You are viewing a plain text version of this content. The canonical link for it is here.
Posted to commits@plc4x.apache.org by ld...@apache.org on 2020/10/07 10:02:09 UTC
[plc4x] 14/19: More tests of canopen payload.
This is an automated email from the ASF dual-hosted git repository.
ldywicki pushed a commit to branch feature/socketcan
in repository https://gitbox.apache.org/repos/asf/plc4x.git
commit 71301c964cba10d3395a6a88e290612d0022baf0
Author: Łukasz Dywicki <lu...@code-house.org>
AuthorDate: Tue Sep 1 18:13:32 2020 +0200
More tests of canopen payload.
---
.../src/main/resources/protocols/can/canopen.mspec | 67 +++++++++++++++++-----
.../testsuite/CANOpenPayloadTestSuite.xml | 41 +++++++++++++
2 files changed, 94 insertions(+), 14 deletions(-)
diff --git a/protocols/can/src/main/resources/protocols/can/canopen.mspec b/protocols/can/src/main/resources/protocols/can/canopen.mspec
index 0c4f175..c929ae4 100644
--- a/protocols/can/src/main/resources/protocols/can/canopen.mspec
+++ b/protocols/can/src/main/resources/protocols/can/canopen.mspec
@@ -17,20 +17,21 @@
* under the License.
*/
-[enum uint 4 'CANOpenService'
- ['0b0000' BROADCAST ]
- ['0b0001' SYNC ]
- ['0b1110' NMT ]
- ['0b1100' SDO_REQUEST ]
- ['0b1011' SDO_RESPONSE]
- ['0b0011' TPDO_1]
- ['0b0100' RPDO_1]
- ['0b0101' TPDO_2]
- ['0b0110' RPDO_2]
- ['0b0111' TPDO_3]
- ['0b1000' RPDO_3]
- ['0b1001' TPDO_4]
- ['0b1010' RPDO_4]
+[enum uint 4 'CANOpenService' [bit 'sdo', bit 'pdo', bit 'transmit', bit 'receive']
+ ['0b0000' BROADCAST ['false', 'false', 'false', 'false'] ]
+ ['0b0001' SYNC ['false', 'false', 'false', 'false'] ]
+ ['0b0010' TIME ['false', 'false', 'false', 'false'] ]
+ ['0b1110' NMT ['false', 'false', 'false', 'false'] ]
+ ['0b1100' SDO_REQUEST ['true', 'false', 'false', 'true' ] ]
+ ['0b1011' SDO_RESPONSE ['true', 'false', 'true', 'false'] ]
+ ['0b0011' TPDO_1 ['false', 'true', 'true', 'false'] ]
+ ['0b0100' RPDO_1 ['false', 'true', 'false', 'true' ] ]
+ ['0b0101' TPDO_2 ['false', 'true', 'true', 'false'] ]
+ ['0b0110' RPDO_2 ['false', 'true', 'false', 'true' ] ]
+ ['0b0111' TPDO_3 ['false', 'true', 'true', 'false'] ]
+ ['0b1000' RPDO_3 ['false', 'true', 'false', 'true' ] ]
+ ['0b1001' TPDO_4 ['false', 'true', 'true', 'false'] ]
+ ['0b1010' RPDO_4 ['false', 'true', 'false', 'true' ] ]
]
[enum uint 8 'NMTStateRequest'
@@ -55,6 +56,9 @@
[reserved uint 1 '0x00']
[simple uint 7 'node']
]
+ ['CANOpenService.TIME' CANOpenTimeSynchronization
+ [simple TimeOfDay 'timeOfDay']
+ ]
['CANOpenService.NMT' CANOpenNetworkPayload
[enum NMTState 'state']
]
@@ -78,6 +82,30 @@
[simple uint 8 'subindex']
[array uint 8 'data' COUNT 'size']
]
+ ['CANOpenService.RPDO_1' CANOpenRPDO
+ [simple CANOpenPDO 'pdo' ['1', 'true']]
+ ]
