Updated MPS to switch between mqtt and opcua, and added a mqtt test a…

…nd also a broker to the test suite

.github/workflows/dotnet.yml

@@ -23,5 +23,11 @@ jobs:
       run: dotnet restore
     - name: Build
       run: dotnet build --no-restore
+    - name: Start Mosquitto
+      uses: namoshek/mosquitto-github-action@v1
+      with:
+        version: '1.6'
+        ports: '1883:1883'
+        container-name: 'mosquitto'
     - name: Test
       run: dotnet test Simulatortests/Simulatortests.csproj --no-build --verbosity normal 

Simulator/Configurations.cs

@@ -50,7 +50,6 @@ public class Configurations
         public uint WebguiPort { get; private set;}
         public bool BarcodeScanner { get; private set; }
 
-
         public Configurations()
         {
             MpsConfigs = new List<MpsConfig>();
@@ -357,8 +356,10 @@ public void LoadConfig(string path)
         private static RefboxConfig? CreateRefboxConfig(YamlMappingNode refbox)
         {
             string? ip = null;
-            int publicSendPort = 0, publicRecvPort = 0, cyanSendPort = 0, cyanRecvPort = 0, magentaSendPort = 0, magentaRecvPort = 0, tcpPort = 0;
+            int publicSendPort = 0, publicRecvPort = 0, cyanSendPort = 0, cyanRecvPort = 0, magentaSendPort = 0, magentaRecvPort = 0, tcpPort = 0, broker_port = 1883;
             var children = refbox.Children;
+            var broker_ip = "";
+            var mqtt_active = false;
             // Step into the public information
             //Console.WriteLine(children[0].Key.ToString());
             var map = (YamlMappingNode)children[0].Value;
@@ -427,9 +428,31 @@ public void LoadConfig(string path)
                             }
                         }
                         break;
+                    case "mqtt":
+                        var mqttChild = ((YamlMappingNode)value).Children;
+                        foreach (var (yamlNode, yamlNode1) in mqttChild)
+                        {
+                            switch (yamlNode.ToString().ToLower())
+                            {
+                                case "broker_ip":
+                                    broker_ip = yamlNode1.ToString().ToLower();
+                                    break;
+                                case "broker_port":
+                                    broker_port = int.Parse(yamlNode1.ToString());
+                                    break;
+                                case "active":
+                                    mqtt_active = bool.Parse(yamlNode1.ToString());
+                                    break;
+                                default:
+                                    Console.WriteLine("Unknown key " + yamlNode.ToString());
+                                    return null;
+                            }
+                        }
+                        break;
                     default:
                         Console.WriteLine("Unknown key " + key.ToString());
                         return null;
+
                 }
 
                 //Console.WriteLine(val);
@@ -439,7 +462,7 @@ public void LoadConfig(string path)
                 return null;
             }
             var config = new RefboxConfig(ip, tcpPort, publicSendPort, publicRecvPort, cyanSendPort, cyanRecvPort,
-                magentaSendPort, magentaRecvPort);
+                magentaSendPort, magentaRecvPort,broker_ip,broker_port ,mqtt_active);
             return config;
         }
 
@@ -537,8 +560,11 @@ public class RefboxConfig
         public int CyanRecvPort { get; }
         public int MagentaSendPort { get; }
         public int MagentaRecvPort { get; }
+        public string BrokerIp { get; }
+        public int BrokerPort { get; }
+        public bool MqttMode { get; }
 
-        public RefboxConfig(string ip,int tcpPort, int publicSend, int publicRecv, int cyanSend, int cyanRecv, int magentaSend, int magentaRecv)
+        public RefboxConfig(string ip,int tcpPort, int publicSend, int publicRecv, int cyanSend, int cyanRecv, int magentaSend, int magentaRecv, string broker_ip = "localhost", int brokerPort = 1883, bool active = false)
         {
             IP = ip;
             TcpPort = tcpPort;
@@ -548,6 +574,9 @@ public RefboxConfig(string ip,int tcpPort, int publicSend, int publicRecv, int c
             CyanSendPort = cyanSend;
             MagentaRecvPort = magentaRecv;
             MagentaSendPort = magentaSend;
+            BrokerIp = broker_ip;
+            BrokerPort = brokerPort;
+            MqttMode = active;
         }
         public void PrintConfig()
         {
@@ -560,6 +589,9 @@ public void PrintConfig()
             Console.WriteLine("CyanSendPort = [" + CyanSendPort + "]");
             Console.WriteLine("MagentaRecvPort = [" + MagentaRecvPort + "]");
             Console.WriteLine("MagentaSendPort = [" + MagentaSendPort + "]");
+            Console.WriteLine("BrokerIp = [" + BrokerIp + "]");
+            Console.WriteLine("BrokerPort = [" + BrokerPort + "]");
+            Console.WriteLine("MqttMode = [" + MqttMode + "]");
         }
     }
 

