Examples with CANOpenPDOPayload org.apache.plc4x.java.canopen.readwrite.CANOpenPDOPayload used on opensource projects

Example 1 with CANOpenPDOPayload

use of org.apache.plc4x.java.canopen.readwrite.CANOpenPDOPayload in project plc4x by apache.

the class CANOpenProtocolLogic method writeInternally.

private void writeInternally(DefaultPlcWriteRequest writeRequest, CANOpenPDOField field, CompletableFuture<PlcWriteResponse> response) {
    PlcValue writeValue = writeRequest.getPlcValues().get(0);
    try {
        String fieldName = writeRequest.getFieldNames().iterator().next();
        WriteBufferByteBased writeBuffer = new WriteBufferByteBased(DataItem.getLengthInBytes(writeValue, field.getCanOpenDataType(), writeValue.getLength()), ByteOrder.LITTLE_ENDIAN);
        DataItem.staticSerialize(writeBuffer, writeValue, field.getCanOpenDataType(), writeValue.getLength(), ByteOrder.LITTLE_ENDIAN);
        final CANOpenPDOPayload payload = new CANOpenPDOPayload(new CANOpenPDO(writeBuffer.getData()));
        context.sendToWire(new CANOpenFrame((short) field.getNodeId(), field.getService(), payload));
        response.complete(new DefaultPlcWriteResponse(writeRequest, Collections.singletonMap(fieldName, PlcResponseCode.OK)));
    } catch (Exception e) {
        response.completeExceptionally(e);
    }
}

Example 2 with CANOpenPDOPayload

use of org.apache.plc4x.java.canopen.readwrite.CANOpenPDOPayload in project plc4x by apache.

the class CANOpenProtocolLogic method decode.

@Override
public void decode(ConversationContext<CANOpenFrame> context, CANOpenFrame msg) throws Exception {
    int nodeId = msg.getNodeId();
    CANOpenService service = msg.getService();
    CANOpenPayload payload = msg.getPayload();
    if (service != null && nodeId != this.configuration.getNodeId()) {
        if (service.getPdo() && payload instanceof CANOpenPDOPayload) {
            publishEvent(service, nodeId, payload);
        } else if (service == CANOpenService.HEARTBEAT && payload instanceof CANOpenHeartbeatPayload) {
            publishEvent(service, nodeId, payload);
        } else {
            logger.debug("Decoded CANOpen {} from {}, message {}", service, nodeId, payload);
        }
    }
// int identifier = msg.getIdentifier();
// CANOpenService service = CANOpenService.valueOf((byte) (identifier >> 7));
// if (service != null) {
// ReadBuffer buffer = new ReadBuffer(msg.getData());
// CANOpenPayload payload = CANOpenPayloadIO.staticParse(buffer, service);
// 
// 
// }
}

Example 3 with CANOpenPDOPayload

use of org.apache.plc4x.java.canopen.readwrite.CANOpenPDOPayload in project plc4x by apache.

the class CANOpenProtocolLogic method publishEvent.

private void publishEvent(CANOpenService service, int nodeId, CANOpenPayload payload) {
    DefaultPlcSubscriptionHandle dispatchedHandle = null;
    for (Map.Entry<DefaultPlcConsumerRegistration, Consumer<PlcSubscriptionEvent>> entry : consumers.entrySet()) {
        DefaultPlcConsumerRegistration registration = entry.getKey();
        Consumer<PlcSubscriptionEvent> consumer = entry.getValue();
        for (PlcSubscriptionHandle handler : registration.getSubscriptionHandles()) {
            CANOpenSubscriptionHandle handle = (CANOpenSubscriptionHandle) handler;
            if (payload instanceof CANOpenPDOPayload) {
                if (handle.matches(service, nodeId)) {
                    logger.trace("Dispatching notification {} for node {} to {}", service, nodeId, handle);
                    dispatchedHandle = handle;
                    CANOpenPDOField field = (CANOpenPDOField) handle.getField();
                    byte[] data = ((CANOpenPDOPayload) payload).getPdo().getData();
                    try {
                        PlcValue value = DataItem.staticParse(new ReadBufferByteBased(data, ByteOrder.LITTLE_ENDIAN), field.getCanOpenDataType(), data.length);
                        DefaultPlcSubscriptionEvent event = new DefaultPlcSubscriptionEvent(Instant.now(), Collections.singletonMap(handle.getName(), new ResponseItem<>(PlcResponseCode.OK, value)));
                        consumer.accept(event);
                    } catch (ParseException e) {
                        logger.warn("Could not parse data to desired type: {}", field.getCanOpenDataType(), e);
                        DefaultPlcSubscriptionEvent event = new DefaultPlcSubscriptionEvent(Instant.now(), Collections.singletonMap(handle.getName(), new ResponseItem<>(PlcResponseCode.INVALID_DATA, new PlcNull())));
                        consumer.accept(event);
                    }
                }
            } else if (payload instanceof CANOpenHeartbeatPayload) {
                if (handle.matches(service, nodeId)) {
                    logger.trace("Dispatching notification {} for node {} to {}", service, nodeId, handle);
                    dispatchedHandle = handle;
                    final NMTState state = ((CANOpenHeartbeatPayload) payload).getState();
                    Map<String, PlcValue> fields = new HashMap<>();
                    fields.put("state", new PlcUSINT(state.getValue()));
                    fields.put("node", new PlcUSINT(nodeId));
                    PlcStruct struct = new PlcStruct(fields);
                    DefaultPlcSubscriptionEvent event = new DefaultPlcSubscriptionEvent(Instant.now(), Collections.singletonMap(handle.getName(), new ResponseItem<>(PlcResponseCode.OK, struct)));
                    consumer.accept(event);
                }
            } else if (payload instanceof CANOpenNetworkPayload) {
                if (handle.matches(service, nodeId)) {
                    logger.trace("Dispatching notification {} for node {} to {}", service, nodeId, handle);
                    dispatchedHandle = handle;
                    final NMTStateRequest state = ((CANOpenNetworkPayload) payload).getRequest();
                    Map<String, PlcValue> fields = new HashMap<>();
                    fields.put("state", new PlcUSINT(state.getValue()));
                    fields.put("node", new PlcUSINT(nodeId));
                    PlcStruct struct = new PlcStruct(fields);
                    DefaultPlcSubscriptionEvent event = new DefaultPlcSubscriptionEvent(Instant.now(), Collections.singletonMap(handle.getName(), new ResponseItem<>(PlcResponseCode.OK, struct)));
                    consumer.accept(event);
                }
            }
        }
    }
    if (dispatchedHandle == null) {
        logger.trace("Could not find subscription matching {} and node {}", service, nodeId);
    }
}