+ ['CANOpenService.TPDO_1' CANOpenTPDO
+ [simple CANOpenPDO 'pdo' ['1', 'false']]
+ ]
+ ['CANOpenService.RPDO_2' CANOpenRPDO
+ [simple CANOpenPDO 'pdo' ['2', 'true']]
+ ]
+ ['CANOpenService.TPDO_2' CANOpenTPDO
+ [simple CANOpenPDO 'pdo' ['1', 'false']]
+ ]
+ ['CANOpenService.RPDO_3' CANOpenRPDO
+ [simple CANOpenPDO 'pdo' ['3', 'true']]
+ ]
+ ['CANOpenService.TPDO_3' CANOpenTPDO
+ [simple CANOpenPDO 'pdo' ['1', 'false']]
+ ]
+ ['CANOpenService.RPDO_4' CANOpenRPDO
+ [simple CANOpenPDO 'pdo' ['4', 'true']]
+ ]
+ ['CANOpenService.TPDO_4' CANOpenTPDO
+ [simple CANOpenPDO 'pdo' ['1', 'false']]
+ ]
]
]
@@ -90,3 +118,14 @@
['0x05' BLOCK_UPLOAD]
['0x06' BLOCK_DOWNLOAD]
]
+
+[type 'CANOpenPDO' [uint 2 'index', bit 'receive']
+
+]
+
+[type 'TimeOfDay'
+ // CiA 301 - section 7.1.6.5
+ [simple uint 28 'millis']
+ [reserved int 4 '0x00']
+ [simple uint 16 'days']
+]
\ No newline at end of file
diff --git a/sandbox/test-java-can-driver/src/test/resources/testsuite/CANOpenPayloadTestSuite.xml b/sandbox/test-java-can-driver/src/test/resources/testsuite/CANOpenPayloadTestSuite.xml
index ecf224b..3188005 100644
--- a/sandbox/test-java-can-driver/src/test/resources/testsuite/CANOpenPayloadTestSuite.xml
+++ b/sandbox/test-java-can-driver/src/test/resources/testsuite/CANOpenPayloadTestSuite.xml
@@ -21,6 +21,47 @@
<name>Tests of CANopen frames payload.</name>
+
+ <testcase>
+ <name>Time synchronization, payload: A017BD805034</name>
+ <!--
+ Initial test payload was A017BD835034, however it does not align with CANOpen spec or mapping on our side is wrong
+ -->
+ <raw>A017BD805034</raw>
+ <root-type>CANOpenPayload</root-type>
+ <parser-arguments>
+ <arg1>TIME</arg1>
+ </parser-arguments>
+ <xml>
+ <CANOpenTimeSynchronization className="org.apache.plc4x.java.canopen.readwrite.CANOpenTimeSynchronization">
+ <timeOfDay className="org.apache.plc4x.java.canopen.readwrite.TimeOfDay">
+ <millis>-663027446</millis>
+ <days>13392</days>
+ </timeOfDay>
+ </CANOpenTimeSynchronization>
+ </xml>
+ </testcase>
+
+ <testcase>
+ <name>Time synchronization, payload: 7019BE805034</name>
+ <!--
+ Initial test payload was 7019BE835034, however it does not align with CANOpen spec or mapping on our side is wrong
+ -->
+ <raw>7019BE805034</raw>
+ <root-type>CANOpenPayload</root-type>
+ <parser-arguments>
+ <arg1>TIME</arg1>
+ </parser-arguments>
+ <xml>
+ <CANOpenTimeSynchronization className="org.apache.plc4x.java.canopen.readwrite.CANOpenTimeSynchronization">
+ <timeOfDay className="org.apache.plc4x.java.canopen.readwrite.TimeOfDay">
+ <millis>-392494841</millis>
+ <days>13392</days>
+ </timeOfDay>
+ </CANOpenTimeSynchronization>
+ </xml>
+ </testcase>
+
<testcase>
<name>Network heartbeat, payload: 00</name>
<raw>00</raw>