canopen
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CANopen implementation for Javascript
391 lines (344 loc) • 10.1 kB
JavaScript
/**
* @file Implements the CANopen Synchronization (SYNC) protocol.
* @author Wilkins White
* @copyright 2024 Daxbot
*/
const Protocol = require('./protocol');
const { Eds, EdsError } = require('../eds');
const { deprecate } = require('util');
/**
* CANopen SYNC protocol handler.
*
* The synchronization (SYNC) protocol follows a producer-consumer structure
* that provides a basic network synchronization mechanism. There should be
* at most one sync producer on the network at a time.
*
* @param {Eds} eds - Eds object.
* @see CiA301 "Synchronization object (SYNC)" (§7.2.5)
* @implements {Protocol}
*/
class Sync extends Protocol {
constructor(eds) {
super(eds);
this.syncCounter = 0;
this.syncTimer = null;
this._overflow = 0;
this._cobId = null;
this._generate = false;
}
/**
* Get object 0x1005 [bit 30] - Sync generation enable.
*
* @type {boolean}
* @deprecated Use {@link Eds#getSyncGenerationEnable} instead.
*/
get generate() {
return this.eds.getSyncGenerationEnable();
}
/**
* Set object 0x1005 [bit 30] - Sync generation enable.
*
* @type {boolean}
* @deprecated Use {@link Eds#setSyncGenerationEnable} instead.
*/
set generate(enable) {
this.eds.setSyncGenerationEnable(enable);
}
/**
* Get object 0x1005 - COB-ID SYNC.
*
* @type {number}
* @deprecated Use {@link Eds#getSyncCobId} instead.
*/
get cobId() {
return this.eds.getSyncCobId();
}
/**
* Set object 0x1005 - COB-ID SYNC.
*
* @type {number}
* @deprecated Use {@link Eds#setSyncCobId} instead.
*/
set cobId(cobId) {
this.eds.setSyncCobId(cobId);
}
/**
* Get object 0x1006 - Communication cycle period.
*
* @type {number}
* @deprecated Use {@link Eds#getSyncCyclePeriod} instead.
*/
get cyclePeriod() {
return this.eds.getSyncCyclePeriod();
}
/**
* Set object 0x1006 - Communication cycle period.
*
* @type {number}
* @deprecated Use {@link Eds#setSyncCyclePeriod} instead.
*/
set cyclePeriod(period) {
this.eds.setSyncCyclePeriod(period);
}
/**
* Get object 0x1019 - Synchronous counter overflow value.
*
* @type {number}
* @deprecated Use {@link Eds#getSyncOverflow} instead.
*/
get overflow() {
return this.eds.getSyncOverflow();
}
/**
* Set object 0x1019 - Synchronous counter overflow value.
*
* @type {number}
* @deprecated Use {@link Eds#setSyncOverflow} instead.
*/
set overflow(overflow) {
this.eds.setSyncOverflow(overflow);
}
/**
* Service: SYNC write.
*
* @param {number | null} counter - sync counter;
* @fires Protocol#message
*/
write(counter = null) {
if(!this._generate)
throw new EdsError('SYNC generation is disabled');
if (!this._cobId)
throw new EdsError('COB-ID SYNC may not be 0');
if(counter !== null)
this.send(this._cobId, Buffer.from([counter]));
else
this.send(this._cobId);
}
/**
* Start the module;
*
* @override
*/
start() {
if(!this.started) {
const obj1005 = this.eds.getEntry(0x1005);
if(obj1005)
this._addEntry(obj1005);
const obj1006 = this.eds.getEntry(0x1006);
if(obj1006)
this._addEntry(obj1006);
const obj1019 = this.eds.getEntry(0x1019);
if(obj1019)
this._addEntry(obj1019);
this.addEdsCallback('newEntry', (obj) => this._addEntry(obj));
this.addEdsCallback('removeEntry', (obj) => this._removeEntry(obj));
super.start();
}
}
/**
* Stop the module.
*
* @override
*/
stop() {
if(this.started) {
this.removeEdsCallback('newEntry');
this.removeEdsCallback('removeEntry');
const obj1005 = this.eds.getEntry(0x1005);
if(obj1005)
this._removeEntry(obj1005);
const obj1006 = this.eds.getEntry(0x1006);
if(obj1006)
this._removeEntry(obj1006);
const obj1019 = this.eds.getEntry(0x1019);
if(obj1019)
this._removeEntry(obj1019);
super.stop();
}
}
/**
* Call when a new CAN message is received.
*
* @param {object} message - CAN frame.
