#!/bin/bash
# 02_start_node.sh - 启动 CANopen 节点
# 用法: 02_start_node.sh <node-id> [storage-prefix]
# 示例: 02_start_node.sh 1 node1_

NODE_ID=${1:-1}
STORAGE_PREFIX=${2:-node${NODE_ID}_}
STORAGE_DIR="/root/workspace/canopen_lab/experiments/data"

mkdir -p "$STORAGE_DIR"

echo "[INFO] 启动 CANopen 节点 Node-ID=$NODE_ID on vcan0"
canopend \
    -i "$NODE_ID" \
    -c "local-/tmp/CO_command_socket_${NODE_ID}" \
    -s "${STORAGE_DIR}/${STORAGE_PREFIX}" \
    vcan0 &

PID=$!
echo "[OK] 节点 $NODE_ID 已启动 (PID=$PID)"
echo "[INFO] 命令接口: /tmp/CO_command_socket_${NODE_ID}"
echo $PID > "/tmp/canopend_node${NODE_ID}.pid"