#!/bin/bash
# 03_sdo_demo.sh - 通过 SDO 读取/写入对象字典
# 演示 cocomm 与 canopend 通过本地 socket 通信
# SDO 是 CANopen 的点对点配置通道（类似 I2C 寄存器读写）

SOCKET1="/tmp/CO_command_socket_1"
SOCKET2="/tmp/CO_command_socket_2"

cocomm_cmd() {
    local socket=$1
    local node=$2
    local cmd=$3
    echo "→ $cmd"
    cocomm -s "$socket" "[$node] $cmd"
    echo ""
}

echo "================================================"
echo " CANopen SDO 实验：读写对象字典"
echo "================================================"
echo ""

echo "--- 实验 1: 读取节点 1 的心跳产生时间 ---"
echo "OD 索引 0x1017 (Heartbeat producer time)"
cocomm_cmd "$SOCKET1" 1 "read 0x1017 0 u16"

echo "--- 实验 2: 修改节点 1 的心跳间隔为 2000ms ---"
cocomm_cmd "$SOCKET1" 1 "write 0x1017 0 u16 2000"
cocomm_cmd "$SOCKET1" 1 "read 0x1017 0 u16"

echo "--- 实验 3: 通过 SDO 读取节点 1 的设备信息 (Identity Object 0x1018) ---"
cocomm_cmd "$SOCKET1" 1 "read 0x1018 1 u32"
cocomm_cmd "$SOCKET1" 1 "read 0x1018 2 u32"
cocomm_cmd "$SOCKET1" 1 "read 0x1018 3 u32"
cocomm_cmd "$SOCKET1" 1 "read 0x1018 4 u32"

echo "--- 实验 4: 通过 SDO 读取节点 1 的错误寄存器 ---"
cocomm_cmd "$SOCKET1" 1 "read 0x1001 0 u8"

echo "--- 实验 5: 用 SDO 从节点 1 写数据到节点 2 的对象字典 ---"
echo "将节点 2 的 0x1017 心跳时间设为 1500ms"
cocomm_cmd "$SOCKET2" 2 "write 0x1017 0 u16 1500"
cocomm_cmd "$SOCKET2" 2 "read 0x1017 0 u16"

echo "================================================"
echo " SDO 实验完成"
echo " 关键认知："
echo " - SDO 是点对点、确认型通信"
echo " - 用于配置、诊断，不适合高频实时数据"
echo " - 对应 CAN ID = 0x600 + NodeId（请求）"
echo " -          CAN ID = 0x580 + NodeId（响应）"
echo "================================================"