Merge pull request #1 from boschrexroth/feature/ver116

Feature/ver116

.github/workflows/main.yml

@@ -24,8 +24,8 @@ jobs:
         sudo apt-get update
         sudo apt-get install -y libsystemd-dev libzmq3-dev
         sudo apt install pkg-config 
-        wget https://github.com/boschrexroth/ctrlx-automation-sdk/releases/download/1.12.1/ctrlx-datalayer-1.7.5.deb
-        sudo apt-get install -y -f ./ctrlx-datalayer-1.7.5.deb
+        wget https://github.com/boschrexroth/ctrlx-automation-sdk/releases/download/1.16.0/ctrlx-datalayer-1.8.6.deb
+        sudo apt-get install -y -f ./ctrlx-datalayer-1.8.6.deb
     
     - name: Go
       uses: actions/setup-go@v2

Makefile

@@ -7,8 +7,8 @@ GOOS := $(shell go env GOOS)
 GOARCH := $(shell go env GOARCH)
 BUILD := build/public/$(GOOS)_$(GOARCH)
 
-DATALAYER_DEB_VERSION      := 1.12.1
-DATALAYER_DEB_FILE_VERSION := 1.7.5
+DATALAYER_DEB_VERSION      := 1.16.0
+DATALAYER_DEB_FILE_VERSION := 1.8.6
 
 .PHONY: all go-dep apt-dep lint vet test test-coverage build clean
 

README.md

@@ -3,10 +3,11 @@
 This project provides ctrlX Data Layer access via Golang.
 It wraps the original ctrlX Data Layer written in C++.
 
-Documentation and examples you find here [ctrlX Software Development Kit](https://boschrexroth.github.io/ctrlx-automation-sdk/).
+Documentation and examples you can find here [ctrlX Software Development Kit](https://boschrexroth.github.io/ctrlx-automation-sdk/) and [GoDoc ](https://pkg.go.dev/github.com/boschrexroth/ctrlx-datalayer-golang/pkg/datalayer).
 
 ## Status
 
+
 ![Make Test](https://github.com/boschrexroth/ctrlx-datalayer-golang/actions/workflows/main.yml/badge.svg)
 
 ## Usage
@@ -22,8 +23,8 @@ sudo apt-get install libsystemd-dev libsystemd-dev:arm64 libzmq3-dev libzmq3-dev
 Check the current [ctrlx Data Layer](https://github.com/boschrexroth/ctrlx-automation-sdk/releases) debian package, download and install this, see example.
 
 ```bash
-wget https://github.com/boschrexroth/ctrlx-automation-sdk/releases/download/1.12.1/ctrlx-datalayer-1.7.5.deb
-sudo dpkg -i ctrlx-datalayer-1.7.5.deb
+wget https://github.com/boschrexroth/ctrlx-automation-sdk/releases/download/1.16.0/ctrlx-datalayer-1.8.6.deb
+sudo dpkg -i ctrlx-datalayer-1.8.6.deb
 ```
 
 ### Integrate in you project

pkg/datalayer/client.go

@@ -23,7 +23,7 @@
 package datalayer
 
 /*
-#cgo linux pkg-config: libsystemd libzmq
+#cgo linux pkg-config: libsystemd libzmq ctrlx-datalayer
 #cgo CFLAGS: -I./headers -I/usr/include/comm/datalayer/c
 #cgo linux LDFLAGS: -lcomm_datalayer -lzmq
 #cgo windows,amd64 LDFLAGS: -lcomm_datalayer

pkg/datalayer/converter.go

@@ -72,10 +72,10 @@ func (c *Converter) generateJSONComplex(data Variant, ty Variant, indentStep int
 }
 
 // GenerateJsonComplex generates a JSON string out of a Variant with a complex type (flatbuffers) and the metadata of this data.
-// Parameter data is a Varaint that contains data of complex data type (flatbuffers). If data is empty (VariantType::UNKNOWN) type is converted to json schema.
-// Parameter type is a Variant that contains type of data (Variant with flatbuffers BFBS)
+// Parameter data is an array of bytes that contains data of complex data type (flatbuffers). If data is empty (VariantType::UNKNOWN) type is converted to json schema.
+// Parameter type is an array of bytes that contains type of data (Variant with flatbuffers BFBS)
 // Parameter indentStep is a indentation length for json string.
-// It returns generated JSON as a Variant (string).
+// It returns generated JSON as a string.
 func (c *Converter) GenerateJsonComplex(data []byte, ty []byte, indentStep int) (Result, []byte) {
 	d := NewVariant()
 	defer DeleteVariant(d)
@@ -92,7 +92,7 @@ func (c *Converter) GenerateJsonComplex(data []byte, ty []byte, indentStep int)
 }
 
 // ParseJsonSimple generates a Variant out of a JSON string containing the (simple) data.
-// Parameter json is a data of the Variant as a json string.
+// Parameter json is an array of bytes as a json string.
 // It returns a result status of the function, data string which contains the data, error Error object.
 func (c *Converter) ParseJsonSimple(json []byte) (Result, *Variant, error) {
 	cjson := C.CString(string(json))
@@ -118,8 +118,8 @@ func (c *Converter) parseJSONComplex(json []byte, ty Variant) (Result, *Variant,
 }
 