Simulator/MPS/MQTThelper.cs

@@ -40,7 +40,7 @@ public enum bits
     private ManualResetEvent BasicEvent;
     private MyLogger _myLogger;
 
-    public MQTThelper(string name, string url, ManualResetEvent inevent, ManualResetEvent basicevent, MyLogger logger)
+    public MQTThelper(string name, string url, int port, ManualResetEvent inevent, ManualResetEvent basicevent, MyLogger logger)
     {
         Name = name;
         _myLogger = logger;
@@ -58,6 +58,7 @@ public void Connect()
         _myLogger.Log("Starting connection!");
         var mqttClientOptions = new MqttClientOptionsBuilder()
             .WithTcpServer(Url)
+            .WithClientId(Name)
             .WithWillQualityOfServiceLevel(MqttQualityOfServiceLevel.ExactlyOnce)
             .Build();
         Client.ConnectAsync(mqttClientOptions, CancellationToken.None).GetAwaiter().GetResult();

Simulator/MPS/Mps.cs

@@ -42,7 +42,7 @@ public abstract class Mps
         public uint SlideCount { get; set; }
         public string JsonInformation;
         protected Configurations Config;
-        protected MQTThelper MqttHelper;
+        public MQTThelper MqttHelper;
         protected bool MQTT;
         public bool Working { get; private set; }
         public enum MpsType
@@ -90,16 +90,16 @@ protected Mps(Configurations config, string name, int port, int id, Team team, b
             GreenLight = new Light(LightColor.Green, LightEvent);
             TaskDescription = "idle";
             Config = config;
-            MQTT = true;
+            MQTT = Config.Refbox != null;
             // Belt = new Belt(this, BeltEvent);
             // Checking whether we have mockup mode or normal mode
             /*if (Configurations.GetInstance().MockUp)
                 return;*/
             try
             {
-                if (MQTT)
+                if (Config.Refbox != null && Config.Refbox.MqttMode)
                 {
-                    MqttHelper= new MQTThelper(Name, "mosquitto", InEvent, BasicEvent, MyLogger);
+                    MqttHelper= new MQTThelper(Name, config.Refbox.BrokerIp,config.Refbox.BrokerPort, InEvent, BasicEvent, MyLogger);
                     MqttHelper.Connect();
                     MqttHelper.Setup();
                 }
@@ -128,38 +128,58 @@ public void Run()
         public void ResetMachine()
         {
             TaskDescription = "Reseting!";
-            MqttHelper.InNodes.Status.SetBusy(true);
-            //InNodes.StatusNodes.busy.Value = true;
-            //Refbox.ApplyChanges(InNodes.StatusNodes.busy);
-            MqttHelper.InNodes.Status.SetEnable(false);
-            //InNodes.StatusNodes.enable.Value = false;
-            //Refbox.ApplyChanges(InNodes.StatusNodes.enable);
+            if(MQTT)
+            {
+                MqttHelper.InNodes.Status.SetBusy(true);
+                MqttHelper.InNodes.Status.SetEnable(false);
+            }
+            else
+            {
+                InNodes.StatusNodes.busy.Value = true;
+                Refbox.ApplyChanges(InNodes.StatusNodes.busy);
+                InNodes.StatusNodes.enable.Value = false;
+                Refbox.ApplyChanges(InNodes.StatusNodes.enable);
+            }
             Thread.Sleep(1000);
-            MqttHelper.InNodes.SetActionId(0);
-            //InNodes.ActionId.Value = 0;
