#!/bin/bash
# 04_pdo_demo.sh - PDO 通信演示
# 目标：节点 1 通过 TPDO 发送数据，节点 2 通过 RPDO 接收
# PDO = 生产者→消费者（无需确认，适合实时控制数据）

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

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

echo "================================================"
echo " CANopen PDO 实验"
echo "================================================"
echo ""

echo "--- Step 1: 启动 NMT（使节点进入 Operational 状态）---"
echo "    (NMT pre-operational → operational 才能传输 PDO)"
cocc "$SOCKET1" 1 "start"
sleep 1
cocc "$SOCKET2" 2 "start"
sleep 1
echo ""

echo "--- Step 2: 配置 TPDO1 映射（节点 1）---"
echo "    将 0x2000 子索引 1（自定义生产数据）映射到 TPDO1"
echo ""
echo "    先确认当前映射状态："
cocc "$SOCKET1" 1 "read 0x1A00 0 u8"
echo ""

echo "    映射 0x2000 sub1 (u32) 到 TPDO1:"
echo "    写映射条目：0x20000120 (index 0x2000, sub 1, 32 bits)"
cocc "$SOCKET1" 1 "write 0x1A00 1 u32 0x20000120"
echo ""

echo "    更新映射数量："
cocc "$SOCKET1" 1 "write 0x1A00 0 u8 1"
sleep 1
echo ""

echo "    TPDO 传输类型设为 254（事件触发）："
cocc "$SOCKET1" 1 "write 0x1800 2 u8 254"
sleep 1
echo ""

echo "--- Step 3: 配置 RPDO1 映射（节点 2）---"
echo "    将 TPDO1 的 0x2000 sub1 映射到节点 2 的 RPDO1"
echo ""
echo "    写入映射条目（与 TPDO 相同的对象）："
cocc "$SOCKET2" 2 "write 0x1600 1 u32 0x20000120"
cocc "$SOCKET2" 2 "write 0x1600 0 u8 1"
sleep 1
echo ""

echo "    RPDO COB-ID 设为 0x00000200（匹配 TPDO1 默认 ID）："
cocc "$SOCKET1" 1 "read 0x1800 1 u32"
cocc "$SOCKET2" 2 "write 0x1400 1 u32 0x00000200"
echo ""

echo "--- Step 4: 启动 candump 监控 PDO 报文 ---"
echo "    在后台监控 vcan0 上的 PDO CAN ID 0x200..."
candump vcan0,200:FFF &
CANDUMP_PID=$!
sleep 1
echo ""

echo "--- Step 5: 通过 SDO 写入节点 1 的 0x2000 触发 TPDO ---"
echo "    节点 1 产生 TPDO → CAN ID 0x200 → 节点 2 接收"
echo ""
echo "    写入值 0x12345678 到节点 1 的 0x2000 sub1："
cocc "$SOCKET1" 1 "write 0x2000 1 u32 0x12345678"
sleep 1
echo ""

echo "    写入值 0xDEADBEEF 到节点 1 的 0x2000 sub1："
cocc "$SOCKET1" 1 "write 0x2000 1 u32 0xDEADBEEF"
sleep 1
echo ""

echo "    再次写入 0x0000000A："
cocc "$SOCKET1" 1 "write 0x2000 1 u32 0x0000000A"
sleep 2
echo ""

# Stop candump
kill $CANDUMP_PID 2>/dev/null
wait $CANDUMP_PID 2>/dev/null
echo ""

echo "--- Step 6: 验证节点 2 是否收到了 PDO 数据 ---"
echo "    读取节点 2 的 0x2000 sub1（被 PDO 更新后应有值）："
cocc "$SOCKET2" 2 "read 0x2000 1 u32"
echo ""

echo "================================================"
echo " PDO 实验完成"
echo " 关键认知："
echo " - PDO 是生产者→消费者、无确认的组播通信"
echo " - 适合高频实时控制数据（如 SVPWM 占空比、编码器位置）"
echo " - TPDO CAN ID = 0x180 + NodeId（默认 TPDO1）"
echo " - RPDO CAN ID = 0x200 + NodeId（默认 RPDO1）"
echo " - 传输类型 254 = 事件触发（对象变化即发送）"
echo " - 传输类型 1-240 = SYNC 同步传输"
echo "================================================"