 // ParseJsonComplex generates a Variant out of a JSON string containing the (complex) data.
-// Parameter json is a data of the Variant as a json string.
-// Parameter type (ty) is a Variant that contains type of data (Variant with bfbs flatbuffer content).
+// Parameter json is an array of bytes containing a json string.
+// Parameter type (ty) is an array of bytes that contains type of data (Variant with bfbs flatbuffer content).
 // It returns a result status of the function, data (array of byte) which contains the data, error Error as error object.
 func (c *Converter) ParseJsonComplex(json []byte, ty []byte) (Result, []byte, error) {
 	t := NewVariant()

pkg/datalayer/doc_test.go

@@ -0,0 +1,42 @@
+/**
+ * MIT License
+ *
+ * Copyright (c) 2021-2022 Bosch Rexroth AG
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+package datalayer_test
+
+import (
+	"github.com/boschrexroth/ctrlx-datalayer-golang/pkg/datalayer"
+	fbs "github.com/boschrexroth/ctrlx-datalayer-golang/pkg/fbs/comm/datalayer"
+)
+
+func ExampleMetaDataBuilder() {
+	m := datalayer.NewMetaDataBuilder(datalayer.AllowedOperationRead|datalayer.AllowedOperationWrite, "simple description", "")
+	m.DisplayName("myexample").NodeClass(fbs.NodeClassVariable)
+
+	m.AddReference(datalayer.ReferenceTypeWrite, "type/myexample/write")
+	m.AddReference(datalayer.ReferenceTypeRead, "type/myexample/read")
+
+	m.AddExtension("key", "value")
+
+	v := m.Build()
+	defer datalayer.DeleteVariant(v)
+}