* @param {number} message.id - CAN message identifier.
* @param {Buffer} message.data - CAN message data;
* @fires Sync#sync
* @override
*/
receive({ id, data }) {
if (this._cobId === id) {
if (data)
data = data[0];
/**
* A Sync object was received.
*
* @event Sync#sync
* @type {number}
*/
this.emit('sync', data);
}
}
/**
* Listens for new Eds entries.
*
* @param {DataObject} entry - new entry.
* @listens Eds#newEntry
* @private
*/
_addEntry(entry) {
switch(entry.index) {
case 0x1005:
this.addUpdateCallback(entry, (obj) => this._parse1005(obj));
this._parse1005(entry);
break;
case 0x1006:
this.addUpdateCallback(entry, (obj) => this._parse1006(obj));
this._parse1006(entry);
break;
case 0x1019:
this.addUpdateCallback(entry, (obj) => this._parse1019(obj));
this._parse1019(entry);
break;
}
}
/**
* Listens for removed Eds entries.
*
* @param {DataObject} entry - removed entry.
* @listens Eds#newEntry
* @private
*/
_removeEntry(entry) {
switch(entry.index) {
case 0x1005:
this.removeUpdateCallback(entry);
this._clear1005();
break;
case 0x1006:
this.removeUpdateCallback(entry);
this._clear1006();
break;
case 0x1019:
this.removeUpdateCallback(entry);
this._clear1019();
break;
}
}
/**
* Called when 0x1005 (COB-ID SYNC) is updated.
*
* @param {DataObject} entry - updated DataObject.
* @private
*/
_parse1005(entry) {
const value = entry.value;
const gen = (value >> 30) & 0x1;
const rtr = (value >> 29) & 0x1;
const cobId = value & 0x7FF;
if(rtr != 0x1) {
this._generate = !!gen;
this._cobId = cobId;
}
else {
this._clear1005();
}
}
/**
* Called when 0x1005 (COB-ID SYNC) is removed.
*
* @private
*/
_clear1005() {
this._generate = false;
this._cobId = null;
}
/**
* Called when 0x1006 (Communication cycle period) is updated.
*
* @param {DataObject} entry - updated DataObject.
* @private
*/
_parse1006(entry) {
// Clear the old timer
this._clear1006();
const cyclePeriod = entry.value;
if(cyclePeriod > 0) {
this.syncTimer = setInterval(() => {
if(!this._generate || !this._cobId)
return;
if(this._overflow > 0) {
this.syncCounter += 1;
if (this.syncCounter > this._overflow)
this.syncCounter = 1;
this.send(this._cobId, Buffer.from([this.syncCounter]));
}
else {
this.send(this._cobId, Buffer.alloc(0));
}
}, cyclePeriod / 1000);
}
}
/**
* Called when 0x1006 (Communication cycle period) is removed.
*
* @private
*/
_clear1006() {
clearInterval(this.syncTimer);
this.syncTimer = null;
}
/**
* Called when 0x1019 (Synchronous counter overflow value) is updated.
*
* @param {DataObject} entry - updated DataObject.
* @private
*/
_parse1019(entry) {
this._overflow = entry.value;
}
/**
* Called when 0x1019 (Synchronous counter overflow value) is removed.
*
* @private
*/
_clear1019() {
this._overflow = 0;
}
}
////////////////////////////////// Deprecated //////////////////////////////////
/**
* Initialize the device and audit the object dictionary.
*
* @deprecated Use {@link Sync#start} instead.
* @function
*/
Sync.prototype.init = deprecate(
function () {
const { ObjectType, DataType } = require('../types');
let obj1005 = this.eds.getEntry(0x1005);
if(obj1005 === undefined) {
obj1005 = this.eds.addEntry(0x1005, {
parameterName: 'COB-ID SYNC',
objectType: ObjectType.VAR,
dataType: DataType.UNSIGNED32,
});
}
let obj1006 = this.eds.getEntry(0x1006);
if(obj1006 === undefined) {
obj1006 = this.eds.addEntry(0x1006, {
parameterName: 'Communication cycle period',
objectType: ObjectType.VAR,
dataType: DataType.UNSIGNED32,
});
}
let obj1019 = this.eds.getEntry(0x1019);
if(obj1019 === undefined) {
obj1019 = this.eds.addEntry(0x1019, {
parameterName: 'Synchronous counter overflow value',
objectType: ObjectType.VAR,
dataType: DataType.UNSIGNED8,
});
}
this.start();
}, 'Sync.init() is deprecated. Use Sync.start() instead.');
module.exports = exports = { Sync };