdo", "RECEIVE_PDO_3:" + clientId + ":RECORD", PlcValues.of(
new PlcUSINT((0x80 + nodeId)),
new PlcUSINT(0x01),
new PlcUSINT(0x1F),
new PlcUSINT(0x00),
new PlcUSINT(nodeId),
new PlcUSINT(clientId),
new PlcUSINT(0x80),
new PlcUSINT(0x12)
)).build().execute().whenComplete((response, error) -> {
return connection.writeRequestBuilder().addTagAddress("mpdo", "RECEIVE_PDO_3:" + clientId + ":RECORD", new PlcRawByteArray(new byte[]{
(byte) (0x80 + nodeId),
(byte) 0x01,
(byte) 0x1F,
(byte) 0x00,
(byte) nodeId,
(byte) clientId,
(byte) 0x80,
(byte) 0x12
})).build().execute().whenComplete((response, error) -> {
logger.debug("Dispatched logout request to node {}", nodeId, error);
});
}
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61 changes: 31 additions & 30 deletions ...canopen.ta/src/main/java/org/connectorio/addons/binding/canopen/ta/tapi/dev/TADevice.java
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Expand Up @@ -31,6 +31,7 @@
import java.util.function.Function;
import org.apache.commons.codec.binary.Hex;
import org.apache.plc4x.java.canopen.readwrite.CANOpenService;
import org.apache.plc4x.java.spi.values.PlcRawByteArray;
import org.apache.plc4x.java.spi.values.PlcUSINT;
import org.apache.plc4x.java.spi.values.PlcValues;
import org.connectorio.addons.binding.canopen.api.CoNode;
Expand Down Expand Up @@ -249,29 +250,29 @@ public void reload() {
}

public void login() {
node.getConnection().send(clientId, CANOpenService.RECEIVE_PDO_3, PlcValues.of(
new PlcUSINT(0x80 + node.getNodeId()),
new PlcUSINT(0x00),
new PlcUSINT(0x1F),
new PlcUSINT(0x00),
new PlcUSINT(node.getNodeId()),
new PlcUSINT(clientId),
new PlcUSINT(0x80),
new PlcUSINT(0x12)
));
node.getConnection().send(clientId, CANOpenService.RECEIVE_PDO_3, new PlcRawByteArray(new byte[] {
(byte) (0x80 + node.getNodeId()),
(byte) 0x00,
(byte) 0x1F,
(byte) 0x00,
(byte) node.getNodeId(),
(byte) clientId,
(byte) 0x80,
(byte) 0x12
}));
}

public void logout() {
node.getConnection().send(clientId, CANOpenService.RECEIVE_PDO_3, PlcValues.of(
new PlcUSINT(0x80 + node.getNodeId()),
new PlcUSINT(0x01),
new PlcUSINT(0x1F),
new PlcUSINT(0x00),
new PlcUSINT(node.getNodeId()),
new PlcUSINT(clientId),
new PlcUSINT(0x80),
new PlcUSINT(0x12)
));
node.getConnection().send(clientId, CANOpenService.RECEIVE_PDO_3, new PlcRawByteArray(new byte[]{
(byte) (0x80 + node.getNodeId()),
(byte) 0x01,
(byte) 0x1F,
(byte) 0x00,
(byte) node.getNodeId(),
(byte) clientId,
(byte) 0x80,
(byte) 0x12
}));
}

public void close() {
Expand Down Expand Up @@ -423,16 +424,16 @@ protected void subscribe(int nodeId, CANOpenService service, Consumer<byte[]> co

private void reloadOutputs() {
logger.info("Reload {} outputs.", node.getNodeId());
node.getConnection().send(0, CANOpenService.TRANSMIT_PDO_4, PlcValues.of(
new PlcUSINT(0x80 + node.getNodeId()),
new PlcUSINT(0x01),
new PlcUSINT(0x4e),
new PlcUSINT(0x01),
new PlcUSINT(0x01),
new PlcUSINT(0x00),
new PlcUSINT(0x00),
new PlcUSINT(0x00)
));
node.getConnection().send(0, CANOpenService.TRANSMIT_PDO_4, new PlcRawByteArray(new byte[]{
(byte) (0x80 + node.getNodeId()),
(byte) 0x01,
(byte) 0x4e,
(byte) 0x01,
(byte) 0x01,
(byte) 0x00,
(byte) 0x00,
(byte) 0x00
}));
}

private void scanFunctions() {
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6 changes: 2 additions & 4 deletions ...java/org/connectorio/addons/binding/canopen/ta/tapi/dev/publisher/PublishingRunnable.java
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Expand Up @@ -22,6 +22,7 @@
import org.apache.plc4x.java.canopen.readwrite.CANOpenService;
import org.apache.plc4x.java.spi.generation.WriteBuffer;
import org.apache.plc4x.java.spi.generation.WriteBufferByteBased;
import org.apache.plc4x.java.spi.values.PlcRawByteArray;
import org.apache.plc4x.java.spi.values.PlcSINT;
import org.apache.plc4x.java.spi.values.PlcValues;
import org.connectorio.addons.binding.canopen.api.CoNode;
Expand All @@ -40,10 +41,7 @@ protected PublishingRunnable(CoNode node) {
protected final void send(int nodeId, CANOpenService service, WriteBufferByteBased buffer) {
byte[] data = buffer.getBytes();
logger.trace("Send to node {} {} (cob {}) data: {}", nodeId, service, Integer.toHexString(service.getMin() + nodeId), Hex.encodeHexString(data));
node.getConnection().send(nodeId, service, PlcValues.of(
new PlcSINT(data[0]), new PlcSINT(data[1]), new PlcSINT(data[2]), new PlcSINT(data[3]),
new PlcSINT(data[4]), new PlcSINT(data[5]), new PlcSINT(data[6]), new PlcSINT(data[7])
));
node.getConnection().send(nodeId, service, new PlcRawByteArray(data));
}