-            ////Refbox.ApplyChanges(InNodes.ActionId);
-            MqttHelper.InNodes.SetData0(0);
-            //InNodes.Data0.Value = 0;
-            ////Refbox.ApplyChanges(InNodes.Data0);
-            MqttHelper.InNodes.SetData1(0);
-            //InNodes.Data1.Value = 0;
-            ////Refbox.ApplyChanges(InNodes.Data1);
-            MqttHelper.InNodes.SetError(0);
-            //InNodes.ByteError.Value = 0;
-            ////Refbox.ApplyChanges(InNodes.ByteError);
-            MqttHelper.InNodes.Status.SetReady(false);
-            //InNodes.StatusNodes.ready.Value = false;
-            ////Refbox.ApplyChanges(InNodes.StatusNodes.ready);
-            MqttHelper.InNodes.Status.SetError(false);
-            //InNodes.StatusNodes.error.Value = false;
-            ////Refbox.ApplyChanges(InNodes.StatusNodes.error);
+            if(MQTT)
+            {
+                MqttHelper.InNodes.SetActionId(0);
+                MqttHelper.InNodes.SetData0(0);
+                MqttHelper.InNodes.SetData1(0);
+                MqttHelper.InNodes.SetError(0);
+                MqttHelper.InNodes.Status.SetReady(false);
+                MqttHelper.InNodes.Status.SetError(false);
+            }
+            else
+            {
+                InNodes.ActionId.Value = 0;
+                Refbox.ApplyChanges(InNodes.ActionId);
+                InNodes.Data0.Value = 0;
+                Refbox.ApplyChanges(InNodes.Data0);
+                InNodes.Data1.Value = 0;
+                Refbox.ApplyChanges(InNodes.Data1);
+                InNodes.ByteError.Value = 0;
+                Refbox.ApplyChanges(InNodes.ByteError);
+                InNodes.StatusNodes.ready.Value = false;
+                Refbox.ApplyChanges(InNodes.StatusNodes.ready);
+                InNodes.StatusNodes.error.Value = false;
+                Refbox.ApplyChanges(InNodes.StatusNodes.error);
+            }
+
+
             ProductAtIn = null;
             ProductAtOut = null;
             ProductOnBelt = null;
-
-            MqttHelper.InNodes.Status.SetBusy(false);
-            //InNodes.StatusNodes.busy.Value = false;
-            //Refbox.ApplyChanges(InNodes.StatusNodes.busy);
+            if(MQTT)
+            {
+                MqttHelper.InNodes.Status.SetBusy(false);
+            }
+            else
+            {
+                InNodes.StatusNodes.busy.Value = false;
+                Refbox.ApplyChanges(InNodes.StatusNodes.busy);
+            }
+
             TaskDescription = "Idle";
         }
 
@@ -545,7 +565,8 @@ public void SerializeMachineToJson()
 
         public void StopMachine()
         {
-            Refbox.Stop();
+            if (Refbox != null)
+                Refbox.Stop();
         }
     }
 }

Simulator/MPS/MpsManager.cs

@@ -1,4 +1,4 @@
-using Simulator.Utility;
+ using Simulator.Utility;
 using System;
 using System.Collections.Generic;
 using System.Linq;

Simulator/cfg/config.yaml

@@ -144,7 +144,7 @@ teams:
     port: 2016
 refbox:
   public:
-    ip: 127.0.0.1
+    ip: 127.0.0.1 # is also used as mqtt broker address
     # THe simulation communicates via tcp to get ground-truth
     tcp: 4444
     send: 4445
@@ -155,6 +155,10 @@ refbox:
   magenta:
     send: 4442
     recv: 4447
+  mqtt:
+    broker_ip: localhost
+    broker_port: 1883
+    active: true
 webui:
   prefix: http  
   port: 8000