pkg/datalayer/metadatabuilder.go

@@ -0,0 +1,239 @@
+/**
+ * MIT License
+ *
+ * Copyright (c) 2021-2022 Bosch Rexroth AG
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+package datalayer
+
+import (
+	"sort"
+
+	fbs "github.com/boschrexroth/ctrlx-datalayer-golang/pkg/fbs/comm/datalayer"
+	flatbuffers "github.com/google/flatbuffers/go"
+)
+
+// AllowedOperation enum
+type AllowedOperation uint
+
+// AllowedOperation enum defintion
+const (
+	AllowedOperationNone   AllowedOperation = 0x00000
+	AllowedOperationRead   AllowedOperation = 0x00001
+	AllowedOperationWrite  AllowedOperation = 0x00010
+	AllowedOperationCreate AllowedOperation = 0x00100
+	AllowedOperationDelete AllowedOperation = 0x01000
+	AllowedOperationBrowse AllowedOperation = 0x10000
+	AllowedOperationAll    AllowedOperation = AllowedOperationRead | AllowedOperationWrite | AllowedOperationCreate | AllowedOperationDelete | AllowedOperationBrowse
+)
+
+// ReferenceType enum
+type ReferenceType uint8
+
+// ReferenceType enum defintion
+const (
+	ReferenceTypeRead     ReferenceType = 0
+	ReferenceTypeReadIn   ReferenceType = 1
+	ReferenceTypeReadOut  ReferenceType = 2
+	ReferenceTypeWrite    ReferenceType = 3
+	ReferenceTypeWriteIn  ReferenceType = 4
+	ReferenceTypeWriteOut ReferenceType = 5
+	ReferenceTypeCreate   ReferenceType = 6
+	ReferenceTypeUses     ReferenceType = 7
+	ReferenceTypeHasSave  ReferenceType = 8
+)
+
+// EnumNamesReferenceType enum defintion
+var EnumNamesReferenceType = map[ReferenceType]string{
+	ReferenceTypeRead:     "readType",
+	ReferenceTypeReadIn:   "readInType",
+	ReferenceTypeReadOut:  "readOutType",
+	ReferenceTypeWrite:    "writeType",
+	ReferenceTypeWriteIn:  "writeInType",
+	ReferenceTypeWriteOut: "writeOutType",
+	ReferenceTypeCreate:   "createType",
+	ReferenceTypeUses:     "uses",
+	ReferenceTypeHasSave:  "hasSave",
+}
+
+// MetaDataBuilder struct
+type MetaDataBuilder struct {
+	name           string
+	description    string
+	descriptionurl string
+	unit           string
+	allowed        AllowedOperation
+	nodeclass      fbs.NodeClass
+	displayformat  fbs.DisplayFormat
+	refers         map[string]string
+	extensions     map[string]string
+}
+
+// NewMetaDataBuilder generates MetaDataBuilder instance
+func NewMetaDataBuilder(a AllowedOperation, desc string, descurl string) *MetaDataBuilder {
+	m := &MetaDataBuilder{description: desc, descriptionurl: descurl}
+	m.name = ""
+	m.unit = ""
+	m.nodeclass = fbs.NodeClassNode
+	m.displayformat = fbs.DisplayFormatAuto
+	m.refers = make(map[string]string)
+	m.extensions = make(map[string]string)
+	m.Operations(a)
+	return m
+}
+
+// Build this instance
+func (m *MetaDataBuilder) Build() *Variant {
+	builder := flatbuffers.NewBuilder(1024)
+
+	//Serialize References data
+	references := m.buildreferences()
+
+	//Serialize Extensions data
+	extensions := m.buildextensions()
+
+	//Serialize AllowedOperations data
+	operations := m.operations()
+
+	meta := fbs.MetadataT{}
+	meta.Description = m.description
+	meta.DescriptionUrl = m.descriptionurl
+	meta.DisplayName = m.name
+	meta.Unit = m.unit
+	meta.DisplayFormat = m.displayformat
+
+	meta.NodeClass = m.nodeclass
+	meta.Operations = operations
+	meta.References = references
+	meta.Extensions = extensions
+	mi := meta.Pack(builder)
+	builder.Finish(mi)
+	v := NewVariant()
+	v.SetFlatbuffers(builder.FinishedBytes())
+	return v
+}
+
+func (m *MetaDataBuilder) buildextensions() []*fbs.ExtensionT {
+
+	extensions := []*fbs.ExtensionT{}
+	keys := sortkeys(m.extensions)
+
+	for _, k := range keys {
+		re := m.addExt(k, m.extensions[k])
+		extensions = append(extensions, re)
+	}
+
+	return extensions
+}
+
+func (m *MetaDataBuilder) addExt(key, val string) *fbs.ExtensionT {
+	ext := &fbs.ExtensionT{Key: key, Value: val}
+	return ext
+}
+
+func sortkeys(m map[string]string) []string {
+	keys := make([]string, 0, len(m))
+	for k := range m {
+		keys = append(keys, k)
+	}
+	sort.Strings(keys)
+	return keys
+}
+
+func (m *MetaDataBuilder) buildreferences() []*fbs.ReferenceT {
+
+	references := []*fbs.ReferenceT{}
+	keys := sortkeys(m.refers)
+	for _, k := range keys {
+		//fmt.Println("refs: ", k, m.refers[k])
+		re := m.addRef(k, m.refers[k])
+		references = append(references, re)
+	}
+
+	return references
+}
+
+func (m *MetaDataBuilder) addRef(ty, addr string) *fbs.ReferenceT {
+	ref := &fbs.ReferenceT{Type: ty, TargetAddress: addr}
+	return ref
+}
+
+func (m *MetaDataBuilder) operations() *fbs.AllowedOperationsT {
+	ops := &fbs.AllowedOperationsT{}
+	ops.Read = m.isallowed(AllowedOperationRead)
+	ops.Browse = m.isallowed(AllowedOperationBrowse)
+	ops.Create = m.isallowed(AllowedOperationCreate)
+	ops.Delete = m.isallowed(AllowedOperationDelete)
+	ops.Write = m.isallowed(AllowedOperationWrite)
+	return ops
+}
+
+// Operations set the allowed operations
+func (m *MetaDataBuilder) Operations(a AllowedOperation) *MetaDataBuilder {
+	m.allowed = a
+	return m
+}
+
+func (m *MetaDataBuilder) isallowed(a AllowedOperation) bool {
+	return m.allowed&a == a
+}
+
+// Unit sets the unit
+func (m *MetaDataBuilder) Unit(u string) *MetaDataBuilder {
+	m.unit = u
+	return m
+}
+
+// DisplayName sets the display name
+func (m *MetaDataBuilder) DisplayName(n string) *MetaDataBuilder {
+	m.name = n
+	return m
+}
+
+// NodeClass sets the node class
+func (m *MetaDataBuilder) NodeClass(nc fbs.NodeClass) *MetaDataBuilder {
+	m.nodeclass = nc
+	return m
+}
+
+// DisplayFormat sets the display format
+func (m *MetaDataBuilder) DisplayFormat(df fbs.DisplayFormat) *MetaDataBuilder {
+	m.displayformat = df
+	return m
+}
+
+// AddReference adds the reference
+func (m *MetaDataBuilder) AddReference(r ReferenceType, t string) *MetaDataBuilder {
+	m.refers[ref2name(r)] = t
+	return m
+}
+
+// AddExtension adds the extension
+func (m *MetaDataBuilder) AddExtension(key string, val string) *MetaDataBuilder {
+	m.extensions[key] = val
+	return m
+}
+
+func ref2name(r ReferenceType) string {
+	if s, ok := EnumNamesReferenceType[r]; ok {
+		return s
+	}
+	return ""
+}

pkg/datalayer/system.go

@@ -64,7 +64,6 @@ func (d *System) Start(boStartBroker bool) {
 
 // Stop breaks a ctrlX Data Layer system.
 // Parameter boForceProviderStop forces stop off all created providers for this ctrlX Data Layer system.
-// It returns false if there is a client or provider active.
 func (d *System) Stop(boForceProviderStop bool) {
 	C.DLR_systemStop(d.this, C.bool(boForceProviderStop))
 }