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| <div class="sect1"> |
| <h2 id="can_bus_driver_adapter">CAN Bus Driver Adapter</h2> |
| <div class="sectionbody"> |
| <div class="imageblock"> |
| <div class="content"> |
| <img src="../../images/users/protocols/can_banner.png" alt="banner" width="512" height="167"/> |
| </div> |
| </div> |
| <div class="paragraph"> |
| <p>The CAN Bus driver is a special kind of driver which does not bring any logic. |
| Its responsibility is to combine <a href="../transports/can.html">CAN transport facade</a> and custom application layer protocols. |
| In this way, the protocol can use its own "root frame" type which is not delivered from CAN bus frame.</p> |
| </div> |
| <div class="sect2"> |
| <h3 id="more_details_on_the_driver">More details on the driver</h3> |
| <div class="paragraph"> |
| <p>The <code>CANDriverAdapter</code> is a full implementation of Apache PLC4X API. |
| Under the hood adapter will forward all operations to delegate driver. |
| Work which is done by the adapter is to transform data incoming via CAN transport into frame supported by driver. |
| In this regard the <code>CANDriverAdapter</code> does not implement any real protocol. |
| All it does is transformation of incoming frames into frame desired by real driver.</p> |
| </div> |
| <div class="paragraph"> |
| <p>Below diagram explains how driver adapter works with CANopen. |
| Given that this is currently biggest CAN driver implemented in Apache PLC4X we will use it as a reference.</p> |
| </div> |
| <div class="imageblock"> |
| <div class="content"> |
| <img src="../../images/users/protocols/apache-plc4x-can-canopen.png" alt="apache plc4x can canopen" width="1480" height="224"/> |
| </div> |
| </div> |
| <div class="paragraph"> |
| <p>Looking at left most side of diagram we can see a CAN transport. |
| The transport knows how to receive and send data to the CAN bus. |
| Transport can create its own intermediate representation of CAN data frame. |
| In case of <code>SocketCAN</code> there is a dedicated type called <code>SocketCANFrame</code>.</p> |
| </div> |
| <div class="paragraph"> |
| <p>Most of other drivers in Apache PLC4X which rely on TCP, UDP or serial transports can unify right above transport. |
| Yet due to variety of APIs which are possible to be used with CAN bus such early unification at API level is not possible.</p> |
| </div> |
| <div class="paragraph"> |
| <p>Place where <code>CANDriverAdapter</code> jumps in is once transport formed the frame structure. |
| Then, adapter asks the transport to turn that structure into a <code>FrameData</code>. |
| An instance of <code>FrameData</code> is then passed to an adapter delivered by CANopen Driver. |
| This adapter can then create a <code>CANopenFrame</code> which is processed by desired driver logic.</p> |
| </div> |
| <div class="paragraph"> |
| <p>The return side, when desired driver wants to publish information is a bit simplified. |
| Because <code>FrameData</code> does not be a real type (it is an interface) we can skip it. |
| With a help of a <code>CANFrameBuilder</code> provided by CAN transport driver can easily construct a structure which is supported by it. |
| While this makes an API asymmetric it also makes it possible to use any third party transport with <code>CANopenDriver</code>.</p> |
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