Simulatortests/BaseStationTests.cs

@@ -1,10 +1,9 @@
-using Microsoft.VisualStudio.TestTools.UnitTesting;
-using Simulator.MPS;
-using LlsfMsgs;
-using System.Threading;
+using LlsfMsgs;
+using Microsoft.VisualStudio.TestTools.UnitTesting;
 using Simulator;
-using Opc.UaFx.Client;
+using Simulator.MPS;
 using Simulator.Utility;
+using System.Threading;
 
 namespace Simulatortests
 {
@@ -63,6 +62,31 @@ public void OPC_DispenseBase()
             testHelper.CloseConnection();
             machine.StopMachine();
         }
+
+        [TestMethod]
+        public void MQTT_DispenseBase()
+        {
+            var ip = "mosquitto";
+            var port = 1883;
+            var name = "C-BS";
+            var config = new Configurations();
+            config.Refbox = new RefboxConfig(ip:"127.0.0.1",0,0,0,0,0,0,0, ip, port, true);
+            var machine = new MPS_BS(config, name, port, 0, Team.Cyan, true);
+            var thread = new Thread(machine.Run);
+            thread.Start();
+            Thread.Sleep(500);
+            Assert.AreEqual(machine.MqttHelper.InNodes.ActionId, 0);
+            var testHelper = new MQTTTestHelper(ip, port, name);
+            if (!testHelper.CreateConnection())
+                Assert.Fail();
+            testHelper.SendTask((ushort)MPS_BS.BaseSpecificActions.GetBase, (ushort)1, (ushort)0);
+            Thread.Sleep(config.BSTaskDuration + 300);
+            Assert.IsNotNull(machine.ProductOnBelt);
+            testHelper.CloseConnection();
+            machine.StopMachine();
+        }
+
+
         [TestMethod]
         public void OPC_WrongDispenseBase()
         {

Simulatortests/MQTTTestHelper.cs

@@ -0,0 +1,74 @@
+using System;
+using System.Threading;
+using Google.Protobuf;
+using MQTTnet;
+using MQTTnet.Client;
+using MQTTnet.Protocol;
+using Org.BouncyCastle.Asn1;
+using Simulator.MPS;
+
+namespace Simulatortests;
+
+public class MQTTTestHelper
+{
+    private string Name;
+    private string BasicTopic;
+    private string InTopic;
+    private string Url;
+    private IMqttClient Client;
+    private MqttFactory MqttFactory;
+    public static readonly string In = "In";
+    public static readonly string Basic = "Basic";
+
+    public MQTTTestHelper(string ip, int port, string name)
+    {
+        Name = name;
+        BasicTopic = $"MPS/{Name}/{Basic}/";
+        InTopic = $"MPS/{Name}/{In}/";
+        Url = ip;
+        MqttFactory = new MqttFactory();
+        Client = MqttFactory.CreateMqttClient();
+    }
+
+    public bool CreateConnection()
+    {
+        var mqttClientOptions = new MqttClientOptionsBuilder()
+            .WithTcpServer(Url)
+            .WithWillQualityOfServiceLevel(MqttQualityOfServiceLevel.ExactlyOnce)
+            .Build();
+        Client.ConnectAsync(mqttClientOptions, CancellationToken.None).GetAwaiter().GetResult();
+        return true;
+    }
+
+    public void SendTask(ushort TaskId, ushort data0 = 0, ushort data1 = 0)
+    {
+        PublishChange(InTopic + "ActionId", TaskId);
+        PublishChange(InTopic + "Data/Data[0]", data0);
+        PublishChange(InTopic + "Data/Data[1]", data1);
+        PublishChange(InTopic + "Status/Enable", true);
+    }
+    public void PublishChange(string topic, int value)
+    {
+        Console.Write("Topic: " + topic);
+        var applicationMessage = new MqttApplicationMessageBuilder()
+            .WithTopic(topic)
+            .WithPayload(value.ToString())
+            .Build();
+        Client.PublishAsync(applicationMessage, CancellationToken.None).GetAwaiter();
+    }
+
+    public void PublishChange(string topic, bool value)
+    {
+        Console.Write("Topic: " + topic);
+        var applicationMessage = new MqttApplicationMessageBuilder()
+            .WithTopic(topic)
+            .WithPayload(value.ToString())
+            .Build();
+        Client.PublishAsync(applicationMessage, CancellationToken.None).GetAwaiter();
+    }
+
+    public void CloseConnection()
+    {
+        Client.DisconnectAsync();
+    }
+}