protected boolean hasKeyInRange(Map<Integer, ?> elements, int start, int limit) {
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12 changes: 2 additions & 10 deletions ...in/java/org/connectorio/addons/binding/canopen/internal/handler/CoPdoTransmitHandler.java
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Expand Up @@ -29,6 +29,7 @@
import org.apache.plc4x.java.spi.generation.SerializationException;
import org.apache.plc4x.java.spi.generation.WriteBuffer;
import org.apache.plc4x.java.spi.generation.WriteBufferByteBased;
import org.apache.plc4x.java.spi.values.PlcRawByteArray;
import org.apache.plc4x.java.spi.values.PlcSINT;
import org.apache.plc4x.java.spi.values.PlcValues;
import org.connectorio.addons.binding.canopen.api.CoNode;
Expand Down Expand Up @@ -104,16 +105,7 @@ private void publish() {
}

private PlcValue toPlcValue(byte[] data) {
return PlcValues.of(
new PlcSINT(data.length > 0 ? data[0] : 0),
new PlcSINT(data.length > 1 ? data[1] : 0),
new PlcSINT(data.length > 2 ? data[2] : 0),
new PlcSINT(data.length > 3 ? data[3] : 0),
new PlcSINT(data.length > 4 ? data[4] : 0),
new PlcSINT(data.length > 5 ? data[5] : 0),
new PlcSINT(data.length > 6 ? data[6] : 0),
new PlcSINT(data.length > 7 ? data[7] : 0)
);
return new PlcRawByteArray(data);
}

private void writeState(WriteBuffer buffer, CANOpenDataType type, Command command) throws SerializationException {
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29 changes: 26 additions & 3 deletions ...ava/org/connectorio/addons/binding/canopen/internal/handler/CoSocketCANBridgeHandler.java
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Expand Up @@ -76,10 +76,24 @@ public void run() {
config = getBridgeConfig().get();
String nodeId = "nodeId=" + config.nodeId;
String heartbeat = "&heartbeat=" + config.heartbeat;
AbstractPlcConnection connection = (AbstractPlcConnection) driverManager
.getConnectionManager().getConnection("canopen:socketcan://" + config.name + "?" + nodeId + heartbeat);

if (connection.isConnected()) {
AbstractPlcConnection connection = null;
ClassLoader tccl = Thread.currentThread().getContextClassLoader();
try {
Thread.currentThread().setContextClassLoader(getClass().getClassLoader());
// List<Provider<Transport>> transports = ServiceLoader.load(Transport.class, getClass().getClassLoader()).stream().collect(Collectors.toList());
// transports = ServiceLoader.load(Transport.class, SocketCANTransport.class.getClassLoader()).stream().collect(Collectors.toList());
connection = (AbstractPlcConnection) driverManager.getConnectionManager().getConnection("canopen:socketcan://" + config.name + "?" + nodeId + heartbeat);
} finally {
Thread.currentThread().setContextClassLoader(tccl);
}

if (connection != null && !connection.isConnected()) {
// force connection attempt
connection.connect();
}

if (connection != null && connection.isConnected()) {
updateStatus(ThingStatus.ONLINE);
initializer.complete(connection);
} else {
Expand All @@ -105,6 +119,15 @@ public void dispose() {
if (statisticPoller != null) {
statisticPoller.cancel(true);
}
initializer.thenAccept(connection -> {
if (connection.isConnected()) {
try {
connection.close();
} catch (Exception e) {
logger.warn("Failure while closing connection", e);
}
}
});
}

@Override
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10 changes: 4 additions & 6 deletions ...n/src/main/java/org/connectorio/addons/binding/canopen/internal/plc4x/CoRecordReader.java
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Expand Up @@ -33,13 +33,11 @@ public CoRecordReader(String field) {

@Override
protected byte[] extract(PlcReadResponse response, String field) {
List<Byte> bytes = new ArrayList<>(response.getAllBytes(field));
byte[] value = new byte[bytes.size()];
for (int index = 0; index < bytes.size(); index++) {
value[index] = bytes.get(index);
Object bytes = response.getObject(field);
if (bytes instanceof byte[]) {
return (byte[]) bytes;
}

return value;
throw new IllegalArgumentException("Unexpected value, expected byte[] got " + (bytes != null ? bytes.getClass().getName() : "NULL"));
}

}
2 changes: 1 addition & 1 deletion ...ava/org/connectorio/addons/network/can/dbus/internal/DBusCanNetworkInterfaceProvider.java
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Expand Up @@ -55,7 +55,7 @@
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;

@Component(service = NetworkInterfaceProvider.class)
@Component(service = NetworkInterfaceProvider.class, immediate = true)
public class DBusCanNetworkInterfaceProvider implements NetworkInterfaceProvider, DBusSigHandler<PropertiesChanged> {

public static final String PROPERTIES_TYPE = "org.freedesktop.DBus.Properties";
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4 changes: 2 additions & 2 deletions parent/pom.xml
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Expand Up @@ -37,8 +37,8 @@
<compiler.source>11</compiler.source>
<compiler.target>11</compiler.target>

<plc4x-extras.version>0.12.0</plc4x-extras.version>
<bacnet4j-wrapper.version>1.3.0-beta1</bacnet4j-wrapper.version>
<plc4x-extras.version>0.13.0-connectorio-1</plc4x-extras.version>
<bacnet4j-wrapper.version>1.3.0-beta3</bacnet4j-wrapper.version>

<openhab.version>3.0.4</openhab.version>
<thing4.version>3.0.0-alpha-4</thing4.version>
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